Self-propelled transport vehicle for transporting receiving containers for slivers

Abstract

The invention relates to a self-propelled transport vehicle for transporting a receiving container (8) of a sliver, comprising: a drive unit (4) for driving the transport vehicle (1); an energy store (5) for supplying energy to the drive unit (4); the drive unit (4) comprises at least one drive wheel (2) driven by a motor (42), the motor (42) is integrated into the drive wheel (2), the drive wheel (2) comprises a shaft (19), and the shaft (19) is connected to the drive unit (4). The shaft (19) is connected to a bearing section (18) of the transport vehicle (1) in a rotationally fixed manner and has a cantilevered section (22, 23, 24) projecting from the bearing section (18); the drive wheel (2) comprises a rim (54) which is rotatably mounted on the cantilevered section (22, 23, 24).

Description

Technical Field

[0001] The invention relates to a self-propelled transport vehicle for transporting a receiving container of a fiber strip, the transport vehicle having a drive unit for driving the transport vehicle, an energy storage device for supplying energy to the drive unit, and a transport vehicle control unit for controlling the drive unit. Background Art

[0002] In spinning preparation, textile fibers are prepared for the spinning process. In this process, the fibers are separated, parallelized, and combined into slivers in several steps. After the individual processing steps, the slivers are wound up cycloid-like in a receiving container designed as a transport can by means of a sliver coiler in order to transport the slivers from one processing station to another. In this process, the transport cans are fed to the sliver coiler as empty cans before filling and are transported from the sliver coiler as full cans to the next processing station after filling.

[0003] Automatic transport vehicles are known which can move a transport can to a fiber sliver coiling device or from a fiber sliver coiling device to the next processing device. For example, DE 10 2022111 675 A1 discloses a self-propelled transport vehicle for transporting a transport can, which is integrated into the transport can. The transport vehicle has an electrical energy storage device and a charging interface for charging the energy storage device at an external charging station. Summary of the invention

[0004] The object of the present invention is to provide a self-propelled transport vehicle for transporting receiving containers for fiber strands, which transport vehicle allows a space-saving arrangement of the drive unit, so that, for example, the available container volume is increased or the dimensions of the receiving container can be reduced.

[0005] In order to solve this problem, the present invention proposes a self-propelled transport vehicle for transporting a receiving container for fiber strips, comprising: a drive unit for driving the transport vehicle; an energy storage device for supplying energy to the drive unit; and a transport vehicle control unit for controlling the drive unit, wherein the drive unit has at least one drive wheel driven by a motor, and the motor is integrated into the drive wheel, wherein the drive wheel includes an axle, which is rotationally connected to a supporting section of the transport vehicle and has a cantilever section extending from the supporting section; and wherein the drive wheel includes a wheel rim, which is rotatably supported on the cantilever section.

[0006] The transport vehicle according to the invention has the following advantages: Due to the one-sided mounting of the axle of the drive wheel, the installation space required for the mounting is reduced and the drive wheel is thus more compact. For example, the installation space gained can be used to enable the transport vehicle to transport smaller receiving containers, or an energy store can be placed in the installation space gained and the receiving capacity of the receiving container can be increased.

[0007] In a possible embodiment, the wheel rim may include a wheel shell element and a wheel cover element that are fixedly connected to each other. The wheel shell element and the wheel cover element may surround a motor chamber in which the motor is arranged.

[0008] In another possible embodiment, the tire element can be arranged on the wheel rim. In particular, the tire element can be fixedly connected to the wheel shell element. Alternatively or in combination, the tire element can be clamped between the wheel shell element and the wheel cover element. The outside of the tire element can form at least a part of the running surface of the drive wheel. It is also conceivable that the running surface of the drive wheel is at least partially formed by the outer surface of the wheel rim itself.

[0009] In a possible embodiment, the motor may include a stator and a rotor. The stator may be connected to the shaft in a rotationally fixed manner. The rotor may be connected to the wheel housing element in a rotationally fixed manner.

[0010] In another possible embodiment, the shaft can extend through the opening of the wheel housing element into the motor chamber. The first sealing element can be arranged in the opening between the wheel housing element and the shaft in such a way that the motor chamber is sealed relative to the environment of the drive wheel.

[0011] In another possible embodiment, the wheel housing element and the wheel cover element are connected to each other in such a way that the motor chamber is sealed with respect to the environment of the drive wheel. For this purpose, a further sealing element or a sealing material can be arranged between the wheel housing element and the wheel cover element. Alternatively, the wheel housing element and the wheel cover element can be clamped to each other in such a way that a sealing pressure is present between the wheel housing element and the wheel cover element.

[0012] In another possible embodiment, the wheel rim can be supported on the cantilevered section of the shaft via a bearing arrangement; the bearing arrangement has a first bearing element, via which the wheel housing element is rotatably supported on the shaft, and a second bearing element, via which the wheel cover element is rotatably supported on the shaft. Groove ball bearings, angular contact ball bearings, cylindrical roller bearings and plain bearings are available as bearing elements.

[0013] In another possible embodiment, the wheel cover element and the shaft define a sensor accommodating space, and a speed sensor for detecting the speed of the drive wheel is arranged in the sensor accommodating space. The speed sensor can be an active or passive speed sensor. The speed sensor can have a sensor element and a signal generator element. The sensor element can be fixedly connected to the shaft. The signal generator element can be an element fixedly connected to the wheel shell element or integrated into the wheel shell element. The speed sensor can be an inductive sensor. In this case, the sensor element can include a coil and the signal generator element can include a ferromagnetic component. The speed sensor can be a Hall effect sensor. In this case, the sensor element can include a Hall element and the signal generator element can include a ferromagnetic component or a magnet. The speed sensor can be a magnetoresistive sensor. In this case, the sensor element can include a magnetoresistive element and the signal generator element can include a magnetic element. The speed sensor can be an optical sensor. In this case, the sensor element can include a light source and a light sensor and the signal generator element can be an element with different reflection areas.

[0014] The second sealing element is arranged between the wheel cover element and the shaft in such a way that the sensor receiving space is sealed relative to the motor chamber. The second sealing element can in particular be integrated into the second bearing element.

[0015] In another possible embodiment, the shaft may include a cylindrical through hole. The sensor element is arranged on a carrier element, which is inserted into an opening of the through hole opposite the wheel cover element. The sensor element may be connected to the transport vehicle control unit via a first cable. The first cable may extend through the through hole.

[0016] The motor, in particular the stator, can be connected to the energy store via a second cable and the power electronics of the transporter control unit. The second cable can extend through the through-opening.

[0017] In one possible embodiment, the transport vehicle control unit may have one or more of the following sensors: a motor current sensor for measuring the current intensity applied to the motor; a motor voltage sensor for measuring the voltage applied to the motor; a wheel torque sensor for measuring the driving torque on the drive wheel; and a load sensor for determining the load amount of the receiving container; and a tilt sensor for determining the inclination of the transport vehicle.

[0018] In one possible embodiment, the axle can be clamped by means of a bearing section. The bearing section is formed by a bearing body which is detachably connected to the underframe of the transport vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] A possible embodiment of a self-propelled transport vehicle for transporting a receiving container for fiber strands according to the invention is described below with reference to the accompanying drawings. The drawings show:

[0020] Figure 1 A bottom view of a self-propelled transport vehicle showing a receiving container for transporting fiber strands;

[0021] Figure 2 Shown in a first cross-sectional view in a plane containing the drive axis of the drive wheel Figure 1 The transport vehicle in

[0022] Figure 3 Shown in a second cross-sectional view in a plane containing the pivot axis of the support wheel Figure 1 The transport vehicle in

[0023] Figure 4 Show Figure 1 A side view of the driving wheels of the transport vehicle in FIG.

[0024] Figure 5 by Figure 4 The sectional view in plane VV or in the driving wheel plane shows Figure 1 A detailed view of the drive wheels of the transport vehicle in FIG. 1 ; and

[0025] Figure 6 Show Figure 1 Detailed view of the support section of the transport vehicle in FIG. DETAILED DESCRIPTION

[0026] The following will describe Figures 1 to 6 ,exist Figures 1 to 6 1 shows a self-propelled transport vehicle 1 according to the invention for transporting a receiving container 8 of a fiber sliver (not shown) in a spinning mill. The receiving container 8 can also be referred to as a transport can.

[0027] The transport can 8 is designed as a round can and comprises a cylindrical container wall 9 in a known manner, which defines a receiving space 11. The receiving space 11 is open vertically upward and is variably defined vertically downward by a spring-supported bottom element 12, which can also be referred to as a bottom plate. As the transport can 8 is gradually filled with fiber strips, the bottom element 12 of the transport can 8 moves vertically downwards due to the deadweight of the fiber strips, overcoming the spring force. The filling of the receiving space 11 with fiber strips can be carried out in a known manner, for example, by a fiber strip coiling device downstream of a carding machine or a drafting device.

[0028] The height position H12 of the bottom element 12 can be detected by the loading sensor 13. From the height position H12 of the bottom element 12, the filling weight of the transport can 8 can be determined. Alternatively or in combination, the loading sensor 13 has a weighing function, so that the filling weight can be detected directly by the loading sensor 13.

[0029] In the present case, the self-propelled transport vehicle 1 is integrated into the bottom end 10 of the transport can 8. However, it is also conceivable that the transport can 8 is mounted on a corresponding self-propelled transport vehicle or connected thereto. The installation space available for the self-propelled transport vehicle 1 is thus limited in width by the outer diameter of the transport can 8.

[0030] The self-propelled transport vehicle 1 has two drive wheels 2, 2' and four support wheels 3, 3'. In the figure, the wheels arranged on the left in the direction of travel of the self-propelled transport vehicle 1 are marked with an additional prime.

[0031] Of the four support wheels 3, 3', two are arranged in the vehicle head region and two are arranged in the vehicle tail region. The support wheels 3, 3' are both supported rotatably around a rotation axis, which is located in a plane substantially parallel to the drive axis of the drive wheels 2, 2'. The support wheels 3, 3' are also both supported pivotably around pivot axes S3, S3' on the chassis of the self-propelled transporter 1, wherein the pivot axes S3, S3' are oriented orthogonal to the drive axis of the drive wheel 2. The pivot axes S3, S3' of the support wheels 3, 3' in the head region extend in parallel and have a spacing B3. The pivot axes S3, S3' of the support wheels 3, 3' in the tail region also extend in parallel and have a spacing B3. Therefore, it is ensured that the support wheels 3, 3' in the head region and the support wheels 3, 3' in the tail region can travel on a common lane when driving straight. At least a portion of the support wheels 3, 3' can be spring-loaded in the direction of the pivot axes S3, S3'.

[0032] In the present case, the drive wheels 2, 2' are arranged centrally in the direction of the longitudinal axis L_1 of the transport vehicle 1 between the support wheels 3, 3' in the head region and the support wheels 3, 3' in the tail region. Therefore, the distance BR_V between the front wheel plane E3V, in which the pivot axis S3, S3' of the support wheels 3, 3' in the head region lies, and the drive wheel plane E2, in which the drive axis L2 of the drive wheel 2 lies, is equal to the distance BR_H between the rear wheel plane E3H, in which the pivot axis S3, S3' of the support wheels 3, 3' in the tail region lies, and the drive wheel plane E2. Here, the front wheel plane E3V, the drive wheel plane E2 and the rear wheel plane E3H extend parallel to each other and are orthogonal to the longitudinal axis L_1. In principle, it is also conceivable that the drive wheels 2, 2' are arranged eccentrically in the direction of the longitudinal axis L_1 of the transport vehicle 1 between the support wheels 3, 3' in the head region and the support wheels 3, 3' in the tail region, and that the distance BR_V and the distance BR_H are different. Furthermore, it is conceivable to provide only one drive wheel 2 which is arranged overlapping the longitudinal axis L_1 of the transport vehicle 1 and in particular centrally with respect to the extension of the transport vehicle in the direction of the longitudinal axis L1_1 .

[0033] Therefore, the self-propelled transport vehicle 1 is designed to be able to perform translational movements along the longitudinal axis L_1, rotational movements about a vertical axis, and combined translational-rotational movements.

[0034] The drive wheels 2, 2' are components of a drive unit 4 for driving the transport vehicle 1. The two drive wheels 2, 2' are of identical construction, so that their respective structures are explained together below by way of example with reference to the right drive wheel 2.

[0035] The drive wheel 2 has an axle 19 which is connected to the bearing section 18 of the transport vehicle 1 in a rotationally fixed manner and extends along a drive axis L2 of the drive wheel 2. In this case, the drive axis L2 of the drive wheel 2 extends substantially horizontally when the transport vehicle is placed on flat ground.

[0036] On the shaft 19, the wheel rim-tire arrangement is movably supported by means of a bearing arrangement. Here, the wheel rim-tire arrangement comprises a wheel shell element 31 and a wheel cover element 45, which are fixedly connected. The wheel shell element 31 and the wheel cover element 45 together form a wheel rim 54, to which the tire element 37 is fastened. The bearing arrangement comprises a first bearing element 28 and a second bearing element 29, which are arranged between the shaft 19 and the wheel rim 54.

[0037] The motor 42 is integrated into the drive wheel 2 so that the rim 54 can be driven by the motor 42 to rotate about the shaft 19 or the drive axis L2. The motor 42 is arranged between the rim 54 and the shaft 19. The motor 42 is an electric motor which can be designed as a synchronous motor or an asynchronous motor.

[0038] The shaft 19 comprises a connecting shoulder 20 for connecting the shaft 19 to the bearing section 18. In other words, the shaft 19 is fixedly connected to the bearing section 18 via the connecting shoulder 20. The connecting shoulder 20 thus forms the end of the shaft 19 facing the transport vehicle. The connecting shoulder 20 is designed to be cylindrical and optionally has a recess 21 for locking the shaft 19 in the bearing section 18.

[0039] The support section 18 is formed in the present case by a support body 60, which is fastened to a chassis 59 of the transport vehicle 1. The chassis 59 carries the other components of the transport vehicle 1. For this purpose, the support body 60 has two through-holes 66, through which bolts, which are shown hidden in the figure, extend into the threads of the chassis 59. The support body 60 also has a support hole 61, which extends through the support body 60 in the direction of the drive axis L2. The connecting shoulder 20 of the shaft 19 is inserted into the support hole 61. The support body 60 also has a slit 62, which extends into the support hole 61 in such a way that the spring section 63 protrudes in a cantilevered manner from the rest of the support body 60. A stepped hole 64 passes through the spring section 63 and extends transversely, in particular orthogonally, to the drive axis L2. A threaded hole 65 is aligned with the stepped hole 64 and extends into the support body 60, wherein the stepped hole 64 and the threaded hole 65 are separated by the slit 62. The clamping bolt, which is also hidden in the drawing, extends through the stepped hole 64 and the slot 62 into the threaded hole 65. By tightening the clamping bolt, the spring section 63 tilts elastically, thereby reducing the effective diameter of the bearing hole 61 and clamping the connecting shoulder 20 of the shaft 19 in the bearing body 60.

[0040] The shaft 19 comprises a first bearing shoulder 22 on which a first bearing element 28 is arranged. Furthermore, the first bearing shoulder 22 forms a sealing surface for a first sealing element 30 described in detail below. The first bearing shoulder 22 is connected to the connecting shoulder 20 in the direction of the drive axis L2.

[0041] The shaft 19 comprises a stator receiving shoulder 23, on which a stator 44 of the motor 42 is arranged. The stator receiving shoulder 23 is connected to the stator 44 in a rotationally fixed manner. The stator receiving shoulder 23 is connected to the first bearing shoulder 22 in the direction of the drive axis L2.

[0042] The shaft 19 comprises a second bearing shoulder 24 on which a second bearing element 29 is arranged. The second bearing shoulder 24 is connected to the stator receiving shoulder 23 in the direction of the drive axis L2. The second bearing shoulder 24 forms the end of the shaft 19 facing away from the transport vehicle.

[0043] At least the first bearing shoulder 22, the stator receiving shoulder 23 and the second bearing shoulder 24 project from the bearing section 18. In other words, the shaft 19 has a cantilevered section, which is formed in particular by the first bearing shoulder 22, the stator receiving shoulder 23 and the second bearing shoulder 24.

[0044] The drive wheel 2 has a wheel shell element 31. The wheel shell element 31 is basically designed in a pot shape. Here, an annular tire element receiving section 36 extends from a basically disk-shaped bottom section 34 along the drive axis L2.

[0045] The wheel housing element 31 has an additional opening in the bottom section 34, which forms a sealing element receiving section 32 and a bearing element receiving section 33. The first sealing element 30 is arranged in the sealing element receiving section 32. In other words, the first sealing element 30 is in contact with the inner surface of the sealing element receiving section 32 with its outer surface. The first bearing element 28 is arranged in the bearing element receiving section 33.

[0046] The tire receiving section 36 is designed as an annular section having a cylindrical outer surface and a cylindrical inner surface extending around the drive axis L2. The tire element 37 is arranged on the tire receiving section 36. Here, the cylindrical outer surface of the tire receiving section 36 is in contact with the cylindrical inner surface 41 of the tire element 37. In this regard, the wheel shell element 31 can also be called a wheel rim seat element.

[0047] The tire element 37 has an outer surface which may be referred to as a running surface 40. In the present case, the tire element 37 is a solid rubber element. However, it is also conceivable that the tire element 37 is designed as a pneumatic tire element.

[0048] The tire element 37 is currently pressed onto the tire receiving section 36. Alternatively or in combination, the tire receiving section 36 and the tire element 37 may be bonded in the region between the cylindrical outer surface of the tire receiving section 36 and the cylindrical inner surface 41 of the tire element 37.

[0049] The bottom section 34 of the wheel shell element 31 has a support surface 35 which extends radially outwards relative to the outer surface of the tire receiving section 36. In other words, the normal of the support surface 35 points essentially in the direction of the drive axis L2. Therefore, when the tire element 37 is pushed onto the tire receiving section 36 in the direction of the drive axis L2, the support surface 35 serves as a stop and positioning aid. Therefore, in the assembled state, the first axial contact surface 38 of the tire element 37 rests on the support surface 35 of the wheel shell element 31.

[0050] The rotor 43 of the motor 42 is arranged radially inside the tire receiving section 36. The tire receiving section 36 and the rotor 43 are connected to each other in a rotationally fixed manner. The cylindrical inner surface of the tire receiving section 36 is in contact with the rotor 43.

[0051] The drive wheel 2 has a wheel cover element 45. The wheel cover element 45 is clamped to the wheel shell element 31 by connecting elements 55 (e.g. bolts). The wheel cover element 45 comprises a connecting section 46, which is in contact with the tire receiving section 36. The connecting section 46 is designed to be essentially disc-shaped. A recess 47 extends axially into the connecting section 46 relative to the drive axis L2. The recess 47 is configured to be complementary to the cross section of the tire receiving section 36. The tire element 37 is inserted into the recess 47.

[0052] The connecting section 46 has a support surface 48 extending radially outward relative to the outer surface of the tire receiving section 36. In other words, the normal of the support surface 48 points essentially in the direction of the drive axis L2. When the wheel cover element 45 is connected to the wheel shell element 31, the support surface 48 comes into contact with the second axial contact surface 39. Therefore, in the assembled state of the drive wheel 2, the tire element 37 is positioned between the support surface 35 of the wheel shell element 31 and the support surface 48 of the wheel cover element 45 and is particularly clamped.

[0053] The wheel cover element 45 comprises an annular segment 49. The connecting segment 46 here extends from the annular segment 49, in particular radially outwardly. The annular segment 49 is rotationally symmetrical with respect to the drive axis L2. The annular segment 49 comprises an annular bearing element receiving segment 50 extending around the drive axis L2. The second bearing element 29 is radially arranged inside the bearing element receiving segment 50 and supported on the bearing element receiving segment.

[0054] In the present case, the first bearing element 28 and the second bearing element 29 are designed as rolling bearings. In particular, the first bearing element 28 and the second bearing element 29 can be, for example, groove ball bearings arranged in an O-shape, angular contact ball bearings or tapered roller bearings.

[0055] The inner ring of the first bearing element 28 is arranged on the first bearing shoulder 22. The outer ring of the first bearing element 28 is arranged in the bearing element receiving section 33 of the wheel shell element 31. The inner ring of the second bearing element 29 is arranged on the second bearing shoulder 24. The outer ring of the second bearing element 29 is arranged in the bearing element receiving section 50 of the wheel cover element 45. In this regard, the components wheel shell element 31, tire element 37 and wheel cover element 45 connected to each other in a rotationally fixed manner are rotatably supported on the cantilevered section of the shaft 19 via a bearing arrangement consisting of the first bearing element 28 and the second bearing element 29.

[0056] The wheel housing element 31 and the wheel cover element 45 surround a motor chamber 56 in which the motor 42 is arranged. The motor chamber 56 is sealed from the environment by a first sealing element 30. The first sealing element 30 can be, for example, a contact seal (for example a radial shaft sealing ring) or a non-contact seal (for example a labyrinth seal). It is particularly conceivable that the first sealing element 30 is integrated into the first bearing element 28.

[0057] In the region of the recess 47, another seal can be provided between the wheel housing element 31 and the wheel cover element 45. This can be achieved by providing a sealing pressure between the tire receiving section 36 and the wheel cover element 45. Alternatively, another sealing element can be arranged between the tire receiving section 36 and the wheel cover element 45.

[0058] The drive wheel 2 has a rotation speed sensor 51 for detecting the rotation speed of the drive wheel 2. The rotation speed sensor 51 includes a sensor element 52 and a signal generator element 53. The sensor element 52 is fixedly connected to the shaft 19. The shaft 19 is designed as a hollow shaft and includes a cylindrical through hole 25, which also extends along the drive axis L2 of the drive wheel 2. The through hole can be either cut into the shaft 19 or cast into the shaft 19. The through hole 25 has a first opening 26 at a first end of the shaft 19 and a second opening 27 at the opposite end of the shaft 19. The sensor element 52 is arranged on a support element 68, which is inserted into the second opening 27. The signal generator element 53 is fastened to the wheel cover element 45. Therefore, when the drive wheel 2 rotates, the signal generator element 53 also rotates, and this movement can be detected by the sensor element 52, wherein the principles related to this are generally known to those skilled in the art.

[0059] The carrier element 68 has a connecting section 69, which is designed to be complementary to the through hole 25 and has a through hole 70 extending in the direction of the drive axis L2. A plurality of retaining sections 71 extend from the connecting section 69 in the direction of the drive axis L2, and these retaining sections are distributed on the circumference around the through hole 70. A disc-shaped carrier section 72 is adjacent to these retaining sections 71, and the sensor element 52 is fastened to the carrier section.

[0060] The annular surface segment 49, in particular the bearing element receiving segment 50, the second bearing element 29 and the shaft 19 define a sensor receiving space 57, in which a rotational speed sensor 51 is received. The second sealing element 58 is arranged between the bearing element receiving segment 50 and the shaft 19, so that the sensor receiving space 57 is sealed relative to the motor chamber 57. The second bearing element 29 is currently designed as a sealed bearing element. In other words, the second sealing element 58 is integrated into the second bearing element 29. However, it is also conceivable that the second sealing element 58 is constructed separately and is radially arranged inside the bearing element receiving segment 50. Here, the second sealing element 58 can be arranged so that the second bearing element 29 is arranged between the second sealing element 58 and the motor 42 or the second sealing element 58 is arranged between the second bearing element 29 and the motor 42.

[0061] The third sealing element 67 is inserted into the through-opening 25 , through which cables can be guided to the motor 42 and the rotational speed sensor 51 .

[0062] The transport vehicle 1 comprises a transport vehicle control unit 14 for controlling the drive unit 4. The rotation speed sensor 51 is connected to the transport vehicle control unit 14 via a cable (not shown). For this purpose, the cable extends from the sensor element 52 through the through-opening 25 to the motor control unit 14.

[0063] The transport vehicle control unit 14 comprises a motor current sensor for measuring the current intensity applied to the motor 42 of the drive wheels 2, 2'; a motor voltage sensor for measuring the voltage applied to the respective motor 42; a wheel torque sensor 17 for measuring the drive torque on the drive wheels 2, 2'; a load sensor 13 for determining the load of the receiving container 8; and an inclination sensor 15 for determining the inclination of the transport vehicle 1 relative to at least one of the three spatial axes. The empty weight of the transport vehicle 1 including the transport can 8 is stored in the transport vehicle control unit 14.

[0064] In addition, the self-propelled transport vehicle 1 includes an energy storage device 5, which can supply energy to the drive unit 4 or the motor 42. The energy storage device 5 is currently designed as a battery and is connected to the charging interface 6 via an onboard charger. The charging interface 6 is currently constructed on the outer circumference of the self-propelled transport vehicle 1 or the transport can 8 in the rear area. The energy storage device 5 is connected to the motor 42 via a cable (not shown). In this case, the cable extends from the energy storage device 5 through the through hole 25 and the notch in the shaft 19 to the motor 42.

[0065] The energy store 5 is arranged between the two drive wheels 2 , 2 ′ in such a way that the drive axis L2 intersects the energy store 5 .

[0066] The transport vehicle 1 comprises a guide lane sensor device 7 which is designed to detect a guide lane which is installed on the roadway on which the transport vehicle moves. The guide lane sensor device 7 is arranged in the head region of the self-propelled transport vehicle 1. The guide lane sensor device 7 and the charging interface 6 are therefore configured on an end section facing away from the transport vehicle 1 with respect to the longitudinal axis L_1.

[0067] For example, the guide lane can be a graphic mark or a magnetic strip on the roadway. Position marks can be set at the defined road signs of the guide lane. The position marks can also be detected by the guide lane sensor device 7 of the self-propelled transporter 1. In this example, the position mark is designed as an RFID transponder. The guide lane sensor device 7 includes an RFID reader corresponding thereto.

[0068] Reference numerals:

[0069] 1 Transporter

[0070] 2 Drive wheels

[0071] 3 Support wheels

[0072] 4 Drivers

[0073] 5 Energy storage device

[0074] 6 Charging port

[0075] 7 Guide lane sensor device

[0076] 8 Receiving container

[0077] 9 container wall

[0078] 10 Bottom end

[0079] 11 Receiving Space

[0080] 12 Bottom

[0081] 13 Loading Sensor

[0082] 14 Control Unit

[0083] 15 Tilt sensor

[0084] 16 Central transport vehicle control unit

[0085] 17 Wheel torque sensor

[0086] 18 Support section

[0087] 19 Axis

[0088] 20 Connecting shoulder

[0089] 21 recess

[0090] 22 Supporting shoulder

[0091] 23 Stator receiving shoulder

[0092] 24 Supporting shoulder

[0093] 25 Through Holes

[0094] 26 Opening

[0095] 27 Opening

[0096] 28 Bearing elements

[0097] 29 Bearing element

[0098] 30 Sealing element

[0099] 31 Wheel housing components

[0100] 32 Sealing element receiving section

[0101] 33 Bearing element receiving section

[0102] 34 Bottom segment

[0103] 35 Support surface

[0104] 36 Tire element receiving section

[0105] 37 Tire Components

[0106] 38 contact surface

[0107] 39 contact surface

[0108] 40 Traveling surface

[0109] 41 Inner surface

[0110] 42 Motor

[0111] 43 Rotor

[0112] 44 Stator

[0113] 45 wheel cover element

[0114] 46 Connection section

[0115] 47 recess

[0116] 48 Support surface

[0117] 49 Torus Segment

[0118] 50 Bearing element receiving section

[0119] 51 Speed ​​sensor

[0120] 52 sensor element

[0121] 53 Signal Generator Components

[0122] 54 Rim

[0123] 55 Connecting elements

[0124] 56 Motor room

[0125] 57 Sensor accommodation space

[0126] 58 Sealing element

[0127] 59 chassis

[0128] 60 Support

[0129] 61 Support hole

[0130] 62 Slit

[0131] 63 Spring section

[0132] 64 Stepped Hole

[0133] 65 threaded hole

[0134] 66 Through Holes

[0135] 67 Sealing element

[0136] 68 Load-bearing elements

[0137] 69 Connection section

[0138] 70 Gap

[0139] 71 Holding section

[0140] 72 load-bearing section

Claims

1. A self-propelled transport vehicle for transporting a receiving container (8) for transporting fiber strips, comprising: A drive unit (4) for driving the transport vehicle (1); an energy storage device (5) for supplying energy to the drive unit (4); as well as a transport vehicle control unit (14) for controlling the drive unit (4), It is characterized in that The drive unit (4) has at least one drive wheel (2) driven by a motor (42), wherein the motor (42) is integrated into the drive wheel (2). The drive wheel (2) comprises an axle (19) which is connected to a bearing section (18) of the transport vehicle (1) in a rotationally fixed manner and has a cantilevered section (22, 23, 24) extending from the bearing section (18); The drive wheel (2) comprises a wheel rim (54) which is rotatably supported on the cantilever sections (22, 23, 24).

2. The self-propelled transport vehicle according to claim 1, It is characterized in that The wheel rim (54) comprises a wheel housing element (31) and a wheel cover element (45), wherein the wheel housing element and the wheel cover element are fixedly connected and together surround a motor chamber (56), in which the motor (42) is arranged.

3. The self-propelled transport vehicle according to claim 2, It is characterized in that A tire element (37) is arranged on the wheel rim (54), wherein: The tire element (37) is in particular fixedly connected to the wheel shell element (31) and / or is clamped between the wheel shell element (31) and the wheel cover element (45).

4. The self-propelled transport vehicle according to claim 2 or 3, It is characterized in that The motor (42) includes a stator (44) and a rotor (43), wherein: The stator (44) is connected to the shaft (19) in a rotationally fixed manner, and the rotor (43) is connected to the wheel housing element (31) in a rotationally fixed manner.

5. The self-propelled transport vehicle according to any one of claims 2 to 4, It is characterized in that The shaft (19) extends through an opening of the wheel housing element (31) into the motor chamber (56); A first sealing element (30) is arranged in the opening between the wheel housing element (31) and the shaft (19) in such a way that the motor chamber (56) is sealed with respect to the environment of the drive wheel (2).

6. The self-propelled transport vehicle according to any one of claims 1 to 5, It is characterized in that The wheel housing element (31) and the wheel cover element (45) are connected to one another in such a way that the motor chamber (56) is sealed with respect to the environment of the drive wheel (2).

7. The self-propelled transport vehicle according to claim 6, It is characterized in that Another sealing element or a sealing material is arranged between the wheel housing element (31) and the wheel cover element (45); or The wheel housing element (31) and the wheel cover element (45) are braced against one another in such a way that a sealing pressure is present between the wheel housing element (31) and the wheel cover element (45).

8. The self-propelled transport vehicle according to any one of claims 2 to 7, It is characterized in that The wheel rim (54) is supported on the cantilevered section (22, 23, 24) of the shaft (19) via a bearing arrangement. The bearing arrangement comprises a first bearing element (28), by means of which the wheel housing element (31) is rotatably supported on the shaft (19), and The bearing arrangement has a second bearing element (29) by which the wheel cover element (45) is rotatably supported on the shaft (19).

9. The self-propelled transport vehicle according to any one of claims 2 to 8, It is characterized in that The wheel cover element (45) and the shaft (19) define a sensor accommodating space (57), a rotation speed sensor (51) for detecting the rotation speed of the drive wheel (2) is arranged in the sensor accommodating space, and A second sealing element (58) is arranged between the wheel cover element (45) and the shaft (19) in such a way that the sensor receiving space (57) is sealed relative to the motor chamber (56).

10. The self-propelled transport vehicle according to claim 9, It is characterized in that The rotational speed sensor (51) has a sensor element (52) and a signal transmitter element (53), wherein the sensor element (52) is fixedly connected to the shaft (19) and the signal transmitter element (53) is fixedly connected to the wheel cover element (45).

11. The self-propelled transport vehicle according to any one of claims 1 to 10, It is characterized in that The shaft (19) comprises a cylindrical through hole (25).

12. The self-propelled transport vehicle according to claim 11, It is characterized in that The sensor element (52) is arranged on a supporting element (68), which is inserted into an opening (27) of the through-hole (25) opposite the wheel cover element (45), and the sensor element (52) is connected to the transport vehicle control unit (14) via a first cable, wherein the first cable extends through the through-hole (25).

13. The self-propelled transport vehicle according to claim 11 or 12, It is characterized in that The motor (42), in particular the stator (44), is at least indirectly connected to the energy store (5) via a second cable, wherein the second cable extends through the through-opening (25).

14. The self-propelled transport vehicle according to any one of claims 1 to 13, It is characterized in that The shaft (19) is clamped by means of the bearing section (18), and The support section (18) is formed by a support body (60) which is detachably connected to an underframe (59) of the transport vehicle (1).

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