Self-driving vehicle for transporting a receiving container for a sliver, and can device

Abstract

The invention relates to a self-driving vehicle (3) for transporting a receiving container (2) for a sliver between sliver-delivering and sliver-supplied textile machines over an underlying surface (4). The vehicle (3) has a chassis (24) with multiple wheels, a vehicle body (25) which is supported by the chassis (24) and which comprises a transport surface (26) for the receiving container (2), securing elements (11.2) for securing the receiving container (2; 202) to the vehicle body (25), and an onboard electrical system (23) which is arranged on the vehicle body (25) and which comprises an electric energy storage device (28), an electric drive unit (32), and a control unit (42). The wheels include two rigid wheels (6, 7) which are aligned in a vehicle longitudinal direction (L) and which have rotational axes (33, 34) that are stationary relative to the vehicle body (25). The invention is characterized in that the wheels also include at least one sprung support wheel (9) which is supported on the vehicle body (25) via a spring assembly (65; 70) and which is designed to be freely pivotal about a pivot axis (A9). The invention additionally relates to a can device (1) comprising a receiving container (2) for a sliver and the self-driving vehicle (3).

Description

[0001] Title: Self-propelled vehicle for transporting a receiving container for a fiber band and

[0002] Can device

[0003] Description

[0004] The present invention relates to a self-propelled vehicle for transporting a receiving container for a fiber sliver between fiber sliver-delivering and fiber sliver-fed textile machines over a subsurface. The vehicle comprises a chassis with a plurality of running wheels, a vehicle body carried by the chassis with a transport surface for the receiving container, fastening elements for fastening the receiving container to the vehicle body, and an on-board power system arranged on the vehicle body with an electrical energy storage device, an electric drive unit, and a control unit. The running wheels comprise two rigid wheels aligned in a vehicle longitudinal direction with rotation axes fixed relative to the vehicle body. Furthermore, the present invention relates to a can device comprising a receiving container for a fiber sliver and the self-propelled vehicle.

[0005] Spinning mills typically use several hundred sliver cans, also called sliver cans or cans for short. These are still predominantly moved between textile machines by hand. This involves a high level of labor. To reduce this labor, efforts have been underway for several decades to automate the transport of the cans.

[0006] CN 212685777 U describes a self-propelled vehicle, a so-called Automatic Guided Vehicle (AGV), that automatically carries and transports spinning cans. The vehicle features an adjustable clamping device that can adapt to different can sizes. The can is placed on top of the vehicle by a transfer device and secured by the clamping device attached to the can from the outside. After the vehicle has transported and unloaded the can, it is ready to transport the next can.

[0007] The object of the present invention is to provide a self-propelled vehicle that can be better integrated into the ongoing operations of a spinning mill and is cost-effective to manufacture and easy to maintain. Furthermore, the object of the present invention is to provide a canning device that can be better integrated into the ongoing operations of a spinning mill and is cost-effective to manufacture and easy to maintain.

[0008] The object is achieved by a self-propelled vehicle of the type mentioned at the outset in that the running wheels comprise at least one sprung support wheel which is supported on the vehicle body via a spring arrangement and is designed to be freely pivotable about a pivot axis.

[0009] For the sake of simplicity, this description will often refer to "the sprung support wheel" instead of "at least one sprung support wheel." This does not, of course, preclude the possibility of the wheels comprising more than one sprung support wheel. If the exact number of sprung support wheels is important, for example, exactly one, two, or more than two, this will be indicated accordingly.

[0010] The advantage is that the self-propelled vehicle, which is designed to transport the one receiving container, can be integrated into the ongoing operations of the spinning mill like a conventional sliver can. This means that no conversions or other adjustments to the spinning mill's machinery are necessary, which means that the self-propelled vehicle can be better integrated into the ongoing operations of a spinning mill. The spring arrangement, or suspension for short, is part of the chassis. It supports the weight of the superstructure and is intended to ensure that the superstructure, in particular the receiving container to be carried, which can be filled with the fiber sliver, remains stable and that vibrations from the ground are not directly transferred to the superstructure. Thanks to the spring-loaded support wheel, the vehicle can drive on inclined surfaces, such as ramps on can changers on textile machines, even when loaded.The spring-loaded support wheel ensures that the wheels remain in contact with the ground even on sloping surfaces. Furthermore, the free pivoting of the spring-loaded support wheel allows for 360-degree swivel movements, allowing it to follow the vehicle's direction of travel unhindered. As a result, the spring-loaded support wheel offers a simple way to increase the vehicle's stability in a cost-effective and maintenance-friendly manner.

[0011] The spring arrangement allows all of the road wheels to be in contact with the ground when the vehicle rolls over the ground. For example, the spring arrangement can comprise a coil spring and, if necessary, wheel-guiding means such as a wheel-guiding damper. Alternatively or additionally, the spring arrangement can have at least one torsion spring, in particular a leg spring. This can be a three-dimensionally wound bending spring made of spring wire, which can have a cylindrical spring body. Legs can be connected to this, with a wheel axle of the support wheel being supported on a first leg and the vehicle body on a second leg. The spring arrangement can comprise a double leg spring, which can consist of two interconnected torsion springs or leg springs.

[0012] The rigid wheels are not steerable and are preferably fixedly aligned in the vehicle's longitudinal direction. In particular, the rigid wheels are mounted unsprung on the vehicle body. In the context of this description, "unsprung" preferably means that no movement in the vehicle's longitudinal direction is possible. The axes of rotation of the two rigid wheels can lie on an imaginary straight line. This imaginary straight line divides the vehicle body in the vehicle's longitudinal direction into a front section and a rear section. The two sections can be at least approximately the same size. Furthermore, it can be provided that a yaw axis of the vehicle intersects the imaginary straight line perpendicularly. The yaw axis can also be referred to as the vehicle's vertical axis and is the axis around which the vehicle rotates when maneuvering on the ground. The yaw axis is preferably located centrally between the two rigid wheels. This allows the vehicle to turn on the spot.In particular, the yaw axis passes through a center point of the vehicle body.

[0013] Furthermore, the drive unit can be drive-connected to at least one of the running wheels. The sprung support wheel ensures that the running wheels always maintain ground contact, even on uneven ground or inclined surfaces such as ramps and the like, so that the at least one driven running wheel can transfer the drive power generated by the drive unit to the ground. Preferably, the drive unit is drive-connected to the two rigid wheels. In particular, the drive unit can have an electric motor, in particular a wheel hub motor, for each rigid wheel. The vehicle can be easily steered by changing the speed ratio between the two electric motors and / or their direction of rotation (same or opposite). The sprung support wheel follows the travel path thanks to its free pivoting capability.Preferably, the two electric motors are each connected to a servo converter, which supplies the respective electric motor with the power required for movement. With counter-rotating control, the vehicle can rotate on the spot. In particular, instead of individual servo converters, a double converter can be provided for two driven road wheels, or a multiple converter for, for example, three driven road wheels. Instead of the servo converter, a frequency converter or other means for achieving the specified speed can be used, as long as each electric motor receives or can implement an individual speed setting and speed control. Another advantage is that the vehicle does not require any additional transmission, making it more cost-effective and easier to maintain.Instead of the advantageous design with two electric motors, the drive unit can also have an electric motor with a gearbox that drives the two rigid wheels.

[0014] In a further development, the pivot axis of the sprung support wheel can be aligned parallel to the yaw axis. As a result, the vehicle can rotate on the spot or around its yaw axis. This allows the vehicle to rotate in a space-saving manner, preferably without pivoting, and can, for example, rotate on the spot under a tray of a textile machine that delivers fiber slivers. In particular, the sprung support wheel is supported against the rear section of the vehicle body. This allows the vehicle to better negotiate ramps that bridge height differences. The rear section is located at the rear when the vehicle is moving forward, or rather, follows the front section of the vehicle body.

[0015] Furthermore, it can be provided that the running wheels comprise at least one further support wheel which is designed to be freely pivotable about a further pivot axis. The at least one further support wheel can be supported on the vehicle body with or without suspension. The at least one further support wheel can be supported without suspension against the front section. By supporting the sprung support wheel against the rear section and the unsprung support wheel against the front section, the vehicle can drive particularly well on flat ground surfaces as well as on sloping ground surfaces of ramps or the like without tipping over. In addition, rocking of the vehicle when driving on sloping surfaces, when driving over uneven ground, and when starting and braking is avoided. Alternatively, the at least one further support wheel can also be supported against the front section via a further spring arrangement, i.e. it can be a sprung support wheel.

[0016] In particular, the pivot axes of the sprung support wheel and the at least one further support wheel, which are referred to collectively below as the support wheels, are aligned parallel to one another and more preferably parallel to the yaw axis. It has been shown that, due to the space available and the large number of cans in the spinning mill, it can be advantageous if the vehicle can turn on the spot. This can be easily achieved by the proposed central arrangement of the rigid wheels in relation to the longitudinal direction in combination with two of the support wheels. The chassis is preferably designed with four or six wheels. In order to further increase stability, the running wheels can also comprise four of the support wheels, so that the vehicle can comprise a total of six running wheels. In particular, the running wheels can comprise two of the sprung support wheels and two of the unsprung support wheels in addition to the two rigid wheels.The sprung support wheels can be supported against the rear section of the vehicle body. The unsprung support wheels can be supported against the front section of the vehicle body. In principle, a three-point support system with three of the wheels, especially the two rigid wheels and the one sprung support wheel, also offers advantages in terms of the vehicle's stability on the ground.

[0017] According to one embodiment, the support wheel and the at least one further support wheel can be spaced apart from one another in the transverse direction of the vehicle. In particular, the support wheels can be arranged between the two rigid wheels in the transverse direction of the vehicle, so that the support wheels roll over the ground outside the tracks of the rigid wheels. Furthermore, a functional section free of running wheels can be formed between the support wheels and extending in the longitudinal direction of the vehicle. Components of the on-board electrical system can be arranged on the functional section. In particular, the functional section extends over the entire longitudinal extent of the vehicle body. Preferably, the on-board electrical system can have a reading unit configured to detect guide elements arranged on the ground. By means of the guide elements, travel paths between the textile machines can be predetermined.The reading unit can be mounted on the wheel-free functional section of the vehicle body. This largely prevents the wheels from rolling over the guide elements when rolling over the ground, thus protecting them from excessive wear.

[0018] In a further embodiment, the vehicle can be dimensioned such that, in an assembled state in which the receiving container is in contact with the transport surface and fastened to the vehicle body, the receiving container completely covers the chassis, the electric drive unit and the electrical energy storage device. Furthermore, the vehicle can be dimensioned such that, in the assembled state, the receiving container completely covers the vehicle body. In other words, the vehicle is dimensioned relative to the receiving container or is provided with an extension perpendicular to the vertical axis of the vehicle such that the space requirement or the functional area of ​​the vehicle during operation is at least substantially limited to the size of the installation or cross-sectional area of ​​the receiving container.The footprint of the receptacle, independent of the vehicle, is understood to be the ground surface required for the receptacle when erected, regardless of whether the receptacle is in contact with the ground or not. The functional surface of the vehicle is the ground surface covered by the vehicle during operation. The size of the vehicle is such that the vehicle can at least substantially fit beneath the receptacle when the receptacle is aligned with the transport surface and fastened or mounted on the vehicle using the fastening elements (= mounted state). This should at least substantially include the vehicle being arranged almost entirely beneath the receptacle when mounted, with only individual components, in particular from the on-board power supply, being able to protrude laterally beyond the receptacle if there is a technical need for this.In principle, however, it is also possible for the entire vehicle to be completely covered by the receiving container. The chassis, the electric drive unit and the transport surface are therefore located beneath the receiving container when assembled and are therefore concealed by the receiving container when viewed from above. The vehicle is therefore designed to transport just a single receiving container. One advantage is that the vehicle is largely protected by the receiving container when assembled. The small space requirement also has the advantage that the vehicle, when assembled, takes up the same space and preferably also the same height as a standard can that can be moved by hand. This has the advantage that the use of the vehicle can provide self-propelled spinning cans that can be used in the spinning mill without any structural modifications to the existing textile machines.

[0019] In particular, the transport surface can define a support plane. The vehicle preferably has no components that protrude beyond the support plane outside the transport surface. This is advantageous in that no components protrude from below, i.e. from the chassis, laterally past the transport surface upwards above the support plane. In particular, “laterally of the transport surface” is to be understood as radially outside the transport surface in relation to the vehicle’s vertical axis. In this way, the vehicle has no obstructive components to the side of the transport surface, such as edges, holders, rods, loading and unloading devices or the like, so that the receptacle to be transported can be placed on the vehicle in an assembled state in a simple manner. The transport surface preferably lies in the support plane, which can be aligned parallel to the ground.Within the transport surface, i.e. the surface which, in the assembled state, is in contact with the receiving container, fastening elements can be provided which can, in principle, also protrude beyond the support plane, for example bolts, screws or the like.

[0020] As a result, the vehicle, when mounted, can move like a conventional, i.e., manually pushed, spinning can through work areas of textile machines, such as a filling station on a can changer or the like, and can thus also be used to perform movements within these work areas. For example, the vehicle can be rotated on a can turntable of the textile machine, or the vehicle can rotate itself under a storage plate of the textile machine thanks to its drivable chassis.

[0021] A further solution to the above-mentioned problem consists in a can device with a receiving container for a fiber sliver and the above-described self-propelled vehicle for transporting or carrying the receiving container over the ground between fiber sliver-delivering and fiber sliver-fed textile machines. The can device can also be referred to as a "self-propelled can." The receiving container is in contact with the transport surface of the self-propelled vehicle and is fastened to the vehicle body, wherein the receiving container completely covers the chassis, the electric drive unit, and the energy storage device. The can device according to the invention results in the same advantages as those described in connection with the vehicle according to the invention, so that reference is made here for short to the above description.It goes without saying that all the above-mentioned vehicle configurations can be transferred to the can device and vice versa.

[0022] Furthermore, the receiving container can also completely cover the vehicle body. This simplifies handling of the can device in daily spinning mill operations, as the can device only takes up the space required by a conventional spinning can.

[0023] The can device has a modular design and comprises the self-driving vehicle and the receiving container as modules. The modular design allows manufacturing costs to be reduced, as the vehicle and the receiving container can be manufactured separately and even by different manufacturers. The vehicle is "married" to one of the receiving containers and remains permanently connected to it (= assembled state). Separation is preferably only necessary in the event of a vehicle defect or for maintenance purposes. The purpose of this permanent connection is to eliminate the disadvantageous loading and unloading of the receiving container from the vehicle. Securing the receiving container to the vehicle is an assembly step that is preferably carried out manually, but can in principle also be performed by an industrial robot.

[0024] The footprint of the receiving container can be predetermined by the side wall extending circumferentially around the container axis. The footprint can correspond to the cross-sectional area of ​​the receiving container. Because the space required by the vehicle is at least essentially limited to the size of the footprint of the receiving container, the can device can externally largely correspond to a conventional spinning can with rollers attached to its underside (also called a "standard can"). Preferably, the can device has the dimensions of the standard can to be replaced. The can device can thus, like a standard can, move into the work areas of the textile machines, such as filling stations on a can changer or the like, and can therefore also be used to perform movements in the work areas.Adjustments to the textile machines by changing from the standard can to the self-propelled can device are therefore not necessary.

[0025] The receiving container is in contact with the transport surface of the vehicle, which is at most the same size as or preferably smaller than the footprint of the receiving container. Preferably, the vehicle carries the receiving container, which is correspondingly spaced from the stationary ground. The transport surface can be perpendicular to the vertical axis, radial to the vertical axis and / or inclined or conical. Preferably, the receiving container has a stationary support structure which is in contact with the transport surface. The support structure can be internal, i.e. within the interior space enclosed by the side wall of the receiving container, and can be set back from a lower edge of the receiving container, i.e. towards an upper filling opening of the receiving container.The support structure can comprise a stationary container base that divides the interior of the receiving container into a filling chamber that is open at the top for receiving the fiber sliver, and a technical chamber that is open at the bottom, in which the vehicle is inserted. This allows the receiving container to be placed onto the vehicle from above. A spring-loaded plate, in particular, can be arranged in the filling chamber in a manner known per se, which plate can sink towards the container base due to the weight of the fiber sliver column that grows during deposition. The underside of the container base can, in particular, be in direct contact with the transport surface in the can device. In particular, the receiving container can be supported on the transport surface via the container base. The support structure can also have one or more struts, supports, an edge, or the like, and can form a beam-, net-, or ring-shaped support surface.Particularly in the case of a transport surface aligned radially to the vertical axis, the base of the receiving container can be in contact with the transport surface and can be clamped against the transport surface by means of the fastening means, so that no additional support structure is required. However, the support structure can, for example, comprise an annular web inside the receiving container that is supported on a horizontal section of the transport surface in order to better absorb weight forces. The support structure therefore does not have to provide a dust-tight separation between the filling space and the technical space. Rather, it can be advantageous if smaller pieces of belt residue or other dirt that accumulate in the filling space can fall down through the technical space and trickle onto the ground.If the support structure comprises the container base, which can basically be formed as a disc, the container base can have at least one hole and more preferably several off-center holes. The holes in the container base or recesses in the support structure can be positioned such that the dirt falls out in the radially outer edge area of ​​the vehicle and preferably outside the functional section and in particular past the vehicle electrical system. For example, the dirt can be diverted in the pivoting area of ​​the sprung support wheel(s). In principle, however, it is also conceivable to separate the filling space from the technical space as dust-tight as possible in order to keep the vehicle as free as possible from fiber sliver residue. Instead of the stationary container base, which is usually used for round cans, the receiving container can also have a height-adjustable filling base, which is often used for rectangular cans, and the support structure.The base plate can be adapted to the cross-section of the interior of the rectangular can. If the receptacle is shaped like a "rectangular can," a device can be provided to drain the dirt falling out of the filling chamber. This device is located below the movable base and guides the dirt laterally to the outer edge area, from where it can then trickle down onto the ground.

[0026] In particular, the receiving container and the vehicle can be connected to one another by means of fastening means, wherein the fastening means comprise the vehicle-side fastening elements and the container-side fastening elements. According to a first embodiment, the fastening means can be completely covered by the receiving container. Thus, they are not accessible from the outside during operation of the self-propelled can device, as with a blind fastening, unless the can device is turned upside down. The container-side fastening elements can be arranged entirely in the technical space and can protrude into the technical space parallel to the container axis of the receiving container. The container-side fastening elements, for example bolts, threaded pins or the like, can be arranged on the underside of the support structure, in particular can be integrally formed thereon.These can be inserted into the vehicle-side fastening elements, for example through-holes, and then secured. Nuts are preferably provided which are screwed onto the container-side fastening elements in order to brace the support structure and the vehicle body, for example its base plate, against one another. Furthermore, the vehicle-side fastening elements can comprise, for example, bolts, threaded pins or the like which protrude upwards on the vehicle body, in particular on the base plate, beyond the transport surface and engage in corresponding holes in the receiving container or pass through them. In this way, a blind fastening is also provided. According to a second embodiment, which can apply in addition to or as an alternative to the first embodiment, the vehicle-side fastening means on the vehicle body can protrude radially to the vertical axis.These can be, for example, webs, bolts, threaded pins, or the like, which protrude through recesses in the side wall of the receiving container. The side wall and the transport surface can be clamped together using nuts. The same applies to the designs: when assembled, the axis of the receiving container can coincide with the vertical axis or yaw axis of the vehicle.

[0027] Preferably, the vehicle is at least substantially housed in the technical room. At least substantially, this should include, on the one hand, as described above, individual components being able to protrude laterally beyond the receiving container, and, on the other hand, the wheels protruding from the underside of the receiving container to ensure sufficient ground clearance. The vehicle can have an overall height of at least 50 millimeters and a maximum of 260 millimeters. The overall height can be determined by the distance between the wheel contact plane and a support plane spanned by the transport surface. In particular, the vehicle has no components in the support plane outside the transport surface. When assembled, the vehicle can protrude at least 10 millimeters and a maximum of 40 millimeters above the underside of the receiving container.The technical compartment can have a depth, or extension in the vertical direction, of at least 60 millimeters and a maximum of 220 millimeters. This means that the technical compartment is, on the one hand, sufficiently deep to accommodate the vehicle. On the other hand, the filling volume of the receiving container is only slightly reduced. This means that the height of the self-propelled can device can correspond to the height of a standard can, so that the can device can be used without operational adjustments to the textile machines. Alternatively, the support structure, in particular the container base, can also be flush with the underside of the receiving container, like a sleeve. This makes the receiving container more cost-effective to manufacture. Since this then has no technical compartment, a circumferential collar can be arranged on the side of the vehicle body to protect the vehicle. When installed, this collar can be flush with the side wall of the receiving container.

[0028] Advantageously, the on-board electrical system is also covered by the receptacle, although technical specifications may require individual components to be located outside the area covered by the receptacle. For example, such a component could be the radio module to improve the quality of the radio connection to a higher-level control system.

[0029] In particular, the receiving container has a top-opening filling opening for the fiber sliver. For a "round" container, the base can be circular, while for a "rectangular" container, the base can be rectangular.

[0030] Preferred embodiments are explained below with reference to the drawing figures. Herein:

[0031] Figure 1 is a front view of a can device according to a first embodiment of the present invention placed on a ground, wherein the can device is of modular construction and comprises a receiving container according to the invention and a vehicle according to the invention for transporting the receiving container over the ground;

[0032] Figure 2 is a rear view of the can device of Figure 1;

[0033] Figure 3 is a simplified sectional view of the can device of Figure 1;

[0034] Figure 4 is a sectional view of the receiving container from Figure 1;

[0035] Figure 5 is a bottom view of the receiving container from Figure 1;

[0036] Figure 6 is a plan view of the vehicle from Figure 1, with a bottom of the receiving container shown in dotted lines merely to clarify the proportions;

[0037] Figure 7 is a bottom view of the vehicle from Figure 1, with a bottom of the receiving container shown in dotted lines merely to clarify the proportions;

[0038] Figure 8 is a cross-sectional view of the vehicle of Figure 1, showing the vehicle on the ground;

[0039] Figure 9 is a schematic representation of an on-board network of the vehicle from Figure 1;

[0040] Figure 10 shows the can device from Figure 1 in a bottom view, located on a straight track section, shown in dashed lines; Figure 11 shows the can device from Figure 10, located on the straight track section just before a curved track section;

[0041] Figure 12 shows the can device from Figure 11, which is located on the curved track section;

[0042] Figure 13 shows the can device from Figure 1 in a bottom view, which is located on a straight section of the track shortly before a junction of the track, which is shown with dashed lines;

[0043] Figure 14 shows the can device from Figure 13, which is located above the node in a right-hand rotation;

[0044] Figure 15 shows the can device from Figure 14 after the 90 degree right turn above the node point;

[0045] Figure 16 is a perspective side view of an embodiment of a sprung support wheel of the vehicle according to the invention; and

[0046] Figure 17 is a sectional view of an alternative embodiment of the sprung support wheel of the vehicle according to the invention.

[0047] Figures 1 to 3 illustrate a canning device 1 according to an embodiment of the present invention. The canning device 1, which can also be referred to as a self-propelled can, is modular in design and comprises, as a first module, a receiving container 2 according to the invention for a fiber sliver and, as a second module, a self-propelled vehicle 3 according to the invention for transporting the receiving container 2 over a surface 4.

[0048] During operation, the can device 1 travels back and forth between textile machines (not shown) on the base 4 in order to transport fiber slivers from fiber sliver-delivering textile machines to fiber sliver-fed textile machines. For this purpose, the vehicle 3 can follow guide elements 5 arranged on the base 4, which define travel paths in the spinning mill. The guide elements 5 can, as shown in Figures 1 to 3, be applied to the surface of the base 4, in particular glued or embedded in the base 4. For example, slots and / or other-shaped recesses can be formed in the base 4, into which the guide elements 5 can be inserted and subsequently cast with epoxy resin or the like.

[0049] To illustrate the spatial orientation of the canning device 1, Figures 1 to 3 show a longitudinal direction X, a transverse direction Y, and a vertical direction Z, which are defined in terms of a Cartesian coordinate system assigned to the canning device 1 and indicated by corresponding arrows. The vertical direction Z can be normal to a floor plane spanned by the base 4 when the canning device 1 is standing or moving on the base 4. Terms such as "below," "below," "above," or "above" represent spatial information related to the canning device 1 positioned on the base 4.

[0050] The vehicle 3 is inserted into the receiving container 2 from below, with its wheels 6, 7, 8, 9 protruding from a bottom side 10 of the receiving container 2. To ensure sufficient ground clearance, a distance S2 of the receiving container 2 from the ground 4 is between 10 millimeters and 50 millimeters, with particularly good results being achieved with a distance S2 of approximately 20 millimeters.

[0051] The receptacle 2 is fundamentally detachable but permanently connected to the vehicle 3. This state is also referred to as the "assembled state" and is shown in Figures 1 to 3. Specifically, fastening means 11 are provided which are not accessible from the outside unless the can device 1 is turned upside down. In this respect, the fastening means 11 can also be referred to as internal fastening means which provide a blind fastening. Figures 4 and 5 show in detail the receptacle 2 according to the invention. It has a cylindrical side wall 12 which extends concentrically around a container axis A2 which runs parallel to the vertical axis Z. An inner diameter D2 of the interior enclosed by the side wall 12 is at least 350 millimeters and a maximum of 1200 millimeters and, here as an example, is 500 millimeters.Furthermore, the receiving container 2 has a support structure 13, which here is designed as a stationary container base in the shape of a circular disk, the outer diameter of which corresponds at least substantially to the inner diameter D2. The support structure 13, which is also referred to below as the container base, is arranged set back and firmly connected to the side wall 12. Set back here means that the container base 13 is offset from the container bottom 10 towards an upper side of the receiving container 2 provided with a filling opening 14. The container base 13 thus divides the interior into a filling chamber 15 which is open at the top and a technical chamber 16 which is open at the bottom. The fiber sliver can be filled into the filling chamber 15 and removed from it again via the filling opening 14 in a manner known per se.For example, a plate (not shown) known per se can be arranged in the filling chamber. This plate can be spring-loaded, for example, and can sink towards the container bottom 13 due to the weight of the fiber sliver column growing during deposition. A container opening 17 is formed on the container bottom 10. This opening can be aligned parallel to the filling opening 14 and through which the vehicle 3 can be inserted from below into the technical compartment 16. An inner diameter of the container opening 17 can correspond to the inner diameter D2 of the interior, although this diameter can also be smaller, provided that the vehicle 3 can still be inserted into the technical compartment 16.

[0052] The technical compartment 16 has an extension H16 in the vertical direction Z of, for example, at least 50 millimeters and a maximum of 260 millimeters, and, in this example, has a length of 110 millimeters. The filling compartment 15 has an extension H15 in the vertical direction Z of, for example, at least 400 millimeters and a maximum of 1500 millimeters, and, in this example, has a length of 1200 millimeters. The filling volume of the filling compartment 15 is thus approximately 339 liters.

[0053] In the assembled state, the receiving container 2 rests on the vehicle 3 with its container base 13. For fastening the receiving container 2 to the vehicle 3, the fastening means 11 comprise container-side fastening elements 11.1, which, for example, have threaded bolts 11.1 aligned parallel to the container axis A2, onto which nuts 11.3 can be screwed. The threaded bolts 11.1, four of which are shown here as an example, can be formed, in particular welded, onto an underside 18 of the container base 13 facing the technical compartment 16, as can be seen in the bottom view according to Figure 5.

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

[0055] Figures 6 to 8 show the vehicle 3 according to the invention in detail, with the circular contour of the container base 13 being shown in dashed lines in Figures 6 and 7 merely to illustrate that, in the assembled state, the vehicle 3 is substantially covered by the receiving container 2, or rather, the container base 13. It can be seen that only the electrical housing 22 and some components of an on-board electrical system 23 of the vehicle 3 arranged in or on the electrical housing 22 lie outside the covered area or protrude beyond it. Specifically, the vehicle 3 has a chassis 24 with the four road wheels 6, 7, 8, 9, a vehicle body 25 carried by the chassis 24, a transport surface 26, against which the container base 13 of the receiving container 2 can be brought into contact, and the on-board electrical system 23 arranged on the vehicle body 25.Furthermore, the vehicle body 25 has a rigid base plate 27, the upper side of which, facing away from the chassis 24, comprises the transport surface 26. The base plate 27 has a circumferential surface 56 which runs around the yaw axis A3 and is exposed radially outwards and delimits an outer edge 43 of the base plate 27. The transport surface 26 extends to the outer edge 43 of the base plate 27. The transport surface 26 lies in a support plane E26 which is parallel to the longitudinal direction X and the transverse direction Y and to which a yaw axis A3 of the vehicle 3 is perpendicular. The yaw axis A3 corresponds to the vehicle's vertical axis. It is advantageous if the yaw axis A3 runs through the center or center of gravity of the vehicle 3. The on-board electrical system 23 is arranged completely below the support plane E26.

[0056] For fastening the receiving container 2 to the vehicle 3, the fastening means 11 further comprise vehicle-side fastening elements 11.2, which interact with the container-side fastening elements 11.1 or are aligned relative to one another such that, in the assembled state, a container axis A2 of the receiving container 2 and the vehicle-fixed yaw axis A3 of the vehicle 3 coincide. The vehicle-side fastening elements 11.2 can comprise through-holes formed in the base plate 27 and in particular in the region of the transport surface 26, into which the container-side threaded bolts 11.1 can be inserted. In the assembled state, the threaded bolts 11.1 are inserted into the through-holes 11.2 and the nuts 11.3 are screwed onto the threaded bolts 11.1 from below in order to clamp the container base 13 and the base plate 27 against one another.

[0057] The on-board electrical system 23 is shown schematically in Figure 9. It has an electrical energy storage device 28, in particular a battery, permanently installed in the 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 if defective. The charging interface 29 can be arranged in the electrical housing 22 and is accessible from the outside. The electrical housing 22 is held on the vehicle body 25 and can be made of a dimensionally stable plastic. The electrical housing 22 preferably has a concavely shaped end face 30. The curvature of the end face 30 is shaped at least approximately opposite to the curvature of the side wall 12. This is advantageous when the can device 1 comes into contact with another can device 1 or a standard can, since the other can can rest against the curved end face 30.This can be the case, for example, in a can changer when the can device 1 is moved toward another can ("can against can" principle). Furthermore, an externally accessible on / off switch 31 can be arranged on the electrical housing 22 in order to manually interrupt the power supply between the energy storage device 28 and the other components of the on-board electrical system 23.

[0058] Furthermore, the on-board electrical system 23 comprises an electrically operated drive unit 32, which, here by way of example, is drive-connected to the running wheels 6, 7. The two running wheels 6, 7 are designed as rigid wheels that are aligned in the longitudinal direction X and spaced apart from one another in the transverse direction Y. They have axes of rotation 33, 34 that are fixed relative to the vehicle body 25 and lie on an imaginary straight line to which the yaw axis A3 of the chassis 3 is perpendicular. Figures 6 and 7 show that the imaginary straight line and the diagonal D2 of the container base 13, indicated by a dashed line, are parallel to one another and lie in a common plane. The imaginary straight line divides the vehicle body 25 in the longitudinal direction X into a front section 35 and a rear section 36.The two sections 35, 36 can be of equal size, so that the imaginary straight line lies in a center plane E3 spanned by the vehicle's transverse axis Y and the yaw axis A3. The vehicle body 25 can be designed symmetrically to the center plane E3. The electrical housing 22 is held on the rear section 36 and projects beyond a rear edge 37 of the vehicle body 25. The drive unit 32 comprises an electric motor 38, 39, in particular a wheel hub motor, for each rigid wheel 6, 7. The electric motors 38, 39 designed as wheel hub motors can be integrated into the rigid wheels 6, 7. The electric motors 38, 39 are arranged on housing struts 40 of the vehicle body 25 projecting from the base plate 27, so that the rigid wheels 6, 7 remain behind the support plane E26. Furthermore, the drive unit 32 has a servo converter for each electric motor 38, 39, here as an example, which are structurally combined in a double converter 41.Instead of servo converters, frequency converters or other means could also be used to achieve the specified speed of the electric motors 38, 39. The double converter 41 is connected to the two electric motors 38, 39 and the electrical energy storage unit 28. Using the double converter 41, the two electric motors 38, 39 can be operated in parallel or in opposite directions and at identical or different rotational speeds. This allows the vehicle 3 to be steered and, with opposite control, also rotated in place or around the yaw axis A3. To control the electric motors 38, 39, the double converter 41 is connected to a control unit 42 of the vehicle electrical system 23.

[0059] The control unit 42, which is a programmable logic controller with a programmable storage medium, is configured to control the vehicle 3. It is designed, here as an example, as a standalone device and housed in a control housing. The control housing is attached to the vehicle body 25, in particular to the underside of the base plate 27. To monitor the energy storage device 28, the on-board electrical system 23 can have a battery management system. For this purpose, the control unit 42 can be connected to the energy storage device 28. For communication with a higher-level control system, a textile machine, or a mobile device (smartphone, tablet, etc.), the control unit 42 can be connected to a radio module 44, which can be housed in the electrical housing 22.

[0060] Furthermore, the on-board electrical system 23 has a reading unit 45 configured to detect the guide elements 5 arranged on the ground. The reading unit 45 is preferably arranged exclusively on a functional section 46 of the vehicle body 25, which is formed in the transverse direction Y between the two rigid wheels 6, 7. The functional section 46 has a width B46, or extension in the transverse direction Y, of at least 250 millimeters and a maximum of 1200 millimeters and extends in the longitudinal direction X over the front section 35 and the rear section 36. The vehicle 3 is thus dimensioned for the transport of the receiving container 2, which is designed here as a "round can." In order to be mountable on a receiving container 2 designed as a "rectangular can," the vehicle 3 must be dimensioned accordingly smaller. The functional section 46 can then also have a width of at least 150 millimeters and a maximum of 1200 millimeters.

[0061] The reading unit 45 comprises a magnetic tape reading device 47, which is configured for the contactless detection of the path of guide elements 5 designed as magnetic tapes 5.1. The magnetic tape reading device 47, which can also be referred to as a magnetic scanner, is arranged at a front end of the vehicle body 25 in the main direction of travel (forward travel) or in the longitudinal direction X. The magnetic tape reading device 47 has a sensor housing in which several, for example eight, sensors are arranged spaced from one another in the transverse direction Y. The sensor housing can have a width, or extension in the transverse direction Y, of between 50 millimeters and 200 millimeters. The distance of the sensors from the ground, or from a wheel contact plane E24 spanned by the running wheels 6, 7, which coincides with the ground plane when traveling over the ground 4, can be between 20 millimeters and 50 millimeters.The width of the magnetic strips can be between 6 and 50 millimeters. Furthermore, the reading unit 45 has an RFID tag reader 48 configured to read information from guide elements 5 designed as RFID tags 5.2. The RFID tag reader 48 can also be referred to as an RFID reader. The RFID tag reader 48 is arranged below the base plate 27 on a frame 49 attached to the base plate 27.

[0062] 48 during operation of the vehicle 3 close to the ground 4, in particular the guide elements 5.2. The frame

[0063] 49 encompasses, here, the energy storage device 28, which is thus arranged in the vertical direction Z between the base plate 27 and the RFID tag reading device 48. Using the RFID tag reading device 48, for example, address information can be read from the RFID tags 5.2 and transmitted to the control unit 42. The RFID tags 5.2 typically have a diameter of less than 50 millimeters. To protect the vehicle electrical system 23, an underbody panel 50 is arranged on the vehicle body 25 from below, which may have a recess 51 in the area of ​​the RFID tag reading device 48.

[0064] The vehicle 3 has an overall height H3 of, here as an example, 140 millimeters. The transport surface 26 closes off the top of the vehicle 3. The overall height H3 is thus determined by the distance of the transport surface 26 from the ground 4 or from the wheel contact plane E24. The vehicle 3 thus has such a compact design that, in the assembled state, it at least essentially disappears beneath the receiving container 2, or rather its container base 13. Only individual components, in particular from the on-board electrical system 23, can protrude laterally beyond the container base 13, as this is technically necessary. These can be, for example, the charging interface 29, the on / off switch 31 and the radio 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 thus completely covered.Furthermore, the receiving container 2 or its container base 13, as can be seen in Figures 1 to 8, can also completely cover the base plate 27 and the fastening elements 11 and at least substantially cover the on-board electrical system 23. In particular, the control unit 42 and the reading unit 45 can be covered by the on-board electrical system 23.

[0065] In Figure 7, among other things, it can be seen that the running wheels 8, 9 are also arranged off-center in the transverse direction Y between the two rigid wheels 6, 7 and with respect to the vehicle's longitudinal axis L and are supported on the vehicle body 25. The running wheels 8, 9 therefore roll over the ground 4 outside the track of the rigid wheels 6, 7. Their transverse distance from the vehicle's longitudinal axis L is, here as an example, approximately 90 millimeters in each case, so that the two running wheels 8, 9 are spaced apart by approximately 180 millimeters in the transverse direction Y. The functional section 46 is formed between the running wheels 8, 9 and is thus free of the running wheels 6, 7, 8, 9 in order to protect the guide elements 5 during operation of the can device 1. In principle, however, it is also possible for the running wheels 8, 9 to be arranged centrally, i.e. on the vehicle's longitudinal axis L.

[0066] The running wheels 8, 9 are designed as support wheels, each of which is pivotably mounted on the vehicle body 25 about its own pivot axis A8, A9, which is aligned parallel to the vertical axis Z. The support wheels 8, 9 can pivot freely about the pivot axes A8, A9, so that they can pivot by 360 degrees and more. The support wheel 8, which can also be referred to as the leading support wheel, is supported on the front section 35 and the support wheel 9, which can also be referred to as the trailing support wheel, is supported on the rear section 36. The leading support wheel 8 is unsprung and the trailing support wheel 9 is sprung and supported on the vehicle body 25. The suspension of the sprung support wheel 9 thus provides a suspension on or support against the vehicle body 25 that is movable parallel to the vehicle vertical axis.To improve the stability of the vehicle 3, the support wheels 8, 9 can be arranged as far outwards as possible on the vehicle body 25 and can lie on an imaginary circular line, as shown in Figure 3 with the dotted line 57 purely as an example. In principle, however, it is also possible for the support wheels 8, 9 to be arranged at different distances from the center plane E3, in which the two axes of rotation 33, 34 lie. It is advantageous if the center of gravity of the vehicle 3 is in the center plane E3, in which the vehicle's transverse axis Q also runs, or at least as close as possible to the yaw axis A3. This improves the stability of the can device 1 when turning on the spot. To further improve stability, two additional support wheels (not shown) can be provided. For example, a second unsprung support wheel can be arranged on the front section 35 and a second sprung support wheel on the rear section 36.The two additional support wheels can be arranged on the imaginary circular line and as an extension of the respective support wheel 8, 9. Figure 16 shows the sprung support wheel 9, which, like the unsprung support wheel 8, has a roller 64 that is rotatably mounted about a rotation axis 68 oriented perpendicular to the pivot axis A9. The roller 64 of the sprung support wheel 9 is supported on the vehicle body 25 via a spring arrangement 65. Thus, the spring arrangement 65 enables the roller 64 to be suspended or supported on or against the vehicle body 25 in a manner that is movable parallel to the vehicle's vertical axis. Between the vehicle body 25 and the spring arrangement 65, a bearing 67, which can be a thrust bearing, for example, and a holding plate 66 are arranged, with which the support wheel 9 is fastened, for example screwed, to the vehicle body 25.By means of the bearing 67, the support wheel 9, in particular the roller 64 supported on the vehicle body 25 via the spring arrangement 65, can be freely pivoted about the pivot axis A9.

[0067] Figure 17 shows a longitudinal section of an alternative embodiment of the sprung support wheel 9 to Figure 16. The spring arrangement 70 has a spring damping element 71 with a coil spring 72 and a piston 73. Thus, the spring arrangement 70 also enables the support roller 64 to be suspended or supported on or against the vehicle body 25 in a manner parallel to the vehicle's vertical axis. The support roller 64 of the support wheel 9, which can pivot freely about the pivot axis A9, is mounted for rotation about the rotation axis 68 oriented perpendicular to the pivot axis A9.

[0068] Figures 10 to 15 show various situations that can arise during operation of the canning device 1 or the vehicle 3 when driving over the ground 4 along the guide elements 5. To better illustrate the driving behavior of the vehicle 3, the underside of the vehicle 3 is shown viewed from below through the ground 4, which is shown transparently for the sake of clarity. The guide elements 5 arranged on the ground 4 are shown with dashed lines.

[0069] When traveling in the main direction of travel (forward travel), indicated by arrow F in Figure 10, the vehicle 3 follows the magnetic tape strip 5.1. To this end, the control unit 42 controls the electric motors 38, 39 based on the signals received from the magnetic tape reading device 47, located at the front in the main direction of travel F, in order to keep the magnetic tape strip 5.1 centered between the two rigid wheels 6, 7. When traveling straight ahead, the two electric motors 38, 39 are operated in synchronization and at the same speed. The support wheels 8, 9 are also aligned in the main direction of travel F.

[0070] In Figure 11, vehicle 3 approaches a right-hand bend defined by magnetic tape 5.1, while still traveling straight ahead. As soon as magnetic tape 5.1 moves out of the center of the sensor field of magnetic tape reading device 47 (center deviation), the sensor occupancy pattern changes. Figure 12 shows that magnetic tape 5.1 now moves into the detection range of the sensors of magnetic tape reading device 47 arranged toward the inside of the bend. Based on the sensor occupancy pattern changing during travel, control unit 41 can determine how much adjustment is required to keep vehicle 3 as centered as possible over the magnetic tape. This is achieved by adjusting the speeds of electric motors 38, 39 relative to one another. The further magnetic tape 5.1 moves out of center, the greater the speed difference must be. The freely pivoting support wheels 8, 9 follow the direction of travel.The steering of the vehicle 3 is therefore only carried out by changing the speed of the electric motors 38, 39.

[0071] In Figure 13, vehicle 3 approaches a junction 55 where, as an example, four paths meet, defined by four magnetic strips 5.1 a, b, c, d. An RFID tag 5.2 is located in the center of junction 55, spaced apart from the magnetic strips 5.1. Address information that makes junction 55 uniquely identifiable is stored in the RFID tag 5.2. Vehicle 3 will continue to travel straight ahead 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 steering movements due to the distance of the magnetic tape strip 5.1 a from the RFID tag 5.2, a delay can be stored in the control unit 42 which is sufficiently long (e.g. 1-2 seconds) so that the vehicle 3 continues to drive straight ahead until the RFID tag reading device 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. Likewise, the control unit 42 can also communicate with a higher-level control system and receive current driving instructions so that the vehicle 3 can be controlled as needed.

[0072] In the situation shown in Figure 14, the control unit 42 has specified a left turn to turn at intersection 55. The control unit 42 turns the vehicle 3 at intersection 55 by controlling the electric motors 38, 39 in opposite directions. The left electric motor 38 rotates the left rigid wheel 6 backward, and the right electric motor 39 rotates the right rigid wheel 7 forward. The vehicle 3 rotates in place about its yaw axis A3 and thus remains above the center of intersection 55. The RFID tag reader 48 keeps the RFID tag 5.2 within its detection range, or rather, below it, throughout the entire turning process. After completing the 90-degree turn, the vehicle 3 follows the magnetic tape strip 5.1d in the main direction of travel F until another RFID tag arrives. Instead of the 90 degree rotation shown here, any other angle of rotation is possible.At the end of a route there may be a textile machine, a loading point, a can magazine or the like, which can be identified by RFID tags.

[0073] The above-described layout of the magnetic tape strips 5.1 a...5.1 d, which are spaced apart from each other at junction 55, has the advantage that the paths defined by the guide elements 5 can be traveled in both directions. If this is not desired, for example, because a defined direction of travel is to be specified to avoid collisions, as in a one-way street, a continuous magnetic tape strip can also be provided at junction 55, extending uninterruptedly over, for example, the magnetic tape strips 5.1 a and 5.1 c. The RFID tag 5.2 can then be applied to the magnetic tape strips 5.1 a, 5.1 c.

[0074] When the vehicle 3 or the can device 15 climbs a ramp (not shown), the suspension of the trailing, sprung support wheel 9 can compress. This allows the driven rigid wheels 6, 7 to maintain contact with the ground, allowing the vehicle to travel independently even on inclined surfaces.

[0075] Reference symbol

[0076] 1 can device 44 radio module

[0077] 2 receiving containers 45 reading unit

[0078] 3 Vehicle 46 Functional Section

[0079] 4 Substrate 47 Magnetic tape reader

[0080] 5 Guide element 48 RFID tag reader

[0081] 6 Wheel or rigid wheel 49 Frame

[0082] 7 Impeller or rigid wheel 50 Underbody paneling

[0083] 8 Running wheel or support wheel 51 Recess

[0084] 9 Running wheel or support wheel 52 Safety device

[0085] 10 Container bottom 53 Touch sensor

[0086] 11 Fasteners 54 Safety relays

[0087] 12 side wall 55 junction point

[0088] 13 Support structure 56 Circumferential surface

[0089] 14 Filling opening 57 Circular line

[0090] 15 Filling chamber 64 Roller

[0091] 16 Technical room 65 Spring arrangement

[0092] 17 Container opening 66 Holding plate

[0093] 18 Bottom surface 67 Bearing

[0094] 19 bumper 68 rotation axis

[0095] 20 ring end 69 double torsion spring

[0096] 21 Wall opening 70 Spring arrangement

[0097] 22 Electrical housing 71 Spring damping element

[0098] 23 Electrical system 72 Coil spring

[0099] 24 chassis 73 pistons

[0100] 25 vehicle bodies

[0101] 26 Transport area

[0102] 27 Base plate

[0103] 28 energy storage units

[0104] 29 Charging interface

[0105] 30 front side

[0106] 31 On / Off switch

[0107] 32 Drive unit A axle

[0108] 33 Rotation axis B Extension in transverse direction or width

[0109] 34 Rotation axis D Diameter or diagonal

[0110] 35 Front section E level

[0111] 36 Rear section F Main direction of travel

[0112] 37 Trailing edge H Extension in vertical direction or height

[0113] 38 Electric motor L Vehicle longitudinal axis

[0114] 39 Electric motor S distance

[0115] 40 Housing strut Q Vehicle transverse axle

[0116] 41 Double converter X longitudinal direction

[0117] 42 Control unit Y transverse direction

[0118] 43 Outer edge Z vertical direction

Claims

Patent claims 1. Self-propelled vehicle (3) for transporting a receiving container (2) for a fiber ribbon between fiber ribbon supplying and fiber ribbon-fed textile machines over a surface (4), wherein the vehicle (3) comprises a chassis (24) with several running wheels, a vehicle body (25) supported by the chassis (24) with a transport surface (26) for the receiving container (2), fastening elements (11.2) for attaching the receiving container (2; 202) to the vehicle body (25) and a vehicle electrical system (23) arranged on the vehicle body (25) with an electrical energy storage device (28), an electric drive unit (32) and a control unit (42), wherein the running wheels have two rigid wheels (6, 7) aligned in a longitudinal direction (L) of the vehicle with pivot axes (33, 34) fixed relative to the vehicle body (25), characterized in that the running wheels comprise at least one sprung support wheel (9) which is supported on the vehicle body (25) by a spring arrangement (65; 70) and is designed to pivot freely about a pivot axis (A9).

2. Self-driving vehicle (3) according to claim 1 , characterized in that an imaginary straight line connecting the axes of rotation (33, 34) of the rigid wheels (6, 7) divides the vehicle body (25) in the longitudinal direction (L) of the vehicle into a front section (35) and a rear section (36).

3. Self-driving vehicle (3) according to claim 2, characterized in that a yaw axis (A3) of the vehicle (3) intersects the imaginary straight line perpendicularly.

4. Self-propelled vehicle (3) according to claim 2 or 3, characterized in that the at least one sprung support wheel (9) is supported against the rear section (36) of the vehicle body (25).

5. Self-propelled vehicle (3) according to one of claims 2 to 4, characterized in that the running wheels comprise at least one further support wheel (8) which is designed to pivot freely about a further pivot axis (A8), wherein the at least one further support wheel (8) is supported against the front section (35).

6. Self-propelled vehicle (3) according to claim 5, characterized in that the at least one further support wheel (8) is supported without springs against the front section (35).

7. Self-propelled vehicle (3) according to claim 5, characterized in that the at least one further support wheel (8) is supported against the front section (35) by means of a further spring arrangement.

8. Self-propelled vehicle (3) according to one of claims 5 to 7, characterized in that the at least one sprung support wheel (9) and the at least one further support wheel (8) are spaced apart from each other in the transverse direction (Q) of the vehicle, wherein a wheel-free functional section (46) is formed between the at least one sprung support wheel (9) and the at least one further support wheel (8), which extends in the longitudinal direction (L) of the vehicle.

9. Self-driving vehicle (3) according to claim 8, characterized in that a reading unit (45) for detecting guide elements (5) arranged on the surface (4) is arranged on the functional section (46) of the vehicle body (25).

10. Self-driving vehicle (3) according to one of claims 1 to 9, characterized in that the drive unit (32) is connected to the two rigid wheels (6, 7) and has an electric motor (38, 39), in particular a wheel hub motor, for each rigid wheel (6, 7). A self-driving vehicle (3) according to any one of claims 1 to 10, characterized in that the vehicle (3) is dimensioned such that, in an assembled state in which the receiving container (2) is in contact with and attached to the transport surface (26) on the vehicle body (25), the receiving container (2) completely covers the chassis (24), the electric drive unit (32), and the electric energy storage device (28). A self-driving vehicle (3) according to any one of claims 1 to 11, characterized in that the transport surface (26) defines a support plane (E26), wherein the vehicle (3) has no components that project beyond the support plane (E26) outside the transport surface (26).Can device (1) with a receiving container (2) for a fiber ribbon and a self-propelled vehicle (3) for transporting the receiving container (2) between fiber ribbon supplying and fiber ribbon-fed textile machines over a surface (4), characterized in that the self-propelled vehicle is designed according to one of claims 1 to 12, wherein the receiving container (2) is in contact with the transport surface (26) of the vehicle (3) and is attached to the vehicle body (25). Can device according to claim 13, characterized in that the receiving container (2) has a recessed support structure (13) which is in contact with the transport surface (26), wherein the support structure (13) divides an interior of the receiving container (2) into an upwardly open filling chamber (15) for receiving the fiber ribbon and into a downwardly open technical chamber (16) in which the vehicle (3) is inserted.Can device according to claim 13 or 14, characterized in that the receiving container (2) completely covers the chassis (24), the electric drive unit (32) and the electric energy storage device (28).

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