Transport vehicle for a textile factory

Abstract

The invention relates to an autonomous transport vehicle (1) for a textile factory, comprising a mobile unit (20) that moves autonomously to a defined destination within the factory, and a transport unit (30) arranged on the mobile unit (20) and designed to transport a unit of textile material that can be loaded and unloaded by means of a loading and unloading device (60), which forms part of the transport vehicle (1). The unit to be transported consists of a reel storage unit (40) fixed to the upper transport surface (32) and comprises several storage positions (42) for storing a sleeve body (2), loaded or not with a reel, and / or a sleeve handling unit fixed to the support unit for autonomously handling the sleeve body (2).

Description

[0001] The present invention relates to a transport vehicle for a textile factory and a system for treating textile material in a textile factory comprising such a transport vehicle.

[0002] The transport vehicle can, in the usual manner, comprise a drive unit designed to travel autonomously, i.e., driverless, to a defined destination within a textile factory. The transport vehicle also includes a support unit, which is fixedly coupled to the drive unit. This support unit is designed to carry a unit to be transported, which can be loaded and unloaded with textile material. For this purpose, the transport vehicle includes a loading and unloading device with a loading and unloading arm comprising a conveyor unit for loading and unloading the unit to be transported with the textile material.

[0003] Such a transport vehicle is known, for example, from document CN 110641576 A.

[0004] The transport vehicle is designed to transport wound and unwound cartridge cases autonomously. It features a platform for receiving wound cartridge cases or a pallet comprising multiple layers of stacked coil plates, each holding a plurality of wound cartridge cases. The transport vehicle also includes a storage compartment below the platform for unwound cartridge cases. However, loading and unloading the wound cartridge cases requires time-consuming intermediate steps to uncover layers of further wound cartridge cases covered by coil plates. Furthermore, the transport vehicle must be designed with a large surface area to transport a large number of cartridge cases horizontally. Additionally, when removing unsorted unwound cartridge cases from the storage compartment, the conveyor unit may require time-consuming attempts to reliably pick up the cartridge case.The previously known transport vehicle therefore proves to be in need of optimization in the handling of textile materials such as shell bodies within the textile factory.

[0005] A transport vehicle according to the preamble of claim 1 is known from document CN 110 485 006 A and from document US 2018 / 011491 A1.

[0006] The present invention is intended, in particular, to provide a transport vehicle for a textile factory, by means of which the treatment of textile materials can be improved. Specifically, the invention aims to provide a transport vehicle capable of transporting a large number of sleeve bodies and / or performing a defined treatment on these sleeve bodies. Ultimately, the present invention is intended, in particular, to provide an alternative transport vehicle.

[0007] The invention solves these problems by means of a transport vehicle with the features of claim 1.

[0008] The transport vehicle according to the present invention comprises, in any case, a conventional driving unit designed to drive autonomously within the textile factory to a defined or predetermined destination. The design of such a driving unit is sufficiently known from the prior art.

[0009] The transport vehicle according to the invention further comprises a support unit, which is arranged on the drive unit to enable it to be moved through the textile factory. The support unit comprises an upper support surface facing away from the drive unit for carrying a unit to be transported, which can be loaded and unloaded with textile material. Preferably, the support unit is detachably arranged on the drive unit. In the context of the present invention, "detachable" means a non-destructive, repeatable decoupling of the support unit from the drive unit and coupling of the support unit to the drive unit. In particular, the drive unit and the support unit are designed to be modularly connectable to one another, so that the drive unit or the support unit is interchangeable. Alternatively, the drive unit and the support unit can form a single, inseparable structural unit.However, such a structural unit offers the advantage that a common interior space, limited by the driving unit and the support unit, can be provided, which offers a sufficiently large space for the arrangement and design, in particular of the electronic and electrical components of the driving unit and, more preferably, of the support unit.

[0010] Furthermore, a loading and unloading device comprising a loading and unloading arm and a conveying unit for loading and unloading the unit to be transported with the textile material is provided. The loading and unloading device can preferably be detachably and thus replaceable, or permanently attached to the support unit, more preferably on the upper support surface, and / or fixed to the unit to be transported. The loading and unloading device is a conventional robot gripper with a robot arm comprising a gripper unit designed as a conveying unit, wherein the robot arm has at least two arm sections articulated to one another, and wherein the gripper unit is arranged at a free end of one of the arm sections.The gripper unit may preferably consist of at least two interconnected gripping jaws, a gripper rod with clamping means, a robot hand, a gripper unit capable of applying negative pressure for suction gripping of the textile material, or similar.

[0011] Preferably, the loading and unloading device is a collaborative robot, also known as a cobot, with a robot arm and a robot hand, particularly configured as a conveying unit, and more preferably as a gripping unit. Such a cobot has the advantage that it can interact with an operator in the textile factory in a shared environment without cages or protective devices, without the need for the usual safety precautions, and can assist the operator with complex tasks that cannot be fully automated. Furthermore, these cobots are equipped with sensors that shut down the cobot if it comes into contact with defined obstacles. This reliably prevents injuries to the operator.

[0012] The robot arm can preferably be assembled in a modular, articulated manner. This allows the robot arm to be extended or shortened as needed by at least one additional arm section to adjust its reach accordingly. The modular, articulated assembly can, for example, be achieved via ball-joint couplings, which may, more preferably, include sliding contacts for transmitting information and / or power. At least one arm section can also preferably include a retractable subsection, thus simplifying reach adjustment. In a further preferred embodiment, the conveyor unit can be interchangeably connected to the loading and unloading arm.

[0013] According to a preferred embodiment, the transport vehicle, in particular the loading and unloading device, comprises at least one image processing system by means of which a defined area surrounding the transport vehicle and / or a defined working area of ​​the loading and unloading device can be optically monitored, and more preferably, the monitoring and recording can be stored. The image processing system is particularly preferably arranged on the transport vehicle or on the loading and unloading device such that the working area, i.e., a handling area of ​​the loading and unloading device, in particular of the gripping unit, can be monitored and recorded. Preferably, the image processing system is arranged near or on the gripping unit, but outside of it. Furthermore, the image acquisition unit can preferably be arranged on an arm section supporting the gripping unit or on a joint connecting this arm section and the gripping unit.Essential to the arrangement of the image processing system is the ability to monitor the working area of ​​the gripper unit. The image processing system is preferably arranged such that an image acquisition center axis of the image processing system is incongruent with a holding axis of the gripper unit. A holding axis of the gripper unit is understood to be the axis that runs between the gripping elements of the gripper unit and towards which the gripping elements move in order to grasp an object. In an object-free gripping state of the gripper unit, the gripping elements touch each other, depending on their number and arrangement, at or near the holding axis.

[0014] Preferably, the image processing system is communicatively connected to an operating control unit of the loading and unloading device, wherein the operating control unit is designed to autonomously control the loading and unloading device based on information from the image processing system. Preferably, a knowledge memory can be provided which is communicatively connected to the operating control unit in such a way that the operating control unit compares information from the image processing system with information stored in the knowledge memory and, based on this comparison, controls the loading and unloading device in a defined manner. This is particularly advantageous for unsorted textile materials such as spools and tubes, which must be handled in a defined manner by the loading and unloading device.

[0015] Furthermore, the image processing system is preferably designed, either alone or in combination with the operating control unit, to interact with markings positioned within the working area of ​​the loading and unloading device. This allows the loading and unloading device to be controlled for precisely executed handling operations within the marking area defined by the markings. Incorrect movements can thus be largely avoided, thereby increasing productivity.

[0016] According to the invention, the loading and unloading device has a linear guide for the loading and unloading arm, along which the loading and unloading arm can be moved linearly. This allows the reach of the loading and unloading device to be adjusted as needed. Such a linear guide is advantageous in conjunction with an elongated unit to be transported. The linear guide extends obliquely to the platform. In particular, the linear guide extends vertically to the platform, allowing a transported unit extending primarily in a vertical direction to be arranged on the platform. This minimizes the horizontal dimensions of the transport vehicle in terms of its width and depth, enabling it to move through narrow passages, for example, between two adjacent textile machines.Preferably, the linear guide can be a straight guide, a curved guide, or a combination of both. Such a linear guide further facilitates the use of a shorter loading and unloading arm and generally reduces the weight of the transport vehicle.

[0017] The transport vehicle according to the invention is characterized in that the unit to be transported is designed by a coil storage unit fixed on the upper support surface, in particular in a way that allows for non-destructive removal, with a plurality of storage locations, each for storing a wound or unwound spool body. The storage location can preferably be formed by a receiving compartment into which at least one spool body can be inserted, and / or a receiving mandrel onto which at least one spool body can be attached, in particular by clamping, clipping, or mounting. Preferably, the receiving compartment and / or the receiving mandrel extends at an angle through a horizontal plane intersecting the storage location, wherein at least one opening section of the receiving compartment or the receiving tip of the receiving mandrel is arranged above an upper surface of the horizontal plane facing away from the support unit. This allows the spool body to be inserted via the receiving opening or...The receiving tip ensures the cartridge body is reliably stored in the storage location without risk of falling out during transport. Furthermore, holding devices such as clamps are unnecessary, as the cartridge body is held in the receiving compartment or on the receiving mandrel solely by its own gravity. In this context, a mandrel is defined as any element or means that can engage with the cartridge body and onto which the cartridge body can be attached or placed. For example, the mandrel can be a pin, a ridge, or a similar protruding element that engages in a receiving opening in the cartridge body.

[0018] Preferably, the coil storage unit and the loading and unloading device are arranged and designed such that the conveying unit can directly access each sleeve body stored in a storage location of the coil storage unit. This reliably ensures that each sleeve body is accessible to the conveying unit without the need to remove another sleeve body. This increases the degree of freedom in loading and unloading the transport vehicle with regard to selected sleeve bodies, such as sleeve bodies from different batches, with different treatments, or with different sleeve body designs.

[0019] According to a preferred embodiment, at least one storage location of the plurality of storage locations is configured to store at least two sleeve bodies in series along the sleeve body length. The number of sleeve bodies to be stored can be increased in an improved manner while reducing the required installation space.

[0020] In a preferred embodiment, the coil storage device is configured with at least two storage segment units, each having at least one storage location. The at least two storage segment units and the loading and unloading device are configured to rotate relative to each other. For example, the storage segment units and / or the loading and unloading device can be rotatable. In the preferred embodiment of the rotatable storage segment units, the rotational movement can be space-saving and occur in place about a common central axis of rotation of the storage segment units. In contrast, the rotational movement of the loading and unloading device can be guided at least partially or completely rotatably around the storage segment units in order to access all storage locations of the at least two storage segment units.Preferably, the coil storage unit can be rotatable, and the storage segment units can be arranged and attached to the coil storage unit either in a fixed position or alternatively in a movable manner. The rotational mobility of the coil storage unit, the storage segment units, and / or the loading and unloading device can preferably be implemented actively or passively. With active rotational mobility, a motor is provided which directly effects the rotation. With passive rotational mobility, the rotation is initiated by an external angular impulse applied to the coil storage unit, the storage segment unit, or the loading and unloading device. For example, the coil storage unit or the storage segment unit can be equipped with a locking device that releasably locks it in predetermined positions, with the locking mechanism being releasable by the angular impulse.The angular momentum can preferably be initiated by the loading and unloading device, which applies the angular momentum to a predetermined surface, line, or point. The relative rotational mobility facilitates space-saving storage of sleeve bodies in a horizontal direction, as adjustments can easily be made in a vertical direction.

[0021] Preferably, the at least two storage segment units are formed by a frame structure projecting vertically from the upper wing surface. This frame structure has several storage locations arranged horizontally and / or vertically on at least two of its vertical sides perpendicular to the upper wing surface. The frame structure is rotatably arranged and configured on the upper wing surface relative to the loading and unloading device. For example, the frame structure can be configured as an approximately rectangular frame with a plurality of storage locations on its two opposite sides. Alternatively, the frame structure can preferably be configured as a cuboid frame with storage locations, particularly those located internally, which can be loaded and unloaded in a defined manner from an associated side surface of the cuboid frame structure.In the preferred embodiment, the frame structure with internal storage locations can, for example, enclose storage locations which are defined and assigned to mutually opposite and / or adjacent side surfaces of the cuboid frame structure, in order to be operated or loaded and unloaded by the loading and unloading device via these corresponding side surfaces.

[0022] Preferably, the frame structure can be mounted on a disc-shaped rotating device, which is arranged on the upper support surface or integrated into the support unit and designed to rotate the frame structure around a central axis of rotation of the disc-shaped rotating device, in particular one extending vertically through the center of the disc. More preferably, the rotating device can be designed to be linearly movable in the horizontal and / or vertical direction on the upper support surface.

[0023] Alternatively or additionally, according to a preferred embodiment, the support unit can be arranged to be linearly movable on the transport vehicle in the horizontal and / or vertical direction. Even though the mobility is naturally limited by the dimensions of the transport vehicle, this mobility facilitates reliable handling, such as the loading and unloading of all storage locations or sleeve bodies of the coil storage system, and allows for a high degree of flexibility and variability in the design of both the coil storage system and the loading and unloading device.

[0024] According to a preferred embodiment, the coil storage system is designed as a storage paternoster, wherein the at least two storage segment units each constitute a shelf of the storage paternoster that is movable around its circumference at a distance from the support surface. For the purposes of the present invention, a shelf is understood to be any support suitable for carrying at least one storage position for receiving an unwound or wound coil body. For example, the shelf can be designed as a type of crossbar or as a board. The storage paternoster is characterized by the fact that it constitutes a compact circulating storage system.

[0025] Preferably, the coil storage unit has a large number of shelves to store a sufficient quantity of coil bodies. The number of storage segment units or shelves, as well as the number of storage locations per shelf, depend on the dimensions of the coil storage unit and can be configured according to the unit's design. It has proven advantageous to have a maximum of four, and preferably only two, storage locations per shelf to minimize the horizontal dimensions of the coil storage unit while maintaining a sufficient storage capacity. The design as a storage carousel advantageously allows for efficient use of available ceiling height with a relatively small footprint.

[0026] The storage paternoster is preferably designed to be accessible for loading and unloading from at least one defined side, while selected other sides may preferably be covered by a wall. This allows the shell bodies to be better protected from external influences and falling after loading into the corresponding storage location.

[0027] According to a preferred embodiment, the coil storage unit, in particular the storage carousel, is designed as a housing which has storage compartments enclosed within the housing walls. The housing has at least one opening, preferably closable, on one of the housing walls, through which the loading and unloading device can load and unload the coil storage unit. A further preferred feature is an opening leading into the interior of the housing to generate a defined overpressure or suction flow. This opening is coupled or can be coupled to a source, particularly a blower, for generating the overpressure or suction flow. This allows a defined overpressure to be introduced into the housing to prevent fiber flyoff and similar airborne dirt particles from entering the storage space of the coil storage unit formed by the interior of the housing.When a suction flow is applied, fiber remnants and similar dirt particles that have entered the storage chamber can be removed. To prevent further fiber remnants or dirt particles from entering the storage chamber through the opening during suction, the opening can preferably be sealed with an air-permeable filter that removes the fiber remnants or dirt particles from the ambient air drawn into the housing. The filter can preferably be connected to a cleaning nozzle, which is arranged and designed, particularly on the spool storage unit, to blow compressed air onto the filter surface to remove the accumulated fiber remnants and dirt particles and prevent clogging. The filter can preferably be blown on demand at predetermined times or at intervals.

[0028] According to a preferred embodiment, the storage locations can be arranged in any desired configuration. For example, any selection of adjacent storage locations can be arranged in a straight line next to each other or offset from each other in the horizontal and / or vertical direction of the coil storage unit. The straight-line arrangement facilitates simpler and therefore more reliable loading and unloading of the coil storage unit or the individual storage locations. The offset arrangement is preferred when a more compact design of the coil storage unit is desired. For instance, an offset arrangement can be configured such that four adjacent storage locations form a parallelogram or a rhombus in a top view, or are arranged at the corresponding vertices of such a shape.Preferably, the storage locations can be arranged in the coil memory such that a storage location of one row is centered on a projection line between two immediately adjacent storage locations of a parallel row. In a top view of these three storage locations, such an arrangement forms an isosceles triangle. In other words, the three storage locations are arranged at the vertices of an isosceles triangle.

[0029] Preferably, an array of storage locations can be arranged offset from an adjacent parallel array of storage locations along an orthogonal line extending to a top-view plane of both arrays. More preferably, at least the array located lower in the top view, or both arrays, can be designed to be movable back and forth along the orthogonal line. This allows, in particular, an array of storage locations to be loaded or unloaded to be brought into the foreground, visible to an operator or easily detectable by sensors, in order to support more reliable loading and unloading and to make this process easily visualized or detectable by the operator. Such sensors can be located, for example, on the spool storage, the loading and unloading device, or on a device external to the transport vehicle, such as a textile machine or a magazine.Bearings for sleeve bodies are arranged. The sensor system can be coupled with a control unit and / or evaluation unit, as described in more detail below.

[0030] According to a further aspect of the present invention, the unit to be transported can, in addition to being configured as a spool storage unit, be equipped with a sleeve treatment unit, preferably fixed to the upper support surface and preferably detachable without damage, for the autonomous treatment of the sleeve body, in particular the unwound sleeve body, the wound sleeve body, and / or a thread wound onto the wound sleeve body. For the purposes of the present invention, "autonomous" is understood to mean an activity that is performed by a device, apparatus, or unit of the transport vehicle without operator intervention. A sleeve treatment unit is understood to be a unit which (i) treats the wound cartridge body in such a way that at least one characteristic attributable to the wound cartridge body, such as the thread property, including but not limited to thread structure, thread strength, hairiness, elongation, twisting, moisture content or similar characteristics, the thread dimension, including in particular the thread cross-section or diameter, the wound thread length, the cross-section of the wound cartridge body, or the diameter of the wound cartridge body, or (ii) otherwise, such as by winding or...

[0031] The introduction of a label, a readable, especially electronically storable, code, a coating or similar is defined and influenced.

[0032] This allows defined core or yarn treatment to be shifted from a textile machine to the transport vehicle, thereby improving the productivity of the textile machine. For example, otherwise unused transport time can be effectively utilized for the defined treatment of the core or yarn.

[0033] Preferably, the core handling unit comprises a thread catching unit for capturing a thread end from the spool surface of a wound core, particularly one held in the storage location. The thread catching unit can be designed in the usual manner, as known, for example, from spinning and winding machines. More preferably, the storage location can be configured for unidirectional or bidirectional rotation of the core about its longitudinal axis. For example, the storage location can have a single drive for rotating the core in only one direction or reversibly about its longitudinal axis. This can improve the thread catching process. The thread end can be the beginning or the end of the thread wound onto the core. The beginning of the thread is the thread end that is applied to the core before the actual winding process.The end of the thread is the other end of the thread, which is laid on the core body after the winding process is complete. The thread catching unit on the transport vehicle enables the transfer of the components for processing a thread wound onto the core body from the textile machine to the transport vehicle.

[0034] Preferably, the core handling unit includes a thread cutting unit for severing a thread segment unwound from the core body or captured by a thread catching unit, in particular the thread catching unit of the textile machine and / or the transport vehicle. The thread cutting unit can be a conventional cutting device or a laser device for severing a thread. This provides a clean thread end for subsequent processes.

[0035] According to a further preferred embodiment, the thread catching unit is designed to be movable relative to the storage location and the thread cutting unit, which is particularly stationary, for cutting the thread stretched between the spooled spool body and the thread catching unit during the relative movement. This allows for a structurally simple design of the thread cutting unit, for example, by means of a simple cutting blade, which is arranged stationary such that a thread segment of the thread caught by the thread catching unit is moved towards the cutting blade during the relative movement and can be guided over the cutting blade. Alternatively or additionally, the thread cutting unit can be designed to be movable in order to cut the caught thread at a defined location.

[0036] Preferably, the sleeve treatment unit can have a clamping device by means of which a thread caught by the thread catching unit can be clamped. The clamping device is further preferably arranged near the opening of the thread catching unit, and in particular, is movable with it. This allows for a reliable thread cutting process.

[0037] The core handling unit, comprising the thread catching unit and the thread cutting unit, and preferably the clamping device, preferably forms a thread locating and cutting unit. This unit enables a defined cutting length of a thread wound onto a core body, independent of the textile machine. This cutting length can be advantageous for subsequent processing of the wound thread. The thread locating and cutting unit has proven particularly efficient in combination with the rotational mobility of the core body in the storage location, as described above, which allows for reliable detection and capture of the thread end.

[0038] According to a further preferred embodiment, the transport vehicle has a weighing unit by means of which at least the weight of the coil storage unit or the weight of at least one core to be loaded or unloaded can be recorded for evaluation and / or display. The weighing unit can preferably be integrated into the drive or support unit or arranged on the support surface between the support unit and the coil storage unit. Alternatively or additionally, the loading and unloading device can include a weighing unit, wherein the weight of a core to be conveyed by the conveyor unit can be recorded by the weighing unit. The weight of a core, particularly one that has been wound, can thus be recorded simply and reliably and displayed and / or evaluated, especially with regard to the productivity of a workstation, a section, and / or the textile machine.

[0039] According to a preferred embodiment, the transport vehicle comprises one or more operating control units for controlling at least one of the controllable units of the transport vehicle, such as, in particular, the drive unit, the unit to be transported, the loading and unloading device, and the other units described above, as well as the drive system. Alternatively or additionally, at least one of the operating control units can be an external operating control unit with which the unit to be controlled can be wirelessly coupled. Such an external operating control unit proves particularly advantageous with regard to a central control system for controlling several identical controllable units and / or transport vehicles. Furthermore, it preferably allows an operator or a higher-level control system to manually intervene in an operating process of a controllable unit.

[0040] According to a preferred embodiment, the transport vehicle comprises at least one operating control unit for controlling the drive unit and one operating control unit for controlling the loading and unloading equipment, wherein these two operating control units are preferably interconnected. The arrangement of the operating control units for the drive unit and for the loading and unloading equipment on the transport vehicle can be adapted to specific requirements and facilitates the fully autonomous functionality of the transport vehicle. For example, the transport vehicle can autonomously drive to defined positions within the textile factory via the operating control unit for the drive unit, whereby the defined position can be specified externally.After reaching the defined position, the loading and unloading device can preferably begin its operation immediately, either via information about reaching the defined position from the operating control unit of the driving unit or alternatively or additionally via data acquired by sensors arranged on the transport vehicle or at the destination to confirm that the defined position has been reached.

[0041] Furthermore, the transport vehicle preferably comprises one or more evaluation units for evaluating at least one associated unit of the transport vehicle, which is designed to acquire and transmit information, such as, in particular, the drive unit, the unit to be transported, the loading and unloading device, and the other units described above, as well as the drive system. Alternatively or additionally, at least one of the evaluation units can be an external evaluation unit with which the unit or drive system to be controlled can be wirelessly coupled. Such an external evaluation unit proves particularly advantageous with regard to centralized evaluation of several identical units, drives, and / or transport vehicles. Preferably, at least one evaluation unit can be configured as an operational control unit.

[0042] Furthermore, according to a preferred embodiment, the transport vehicle can include a display unit for showing operating and / or evaluation information from at least one unit or drive of the transport vehicle. This display unit can be arranged externally, equivalent to the operating control or evaluation unit, or it can be integrated into the transport vehicle. In particular, an external display unit, especially an additional one, proves advantageous. This unit can, for example, be a handheld device such as a smartphone, tablet, notebook, smartwatch, or similar device. This allows an operator to access or query relevant operating and / or evaluation information from at least one unit or drive of the transport vehicle at any time, regardless of their location.

[0043] Preferably, the transport vehicle is designed to supply at least one of its units and drives requiring operating energy or a working medium, such as in particular the unit to be transported, the rotary drive, and / or the loading and unloading device, at least autonomously, in addition to the drive unit, or via an interface, with the operating energy and / or the working medium. This autonomous supply can be achieved, for example, via an operating energy source arranged on the transport vehicle, such as a rechargeable battery, or a working medium supply source arranged on the transport vehicle, such as a fan. The autonomous operating energy source can supply energy to both the drive unit and the unit requiring operating energy, or it can be an additional battery to the energy source that supplies energy to the drive unit.In the case of power supply via an interface, the operating energy or operating medium is supplied to the corresponding unit or drive from a source located externally to the transport vehicle via the interface. For example, the interface can be designed as a connection point for connecting to a corresponding counterpart connection point on the textile machine. In this way, the operating energy or operating medium available at the textile machine, such as compressed or suction air, can be used for the transport vehicle unit, thereby optimizing the weight of the transport vehicle.

[0044] The transport vehicle may preferably have at least one protective unit to protect a driving component of the drive unit from contaminants lying on the transport vehicle's roadway in at least one direction of travel. This reduces the risk of potential malfunctions and increases the service life of the driving component.

[0045] Preferably, the transport vehicle can include a retractable support beam for stabilizing the vehicle when stationary. Such a support beam increases the vehicle's footprint, thereby ensuring sufficient stability. Preferably, the transport vehicle has at least two support beams, which are arranged, in particular, on opposite sides of the vehicle to ensure secure stabilization.

[0046] According to a further aspect of the present invention, a system for treating textile material, in particular wound and / or unwound cores, is provided in a textile factory. This system comprises one or more transport vehicles as described above, according to a preferred embodiment, and a control system by means of which the transport vehicle is controlled to move to defined locations within the textile factory. This allows the textile material to be treated as needed within the textile factory, either at or away from the textile machine.

[0047] The control system can preferably be communicatively connected to the operating control unit for controlling the driving unit and be designed to transmit target position information to the operating control unit, based on which the transport vehicle automatically drives to the target position by means of the operating control unit of the driving unit.

[0048] The system is preferably configured as a system for distributing textile material in a textile factory. The system comprises a textile material dispensing station, a textile material receiving station, and a transport vehicle as described above, according to a preferred embodiment, for moving the textile material from the dispensing station to the receiving station. At least the control system and the transport vehicle, and more preferably the textile material dispensing station and / or the receiving station, are connected to each other, particularly wirelessly, for exchanging distribution information regarding the textile material dispensing at the dispensing station and the textile material delivery to the receiving station.

[0049] The distribution information can, for example, be target position information regarding the textile material removal station or the textile material receiving station. Based on this target position information, the transport vehicle automatically moves to the specified position. At the specified position, a system such as the image processing system described above determines which operations are to be performed at that position, specifically whether textile material is to be removed or dispensed. The removal or dispensing of the textile material can preferably be carried out automatically by the transport vehicle or the loading and unloading device using appropriate sensors. Alternatively, the instructions can be provided via the distribution information.For example, the distribution information can include at least information about the quantity and storage location of the textile material to be removed or delivered.

[0050] The textile material dispensing station and the textile material receiving station are stations from which textile material, such as unwound or wound cores, can be taken from the transport vehicle, and to which the textile material can be returned from the transport vehicle. For example, in a planned loading of textile machines, the transport vehicle can pick up cores—that is, unwound and / or wound cores—from a core magazine located away from the textile machine in the textile factory and transport them to the textile machine to supply it with the textile material. In this preferred embodiment, the core magazine forms the textile material dispensing station, while the textile machine is the textile material receiving station.However, cores can also be picked up from the textile machine by the transport vehicle and transported to a defined location within the textile factory. Such a location could be, for example, another textile machine, a core storage area, a treatment unit for wound cores (such as a heat set creel), or a dispatch storage area where finished wound cores are stored for transport from the textile factory. In this case, the textile machine corresponds to the textile material unloading station, while the machine, unit, or storage area to which the textile material is transported by the vehicle forms the textile material receiving station.

[0051] Preferably, the transport vehicle is designed to handle, transport, and / or load / unload unwound and / or wound cores for twisting and / or cabling machines, as well as to load and unload a spool storage unit, textile material removal station, or textile material receiving station. Wound cores are specifically designed to form twisting or cabling spools. Unwound cores are those preferably suitable for forming twisting or cabling spools. Twisting and cabling spools are heavier and larger than the winding spools produced by spinning and winding machines, which is why the use of such a transport vehicle in the textile factory proves particularly advantageous for the twisting and cabling area in increasing productivity and process flow.

[0052] The sleeve body is preferably a hollow body, at least partially formed on one end face, to ensure proper reception in the storage location or by the conveying unit. Preferably, the sleeve body is hollow on both end faces. Particularly preferably, the sleeve body is formed by a hollow cylinder. The sleeve body can preferably be made of a plastic or cellulose-containing material, or a combination of these materials. Other types of material can also be used for the sleeve body if such a material proves advantageous.

[0053] Exemplary embodiments of the invention are explained below with reference to the drawings. The drawings show: Fig. 1 a perspective schematic side view of a transport vehicle according to a first embodiment, Fig. 2 a perspective schematic side view of a transport vehicle according to a second embodiment, Fig. 3 a perspective schematic side view of a transport vehicle according to a third embodiment, Fig. 4 a perspective schematic side view of a transport vehicle according to a fourth embodiment, Fig. 5 a perspective schematic side view of a transport vehicle according to a fifth embodiment; Fig. 6 a schematic front view of a transport vehicle according to a sixth embodiment; and Fig. 7 a schematic top view of a system for treating textile material according to an embodiment.

[0054] With the Figures 1 to 5Different embodiments of a transport vehicle 1 are shown in a purely schematic view, using identical reference numerals for equivalent components, units, devices or equipment.

[0055] Figures 1 to 5 Figure 1 shows a perspective schematic side view of a transport vehicle 1, each with a coil storage unit 40 designed as the transported unit in different configurations. The transport vehicle 1 comprises a drive unit 20, which is designed to travel autonomously to a defined destination within a textile factory. According to this embodiment, the drive unit 20 is equipped in the usual manner with appropriate rollers, sensors, drives, and a control unit, which enable the transport vehicle 1 to be moved in a defined manner.

[0056] In one embodiment, a support unit 30 is detachably arranged on the drive unit 20. The support unit 30 can therefore be easily and quickly replaced with another support unit 30. The support unit 30 can also be combined with another drive unit 20.

[0057] According to a further embodiment, the driving unit 20 and the support unit 30 form an inseparable structural unit with a common interior space in which electronic and electrical components as well as the chassis of the transport vehicle 1 are housed.

[0058] The support unit 30 has an upper support surface 32 on one side facing away from the drive unit 20 for supporting a unit to be transported. The upper support surface 32 includes a plurality of attachment points 34 via which one or more units to be transported can be arranged and fixed. In the embodiments according to the Figures 1 to 5The unit to be transported is a coil storage unit 40, which is detachably fixed to the upper support surface 32 to allow for quick and easy disassembly and assembly. According to another embodiment, the coil storage unit 40 is permanently fixed to the upper support surface 32.

[0059] A detachable loading and unloading device 60 is arranged on the upper support surface 32 and is movable along a linear guide 70 vertically to the upper support surface 32. The linear guide 70 is also detachably mounted on the upper support surface 32. According to this embodiment, the linear guide 70 and the loading and unloading device 60 are connected to an operating power supply via plug connections. The loading and unloading device 60 has a multi-jointed loading and unloading arm 62 with a conveying unit 64 pivotally and rotatably mounted at a free end of an outer arm section of the loading and unloading arm 62. The loading and unloading arm 62 with the conveying unit 64 is thus freely movable in space in order to reach every point in space, in particular every storage location 42 of the coil storage unit 40, along the reach of the loading and unloading arm 62.According to a further embodiment, the loading and unloading device 60 is designed as a collaborative robot, a so-called cobot, which has sensors for automatically shutting down the robot in order to interact with an operator of the textile factory and prevent injury to the operator. According to a further embodiment, the cobot is preferably designed to be reactivated by an operator or a control unit after an automatic shutdown. For activation, predefined conditions may preferably be acknowledged or, in particular, automatically confirmed.

[0060] The coil storage 40 according to the in Figure 1The first embodiment shown comprises a cuboid frame structure 48, which extends mainly vertically from the upper support surface 32. On a rear side, the frame structure 48 includes several horizontal crossbars 50 running between two vertical rear frame elements 52, each supporting several storage locations 42 arranged side by side. In the first embodiment shown, this is purely an example of seven crossbars 50, each with three storage locations 42 arranged side by side, each designed to receive one unwound and one wound sleeve body 2. The frame structure 48 can, as required, be configured with a different number of crossbars 50 and storage locations 42.

[0061] The storage points 42 are designed to hold the sleeve bodies 2 at a slight angle to a horizontal plane in order to prevent them from unintentionally falling out. For this purpose, the storage points 42, which in this first embodiment are designed as mandrels, extend obliquely upwards from the respective crossbar 50 to the horizontal plane intersecting the respective crossbar 50. This allows the sleeve body 2 to be reliably held on the mandrel by its own weight alone.

[0062] According to a further embodiment, the mandrel is designed to clamp and fix the sleeve body 2. For this purpose, the respective mandrel has a clamping device on its outer circumferential surface, which is spring-loaded.

[0063] The frame structure 48 is designed such that the direct distance between a vertical front frame element 54 and the associated opposite rear frame element 52 is shorter than the length of the spool body 2 to be received by the storage location 42. This allows the front frame elements 54 to provide lateral support for the received wound spool bodies 2. Furthermore, the respective storage locations 42 and spool bodies 2 can be handled, loaded, and unloaded by the loading and unloading device 60 without the risk of obstruction by the front frame elements 54. The loading and unloading device 60 with the linear guide 70 is arranged on the support unit 30 on a narrow side of the frame structure 48. This allows the conveyor unit 64 to easily and reliably load and unload the spool storage unit 40 from the front.

[0064] The frame structure 48 of the coil storage unit 40 according to the second embodiment in accordance with Figure 2 This second embodiment differs from the first embodiment described above in the distance between the respective rear and front frame elements 52, 54, which, according to this second embodiment, is greater than one sleeve body length and less than two sleeve body lengths. According to a further embodiment, the distance is equal to or greater than two sleeve body lengths. This provides better protection for the sleeve body end faces during transport.

[0065] The storage locations 42 are further configured such that they can accommodate and store two hollow cylindrical sleeve bodies 2 in series along a longitudinal axis of the sleeve body 2. Furthermore, a vertical side wall 56 is arranged on each of the narrow sides of the frame structure 48 to protect the accommodated sleeve bodies 2. Adjacent storage locations 42 are also arranged offset from one another in the vertical direction of the coil storage unit 40. In particular, the horizontal distance of a storage location 42 to a storage location 42 directly below or above it in the vertical direction is half the distance between two storage locations 42 arranged directly below or above it in a horizontal plane. This offset arrangement allows for a more compact arrangement of the sleeve bodies 2 in the vertical direction of the coil storage unit 40.

[0066] Furthermore, the storage locations 42 are horizontally oriented, so that sleeve bodies 2 received in the storage locations 42 are stored with their longitudinal axis horizontally. In this second embodiment, the storage locations 42 are equipped with holding or clamping means which hold or clamp the sleeve bodies 2 in the horizontal position.

[0067] Figure 3Figure 1 shows a transport vehicle 1 according to a third embodiment. The third embodiment differs from the first and second embodiments in the design of the coil storage unit 40, which is configured as a transportable unit. According to this third embodiment, the coil storage unit 40 is designed as a storage paternoster. For this purpose, a frame structure 48 is arranged on the support unit 30, which is provided on at least three sides with side walls 56. These side walls define a storage space within the frame structure 48, in which the storage locations 42 are arranged on corresponding shelves 58, primarily in a vertical direction. The coil storage unit 40 is accessible from one side and the adjacent top surface for the loading and unloading device 60 for loading and unloading the storage paternoster.In this third embodiment, the shelf 58 is designed as a horizontal crossbar, from the upper side of which two vertical pins project to receive a sleeve body 2, in particular by clamping. According to a further embodiment (not shown), the shelf 58 can comprise a board-like surface on which the sleeve bodies 2 can be placed and stored. To ensure the stability of the placed sleeve body 2, the shelf 58 can include a recess corresponding to the cross-section of the sleeve body 2, into which an end face of the sleeve body 2 can engage, or it can also have a pin projecting into the cavity of the sleeve body 2. Alternatively or additionally, at least one compartment can be provided on the shelf 58, into which the sleeve body 2 can be inserted and removed from above.

[0068] With Figure 4A fourth embodiment of a transport vehicle 1 is shown. The fourth embodiment differs from the first to third embodiments in that the coil storage unit 40 is designed as the unit to be transported. The frame structure 48 of the coil storage unit 40 according to this fourth embodiment comprises a first and second storage segment unit 44, 46, each of which has a plurality of storage locations 42; according to this fourth embodiment, a total of 20 storage locations divided into five rows arranged one above the other, each with four storage locations 42 arranged side by side. The number of storage locations 42 per first and second storage segment unit 44, 46 can be selected as required.The frame structure 48 comprises a rectangular frame for forming the first and second storage segment units 44, 46. This frame has several horizontally extending crossbars 50, each with a plurality of pins on opposite sides of the rectangular frame for forming a storage location 42. As described in the first embodiment, the pins are oriented obliquely upwards from the associated crossbar 50 to ensure the secure insertion and removal of a sleeve body 2. The first storage segment unit 44 is formed by one side of the rectangular frame of the frame structure 48, and the second storage segment unit 46 by the opposite side of the rectangular frame.According to a further embodiment not shown, a third and, in particular, a fourth storage segment unit can be provided by forming a cuboid frame with, for example, four sides, on which corresponding crossbars 50 with pins are provided. Each side, which is designed to store a sleeve body 2, thus forms a corresponding storage segment unit.

[0069] The coil storage unit 40 according to this fourth embodiment is rotatable. For this purpose, a rotary device 90 is provided between the coil storage unit 40 and the support unit 30. The rotary device 90 comprises a turntable 92 on which the coil storage unit 40 can be rotated about a vertical central axis of the turntable 92. This allows each storage segment unit 44, 46 of the loading and unloading device 60 to be easily accessed for loading and unloading the coil storage unit 40.

[0070] Figure 5Figure 1 shows a transport vehicle 1 according to a fifth embodiment, which, unlike the transport vehicle 1 according to the fourth embodiment, is supplemented by a weighing unit 94 for recording the weight of the coil storage unit 40. In this fifth embodiment, the rotating device is implemented by a shaft, not visible, which extends centrally through the weighing unit 94 and engages below a support plate 96 for the coil storage unit 40. The shaft is coupled to a lifting and lowering device, which is received by the support unit 30 and is designed to raise and lower the coil storage unit 40 vertically via the shaft in order to lift the coil storage unit 40 from the weighing unit 94, rotate it, and allow it to rest on the weighing unit 94. Using the weighing unit 94, the weight of the coil storage unit 40 can thus be used to infer the weight of one, several, or all of the loaded or unloaded sleeve bodies 2.The recorded and / or determined weight can be displayed via a display device. The display device can be located on the transport vehicle 1, the textile machine, or externally, whereby the weighing unit 94 can be coupled to the display device directly or via an evaluation unit.

[0071] A transport vehicle 1 according to a sixth embodiment without a unit to be transported is in Figure 6In contrast to the embodiments described above, the transport vehicle 1 has a protective unit 80 in the form of a deflector to protect a driving component 22 from contaminants lying on the roadway of the transport vehicle 1 in at least one direction of travel of the transport vehicle 1. The driving unit 20, which in this sixth embodiment is designed as a roller, is designed as a protective unit 80. The protective unit 80 projects from an underside of the driving unit 20 near the roadway with a length that corresponds at most to the distance between the roadway contact surface of the driving component 22 and the underside of the driving unit 20. Preferably, an end section of the protective unit 80 can be formed by a flexible component, such as a plurality of bristles, which extend towards the roadway and thereby create a brushing effect.If the end section does not have a flexible component, the projecting length of the protective unit 80 is selected to be shorter than the distance specified above. The protective unit 80 is detachably mounted on the underside near the drive component 22 to allow for quick and easy replacement in the event of a defect or damage.

[0072] A transport vehicle 1 according to a further embodiment not shown can have at least one extendable and retractable support beam for supporting the transport vehicle 1 when stationary. The support beam can, for example, be arranged on one side of the support unit 30 or drive unit 20. To support the transport vehicle 1 when stationary, the support beam can, in particular, be designed to extend first laterally and then towards the roadway, and to retract in the reverse order.

[0073] According to a further embodiment (not shown), the transport vehicle 1 comprises a spool handling unit as the unit to be transported, by means of which a spool body 2 stored in a storage location 42 arranged on the upper support surface 32 can be autonomously handled. The spool handling unit is designed as a thread detection and cutting unit, which includes a thread catching unit for capturing a thread end from a wound spool body 2 stored in the storage location 42, a thread cutting unit in the form of a cutting blade for cutting a thread segment unwound from the wound spool body 2 and captured by the thread catching unit, and a drive for rotating the wound spool body 2 in the storage location 42. For example, the storage location 42 can include a mandrel that clamps into the spool body 2, the mandrel being rotatable via a rotary drive.This allows the thread to be easily unwound from the spooled sleeve body 2 to a defined length.

[0074] The thread capture unit is coupled, or can be coupled, to a blower, which generates a suction flow within the thread capture unit to draw in and capture the thread. Furthermore, the thread capture unit is movable relative to the storage location 42 and the thread cutting unit to cut the thread stretched between the spooled reel body 2 and the thread capture unit during the relative movement. This allows the captured thread, with its segment running between the thread capture unit and the spooled reel body 2, to be guided over the cutting blade, resulting in the thread being cut. The thread detection and cutting unit also includes a clamping unit that moves with the thread capture unit and clamps the thread close to the thread capture unit to prevent it from being pulled out during the relative movement. This ensures a more reliable thread cutting process.

[0075] According to another embodiment (not shown), the transport vehicle 1 has a rechargeable battery by means of which all units transported by the transport vehicle 1 that require operating energy are supplied autonomously with operating energy. Alternatively, according to another embodiment (not shown), the transport vehicle 1 has an interface through which the units transported by the transport vehicle 1, with the exception of the drive unit, can be supplied with operating energy and an operating medium such as the suction air flow for the thread catching unit. For example, the supply can be made via a connection of the interface to a corresponding counterpart connection point on a textile machine or on another device within the textile factory.

[0076] In this context, with reference to Figure 7A system 100 for processing textile material is described according to an exemplary embodiment. The system 100 comprises a control system 110 and the transport vehicle 1 with the yarn finding and cutting unit, wherein the control system 110 is designed to move or cause the transport vehicle 1 to move to the textile machine based on a request from the machine and to perform a yarn finding and cutting operation on a wound core body 2 picked up by the textile machine. For this purpose, the transport vehicle 1 can have its own control unit, which moves the transport vehicle 1 in a defined manner and can be controlled by the control system 110 or supplied with corresponding driving information.Upon reaching the textile machine, transport vehicle 1 uses the unit being transported, which is designed as a thread finding and cutting unit, to perform the thread finding and cutting process on the wound core 2 at the corresponding workstation of the textile machine, in this case a twisting or cabling machine. Alternatively, transport vehicle 1 can remove the wound core 2 from the workstation of the textile machine and store it in storage location 42 in order to perform the thread finding and cutting process on the transport vehicle 1 itself. The latter has the advantage that no communication with the workstation or the textile machine is required to be able to pull the captured thread from the wound core 2 in a defined manner.

[0077] In this case, the textile machine forms a textile material unloading station 120. The wound core body 2 with the defined length of yarn is transported by the transport vehicle 1 to a textile material receiving station 130 and discharged there. The textile material receiving station 130 could, for example, be a heat set creel.

[0078] According to a further embodiment, the textile material dispensing station 120 can be configured with a core magazine. In this further embodiment, the transport vehicle 1 comprises a spool storage unit 40 as described above. The transport vehicle 1 is controlled to move to the textile material dispensing station 120 in order to remove or unload a plurality of cores 2 from the core magazine or the textile material dispensing station 120 and store or load them into the spool storage unit 40. Subsequently, the transport vehicle 1 is controlled to move to a textile machine, a twisting or cabling machine, which forms a textile material receiving station 130, in order to supply the working stations of this textile machine with the stored cores 2.The transport vehicle 1 is also controlled by the control system 110 to remove finished coiled cores 2 from another textile machine (textile material removal station 120) and transport them to a defined textile material receiving station 130. This receiving station can serve as an intermediate storage area for coiled cores 2 until further processing within the textile factory, such as a transport storage area for coiled cores 2 until they are transported from the textile factory, or as a heat set creel for immediate further processing of the coiled cores 2. The transport vehicle 1 and the control system 110 are wirelessly connected to exchange information. Reference symbol list

[0079] 1 Transport vehicle 2 Sleeve body 20 Drive unit 22 Drive component 30 Support unit 32 Upper support surface 34 Mounting points 40 Spool storage 42 Storage location 44 First storage segment unit 46 Second storage segment unit 48 Frame structure 50 Cross brace 52 Rear frame element 54 Front frame element 56 Side wall 58 Shelf 60 Loading and unloading device 62 Loading and unloading arm 64 Conveyor unit 70 Linear guide 80 Protective unit 90 Rotary device 92 Turntable 94 Weighing unit 96 Support plate 100 Textile material treatment system 110 Control system 120 Textile material removal station 130 Textile material intake station

Claims

1. A transport vehicle (1) for a textile mill, having a driving unit (20), which is designed to drive autonomously to a defined destination within a textile mill, a carrying unit (30) which is arranged on the driving unit (20), in particular in a non-destructively detachable manner, the carrying unit (30) having an upper carrying surface (32) facing away from the driving unit (20) for carrying a unit to be transported which can have a textile material loaded onto it and unloaded from it, and a loading and unloading device (60) with a loading and unloading arm (62) having a conveyor unit (64) for loading the textile material onto the unit to be transported and unloading the textile material from it, wherein the loading and unloading device (60) is designed as a robotic gripping device with a loading and unloading arm (62), comprising a gripping unit that forms the conveyor unit (64), wherein the robotic arm comprises at least two arm sections connected to one another in an articulated manner, wherein the gripping unit is mounted in an articulated and rotatable manner at a free end of an outer arm section of the at least two arm sections connected to one another in an articulated manner, whereby the loading and unloading arm (62) with the conveyor unit (64) is freely movable in space such that every point in space is accessible along the reach of the loading and unloading arm (62), wherein the unit to be transported is formed by a package storage (40) fixed, in particular in a non-destructively detachable manner, on the upper carrying surface (32) and having a plurality of storage points (42), in each case for storing at least one wound or non-wound tube body (2), wherein the loading and unloading device (60) being fixed on the carrying unit (30), in particular to the upper carrying surface (32), or to the unit to be transported, wherein the storage point (42) is loadable and unloadable by the loading and unloading device (60) with the tube body (2) characterized in that the loading and unloading device (60) comprises a linear guide (70) for the loading and unloading arm (62) extending at an angle, in particular vertically, to the upper carrying surface (32), along which the loading and unloading arm (62) with the conveyor unit (64) can be moved linearly.

2. The transport vehicle (1) according to claim 1, characterised in that the transport vehicle (1) comprises a tube processing unit fixed to the carrying unit (30) - in particular, in a nondestructive, detachable manner - for at least the autonomous treatment of the tube body (2).

3. The transport vehicle (1) according to claim 1 or 2, characterised in that the unit to be transported is formed at least by the package storage (40), with at least one storage point (42) of the plurality of storage points (42) being adapted to store at least two tube bodies (2) in series along the tube body length.

4. The transport vehicle (1) according to one of the preceding claims, characterised in that the unit to be transported is formed at least by the package storage (40) having at least two storage segment units (44, 46) each having at least one storage point (42), with the storage segment units (44, 46), of which there are at least two, and the loading and unloading device (60) being adapted to rotate relative to one another.

5. The transport vehicle (1) according to claim 4, characterised in that the storage segment units (44, 46), of which there are at least two, are formed by a frame structure (48) projecting vertically from the upper carrying surface (32), which frame structure (48) has on at least two of its vertical sides extending vertically to the upper carrying surface (32) in each case a plurality of storage points (42) extending in the horizontal and / or vertical direction, the frame structure (48) being arranged and set up on the upper carrying surface (32) so as to be able to rotate relative to the loading and unloading device (60).

6. The transport vehicle (1) according to claim 4, characterised in that the package storage (40) is configured as a storage paternoster, the storage segment units (44, 46), of which there are at least two, each forming a shelf (58) of the storage paternoster which can be moved circumferentially at a distance from the upper carrying surface (32).

7. The transport vehicle (1) according to claim 2, characterised in that the unit to be transported is additionally formed by the tube processing unit, which has a thread catching unit for catching a thread end of a wound tube body (2), in particular one that has been received in the storage point (42).

8. The transport vehicle (1) according to claim 7, characterised in that the tube processing unit has a thread severing unit for severing a thread section of the thread caught by the thread catching unit which has been unwound from the wound tube body (2).

9. The transport vehicle (1) according to claim 7 or 8, characterised in that the thread catching unit is configured to be movable relative to the storage point (42) and the thread severing unit for severing the thread stretched between the wound tube body (2) and the thread catching unit in the course of the relative movement.

10. The transport vehicle (1) according to one of the preceding claims, characterised in that the transport vehicle (1) is designed to supply at least the carrying unit (30), the unit to be transported and / or the loading and unloading device with operating energy and / or an operating medium autonomously or via an interface.

11. The transport vehicle (1) according to one of the preceding claims, characterised in that the transport vehicle (1) has a weighing unit (94) by means of which at least the weight of the package storage (40) or the weight of at least one loaded or unloaded tube body (2) can be detected for evaluation and / or display.

12. The transport vehicle (1) according to one of the preceding claims, characterised in that the driving unit (20) has at least one protection unit (80) for protecting a driving component (22) from dirt lying around on the roadway of the transport vehicle (1) in at least one direction of travel of the transport vehicle (1) of the driving unit (20).

13. The transport vehicle (1) according to one of the preceding claims, characterised by at least one retractable and extendible support beam for supporting the transport vehicle (1) when stationary.

14. A textile material handling system (100), in particular for wound and / or non-wound tube bodies (2), in a textile mill, the system (100) having a control system (110) by means of which a transport vehicle (1) is controlled for moving to defined locations within the textile mill, characterised by a transport vehicle (1) according to one of the preceding claims.

15. The system (100) according to claim 14, characterised in that the system (100) forms a system for distributing textile material in a textile mill, the system (100) having - a textile material removal station (120), - a textile material receiving station (130), and - the transport vehicle (1) for moving the textile material from the textile material removal station (120) to textile material receiving station (130), in which case at least the control system (110) and the transport vehicle (1) are interconnected for exchanging distribution information regarding textile material removal at the textile material removal station (120) and textile material delivery at the textile material receiving station (130).

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