Winding carriage and method for transporting lap rolls in a spinning mill from a winding machine to a combing machine having such a winding carriage

Abstract

The invention relates to a winding carriage (1) for transporting lap rolls in a spinning mill from a winding machine to a combing machine, comprising a main body (2), a chassis (12) attached to the main body (2) for moving the winding carriage (1) in a longitudinal direction (X) of the winding carriage (1), a winding trough in the main body (2) for mounting the lap rolls on the winding carriage (1), a travel drive (16), an energy store (17) for supplying energy to the travel drive (16) and a control unit (20) for controlling the winding machine. In order to simplify the winding carriage (1), it is proposed that the travel drive (16) drives the chassis (12).

Description

[0001] Winding trolley and method for transporting cotton coils in a spinning mill from a winding machine to a combing machine using such a winding trolley

[0002] Description

[0003] The invention relates to a winding trolley for transporting cotton coils in a spinning mill from a winding machine to a combing machine, comprising a base body, a chassis attached to the base body for moving the winding trolley in a longitudinal direction, a winding trough on the base body for storing the cotton coils on the winding trolley, a drive mechanism, an energy storage device for supplying energy to the drive mechanism, and a control unit for controlling the winding trolley.

[0004] Winding trolleys are commonly known as internal transport devices used to move numerous cotton rolls produced in a winding machine (also called a lapwinder) to a combing machine for further processing. The trolleys are usually loaded automatically by the winding machine, then manually pushed back to the machine, automatically unloaded, and then manually pushed back to the same or another winding machine to be loaded again. On their return journey to the winding machine, the trolleys pick up empty tubes for the production of new cotton rolls.

[0005] To also automate the transfer between the winding and combing machines, CN 217436861 U proposes to couple a driverless transport vehicle (FTF or “automated guided vehicle” AGV) to the winding trolley as needed, which includes the drive system, the energy storage system and the control unit and orients itself in the spinning mill using LIDAR.

[0006] The object of the invention is to provide a structurally simple winding trolley and a method for transporting cotton windings in a spinning mill from a winding machine to a combing machine using such a winding trolley.

[0007] This problem is solved starting from the method according to the preamble of claim 1 with the characterizing features. Advantageous embodiments of the invention are specified in the dependent claims.

[0008] The invention provides that the drive system powers the chassis, so that in the case of the winding trolley according to the invention the driven wheels of the pushing AGV required in the prior art are not necessary.

[0009] In one possible embodiment, the winding cart can have a trough for storing empty tubes for further cotton windings. Such a winding cart allows the cart to be used for returning the empty tubes on the return journey from the combing machine to the winding machine.

[0010] In another possible embodiment, the winding trough can hold up to two cotton rolls. This is advantageous for automated handling due to the high weight of each cotton roll, approximately 25 kg. Alternatively, the winding trough can hold three, four, five, or six cotton rolls. For example, with a winding trough capacity of four or six cotton rolls, a combing machine with twelve combing heads can easily be equipped with twelve cotton rolls.

[0011] In another possible embodiment, the winding trolley can have a track-reading device for detecting a guide track on the floor of the spinning mill. The control unit can then steer the winding trolley along the guide track. A point-reading device can be provided for detecting and reading markers at reference points. The winding trolley can be controlled by simple commands from a central control system throughout the spinning mill, without requiring the control unit to store complete information about the available track network. Alternatively, a winding trolley can be equipped with hardware for environmental sensing, position determination, orientation detection, and movement coordination, such as laser scanners, ultrasonic sensors, or radar, and corresponding data processing equipment for navigation.

[0012] In one possible embodiment, the chassis can have two driven wheels. The drive wheels can be mounted to rotate around a common drive axis that runs transversely to the longitudinal direction of the winding carriage. The drive wheels can be driven independently of each other around the drive axis by means of the drive system. The winding carriage can then navigate curves by driving the two drive wheels at different speeds. Such a winding carriage can change direction while stationary and even turn on the spot by driving the two drive wheels in opposite directions at the same speed.

[0013] Alternatively, the winding trolley can have a single driven wheel and a steerable steering wheel arranged longitudinally one behind the other for cornering. The chassis can have at least one support wheel spaced apart from the drive axle in the direction of travel and pivoted out of the direction of travel. This ensures the stability of the winding trolley.

[0014] In one possible embodiment, the drive axle can be arranged centrally in the longitudinal direction. At least one support wheel can be arranged longitudinally in front of and one support wheel can be arranged longitudinally behind the drive axle on the winding carriage. In other words, the drive axle can run between two support wheels. Alternatively, on such a winding carriage according to the invention, the drive axle can run near one end face, and at least one support wheel can be mounted near the other end face. Such a winding carriage according to the invention requires fewer wheels overall.

[0015] In one possible embodiment, at least one of the support wheels, which is arranged longitudinally in front of the drive axle, or at least one of the support wheels, which is arranged longitudinally behind the drive axle, can be spring-mounted in the vertical direction of the winding carriage. Such a winding carriage can also travel over an uneven surface in the direction of travel, for example, with ramps or cable bridges. Alternatively, for the same purpose, all support wheels on a possible winding carriage can be mounted without springs, but set back relative to the drive wheels in the vertical direction.

[0016] In one possible embodiment, the point-reading device can be positioned centrally between the drive wheels. If such a winding carriage changes direction or reverses direction on the spot above a reference point, the point-reading device does not lose contact with the reference point.

[0017] In one possible embodiment, the pivot axes of each pair of support wheels can be arranged in a common support plane extending transversely to the longitudinal direction. The support plane can, in particular, be arranged orthogonally to the longitudinal direction. Such a winding trolley exhibits increased stability compared to a winding trolley with only a single support wheel.

[0018] In one possible embodiment, the track-reading device can comprise a first track reader arranged longitudinally at the front of the base body, and a second track reader arranged longitudinally at the rear of the base body. Such a winding cart according to the invention can change its direction of travel without turning around.

[0019] To solve this problem, a method for transporting cotton wool coils in a spinning mill from a winding machine to a combing machine using a winding trolley according to the invention is also proposed. Such a method is characterized by the aforementioned advantages of the winding trolley according to the invention.

[0020] In one possible embodiment of the method, the cotton coils can be unloaded from the winding cart into an intermediate storage area at the combing machine and fed sequentially from there to the combing machine. The winding cart is then immediately available again for another transport operation. Alternatively, the winding cart remains at the combing machine and waits there until the cotton coils are individually removed for production. While this requires a larger number of winding carts, it saves space and components for storing and moving the cotton coils and empty tubes at each combing machine. In another possible embodiment of the method, cotton coils are transported from a starting group of winding machines to a target group of combing machines via a network of tracks connecting the starting group and the target group. The cotton coils can be transported using a large number of winding carts.The route network can be defined by reference points and a guide track running between the reference points. A central control system can determine or specify the routes of the winding trolleys on the route network. Such a method is characterized by the aforementioned advantages of the winding trolley according to the invention.

[0021] In one possible embodiment of the method, the central control system can transmit commands to the winding trolleys for traversing the routes, which the winding trolleys are to execute at the corresponding reference points. The winding trolleys can then execute the commands at the respective reference points. The central control system can guide the winding trolleys along the route network from the starting group to the target group and from the target group back to the starting group.

[0022] Since the material flow between winding and combing machines is carried out by winding trolleys on self-contained route networks, each connecting only one starting group with one target group, the vehicle control system can be limited to these discrete route networks or modularized. For modularization, it can be provided that the winding trolleys are not made available across the entire route network after each transport order, but are instead returned from the target group to the starting group, analogous to the transport order.

[0023] Such a route network allows even with several hundred or thousand winding trolleys, the navigation of each individual trolley to be shifted to the central control system. Since the winding trolleys execute the commands specified by the control system at the reference points and otherwise follow the guide track between the reference points, they can be significantly simplified compared to AGVs in the prior art. The point-reading device and the track-reading device constitute a much reduced intelligence of the winding trolley compared to AGVs, and therefore cost-effective, but sufficient for operation according to the inventive method.

[0024] In one possible embodiment of the method, the control unit can store a sequence of successive commands for execution. The central control unit can then transmit a command, which is to be executed with or without delay, to the vehicle even before the preceding command has been completed.

[0025] In the inventive method, the control unit preferably transmits only "simple" commands to the winding carriage, where "simple" is understood in the sense that the winding carriage can execute these commands without further external intervention and without further information, particularly about the track network, and, if necessary, solely by following the guide track located longitudinally at the front – i.e., in the direction of travel – to the next reference point. Such a "simple" command could, for example, be "Lock wheels," "Unlock wheels," "Move forward," "Move backward," or "Follow guide track." Alternatively or in combination, a distance to be traveled or "Turn while stationary" with a rotation angle can be specified as a parameter.

[0026] In one possible embodiment, the control unit can transmit further commands from the group "Wait", "Sleep mode", "Rotate by a predetermined angle" to the winding trolleys.

[0027] • The "Wait" command causes the winding trolley to pause briefly at a reference point, even though further movement commands are already pending. This may be necessary, for example, to wait for another winding trolley to clear the section to be traversed. This waiting period prevents collisions with other winding trolleys that are still on the section to be traversed.

[0028] • The "Sleep Mode" command causes almost all electrical consumers to be switched off or deactivated. Only the components responsible for maintaining the radio connection to the control system remain operational. This allows for minimal energy consumption during long waiting times, such as during material unloading, and thus a longer charging interval for the winding trolley's energy storage. As soon as the winding trolley is required to execute movement commands again, it is woken up via the ongoing radio connection, and all functional elements are put back into operation or standby mode.

[0029] • Upon receiving the command “rotate by a specified angle”, the winding trolley rotates around its vertical axis at the reference point by the angle transmitted as a parameter.

[0030] In one possible embodiment, the winding trolleys can transmit messages from the group "functional status", "fault", "charging status", "reference point reached" and "command received" to the control system.

[0031] • The "Operating Status" message includes at least the "Normal Operation" state of the winding trolley, i.e., "no fault". Additionally, log data from the control unit's firmware can be transmitted to the central control system and / or non-failure-causing disturbances such as a brief deviation from the guide track. A cleaning request could be derived from this.

[0032] • The "fault" message is only sent in the event of an actual disruption to operations and is preferably also sent at regular intervals, e.g.

[0033] The message is repeated for 10 seconds and reads, for example, "no guide track detected", "obstacle on guide track", "drive blocked", "overvoltage" or "torque at drive wheels too high".

[0034] • The “State of charge” message preferably transmits a percentage or absolute value of the drive energy remaining in the energy storage system as a parameter at regular intervals of, for example, 10 seconds.

[0035] • The message "Reference point reached" transmits the identifier of a reference point as a parameter upon its arrival. The control system stores the positions of the reference points in the track network. The control system uses this identifier to determine the position of the winding trolley within the track network.

[0036] • The message "Command received" transmits as a parameter a command received from the control system or an identifier of the command type. The winding trolley confirms successful communication with the control system with this message. Conversely, if this message is absent, the control system detects a potential problem and initiates appropriate measures, such as a network reachability check ("ping"), an "emergency stop" command, and / or an instruction for manual intervention by the operating personnel.

[0037] In one possible embodiment, the control unit can transmit commands to the winding trolleys via a wireless network, and / or the winding trolleys can transmit messages to the control unit via the wireless network. The wireless network can preferably be a local network, more preferably limited to the winding trolleys on the track network, and more preferably a network according to the IEEE 802.11 standard (so-called "WLAN") or a successor standard. Alternatively, a low-power, low-bandwidth network such as NB-WAN or LoRaWAN can be used. Alternatively, the control unit can be connected to the winding trolley via electrical contacts running along the guide track.

[0038] In one possible embodiment, the markers can be designed as "Radio Frequency Identification" tags – RFID tags for short. This allows for the contactless transmission of data stored on the RFID tags or transponders. Alternatively, the markers can be a barcode or QR code. The winding trolley can thus be guided in a simple and cost-effective manner. The markers preferably contain a unique identifier for their respective reference point.

[0039] Using the point reader, address information, for example, can be read from the markers and transmitted to the control system. The point reader is preferably located as close as possible to the ground, for example, on the underside of the winding carriage. In the longitudinal direction of the winding carriage, the point reader is preferably positioned centrally between the front and rear ends of the base body and, more preferably, in the region of or around the vertical axis. In particular, the winding carriage can be controlled such that, when the winding carriage rotates, its instantaneous pole axis intersects the point reader. This allows the vehicle to rotate on or above the marker without the point reader losing contact with it.

[0040] The markers can preferably be positioned at each reference point where one or more sections of the track network end. This allows the winding trolley to easily identify a reference point. The control system can then transmit commands to the winding trolley to be executed at the reference point, such as stopping, turning, or continuing straight ahead. Markers can also be provided between the reference points, allowing the winding trolley to recognize when it has reached or passed defined waypoints. Similarly, markers can be provided at the ends of the guide track to, for example, mark a parking area or a charging station.

[0041] In one possible embodiment, each section of the track network formed between two adjacent reference points can only be traversed by at most one of the winding carriages at any given time. This "track blocking" ensures a collision-free section. Alternatively, or in combination, an "anti-collision system" can be provided on or outside the winding carriages to prevent collisions between two or more of them. In this case, several winding carriages can travel one after the other on a single section.

[0042] In one possible embodiment, the guide track can be designed as a magnetic strip on the floor of the track network. This allows the winding trolley to be guided in a simple and cost-effective manner. The guide track can be composed of several arranged guide track elements. These guide track elements can be directly adjacent to one another, overlap, or be spaced apart. The spacing can be chosen so that at any given time the track reading device detects a guide track element or the point reading device detects a marker. The track reading device can, for example, be configured to detect individual magnetic points arranged at specific intervals on the floor, such as in a grid pattern or as a dotted line. Alternatively, induction loops embedded in the floor can be used as the guide track. Compared to these, a magnetic guide track advantageously does not require a power source.Furthermore, the vehicle can be guided over a metallic surface, such as a ramp with metal rails, by means of a magnetic guide rail. Alternatively, the guide rail can be detected and tracked by an optical, infrared, or ultrasonic sensor in the guide reading device. The guide reading device can be arranged at the front end of the drive unit, which is positioned longitudinally across the surface (forward travel). In particular, the guide reading device is arranged at the end of the front section facing away from the rear section. The guide reading device preferably has a width between 50 mm and 200 mm transverse to the longitudinal direction. The guide reading device can have several sensors arranged side by side, particularly transversely to the longitudinal direction, enabling the winding carriage to precisely follow even a curved guide rail.The detection area of ​​the track-reading device can widen towards the ground in a funnel shape, so that the detectable area on the ground is larger than the width of the track-reading device. The distance of the track-reading device from the ground is preferably between 20 mm and 50 mm. This ensures sufficient ground clearance so that the winding trolley can travel safely and without interference over the surface and enables precise guidance of the winding trolley along the guide track. The track-reading device can provide an analog or a digital output signal. The digital version is less expensive than the analog version, and it has been shown that while a deviation of the track-reading device or its sensors from the center of the guide track (so-called "center deviation") is only indicated discretely in digital steps, this is sufficient for guiding the winding trolley.In the analog version, the output voltage would be proportional to the center deviation.

[0043] In one possible embodiment, the route network, in particular its geometric dimensions and preferably the reference points and their geometric positions within the route network, can be stored. The control system can thus determine the positions of the winding trolleys based on reported identifiers of the reference points, as well as plan the routes of the winding trolleys through the route network and control the winding trolleys along the planned routes.

[0044] In one possible embodiment, the routes traveled by the winding trolleys can be stored in the control system. These stored routes, in conjunction with stored production data from the textile machines at the start and end points, document the material flows in the spinning mill.

[0045] In one possible implementation, each route from the starting group to the target group can lead via exactly one main route of the route network. By defining a main route, navigation can be reduced to route calculation from the starting point to the main route and from the main route to the destination point, thus significantly simplifying it.

[0046] In one possible embodiment, the main track can have several parallel lanes for the winding trolleys to travel on. With high transport volumes, parallel travel by multiple winding trolleys on the main track can reduce waiting times. In another possible embodiment, the winding trolleys can travel the main track, or at least one of the lanes, alternately in a longitudinal direction from the starting group to the target group and vice versa. The invention is based on the understanding that, due to organizational processes, similar textile machines in a spinning mill often deliver winding trolleys filled with wadding or release empty winding trolleys for further use at similar times. Based on these times, periods can be defined in which no full winding trolleys arrive from the starting group to the target group, and thus empty winding trolleys can travel in the opposite direction on the same main track from the target group to the starting group.Alternatively, the route network can form a ring, with a second main route for the longitudinal direction from the finish to the start group.

[0047] In one possible embodiment, the track network can include an empty buffer and a full buffer for the winding trolleys, with the empty buffer preferably being located closer to the starting group and the full buffer closer to the target group. The empty and full buffers can decouple the provision from the retrieval of the filled and emptied winding trolleys and, in particular in a method according to the invention with alternating directions of travel in the main track, allow for an extension of the phases reserved for a longitudinal direction.

[0048] In one possible embodiment, the track network can include a charging station. The winding trolleys then do not need to be manually removed from the track network to charge the energy storage devices, but can be charged under the control of the central control system.

[0049] In one possible embodiment, several separate route networks can be provided between a starting group of winding machines and a target group of combing machines. Such a method is characterized by the aforementioned advantages of the invention. The winding carriages of the route networks can be controlled by means of a common control system or, alternatively, by means of separate control systems. Winding carriages can be transferred manually between the route networks or move autonomously via defined transfer routes. If separate radio networks are assigned to each route network and the markers of the reference points each contain a reference to the radio network of the assigned route network, the winding carriages can be transferred particularly easily, either automatically or manually, between the route networks, or new winding carriages can be integrated into the route network.

[0050] The winding trolley can have a storage medium on which an application program and other data can be stored. In particular, control commands can be stored on the storage medium, which the winding trolley executes when it detects markers. This allows the winding trolley, for example, to follow pre-programmed paths along the guide rail. Furthermore, the winding trolley can have a receiver unit to receive commands from the central control system. The central control system can thus control a large number of such winding trolleys within the spinning mill. The central control system can be linked to the textile machines to deploy the winding trolleys as needed.

[0051] Furthermore, the winding trolley can be equipped with a transmitter to send messages to the control system. These messages can include, for example, the trolley's position data. In particular, when a marker is passed over, its address data can be read and transmitted to the control system. Other messages can include the travel speed, the state of the energy storage system, deviation from the guide track, overtemperature detection, faults in the individual control and drive elements, current consumption of the electric motors, and torque for detecting a grinding blockage or an established connection to a charging interface. The receiver and transmitter units can be combined in a single radio module.

[0052] To monitor the state of the energy storage system, the winding trolley can have a battery management system that provides information about the state of charge or the progress of charging the energy storage system, the integrity state, the temperature of the battery, the current discharge power, the current charging power, or errors.

[0053] Furthermore, the winding trolley can have an externally accessible charging interface for automatic docking with an external charging station to charge the energy storage device. Alternatively, the charging interface can be located on the underside of the winding trolley, covered by the receiving device. The winding trolley can then either "drive over" the charging interface's connection contacts or charge the energy storage device inductively.

[0054] The winding trolley can be equipped with a safety device for impact detection to recognize collisions with obstacles. Upon detecting a collision, the winding trolley can stop and report this to the control system. For this purpose, components of the safety device can be located outside the area covered by the winding trolley. Touch sensors for the safety device can be integrated into a bumper mounted on the winding trolley.

[0055] Furthermore, the changing trolley may have an on / off switch to manually interrupt the electrical power supply to the changing trolley if necessary.

[0056] To protect the aforementioned components of the diaper changing cart from external influences, they can preferably be arranged on the underside of the cart. Furthermore, an underbody panel mounted on the drive unit can protect the components from below. The aforementioned components of the diaper changing cart that extend laterally can be housed in a common casing. The cotton wool wrapping can comprise natural fibers such as cotton, cellulose, and hand fibers, as well as synthetic fibers and blends of natural and synthetic fibers.

[0057] When using the winding trolley according to the invention, the winding machine does not require any further shifting mechanism and the winding trolley does not require a receiving device (in the prior art, lateral slots are provided for this purpose) for this mechanism.

[0058] Furthermore, the self-propelled winding trolley according to the invention does not require any coupling devices such as those known in the prior art with slots and latches on the end faces for connection and alignment with other winding trolleys.

[0059] Possible embodiments of a winding trolley according to the invention and a corresponding method are described below with reference to the figure drawings.

[0060] This shows

[0061] Figure 1 shows a first winding trolley according to the invention,

[0062] Figure 2 shows a comparison of views of the underside of the first winding trolley with and without underbody cladding.

[0063] Figure 3 shows a detail of a second changing trolley.

[0064] Figure 4 further winding trolleys according to the invention and

[0065] Figure 5 shows a route network.

[0066] The first winding trolley 1 according to the invention, shown in Figure 1, has a base body 2. A winding trough 3 for up to two cotton rolls 4 is arranged on the base body 2. The base body 2 has a mechanism 5 for transferring the cotton rolls 4 to a combing machine 6 (shown only in Figure 5) and, below the winding trough 3, a sleeve trough 7 for up to two empty sleeves 8.

[0067] The changing trolley 1 has an empty weight of approximately 80 kg, and the cotton rolls 4 each weigh approximately 25 kg. The base 2 is a welded sheet steel construction. The base 2 has a drive-over guard 10 on each of its two end faces 9.

[0068] On the underside 11 shown in Figure 2, the winding carriage 1 has a chassis 12 with two drive wheels 13 and four support wheels 14, 15, a drive unit 16 for driving the drive wheels 13, a schematically represented energy storage device 17 for the drive unit 16, a track reading device 18, a point reading device 19, and a control unit 20. The control unit 20, the energy storage device 17, the track reading device 18, and the point reading device 19 are protected during operation by an underbody cover 21. The underbody cover 21 is designed such that the track reading device 18 can detect the guide track described below, and the point reading device 19 can detect the markers described below. The drive wheels 13 are rotatably mounted about a common drive axis 22 extending transversely to a longitudinal direction X of the winding carriage 1. The drive system 16 comprises two wheel hub motors 23, each integrated into one of the drive wheels 13.The electrical drive power of the wheel hub motors is chosen so that the winding trolley can start moving when fully loaded and travel a defined route network at a specified speed.

[0069] Two support wheels 14 are mounted on a front side of the base body 2, pivotally about a pivot axis with respect to the longitudinal direction X, and two support wheels 15 are mounted on a rear side of the base body 2, each pivotally about a pivot axis. The pivot axes are aligned parallel to a vertical axis Z of the winding carriage 1. The support wheels 14, 15 are thus pivotally mounted away from the longitudinal direction X. The pivot axes of the front support wheels 14 and the pivot axes of the rear support wheels 15 lie on a support plane 24. The two support planes are aligned orthogonally to the longitudinal direction X and spaced apart from each other in the longitudinal direction X. In the vertical direction Z of the winding carriage 1, about which the pivoting movement of the support wheels 14, 15 takes place, the front support wheels 14 are resiliently mounted, while the rear support wheels 15 are rigidly mounted.

[0070] The energy storage unit 17 is a lithium-ion battery whose capacity can be selected, for example, depending on the desired charging-free operating time.

[0071] The track reading device 18 comprises two track readers 25 for a magnetic tape 26 (shown for the first time in Figure 5). One of the track readers 25 is mounted centrally between the support wheels 14, 15 on the base body 2 in the area of ​​one of the end faces 9. An RFID reader serves as the point reading device 19. In this case, the RFID reader is mounted centrally between the drive wheels 13 and / or centrally between the two track readers 25 on the base body 2.

[0072] Figure 3 shows the underside 27 of a second winding carriage 28 (not shown) in an alternative embodiment. The second winding carriage 28 is essentially identical to the first winding carriage 1. The difference is that the drive wheels 35 are rotatably mounted about a drive axis 29 in the region of the front end face 30. Two support wheels 32 are rotatably mounted on a pivot pin at the rear end face 33 of the second winding carriage 28. The pivot pins and the two support wheels 32 are each pivotally mounted about a pivot axis. The pivot axes are aligned parallel to the vertical axis Z and lie in a common support plane 31, which is orthogonal to the longitudinal direction X. As with the first winding carriage 1, the point reading device 34 is arranged centrally between the drive wheels 35.The further winding trolleys 36, 37, 38 shown in Figure 4 correspond essentially to the first winding trolley 1, but are dimensioned differently to accommodate one, three or four cotton windings 39 and empty sleeves 40.

[0073] The track network 41 shown in Figure 5 for carrying out a method according to the invention connects, in a spinning preparation area (not shown), a starting group 43 of ten winding machines 44 with a target group 45 of six combing machines 6 via a main track 42. Within the starting group 43, the winding machines 44 are each connected to a starting track 48 leading into the main track 42 via an infeed track 46 and an outfeed track 47. Within the target group 45, the combing machines 6 are each connected to a target track 52 extending from the main track 42 via an infeed track 50 and an outfeed track 51.

[0074] A charging station 54 is located on a bypass 53 of the main line 42. An empty buffer 55 is connected to the main line 42 between the starting group 43 and the charging station 54, and a full buffer 56 is connected between the target group 45 and the charging station 54.

[0075] The route network 41 consists of sections 57, in which the magnetic tape 26 is attached to the floor (not shown) as a guide track 58. The sections 57 each connect two reference points 60, at each of which an RFID tag is attached to the floor as a marker 61.

[0076] The geometry of the route network is stored in a control controller 62, specifically as a 2D line drawing in a DXF file with additional points and attributes. This makes the entire route network 41, including its geometric dimensions and marker specifications 61, available and usable in the control controller 62. This allows different route networks to be represented in the control controller with minimal application effort. The method according to the invention is therefore suitable for a large number of different projects or route networks. Only the different DXF files need to be uploaded to the control controller 62 for each project.

[0077] The control unit 62 is a commercially available universal single-board computer as an embedded system with integrated interfaces, in particular also a radio module (not shown separately) for communication via WLAN and Bluetooth connections, which can be connected to the drive unit 16, the energy storage unit 17, the track reading device 18 and the control unit 20 in a manner not shown.

[0078] The control unit 62 establishes a separate WLAN radio network 63 for each route network 41. In operation according to the inventive method, the winding trolleys 1, 28, 36, 37, 38, upon commands from the control unit 62, travel within the route network 41 from the starting group 43 to the target group 45 and transport the cotton coils 4, 39 from the winding machines 44 to the combing machines 6, pick up the empty cores 8, 40, and return to the starting group 43. The winding trolleys 1, 28, 36, 37, 38 follow the sections 57, which define the travel paths in the spinning mill and in the spinning preparation area. The winding machines 44 place the cotton coils 4, 39 onto the winding trolleys 1, 28, 36, 37, 38, and the combing machines 6 remove them from there.

[0079] When traveling in longitudinal direction X, the winding carriage 1, 28, 36, 37, 38 follows the guide track 58. The control unit 20 controls the wheel hub motors 23 based on the signals received from the track reading device 18 such that the guide track 58 runs centrally between the two drive wheels 13, 35. When traveling straight ahead, the two wheel hub motors 23 operate in unison and at the same speed, and the support wheels 14, 15 are aligned in the longitudinal direction X.

[0080] As soon as the guide track 58 deviates from the center of the sensor field of the track reading device 18 (center deviation), the control unit 20 determines, based on the changing sensor pattern during travel, how much correction is required to keep the drive unit 16 as centrally as possible over the guide track 58. This is achieved by adjusting the rotational speeds of the wheel hub motors 23 relative to each other. The further the guide track 58 deviates from the center, the greater the difference in rotational speed must be. The support wheels 14, 15 follow the longitudinal direction X. Steering of the drive unit 16 is therefore achieved solely by changing the rotational speeds of the wheel hub motors 23.

[0081] The winding trolley 1, 28, 36, 37, 38 follows the guide track 58 until the point reading device 19, 34 detects a marker 61. From marker 61, the control unit 20 reads the address of the radio network 63 assigned to the track network 41 and an identifier of the reference point 60. The winding trolley 1, 28, 36, 37, 38 connects to the radio network 63 and transmits the identifier of the reference point 60 to the control unit 62. Alternatively, the command from the control unit 62 can contain a reference point 60 as the destination point. The winding trolley 1, 28, 36, 37, 38 then travels in the direction of travel until it reaches the destination point.

[0082] In the same way, the control unit 62 automatically recognizes another winding trolley 1 , 28, 36, 37, 38 inserted into a track network 41 via a locking section or manually at any reference point 60.

[0083] The central control unit 62 identifies the winding trolleys 1, 28, 36, 37, 38 based on an identification number of the radio module. If another command is stored in the command register of the control unit 20, it is executed immediately. Otherwise, the winding trolleys 1, 28, 36, 37, 38 stop and wait for another command from the central control unit 62.

[0084] When the energy storage unit 17 of a winding trolley 1 , 28, 36, 37, 38 reaches a minimum charge, the control unit 62 directs it to the charging station 54. There, the energy storage unit 17 is connected to the charging station 54 and charged. In the route network 41, in a first phase, the winding cars 1, 28, 36, 37, 38, loaded with cotton coils 4, 39, travel via the main line 42 from the starting group 43 to the full buffer 56, and in a second phase, with the empty sleeves 8, 40, return from the target group 45 to the empty buffer 55. In another, not shown, route network, the winding cars 1, 28, 36, 37, 38 always travel in the same direction via a circular main line 42. In both cases, each section 57 is traversed by at most one of the winding cars 1, 28, 36, 37, 38 at any given time.

[0085] Automatic and manual movement of the changing trolleys 1, 28, 36, 37, 38 can be easily combined: For manual movement, each changing trolley 1, 28, 36, 37, 38 can be temporarily removed from or remain within the track network 41. This is used, for example, when the self-propelled changing trolleys 1, 28, 36, 37, 38 are only moved to a parking location for collection by people.

[0086] The control unit 62 controls a cleaning vehicle, for example a vacuum cleaner, in the same way to keep the route network 41 clean.

[0087] Winding machines 44 and combing machines 6 in the track network 41 can be activated and deactivated (e.g. taken out of service) via a user interface of the control system 62.

[0088] The information collected in the control unit 62 can be used for material tracking and blend tracing. In the finished yarn product, the exact origin of the raw material can also be determined, including which winding machines 44 and combing machines 6 were involved in its processing.

[0089] Software updates, such as firmware updates, can be distributed to winding trolleys 1, 28, 36, 37, and 38 via the wireless network 63. The user interface also allows for the localization of faults, the display of individual faulty winding trolleys 1, 28, 36, 37, and 38, and the monitoring of the battery charge level of the energy storage units 17 and the material flow.

[0090] Reference sign

[0091] 1 changing trolley

[0092] 2 basic shapes

[0093] 3 changing trays

[0094] 4 cotton swabs

[0095] 5 mechanism

[0096] 6 Combing machine

[0097] 7 shell recess

[0098] 8 Empty sleeve

[0099] 9 Front

[0100] 10. Drive-over protection

[0101] 11. Bottom

[0102] 12 Chassis

[0103] 13 Drive wheel

[0104] 14 front support wheel

[0105] 15 rear support wheel

[0106] 16 Drive system

[0107] 17 Energy storage

[0108] 18 Track reading device

[0109] 19 dot reading device

[0110] 20 control unit

[0111] 21 Underbody paneling

[0112] X Longitudinal direction

[0113] 22 Drive axle

[0114] 23 Wheel hub motor

[0115] 24 support level

[0116] Z Upward direction

[0117] 25 track readers

[0118] 26 magnetic tape

[0119] 27 Underside

[0120] 28 changing trolleys

[0121] 29 drive axle

[0122] 30 front forehead

[0123] 31 Support level

[0124] 32 Support wheel

[0125] 33 rear front

[0126] 34 dot reading device

[0127] 35 Drive wheel 36 Winding trolley

[0128] 37 changing trolleys

[0129] 38 changing trolleys

[0130] 39 cotton swabs

[0131] 40 Empty sleeve

[0132] 41 Route network

[0133] 42 Main line

[0134] 43 Starting group

[0135] 44 winding machine

[0136] 45 Target group

[0137] 46 Approach route

[0138] 47 Run-off section

[0139] 48 Starting section

[0140] 49

[0141] 50 approach route

[0142] 51 discharge route

[0143] 52 Finish line

[0144] 53 Bypass

[0145] 54 charging stations

[0146] 55 empty buffers

[0147] 56 full buffers

[0148] Section 57

[0149] 58 guide lane

[0150] 59 Floor

[0151] 60 reference point

[0152] 61 markers

[0153] 62 Control system

[0154] 63 Wireless network

Claims

Patent claims 1. Winding trolley (1 , 28, 36, 37, 38) for transporting cotton coils (4, 39) in a spinning mill from a winding machine (44) to a combing machine (6) comprising a base body (2), a chassis (12) attached to the base body (2) for moving the winding trolley (1 , 28, 36, 37, 38), a winding trough (3) on the base body (2) for storing the cotton coils (4, 39) on the winding trolley (1 , 28, 36, 37, 38), a drive mechanism (16), an energy storage device (17) for supplying energy to the drive mechanism (16) and a control unit (20) for controlling the winding trolley (1 , 28, 36, 37, 38), characterized in that the drive mechanism (16) drives the chassis (12).

2. Winding trolley (1 , 28, 36, 37, 38) according to the aforementioned claim, characterized by a sleeve recess (7) on the base body (2) for storing empty sleeves (8, 40) for further cotton windings (4, 39).

3. Changing trolley (1 , 28, 36, 37, 38) according to one of the preceding claims, characterized in that the changing trough (3) accommodates up to two, preferably three, further preferably four of the cotton windings (4, 39).

4. Winding trolley (1 , 28, 36, 37, 38) according to one of the preceding claims, characterized by a track reading device (18) for detecting a guide track (58) on a floor of the spinning mill and a point reading device (19, 34) for detecting and reading markers (61) at reference points (60), wherein the control unit (20) controls the winding trolley (1, 28, 36, 37, 38) along the guide track (58).

5. Winding trolley (1 , 28, 36, 37, 38) according to one of the preceding claims, characterized in that the chassis (12) has two drive wheels (13, 35) rotatably mounted about a common drive axis (22, 29) extending transversely to the longitudinal direction (X) of the winding trolley (1 , 28, 36, 37, 38) and which can be driven independently of one another about the drive axis (22, 29) by means of the drive drive (16), as well as at least one support wheel spaced apart from the drive axis (22, 29) in the direction of travel and pivotably mounted from the direction of travel.

6. Winding trolley (1 , 28, 36, 37, 38) according to the preceding claim, characterized in that in the longitudinal direction (X) the drive axle (22, 29) is arranged centrally and at least one of the support wheels (14, 15) is arranged in front of and one behind the drive axle (22, 29) on the winding trolley (1 , 28, 36, 37, 38).

7. Winding trolley (1 , 28, 36, 37, 38) according to the preceding claim, characterized in that in the longitudinal direction (X) at least one of the support wheels (14, 15) is spring-mounted in front of or at least one of the support wheels (14, 15) is mounted behind the drive axle (22, 29) in a vertical direction (Z) of the winding trolley (1 , 28, 36, 37, 38).

8. Winding trolley (1 , 28, 36, 37, 38) according to one of claims 4 to 7, characterized in that the dot reading device (19, 34) is arranged centrally between the drive wheels (13, 35).

9. Winding trolley (1 , 28, 36, 37, 38) according to one of claims 5 to 8, characterized in that pivot axes of each two of the support wheels (14, 15) are arranged in a common support plane (24, 31) extending transversely to the longitudinal direction (X).

10. Winding trolley (1, 28, 36, 37, 38) according to one of claims 4 to 9, characterized in that the track reading device (18) has a first track reader (25) at the front and a second track reader (25) at the rear in the longitudinal direction (X). The package includes changing trolleys (1, 28, 36, 37, 38).

11. Method for transporting cotton coils (4, 39) in a spinning mill from a winding machine (44) to a combing machine (6), characterized in that the transport is carried out with a winding trolley (1, 28, 36, 37, 38) according to one of the preceding claims.

12. Method for transporting cotton coils (4, 39) in a spinning mill from a starting group (43) of winding machines (44) to a target group (45) of combing machines (6) on a track network (41) connecting the starting group (43) with the target group (45), characterized in that the cotton coils (4, 39) are transported according to claim 11 by means of a plurality of winding trolleys (1, 28, 36, 37, 38) and a central control system (62) determines routes of the winding trolleys (1, 28, 36, 37, 38) on the track network (41).

13. Method according to the aforementioned claim, characterized in that the control unit (62) transmits commands to the winding trolleys (1, 28, 36, 37, 38) for traversing the routes, which are to be executed at corresponding reference points (60), and that the winding trolleys (1, 28, 36, 37, 38) execute the commands at the respective reference points (60), wherein the control unit (62) guides the winding trolleys (1, 28, 36, 37, 38) on the route network (41) from the starting group (43) to the target group (45) and from the target group (45) back to the starting group (43).

14. Method according to one of claims 11 to 13, characterized in that the control unit (20) stores successive commands for execution.

15. Method according to one of claims 11 to 14, characterized in that the markers (61) are RFID tags.

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