Transfer device, winding system having a transfer device of this kind, and method for operating the winding system

Abstract

The invention relates to a transfer device (10) for the at least partially automated operation of at least one winding machine (12, 14), in particular a glass fiber winding machine, comprising at least one mobile transfer unit (16, 18) for the automated transfer of at least one winding material (20, 22) and / or at least one winding core (24) between the at least one winding machine (12, 14) and a storage and / or transport unit (28, 30). According to the invention, the transfer device (10) has at least one surroundings sensor unit (32) for detecting an obstacle in a movement direction and / or in a working space of the mobile transfer unit (16, 18).

Description

[0001] September 23, 2025

[0002] Overhead device, winding system with such an overhead device and method for operating the winding system

[0003] State of the art

[0004] The invention relates to a transfer device according to the preamble of claim 1, a winding system according to claim 13 and a method according to claim 14.

[0005] Transfer devices for winding machines are already known.

[0006] The object of the invention is, in particular, to provide a generic device with advantageous properties regarding efficiency and safety during the unloading and / or loading of the winding machine by means of the transfer device. This object is achieved according to the invention by the features of claims 1, 13 and 14, while advantageous embodiments and further developments of the invention can be found in the dependent claims.

[0007] Advantages of the invention

[0008] The invention relates to a transfer device for the at least partially automated operation of at least one winding machine, in particular a fiberglass winding machine, with at least one mobile transfer unit for the automated transfer of at least one winding material and / or at least one winding core between the at least one winding machine and a storage and / or transport unit. DS 17052 WO

[0009] It is proposed that the transfer device comprise at least one environmental sensor unit for detecting an obstacle in a direction of movement and / or within the working area of ​​the mobile transfer unit. The winding machine is preferably designed to wind a filament, in particular a glass fiber filament, onto a core. The core is preferably designed to be removed from the winding machine together with the filament and subsequently transported, stored, and / or shipped together with the filament. The wound material preferably refers to a unit consisting of the core and the filament wound onto the core. The transfer device comprises, for example, a removal unit for removing the wound material from the winding machine and transferring it to the storage and / or transport unit.The transfer device comprises, as a further mobile transfer unit, for example, a core loading unit for removing a new core from a storage and / or transport unit and transferring the new core to the winding machine to wind a new filament onto the core. Preferably, the removal unit is designed as an independent mobile transfer unit. Preferably, the core loading unit is also designed as an independent mobile transfer unit. Alternatively, the transfer device comprises a mobile transfer unit that functions as both a removal unit and a core loading unit. Independent units of the transfer device are preferably movable relative to one another and, in particular, can be arranged at a distance from each other.The transfer device may comprise the unloading unit or the core loading unit as the only type of mobile transfer unit, in particular as the only mobile transfer unit, comprise several identical mobile transfer units, or comprise at least one unloading unit and at least one core loading unit. DS 17052 WO.

[0010] The at least one mobile transfer unit preferably comprises at least one propulsion unit for moving the mobile transfer unit, in particular for moving a center of gravity of the mobile transfer unit, relative to the at least one winding machine. The propulsion unit can be designed, for example, as a vehicle, in particular as a wheeled vehicle, a tracked vehicle, a rail vehicle, or the like, or as a load carrier, in particular as a sled, a suspension, a container, or the like, of a conveying system of the transfer device. The propulsion unit can include its own drive unit, in particular an electric motor, or be provided for drive by a drive unit of the conveying system.The at least one mobile transfer unit preferably comprises at least one kinematic unit for handling, such as holding, gripping, moving, positioning, or the like, the material being wound and / or the winding core. The kinematic unit is preferably attached to the propulsion unit, particularly for a common movement. The kinematic unit preferably comprises at least one handling element, which is movably mounted relative to the propulsion unit. The kinematic unit preferably comprises at least one actuator for moving the handling element. The kinematic unit, in particular, defines the volume of the required working space of the at least one mobile transfer unit, especially for executing a movement sequence of the at least one handling element. The propulsion unit, in particular, defines the position of the required working space relative to the winding machine.

[0011] The storage and / or transport unit can be designed as a vehicle, a continuous conveyor, a discontinuous conveyor, a load carrier, a transport aid, or the like. The storage and / or transport unit is preferably designed to provide at least one winding core, in particular several winding cores, and / or to accommodate at least one unit of the wound material, in particular several units of the wound material. DS 17052 WO

[0012] In particular, the mobile transfer unit designed as a removal unit is intended to store several units of the wound material in the storage and / or transport unit, especially so that these can be transported away from the winding machine together by means of the storage and / or transport unit.

[0013] The environmental sensor unit is preferably designed to prevent a collision between the at least one mobile transfer unit and an obstacle. Particularly preferably, the transfer device comprises at least one control unit, which is designed to pause the propulsion unit and / or the kinematic unit upon positive detection of an obstacle. A "control unit" is understood to be, in particular, a unit with at least one control electronics unit. A "control electronics unit" is understood to be, in particular, a unit with a processor unit, a memory unit, and an operating program stored in the memory unit.Preferably, the transfer device comprises at least one output element, such as a warning light, a loudspeaker, a display, a wireless communication interface for communicating with an external output element, or the like, which is designed to issue a warning signal when an obstacle is detected. In an advantageous further development, the control unit can be configured, by means of the environmental sensor unit, to avoid the obstacle using the movement unit and / or the kinematic unit. The obstacle can be, for example, a foreign object located in the direction of movement and / or the working area, or a living being, such as the storage and / or transport unit, which has been positioned at an incorrect distance and / or orientation relative to the winding machine, another mobile transfer unit, and / or an operator of the winding machine.In a preferred, simple embodiment, the environmental sensor unit and the control unit are designed to detect only the presence of an obstacle. In a preferred, maintenance-friendly embodiment (DS 17052 WO), the environmental sensor unit is designed to detect the position of the obstacle and, in particular, to output this position via the output element. In a preferred, more sophisticated embodiment, the control unit is preferably designed to recognize the type of obstacle and, in particular, to take different countermeasures depending on the type of obstacle, such as issuing a warning signal to an obstructing living being, issuing a signal to the storage and / or transport unit with the command to reposition itself, or issuing a maintenance signal requesting the manual removal of the obstacle.

[0014] The environmental sensor unit preferably comprises at least one sensor element. This sensor element can be configured, for example, as an optical camera, a distance sensor (in particular a time-of-flight camera or lidar sensor), a contact sensor, an infrared sensor (in particular a thermal imaging camera), a wearable reader (in particular an RFID reader), a Bluetooth interface, a Zigbee interface, a light barrier, or a similar device. The sensor element can be arranged on or at a distance from the mobile transfer unit, and in particular, it can be arranged in a stationary configuration relative to the winding machine.Preferably, the environmental sensor unit comprises several, in particular identical and / or different, sensor elements with particularly overlapping detection areas in order to detect the workspace and / or a space located in the direction of movement in front of the at least one mobile transfer unit with advantageously few and / or with advantageously small gaps.

[0015] The term "intended" is to be understood in particular as specifically programmed, designed, and / or equipped. The fact that an object is intended for a specific function is to be understood in particular as meaning that the object DS 17052 WO fulfills and / or executes this specific function in at least one application and / or operating state.

[0016] The design according to the invention allows the winding machine to be advantageously operated in a highly automated manner. In particular, the number of manual work steps can be advantageously reduced. Furthermore, the effort required for monitoring the transfer device can be advantageously minimized. Additionally, a work area on the winding machine can be advantageously and safely used simultaneously by the transfer device and an operator of the winding machine. In particular, the risk of damage to the transfer device can be advantageously minimized. Specifically, the risk of endangering people and / or objects in the work area from the transfer device can be advantageously minimized.

[0017] It is further proposed that the environmental sensor unit comprises at least two differently configured sensor elements. Preferably, the environmental sensor unit comprises the sensor element already mentioned above and at least one further sensor element. The at least one further sensor element is preferably configured according to one of the examples for the sensor element mentioned above, but different from the sensor element. The at least one sensor element and the further sensor element preferably have an at least partially overlapping detection range. The different sensor elements are preferably provided for multiple confirmations of the absence and / or presence of an obstacle in the direction of movement and / or in the working area of ​​the at least one mobile transfer unit. The different sensor elements can be provided for mutual confirmation.Alternatively, at least one sensor element is provided for the initial detection of an obstacle, and the further sensor element for confirming the absence or presence of an obstacle and / or for identifying the DS 17052 WO.

[0018] Obstacle. The design according to the invention further increases the safety of the transfer device. Furthermore, the risk of false-positive and / or false-negative detection of obstacles can be advantageously minimized.

[0019] Furthermore, it is proposed that the environmental sensor unit comprise at least one sensor element for detecting the position and / or state of the storage and / or transport unit. The at least one sensor element is preferably configured according to one of the examples of the sensor element mentioned above. The at least one sensor element is preferably designed to detect whether the storage and / or transport unit is in a position and / or orientation suitable for transferring the wound material relative to the transfer device. The at least one sensor element is preferably designed to detect whether, and in particular at which receiving point, the storage and / or transport unit has available capacity to receive a unit of the wound material, or whether the storage and / or transport unit is full.The design according to the invention allows the operation of the transfer device to be advantageously and reliably coordinated with the availability of the storage and / or transport unit. In particular, the risk of damage and / or contamination of the wound material due to a failed transfer to the storage and / or transport unit can be advantageously minimized.

[0020] It is further proposed that the transfer device includes at least one communication unit for coordinating a movement of the mobile transfer unit with an operating state of the winding machine and / or the storage and / or transport unit. The communication unit preferably includes at least one wireless, in particular radio wave-based, interface. The at least one interface is, for example, configured as a Bluetooth interface, an Ethernet interface, a Zigbee interface, a Near Field Communication interface, or the like. DS 17052 WO

[0021] The communication unit is designed, for example, to send a signal to the storage and / or transport unit to initiate the removal of the transferred winding material. The communication unit is also designed, for example, to trigger the transfer of a new winding core to the winding machine upon receiving a signal, particularly one transmitted by the winding machine. The design according to the invention advantageously minimizes the risk of a malfunction due to an unsuccessful transfer of the winding material and / or the winding core.

[0022] It is further proposed that the transfer device comprises at least one winding material sensor unit for detecting at least one parameter of the winding material. The winding material sensor unit preferably comprises at least one sensor element for detecting the weight of the winding material. The winding material sensor unit preferably also comprises at least one sensor element for detecting the diameter of the winding material. The transfer device advantageously includes the winding material sensor unit in addition to the environmental sensor unit. The environmental sensor unit is preferably configured differently from the winding material sensor unit. According to the invention, the at least one parameter can advantageously be measured simultaneously with a loading and / or unloading process of the winding material. In particular, handling of the winding material can be carried out in advantageously few individual steps.

[0023] Furthermore, it is proposed that the transfer device includes at least one guide unit for guiding the at least one mobile transfer unit along a predetermined path of movement relative to the winding machine. The guide unit is preferably designed to define a path of movement that is at least substantially parallel, and in particular horizontal, to a surface on which, in particular, the winding machine and / or the storage and transport unit are located. "Substantially parallel" here refers in particular to an alignment of one direction relative to a DS 17052 WO

[0024] The reference direction is understood to be in a plane, wherein the direction has a deviation from the reference direction of preferably less than 8°, advantageously less than 5°, and particularly advantageously less than 2°. The guide unit is preferably designed to guide, and in particular to hold, the at least one mobile transfer unit above ground level. The guide unit is preferably designed to hold the at least one mobile transfer unit at a distance from the ground. The at least one mobile transfer unit is preferably movably mounted on the guide unit, in particular suspended from it.The at least one mobile transfer unit preferably comprises at least one coupling element, for example a roller, a slide, a hook, an eyelet, a bolt, a ball head, a guide rail, or the like, which is arranged on the guide unit and, in particular, positively fixed with respect to a direction perpendicular to the intended path of movement. The guide unit preferably comprises at least one guide element compatible with the coupling element, for example a guide rail, a guide rod, a steel cable, a conveyor belt, support rollers, or the like. A coordinate system rigidly connected to the mobile transfer unit comprises a movement axis, a working axis, and a height axis, each pair of which is perpendicular to the others.The mobile transfer unit is designed to be aligned with its axis of movement at least substantially parallel to the direction of movement, in particular the intended path of movement. The mobile transfer unit is preferably designed to be positioned next to the winding machine and / or the storage and / or transport unit with respect to a direction at least substantially parallel to the working axis. The vertical axis is preferably designed to be aligned at least substantially parallel to the Earth's gravity. If the mobile transfer unit is halved, in particular divided into thirds, with respect to one, in particular two, planes perpendicular to the vertical axis, all coupling elements of the mobile transfer unit are preferably arranged in the same half, DS 17052 WO, for mounting on the guide unit, in particular in the same third.The mobile transfer unit and the guide unit can be arranged side by side in a direction parallel to the working axis and / or one above the other in a direction parallel to the vertical axis. In particular, the mobile transfer unit can be suspended on one side in a direction parallel to the working axis or arranged between two guide elements of the guide unit. The transfer device can include a frame to which the guide unit is fixed in a direction at least substantially parallel to the vertical axis, preferably at a height above head height, and in particular at a height of at least 2 m above the ground. Alternatively or additionally, the guide unit is designed to be fixed to a ceiling, a wall, support beams, or the like at the installation site of the winding machine.Preferably, the guide unit comprises at least one drive unit, in particular at least one electric motor, for moving the at least one mobile transfer unit along the intended path of motion. In an advantageously simple embodiment, the intended path of motion has a straight course. Depending, for example, on available space, an arrangement of several winding machines to be operated by the transfer device, a design of the storage and / or transport unit, or other framework conditions, the intended path of motion can alternatively include one or more curves, have a closed path, or have another path that appears sensible to a person skilled in the art. The embodiment according to the invention allows a working area or different working areas along the path of motion to be advantageously clearly defined.In particular, the control and navigation of the transfer device can be kept advantageously simple.

[0025] Furthermore, it is proposed that the transfer device comprises at least one additional mobile transfer unit, wherein the mobile transfer unit and the additional mobile transfer unit are movable relative to each other, in particular along at least substantially parallel paths of motion. Preferably, the additional mobile transfer unit is arranged on the guide unit, in particular suspended from it. The guide unit preferably comprises at least one additional guide element on which the additional mobile transfer unit is movably mounted. The mobile transfer units are preferably movable independently of each other along their respective paths of motion. The paths of motion are preferably arranged side by side in a direction that is at least substantially parallel to the working axis of the mobile transfer unit.The vertical axis of the mobile transfer unit and one vertical axis of the other mobile transfer unit are preferably aligned at least substantially parallel to each other. If the mobile transfer units are located next to each other in a direction that is at least substantially parallel to the working axis of the mobile transfer unit, then the working axis of the mobile transfer unit and one working axis of the other mobile transfer unit, and analogously the movement axis of the mobile transfer unit and one movement axis of the other mobile transfer unit, are aligned at least substantially parallel to each other. In an advantageously compact embodiment, the distance between the movement paths is so small that parallel projections of the mobile transfer units with respect to the respective vertical axes overlap each other.In particular, an area of ​​the parallel projection of the other mobile transfer unit can lie at least substantially entirely within an area of ​​the parallel projection of the mobile transfer unit, or vice versa. "Substantially entirely" is preferably understood to mean at least 50%, more preferably at least 75%, and most preferably more than 90%, specifically referring to the arrangement of a portion of the total area of ​​the parallel projection within an area boundary of the other parallel projection. For example, the mobile transfer unit has a recess or protrusion in a plane perpendicular to the axis of movement, through which the path of movement of the other mobile transfer unit passes.For example, the mobile transfer unit has an L-shaped cross-section (DS 17052 WO) in a plane perpendicular to its axis of movement. This cross-section defines a clearance that complements the L-shaped cross-section to form the smallest imaginary rectangle that just completely surrounds the L-shaped cross-section. For example, the other mobile transfer unit engages in this clearance and / or is at least substantially entirely located within it when the mobile transfer units are arranged side by side along their working axes. Alternatively, the paths of movement are spaced so far apart that parallel projections of the mobile transfer units with respect to their respective height axes are non-overlapping at every position along the intended paths of movement.The inventive design allows the transfer device to perform an advantageously large number of tasks, while in particular the individual transfer units can be kept advantageously compact. Specifically, an unused transfer unit can be advantageously removed from the workspace, freeing up a suitably large portion of the workspace for the other transfer unit and / or an operator of the winding machine. Furthermore, the transfer units can be used advantageously flexibly. For example, the different transfer units can advantageously operate simultaneously on different winding machines.

[0026] Furthermore, it is proposed that the mobile transfer unit be designed as a dispensing unit and comprise at least one winding material receiving unit, wherein the winding material receiving unit includes at least one belt conveyor for supporting the winding material. The winding material receiving unit is preferably arranged on the kinematic unit of the dispensing unit. The kinematic unit preferably comprises at least one handling element, in particular a linear guide element, for adjusting the height position of the winding material receiving unit along a direction at least substantially parallel to the height axis of the dispensing unit. The kinematic unit preferably comprises at least one further handling element, in particular another linear guide element, for adjusting a working position of the DS 17052 WO.

[0027] The winding material receiving unit moves along a direction at least substantially parallel to the working axis of the removal unit. The handling element and / or the further handling element are, for example, designed as a linear slide, a telescopic rod, a lifting cylinder, or the like. The kinematic unit is preferably designed to position the winding material receiving unit on the winding material and, in particular, to establish a frictional and / or positive locking connection between the winding material and the winding material receiving unit in order to release the winding material from the winding machine. The kinematic unit is preferably designed to position the winding material on the storage and / or transport unit, in particular to hook a hollow winding core onto a projection of the storage and / or transport unit. The winding material receiving unit preferably includes a receiving recess for direct contact with the winding material, in particular the filament.The receiving trough preferably has a maximum longitudinal extent that is at least substantially parallel to the working axis. This maximum longitudinal extent is preferably longer than the maximum longitudinal extent of a winding core, and in particular longer than twice the maximum longitudinal extent of a winding core. The receiving trough is preferably bounded in a direction parallel to the axis of movement by two lateral support surfaces, which are designed to absorb the weight of the material being wound. The support surfaces are preferably arranged facing each other at a winding angle of 95° to 175°, and in particular at 135° to 175°. The receiving trough can, in particular, have a trough-shaped profile, a V-shaped profile, a trapezoidal profile, a funnel-shaped profile, or the like, in a cross-section perpendicular to the working axis.Preferably, at least one of the support surfaces, in particular partially or completely, is formed by a conveyor belt. The winding material receiving unit particularly preferably comprises at least two conveyor belts, each of whose conveyor belts forms one of the support surfaces, in particular partially or completely. Preferably, the winding material receiving unit comprises at least one, and in particular exactly one, common motor for a synchronous drive of the at least two conveyor belts. Preferably, the winding material receiving unit comprises exactly one conveyor belt per support surface, or alternatively, several conveyor belts arranged one behind the other in a direction at least substantially parallel to the working axis. The at least one conveyor belt is preferably designed to transport the winding material in a direction at least substantially parallel to the working axis.Preferably, the belt conveyor is designed to reposition the wound material within the winding material receiving unit, in particular from an inlet end of the winding material receiving unit, which is designed to be arranged facing the winding machine, to an outlet end of the winding material receiving unit, which is designed to be arranged facing the storage and / or transport unit. Preferably, the winding material receiving unit includes at least one cover, in particular a cover plate, to protect a return section of the at least one belt conveyor from contamination. Particularly preferably, the winding material receiving unit includes at least one housing in which the at least one belt conveyor is arranged, in particular such that only the section of the belt currently serving as a support surface is exposed.The design according to the invention allows for advantageously simple and precise positioning of the wound material, particularly of a single unit. In particular, multiple units of the wound material can be advantageously separated easily. Specifically, the movement sequence of the kinematic unit for separating multiple units of the wound material can be advantageously kept simple.

[0028] It is further proposed that the mobile transfer unit be designed as a removal unit and include at least one winding material receiving unit, wherein the winding material receiving unit includes at least one static support surface for supporting the winding material. The winding material receiving unit is preferably designed, with the exception of the belt conveyor, as described in the preceding section DS 17052 WO. The winding material receiving unit particularly includes at least two static support surfaces defining a receiving trough of the winding material receiving unit. The at least one static support surface is formed, for example, by at least one, and in particular a single, metal sheet. The at least one metal sheet is preferably made of stainless steel. Preferably, the at least one metal sheet has a maximum longitudinal extent at least substantially parallel to the working axis, which in particular corresponds to a maximum longitudinal extent of a winding core.The phrase "essentially corresponds [to a reference size]" preferably means that the size deviates from the reference size by less than 50%, preferably by less than 25%, and particularly by less than 10%. Preferably, the dispensing unit comprises at least one further winding material receiving unit, which is arranged next to the winding material receiving unit in one direction at least substantially parallel to the working axis. A gap between the winding material receiving unit and the further winding material receiving unit, in particular between the at least one support surface and a support surface of the further winding material receiving unit, is preferably flush-sealed, particularly by means of an aramid material, for example, Kevlar. In an embodiment with several winding material receiving units, one of the winding material receiving units forms the inlet end and another winding material receiving unit forms the outlet end.Preferably, at least one sensor element of the winding material sensor unit, particularly for determining the weight of the wound material, is arranged in the winding material receiving unit and / or the further winding material receiving unit. The design according to the invention allows for advantageously simple cleaning of the removal unit and advantageously quick replacement of the removal unit. Furthermore, in an embodiment with several winding material receiving units, different packaging sizes of the wound material can be advantageously compensated for. DS 17052 WO.

[0029] Furthermore, it is proposed that the mobile transfer unit be designed as a removal unit and include at least one separation mechanism for separating several wound materials simultaneously removed from the winding machine. The separation mechanism is, for example, formed by the at least one belt conveyor. Preferably, the control unit is designed to transfer a first unit of the wound material from the output end of the winding material receiving unit to the storage and / or transport unit, in particular to a first receiving element of the storage and / or transport unit, by means of the kinematic unit. Preferably, the control unit is designed to transport a further unit of the wound material from the input end of the winding material receiving unit to the output end by means of the belt conveyor.Preferably, the control or regulating unit is provided to transfer the further unit of the wound material from the output end of the wound material receiving unit to the storage and / or transport unit, in particular to a further receiving element of the storage and / or transport unit that differs from the first receiving element, by means of the kinematic unit.

[0030] Alternatively, particularly when the winding material receiving unit(s) are designed with static support surfaces, the kinematic unit comprises an additional handling element, in particular an additional linear guide element, and an additional winding material receiving element arranged on the additional handling element as a separation mechanism. The additional handling element is preferably designed to change the working position of the additional winding material receiving element along a direction at least substantially parallel to the working axis. The additional winding material receiving element is preferably designed to engage with the winding core in order to hook a unit of the winding material onto the additional winding material receiving element. The additional winding material receiving element is designed, for example, as a hook, a rod, or the like.The control unit is preferably designed, according to DS 17052 WO, to engage the additional winding material receiving element in a winding core of a winding material located at the input end, particularly on the winding material receiving unit forming the input end, and to transport the winding material to the output end, particularly the winding material receiving unit forming the output end. The control unit is preferably designed to keep the winding material receiving unit(s) spaced apart from the winding material during transport with the additional handling element. The design according to the invention allows for advantageous flexibility in the storage and / or transport logistics of the winding material. In particular, manual re-winding of the winding material and / or the need for a separate device for re-winding the winding material can be eliminated.In particular, a winding machine which provides several units of the winding material in parallel can be operated with advantageously few transfer devices, in particular a single transfer device.

[0031] Furthermore, it is proposed that the mobile transfer unit or another transfer unit be designed as a winding core loading unit and include at least one pivoting arm for loading the winding machine with the at least one winding core, wherein a pivot axis of the pivoting arm is aligned at least substantially parallel to the intended direction of movement of this mobile transfer unit. The winding core is preferably hollow cylindrical, in particular in the form of a tube or a sleeve, alternatively in the form of a coil or winding drum. The pivoting arm preferably includes a winding core holder for receiving at least one winding core, in particular at least two winding cores. The winding core holder is preferably designed to reach into the winding core, in particular through the winding core.Preferably, the kinematic unit of the winding core loading unit comprises at least one handling element, in particular a linear guide element, to a DS 17052 WO.

[0032] Adjustment of the height position of the swivel arm along a direction at least substantially parallel to the height axis of the winding core loading unit. The kinematic unit preferably comprises at least one further handling element, in particular a further linear guide element, for adjusting a working position of the swivel arm along a direction at least substantially parallel to the working axis of the winding core loading unit. The handling element and / or the further handling element are, for example, designed as a linear slide, a telescopic rod, a lifting cylinder, or the like. The kinematic unit is preferably designed to insert the winding core holder into a winding core provided by the storage and / or transport unit and / or a further storage and / or transport unit while the swivel arm is in a loading position.The swivel arm is preferably designed to move the core holder from the loading position to a transfer position, which is aligned at least substantially parallel to a spindle of the winding machine for winding the filament onto the core. The kinematic unit is preferably designed to align the swivel arm concentrically with the spindle in the transfer position. Transferring the at least one core from the core holder in the transfer position to the spindle of the winding machine can be carried out manually, by means of a compressed air unit of the core loading unit, by means of a switchable electromagnet of the core loading unit, by means of a slide of the kinematic unit arranged on the swivel arm, or the like.Preferably, the maximum longitudinal extent of the swivel arm, in particular of the winding core holder, extends at least substantially perpendicular to the vertical axis of the winding core loading unit in the loading position. Preferably, the maximum longitudinal extent of the swivel arm, in particular of the winding core holder, extends at least substantially perpendicular to the working axis of the winding core loading unit in the transfer position, in particular to the horizontal. The design according to the invention allows the winding core loading unit to be advantageously kept compact, particularly in a direction parallel to the working axis of the winding core loading unit.

[0033] Furthermore, it is proposed that the mobile transfer unit or a further transfer unit be designed as a winding core loading unit, wherein the storage and / or transport unit or a further storage and / or transport unit is rigidly connected to this mobile transfer unit. The storage and / or transport unit rigidly connected to the winding core loading unit is preferably designed as a winding core depot of the transfer device. The winding core depot is preferably designed to receive a plurality of winding cores, in particular in a compressed, especially folded, state. The winding cores are made, for example, of paper, cardboard, plastic, or sheet metal.The core receptacle can be arranged on the core loading unit in a way that allows for non-destructive removal, particularly for replacing the entire core receptacle in an empty state with a filled new one, or at least share a common structural element with the core loading unit. The core loading unit preferably comprises a core supply unit for removing a single core from the core receptacle. The cores are preferably arranged one behind the other in the core receptacle along a stacking direction. The stacking direction is preferably aligned at least substantially parallel to the axis of movement of the core loading unit. The core supply unit includes, for example, at least one linear guide element to push the first core out of the core receptacle at least substantially perpendicular to the stacking direction.The winding core supply unit preferably comprises at least one decompression unit for expanding the compressed winding core, particularly precisely to the diameter of the winding core holder. The decompression unit comprises, for example, at least one suction gripper, particularly preferably at least one twin suction gripper, to expand the winding core. The winding core supply unit preferably comprises at least one handling element, in particular a linear guide element, for changing the position of the decompression unit in a direction at least substantially perpendicular to the axis of movement of the winding core loading unit. The handling element of the winding core supply unit is preferably designed to position the winding core, in particular the decompression unit, concentrically with the swivel arm in the loading position.The handling element of the winding core supply unit is preferably designed to position the empty decompression unit concentrically with a discharge opening of the winding core depot after the winding core has been transferred to the swivel arm. The design according to the invention advantageously allows the distance traveled by the winding core loading unit to complete a work cycle to be kept short. In particular, the distance traveled after a winding core has been transferred to the winding machine to the storage and / or transport unit, or to the further storage and / or transport unit for the removal of a new winding core, can be reduced. Furthermore, the winding core can be prepared for transfer to the winding machine at any position of the winding core loading unit relative to the winding machine.

[0034] Furthermore, a winding system comprising at least one winding machine, in particular a fiberglass winding machine, and at least one transfer device according to the invention is proposed. The winding system preferably includes the storage and / or transport unit. The winding machine preferably includes at least one filament guide unit for guiding the filament. The winding machine preferably includes the spindle. The spindle is preferably designed to rotate a winding core in order to wind the filament onto the core. The spindle is preferably designed to be aligned at least substantially parallel to the horizontal. The path(s) of movement of the transfer device are preferably aligned at least substantially perpendicular to the spindle. The winding system can comprise several winding machines, in particular of identical construction, which are arranged one after the other along the path(s) of movement of the transfer device.The winding machine and the storage and / or transport unit for receiving the wound material are preferably arranged on opposite sides of the movement path(s) of the transfer device. Alternatively, the winding machine and the storage and / or transport unit for receiving the wound material are arranged on the same side of the transfer device. The design according to the invention allows for an advantageously highly automated winding system that can be operated safely.

[0035] Furthermore, a method for operating a winding system according to the invention is proposed. Preferably, in at least one step of the process, the core loading unit removes at least one core from the core storage. Preferably, the control unit positions the core loading unit, by means of its movement unit, along its path of movement at a position collinear with the spindle of the winding machine and aligns the at least one core concentrically with the axis of rotation by means of the swivel arm and kinematic unit of the core loading unit. Preferably, the at least one core is transferred manually or by the core loading unit to the axis of rotation of the winding machine. Preferably, the winding machine winds the filament onto the core located on the spindle.Preferably, the control unit repositions the winding core loading unit using the movement unit of the winding core loading unit to release a working area that is arranged collinearly with the spindle. Preferably, the control unit positions the unloading unit using the movement unit of the DS 17052 WO.

[0036] The unwinding unit moves along its path of motion to a position collinear with the spindle of the winding machine. Preferably, the control unit, using the kinematic unit of the unwinding unit, brings the winding material receiving unit into contact with the winding material located on the spindle and releases the winding material from the axis of rotation. Preferably, the control unit repositions the unwinding unit with the winding material, using the movement unit of the unwinding unit, along its path of motion to a position collinear with a receiving element of the storage and / or transport unit. Preferably, the control unit repositions the winding material using the kinematic unit of the unwinding unit and transfers the winding material to the storage and / or transport unit.Preferably, the control unit pauses one of the aforementioned steps if the environmental sensor unit detects an obstacle in the direction of movement and / or in a working area of ​​the winding material receiving unit and / or the unwinding unit. Preferably, the control unit automatically resumes movement and / or operation of the winding material receiving unit and / or the unwinding unit when the environmental sensor unit no longer detects an obstacle. The control unit preferably triggers the removal of the storage and / or transport unit when the environmental sensor unit determines that the storage and / or transport unit no longer has the capacity to receive further units of the wound material. Due to the design according to the invention, the winding machine can be operated with advantageously little manual effort.

[0037] The transfer device and / or the winding system according to the invention are not to be limited to the application and embodiment described above. In particular, the transfer device and / or the winding system according to the invention may, to achieve a functionality described herein, comprise a different number of individual elements, components, and units than the number specified herein. DS 17052 WO

[0038] Drawings

[0039] Further advantages will become apparent from the following description of the drawings. The drawings illustrate three exemplary embodiments of the invention. The drawings, the description, and the claims contain numerous features in combination. A person skilled in the art will expediently consider the features individually and combine them into meaningful further combinations.

[0040] They show:

[0041] Fig. 1 shows a schematic front view of a winding system according to the invention with a transfer device according to the invention.

[0042] Fig. 2 shows a schematic top view of the winding system according to the invention from Figure 1 ,

[0043] Fig. 3 shows a schematic perspective view of a guide unit of the transfer device according to the invention.

[0044] Fig. 4 shows a schematic perspective view of a removal unit of the transfer device according to the invention.

[0045] Fig. 5 shows a schematic perspective view of a winding material receiving unit of the removal unit,

[0046] Fig. 6 shows a schematic sequence of movements of a separation mechanism of the transfer device,

[0047] Fig. 7 shows a schematic perspective view of a winding core loading unit of the transfer device according to the invention.

[0048] Fig. 8 shows a schematic flowchart of a method according to the invention for operating the winding system,

[0049] Fig. 9 shows a schematic representation of an alternative design of the winding material receiving unit and

[0050] Fig. 10 shows a schematic representation of another alternative design of the winding material receiving unit. DS 17052 WO

[0051] Description of the exemplary implementations

[0052] Figure 1 shows a front view and Figure 2 a top view of a winding system 64. The winding system 64 comprises a winding machine 12 and, in particular, at least one further winding machine 14, here by way of example, several further winding machines 14 (see Figure 2). The winding machines 12, 14 are preferably arranged one behind the other along a straight line, in particular in alignment. The winding machines 12, 14 are preferably designed as glass fiber winding machines. The winding machine 12 preferably comprises at least one spindle 74 for winding a filament, in particular a glass fiber filament, onto a winding core 24. The winding machine 12 preferably comprises at least one drive for rotating the spindle 74 about a rotary axis. The rotary axis is preferably aligned at least substantially parallel to the horizontal and, in particular, at least substantially perpendicular to an array of winding machines 12, 14.The spindle 74 is designed, by way of example, to simultaneously receive several, in particular at least two, winding cores 24 and to wind each with a filament. A unit consisting of a single winding core 24 and the filament wound on it is hereinafter referred to as the winding material 20, 22. The winding machines 12, 14 are preferably of identical construction. The winding system 64 preferably comprises a storage and / or transport unit 28 for receiving the winding material 20, 22, in particular for receiving several units of the winding material 20, 22. The storage and / or transport unit 28 is here by way of example designed as a stand carriage. The storage and / or transport unit 28 preferably comprises several receiving elements 98, for receiving one or more units of the winding material 20, 22 each, here by way of example in the form of support bars for hanging the winding cores 24 of the winding material 20, 22.The winding system 64 preferably comprises a further storage and / or transport unit 30 for the provision of new winding cores 24. DS 17052 WO.

[0053] The winding system 64 comprises a transfer device 10. The transfer device 10 is designed for at least partially automated operation of the winding machines 12, 14. The transfer device 10 includes at least one mobile transfer unit 16 for the automated transfer of at least one unit of the winding material 20, 22 from the winding machines 12, 14 to the storage and / or transport unit 28. This mobile transfer unit 16 is hereinafter also referred to as the unloading unit 46. The transfer device 10 includes at least one further mobile transfer unit 18 for the automated transfer of at least one winding core 24 from the further storage and / or transport unit 30 to one of the winding machines 12, 14. This further mobile transfer unit 18 is hereinafter also referred to as the winding core loading unit 58.

[0054] The mobile transfer units 16, 18 preferably each comprise a propulsion unit for moving the respective mobile transfer units 16, 18 relative to the winding machines 12, 14. The propulsion units are preferably designed to move one of the mobile transfer units 16, 18 into a working area on one of the winding machines 12, 14 and to release the working area on the winding machine 12, 14, for example, for use by an operator of the winding machine 12, 14 and / or another of the mobile transfer units 16, 18, in particular for changing positions between working areas on different winding machines 12, 14. The mobile transfer units 16, 18 are preferably designed to move along a path of movement that runs at least substantially parallel to a row of winding machines 12, 14 (see in particular Figure 2).The intended path of movement of the mobile transfer units 16, 18 is particularly preferably at least substantially perpendicular to the axis of rotation of the spindle 74. The mobile transfer unit 16 and the further mobile transfer unit 18 are movable relative to each other, in particular on paths of movement that are at least substantially parallel. The mobile DS 17052 WO.

[0055] Transfer units 16, 18 preferably comprise an orthogonal coordinate system with a working axis 68, a movement axis 70, and a height axis 72. In the present case, the axes of the coordinate systems of the mobile transfer units 16, 18 are at least substantially parallel to each other in every configuration and position of the mobile transfer units 16, 18, so that no distinction is made between the respective coordinate systems of the mobile transfer units 16, 18 in the following. The working axis 68 is preferably aligned at least substantially parallel to the axis of rotation of the spindle 74. The movement axis 70 is preferably aligned at least substantially parallel to the intended movement paths of the mobile transfer units 16, 18. The transfer device 10 comprises at least one guide unit 44 for guiding the mobile transfer units 16, 18 along the intended movement paths relative to the winding machines 12, 14 (see Figure 10).(especially also Fig. 3). The guide unit 44 comprises, for example, a support frame 76 on which the mobile transfer units 16, 18 are mounted. In the present case, the transfer units 16, 18, their paths of movement, their working areas and, in particular, the winding machines 12, 14 are arranged within the volume enclosed by the support frame 76.

[0056] The transfer device 10 comprises at least one environmental sensor unit 32 for detecting an obstacle in a direction of movement and / or in a working area of ​​the mobile transfer units 16, 18. The environmental sensor unit 32 preferably comprises at least one sensor element 34, 36, 38. More preferably, the environmental sensor unit 32 comprises several sensor elements 34, 36, 38, with, in particular, overlapping and / or complementary detection areas. For example, the environmental sensor unit 32 comprises at least one sensor element 34, 36 that is arranged on one of the mobile transfer units 16, 18. In particular, the environmental sensor unit 32 comprises at least one sensor element 34 that is arranged on the removal unit 46. In particular, DS 17052 WO

[0057] The environmental sensor unit 32 comprises at least one sensor element 36 arranged on the winding core loading unit 58. For example, the environmental sensor unit 32 comprises at least one sensor element 38 arranged on the support frame 76. Preferably, at least two of the sensor elements 34, 36, 38 of the environmental sensor unit 32 are configured differently, in particular for mutual confirmation that no obstacle is present in the direction of movement and / or working area of ​​one of the mobile transfer units 16, 18. The environmental sensor unit 32 comprises at least one sensor element 34, 38 for detecting a position and / or state of the storage and / or transport units 28. The transfer device 10 comprises at least one communication unit 40 for coordinating a movement of the mobile transfer units 16, 18 with an operating state of the winding machines 12, 14 and / or the storage and / or transport units 28, 30.The transfer device 10 comprises at least one winding material sensor unit 42 for detecting at least one parameter of the winding material 20, 22. The winding material sensor unit 42 is preferably arranged on the removal unit 46.

[0058] Figure 3 shows a simplified representation of the transfer device 10. The guide unit 44 comprises, for example, rails that are attached to the support frame 76. The guide unit 44 is designed, in particular, as a ceiling guide to guide the mobile transfer units 16, 18 without requiring floor space. The mobile transfer units 16, 18 are preferably suspended from the rails. Preferably, the guide unit 44 comprises at least one first rail, here by way of example a pair of rails, on which the removal unit 46 is suspended. Preferably, the guide unit 44 comprises at least one further rail, here by way of example another pair of rails, on which the winding core loading unit 58 is suspended. The at least one first rail and the at least one further rail are arranged side by side in a direction parallel to the working axis 68. The mobile transfer units 16, 18 preferably each comprise a mounting column 78, 80, one end of which is attached to the DS 17052 WO

[0059] Guide unit 44 is mounted. The mounting columns 78, 80 preferably have a main extension direction which is intended to be aligned at least substantially parallel to the height axis 72.

[0060] Figure 4 shows the removal unit 46. The removal unit 46 comprises at least one winding material receiving unit 48 for direct contact with the winding material 20, 22. The removal unit 46 comprises at least one kinematic unit for moving the winding material receiving unit 48 relative to the mounting column 78 of the removal unit 46. The kinematic unit of the removal unit 46 preferably comprises at least one height handling element 82 for adjusting the height position of the winding material receiving unit 48 along a direction at least substantially parallel to the height axis 72. The height handling element 82 is exemplified as a linear slide mounted on the mounting column 78. The kinematic unit of the removal unit 46 preferably comprises at least one working handling element 84 for adjusting the working position of the winding material receiving unit 48 along a direction at least substantially parallel to the working axis 68.The work handling element 84 is exemplified as a linear slide mounted on the height handling element 82. The kinematic unit of the removal unit 46 preferably comprises a further work handling element 86 for adjusting a working position of the winding material receiving unit 48 along a direction at least substantially parallel to the working axis 68. The further work handling element 86 is, for example, designed as a telescopic rod mounted on the work handling element 84. The winding material receiving unit 48 is preferably attached to a part of the further work handling element 86 that is movable relative to the work handling element 84.As can be seen in Figure 1, the mounting column 78 of the removal unit 46 is preferably longer than the mounting column 80 of the winding core loading unit 58, in particular so that when the removal unit 46 moves along the path of movement, the height handling element 82 with the DS 17052 WO arranged indirectly thereon.

[0061] The winding material receiving unit 48 can be guided completely below the winding core loading unit 58 at least in one end position of the height handling element 82 on the mounting column 78 of the removal unit 46 with respect to the height axis 72.

[0062] Figure 5 shows an exemplary embodiment of the winding material receiving unit 48a. Further embodiments of the winding material receiving unit 48b, 48c are shown in Figures 9 and 10. For differentiation, the letters a, b, and c are appended to the reference numerals of the winding material receiving units 48a, 48b, 48c in Figures 5, 9, and 10. With regard to identically designated components, and in particular components with the same reference numerals, reference may also be made to the drawings and / or the description of the other embodiments. Unless reference is made to a specific embodiment of the winding material receiving unit 48, no letter is appended to the reference numeral.

[0063] The winding material receiving unit 48a of Figure 5 comprises at least one static support surface 50a, 52a, here by way of example two support surfaces 50a, 52a, for supporting the winding material 20, 22. The support surfaces 50a, 52a are preferably each aligned at least substantially parallel to the working axis 68. The support surfaces 50a, 52a are preferably arranged tilted about the working axis 68 and facing each other to form a receiving trough for the winding material 20, 22. A maximum longitudinal extent of the winding material receiving unit 48a along the working axis 68 preferably corresponds at least substantially to a maximum longitudinal extent of the winding material 20, 22. The winding material receiving unit 48a is particularly designed to receive exactly one winding material 20, 22. For example, the removal unit 46 includes at least one further winding material receiving unit 49a, which is in particular identical in construction to the winding material receiving unit 48a.The winding material receiving units 48a, 49a are preferably arranged one behind the other along the working axis 68a, particularly butt-jointed, to form a common, preferably stepless, receiving trough. The further winding material receiving unit 49a is preferably rigidly connected to the winding material receiving unit 48a. A mounting gap between the support surfaces 50a, 52a of the different winding material receiving units 48a, 49a is preferably sealed with a sealing element 88a, for example made of Kevlar. Alternatively, the winding material receiving unit 48a is designed to be long enough along the working axis 68 to receive at least two units of the winding material 20, 22 one after the other.

[0064] Figure 6 shows a workflow of the removal unit 46 within a method 66 for operating the winding system 64 (see Fig. 8). The workflow shown in Figure 6 is designed for removing several units, here by way of example two, of the winding material 20, 22 from the same spindle 74. The removal unit 46 comprises at least one separation mechanism for separating several winding materials 20, 22 removed simultaneously from one of the winding machines 12, 14. In particular, an embodiment of the removal unit 46 with a winding material receiving unit 48, which includes static support surfaces, is shown here, as illustrated by way of example in Figure 5. The separation mechanism includes, for example, an additional winding material receiving element 94, here by way of example in the form of a hook for engaging a winding core 24 of one of the winding materials 20, 22.The separation mechanism preferably comprises at least one additional handling element 96 for displacing the additional winding material receiving element 94 in a direction at least substantially parallel to the working axis 68. The additional handling element 96 is preferably mounted on the mounting column 78 of the removal unit 46, in particular at a position above the height handling element 82, such that the support surfaces of the winding material receiving unit 48 are arranged facing the additional handling element 96. Figure 6 shows four configurations that the removal unit 46 assumes during the work process.In a docking step of the work sequence, the height handling element 82, the work handling element 86, the further work handling element 86, and, if necessary, the movement unit, bring the winding material receiving unit 48 to an initial removal position. This position corresponds at least substantially to the position of the spindle 74 along the working axis 68 and the movement axis 70 and is spaced in a direction parallel to the height axis 72, in particular below, the winding material 20, 22. In the docking step, the height handling element 82 moves the winding material receiving unit 48 along the height axis 72 towards the winding material 20, 22 until the support surfaces of the winding material receiving unit 48, in particular the support surfaces 50a, 52a from Figure 5, touch the winding material 20, 22. A configuration of the removal unit 46 at the end of the docking step is shown in Figure 6, top left.The winding material receiving unit 48 preferably comprises, along the working axis 68, an inlet end 90, which faces the winding machine 12, and an outlet end 92, which faces the storage and / or transport unit 28. For example, the inlet end 90 is formed by the winding material receiving unit 48a from Figure 5 and the outlet end 92 by the further winding material receiving unit 49a from Figure 5. Preferably, at the end of the docking step, a unit of the winding material 20 is arranged at the outlet end 92 and a unit of the winding material 22 at the inlet end 90.

[0065] The workflow preferably comprises a removal step and at least one subsequent transfer step, hereinafter referred to as the first transfer step for distinction. A configuration of the removal unit 46 at the end of the first transfer step is shown in Figure 6, top right. In the removal step, several units of the wound material 20, 22 are released from the spindle 74 by moving the work handling element 84 and / or the further work handling element 86 in a direction away from the spindle 74. In the first transfer step, the height handling element 82 and, if necessary, the movement unit move the DS 17052 WO

[0066] The winding material receiving unit 48 is moved to an initial transfer position such that the units of the winding material 20, 22 located on the winding material receiving unit 48 are arranged at least substantially concentrically with a receiving element 98 of the storage and / or transport unit 28 along the height axis 72 and the movement axis 70. A selection of a free receiving element 98 of the storage and / or transport unit 28 can be determined by a control unit of the transfer device 10, for example, by means of the environmental sensor unit 32 and / or on the basis of a fixed sequence plan. Preferably, the work handling element 86 and / or the further work handling element 86 moves the winding material receiving unit 48 such that a position of the winding material 20 located on the output end 92, in particular a winding core of the winding material 20, along the working axis 68 corresponds at least substantially to a position of the receiving element 98.Preferably, the removal unit 46 decouples the winding material 20 arranged on the receiving element 98 from the winding material receiving unit 48 by a movement of the height handling element 82, in particular so that the winding material 20 remains attached to the receiving element 98.

[0067] After the first transfer step, the further handling element 86 is preferably retracted, in particular to such an extent that the output end 92 is arranged in a direction parallel to the working axis 68 and spaced apart from the storage and / or transport unit 28. Preferably, the work process includes a first transfer step. In the first transfer step, the additional winding material receiving element 94 is preferably arranged in the winding core 24 of the further winding material 22 located at the input end 90 by means of the additional handling element 96. A configuration of the removal unit 46 at the end of the first transfer step is shown in Figure 6, lower right. DS 17052 WO

[0068] Preferably, the workflow includes a further transfer step. Preferably, in this further transfer step, the removal unit 46 decouples the additional winding material 22 arranged on the additional winding material receiving element 94 from the winding material receiving unit 48 by moving the height handling element 82, in particular so that the winding material 22 remains attached to the additional winding material receiving element 94. Preferably, in this further transfer step, the additional winding material 22 located on the additional winding material receiving element 94 is transferred from a position above the inlet end 90 to a position above the outlet end 92 by actuating the additional handling element 96 and / or the working handling element 84. A configuration of the removal unit 46 at the end of the further transfer step is shown in Figure 6, lower left.

[0069] Preferably, the workflow comprises a further docking step in which the height-handling element 82 brings the output end 92 into contact with the additional winding material 22 located on the additional winding material receiving element 94, thereby detaching it from the additional winding material receiving element 94. Preferably, after the further docking step, the additional winding material receiving element 94 is moved back to a rest position, which is spaced apart from the additional winding material 22 located on the output end 92 in a direction parallel to the working axis 68. Preferably, the workflow comprises a further transfer step analogous to the first transfer step, in which the additional winding material 22 is transferred to a further receiving element of the storage and / or transport unit 28.

[0070] Figure 7 shows the winding core loading unit 58. The winding core loading unit 58 comprises at least one swivel arm 60 for loading the winding machines 12, 14 with at least one winding core 24. A swivel axis 62 of the swivel arm 60 is aligned at least substantially parallel to the intended direction of movement of the winding core loading unit 58, i.e., in this case, at least DS 17052 WO, substantially parallel to the axis of movement 70. The winding core loading unit 58 comprises at least one kinematic unit for moving the swivel arm 60 relative to the mounting column 80 of the winding core loading unit 58. The kinematic unit of the winding core loading unit 58 preferably comprises at least one height handling element 100 for adjusting the height position of the swivel arm 60 along a direction that is at least substantially parallel to the height axis 72. The height handling element 100 is designed as an example of a linear slide mounted on the mounting column 80.The kinematic unit of the winding core loading unit 58 preferably comprises at least one working handling element 102 for adjusting a working position of the swivel arm 60 along a direction at least substantially parallel to the working axis 68. The working handling element 102 is exemplified as a linear slide mounted on the height handling element 100.

[0071] The additional storage and / or transport unit 30 is rigidly connected to the winding core loading unit 58, in particular to the assembly column 80. To distinguish it from the storage and / or transport unit 30 separately formed by the transfer device 10, the additional storage and / or transport unit 30 is hereinafter also referred to as the winding core depot. The winding core depot is preferably designed to hold a plurality of winding cores 24, particularly in a compressed state. The kinematic unit of the winding core loading unit 58 preferably comprises at least one staging handling element 104 for retrieving a single winding core 24 from the winding core depot. The staging handling element 104 is preferably mounted on the winding core depot. The staging handling element 104 is, for example, designed as a slide or belt conveyor.The supply handling element 104 is preferably designed to convey a single winding core 24 out of the winding core depot at least substantially parallel to the height axis 72. DS 17052 WO.

[0072] The winding core loading unit 58 preferably comprises a decompression unit 106 for expanding the winding core 24, in particular by means of suction grippers. The provisioning handling element 104 is preferably designed to load the decompression unit 106 with a winding core 24 from the winding core depot.

[0073] The kinematic unit of the winding core loading unit 58 preferably comprises at least one decompression handling element 108 for displacing the decompression unit 106, particularly along a direction at least substantially perpendicular to the axis of movement 70. The decompression handling element 108 is, for example, designed as a linear slide mounted on the assembly column 80. The decompression handling element 108 is preferably designed to align the decompression unit 106, optionally with an output from the winding core depot or with the swivel arm 60, at least substantially concentrically with respect to the working axis 68 and the axis of movement 70.The height handling element 100 and the work handling element 102 are preferably designed to insert the swivel arm 60 into the decompression unit 106 and the expanded winding core 24 arranged therein, thereby transferring it to the swivel arm 60, and subsequently to remove the swivel arm 60 with the winding core 24 arranged on it from the decompression unit 106.

[0074] The winding core loading unit 58 preferably comprises a winding core connector depot 110 for providing a plurality of winding core connectors 112. The winding core connectors 112 are, for example, ring-shaped and are specifically designed to connect two winding cores 24 to each other, particularly butt-jointly, especially by means of a plug connection. The winding core connector depot 110 is preferably fixed to the mounting column 80, or alternatively supported by a winding core connector handling element (not shown here). DS 17052 WO

[0075] The height handling element 100 and the work handling element 102 are preferably designed to guide or insert the swivel arm 60 with at least one winding core 24 arranged thereon into the winding core connector depot 110, and in particular to attach a winding core connector 112 to the winding core 24. The height handling element 100 and the work handling element 102 are preferably designed to insert the swivel arm 60 with at least one winding core 24 and a winding core connector 112 arranged thereon into the decompression unit 106, in particular to arrange a further winding core to the winding core 24 and winding core connector 112 located on the swivel arm 60.

[0076] For loading at least one winding core 24, and in particular at least one winding core connector 1 12 and another winding core, the maximum longitudinal extension of the swivel arm 60 is preferably in a position at least substantially parallel to the vertical axis 72. To transfer the at least one winding core 24 located on the swivel arm 60 to the spindle 74, the swivel arm 60 is preferably pivoted about the pivot axis 62 into a position in which the maximum longitudinal extension of the swivel arm 60 is at least substantially parallel to the working axis 68. The height handling element 100 and, if necessary, the movement unit of the winding core loading unit 58 are preferably provided to align the swivel arm 60 at least substantially concentrically with the spindle 74 with respect to the axis of movement 70 and the vertical axis 72.

[0077] Figure 8 shows a flowchart of the method 66 for operating the winding system 64. The method 66 preferably comprises an active phase 114. In the active phase 114, the control unit of the transfer device 10 can control the mobile transfer units 16, 18 without restriction. In particular, the control unit in the active phase DS 17052 WO

[0078] In phase 114, the control unit activates the removal unit 46 and / or the guide unit 44 to execute the workflow described in Figure 6. Specifically, in active phase 114, the control unit activates the core loading unit 58 and / or the guide unit 44 to execute a workflow of the core loading unit 58 as outlined in Figure 7. In particular, in active phase 114, the control unit activates the mobile transfer units 16, 18 and / or the guide units 44 to move one of the mobile transfer units 16, 18 into a work area at one of the winding machines 12, 14 and / or at the storage and / or transport unit 28, specifically to execute one of the workflows.In particular, in the active phase 114, the control or regulation unit controls the mobile transfer units 16, 18 and / or the guide units 44 to move one of the mobile transfer units 16, 18 out of a work space at one of the winding machines 12, 14 and / or at the storage and / or transport unit 28 and thereby free up the work space.

[0079] Preferably, the method 66 comprises a monitoring step 116. In monitoring step 116, the environmental sensor unit 32 detects an environment, in particular a workspace required by the kinematic unit and / or a movement space defined by the movement paths of the mobile transfer units 16, 18. The environmental sensor unit 32 is specifically designed to monitor the volume spanned by the support frame 76. Monitoring step 116 is preferably performed in parallel with the active phase 114. Preferably, the control unit of the transfer device 10 evaluates sensor signals from the environmental sensor unit 32 to detect an obstacle in the workspace and / or in the direction of movement of the mobile transfer units 16, 18. The control unit preferably evaluates the sensor signals continuously, in particular at least in real time.Depending on the sensor elements 34, 36, 38 used, the control or regulating unit can be designed to detect the type of obstacle and specific DS 17052 WO.

[0080] To take countermeasures. Preferably, the method 66 includes, as a countermeasure, at least a pause 118, which is initiated when an obstacle is detected. As long as no obstacle is detected, the control unit preferably continues the active phase 114. During the pause 118, the control unit preferably interrupts a movement and / or a work sequence of at least one, several, or all of the mobile transfer units 16, 18, in particular all mobile transfer units 16, 18, for which there is a risk of collision with the obstacle. Preferably, the monitoring step 116 is carried out in parallel with the pause 118, and the active phase 114 is resumed as soon as the obstacle has been removed. During the pause 118, the monitoring step 116 can be carried out continuously or repeated after a dead time.The dead time is, for example, at least 10 seconds, at least 30 seconds, at least one minute, or something similar.

[0081] Figures 9 and 10 show further embodiments of the winding material receiving unit 48. The following descriptions and drawings are essentially limited to the differences between the embodiments, whereby with regard to identically designated components, especially those with the same reference numerals, reference may also be made to the drawings and / or the description of the other embodiments, in particular Figure 5. To distinguish the embodiments, the letter a is appended to the reference numerals of the embodiment in Figure 5. In the embodiments of Figures 9 and 10, the letter a is replaced by the letters b to c.

[0082] Figure 9 shows a winding material receiving unit 48b for the unwinding unit 46 from Figure 1. The winding material receiving unit 48b comprises at least one belt conveyor 54b and preferably a further belt conveyor 56b for supporting the winding material 20, 22. A section of a respective belt of the belt conveyors 54b, 56b facing the winding material 20, 22 preferably forms a support surface 50b, 52b, which is provided for direct contact with the winding material 20, 22. The belt conveyors 54b, 56b preferably have a maximum longitudinal extension to the working axis 68 that is long enough to arrange at least two units of the winding material 20, 22 one behind the other. The belt conveyors 54b, 56b are preferably designed to transport the wound material 22 located at the inlet end 90 to the output end 92.By modifying the design of the winding material receiving unit 48b, the separation mechanism of the removal unit 46 can be reduced to controlling the belt conveyors 54b and 56b. In particular, the additional winding material receiving element 94 and the additional handling element 96 can be omitted.

[0083] Figure 10 shows a winding material receiving unit 48c for the unwinding unit 46 from Figure 1. The winding material receiving unit 48c is, in particular, an extension of the winding material receiving unit 48b from Figure 9. The winding material receiving unit 48c preferably comprises at least two belt conveyors 54c, 56c for supporting the winding material 20, 22 and at least one housing 120c accommodating the belt conveyors 54c, 56c. The housing 120c completely surrounds the belt conveyors 54c, 56c, except for sections of a respective belt of the belt conveyors 54c, 56c forming support surfaces 50c, 52c.

Claims

September 23, 2024 Claims 1. Transfer device (10) for at least partially automated operation of at least one winding machine (12, 14), in particular a fiber optic winding machine, with at least one mobile transfer unit (16, 18) to an automated transfer of at least one winding material (20, 22) and / or at least one winding core (24) between the at least one winding machine (12, 14) and a storage and / or transport unit (28, 30), characterized by at least one environmental sensor unit (32) for detecting an obstacle in a direction of movement and / or in a working area of ​​the mobile transfer unit (16, 18).

2. Transfer device (10) according to claim 1 , characterized in that the environmental sensor unit (32) comprises at least two differently designed sensor elements (34, 36, 38).

3. Transfer device (10) according to claim 1 or 2, characterized in that the environmental sensor unit (32) comprises at least one sensor element (34, 36, 38) for detecting a position and / or a state of the storage and / or transport unit.

4. Transfer device (10) according to one of the preceding claims, characterized by at least one communication unit (40) for coordinating a movement of the at least one mobile transfer unit (16, 18) with an operating state of the at least one winding machine (12, 14) and / or the at least one storage and / or transport unit (28, 30).

5. Transfer device (10) according to one of the preceding claims, characterized by at least one winding material sensor unit (42) for detecting at least one parameter of the winding material (20, 22).

6. Transfer device (10) according to one of the preceding claims, characterized by at least one guide unit (44) for guiding the at least one mobile transfer unit (16, 18) along a provided path of movement relative to the at least one winding machine (12, 14).

7. Transfer device (10) according to one of the preceding claims, characterized by at least one further mobile transfer unit (18), wherein the mobile transfer unit (16) and the further mobile transfer unit (18) are movable relative to each other, in particular on at least substantially parallel paths.

8. Transfer device (10) according to one of the preceding claims, characterized in that the mobile transfer unit (16) is designed as a removal unit (46) and comprises at least one winding material receiving unit (48a), wherein the winding material receiving unit (48a) comprises at least one static support surface (50a, 52a) for supporting the winding material (20, 22). DS 17052 WO 9. Transfer device (10) according to one of claims 1 to 7, characterized in that the mobile transfer unit (16) is designed as a removal unit (46) and comprises at least one winding material receiving unit (48b; 48c), wherein the winding material receiving unit (48b; 48c) comprises at least one belt conveyor (54b, 56b; 54c, 56c) for supporting the winding material (20, 22).

10. Transfer device (10) according to one of the preceding claims, characterized in that the mobile transfer unit (16) is designed as a removal unit (46) and comprises at least one separation mechanism for separating several winding materials (20, 22) taken simultaneously from the at least one winding machine (12, 14).

11. Transfer device (10) according to one of the preceding claims, characterized in that the mobile transfer unit or a further transfer unit (18) is designed as a winding core loading unit (58) and comprises at least one pivot arm (60) for loading the at least one winding machine (12, 14) with the at least one winding core (24), wherein a pivot axis (62) of the pivot arm (60) is aligned at least substantially parallel to the intended direction of movement of this mobile transfer unit (18).

12. Transfer device (10) according to one of the preceding claims, characterized in that the mobile transfer unit or a further transfer unit (18) is designed as a winding core loading unit (58), wherein the storage and / or transport unit (28) or a further storage and / or transport unit (30) is rigidly connected to this mobile transfer unit (18).

13. Winding system (64) comprising at least one winding machine (12, 14), in particular a fiberglass winding machine, characterized by at least one transfer device (10) according to one of the preceding claims.

14. Method (66) for operating a winding system (64) according to claim 13.

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