EP4522794A1 - Véhicule à conduite autonome pour transporter un récipient de réception pour un ruban, et dispositif de boîte - Google Patents

Véhicule à conduite autonome pour transporter un récipient de réception pour un ruban, et dispositif de boîte

Info

Publication number
EP4522794A1
EP4522794A1 EP23722587.5A EP23722587A EP4522794A1 EP 4522794 A1 EP4522794 A1 EP 4522794A1 EP 23722587 A EP23722587 A EP 23722587A EP 4522794 A1 EP4522794 A1 EP 4522794A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
receptacle
self
vehicle body
wheels
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP23722587.5A
Other languages
German (de)
English (en)
Inventor
Johannes Bossmann
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Truetzschler Group SE
Original Assignee
Truetzschler Group SE
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102022111675.1A external-priority patent/DE102022111675A1/de
Application filed by Truetzschler Group SE filed Critical Truetzschler Group SE
Publication of EP4522794A1 publication Critical patent/EP4522794A1/fr
Pending legal-status Critical Current

Links

Classifications

    • D—TEXTILES; PAPER
    • D01—NATURAL OR MAN-MADE THREADS OR FIBRES; SPINNING
    • D01H—SPINNING OR TWISTING
    • D01H9/00—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine
    • D01H9/18—Arrangements for replacing or removing bobbins, cores, receptacles, or completed packages at paying-out or take-up stations ; Combination of spinning-winding machine for supplying bobbins, cores, receptacles, or completed packages to, or transporting from, paying-out or take-up stations ; Arrangements to prevent unwinding of roving from roving bobbins
    • D01H9/185—Transporting cans
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
    • B60L53/14—Conductive energy transfer
    • B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B60R19/023—Details
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R19/00—Wheel guards; Radiator guards, e.g. grilles; Obstruction removers; Fittings damping bouncing force in collisions
    • B60R19/02—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects
    • B60R19/48—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds
    • B60R19/483—Bumpers, i.e. impact receiving or absorbing members for protecting vehicles or fending off blows from other vehicles or objects combined with, or convertible into, other devices or objects, e.g. bumpers combined with road brushes, bumpers convertible into beds with obstacle sensors of electric or electronic type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations

Definitions

  • the present invention relates to a self-propelled vehicle for transporting a receptacle for a sliver between sliver-delivering and sliver-fed textile machines over a surface, the vehicle having a chassis with a plurality of wheels, a vehicle body supported by the chassis with a transport surface for the receptacle, fastening elements for attaching the receptacle to the Vehicle body and an electrical system arranged on the vehicle body with an electrical energy storage, an electric drive unit and a control unit, the running wheels having two rigid wheels aligned in a vehicle longitudinal direction with axes of rotation that are stationary relative to the vehicle body. Furthermore, the present invention relates to a can device with a receptacle for a sliver and the self-propelled vehicle.
  • spinning cans also known as sliver cans or cans for short, in use, most of which are still moved between the textile machines by hand. This goes hand in hand with a high level of personnel deployment. In order to reduce this, there have been efforts to automate the transport of cans for several decades.
  • a self-propelled vehicle a so-called Automatic Guided Vehicle, or AGV for short, is known, which automatically carries and transports spinning cans.
  • the vehicle has an adjustable tensioning device that can adapt to different sizes of the cans.
  • the can is placed on top of the vehicle using a transfer device and fixed by the clamping device that attaches to the can from the outside. After the vehicle has transported the can and unloaded it again, it is ready to transport the next can.
  • the object of the present invention is to provide a self-propelled vehicle that can be better integrated into the ongoing operations of a spinning mill and is inexpensive to manufacture and easy to maintain. Furthermore, it is an object of the present invention to provide a can device that can be better integrated into the ongoing operation of a spinning mill and is inexpensive to produce and easy to maintain.
  • the object is achieved by a self-propelled vehicle of the type mentioned in that the running wheels comprise at least one sprung support wheel, which is supported on the vehicle body via a spring arrangement and is designed to be freely pivotable about a pivot axis.
  • the wheels can include more than one sprung support wheel. If the exact number of sprung support wheels is important, for example exactly one, two or more than two, this is indicated accordingly.
  • the advantage is that the self-propelled vehicle, which is designed to transport the one receptacle, can be integrated into the ongoing operation of the spinning mill like a conventional spinning can. This means that no conversions or other adjustments to the spinning mill's machinery are required, which means that the self-propelled vehicle can be better integrated into the ongoing operations of a spinning mill.
  • the spring arrangement known as the suspension for short, is part of the chassis. It supports the weight of the structure and is intended to ensure that the structure, in particular the receptacle to be carried, which can be filled with the sliver, remains stationary and that stimuli from the subsurface are not transmitted directly to the structure.
  • the vehicle can drive on sloping or sloping surfaces even when loaded using the spring-loaded support wheel.
  • the wheels remain in contact with the ground even on sloping surfaces. Furthermore, the free pivoting of the spring-loaded support wheel also allows pivoting movements over 360 degrees, so that it can follow any direction of travel of the vehicle without hindrance. As a result, the sprung jockey wheel offers a simple way to increase the stability of the vehicle in a cost-effective and maintenance-friendly manner.
  • the spring arrangement allows all of the wheels to be in contact with the ground as the vehicle rolls across the ground.
  • the spring arrangement can comprise a coil spring and, if necessary, wheel-guiding means, such as a wheel-guiding damper.
  • the spring arrangement can have at least one torsion spring, in particular a torsion spring.
  • This can be a spatially wound bending spring made of spring wire, which can have a cylindrical spring body. Legs can be connected to these, with a wheel axle of the support wheel being supported on a first leg and the vehicle body being supported on a second leg.
  • the spring arrangement can include a double torsion spring, which can consist of two interconnected torsion springs or torsion springs.
  • the rigid wheels are not steerable and are preferably firmly aligned in the longitudinal direction of the vehicle.
  • the rigid wheels are arranged unsprung on the vehicle body.
  • “unsprung” should preferably mean that no movement in the longitudinal direction of the vehicle is possible.
  • the axes of rotation of the two rigid wheels can lie on an imaginary straight line.
  • the imaginary straight line divides the vehicle body in the vehicle longitudinal direction into a front section and a rear section.
  • the two sections can be at least approximately the same size.
  • a yaw axis of the vehicle intersects the imaginary straight line perpendicularly.
  • the yaw axis can also be referred to as the vehicle's vertical axis and is the axis around which the vehicle rotates when maneuvering on the ground.
  • the yaw axis is preferably located centrally between the two rigid wheels. This allows the vehicle to turn on the spot.
  • the yaw axis passes through a center point of the vehicle body.
  • the drive unit can be drive-connected to at least one of the wheels.
  • the spring-loaded support wheel ensures that the running wheels always remain in contact with the ground, even on uneven ground, inclined surfaces, such as ramps and the like, so that the at least one driven running wheel can transmit the drive power generated by the drive unit to the ground.
  • the drive unit is drive-connected to the two rigid wheels.
  • the drive unit can have an electric motor, in particular a wheel hub motor, for each rigid wheel.
  • the vehicle can be steered easily by changing the speed ratio between the two electric motors and/or their direction of rotation (co-rotating, counter-rotating).
  • the spring-loaded support wheel follows the path thanks to its free pivoting ability.
  • the two electric motors are preferably each connected to a servo converter, which supplies the respective electric motor with the power required for the movement.
  • a servo converter which supplies the respective electric motor with the power required for the movement.
  • the vehicle can turn on the spot.
  • a frequency converter or other means of achieving the specified speed can also be used, as long as each electric motor receives or can implement an individual speed specification and speed control.
  • the drive unit can also have an electric motor with a gear that drives the two rigid wheels.
  • the pivot axis of the sprung support wheel can be aligned parallel to the yaw axis.
  • the vehicle can rotate in place or around its yaw axis.
  • the sprung support wheel is supported against the rear section of the vehicle body. This allows the vehicle to navigate ramps that bridge height differences more easily.
  • the rear section is located at the rear when the vehicle is moving forward, or follows the front section of the vehicle body.
  • the running wheels include at least one further support wheel, which is designed to be freely pivotable about a further pivot axis.
  • the at least one further support wheel can be supported on the vehicle body with or without suspension.
  • the at least one further support wheel can be supported unsprung against the front section.
  • the vehicle can drive on flat floor surfaces and the sloping floor surfaces of ramps or the like particularly well and without tipping over.
  • the vehicle is prevented from rocking when driving on sloping surfaces, driving over uneven surfaces and when starting and braking.
  • the at least one further support wheel can also be supported against the front section via a further spring arrangement, i.e. can be a sprung support wheel.
  • the pivot axes of the sprung support wheel and the at least one further support wheel which are hereinafter referred to collectively as the support wheels, are aligned parallel to one another and more preferably parallel to the yaw axis. It has been shown that due to the space available and the large number of cans in the spinning mill, it can be an advantage if the vehicle can turn on the spot. This can be easily implemented by the proposed arrangement of the rigid wheels in the center in relation to the longitudinal direction in combination with two of the support wheels.
  • the chassis is preferably designed as four-wheeled or six-wheeled.
  • the wheels can also include four of the support wheels, so that the vehicle can have a total of six of the wheels.
  • the running wheels can include two of the sprung support wheels and two of the unsprung support wheels.
  • the sprung support wheels can be supported against the rear portion of the vehicle body.
  • the unsprung support wheels can be supported against the front section of the vehicle body.
  • a three-point support with three of the wheels, in particular the two rigid wheels and the one sprung support wheel also has advantages in terms of the stability of the vehicle on the ground.
  • the support wheel and the at least one further support wheel can be spaced apart from one another in the transverse direction of the vehicle.
  • the support wheels can be arranged in the transverse direction of the vehicle between the two rigid wheels, so that the support wheels roll over the ground outside the lanes of the rigid wheels.
  • a functional section without wheels can be formed between the support wheels, which extends in the longitudinal direction of the vehicle.
  • Components of the vehicle electrical system can be arranged on the functional section.
  • the functional section extends over the entire longitudinal extent of the vehicle body.
  • the vehicle electrical system can have a reading unit that is configured to detect guide elements arranged on the ground. Using the guide elements, travel routes between the textile machines can be specified.
  • the reading unit can be arranged on the impeller-free functional section of the vehicle body. This largely prevents the wheels from rolling over the guide elements when rolling over the ground, thereby protecting them from excessive wear.
  • the vehicle can be dimensioned such that in an assembled state, in which the receptacle is in contact with the transport surface and attached to the vehicle body, the receptacle completely covers the chassis, the electric drive unit and the electrical energy storage. Furthermore, the vehicle can be dimensioned such that in the assembled state the receptacle completely covers the vehicle body. In other words, the vehicle is dimensioned relative to the receptacle or is provided with an extension perpendicular to the vertical axis of the vehicle such that the area requirement or the functional area of the vehicle during operation is at least essentially limited to the size of the footprint or cross-sectional area of the receptacle.
  • the receptacle As a space for the The receptacle is to be understood, separate from the vehicle, as the floor area of the subsoil that is required for the receptacle in the erected state, regardless of whether it touches the subsoil or not.
  • the functional area of the vehicle is the surface area of the subsoil that is covered by the vehicle during operation.
  • At least essentially this should include that in the assembled state the vehicle is arranged almost completely below the receptacle, with only individual components, in particular from the vehicle electrical system, being able to protrude laterally beyond the receptacle if there is a technical need for this.
  • the entire vehicle it is also possible for the entire vehicle to be completely covered by the receptacle.
  • the chassis, the electric drive unit and the transport surface are therefore located under the receptacle in the assembled state and are therefore covered by the receptacle when viewed from above.
  • the vehicle is therefore designed to transport only a single receptacle. The advantage is that the vehicle is largely protected by the receptacle when assembled.
  • the small space requirement also results in the advantage that the vehicle, when assembled, takes up the same space and preferably the same height as a standard can that can be moved by hand.
  • This has the advantage that by using the vehicle, self-propelled spinning cans can be provided, which can be used in the spinning mill without structural adjustments to the already existing textile machines.
  • the transport surface can define a support plane.
  • the vehicle preferably has no components that protrude beyond the support plane outside the transport surface.
  • the advantage is that no components from below, i.e. coming from the chassis, protrude laterally past the transport surface and above the support plane.
  • “to the side of the transport surface” is to be understood as meaning radially outside the transport surface in relation to the vehicle vertical axis.
  • the vehicle has no disruptive components to the side of the transport surface, such as edges, holders, rods, loading and unloading devices or the like, so that the receptacle to be transported can be easily placed on the vehicle in the assembled state.
  • the transport surface is preferably located in the support plane, which can be aligned parallel to the ground.
  • fastening elements can be provided which can in principle also protrude beyond the support plane, for example bolts, screws or the like.
  • the vehicle when assembled, the vehicle, like a conventional spinning can pushed by hand, can drive through working areas of the textile machines, such as a filling station on a can changer or the like, and can therefore also be used in the working areas to carry out movements.
  • the vehicle can be rotated on a can turntable of the textile machine or the vehicle can rotate itself under a storage plate of the textile machine due to its drivable chassis.
  • a further solution to the above-mentioned problem consists in a can device with a receptacle for a sliver and the above-described self-propelled vehicle for transporting or carrying the receptacle between textile machines delivering sliver and fed with sliver over the ground.
  • the can device can also be referred to as a “self-propelled can”.
  • the receptacle is in contact with the transport surface of the self-propelled vehicle and is attached to the vehicle body, with the receptacle completely covering the chassis, the electric drive unit and the energy storage.
  • the can device according to the invention results in the same advantages as those described in connection with the vehicle according to the invention, so that reference is made here to the above description is taken. It goes without saying that all of the vehicle configurations mentioned can be transferred to the can device and vice versa.
  • the receptacle can also completely cover the vehicle body. This simplifies the handling of the can device in the daily operation of the spinning mill, since the can device only takes up the space of a conventional spinning can.
  • the can device has a modular structure and includes the self-propelled vehicle and the receptacle as modules.
  • the modular design allows manufacturing costs to be reduced because the vehicle and the receptacle can be manufactured separately from each other and even by different manufacturers.
  • the purpose of this permanent connection is that the loading and unloading of the receptacle from the vehicle, which is considered disadvantageous, can be dispensed with.
  • Attaching the receptacle to the vehicle is an assembly step that is preferably carried out by hand and can in principle also be carried out by an industrial robot.
  • the footprint of the receptacle can be predetermined by the side wall extending in the circumferential direction around the container axis.
  • the footprint can correspond to the cross-sectional area of the receptacle.
  • the external appearance of the can device can largely correspond to a conventional spinning can with rollers attached to the underside (also called a “standard can”).
  • the can device has the dimensions of the standard can to be replaced.
  • the can device can therefore, like a standard can, move into the work areas of the textile machines, such as filling stations on a can changer or the like, and can therefore also be used in the work areas to carry out movements. Adjustments to the textile machines by changing from the standard can to the self-propelled can device are therefore not necessary.
  • the receptacle is in contact with the transport surface of the vehicle, which is at most the same size or preferably smaller than the footprint of the receptacle.
  • the vehicle preferably carries the receptacle, which is appropriately spaced from the stationary surface.
  • the transport surface can be designed perpendicular to the vertical axis, radially to the vertical axis and/or obliquely or conically.
  • the receptacle has a stationary support structure which is in contact with the transport surface.
  • the support structure can be internal, ie within the interior space enclosed by the side wall of the receptacle, and can be set back from a lower edge of the receptacle, ie towards an upper filling opening of the receptacle.
  • the support structure can comprise a stationary container base, which divides the interior of the receptacle into a filling space that is open towards the top for receiving the sliver and into a technical room which is open towards the bottom and in which the vehicle is used.
  • a particularly spring-loaded plate can be arranged in the filling space in a manner known per se, which can sink towards the bottom of the container due to the weight of the sliver column that grows when it is laid down.
  • the underside of the container base can in particular be in direct contact with the transport surface.
  • the receptacle can be supported on the transport surface via the container base.
  • the support structure can also have one or more struts, supports, an edge or the like and can form a beam-shaped, net-shaped or ring-shaped support surface.
  • the receptacle container can be in contact with the transport surface with its container base and can be tensioned against the transport surface by means of the fastening means, so that no further support structure is required.
  • the support structure can, for example, comprise an annular web inside the receptacle, which is located on a horizontal section of the Transport surface is supported in order to better absorb weight forces. The support structure therefore does not have to provide a dust-tight separation between the filling space and the technical room.
  • the support structure comprises the container base, which can basically be formed as a disk, the container base can have at least one hole and more preferably several off-center holes.
  • the holes in the container bottom or recesses in the support structure can be placed in such a way that the dirt falls out in the radially outer edge region of the vehicle and preferably outside the functional section and in particular past the vehicle electrical system.
  • the dirt can be drained away in the pivoting area of the sprung support wheel or support wheels.
  • the receptacle can also have a height-adjustable filling base, which is often used in rectangular cans, and the support structure.
  • the base plate can be adapted to the cross section of the interior of the rectangular jug. If the receptacle has the shape of a “rectangular can”, a device can be provided to remove the dirt that falls out of the filling space, which is arranged below the movable floor and guides the dirt laterally into the outer edge area, from where it then falls onto the ground can trickle down.
  • the receptacle and the vehicle can be connected to one another by means of fastening means, the fastening means comprising the vehicle-side fastening elements and the container-side fastening elements.
  • the fastening means can be completely covered by the receptacle. This means that they are not accessible from the outside when the self-propelled can device is in operation, as with blind fastening, unless the can device is turned “upside down”.
  • the container-side fastening elements can be arranged completely in the technical room and can protrude into the technical room parallel to the container axis of the receptacle.
  • the container-side fastening elements for example bolts, threaded pins or the like, can be arranged, in particular formed, on the underside of the support structure. These can be inserted into the vehicle-side fastening elements, for example through holes, and then secured. Nuts are preferably provided which are screwed onto the fastening elements on the container side in order to brace the support structure and the vehicle body, for example its base plate, against one another.
  • the vehicle-side fastening elements can include, for example, bolts, threaded pins or the like, which protrude upwards on the vehicle body, in particular on the base plate, beyond the transport surface and reach into or pass through corresponding bores in the receptacle. A blind fastening is also provided in this way.
  • the vehicle-side fastening means on the vehicle body can project radially to the vertical axis.
  • These can be, for example, webs, bolts, set screws or the like that protrude through recesses in the side wall of the receptacle.
  • the side wall and the transport surface can be braced against each other using nuts.
  • the container axis of the receptacle can coincide with the vertical axis or the yaw axis of the vehicle.
  • the vehicle is preferably housed at least essentially in the technical room. At least essentially it should include that, on the one hand, as described above, individual components can protrude laterally over the receptacle, and on the other hand, the wheels protrude from the underside of the receptacle in order to ensure sufficient ground clearance.
  • the vehicle can have a height of at least 50 millimeters and a maximum of 260 millimeters. The overall height can be determined by the distance between the wheel contact plane and a support plane spanned by the transport surface. In particular the vehicle has no components in the support plane outside the transport area. When assembled, the vehicle can protrude at least 10 millimeters and a maximum of 40 millimeters above the bottom of the receptacle.
  • the technical room can have a depth or vertical extension of at least 60 millimeters and a maximum of 220 millimeters. This means that the technical room is sufficiently deep to accommodate the vehicle.
  • the filling volume of the receptacle is only slightly reduced.
  • the height of the self-propelled can device can correspond to the height of a standard can, so that the can device can be used without operational adjustments to the textile machines.
  • the support structure, in particular the container base can also be flush with the underside of the receptacle, like a sleeve. This makes the receptacle more cost-effective to manufacture. Since this then has no technical room, a circumferential collar can be arranged on the side of the vehicle body to protect the vehicle, which can be flush with the side wall of the receptacle when installed.
  • the on-board electrical system is also covered by the receptacle, although technical specifications may exist due to which individual components can also be arranged outside the area covered by the receptacle.
  • a component can be the radio module in order to improve the quality of the radio connection to a higher-level control system.
  • the receptacle has one with a filling opening for the sliver that is open at the top.
  • the footprint can be circular and in the case of a “rectangular jug”, it can be rectangular.
  • Figure 1 is a front view of a can device set up on a surface according to a first embodiment of the present invention, wherein the can device is constructed modularly and has a receptacle according to the invention and a vehicle according to the invention for transporting the receptacle over the ground;
  • Figure 2 is a rear view of the can device from Figure 1;
  • Figure 3 is a simplified sectional view of the can device from Figure 1;
  • Figure 4 is a sectional view of the receptacle from Figure 1;
  • Figure 5 is a bottom view of the receptacle from Figure 1;
  • Figure 6 is a top view of the vehicle from Figure 1, with a bottom of the receptacle being shown in a dotted line merely to illustrate the proportions;
  • Figure 7 is a bottom view of the vehicle from Figure 1, with a bottom of the receptacle being shown with a dotted line merely to illustrate the proportions;
  • Figure 8 is a cross-sectional view of the vehicle from Figure 1, with the vehicle shown on the ground;
  • Figure 9 shows a schematic representation of an on-board electrical system of the vehicle from Figure 1;
  • Figure 10 shows the can device from Figure 1 in a bottom view, which is located on a straight section of the route, which is shown with dashed lines;
  • Figure 11 shows the can device from Figure 10, which is located on the straight route section just before a curved route section;
  • Figure 12 shows the can device from Figure 11, which is located on the curved track section;
  • Figure 13 shows the can device from Figure 1 in a bottom view, which is located on a straight route section shortly before a junction of the route, which is shown with dashed lines;
  • Figure 14 shows the can device from Figure 13, which is in a right-hand rotation above the node
  • Figure 15 shows the can device from Figure 14 after turning 90 degrees to the right above the node
  • Figure 16 shows a perspective side view of an embodiment of a sprung support wheel of the vehicle according to the invention.
  • Figure 17 is a sectional view of an alternative embodiment of the sprung support wheel of the vehicle according to the invention.
  • the can device 1 which can also be referred to as a self-propelled can, has a modular structure and has as a first module a receptacle 2 according to the invention for a sliver and, as a second module, a self-propelled vehicle 3 according to the invention for transporting the receptacle 2 over a surface 4.
  • the can device 1 moves back and forth between textile machines (not shown) on the base 4 in order to transport slivers from textile machines that deliver slivers to textile machines that feed slivers.
  • the vehicle 3 can follow guide elements 5 arranged on the surface 4, which specify routes in the spinning mill.
  • the guide elements 5 can, as shown in Figures 1 to 3, be applied to the surface of the substrate 4, in particular glued or embedded in the substrate 4.
  • slots and/or other-shaped recesses can be formed in the base 4, into which the guide elements 5 can be inserted and then covered with epoxy resin or the like.
  • a longitudinal direction Z can stand normally on a floor level spanned by the ground 4 when the can device 1 stands or moves on the ground 4.
  • Terms such as “below”, “below”, “above” or “above” represent spatial information in relation to the can device 1 set up on the surface 4.
  • a distance S2 of the receptacle 2 to the ground 4 is between 10 millimeters and 50 millimeters, with particularly good results being achieved with a distance S2 of approximately 20 millimeters.
  • the receptacle 2 is basically detachable, but permanently connected to the vehicle 3. This state is also referred to as the “assembled state” and is shown in Figures 1 to 3. Specifically, fastening means 11 are provided which are not accessible from the outside unless the can device 1 is turned upside down. In this respect, the fastening means 11 can also be referred to as internal fastening means that provide a blind fastening.
  • the receptacle 2 according to the invention is shown in detail in FIGS. 4 and 5. This has a cylindrical side wall 12 which extends concentrically around a container axis A2 which runs parallel to the vertical axis Z.
  • An inner diameter D2 of the interior space enclosed by the side wall 12 is at least 350 millimeters and a maximum of 1200 millimeters and, here as an example, has 500 millimeters.
  • the receptacle 2 has a support structure 13, which is designed here as a stationary container base in the form of a circular disk, the outer diameter of which corresponds at least substantially to the inner diameter D2.
  • the support structure 13, which is also referred to as the container base, is set back and firmly connected to the side wall 12.
  • recessed means that the container bottom 13 is arranged offset away from the container bottom 10 towards an upper side of the receptacle 2 provided with a filling opening 14.
  • the container bottom 13 thus divides the interior into a filling space 15 that is open at the top and a technical room 16 that is open at the bottom.
  • the sliver can be filled into the filling space 15 and removed from it again via the filling opening 14 in a manner known per se.
  • a known plate (not shown) can be arranged in the filling space, which can be spring-loaded, for example, and can sink towards the container bottom 13 due to the weight of the sliver column that grows when it is laid down.
  • a container opening 17 is formed on the container underside 10, which can be aligned parallel to the filling opening 14 and via which the vehicle 3 can be inserted into the technical room 16 from below.
  • An inner diameter of the container opening 17 can correspond to the inner diameter D2 of the interior, although this can in principle also be smaller, provided that the vehicle 3 can still be used in the technical room 16.
  • the technical room 16 has an extension H16 in the vertical direction Z of, for example, at least 50 millimeters and a maximum of 260 millimeters and, here as an example, has 110 millimeters.
  • the filling space 15 has an extension H15 in the vertical direction Z of, for example, at least 400 millimeters and a maximum of 1500 millimeters and, here as an example, has 1200 millimeters.
  • the filling volume of the filling space 15 is, here, approximately 339 liters.
  • the fastening means 11 When assembled, the receptacle 2 is supported with its container base 13 on the vehicle 3.
  • the fastening means 11 include container-side fastening elements 11.1, which, for example, have threaded bolts 11.1 aligned parallel to the container axis A2, onto which nuts 11.3 can be screwed.
  • the threaded bolts 11.1, four here as an example, can be formed, in particular welded, on an underside 18 of the container base 13 facing the technical room 16, as can be seen in the bottom view according to FIG.
  • a bumper 19 is arranged on the receptacle 2. This is arranged in the circumferential direction around the container axis A2 on the outside of the side wall 12.
  • the bumper 19 has a C-shaped open ring shape with two ring ends 20.
  • a wall opening 21 is formed in the side wall 12 between the two ring ends 20 and lies on the back of the receptacle 2. 2 shows the rear view of the can device 1, from which it can be seen that an electrical housing 22 of the vehicle 3 reaches through the wall opening 21 and protrudes laterally beyond the bumper 19.
  • the bumper 19 can also be arranged on the vehicle 3 if the receptacle 2 is designed in the form of a sleeve, in which the container underside 10 of the receptacle 2 is flush with the container base 13.
  • the alternative embodiment is shown in Figure 19, which will be discussed in more detail later.
  • the vehicle 3 according to the invention is shown in detail in FIGS 2, or the container bottom 13 is covered. It can be seen that only the electrical housing 22 and some components of an on-board electrical system 23 of the vehicle 3 arranged in or on the electrical housing 22 lie outside the covered area or protrude beyond it.
  • the vehicle 3 has a chassis 24 with the four wheels 6, 7, 8, 9, a vehicle body 25 carried by the chassis 24, a transport surface 26 with which the container base 13 of the receptacle 2 can be brought into contact, and on the vehicle body 25 arranged electrical system 23.
  • the vehicle body 25 has a rigid base plate 27, the top side of which facing away from the chassis 24 includes the transport surface 26.
  • the base plate 27 has a circumferential surface 56 running around the yaw axis A3, which is designed to be exposed radially outwards and delimits an outer edge 43 of the base plate 27.
  • the transport surface 26 extends to the outer edge 43 of the base plate 27.
  • the transport surface 26 lies in a support plane E26, which is parallel to the longitudinal direction X and to the transverse direction Y and on which a yaw axis A3 of the vehicle 3 is normal.
  • the yaw axis A3 corresponds to the vehicle vertical axis. It is advantageous if the yaw axis A3 runs through the center or center of gravity of the vehicle 3.
  • the electrical system 23 is arranged completely below the support level E26.
  • the fastening means 11 further comprise vehicle-side fastening elements 11.2, which cooperate with the container-side fastening elements 11.1 or are aligned relative to one another in such a way that, in the assembled state, a container axis A2 of the receptacle 2 and the vehicle-fixed yaw axis A3 of the vehicle 3 coincide.
  • the vehicle-side fastening elements 11.2 can include through holes which are formed in the base plate 27 and in particular in the area of the transport surface 26 and into which the container-side threaded bolts 11.1 can be inserted. When assembled, the threaded bolts 11.1 are inserted into the through holes 11.2 and the nuts 11.3 are screwed onto the threaded bolts 11.1 from below in order to clamp the container base 13 and the base plate 27 against each other.
  • the electrical system 23 is shown schematically in FIG. 9. It has an electrical energy storage device 28, in particular a battery, permanently installed in the vehicle 3, and a charging interface 29 for charging the energy storage device 28 at an external charging station. It goes without saying that the energy storage 28 can be replaced if it is defective.
  • the charging interface 29 can be arranged in the electrical housing 22 so that it is accessible from the outside.
  • the electrical housing 22 is held on the vehicle body 25 and can be made of a dimensionally stable plastic.
  • the electrical housing 22 preferably has a concavely shaped end face 30. The curvature of the end face 30 is at least approximately the same shape as the curvature of the side wall 12.
  • an on/off switch 31 can be arranged on the electrical housing 22 and is accessible from the outside in order to be able to manually interrupt the power supply between the energy storage device 28 and the other components of the vehicle electrical system 23.
  • the vehicle electrical system 23 includes an electrically operated drive unit 32, which, here as an example, is drive-connected to the wheels 6, 7.
  • the two wheels 6, 7 are designed as rigid wheels, which are aligned in the longitudinal direction X and spaced apart from one another in the transverse direction Y. They have fixed axes of rotation 33, 34 in relation to the vehicle body 25, which lie on an imaginary straight line on which the yaw axis A3 of the chassis 3 is normal.
  • the imaginary straight line and the diagonal D2 of the container bottom 13 indicated by a dashed line are parallel to one another and lie in a common plane.
  • the imaginary straight line divides the vehicle body 25 in the longitudinal direction
  • the vehicle body 25 can be designed symmetrically to the central plane E3.
  • the electrical housing 22 is held on the rear section 36 and protrudes over a rear edge 37 of the vehicle body 25.
  • the drive unit 32 includes an electric motor 38, 39 for each rigid wheel 6, 7, in particular a wheel hub motor.
  • the electric motors 38, 39 designed as wheel hub motors can be integrated in the rigid wheels 6, 7.
  • the electric motors 38, 39 are arranged on housing struts 40 of the vehicle body 25 projecting from the base plate 27, so that the rigid wheels 6, 7 remain behind the support plane E26.
  • the drive unit 32 has a servo converter for each electric motor 38, 39, here as an example, which are structurally combined here in a double converter 41. Instead of servo converters, frequency converters or other means of achieving the assigned speed of the electric motors 38, 39 could also be used.
  • the double converter 41 is connected to the two electric motors 38, 39 and the electrical energy storage 28.
  • the double converter 41 By means of the double converter 41, the two electric motors 38, 39 can be operated in the same or opposite directions and with rotational speeds that are the same or different from one another.
  • the vehicle 3 can be steered and, when controlled in opposite directions, also be rotated on the spot or around the yaw axis A3.
  • the double converter 41 is connected to a control unit 42 of the vehicle electrical system 23.
  • the control unit 42 which is a programmable logic controller with a programmable storage medium, is configured to control the vehicle 3. As an example, it is designed as a single device and housed in a control housing.
  • the control housing is attached to the vehicle body 25, in particular the underside of the base plate 27.
  • the vehicle electrical system 23 can have a battery management system.
  • the control unit 42 can be connected to the energy storage 28.
  • the control unit 42 can be connected to a radio module 44, which can be accommodated in the electrical housing 22.
  • the vehicle electrical system 23 has a reading unit 45, which is configured to detect the guide elements 5 arranged on the ground.
  • the reading unit 45 is preferably arranged exclusively on a functional section 46 of the vehicle body 25, which is formed in the transverse direction Y between the two rigid wheels 6, 7.
  • the functional section 46 has a width B46, or extension in the transverse direction Y, of at least 250 millimeters and a maximum of 1200 millimeters and extends in the longitudinal direction
  • the receptacle 2 designed like a “round can” is dimensioned. In order to be able to be mounted on a receptacle 2 designed as a “rectangular can”, the vehicle 3 must be dimensioned correspondingly smaller.
  • the functional section 46 can also have a width of at least 150 millimeters and a maximum of 1200 millimeters.
  • the reading unit 45 includes a magnetic tape reading device 47, which is configured for contactless detection of the course of guide elements 5 designed as magnetic tapes 5.1.
  • the magnetic tape reading device 47 which can also be referred to as a magnetic scanner, is arranged at a front end of the vehicle body 25 in the main direction of travel (forward travel) or in the longitudinal direction X.
  • the magnetic tape reading device 47 has a sensor housing in which several, for example eight, sensors are arranged spaced apart from one another in the transverse direction Y.
  • the sensor housing can have a width or extent in the transverse direction Y between 50 millimeters and 200 millimeters.
  • the distance of the sensors to the ground, or to a wheel contact plane E24 spanned by the wheels 6, 7, which coincides with the ground level when driving over the ground 4, can be between 20 millimeters and 50 millimeters.
  • the width of the magnetic strips can be between 6 and 50 millimeters.
  • the reading unit 45 has an RFID tag reading device 48, which is configured to read information from guide elements 5 designed as an RFID tag 5.2.
  • the RFID tag reading device 48 can also be referred to as an RFID reader.
  • the RFID tag reading device 48 is arranged under the base plate 27 on a frame 49 attached to the base plate 27 in order to accommodate the RFID tag reading device
  • the RFID Tag reading device 48 encompasses, here, the energy storage 28, which is thus in the vertical direction Z between the base plate 27 and the RFID Tag reading device 48 is arranged.
  • address information can be read from the RFID tags 5.2 and transmitted to the control unit 42.
  • the RFID tags 5.2 usually have a diameter of less than 50 millimeters.
  • an underbody panel 50 is arranged from below on the vehicle body 25 and can have a recess 51 in the area of the RFID tag reading device 48.
  • the vehicle 3 has a height H3 of, here as an example, 140 millimeters.
  • the transport surface 26 closes the vehicle 3 at the top.
  • the overall height H3 is therefore determined by the distance between the transport surface 26 and the ground 4 or the wheel contact plane E24.
  • the vehicle 3 thus has such a compact design that in the assembled state it disappears at least essentially under the receptacle 2 or its container base 13. Only individual components, in particular from the electrical system 23, can protrude laterally beyond the container base 13, as there is a technical need for this. This can be, for example, the charging interface 29, the on/off switch 31 and the radio module 44, which are arranged in or on the electrical housing 22.
  • the chassis 24, the electrical drive unit 32, the electrical energy storage and the transport surface 26 are completely covered.
  • the receptacle 2 or its container base 13, as can be seen in Figures 1 to 8, can also completely cover the base plate 27 and the fastening elements 11 and at least substantially cover the vehicle electrical system 23.
  • the control unit 42 and the reading unit 45 can be covered by the on-board electrical system 23.
  • the running wheels 8, 9 are also arranged off-center in the transverse direction Y between the two rigid wheels 6, 7 and in relation to the vehicle's longitudinal axis L and are supported on the vehicle body 25. This means that the running wheels 8, 9 roll outside the lane of the rigid wheels 6, 7 over the ground 4.
  • Their transverse distance from the vehicle's longitudinal axis L is, here as an example, approximately 90 millimeters each, so that the two running wheels 8, 9 are at a distance of approximately in the transverse direction Y 180 millimeters apart.
  • the functional section 46 is formed between the wheels 8, 9 and is therefore free from the wheels 6, 7, 8, 9 in order to protect the guide elements 5 during operation of the can device 1.
  • the wheels 8, 9 it is also possible for the wheels 8, 9 to be in the middle, i.e. H. are arranged on the vehicle longitudinal axis L.
  • the running wheels 8, 9 are designed as support wheels, each of which is held on the vehicle body 25 so that it can pivot about its own pivot axis A8, A9, which is aligned parallel to the vertical axis Z.
  • the support wheels 8, 9 can be freely pivoted about the pivot axes A8, A9, so that they can pivot through 360 degrees and more.
  • the support wheel 8, which can also be referred to as a leading support wheel is supported on the front section 35 and the support wheel 9, which can also be referred to as a trailing support wheel, is supported on the rear section 36.
  • the leading support wheel 8 is unsprung and the trailing support wheel 9 is sprung and supported on the vehicle body 25.
  • the suspension of the sprung support wheel 9 thus provides a suspension on or support against the vehicle body 25 that is movable parallel to the vehicle's vertical axis.
  • the support wheels 8, 9 can be arranged as far as possible on the outside of the vehicle body 25 and, as shown in FIG. 3 with the dotted line 57 only as an example, can lie on an imaginary circular line.
  • the support wheels 8, 9 it is also possible for the support wheels 8, 9 to be arranged at different distances from one another from the central plane E3, in which the two axes of rotation 33, 34 lie. It is advantageous if the center of gravity of the vehicle 3 is in the central plane E3, in which the vehicle transverse axis Q also runs, or at least as close as possible to the yaw axis A3.
  • a second unsprung support wheel can be arranged on the front section 35 and a second sprung support wheel can be arranged on the rear section 36.
  • the two further support wheels can be arranged on the imaginary circular line and can be arranged in an extension of the respective support wheel 8, 9.
  • 9. 16 shows the sprung support wheel 9, which, like the unsprung support wheel 8, has a roller 64 which is rotatably mounted about a rotation axis 68 aligned perpendicular to the pivot axis A9.
  • the roller 64 of the sprung support wheel 9 is supported on the vehicle body 25 via a spring arrangement 65.
  • the spring arrangement 65 thus enables the roller 64 to be suspended or supported on or against the vehicle body 25, which is movable parallel to the vertical axis of the vehicle.
  • a bearing 67 which can be a thrust bearing, for example, and a holding plate 66 are arranged, with which the support wheel 9 is attached, for example screwed, to the vehicle body 25.
  • the support wheel 9, in particular the roller 64 supported on the vehicle body 25 via the spring arrangement 65 can be freely pivoted about the pivot axis A9.
  • the spring arrangement 70 has a spring damping element 71 with a coil spring 72 and a piston 73.
  • the spring arrangement 70 thus also enables a suspension or support of the roller 64 on or against the vehicle body 25 that is movable parallel to the vertical axis of the vehicle.
  • the roller 64 of the support wheel 9, which can be freely pivoted about the pivot axis A9, is rotatably mounted about the axis of rotation 68 aligned perpendicular to the pivot axis A9.
  • 10 to 15 show various situations that can arise during operation of the can device 1 or the vehicle 3 when driving over the ground 4 along the guide elements 5.
  • the underside of the vehicle 3 is shown viewed from below through the ground 4, which is shown transparently for the sake of illustration.
  • the guide elements 5 arranged on the surface 4 are shown with dashed lines.
  • the vehicle 3 When driving in the main direction of travel (forward travel), which is illustrated by the arrow F in FIG. 10, the vehicle 3 follows the magnetic tape strip 5.1.
  • the control unit 42 controls the electric motors 38, 39 based on the signals received from the magnetic tape reading device 47 in front in the main direction of travel F in order to hold the magnetic tape strip 5.1 centrally between the two rigid wheels 6, 7.
  • the two electric motors 38, 39 When driving straight ahead, the two electric motors 38, 39 are operated in parallel and at the same speed.
  • the support wheels 8, 9 are also aligned in the main direction of travel F.
  • the vehicle 3 approaches a right-hand bend predetermined by the magnetic tape strip 5.1, with the vehicle 3 still traveling straight ahead.
  • the sensor occupancy image changes.
  • the control unit 41 can determine how much adjustment needs to be made in order to keep the vehicle 3 as centered as possible above the magnetic tape. This is done by adjusting the speeds of the electric motors 38, 39 relative to one another. The further the magnetic tape strip 5.1 runs from the center, the greater the speed difference must be.
  • the freely pivotable support wheels 8, 9 follow the direction of travel. The vehicle 3 is therefore only steered via changes in the speed of the electric motors 38, 39.
  • the vehicle 3 continues to drive straight until the RFID tag reading device 48 detects the RFID tag 5.2.
  • the read RFID data is transmitted to the control unit 42.
  • a fixed route can be stored there.
  • the control unit 42 can also communicate with a higher-level master control and receive current driving instructions so that the vehicle 3 can be controlled as needed.
  • the control unit 42 has specified a left turn in order to turn at the junction 55.
  • the control unit 42 rotates the vehicle 3 at the node 55 by controlling the electric motors 38, 39 with opposite directions of rotation.
  • the left electric motor 38 rotates the left rigid wheel 6 backwards and the right electric motor 39 rotates the right rigid wheel 7 forward.
  • the vehicle 3 rotates on the spot about its yaw axis A3 and thus remains above the center of the node 55.
  • the RFID tag reading device 48 keeps the RFID tag 5.2 in the detection area or below itself during the entire turning process.
  • the vehicle 3 follows the magnetic tape strip 5.1d in the main direction of travel F until another RFID tag arrives.
  • any other rotation angle is also possible.
  • the above-described laying of the magnetic tape strips 5.1 a...5.1 d, which are spaced apart from one another at the node 55, has the advantage that the paths specified by the guide elements 5 can be traveled in both directions. If this is not desired, for example because a defined path direction, such as on a one-way street, should be specified to avoid collisions, a continuous magnetic tape strip, which extends uninterruptedly over, for example, the magnetic tape strips 5.1 a and 5.1 c, can also be provided at the junction 55.
  • the RFID tag 5.2 can then be on the magnetic tape strip 5.1 a, 5.1 c. be upset.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Power Engineering (AREA)
  • Textile Engineering (AREA)
  • Handcart (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un véhicule à conduite autonome (3) pour transporter un récipient de réception (2) pour un ruban entre des machines textiles de distribution de ruban et d'amenée de ruban sur une surface sous-jacente (4). Le véhicule (3) présente un châssis (24) doté de plusieurs roues, une carrosserie de véhicule (25) qui est supportée par le châssis (24) et qui comprend une surface de transport (26) pour le récipient de réception (2), des éléments de fixation (11.2) pour fixer le récipient de réception (2 ; 202) à la carrosserie de véhicule (25), et un système électrique embarqué (23) qui est placé sur la carrosserie de véhicule (25) et qui comprend un dispositif de stockage d'énergie électrique (28), une unité d'entraînement électrique (32) et une unité de commande (42). Les roues comprennent deux roues rigides (6, 7) qui sont alignées dans une direction longitudinale de véhicule (L) et qui ont des axes de rotation (33, 34) qui sont fixes par rapport à la carrosserie de véhicule (25). L'invention est caractérisée en ce que les roues comprennent également au moins une roue de support à ressort (9) qui est supportée sur la carrosserie de véhicule (25) par l'intermédiaire d'un ensemble ressort (65 ; 70) et qui est conçue pour pouvoir pivoter librement autour d'un axe de pivotement (A9). L'invention concerne en outre un dispositif de boîte (1) comprenant un récipient de réception (2) pour un ruban et le véhicule à conduite autonome (3).
EP23722587.5A 2022-05-10 2023-05-05 Véhicule à conduite autonome pour transporter un récipient de réception pour un ruban, et dispositif de boîte Pending EP4522794A1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102022111675.1A DE102022111675A1 (de) 2022-05-10 2022-05-10 Selbstfahrendes Fahrzeug zum Transportieren eines Aufnahmebehälters für ein Faserband und Kannenvorrichtung mit einem Aufnahmebehälter
EP22175157.1A EP4276228A1 (fr) 2022-05-10 2022-05-24 Véhicule autonome permettant de transporter un récipient pour une bande fibreuse et bidon doté d'un récipient
PCT/EP2023/062017 WO2023217670A1 (fr) 2022-05-10 2023-05-05 Véhicule à conduite autonome pour transporter un récipient de réception pour un ruban, et dispositif de boîte

Publications (1)

Publication Number Publication Date
EP4522794A1 true EP4522794A1 (fr) 2025-03-19

Family

ID=86330327

Family Applications (3)

Application Number Title Priority Date Filing Date
EP23722586.7A Pending EP4522793A1 (fr) 2022-05-10 2023-05-05 Véhicule à conduite autonome pour transporter un récipient de réception pour un ruban, et dispositif de boîte comprenant un récipient de réception
EP23722587.5A Pending EP4522794A1 (fr) 2022-05-10 2023-05-05 Véhicule à conduite autonome pour transporter un récipient de réception pour un ruban, et dispositif de boîte
EP23722588.3A Pending EP4522795A1 (fr) 2022-05-10 2023-05-05 Dispositif de transport sans conducteur comprenant un véhicule à conduite autonome pour transporter un récipient de réception pour un ruban

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP23722586.7A Pending EP4522793A1 (fr) 2022-05-10 2023-05-05 Véhicule à conduite autonome pour transporter un récipient de réception pour un ruban, et dispositif de boîte comprenant un récipient de réception

Family Applications After (1)

Application Number Title Priority Date Filing Date
EP23722588.3A Pending EP4522795A1 (fr) 2022-05-10 2023-05-05 Dispositif de transport sans conducteur comprenant un véhicule à conduite autonome pour transporter un récipient de réception pour un ruban

Country Status (4)

Country Link
US (2) US20250296626A1 (fr)
EP (3) EP4522793A1 (fr)
CN (3) CN119173654A (fr)
WO (3) WO2023217671A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3696637A1 (fr) * 2019-02-18 2020-08-19 Maschinenfabrik Rieter AG Système et procédé de gestion d'une machine textile
DE102024114745A1 (de) 2024-05-24 2025-11-27 Trützschler Group SE Verfahren zum fahrerlosen Materialtransport von Faserbündeln in einer Spinnerei
DE102024114746A1 (de) * 2024-05-24 2025-11-27 Trützschler Group SE Wickelwagen und Verfahren zum Transport von Wattewickeln in einer Spinnerei von einer Wickelmaschine zu einer Kämmmaschine mit einem solchen Wickelwagen

Family Cites Families (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3532172A1 (de) 1985-09-10 1987-03-12 Truetzschler & Co Vorrichtung zum automatischen transport mindestens einer kanne zwischen einer faserbandabliefernden spinnereimaschine und einer faserbandgespeisten spinnereimaschine
DE8525743U1 (de) 1985-09-10 1987-02-26 Truetzschler Gmbh & Co Kg, 4050 Moenchengladbach Vorrichtung zum Transport mindestens einer Kanne zwischen einer faserbandabliefernden Spinnereimaschine und einer faserbandgespeisten Spinnereimaschine
DE3926135A1 (de) 1989-08-08 1991-02-14 Hoechst Ag Sicherheitseinrichtung fuer ein fahrerloses transportfahrzeug
DE19719765A1 (de) 1997-05-10 1998-11-12 Rieter Ingolstadt Spinnerei Verfahren und Vorrichtung zum Transportieren einer Kannengruppe
DE202013004209U1 (de) * 2013-05-07 2013-07-25 Ralf Bär Fahrerloses Transportfahrzeug, insbesondere für die Materialbereitstellung an Montagelinien
DE102016107451A1 (de) * 2015-04-21 2016-10-27 Gesellschaft Für Ingenieurdienste Mbh Selbstfahrende Transport- und Hubfahreinheit und Verfahren zum Bewegen von Objekten mittels der Transport- und Hubfahreinheit
US10434924B2 (en) * 2016-09-09 2019-10-08 Dematic Corp. Free ranging automated guided vehicle and operational system
JP7048148B2 (ja) * 2018-03-06 2022-04-05 日本電産シンポ株式会社 搬送車
JP7466109B2 (ja) * 2018-10-15 2024-04-12 パナソニックＩｐマネジメント株式会社 移動体
CZ2019191A3 (cs) * 2019-03-28 2020-10-07 Rieter Cz S.R.O. Způsob řízení dopravních prostředků pro dopravu pramenových konví v přádelně a dopravní prostředek k provádění způsobu
JP2021037776A (ja) * 2019-08-30 2021-03-11 株式会社東芝 無人搬送車
DE102020104801A1 (de) * 2019-12-30 2021-07-01 Still Gesellschaft Mit Beschränkter Haftung Fahrerloses Transportfahrzeug mit einer mittels eines Gewindespindelantriebs anhebbaren und absenkbaren Lastaufnahmeplattform
CN113215696A (zh) * 2020-06-19 2021-08-06 邱丽遐 一种有收放式脚轮的容器和agv车以及搬运容器方法
CN212685777U (zh) 2020-07-14 2021-03-12 北京经纬纺机新技术有限公司 一种自动运载输送棉条桶的agv小车
CN113668102B (zh) * 2020-12-30 2022-08-23 苏州多道自动化科技有限公司 纺纱自动输送机器人

Also Published As

Publication number Publication date
CN119301318A (zh) 2025-01-10
WO2023217669A1 (fr) 2023-11-16
WO2023217671A1 (fr) 2023-11-16
EP4522793A1 (fr) 2025-03-19
US20250296626A1 (en) 2025-09-25
CN119173655A (zh) 2024-12-20
US20250296521A1 (en) 2025-09-25
CN119173654A (zh) 2024-12-20
WO2023217670A1 (fr) 2023-11-16
EP4522795A1 (fr) 2025-03-19

Similar Documents

Publication Publication Date Title
WO2023217670A1 (fr) Véhicule à conduite autonome pour transporter un récipient de réception pour un ruban, et dispositif de boîte
DE102022111675A1 (de) Selbstfahrendes Fahrzeug zum Transportieren eines Aufnahmebehälters für ein Faserband und Kannenvorrichtung mit einem Aufnahmebehälter
DE102018221170B4 (de) Parkroboter für ein Kraftfahrzeug sowie Verfahren zum Betreiben eines derartigen Parkroboters
DE102012012739B4 (de) Vorrichtungen und Verfahren zum teilautomatisierten, automatisierten und mobilen Wechsel einer Elektro-Batterie für den Antrieb von Automobilen
EP3490843B1 (fr) Remorque pour train de remorques de manutention et système de transport, ainsi que procédé de transport
DE102018221172B4 (de) Parkroboter für ein Kraftfahrzeug sowie Verfahren zum Betreiben eines derartigen Parkroboters
DE202013004209U1 (de) Fahrerloses Transportfahrzeug, insbesondere für die Materialbereitstellung an Montagelinien
DE102011100281C5 (de) Transportsystem für einen Transport von Transportgut und Verfahren
DE202005003913U1 (de) Wechselvorrichtung für Spannrahmen
EP3908506B1 (fr) Procédé de convoyage et système de convoyage
DE102015016672A1 (de) Transporteinrichtung für eine Fräseinheit, Transportfahrzeug sowie Verfahren zum Transportieren einer Fräseinheit
WO2011069596A1 (fr) Imprimante
EP3795419B1 (fr) Remorque de chariot tracteur et chariot tracteur
DE69102067T2 (de) Auf-der-stelle-umlenkvorrichtung für flurförderfahrzeug.
EP0950625B1 (fr) Chariot transporteur pour rouleaux de papier et système de transport de rouleaux de papier pour un tel chariot
WO2019100097A1 (fr) Système de transport pour le transport de conteneurs
EP3781460B1 (fr) Véhicule terrestre sans conducteur servant au convoyage de charges telles que des carrosseries de véhicule et/ou pièces de véhicule ainsi que procédé de transport d'une charge de ce type
DE102023120200A1 (de) Rampenvorrichtung für eine Textilmaschine und Textilmaschine
DE102015016671A1 (de) Transporteinrichtung für eine Fräseinheit, Transportfahrzeug mit einer Transporteinrichtung für eine Fräseinheit und Verfahren zum Transportieren einer Fräseinheit mit einer Transporteinrichtung
EP2778010A2 (fr) Support de chargement pour transport combiné de marchandises
DE102021214969A1 (de) Fahrerloses Transportfahrzeug mit einer Nutzlast-Hubvorrichtung
AT520628B1 (de) Transportanordnung für den transport von containern
DE19644476A1 (de) Einstellbare Transportvorrichtung
DE202021000804U1 (de) Transportsystem zur Sendungszustellung mittels zumindest eines Fahrzeugs
WO2020104318A1 (fr) Véhicule de transport pour un support plat

Legal Events

Date Code Title Description
STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: UNKNOWN

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE INTERNATIONAL PUBLICATION HAS BEEN MADE

PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20241210

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC ME MK MT NL NO PL PT RO RS SE SI SK SM TR

DAV Request for validation of the european patent (deleted)
DAX Request for extension of the european patent (deleted)
P01 Opt-out of the competence of the unified patent court (upc) registered

Free format text: CASE NUMBER: UPC_APP_7490_4522794/2025

Effective date: 20250918