DE102019116207A1 - Bobbin transport vehicle, winding machine system, method for exchanging a bobbin for a bobbin tube on a winding machine and software with control logic - Google Patents

Abstract

The present invention relates to a self-propelled, non-rail-bound and steered bobbin transport vehicle. The bobbin transport vehicle (6) has a bobbin holding device (19) on which a bobbin (52) can be held. Alternatively or additionally, the bobbin transport vehicle (6) has a bobbin case holding device (20) on which a bobbin case (41) can be held. The bobbin case holding device (20) is preferably of passive design and is actuated in a movement-controlled manner by the movement of the bobbin transport vehicle. The invention also relates to a winding machine system (1) with a bobbin transport vehicle (6), a method for exchanging a bobbin ( 52) against a bobbin tube (41) on a winding machine and software with control logic for executing the method.

Description

Known (and can also be used within the scope of the invention) winding machines have a rotatable turret on which spindles are held that may or may not be driven in rotation, in the latter case the rotation of a bobbin tube and the winding formed on it by a driven rotating pressure roller can be brought about. By turning the turret, the spindles can alternate between a working position, in which a bobbin is wound on a bobbin case fixed to the spindle, and a change position, in which a completely wound bobbin can be removed from the winding machine and an empty bobbin case is attached to the spindle can be pivoted. For the preferably uninterrupted operation of the winding machine, a completely wound bobbin must be removed from the winding machine and the then empty spindle must be equipped with a new bobbin tube.

The present invention relates to a bobbin transport vehicle, a winding machine system, a method for exchanging a bobbin for a bobbin case on a winding machine and a data carrier, a data package or software.

STATE OF THE ART

WO 98/24952 A1 discloses a winding machine system with several winding machines arranged in rows, on which a winding material is wound in parallel to form bobbins on tubular bobbin tubes. The rows of winding machines form lanes, at the ends of which a bobbin tube supply device is arranged in the form of a bobbin tube storage device. The winding machines have transfer devices by means of which fully wound bobbins can be transferred to a bobbin transport vehicle. The winding machine system also has a bobbin removal device with several shelves with assigned shelf conveyors, roller tables, input and output stations, converters, turning devices, transfer units, etc. It is proposed that the bobbins be kept individually on trays or pallets and stored with them on the shelves will. The shelves can be high shelves with a variety of storage spaces. The winding machine system can also have a packaging area that is supplied with bobbins via a suitable conveyor. In the packaging area, the reels are packed in foils and / or cardboard boxes and made available for removal. A fully automatic handling system connects the area in which the winding machines are arranged with the bobbin removal device. The handling system is controlled by means of a central process control that spans the winding machine system. The handling system has a transport device, a transfer station and a separating device. The transport device consists of at least one conveyor which can be moved along the rows of winding machines. Here, the transport device should ensure the handling and transport of the bobbins. The transport device can be designed as a floor-bound and preferably inductively guided, remotely controllable transport vehicle. But it is also possible that the transport device is an overhead conveyor such as a monorail overhead conveyor and. Ä. is. The transport device has multiple receptacles for receiving and transporting reels or doffs. These receptacles consist of several pins arranged next to one another in a row, which are aligned transversely to the direction of travel of the transport device and in a transfer position in front of the winding machine are aligned with the spindle of the winding machine. The pins can be arranged pivotably on the transport device in such a way that they can be used with spindles of winding machines on both sides of the aisle formed between rows of winding machines without the transport device having to be turned. In addition, the transport device can be used to supply the winding machine with an empty bobbin tube that has previously been removed from the bobbin tube supply device after a completely wound bobbin has been removed. The transport device can have a transfer device such as a slide or a conveyor spindle, by means of which the coils held on the transport device are pushed from the pins. The winding machine system can have control stations at which an automatic and / or visual inspection of the bobbins is carried out. A visual inspection of the quality of the bobbins, weighing the bobbins, labeling the bobbins, tying, peeling off or knotting the end areas of the goods to be wound or other work can be carried out here.

Also EP 3 181 501 B1 discloses a winding machine system in which winding machines are arranged in two rows with a lane arranged in between. Each row of the winding machines has a transfer device which is moved along a rail which extends in the longitudinal direction of the row and is suspended from the rail. When a bobbin is completely wound, the assigned winding machine transmits a transfer request to a control unit assigned to the row of winding machines. As a result of this transfer request, the control unit controls a drive in such a way that the transfer device is moved along the rail to the completely wound bobbin. The winding machine delivers the completely wound bobbin and the The winding machine is equipped with an empty bobbin tube. The transfer device has an electric drive that is controlled by the control unit and causes the movement along the rail. The transfer device has a sensor which detects the presence of a person in the vicinity of the transfer device. This sensor can be designed, for example, as an optical sensor or an infrared sensor. If the sensor detects the presence of a person in the vicinity of the transfer device, a warning signal can be generated, for example via a loudspeaker or an optical display. The control unit can also be responsible for specifying the settings of the winding machines in accordance with manual entries made by a user.

Another winding machine is off EP 3 470 560 A1 known.

OBJECT OF THE INVENTION

• - ein im Rahmen des Austausches einer Spule gegen eine leere Spulenhülse einsetzbares Spulenkörper-Transportfahrzeug,
• - eine für einen derartigen Austausch verbesserte Spulmaschinenanlage,
• - ein Verfahren zum Austausch einer Spule gegen eine Spulenhülse an einer Spulmaschine und
• - ein hierfür eingesetztes Datenpaket, einen hierfür einsetzbaren Datenträger oder eine hierfür einsetzbare Software

The invention is based on the object

• - a bobbin transport vehicle that can be used when replacing a bobbin with an empty bobbin case,
• - an improved winding machine system for such an exchange,
• - A method for replacing a bobbin with a bobbin case on a winding machine and
• - a data packet used for this purpose, a data carrier which can be used for this purpose or software which can be used for this purpose

propose.

SOLUTION

The object of the invention is achieved according to the invention with the features of the independent claims. Further preferred embodiments according to the invention can be found in the dependent claims.

DESCRIPTION OF THE INVENTION

The invention proposes a self-propelled bobbin transport vehicle which is therefore not controlled by a driver. The bobbin transport vehicle has a drive and / or a steering system, which is not a rail-mounted bobbin transport vehicle. Here, the drive can drive at least one wheel and the steering can change at least one angle of a wheel around the vertical axis, which means that it is a steered wheel. It is also possible, however, that the bobbin transport vehicle is steered by the fact that the drive speed of at least two wheels can be controlled separately, which can then result in a steering movement without an actuator rotating a wheel about the vertical axis. To name only one example that does not limit the invention, the coil body transport vehicle can have at least two, preferably four, non-driven wheels which are mounted pivotably about the vertical axis. Furthermore, two wheels that cannot be pivoted about the vertical axis (which can also be designed as rollers) can be arranged on a right-hand side and a left-hand side of the bobbin transport vehicle, which can be driven independently of one another via separate drives and with the same drive speed the propulsion in Generate the longitudinal direction of the coil body transport vehicle and generate changes in direction or rotations of the coil body transport vehicle around the vertical axis when these are driven at different drive speeds. In this case, the independent drives for the two wheels form both the drive for generating the propulsion and the steering.

According to the invention it is proposed that the self-propelled bobbin transport vehicle have a bobbin holding device on which a bobbin can be held. The bobbin holding device preferably only acts on the inner surface of the bobbin case.

Alternatively or additionally, the bobbin transport vehicle can have a bobbin case holding device, on which a bobbin case can be held. The bobbin case holding device preferably only interacts with the outer surface of the bobbin case.

The bobbin transport vehicle according to the invention can be moved freely with the aid of a control and can thus be moved back and forth between the individual devices of the winding machine system as required, which is for example for the purpose of picking up an empty bobbin tube, for the purpose of removing a completely wound bobbin from a winding machine for the purpose of attaching the bobbin case onto a spindle of a winding machine and / or for the purpose of delivering a previously removed, fully wound bobbin to a bobbin removal device.

The bobbin transport vehicle preferably has both a bobbin holding device and a bobbin case holding device, so that the bobbin transport vehicle is multifunctional.

Within the scope of the invention, it is also possible that the bobbin transport vehicle already carries a bobbin case held on the bobbin case holding device when the bobbin is removed from the winding machine by means of the bobbin holding device. As a result, immediately after removing the bobbin and holding it on the bobbin holder, the bobbin case carried along can be plugged onto the empty spindle of the winding machine without the finished bobbin having to be transported away or the bobbin case first must be picked up from a bobbin tube supply device. As a result, the period of time for changing from the completely wound bobbin to the beginning of the new winding process on the empty bobbin tube can be shortened.

The coil body transport vehicle can be driven in any way, for example by means of a fossil fuel. However, the coil body transport vehicle is preferably driven electrically. A wired power supply for the coil former transport vehicle can also be provided from an external power source. For an embodiment according to the invention, however, an accumulator is present (in or on the bobbin transport vehicle). The accumulator provides the energy for a drive and / or a steering of the coil former transport vehicle, so that the coil former transport vehicle is self-sufficient in terms of energy supply (at least in partial operating areas).

The bobbin transport vehicle can communicate with the associated devices such as the winding machine, a central control unit of the winding machine system, a bobbin tube supply device and / or a bobbin removal device in any way, in particular by wire. For a proposal of the invention, a wireless transmitting and / or receiving device is provided on the bobbin transport vehicle, which can communicate wirelessly with the aforementioned devices and control units. By means of the wireless transmitting and / or receiving device of the bobbin transport vehicle, this can receive indicators or signals from a central control unit, whereby this can trigger the movement of the bobbin transport vehicle to a device or away from it. It is also possible, however, for the coil body transport vehicle to transmit a status signal to another control unit via the wireless transmitting and / or receiving device of the coil body transport vehicle. For example, by means of the transmitting and / or receiving device, an indicator can be transmitted that there is a coil on a coil holding device of the coil body transport vehicle and / or that a coil case is and / or is on a coil case holding device of the coil body transport vehicle the bobbin transport vehicle is in a predetermined relative position and / or orientation with respect to one of the said devices. These signals or indicators can then be used by the other control units for the further function of the winding machine, the bobbin tube supply device and the bobbin removal device, as will be explained in more detail below.

In principle, the bobbin holding device and the bobbin case holding device can be arranged as desired on the bobbin transport vehicle, whereby this can be done, for example, one above the other or next to one another, or can also be displaced vertically or horizontally relative to a support structure of the bobbin transport vehicle via a suitable actuator. For an embodiment according to the invention, the bobbin holding device and bobbin case holding device are arranged on different sides of the bobbin transport vehicle. These different sides are preferably opposite sides which, for example, can be oriented in the direction of travel when the bobbin transport vehicle travels forwards and backwards. This embodiment has the particular advantage that, depending on whether the bobbin holding device is to be operated or the bobbin case holding device is to be operated, the bobbin transport vehicle can be moved with the side having the desired device in the direction of the winding machine or a device , so that this device can then interact with the winding machine or the device, while the other device cannot interact with the winding machine or device. If it is then desired to operate the other device, the bobbin transport vehicle turns, with which the other device can be activated.

In principle, the bobbin holding device and / or the bobbin case holding device can be designed as desired with any designed and operated holding device. It is thus possible, for example, for the bobbin holding device and / or the bobbin case holding device to have a holding element actuated via a control unit and a suitable actuator. For one proposal of the invention, the bobbin holding device on which a bobbin can be held is a passive bobbin holding device.

In particular, the bobbin holding device is a holding device, such as at least one fixed rod, which is arranged fixedly on the bobbin transport vehicle.

Alternatively or cumulatively, the bobbin case holding device on which a bobbin case can be held can be a passive bobbin case holding device. In particular, there are no actuators for generating the holding effect or clamping the bobbin case in the bobbin case holding device and for eliminating the holding effect or the clamping effect.

For a bobbin transport vehicle according to the invention, the bobbin holding device has an elongated bobbin holding device which is dimensioned and arranged such that the bobbin holding device can extend into the interior of a bobbin case. The bobbin holding device preferably has a cross section, the outer contour of which deviates from a circular cross section, with which, for example, an oscillating movement of the bobbin on the bobbin holding device during its transport can at least be reduced. For a particular proposal of the invention, the reel holding device has a holding rod or at least two parallel holding rods extending in a common horizontal plane.

It is possible that the bobbin case holding device has a bobbin case clamping device with which a bobbin case can be clamped radially from the outside. The consequence of this configuration is that the bobbin case can also be attached to a spindle when it is clamped from the outside by the bobbin case clamping device, which makes handling easier.

The bobbin case clamping device can be designed as desired. For one proposal of the invention, the bobbin case tensioning device has at least one tensioning element which is acted upon radially inward by means of a tensioning spring. The tensioning force of the bobbin case tensioning device can then at least be influenced via the tensioning spring. The tensioning element and the tensioning spring can be transferred to a non-tensioning position by any mechanism or an actuator, while the tensioning spring then provides the tensioning force acting on the bobbin without the actuator acting.

For a special proposal of the invention, the tensioning element can be moved radially outward in a movement-controlled manner against the action of the tensioning spring. The movement is controlled by the movement of the bobbin transport vehicle as a result of the approach of the bobbin transport vehicle to a bobbin tube or a bobbin tube supply device holding the bobbin tube. Thus, the drive can generate a force with the movement when approaching, which moves the tensioning element into an open position and further tensions the tensioning spring. In this widened open position of the clamping element, the bobbin tube can then be picked up by the bobbin tube clamping device. As a result of the action of the tension spring, however, there is a radial tensioning of the bobbin case in the bobbin case clamping device.

For a special proposal of the invention, the bobbin case clamping device allows the bobbin case held by the bobbin transport vehicle to approach a winding machine or a fixing device of the winding machine and, after making contact with a stop, in particular a stop of the fixing device, a sliding relative movement between the bobbin case clamping device and the bobbin case. This sliding relative movement can be made possible, for example, by suitable dimensioning of the clamping force of the bobbin case in the bobbin case clamping device and the structural specification of the friction coefficient of the clamping element. Such a sliding relative movement can be used for a tolerance compensation, which may be necessary, for example, if the determination of the position of the bobbin transport vehicle is subject to inaccuracy or the bobbin case is accommodated in the bobbin case clamping device with an axial fluctuation. In order to enable this sliding movement, the bobbin case tensioning device does not take the bobbin case so far that it rests against a stop or the floor or base of the bobbin case tensioning device, but rather that there is still a remaining path that the bobbin case continues as a result of the sliding relative movement can enter the bobbin case clamping device in order to ensure tolerance compensation when it hits the stop.

It is possible that the bobbin transport vehicle has a control unit and / or a control unit is arranged externally from the bobbin transport vehicle. The control unit can have a control logic that, when a Indicator that indicates that a bobbin case is to be picked up from a bobbin case supply device, controls the drive and / or the steering of the bobbin transport vehicle so that the bobbin transport vehicle moves to the bobbin case supply device. The bobbin case can then be picked up by the bobbin case clamping device (in particular with a movement control through the movement of the bobbin transport vehicle) and the bobbin case held on the bobbin transport vehicle can then be handled and moved.

For an alternative or cumulative proposal, the control logic can control the drive and / or the steering of the bobbin transport vehicle in such a way that the bobbin transport vehicle moves to the bobbin if there is an indicator that indicates that a reel is to be picked up from a winding machine . The bobbin transport vehicle can then be used to remove the bobbin from the winder using the bobbin transport vehicle, with the bobbin transport vehicle also allowing a new bobbin case to be pushed onto the spindle of the winding machine.

For an alternative or cumulative embodiment, the control unit can, in the presence of an indicator that indicates that a bobbin case is to be clamped in motion controlled by the movement of the bobbin case transport vehicle in the area of a bobbin case supply device by the bobbin case clamping device, the drive and / or the steering of the Control bobbin transport vehicle in such a way that the bobbin transport vehicle is moved into a predetermined position and / or orientation relative to the bobbin. The control then takes place in such a way that a movement of the bobbin transport vehicle is generated which, controlled by movement, controls the clamping of the bobbin case by the bobbin case clamping device.

Alternatively or cumulatively, if there is an indicator that indicates that a bobbin case held by the bobbin case tensioning device has been fixed at least axially on a winding machine, the control logic can control the drive and / or the steering of the bobbin transport vehicle so that the bobbin transport vehicle is moved away from the winding machine. As a result of the axial fixation of the bobbin case on the spindle of the winding machine, the result is that the bobbin case is pulled out of or from the bobbin case clamping device, the energy for this pulling movement coming from the drive of the bobbin case transport vehicle and thus an additional actuator is unnecessary and during this removal the friction between the bobbin case clamping device and the bobbin case is overcome by the drive of the bobbin transport vehicle.

Alternatively or cumulatively, it is possible for the control logic to generate an actuation signal for a transfer device when an indicator is present which indicates that the coil former transport vehicle is in a predetermined position and / or location relative to a coil. The transfer device, which can be designed, for example, as a slide of the winding machine, transfers the fully wound bobbin from a spindle of the winding machine to the bobbin holding device of the bobbin transport vehicle.

Alternatively or cumulatively, if there is an indicator that indicates that a transfer device has transferred the bobbin from a spindle of the winding machine to the bobbin holding device, the control logic controls the drive and / or the steering of the bobbin transport vehicle so that the bobbin transport vehicle moves away from the winder. The bobbin transport vehicle can then drive, for example, to the bobbin removal device, where the fully wound bobbin is then transferred to the bobbin removal device.

In the bobbin transport vehicle, the bobbin case holding device can be assigned a sensor. It is possible that this sensor detects a bobbin case, the sensor being able to detect a type of a bobbin case or even being able to detect whether or not a bobbin case is in the measuring range of the sensor. Alternatively or cumulatively, it is possible for the sensor to detect a relative position and / or orientation of a bobbin case with respect to the bobbin case holding device. This can be advantageous, for example, in order to recognize whether the correct relative position and / or orientation is present for the establishment of the connection between the bobbin case holding device and the bobbin case, with a regulation for approaching the correct relative position and / or orientation based on the sensor signal / or orientation is possible. Alternatively or additionally, it is also possible for the sensor to detect whether or not a bobbin case is being held by the bobbin case holding device.

It is possible that a sensor is also or only assigned to the coil holding device. The sensor can detect whether or not there is a coil in the area of the coil holding device. It is also possible that the sensor detects a relative position and / or orientation of a coil with respect to the coil holding device, in which case the drive of the coil former transport vehicle can then also be controlled or regulated on the basis of the signal from the sensor in order to obtain the correct relative position and / or bring about orientation. If, for example, the sensor detects that a bobbin is held on the bobbin holding device, it can be concluded from this that the process of transferring the bobbin from the winding machine to the bobbin holding device has been completed and the bobbin transport vehicle can start moving and transport the bobbin away from the winder.

A further solution to the problem on which the invention is based is represented by a winding machine system which has a winding machine (preferably a winding unit with a plurality of winding machines) and (at least) one Bobbin transport vehicle, as has been described above, has. Furthermore, the winding machine system has a bobbin tube supply device and / or a bobbin removal device.

A further solution to the object on which the invention is based is a method for exchanging a bobbin for a bobbin tube on a winding machine, this method being used in connection with a bobbin transport vehicle, as described above, and / or in connection with a winding machine system can be used.

It is possible in the method for a bobbin case to be clamped by a passive bobbin case clamping device of a bobbin transport vehicle in the region of a bobbin case supply device. This takes place in that a drive and / or a steering of the bobbin transport vehicle are activated in order to bring about a movement of the bobbin transport vehicle. This movement then actuates the bobbin case clamping device in a movement-controlled manner, whereby the bobbin case is clamped by the bobbin case clamping device. No additional actuator is therefore required for actuating the bobbin case clamping device and clamping the bobbin case - the drive and / or steering of the bobbin transport vehicle can be used to activate the clamping of the bobbin case clamping device.

In an alternative or cumulative embodiment of the method, a drive and / or a steering of the bobbin transport vehicle are controlled in such a way that a bobbin case, which is held on a passive bobbin case clamping device, is plugged onto a spindle of a winding machine. A fixing device of the winding machine is then activated. The fixing device fixes the bobbin case at least axially on the spindle of the winding machine. The fixing device can be activated, for example, when it has been detected by means of a sensor of the bobbin case tensioning device that the bobbin case is in the intended position of the bobbin case tensioning device and that this is tensioned by the bobbin case tensioning device. If there is then an indicator that the fixing device of the winding machine is activated, the drive and / or the steering of the bobbin transport vehicle are activated in such a way that the bobbin transport vehicle moves away from the winding machine with one movement. Movement-controlled by this movement of the bobbin transport vehicle, the bobbin case is then released from the bobbin case clamping device. In other words, when the bobbin transport vehicle is moved away from the winding machine, the fixing device pulls the bobbin tube out of or from the bobbin tube tensioning device.

Alternatively or cumulatively, it is possible that in the method a drive and / or a steering of the bobbin transport vehicle is controlled in such a way that a coil holding device of the bobbin transport vehicle is in a predetermined relative position and / or orientation with respect to one on a spindle Winding machine wound bobbin is located. If there is then an indicator that the bobbin holding device of the bobbin transport vehicle is in the predetermined relative position and / or orientation with respect to the bobbin wound on the winding machine, a transfer device of the winding machine, in particular a slide, is actuated. As a result of the actuation of the transfer device, the bobbin is transferred from the spindle to the bobbin holding device of the bobbin transport vehicle.

A further solution to the object on which the invention is based is a data carrier, a data packet or software with control logic or commands for executing a method as explained above.

Advantageous further developments of the invention emerge from the patent claims, the description and the drawings. The advantages of features and of combinations of several features mentioned in the description are only exemplary and can come into effect alternatively or cumulatively without the advantages necessarily having to be achieved by embodiments according to the invention. Without changing the subject matter of the attached claims, the following applies to the disclosure content of the original application documents and the patent: Further features can be found in the drawings - in particular the illustrated geometries and the relative dimensions of several components to one another and their relative arrangement and operative connection. The combination of features of different embodiments of the invention or of features of different patent claims is also possible, deviating from the selected back-references of the patent claims, and is hereby suggested. This also applies to features that are shown in separate drawings or mentioned in their description. These features can also be combined with features of different patent claims. Features listed in the claims for further embodiments of the invention can also be omitted.

The number of features mentioned in the claims and the description are to be understood in such a way that precisely this number or a greater number than the specified number is present without the need for the explicit use of the adverb “at least”. So if, for example, a winding machine, bobbin holding device or bobbin case holding device is mentioned, this is to be understood in such a way that exactly one winding machine, a bobbin holding device or a bobbin case holding device, two winding machines, two bobbin holding devices or two bobbin case Holding devices or more winding machines, bobbin holding devices or bobbin case holding devices can be present. These characteristics can be supplemented by other characteristics or be the only characteristics that make up the product in question.

The reference signs contained in the claims do not represent a restriction of the scope of the subject matter protected by the claims. They only serve the purpose of making the claims easier to understand.

Figure list

• 1 zeigt schematisch eine Spulmaschinenanlage.
• 2 zeigt in einer räumlichen Ansicht schräg von oben ein Spulenkörper-Transportfahrzeug.
• 3 zeigt das Spulenkörper-Transportfahrzeug gemäß 2 in einer Seitenansicht.
• 4 zeigt in einer räumlichen Ansicht eine Spulen-Haltevorrichtung eines Spulenkörper-Transportfahrzeugs gemäß 2 und 3.
• 5 zeigt in einer räumlichen Ansicht eine Spulenhülsen-Haltevorrichtung eines Spulenkörper-Transportfahrzeugs gemäß 2 und 3.
• 6 zeigt die Spulenhülsen-Haltevorrichtung gemäß 5 in einem teildemontierten Zustand schräg von hinten.
• 7 bis 9 zeigen in einer räumlichen Darstellung, in einer Draufsicht und in einer Vorderansicht eine Spulmaschinenanlage.
• 10 und 11 zeigen schematisiert ein Verfahren zur Handhabung von Spulen und Spulenhülsen und einen Austausch einer an einer Spulmaschine fertig gewickelten Spule gegen eine leere Spulenhülse.

In the following, the invention is further explained and described with reference to preferred exemplary embodiments shown in the figures.

• 1 shows schematically a winding machine system.
• 2 shows a bobbin transport vehicle in a three-dimensional view obliquely from above.
• 3 shows the bobbin transport vehicle according to 2 in a side view.
• 4th shows a three-dimensional view of a coil holding device of a coil former transport vehicle according to FIG 2 and 3 .
• 5 shows a three-dimensional view of a bobbin case holding device of a bobbin transport vehicle according to FIG 2 and 3 .
• 6th shows the bobbin holder device according to FIG 5 in a partially dismantled state diagonally from behind.
• 7th to 9 show in a three-dimensional representation, in a top view and in a front view a winding machine system.
• 10 and 11 show schematically a method for handling bobbins and bobbin tubes and an exchange of a fully wound bobbin on a winding machine for an empty bobbin tube.

FIGURE DESCRIPTION

In the following description of the figures, parts or components that are identical or fundamentally correspond in terms of design and / or function are in some cases identified with the same reference numerals, whereby these are then also distinguished with the additional letters a, b, ... In some cases, reference is made to these parts or components without the additional letters a, b, ..., in which case the explanations may apply to some or all of the parts or components.

1 shows a very schematic representation of a winding machine system 1 . The winding machine system 1 has several winding machines 2a, 2b, ..., whereby in 1 just one of these winding machines 2 is shown. The winding machines 2 can be arranged in one or more rows above and / or next to one another, possibly also with the formation of alleys (cf. the prior art mentioned at the beginning).

The dishwasher 2 has a control unit 3 running the winding machine 2 controls and the known functions of a winding machine 2 executes.

Furthermore, the winding machine has 2 via a fixing device 4th . In the fuser 4th can in an active position of the fixing device 4th a spool tube 41 on a spindle 53 the winder 2 be fixed at least axially. In contrast, the fixing device is in a deactivated position 4th the bobbin case 41 not on the spindle 53 (axially) fixed. The dishwasher 2 has a transfer facility 5 . By means of the transfer device 5 can after winding a coil 52 through the winding machine 2 the sink 52 from the winding machine 2 to a bobbin transport vehicle 6th passed, which is preferably done by sliding down the spool 52 from the spindle 53 the winder 2 he follows.

The dishwasher 2 can have the components known per se from the prior art and perform the functions known per se. For example, the winder 2 a coil 53 on a spool tube 41 with the creation of a winding on the bobbin case 41 from any ware. The winder preferably has 2 via two parallel spindles held on a revolver 53 by turning the turret the spindles 53 can be pivoted alternately into a working position and a changing position. The spindles 53 can be designed as a so-called sleeve tensioner fixing devices 4th exhibit. Is on a spindle 53 and the bobbin case i41 n arranged thereon the working position a coil 52 completely wound, the rotation of the revolver takes place (possibly without interrupting the feed of the winding material) in such a way that the completely wound bobbin 52 is transferred into the change position while an empty bobbin tube 41 on the other spindle 53 is transferred to the working position, where the creation of a winding on the empty bobbin tube 41 he follows. With regard to the handling of the items to be wound during this transfer of the winding process from a spindle 53 on the other spindle 53 and the necessary severing of the load is referred to the methods and devices known from the prior art.

The winding machine system 1 also has a bobbin case supply device 7th , which is, for example, a bobbin tube storage device 8th in the form of a bearing for bobbin tubes 41 or a conveyor through which bobbin tubes 41 provided, can act. The bobbin case supply device 7th can optionally via a control unit 9 feature.

The winding machine system 1 has a bobbin removal device 10 , which is, for example, a coil storage device 11 can act in the form of a shelf or a coil conveyor. The bobbin removal device can optionally be via a control unit 12 feature.

Optionally, the winding machine system 1 a quality assurance facility 13th with assigned control unit 14th and / or any other device 15th with assigned control unit 16 exhibit.

The winding machine system 1 has a bobbin transport vehicle 6th on. The bobbin transport vehicle 6th is used for handling and transporting a bobbin. This coil body is preferably the fully wound coil 52 with the bobbin case 41 and the winding formed thereon and / or an empty bobbin tube 41 .

• - dem Transport und der Handhabung einer fertig gewickelten Spule 52 mit dem Abnehmen der Spule von der Spulmaschine 2, deren Transport beispielsweise zu der Spulen-Abnahmeeinrichtung 10 und der Übergabe der Spule 52 an die Spulen-Abnahmeeinrichtung 10 und/oder
• - der Aufnahme einer leeren Spulenhülse 41 aus einer Spulenhülsen-Bereitstellungseinrichtung 7, dem Transport der leeren Spulenhülse 41 zwischen der Spulenhülsen-Bereitstellungseinrichtung 7 und einer Spulmaschine 2 und der Übergabe der leeren Spulenhülse 41 an eine Spindel 53 der Spulmaschine 2.

The bobbin transport vehicle 6th serves

• - the transport and handling of a finished coil 52 with removing the bobbin from the winder 2 , their transport, for example, to the bobbin removal device 10 and handing over the bobbin 52 to the bobbin removal device 10 and or
• - the inclusion of an empty bobbin tube 41 from a bobbin tube supply device 7th , transporting the empty bobbin tube 41 between the bobbin case supply device 7th and a winder 2 and the transfer of the empty bobbin tube 41 to a spindle 53 the winder 2 .

The bobbin transport vehicle leads to this 6th in the 1 schematically illustrated movements along a movement path 18th out. The bobbin transport vehicle 6th is as a self-propelled bobbin transport vehicle 6th without a driver. The bobbin transport vehicle 6th is preferably not a rail-guided transport vehicle. Rather, this can be done via at least one steering system 28 have so the bobbin transport vehicle 6th arbitrary movement paths 18th can perform and thus can move along different movement paths for the movement between the same devices.

The bobbin transport vehicle 6th has (at least) one reel holding device 19th and (at least) one bobbin case holding device 20th , which is preferably used as a spool tube clamping device 21st is trained.

The bobbin case holder 20th and the spool holder 19th is one sensor each 22nd , 23 assigned, wherein the sensor in the bobbin case holding device 20th or the bobbin holding device 19th can be integrated or in a base body or a support structure of the bobbin transport vehicle 6th can be integrated or attached to this / this.

The bobbin transport vehicle 19th has a control unit 24 on that particular drive 27 and / or the steering 28 of the bobbin transport vehicle 6th controls and the signal of the sensors 22nd , 23 processed.

In 1 electrical connections, signal connections for a signal exchange and / or control connections (where, within the scope of the present invention, controlling also includes regulating) are shown schematically with dashed lines.

The movement of the bobbin transport vehicle 6th can through guiding elements 17th , in particular optical or inductive guide elements, be performed.

The winding machine system 1 has a central control unit 25th , which with the control units 3 , 9 , 12 , 14th , 16 , 24 communicates and the function of the devices assigned to the said control units 6th , 7th , 8th , 10 , 11 , 13th , 15th controls and / or coordinates. It is also possible that the central control unit 25th also the fixing device 4th and/ or the transfer device 5 controls. The communication between the devices and the control units can be wired. Wireless communication preferably takes place.

2 to 6th show the bobbin transport vehicle 6th and its reel holder 19th and bobbin case holder 20th .

According to 2 has the bobbin transport vehicle 6th a mobile substructure 26th , a chassis, bogie or running gear. In the substructure 26th is preferably an electric drive 27 , a steering 28 , a transmission and / or a drive connection 29 to at least one wheel 30th and an electrical power supply for the drive 27 , especially an accumulator 31 and / or the control unit 24 integrated.

As a result of the control of the drive 27 and the steering 28 can the substructure 26th and thus the bobbin transport vehicle 6th free between the winder 2 and the facilities 7th , 10 , 13th , 15th move. On the substructure 26th is a supporting structure 32 attached and supported, which is designed for the illustrated embodiment as a vertically extending tower. On the supporting structure 32 are on one in one direction of travel 33 oriented side two coil holding devices 19a, 19b arranged, these being arranged at different heights (here vertically one above the other). On the opposite side, i.e. one in the opposite direction of travel 34 oriented side, carries the supporting structure 32 two bobbin tube holding devices 20a, 20b, which are also arranged here at different heights (in particular vertically one above the other).

The design of the reel holding devices 19th is particularly in 4th to recognize. Accordingly, the reel holding devices have 19th each via two horizontally extending support rods oriented parallel to one another 35 , 36 . It is possible that, as in 4th shown, the handrails 35 , 36 have a cylindrical outer surface and / or are designed as tubes and / or have a beveled, inclined end face. The distance between the handrails 35 , 36 is chosen so that both handrails 35 , 36 with a predetermined play in the cylindrical interior of a bobbin 41 can enter.

According to the in 4th The illustrated embodiment is the sensor 22nd the bobbin holder 19th between the two handrails 35 , 36 and in the end area of the support rods 35 , 36 by attaching this to a retaining plate 37 over which the bobbin holder 19th on the supporting structure 32 can be attached, are attached. The sensor 22nd is designed, for example, as an inductive sensor. Is a bobbin case 41 (with or without a winding formed on it) completely onto the support bars 35 , 36 pushed on, the coil sleeve extends in the area of the sensor 22nd with which he can see that the handrails 35 , 36 completely and properly into the interior of the bobbin case 41 have been inserted.

In the 2 , 3 , 5 and 6th is also the design of the bobbin case holding device 20th , namely the bobbin case clamping device 21st shown. The bobbin case tensioning device 21st has two support elements 38 , 39 and a tensioning element 40 . The supporting elements 38 , 39 and the tensioning element 40 are (in the tensioned state of a spool tube 41 ) at the same radius around the circumference of a spool tube 41 arranged distributed. The supporting elements 38 , 39 are oriented parallel to each other and extend in a common horizontal plane. The distance between the supporting elements 38 , 39 is chosen so that the bobbin 41 at a circumferential angle in the range of ± 30 ° to 75 ° with respect to the perpendicular direction on the support elements 38 , 39 is applied. The supporting elements 38 , 39 are designed here as rod-shaped or bar-shaped carriers, these preferably having an insertion bevel in the front end region 42 exhibit.

The clamping element 40 is for the illustrated embodiment as a pivot bearing 43 swiveling clamping lever 44 educated. The swivel bearing 43 supports the clamping lever 44 on a base body 45 the bobbin case tensioning device 21st , on which the support elements 38 , 39 are held from. The pivot bearing 43 remote end area 46 extends into the axial section in which the support elements extend 38 , 39 extend. By means of at least one tension spring 47 becomes the tension lever 44 acted upon in a tensioning direction, whereby the end area 46 of the clamping lever 44 in the direction of the support elements 38 , 39 is tensioned and thus a bobbin case 41 between the tension lever 44 and the support elements 38 , 39 can be braced.

For the in 5 The illustrated embodiment is that on the base body 45 held sensor 23 adjacent to the end area 46 of the clamping lever 44 and adjacent to the jacket surface of a held bobbin tube 41 arranged, the sensor 23 can be based on an inductive measuring principle, which detects when in the measuring range of the sensor 23 a spool tube 41 is located. The end area 46 of the clamping element 40 has a lead-in bevel 48 .

7th shows a winding unit 49 , in which in two rows one above the other 50 , 51 side by side winding machines 2a, 2b, ... are arranged, wherein by means of the winding machines 2a, 2b, ... simultaneously several coils 52a, 52b, ... are wound.

In 7th is also the one adjacent to the winding unit 49 arranged bobbin transport vehicle 6th shown, on which two finished bobbins 52A, 52B are held in the bobbin holding devices 19a, 19b, which were previously made by the winding unit 49 have been wrapped.

Furthermore shows 7th the bobbin case supply device 7th and a bobbin removal device 10 , which is a trolley on which spools are mounted on horizontally oriented bars 52 can be held and with which the coils 52 can be transported away.

The height of the reel holding devices 19a, 19b, here the holding rods 35 , 36 , corresponds to the height of the spindles 53a, 53b of the winding machines 2a, 2b in the two rows 50 , 51 .

• In einem Verfahrensabschnitt 54 erfolgt die Übergabe einer Spulenhülse 41 von der Spulenhülsen-Bereitstellungseinrichtung 7 an die Spulenhülsen-Haltevorrichtung 20 des Spulenkörper-Transportfahrzeugs 6.

10 shows a method for operating a winding machine system 1 , especially in connection with the automatic replacement of a full bobbin 52 against an empty bobbin case 41 on a winding machine 2 :

• In one procedural stage 54 the transfer of a spool tube takes place 41 from the bobbin tube supply device 7th to the bobbin case holder 20th of the bobbin transport vehicle 6th .

This is done in one process step 55 the drive 27 of the bobbin transport vehicle 6th and its steering 28 controlled so that the bobbin transport vehicle 6th to the bobbin case supply device 7th emotional. The bobbin case holding device 20th at a defined distance from the bobbin case supply device 7th moves and ensures that the bobbin case holding device 20th coaxial to that of the bobbin case supply device 7th provided bobbin case 41 is arranged.

In one process step 56 is then made by further movement of the bobbin transport vehicle 9 the entry of the free end region of the bobbin case 41 into the bobbin case clamping device 21st guaranteed, the support elements 38 , 39 and the tensioning element 40 with the outer surface of the bobbin 41 interact. The lead-in bevels 42 the support elements 38 , 39 and the lead-in bevel 48 of the clamping element 40 lead to a self-centering effect, by means of which certain inaccuracies in the relative position and alignment of the bobbin case clamping device 21st to the one at the bobbin tube supply device 7th provided bobbin case 41 can be balanced. At the beginning of this movement, the clamping element 40 a distance from the support elements 38 , 39 that in one through the lead-in bevel 48 predetermined order of magnitude is smaller than the corresponding dimension of the outer surface of the bobbin 41 . With the movement comes the upper face of the spool tube 41 for attachment to the lead-in slope 48 of the clamping element 40 . With the further movement, the end face of the bobbin is created 41 at the lead-in bevel 48 a force acting radially outwards, which has the consequence that the clamping lever 44 against the action of the tension spring 47 is stretched radially outwards. For such a radially outwardly moved clamping lever 44 can then use the bobbin 41 between the clamping element 40 and the support elements 38 , 39 slide, the outer surface of the bobbin 41 between the clamping element 40 and the support elements 38 , 39 is braced radially.

This insertion movement is continued until in one process step 57 the sensor 23 indicated that the bobbin case 41 the intended position in the bobbin case clamping device 21st has reached.

When a corresponding indicator is available, the process step 58 the drive 27 and the steering 28 controlled so that the bobbin transport vehicle 6th with the bobbin case holder 20th and the bobbin case held thereon 41 from the bobbin tube supply device 7th is moved away, with which the bobbin tube from the bobbin tube supply device 7th is removed.

That is the procedural stage 54 completed.

• In einem Verfahrensschritt 60 signalisiert die Spulmaschine 2, dass eine Spule fertig gewickelt ist.

In a subsequent further stage of the procedure 59 the handover of a completely wound coil takes place 52 from a winding machine 2 to the bobbin holder 19th of the bobbin transport vehicle 6th :

• In one process step 60 signals the winding machine 2 that a coil is finished winding.

In one process step 61 become the drive 27 and the steering 28 of the bobbin transport vehicle 6th controlled so that the bobbin transport vehicle 6th in a predetermined relative position and orientation to the winder 2 emotional. Here is the bobbin holding device 19th on that of the winder 2 facing side arranged. The reel holding device is in the predetermined position 19th , coaxial with the spindle 53 the winder 2 arranged. For that explained Embodiment are thus the support rods 35 , 36 parallel to the longitudinal axis of the spindle 53 arranged. The plane through the longitudinal axes of the handrails 35 , 36 is defined is above the longitudinal axis of the spindle 53 , and the axis one on the handrails 35 , 36 attached bobbin 41 is (approximately) coaxial to the longitudinal axis of the spindle 53 arranged. It is possible that the handrails 35 , 36 at a defined small distance from the face of the spindle 53 are arranged, butt against this or with a small overlap together with the spindle 53 through the inside of the bobbin 41 on which the spool 52 is wrapped, extend. It is also possible that the spindle 53 not completely through the bobbin 41 extends and the handrails 35 , 36 in the free end area of the interior of the bobbin case 41 extend.

In one process step 62 then becomes the fixing device 4th disabled so that the bobbin case 41 and the entire coil 52 relative to the spindle 53 can move.

In one process step 63 then becomes the transfer device 5 actuated. The actuation of the transfer device 5 leads to the coil 52 from the spindle 53 on the handrails 35 , 36 is pushed.

In one process step 64 the sensor indicates 22nd that the coil 52 the intended position on the bobbin case holder 20th has reached for which the spindle 53 completely out of the coil 52 is moved out.

When such an indicator is present, in one process step 65 the drive 27 and the steering 28 controlled so that the bobbin transport vehicle 6th with the spool holder 19th and the spool held on it 52 from the winding machine 2 moved away.

That is the procedural stage 59 completed.

• In einem Verfahrensschritt 67 werden der Antrieb 27 und die Lenkung 28 des Spulenkörper-Transportfahrzeugs 6 so angesteuert, dass sich die Spulenhülsen-Haltevorrichtung 20 in einer vorbestimmten relativen Position und Orientierung zu der zu bestückenden leeren Spindel 53 befindet. Vorzugsweise erfolgt hierzu ein Wenden des Spulenkörper-Transportfahrzeugs 6, wenn, wie für das dargestellte Ausführungsbeispiel erläutert worden ist, die Spulen-Haltevorrichtung 19 und die Spulenhülsen-Haltevorrichtung 20 auf gegenüberliegenden Seiten des Spulenkörper-Transportfahrzeugs 6 angeordnet sind.

In a subsequent stage of the procedure 66 (see. 11 ) becomes the result of the removal of the coil 52 in the procedural section 59 empty spindle 53 with the bobbin case 41 equipped which in the procedural section 54 has been handed over:

• In one process step 67 become the drive 27 and the steering 28 of the bobbin transport vehicle 6th controlled so that the bobbin case holding device 20th in a predetermined relative position and orientation to the empty spindle to be loaded 53 is located. For this purpose, the bobbin transport vehicle is preferably turned 6th when, as has been explained for the illustrated embodiment, the reel holding device 19th and the bobbin case holder 20th on opposite sides of the bobbin transport vehicle 6th are arranged.

Starting from this predetermined relative position and orientation, in one process step 68 the bobbin transport vehicle 6th on to the winding machine 2 approximated what the spindle 63 into the cylindrical interior of the bobbin 41 can occur while the bobbin case 41 further through the bobbin case holding device 20th held radially from the outside, clamped here is.

This insertion movement is continued until in one process step 69 the intended position of the spool tube 41 on the spindle 53 is reached, whereby on the one hand the drive movement of the bobbin transport vehicle 6th towards the winder 2 is stopped. On the other hand, the fixing device 4th activated the the bobbin case 41 axially on the spindle 53 secures. It is possible that the winding machine 2 has a sensor which signals that the intended position has been reached. On the basis of the signal from the sensor, an electronic fixing device can then be used 4th operated and the drive 27 can be controlled in such a way that the movement is not continued. But it is also possible that the fixing device 4th motion controlled by the movement of the bobbin case 41 is activated. To name just one example that does not limit the invention, one end face of the bobbin case 41 with their movement a fixing element of the fixing device 4th actuate.

In one process step 70 then become the drive 27 and the steering 28 controlled so that the bobbin transport vehicle 6th from the winding machine 2 moved away. Because the bobbin case 41 by means of the fixing device 4th is at least axially fixed, the bobbin holding device 19th from the bobbin 41 away. When using the bobbin case clamping device 21st this leads despite the continued clamping of the bobbin case 41 between the clamping element 40 and the support elements 38 , 39 to a sliding relative movement until the bobbin tube 41 no longer between the clamping element 40 and the support elements 38 , 39 is trapped.

That is the procedural stage 66 completed.

• In einem Verfahrensschritt 72 werden der Antrieb 27 und die Lenkung 28 des Spulenkörper-Transportfahrzeugs 6 so angesteuert, dass sich die an dem Spulenkörper-Transportfahrzeug 6 in der Spulen-Haltevorrichtung 19 gehaltene Spule 52 in einer vorbestimmten Lage und Orientierung zu der Spulen-Abnahmeeinrichtung 10 befindet. Vorzugsweise sind die Haltestangen 35, 36 fluchtend zu den horizontalen Stangen der Spulen-Abnahmeeinrichtung 10 angeordnet, auf denen die Spulen 52 nach der Übergabe gehalten werden können.

In one procedural stage 71 the handover takes place in the procedural section 59 from the winding machine 2 removed finished wound coil 52 to the bobbin removal device 10 :

• In one process step 72 become the drive 27 and the steering 28 of the bobbin transport vehicle 6th controlled so that the on the bobbin transport vehicle 6th in the bobbin holder 19th held coil 52 in a predetermined position and orientation to the bobbin removal device 10 is located. Preferably the support bars are 35 , 36 aligned with the horizontal bars of the bobbin removal device 10 arranged on which the coils 52 can be held after delivery.

In one process step 73 the coil is then transferred 52 from the bobbin holder 19th to the bobbin removal device 10 . This can be done by sliding the bobbin 52 from the handrails 35 , 36 onto the corresponding rod of the bobbin removal device 10 respectively. This can be caused manually by a user, by a transfer device of the bobbin transport vehicle 6th or a transfer device of the bobbin removal device 10 .

The rod or other mounting of the bobbin removal device 10 can be arranged and / or beveled so that the coils 52 when pushed on by the bobbin transport vehicle 6th something to be raised. This creates the frictional force between the inside of the bobbin 41 and the handrails 35 , 36 at least reduced, which has the consequence that with the movement of the bobbin transport vehicle 6th from the bobbin removal device 10 away the coil 52 on the rod or holder of the bobbin removal device 10 remain as the friction of the bobbin case 41 with the recordings or rods is greater than the friction between the spool tube 41 and the handrails 35 , 36 . Furthermore, the receptacles or rods of the bobbin removal device 10 tilted back a little so that the coils 52 to the bobbin removal device 10 Tip over and do not slip or fall during further transport.

This is followed by a process step 74 the drive 27 and the steering 28 of the bobbin transport vehicle 6th controlled in such a way that this is again removed from the bobbin removal device 10 moved away.

That is the procedural stage 71 completed.

This can then be followed by a successive change of a full bobbin on a (different) winding machine 2 take place against an empty bobbin case, with which the process sections 54 , 59 , 66 , 71 be run through again.

It should be emphasized that the previously explained process sections and / or process steps do not necessarily have to be carried out in the explained order.

It is possible, for example, that several fully wound coils 52 successively from several winding machines 2 are removed and only then several bobbin tubes 41 from the bobbin tube supply device 7th removed and the empty spindles 53 of the winding machines 2 are fed.

For a modification of the process sequence shown and described, a prerequisite for the fact that a bobbin case 41 is recorded, a message of a change requirement from a winding machine 2 in the process step 60 be. This can be advantageous since it is then known which of the two reel tube holding devices 19a, 19b has to be equipped. In this case, a correspondingly modified sequence of the method steps is used, the method step then being used 54 on the procedural step 60 can follow.

For a modification of the method, it is also possible that the bobbin case 41 only so far on the spindle 53 postponed until a certain position of the bobbin transport vehicle 6th is reached, the end of the procrastination not based on the signal of a sensor 22nd , 23 is determined. Before this reaches the in the bobbin case clamping device 21st tensioned bobbin case 41 already a stop of the fixing device 4th . There is thus a certain tolerance compensation or degree of freedom between the bobbin case clamping device 21st and the tensioned bobbin 41 necessary. This tolerance compensation or degree of freedom is guaranteed by the fact that the bobbin case clamping device 21st in the process step 54 not completely on the bobbin 41 is postponed, but there is still a distance left in the slide-on direction. Comes the bobbin case 41 to rest against the stop of the fixing device 4th , can be a further movement, for example as a result of a measurement inaccuracy when determining the position of the bobbin transport vehicle 6th and / or as a result of inaccuracies in the reception of the bobbin case 41 through the bobbin case clamping device 21st is required, with a sliding movement of the bobbin case tensioning device 21st can provide the necessary tolerance compensation with respect to the lateral surface. Only then is the fixing device actuated 4th .

The control units are as explained 3 , 9 , 12 , 14th , 16 , 24 , 25th networked with each other and are in a data exchange. Here it is quite possible that one of the control units mentioned in a the other control units is integrated. For example, the central control unit 25th also one of the institutions 2 , 7th , 10 , 13th , 15th , 6th be assigned. The control units 3 , 9 , 12 , 14th , 16 , 24 , 25th communicate here preferably wirelessly, including the control units 3 , 9 , 12 , 14th , 16 , 24 , 25th or the facilities 2 , 7th , 10 , 13th , 15th , 6th may have corresponding transmitting and / or receiving units.

The communication within the network formed in this way is necessary for the coordination of the functions of the individual facilities.

For example, it can be coordinated via the network that in the process section 54 on the one hand on the bobbin case supply device 7th a bobbin case is provided for collection and on the other hand with or after this provision the bobbin transport vehicle 6th to the bobbin case supply device 7th is moved.

In contrast, the control unit 24 possibly based on the sensor 23 without communication with the central control unit 25th determine the point in time at which the bobbin 41 completely into the bobbin case holder 20th has been introduced and controlling the drive 27 and the steering 28 make in such a way that the bobbin transport vehicle 6th from the bobbin tube supply device 7th moved away.

Correspondingly, in the procedure section 59 via the network and in particular the central control unit 25th from the winding machine 2 to the bobbin transport vehicle 6th be communicated that a coil 52 has been finished winding, with which the bobbin transport vehicle 6th can set in motion.

On the other hand, the bobbin transport vehicle 6th via the network and the central control unit 25th to the winding machine 2 signal that the intended position and orientation has been reached, which then the control unit 3 the winder 2 the fixing device 4th can deactivate and the transfer device 5 can operate.

In the procedural section 54 can for example via the network and the central control unit 25th from the bobbin transport vehicle 6th be signaled when the specified relative position and orientation of the bobbin transport vehicle 6th , here the bobbin case clamping device 21st , opposite the winder 2 , here the spindle 53 , is reached, so that then by means of the control unit 3 the winder 2 the fixing device 4th can be activated to the on the spindle 53 attached bobbin case 41 to be fixed axially. The signal from the control unit can then be reversed 3 that the fuser 4th activated via the network and the central control unit 25th to the bobbin transport vehicle 6th are transmitted, with which the drive 27 and the steering 28 through the control unit 24 can be controlled so that the bobbin transport vehicle 6th from the winding machine 2 moved away, with which the at the winding machine 2 axially fixed bobbin case 11 from the bobbin case clamping device 21st is pulled out.

The winding machines 2 can for example be designed as in the European patent application EP 1 507 730 A1 has been described. This European patent application is with regard to the basic design of the winding machine 2 , the functions described therein, the design of the rotating spindles held on the revolver, a fixing device for the bobbin case 41 and the change between the working position and the change position made the subject of the present patent application.

The bobbin transport vehicle preferably has it 6th via an accumulator 31 for power supply of the drive 27 . The winding machine system 1 can be used to charge the battery 27 an inductive charging station, for example 75 have, which is automatically approached when a charge status monitoring routine of the bobbin transport vehicle 6th a critical charge level of the battery 31 signals or the charging station 75 can always or regularly in operating phases of the winding machine system 1 are approached when the bobbin transport vehicle 6th is not needed.

The central control unit preferably sends and / or receives 25th via an assigned transmitting and / or receiving device 76 Data to / from the winding machines 2 and / or the bobbin transport vehicle 6th . For example, the control unit 25th an indicator from a winder 2 when received a coil 52 is finished winding and / or a rotation of the revolver of the winder 2 is done in such a way that the fully wound coil 52 is in the change position. The dishwasher 2 can from the central control unit 25th receive a signal when the transfer device 5 should be operated. It is also possible that the control unit 25th receives a signal when the bobbin case holding device 20th a spool tube 41 recorded or clamped. It is possible that the central control unit 25th an indicator on the bobbin transport vehicle 6th sends when a finished coil 52 on a winding machine 2 is ready for collection. It is possible that the bobbin transport vehicle 6th a signal to the control unit 25th sends when a predetermined Position or location of the bobbin transport vehicle 6th is reached.

On the bobbin transport vehicle 6th are preferably the bobbin case holding device 20th and the spool holder 19th arranged on different, opposite sides, in particular the bobbin holding device with the inner surface of the bobbin case 41 interacts while the bobbin case holding device 20th preferably with the outer surface of the bobbin 41 interacts.

The drive 27 and the steering 28 as well as their control by the control unit 24 are preferably designed in such a way that forward and reverse travel, cornering and / or also a rotation of the bobbin transport vehicle 6th possible are.

In addition to the power supply via an accumulator 31 can also provide the wired power supply for the bobbin transport vehicle 6th respectively.

In the context of the invention, a coil can be replaced 52 do not only take place when this is finished wrapped. Rather, it is also possible that a coil 52 is replaced even if the winding process is interrupted prematurely.

It is possible that a winding machine system 1 especially with a large number of winding machines 2 , also via several bobbin transport vehicles 6th whose movement and function then also have a central control unit 25th can be controlled and coordinated.

At the bobbin removal device 10 it can be a bobbin wagon that takes each bobbin 52 provides its own pick-up or holding position. These pick-up positions are used by the bobbin transport vehicle 6th approached and with coils 52 equipped. After the bobbin wagon has been filled, it can then be moved away and exchanged for an empty bobbin wagon.

Alternatively, as a coil removal device 10 also devices for receiving coils 52 possible, which for example have a conveyor belt, so that an immediate further transport to a processing device of the coils 52 is possible.

The control 25th coordinates the change on a winding machine 2 from a coil 52 to an empty bobbin tube 41 and the transport of the empty bobbin tube 41 and the coil 52 between the winder 2 and the facilities 7th , 10 , 13th , 15th .

In 1 is exemplified that the bobbin transport vehicle 6th with the central control unit 25th via wireless transmitting and / or receiving units 76 , 77 communicates while possibly the central control unit 25th with the control unit 3 the winder 2 , the control unit 9 the bobbin tube supply device 7th , the control unit 12 the bobbin removal device 10 , the control unit 14th the quality assurance facility 13th and / or the control unit 16 the facility 15th communicates wired. Any other combination of wireless and wired communication is also possible.

According to the prior art mentioned at the beginning, the bobbin transport vehicle 6th a device for detecting a person in the vicinity and a warning device for avoiding a collision of the bobbin transport vehicle 6th be provided with the person, in particular an optical and / or an acoustic warning device.

In the present description was on a spindle 53 a winding machine 2 just a coil 52 wound and attached to the bobbin transport vehicle 6th , the bobbin case supply device 7th , the bobbin removal device 10 was just one coil at a time 52 held. Without thereby departing from the scope of the invention, on a spindle 53 a winding machine 2 a plurality of coils 52a, 52b, ... can also be wound axially next to one another and / or on a coil former transport vehicle 6th , the bobbin case supply device 7th and the bobbin take-off device 10 several coils 52a, 52b, ... and / or coil sleeves 41a, 41b, ... can be arranged axially next to one another.

List of reference symbols

1

Winding machine

2

Dishwasher

3

Control unit

4th

Fixing device

5

Transfer device

6th

Bobbin transport vehicle

7th

Reel tube supply device

8th

Spool tube storage device

9

Control unit

10

Bobbin removal device

11

Bobbin storage device

12

Control unit

13

Quality assurance facility

14th

Control unit

15th

Facility

16

Control unit

17th

Guiding element

18th

Motion path

19th

Bobbin holder

20th

Bobbin case holder

21st

Spool tube tensioning device

22nd

sensor

23

sensor

24

Control unit

25th

Control unit

26th

Substructure

27

drive

28

steering

29

Drive connection

30th

wheel

31

accumulator

32

Support structure

33

Direction of travel

34

Direction of travel

35

Handrail

36

Handrail

37

Retaining plate

38

Support element

39

Support element

40

Clamping element

41

Bobbin case

42

Lead-in bevel

43

Pivot bearing

44

Tension lever

45

Base body

46

End area

47

Tension spring

48

Lead-in bevel

49

Winding unit

50

line

51

line

52

Kitchen sink

53

spindle

54

Procedural stage

55

Process step

56

Process step

57

Process step

58

Process step

59

Procedural stage

60

Process step

61

Process step

62

Process step

63

Process step

64

Process step

65

Process step

66

Procedural stage

67

Process step

68

Process step

69

Process step

70

Process step

71

Procedural stage

72

Process step

73

Process step

74

Process step

75

Charging station

76

Transmitting and / or receiving device

77

Transmitting and / or receiving device

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• WO 9824952 A1 [0003]
• EP 3181501 B1 [0004]
• EP 3470560 A1 [0005]
• EP 1507730 A1 [0107]

Claims (19)

Self-propelled bobbin transport vehicle (6) with a) a drive (27) and / or a steering (28) and b) a bobbin holding device (19) on which a bobbin (52) can be held, and / or a bobbin case holding device (20) on which a bobbin case (41) can be held. Bobbin transport vehicle (6) after Claim 1 , characterized in that an accumulator (31) is present, which provides the energy for a drive (27) and / or a steering (28) of the coil former transport vehicle (6). Bobbin transport vehicle (6) after Claim 1 or 2 , characterized in that a wireless transmitting and / or receiving device (77) is present. The bobbin transport vehicle (6) according to one of the preceding claims, characterized in that the bobbin holding device (19) and the bobbin case holding device (20) are arranged on different sides of the bobbin transport vehicle (6). Bobbin transport vehicle (6) according to one of the preceding claims, characterized in that a) the bobbin holding device (19) on which a bobbin (52) can be held is a passive bobbin holding device (19) and / or b ) the bobbin case holding device (20), on which a bobbin case (41) can be held, is a passive bobbin case holding device (20). Bobbin transport vehicle (6) after Claim 5 , characterized in that the bobbin holding device (19) has an elongated bobbin holding device which is dimensioned and arranged such that the bobbin holding device can extend into the interior of a bobbin case (41). Bobbin transport vehicle (6) after Claim 6 , characterized in that the coil holding device has a cross section whose outer contour deviates from a circular cross section. Bobbin transport vehicle (6) after Claim 6 or 7th , characterized in that the reel holding device has a holding rod (35) or at least two parallel holding rods (35, 36). Bobbin transport vehicle (6) according to one of the Claims 5 to 8th , characterized in that the bobbin case holding device (20) has a bobbin case clamping device (21) by means of which a bobbin case (41) can be clamped radially from the outside. Bobbin transport vehicle (6) after Claim 9 , characterized in that the bobbin case tensioning device (21) has a tensioning element (40) urged radially inward by means of a tensioning spring (47). Bobbin transport vehicle (6) after Claim 10 , characterized in that the tensioning element (47) is movement-controlled by the approach of the bobbin transport vehicle (6) to a bobbin case (41) or to a bobbin case supply device (7) holding a bobbin case (41) against the action of the tension spring (47) is movable radially outward. Bobbin transport vehicle (6) according to one of the Claims 9 to 11 , characterized in that the bobbin case clamping device (21) with the approach of the bobbin case (41) held by the bobbin transport vehicle (6) to a winding machine (2) or a fixing device (4) and a contact with a stop a sliding relative movement between the bobbin case clamping device (21) and the bobbin case (41). Bobbin transport vehicle (6) according to one of the preceding claims, characterized in that a control unit (25; 3; 9; 12; 14; 16; 24) is present which has control logic which a) in the presence of an indicator that indicates that a bobbin case (41) is to be picked up from a bobbin case supply device (7), the drive (27) and / or the steering (28) of the bobbin transport vehicle (6) controls so that the bobbin transport vehicle (6) moved to the bobbin tube supply device (7), and / or b) if there is an indicator that indicates that a bobbin (52) is to be picked up from a winding machine (2), the drive (27) and / or the steering (28 ) controls the bobbin transport vehicle (6) in such a way that the bobbin transport vehicle (6) moves to the bobbin (52), and / or c) if there is an indicator that indicates that a bobbin case (41) is motion-controlled by the Movement of the bobbin transport vehicle s (6) is to be clamped in the area of a bobbin case supply device (7) by the bobbin case clamping device (21), controls the drive (27) and / or the steering (28) of the bobbin transport vehicle (6) in such a way that ca) the bobbin transport vehicle (6) is moved into a predetermined position and / or orientation relative to the bobbin case (41) and cb) the movement of the bobbin transport vehicle (6) is then generated, which enables the movement-controlled clamping of the bobbin case (41 ) controls by the bobbin case tensioning device (21), and / or d) in the presence of an indicator which indicates that a bobbin case (41) held by the bobbin case tensioning device (21) has been fixed at least axially on a winding machine (2) , controls the drive (27) and / or the steering (28) of the bobbin transport vehicle (6) in such a way that the bobbin transport vehicle (6) is moved away from the winding machine (2), whereby the bobbin tube (41) from or is pulled by the bobbin case clamping device (21), and / or e) in the presence of an indicator which indicates that the bobbin transport vehicle (6) is in a predetermined relative position and / or attitude to a bobbin (52) indet, an actuation signal for a transfer device (5) which transfers the bobbin (52) from a spindle (53) of the winding machine (2) to the bobbin holding device (19), and / or f) when an indicator is present, which indicates that a transfer device (5) has transferred the bobbin (52) from a spindle (53) of the winding machine (2) to the bobbin holding device (19), the drive (27) and / or the steering (28) of the Controls bobbin transport vehicle (6) in such a way that the bobbin transport vehicle (6) moves away from the winding machine (2). Bobbin transport vehicle (6) according to one of the preceding claims, characterized in that the bobbin case holding device (20) is assigned a sensor (23) which a) detects a bobbin case (41) and / or b) a relative position and / or the orientation of a bobbin case (41) relative to the bobbin case holding device (20) is detected and / or c) is detected as to whether a bobbin case (41) is being held by the bobbin case holding device (20). The coil body transport vehicle (6) according to one of the preceding claims, characterized in that the coil holding device (19) is assigned a sensor (22) which a) detects a coil (52) and / or b) a relative position and / or the orientation of a coil (52) relative to the coil holding device (19) is detected and / or c) is detected as to whether a coil (52) is being held by the coil holding device (19). Winding machine system (1) with a) a winding machine (2), b) a bobbin transport vehicle (6) according to one of the preceding claims and c) a bobbin tube supply device (7) and / or a bobbin removal device (10). Method for exchanging a bobbin (52) for a bobbin tube (41) on a winding machine (2), in particular with a bobbin transport vehicle (6) according to one of the Claims 1 to 15th or with a winding machine system (1) Claim 16 in which a) a bobbin case (41) is clamped in the area of a bobbin case supply device (7) by a passive bobbin case clamping device (21) of a bobbin transport vehicle (6) by a drive (27) and / or a steering ( 28) of the bobbin transport vehicle (6) to bring about a movement of the bobbin transport vehicle (6) is controlled and movement-controlled by the movement of the bobbin transport vehicle (6), the bobbin case clamping device (21) is actuated and the bobbin case (41) from the bobbin case clamping device (21) is clamped, and / or b) a drive (27) and / or a steering (28) of the bobbin transport vehicle (6) is controlled in such a way that one on a passive bobbin case clamping device (21) held bobbin case (41) is placed on a spindle (53) of a winding machine (2), a fixing device (4) of the winding machine (2) is activated, which the bobbin case (41) at least axially on the spindle l (53) of the winding machine (2) is fixed, and if there is an indicator that the fixing device (4) of the winding machine (2) is activated, the drive (27) and / or the steering (28) of the bobbin transport vehicle ( 6) are controlled in such a way that the bobbin transport vehicle (6) moves away from the winding machine (2) with one movement, whereby the movement of the bobbin transport vehicle (6) moves the bobbin case (41) from the bobbin case clamping device ( 21) is released, and / or c) a drive (27) and / or a steering (28) of the bobbin transport vehicle (6) is controlled in such a way that a bobbin holding device (19) of the bobbin transport vehicle (6) is in a predetermined relative position and / or orientation with respect to a bobbin (52) wound on a spindle (53) of a winding machine (2), if there is an indicator that the bobbin holding device (19) of the bobbin transport vehicle (6) in the v o determined relative position and / or orientation with respect to the bobbin (52) wound on the winding machine (2), a transfer device (5) of the winding machine (2) is actuated, whereby the bobbin (52) from the spindle (53) to the bobbins -Holding device (19) of the bobbin transport vehicle (6) is transferred. Procedure according to Claim 17 , characterized in that with the approximation of the bobbin transport vehicle (6) held bobbin case (41) to a winding machine (2) or a fixing device (4) and a contact with a stop, a sliding relative movement between the bobbin case clamping device (21) and the bobbin case (41) takes place. Data carrier, data package or software with control logic for executing a method according to Claim 17 or 18th .

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