EP0427814A1

EP0427814A1 - Process and device for transporting bobbins or similar articles used in the textile industry.

Info

Publication number: EP0427814A1
Application number: EP90905429A
Authority: EP
Inventors: Bernd Bahlmann; Michael Ueding; Udo Riedesel
Original assignee: Schubert und Salzer Maschinenfabrik AG
Current assignee: Rieter Ingolstadt Spinnereimaschinenbau AG
Priority date: 1989-04-07
Filing date: 1990-04-06
Publication date: 1991-05-22
Anticipated expiration: 2010-04-06
Also published as: ATE124015T1; JPH03505719A; WO1990011956A3; DD300532A5; EP0427814B1; WO1990011956A2; EP0620145A1; EP0620145B1; BR9006275A; CS174090A2; DE59010769D1; DE59009286D1

Abstract

An electric overhead conveyor of a vehicle (7) has devices for processing a transport order. The electric overhead conveyor is assigned a CPU (6). The vehicle has a computing unit (72) which can communicate with the CPU (6) and the said vehicle also has devices for providing drive (340, 341, 342), control (72), points setting and handling (330) for the goods to be transported. <IMAGE>

Description

- 1 -

Method and device for transporting bobbins or bobbin-like goods in the textile industry

The invention relates to methods and devices for transporting goods from a pick-up point to a deposit point, and to picking up and depositing the goods by means of a vehicle.

Control methods for the transport of goods are known in which the transport vehicles are in constant contact with a central control computer which monitors all vehicles in use. The vehicles are supported to a high degree by facilities on the edge of the transport route in fulfilling their task.

For example, in the textile industry, many processing machines produce bobbins or bobbin-like goods, which, depending on their respective quality, have to be sorted to the further processing points. This is particularly the case with ring spinning, open end, twisting and winding machines as well as soul machines. Goods produced on these machines are fed to further processing machines such as soul machines, packing machines, etc., or they are placed in a machine from which they are processed. From DE 3332899 AI a method and a device for the orderly dispensing of packages are known. The cross-wound bobbins produced in a cheese-making unit are collected in a buffer magazine on the cheese-making unit and successively transferred to a circular conveyor. - 2 -

give. The circular conveyor essentially consists of a chain on which hooks are attached at regular intervals. The chain runs through a drive device by means of which the chain is moved. By means of sensors, predetermined transport hooks are recognized, from which the following transport hooks are counted. There is thus a continuous counting of the coils hanging on the transport hook. Controllable automatic bobbin transferors put the packages to be transported on free hooks of the circular conveyor. A programmable data processing device remembers the number of the hook and as soon as the hook arrives at the pick-up location, the cheese is removed from the hook.

A disadvantage of this system is that the handling devices with which the coils are placed on the hook or removed from the hook must be arranged at each pick-up and delivery station. On the one hand, this is complex, and since a large number of handling devices and hooks are required. On the other hand, the flexibility of such a system suffers from the fact that it is not possible to branch off from a circular route in such a circular conveyor. In addition, the length of a circular conveyor is limited by the maximum length of the chain or the maximum conveying capacity of the chain drive.

From DE 3824874 AI a Hänqebahn is also known, which is used for the transport of souls. The coils coming from the soul machines are fed to a next processing station before being picked up by the vehicle of the overhead conveyor. It is characteristic of this system that the coils are arranged one behind the other in the conveying direction and the coil axes are vertical. This makes it possible to use passive gripping elements on the vehicle which only react to a counter pressure. The drivers are comparable in type and functionality to the so-called Casablanca holders. The coils are in accordance with the arrangement of the drivers on the vehicle at a precisely defined distance from the vehicle for recording - 3 -

offered, the holding device is lowered and after the holding device has been lowered to a certain height, the coils are coupled to the holding device and moved into an upper position. At the delivery point, the coils are lowered again, the holders detaching from the coils when a counterforce occurs.

A disadvantage of this system is that intelligent handling systems must be arranged both on the receiving and on the delivery station, which move the coils into a precisely defined position, or which shift pallets at the delivery station into the position in which the Souls have to be put on the palette. In a system with many pick-up and pick-up positions, this means a high economic outlay.

The control of a driverless transport system for transporting spinning cans is known from DE 35 32 172 AI. The car control is in constant contact with the central control unit. The central computer signals to the control of the trolley the approach to the card, the pick-up of the can on the card, the transport trip from the card to the route and the unloading of the can on the route. The transport trolley thus processes the command for an activity. After executing the command, the vehicle is ready for the next command. A disadvantage of this system is that the central computer has to perform a great deal of work by monitoring all the transport wagons in use, with waiting times for the transport wagons occurring when a next command is received.

It is therefore an object of the invention to provide methods and devices for transporting, in particular, goods of the textile industry flexibly, inexpensively and quickly from pick-up points to deposit points and storing them there and making them available for further processing. / 11956

The solution to this problem arises from the patent claims. According to the invention, the transport order is compiled by a central computer which determines the pick-up and deposit points and the route there. This transport order is then transmitted from the central computer to a computer unit of a vehicle and then processed independently by the vehicle when the goods to be transported are picked up and stored. Advantageously, there is no load on the central computer during the processing of the transport order. The vehicle only reports back to the central computer when the order has been fulfilled. In the meantime, the central computer has the capacity to compile transport orders for other vehicles or to control other facilities in the system. The transport order is advantageously only put together and sent to a vehicle when a maximum number of goods that can be transported by the vehicle is made available.

By transmitting the data of the transport order and / or the feedback of the vehicle to the central computer on a section of the route provided for this purpose, it is advantageously achieved that the devices for establishing contact with the two computers are installed exclusively on the section of the route provided for this purpose have to be. On the other hand, it can also be advantageous that in special cases, such as a fault, the computer unit of the vehicle can contact the central computer, or vice versa, regardless of the vehicle's location. In this case, the vehicle can receive new instructions from the central computer.

In a route provided with switches, the vehicle is advantageously equipped with signaling devices in order to signal switch positions of the route according to the order. If the vehicle approaches a switch, it is briefly stopped before entering the switch. The vehicle then uses a light signal to indicate z. B. light - dark or a pointer, e.g. B. retracted - extended, in which direction the switch must be made. Similar circuits are also advantageous before curves in order to ensure that the curve area is free of vehicles in front. As long as a vehicle is in a curve area, influencing the drive of the following vehicle prevents entry into the curve area.

For the sorting of bobbins or bobbin-like goods from the textile industry, individual pick-up points are assigned. The sorted sorting advantageously ensures that repeated handling for sorting the goods is avoided for further processing of the transported goods. This saves costs and time. The goods are sorted according to the process variables size, shape and / or quality. This sorting can take place both when the goods are picked up and when the goods are deposited.

The object is also achieved by a transport system for transporting goods from a pick-up point to a deposit point with at least one vehicle for picking up, transporting and storing these goods. The transport system is characterized in that data with the information about a transport order can be transmitted from a central computer to a computer unit of a vehicle and that the vehicles are equipped with the devices for independent and active processing of the transport order. The vehicles thus contain all the facilities to be able to carry out the transport order without further contact with the central computer. All essential equipment for handling the goods to be transported and for controlling the exact stopping positions are included in the vehicle. The object is also achieved by an electric monorail system with a vehicle with devices for processing a transport order. A computer unit communicating with a central computer and the devices for driving, controlling, setting the course and handling the goods to be transported are arranged on the vehicle. If the handling device is operated pneumatically, a device for generating compressed air is also arranged on the vehicle.

If coils or coil-like goods are transported through the electric monorail system, gripping devices with grippers for gripping coils or coil-like goods are arranged on the circumferential surface of the handling device. The coils are advantageously transported essentially horizontally and transversely to the direction of travel. If the gripping devices can be controlled independently of one another, the goods can be picked up at different pick-up points and / or deposited at different depositing points. A particularly gentle way of handling the coils is achieved in that the grippers can be changed in their opening width by means of a parallelogram guide. As a result, no large frictional forces are applied to the bobbins or the yarn wound on the bobbins.

To avoid falling goods in the event of a power failure, a mechanical lock is provided to secure the coils, which catches the coils.

Further advantageous embodiments according to the invention can be found in the claims.

The invention is explained in more detail below with reference to the drawings. The exemplary embodiments relate to an electric monorail. In an analogous manner, however, transport routes of driverless transport systems, for example for the transport of spinning cans, are also covered by the invention. - 7 -

It shows

1 and 2 each show a layout of a transport system according to the invention

Fig. 3 is an infrared data transmission between the stationary and mobile part of the system control

Fig. 4 shows the data transmission via sliding contacts between the stationary and mobile part of the system control

Fig. 5 shows a transport vehicle in a side view

Fig. 6 shows a hanger of the transport vehicle in plan view

Fig. 7 is a hanger of the transport vehicle in section A-A

Fig. 8 is a hanger of the transport vehicle in section B-B

Fig. 9 is a hanger of the transport vehicle in section C-C

Fig. 10 is a hanger of the transport vehicle in section D-D

11 shows a vehicle in the receiving position

Fig. 12 shows a vehicle in the transport position

13 shows a vehicle in the delivery position

Fig. 14 Filing order of small diameter coils in a container

Fig. 15 Ableqeriehenfolqe of coils with a large diameter in a container - 8th -

16 shows a handling device in a front view

17 shows a handling device in a side view

18 shows a handling device in half section when gripping coils of different diameters

19 shows a vehicle with safety devices

Fig. 1 shows a sketch. Layout of a soul transport system. At sources 1, 2, 3, 4 and 5, coils or coil-like goods are manufactured. These sources 1, 2, 3, 4 and 5 can be spinning machines, winding machines or similar machines on which such goods are produced or provided. These goods are referred to below as coils 20.

Sources 1, 2, 3, 4 and 5 are assigned targets 10, 11, 12, 13, 14 and 15. These goals are, for example, transport boxes, small pallets or storage sections from which the further processing of the coils 20 takes place. Both the sources and the destinations can be assigned to one another in groups 30, 31. This is advantageous if different qualities of the coils 20 are produced at the sources. The division into groups 30, 31 enables the coils 20 to be deposited in a sorted manner. This means that in the exemplary embodiment of FIG. 1, coils 20 which have been produced or provided on the sources 1, 2 or 3 are assigned to the targets 10, 11 or 12. Another assignment is made in such a way that in group 31 coils 20 of sources 4 or 5 are fed to targets 13, 14 or 15. As the example of group 31 shows, it is often advantageous if several destinations are assigned to a certain number of sources. It is possible that one of the objectives 13, 14 or 15 is set for reel spools or that a higher purity of varieties can be achieved than is presented at the sources. If the target is set for reel spools, it will always be approached if bobbins do not meet the required quality. This ensures that the coils are sorted according to quality. A different number of sources and targets is also advantageous if a very large number of coils 20 are generated at the sources. The fact that a larger number of targets is provided ensures that one target is always free, even if full bobbin containers with empty bobbin containers are currently being exchanged at other targets. The variety of coils relates to both the qualities and the coil shapes. If both cylindrical and conical coils 20 are produced at the different sources, these have to be transported to different destinations. The same applies to coils 20 with different diameters. Of course, it is also possible to assign fewer targets to a certain number of sources. This is advantageous if a few coils 20 are generated at the sources per unit of time or if a small storage space is available for the targets and the type purity is related to a few characteristics, so that the remaining characteristics of coils 20 are not decisive for a differentiation of types are. By combining several sources on a few targets, in addition to the smaller space requirement and the smaller number of facilities at the targets, the subsequent logistics are advantageously simplified, since fewer targets have to be disposed of.

In the sketched layout of FIG. 1, the route 40 is laid out in a circular course in which 41 branches are possible through several switches. The route 40 is permanently installed and suspended from the floor. It is composed of straight and curved sections of a travel rail 47, which can also be mounted on slightly inclined slopes. It is also possible to include vertical conveyors in the route system. In an advantageous embodiment, the travel rails 47 are obtained from standardized electrical monorail systems. With vertical or inclined conveyors it is possible to arrange the rails 47 in several levels. This is advantageous for space-saving storage. - 10 -

The curved sections of the rail 47 can be curved both horizontally and vertically. The modular design of route 40 enables extremely flexible adaptation of route 40 to a driving course which is optimally adapted to the locations of the sources and destinations.

At a standby point 42 there are electric monorail vehicles 7 ready to take on a transport order. The orderless vehicle 7, which is at the forefront of a row of electric monorail vehicles 7, receives the transport order from a central computer 6. The transport order contains information on the sources and destinations to be approached, on the route to be traveled with the corresponding branches, and on the exact stop point of the vehicle 7 at the sources and destinations. As soon as a computer unit 72 of vehicle 7 has received the order, it begins to process it. For this purpose, it drives to the source at which the coils 20 are ready, picks up the coils 20, drives them to the intended destination, releases them there and drives back again to the standby position 42. Here the vehicle 7 is lined up with the Row of electric monorail vehicles 7 at the rear. Devices are arranged on the vehicle with which the switches 41 can be switched to the respectively required position. These switching devices are preferably infrared transmitters, which emit a signal to an infrared receiver arranged on the switch 41, which switches the switch 41 to the position required according to the transo-location vehicle.

The switches 41 of the route 40 are, like the standby point 42, the sources 1, 2, 3, 4 and 5 and the destinations 10, 11, 12, 13, 14 and 15, as striking points of the route 40 in the central calculator noted. When the transport order is defined, the striking points to be driven over are selected and the activity of the vehicle 7 to be carried out at a striking point is written down in the transport order. So z. B. determined that a switch 41 must be placed in a branch position that the - 11 -

Source 1 is ignored and that source 2 is stopped for a coil pickup. If the vehicle 7 drives over striking points which are not noted in the transport order, the computer unit 72 of the vehicle 7 determines an error on the basis of plausibility checks. Depending on the reaction agreed in the transport order or the computer unit 72, if an error is detected, it is advantageous if the vehicle 7 is traveling on a route section on which it is parked without blocking the other vehicles 7. On such a branch line, vehicle 7 is inspected by personnel and the cause of the fault is eliminated.

The row of vehicles 7 at the standby point 42 advances to the foremost position of the standby point 42 as soon as the frontmost vehicle 7 has received its order and has set off. This advance is triggered by collision safety devices arranged on the vehicles 7. These collision protection devices react to obstacles that are in front of the vehicles 7. The vehicles 7 standing behind the foremost vehicle 7 have the vehicle 7 standing in front of them as an obstacle, so that they are prevented from driving on. The foremost vehicle 7 is braked by a mark arranged on the running rail 47, which can only be driven over by means of the transport order received. The collision safeguards are mechanical or electrical proximity switches, which act on the drive of the vehicles 7 and stop the vehicle 7 in the event of an obstacle.

In this example, accumulation roller conveyors 50 are arranged at the targets 10, 11, 12, 13, 14 and 15. This has the advantage that the transport containers 51 can be replaced quickly as soon as they are filled. Another advantage is that turning stations can be easily integrated in the accumulating roller conveyor 50. This has particular advantages when conical coils 20 are deposited, since in this case the coil layers can be arranged in the transport containers 51, each with opposite conicity. It is thus possible to turn the transport container 51 by 180 ° as soon as a layer is completely filled with coils 20. - 12th

At the sources, the coils 20 are provided for pick-up by the vehicle in such a way that they lie directly below a gripping device of the vehicle 7. Advantageously, they are on a crotch conveyor 100 on which they have been conveyed to the source. The spacing of the coils 20 from one another, which corresponds to the spacing of grippers of the gripping device, is dependent on the sleeve length, since the sleeves projecting beyond the winding of the coils 20 abut one another. The coils 20 lie with part of their surface on the crotch conveyor belt 100. This arrangement of the coils 20 has the advantage that the distance from one another is the same regardless of the coil diameter in any case, without additional devices being required to exactly maintain the distances.

The route 40 is divided into different block routes. The block sections start, for example, after a curve and end, for example, before the next curve. Other elements within the route 40 at the beginning or end of a block route are pick-up or storage positions and switches. The individual block sections can be energized independently of one another. This has the effect that vehicles cannot get to critical points in the route 40 if there is a risk of collision. If, for example, a vehicle is in a curve, the following vehicle cannot enter the curve area at the same time. This prevents the two vehicles 7 from colliding with one another due to inadequate collision protection in the curve area. In the switch area, the switching of the block sections prevents vehicles from entering and falling into an open switch. The block section is switched such that as soon as a vehicle is in a critical block section, the block section in front of it is switched off. As a result, the drive of the vehicle 7 is interrupted until the vehicle 7 driving ahead has left the critical block section again and the block section of the following vehicle 7 is in turn energized. - 13 -

A soul transport system is shown in FIG. 2, in which the data transmission between the system control and the vehicle 7 is carried out with infrared rays. The system control is carried out by a central echo 6. The vehicles 7 are in the waiting position at the standby point 42 and are initially without an order. A coil conveyor belt at sources 1 and 2 is running continuously. The source here is a rotor spinning machine. The soul conveyor belt is only stopped for the bobbin changing process at the individual spinning positions and for depositing a full bobbin on the soul conveyor belt. The soul conveyor belt opens into a step conveyor belt 100 at the end of the rotor spinning machine. As soon as four bobbins have accumulated on the step conveyor belt 100, a signal for disposal is provided for querying the central computer 6. The central computer 6 queries the sources in the polling process as to whether coils 20 are ready for disposal at the sources. The polling process means a cyclical query of the individual sources as to whether coils 20 are available for disposal. The central computer 6 then prepares the transport request message from the rotor spinning machine 1 or 2 into corresponding orders for the electric monorail vehicles 7.

Depending on the fineness of the monitoring of the purity of the coils 20, the configuration that was entered into the central computer can be used to identify which material with which quality is produced at the individual sources. If the type purity is to be maintained more precisely, the details of the individual coils are recorded at the sources and forwarded to the central computer 6. A compilation of the transport order is carried out there depending on the type purity. After the coils have been detected at the source in the central computer 6, the most suitable destination is determined by the central computer 6. The destination is determined according to the quality or type of the spool and the shortest and therefore fastest possible route. 2, two sources 1 and 2 are assigned to the two targets 10 and 11. The - 14 -

In this exemplary embodiment, both targets 10 and 11 are accumulation roller conveyors 50, in which empty transport containers are fed from one side to a turning station and the filled transport containers are discharged on the other side of the accumulation roller conveyor. The sensors 110, 111, 112 and 210, 211, 212 are arranged on the accumulation roller conveyor 1 and 2, respectively. The sensors 110 and 210 detect whether empty transport containers are in stock. If this is not the case, the respective destination can no longer be taken into account in a transport order as soon as the current transport container is filled. The sensors 111 and 211 are arranged at the turning stations of the accumulation roller conveyors. They monitor the current position of the turning device. If, when storing conical coils in a transport container with several layers of coils 20 one above the other, a layer in the transport container is completely filled, the turning station is rotated through 180 °. As a result, the transport containers are filled evenly with conical souls. The sensors 112 and 212 recognize whether the accumulation roller conveyors 50 have a further holding capacity for full transport containers. If full transport containers are located at sensors 112 or 212, the respective destination can no longer be taken into account for a transport order. Only when the jammed full transport containers have been removed from the accumulation roller conveyor 50 is it possible for these buffer zones to receive further full transport containers from the turning stations.

As soon as a suitable destination has been determined by the central computer 6, the position to be occupied next is determined in the transport container. The position is advantageously based on a fixed filling pattern, which is described in more detail in relation to FIGS. 14 and 15. This definition of the next position has the advantage that only the stop position of the vehicle 7 has to be varied and the transport container does not have to be moved into different positions. In the transport order, the central computer 6 also determines how the discharge direction must be for conical coils 20. As already described above, this is from the Laqe - 15 -

dependent on the conical coils 20 on which the new layer of conical coils 20 is to be placed. If two soul layers with opposite conicity lie on top of one another, the coils 20 are stacked essentially vertically. Depending on the embodiment of the soul transport system, the turning station is then moved into the correct position or the direction in which the order is specified the conical coils are to be aligned on the vehicle 7.

After the assignment of the destination to the source, the data record for the transport order of the vehicle 7 is compiled. This data is then sent from the central computer 6 to the vehicle 7. In this exemplary embodiment, this takes place via an infrared transmitter 61. An infrared receiver is arranged on the vehicle 7 and forwards the data to a computer unit 72 of the vehicle 7. This data represents an internal driving course for the vehicle 7. After the order has been accepted in the computer unit 72 of the vehicle 7, the vehicle 7 starts and compares this position at every position on the route 40 at which a decision has to be made with the internal driving course. From this orientation of the vehicle 7, it is decided for the vehicle how it should react. A reaction either consists in picking up the coils 20, putting the coils 20 down or switching a switch.

Three different types of flags are fixedly arranged on the running rail 47. These are synchronization flags 43, counting flags 44 and zero flags 45. Initiators 71 are arranged on the vehicle 7. These initiators 71 respond to the flags 43, 44 and 45, respectively. The vehicle 7 first passes the synchronization flag 43. All counters in the vehicle are thus set to zero. This prevents the wrong sources or destinations from being approached. A counting flag 44 and a zero flag 45 are arranged in front of each source 1 and 2 and in front of each target 10 and 11. These flags are passed over by the vehicle 7, provided the vehicle 7 is not at the source or the source relevant for the processing of the order - 16 -

corresponding destination. When the vehicle 7 has reached the source specified in the order and it has passed the counting flag 44, a signal is sent via the initiator 71 to the drive of the vehicle 7, which causes a reduction in the driving speed. This advantageously ensures that the braking distances are so short with the reduced driving speed that the relevant positions can be approached exactly. After reaching the counting flag 44, the zero flag 45 is reached with the reduced driving speed. If the vehicle 7 is located at a source 1 or 2 at which the recording position takes place at the same point in any case, the vehicle stops exactly at the zero flag 45. Gripping devices are arranged on the vehicle 7 and are lowered to the height of the coils 20 provided. The gripping devices grip the provided coils 20 and lift them up to overhead. As soon as the gripping device is again at the height of the vehicle 7, the vehicle continues again at the maximum speed to the intended storage location. If switches 41 are arranged in the driving course, the instantaneous position of vehicle 7 is recorded via the initiators and evaluated by computer unit 72 on vehicle 7. If the switch 41 is not in the required position, the switch 41 is set via a signal sent by the vehicle 7. When the vehicle 7 has reached the intended destination 10 or 11, it in turn runs over a counting flag 44, as a result of which the transport speed is reduced. Then the Nu! Ifahne 45 is passed. Since the exact storage position in the transport container can vary when the coils 20 are being stored, the exact distance of the storage position from the zero flag 45 was specified in the transport order. An incremental counter arranged on the vehicle 7 counts the revolutions of one of the carrier rollers of the vehicle and thus determines the exact length of the distance traveled. If the predetermined distance has been covered, the vehicle 7 is stopped. The gripping device with the coils is lowered, the gripping device detaches from the coils and is then conveyed back up to the height of the vehicle 7. After the vehicle 7 has processed the order, it drives again 17

back to standby 42 and waits there for another job.

If it is determined via the initiators 71 on the vehicle 7 that the passed positions cannot match the internal order or that coils 20 cannot be picked up or released or that other errors have occurred during the processing of the transport order, it is advantageous if in a layout is provided for the layout of the transports! aqe into which the vehicle travels. This ensures security that other vehicles 7 are not hindered in fulfilling their orders. The vehicle 7, in which an error has occurred, can then be inspected by a person and the cause of the error can be searched for.

The number of vehicles required per transport system depends on the number of coils 20 produced per unit of time and the length of the driving course. In plants with 10 rotor spinning machines, there is generally an optimal ratio with 2 to 5 vehicles in which punctual disposal of the machines and optimization of the efficiency is achieved.

When the vehicle 7 has reached the standby point 42, it acknowledges its order in the central computer 6. This means that the vehicle 7 is released for a subsequent order.

Due to the existing intelligence by the computer unit 72 on the vehicle 7, it is possible to carry out target control. This means that the vehicle 7 has specified a destination and the path to this destination is being paved itself. Before switches 41 it is thus possible to bring them into the appropriate position. The route 40 is divided into block routes. These block sections are sections in which individual vehicles 7 cannot overtake. If one of the vehicles 7 has a fault, which means that it is no longer possible for the vehicle 7 to continue the journey, then this will be used - 18 -

Section of route 40 is given an electrical signal which is evaluated by central computer 6 and which is taken into account in the case of new orders. It is therefore not possible for other vehicles 7 to enter this blocked section and they have to drive around the blocked block section.

The initiators 71 of the vehicle 7 respond to the flags 43, 44 and 45. While one initiator 71 is responsible for the synchronization flag 43 and the zero flag 45, two initiators 71 are provided for the counting flag 44. When the synchronization flag is passed over, all counters on the vehicle 7 are set to zero. The zero flag 45 sets the distance measurement to the value zero and thus effects the measurement of the distance covered by the vehicle 7 from the zero flag 45. The counting flag 44 sets a counter in the computer unit 72 of the vehicle 7 by the value "1". As a result, the number of striking points in the route in the route 40 is counted in the computer unit 72. Counting flags 44 are arranged at the points on the route 40 at which a decision must be made. This is the case, for example, with sources, targets and switches. While it is decided at sources and destinations whether the vehicle stops or continues to drive, the course is decided at points. The transport order accordingly specifies what the vehicle 7 is to perform at how many striking points it has passed. It is therefore important for correct and reliable operation of the bobbin transport system that the counting flags 44 are counted correctly. For this reason, two initiators 71 are arranged on the vehicle for the detection of the counting flags 44. The two initiators 71 are connected to one another in such a way that the computer unit 72 recognizes whether the vehicle has passed 7 different counting flags 44 or whether the same counting flag 44 has emitted several counting pulses to the initiators 71, for example by vibrations. In the event of vibrations, it is possible for the initiators 71 to pass the same counting flag 44 forward and backward several times. The switching of the two initiators 71 now causes the counting flag 44 to move forward when the counting flag 44 moves forward - 19 -

The counter is incremented by one, while the counter is decreased by one in the event of a reverse overrun. As a result, each counting flag 44 is counted only once.

The use of the flags 43, 44 and 45 advantageously has the effect that the vehicle 7 is actively controlled by the computer unit 72 with these simple, passive components. This has the particular advantage that the coil transport system is extremely flexible in the setting up of sources and destinations. New sources and destinations can be integrated into existing systems at low cost by arranging additional counting flags 44 without changing the active components of the vehicles 7 which are more complicated than the flags.

3 shows the optical data transmission from the central computer 6 to vehicles 7 by means of infrared rays. For this purpose, the system is divided into a mobile part and a stationary part of the system control. The mobile part of the system control designates the computer units 72 on the individual vehicles 7. The stationary part of the system control designates the central computer 6. Via the central computer 6, a personal computer, the available sources and destinations as well as those at the individual are entered Sources or targets of existing coil qualities. It is possible that completely different goods are made available at the different sources. With the transport system according to the invention, it is now possible to dispose of winding and rotor spinning machines with a common transport system. Accordingly, the goals must also be defined differently. This flexible system also advantageously makes it possible for sources with frequently changing qualities to be redefined using the personal computer. The input of new parameters of the sources and targets takes place via the personal computer. The data are prepared for transmission into usable signals via bus modules 82. The data is transmitted using the full duplex method, ie data can be received and sent by both the mobile and the stationary part of the controller. - 20 -

An infrared transmitter 61 and an infrared receiver 62 are arranged in the stationary part of the system control as well as in the mobile part of the system control. The infrared transmitter 61 of the stationary part communicates with the infrared receiver 62 of the mobile part of the system control. It is also the other way round for data transmission from the mobile part to the stationary part of the system control. An infrared transmitter 61 and an infrared receiver 62 are thus arranged both in the mobile part and in the stationary part. Data is transmitted up to a distance of 200 m. The in the mobile part of the plant control, i.e. on the vehicle 7, signals received via the infrared receiver 62 are forwarded to a memory-orogrammable control in the vehicle 7. This programmable logic controller represents the computer unit 72 of the vehicle 7. The variable parameters of the stored program are assigned via the received signals. In these parameters, the details of the pick-up and drop-off point as well as the switch positions of the switches which are necessary for the individual order fulfillment are specified. This enables target-oriented order processing for vehicle 7.

The programmable logic controllers 81 of the stationary part of the system controller are arranged, for example, at the destinations. The position of the turntables in accumulation roller conveyors is controlled via these programmable logic controllers 81. The central computer 6 influences these programmable logic controllers 81 as well as the programmable logic controllers 72 of the mobile part of the system controller as a function of the job to be created. The difference to the programmable logic controllers, which form the computer unit 72 of the mobile part, to the programmable logic controllers 81 of the stationary part of the system controller is the possibility of data transmission. While the transmission to the mobile part must be flexible, it is more advantageous and less expensive if the data transmission to the programmable logic controllers 81 of the stationary part takes place via lines. - 21 -

4 shows an advantageous alternative to optical data transmission using infrared rays. As in FIG. 3, the central computer 6 is connected to programmable logic controllers 81 via lines. Bus modules 82 are arranged at nodes. The signal transmission in the embodiment according to FIG. 4, in contrast to the embodiment according to FIG. 3, does not take place by means of infrared rays, but via sliding contacts 73 and busbars 46. An electronic signal converter 83 is arranged between central computer 6 and busbar 46. This signal converter 83 processes the data in such a way that the central computer 6 can communicate with the respective mobile controls. The busbars 46 are tapped by the individual mobile controls or vehicles 7 via sliding contacts 73.

The signals thus tapped from the sliding contacts 73 on the busbar 46 are converted in the signal converter 83 on the mobile controller into a signal that can be evaluated for the programmable logic controller or the computing unit 72 of the vehicle 7. A signal converter 83 is arranged on each individual vehicle 7, so that the signals specifically intended for this vehicle 7 can be recognized.

The embodiment according to FIG. 4 has the advantage over the embodiment of FIG. 3 that the central computer 6 can communicate with the individual computer units 72 of the mobile controls at any time. In the embodiment according to FIG. 3, this is only possible in the area that can be reached by the infrared transmitter 61 of the central computer 6. The embodiment of FIG. 4 has particular advantages in the event of a fault in the mobile or stationary elements of the system. It also has advantages. the standby 42. - 22 -

While in the embodiment of FIG. 4 several standby points can be set up without additional effort and thus a uniform distribution of vehicles 7 over the entire transport system is possible, an additional infrared transmission station would have to be set up in the embodiment according to FIG. The even distribution of vehicles 7 over the entire transport system has the advantage that the travel distances of the vehicles to the individual sources can be kept very short, especially in the case of large transport systems.

5 shows a vehicle 7 on a running rail 47. The travel rail 47 is advantageously a travel rail for electrical overhead conveyors in accordance with VDI guideline 3643 / C1. Likewise, the drive unit 74 and the chassis 75 are known elements from overhead monorail systems. 47 power lines are arranged on the rail in a known manner for the power and data transmission. These conductor lines are not shown in FIG. 5. The chassis 75, which, depending on the length of the vehicle 7, consists of two or more support rollers and a plurality of side support rollers, receives the hanger 76 at the lower receiving points. The hanger 76 consists essentially of the elements for generating compressed air, for controlling and handling the coils. To control the vehicle 7, the computer unit 72 is arranged in a switch box 310 on the hanger 76. The programmable logic controller and, depending on the embodiment, the signal converter 83 are arranged in the switch box 310. If the data is transmitted optically via infrared rays, then the computer unit 72 receives its signals via an infrared receiver 62 arranged on the housing 76. To transmit the data from the computer unit 72 to the central computer 8, the infrared transmitter 61 is also arranged on the hanger 76. The arrangement of the infrared receiver and transmitter 61, 62 on the hanger 76 has the advantage that the area below the running rail 47 is least occupied by obstacles. A visual link is required for optical data transmission. 23

fertilizer between sender and receiver necessary to ensure data transmission. The area above the running rail 47 is generally crossed by the suspensions of the running rails 47, which represent obstacles to the line of sight. If the travel rails 47 are supported with floor supports, an arrangement on the vehicle 7 above the travel rail 47 is more advantageous, since in this case the obstacles below the travel rail 47 are more frequent. The initiator 71 is also arranged on the chassis 75. Switching flags arranged on the running rail 47 are registered by the initiator 71. The initiator 71 is connected to the computer unit 72 in the switch box.

The chassis 75 are articulated to the cross member 300 of the hanger 76. This ensures that both horizontal and vertical curves of the rail 47 can be driven. The hanger 76 is rigidly attached to the cross member 300. In addition to the switch box 310, the compressor with the pressure vessel 320 and the handling device 330 are essentially arranged. The pressure vessel 320 is fastened to a carrier 321. The drive (not shown in FIG. 5) for the handling device 330 and the compressor 325 are fastened on the carrier 321. The handling device 330 advantageously consists of a plurality of gripper pairs 332 arranged transversely to the direction of travel of the vehicle 7. The arrangement transversely to the direction of travel advantageously has the effect that the reception and storage of the coils with extremely little effort for the placement of the reception and storage place. This results in an extremely inexpensive and flexible transport system. A further advantage is the short overall length of the vehicle 7 that can be achieved as a result. Since the length of the vehicle 7 has a direct influence on the minimal radii of the rails 47, a shorter overall length of the vehicle 7 is more advantageous. The shorter the vehicle 7 or the traverse 300, the tighter the curves can be realized and the better the adaptation to the building or system layouts is possible. If the length of the vehicle exceeds a maximum value, - 24 -

the hanger 76 is to be designed in an articulated manner, as a result of which a loss of stability arises which is compensated for by additional running gear 75. The arrangement of the handling device 330 transversely to the direction of travel also ensures that a flexible adaptation of the number of grippers 332 is possible without changing the hanger 76. This makes it possible to use vehicles with e.g. to equip three, four or five pairs of grippers 332. However, it has proven to be advantageous to arrange four pairs of grippers 332 in the handling device. This advantageous number results from the frequent use of standardized transport containers in which the coils are stored. These are designed such that the width of four spools 20 fit into a row in the transport container.

The grippers 332 are articulated to one another in such a way that they can be moved in the manner of a parallelogram. This prevents a relative movement from acting on the coils. This allows the spools to be handled very gently, since this arrangement means that the grippers are always vertical and do not reach under the spool with a rotary movement. When reaching under the bobbin, the individual thread windings would be pulled, as a result of which they would be subject to wear. Another advantage in such a movement of the grippers is that the lateral space required by the grippers 332 when gripping and releasing the coils is extremely small. This particularly affects the transport containers, in which the packing density of the coils should be extremely high. If the grippers were to unload far when the spools were released, the distance to the wall of the transport container or to the next spool would have to be very large in order to avoid the grippers 332 coming into contact with the spool lying next to them. - 25 -

The grippers 332 are controlled pneumatically. The gripping force of the grippers 332 can be adjusted as a function of the pneumatic pressure. This ensures that bobbins with a low bobbin density are picked up with a lower gripping force and damage is thereby avoided.

The gripping devices are arranged such that the coils are gripped on their circumference. The axes of the coils are aligned essentially horizontally and transversely to the direction of transport. This has the advantage that, on the one hand, a high packing density is achieved in the transport containers and, on the other hand, the coils only have to be rotated very little. Because the bobbins are delivered to the pick-up point as they should come to rest in the transport container, they do not often have to be gripped by devices and turned into the correct position at the moment. This advantageously enables gentle handling of the coils with little risk of damage.

The handling device consists of individual gripping devices, a pair of grippers 332 being arranged on each gripping device. Each individual coil can thus be gripped individually by a pair of grippers 332. Depending on the type purity to be achieved at the delivery point, it is now possible to control all the gripping devices of a handling device jointly or else independently of one another. If a high degree of variety is to be achieved, it is advantageous if each individual gripping device can be controlled individually. This creates the possibility of transporting individual bobbins, which do not match the other bobbins of a transport order due to their different type, to other destinations. If a not so high type purity is required or if the bobbins are already sorted at the pick-up point, all grippers 332 of a vehicle 7 are opened and closed simultaneously. This possibility leads to a lower control effort and also to a lower mechanical effort. - 26 -

The force for gripping the coils as a function of the coil density can be adjusted via a valve for regulating the air pressure on the gripping device. In addition to the gripping force, it is also important to regulate the access speed of the gripping device for a gentle access of the gripping device to the coils. A reduction in the access speed of the gripping device is set via a throttle for regulating the air pressure, which is supplied by the compressor 325. The lower the speed of access of the gripping device to the coil, the more gently the coil is gripped since the grippers 332 are braked by the winding of the coil and the load on the winding is therefore lower at a lower speed than at a higher speed efficiency.

Regardless of the gripping force and the access speed of the gripping device, it is possible with the gripping device shown in FIG. 5 to grip coils of different diameters. By arranging the gripping devices next to one another in the direction of travel and in such a way that the coil axes are essentially transverse to the direction of travel and in alignment with one another, i.e. are lined up transversely to the direction of travel, the distance between the coils is always constant. This means that coils of different coil diameters have the same lateral space requirement. The maximum coil diameter is only limited by the maximum gripping width of the grippers 332, but not by the distance between the gripping devices.

The switch box 310 is advantageously arranged at the end of the vehicle 7. It is closed by a cover 311. Due to the low arrangement of the switch box 310, it is easily accessible for maintenance work. Because the cover 311 can be folded down, unimpeded access to the computer unit 72 or the programmable logic controller is well guaranteed. A clutch 312 is also arranged on the switch box 310. It's about this clutch - 27 -

possible to connect a manual control to the vehicle 7. The manual control ensures that, in the event of a defect, e.g. of the central computer 6 the disposal of the sources can be carried out manually. The manual control is also advantageous if a vehicle 7 is to be checked for its functionality or if a defective vehicle is to be driven out of the route 40. For the manual control, the movements of the vehicle 7 as well as the movements of the grippers 332 and the lowering of the handling device 330 are controlled manually.

The drive unit 74 is responsible for the movement of the vehicle 7. The motor 741 is connected via a gear 742 to a drive roller which rolls on the running rail 47. Manual push operation is possible via a mechanical coupling on the 742 gearbox. In the event of a power or control failure on the vehicle 7, the operating personnel is able, by actuating the mechanical coupling, to push the vehicle 7 onto a siding in manual push operation. The main line of the system is not blocked on a side track, as a result of which the unobstructed spool transport continues to take place through the remaining vehicles 7.

Switching flags are arranged on the routes to control the pick-up and drop-off locations. Two flags are provided for each stop. The first flag lowers the engine speed from fast to slow. The second flag means that the distance that was previously determined by the central computer 8 to the stop is measured. An incremental measuring device 751 is provided for the exact distance measurement, which is arranged on the non-driven roller of the chassis 5. The incremental measuring device 751 counts the revolutions of the non-driven roller, thereby concluding the path covered. Because the rear roller is not driven, it runs essentially without slip. This enables a very precise distance measurement. The - 28 -

The measured distance is transmitted to the computer unit 72, whereby a signal is sent to the motor 741 after the intended distance has been reached, so that the motor stops the vehicle 7.

The pressure vessel 320 is over spirally wound compressed air hoses

322 connected to the handling device 330. The spirally wound compressed air hoses 322 advantageously prevent the compressed air hoses 322 from jamming when the handling device 330 moves. In addition, the compressed air hoses 322 so wound do not hang down under the lowermost edge of the vehicle 7 when the handling device 330 is retracted. This prevents the danger of the compressed air hoses getting stuck while the vehicle 7 is traveling. In order to achieve a space-saving fastening of the handling device 330 to the hanger 76, the compressed air hoses 322 are via a rocker

323 attached to the handling device 330. The compressed air hoses 322 open into the rocker 323, which in turn is fastened in the joint 324 on the upper side of the handling device 330. In the raised position of the handling device 330, the rocker 323 folds flat against the top of the handling device 330. In the extended state of the handling device 330, the rocker 323 is brought into a folded-up position via the joint 324. This ensures that no additional lateral space is required when storing coils in transport containers. This ensures a high packing density of the coils in the transport container.

The grippers 332 are each arranged rotatably about a vertical axis for receiving conical coils. This ensures that the grippers 332 grip the coils on the largest possible area. This enables the surface pressure on the winding of the coils to be minimized. Due to the deflection of the grippers 332, the position of the conicity of the gripped coil can be detected for sensors. Act it If the vehicle 7 is an embodiment with individually rotatable gripper pairs 332, this signal can be used to align the conical coils in the same direction.

If the sorting of the conical coil in the same position has already been carried out by a device at the receiving position, it is possible in an embodiment not shown in more detail that all pairs of grippers 332 rotate about a vertical axis of the handling device 330, as a result of which a reorientation of the conical coils. This eliminates the need for turning stations at the destinations, since, depending on the position in the transport containers, the correct orientation of the coils has already been assumed on the vehicle 7.

If the distance between the coils is not sufficiently large, it is necessary for the individual coils to rotate sufficiently to maintain a sufficient distance from one another. This is possible by means of a telescopic widening by moving the handling device 330 apart. For transportation, it is advantageous to move the coils at a minimal distance from each other. This increases the driving stability of the vehicle and also minimizes the lateral space requirement of the vehicle.

6 shows the suspension 76 detached from the chassis in a top view. The sections of FIGS. 7 to 10 are shown in FIG. 6.

A motor 340 is arranged on the carrier 321. The handling device 330 is varied in height with this motor 340. Motor 340 is preferably a sliding armature motor that is braked when de-energized. A »compression spring moves the motor axis on which the rotor and the brake are fixed. If the voltage on the motor fails, the brake is pressed into the brake shoes. - 30 -

This ensures that the handling device is fixed at its current height in the event of a power failure. The danger is avoided that the handling device 330 falls suddenly in the event of a power failure and possibly injures people. In addition, this has the advantage that when the handling device 330 is in its upper position, there is a mechanical fixation. This makes it possible to dispense with a power supply to the motor 340 during the transport process. A gear 341 is arranged on the carrier 331 after the motor 340. The gear 341 converts or reduces the speed of the motor to the desired speed of a roller 334. A clutch 342 is arranged between the gear 341 and the handling device 330. This coupling results in a more economical assembly and adjustment option, since slight axis misalignments can thereby be compensated for. If excessive forces occur on the handling device 330, the coupling 342 acts as a protection for the motor 34 * 0 and the gear 341. Excessive forces can occur on the handling device 330 if, for example, it sticks to objects when it winds up.

An incremental measuring device 343 is arranged on the shaft from the coupling 342 to the handling device 330. With this incremental measuring device 343, the actual rotation of the winding device. 333 measured. This is advantageous in order to measure an exact measurement of the instantaneous height of the grippers 332. A flexible tape is rolled up on the roller 334 of the winding device 333, on which the grippers 332 are fastened to a frame. The flexible band is very wide compared to its thickness, which ensures that the grippers 332 are suspended with little vibration. The flexible band is attached to roller 334. It is arranged in such a way that it is guided over the two deflection rollers 335. When the roller 334 rotates, the two parts of the flexible belt are either rolled up or unrolled. This results in an upward or downward movement of the grippers 332. - 31 -

The incremental measuring device 334 consists of a metal impeller and an induction knife. As soon as a wing moves past the induction knife, a signal is registered. The more blades are arranged on the impeller, the more precisely the partial revolutions of the shaft can be measured. From the circumference of the roller 334 and the thickness of the flexible belt, together with the number of revolutions, the current height of the grippers is inferred.

FIG. 7 shows the section A-A from FIG. 6. In this side view, the housing 76 is shown without a gripper 332 and without a switch box 310. In this exemplary embodiment, the functional units motor 340, transmission 341, coupling 342 and the roller 334 are advantageously arranged below the cross member 300. This ensures that vehicle 7 is not hindered by narrow vertical curves when driving. The overall height of the chassis 75 can be kept low, so that standard components according to VDI guideline 3643 / C1 can be used. Shock absorbers 344 are clearly visible in the illustration in FIG. 7. The shock absorbers 344 gently take up the end position of the grippers 332. Another advantage of the shock absorbers 344 is that the grippers 332 are always in a slightly pretensioned state in the upper position. This prevents the grippers from rocking when starting, cornering or braking the vehicle 7. The shock absorbers 344 are preferably arranged at the four corners of the carrier of the grippers 332. As a result, the required properties are achieved very well. Of course, other types of spring-damper systems are also possible, with which a prestressed and guided end position of the hand-lifting device 330 is made possible.

In the exemplary embodiment in FIG. 7, the pressure container 320 is arranged below the carrier 331. The compressor 325 is located next to the motor 340 on the carrier 321. The arrangement of the motor 340, the compressor 325 and the handling device 330 can vary - 32 -

Embodiment of the vehicle 7 vary. The arrangement depends on the weights of the components used. However, it must always be ensured that the weight distribution on the vehicle 7 is as uniform as possible. This ensures safe operation of the electric monorail system.

A valve 322 is arranged on the carrier 331. The air pressure acting on the grippers 332 from the compressor 325 can be regulated via the valve 322. The force for gripping the coils is varied by changing the air pressure. This is advantageous in order to adjust the force depending on the spool density. A throttle 323 regulates the access speed of the gripping device to the coils. The air pressure of the compressor 325, which acts on the gripping device, can be adjusted by the throttle 323.

FIG. 8 shows section B-B of FIG. 6. The compressor 320 is arranged on the carrier 331 transversely to the direction of travel. The gear 341 is fastened on the carrier 331. The incremental measuring device 343 is located on the coupling 342. The incremental measuring device 343 consists of an incremental meter (not shown) and an incremental encoder. The incremental boar consists of an impeller. The impeller of this embodiment has four blades. A measuring accuracy of 1/4 turn of the shaft that drives the roller 334 is hereby achieved. Of course, an impeller with a larger number of blades can also be arranged, as a result of which a higher measuring accuracy is achieved.

The carrier 331 is fastened to a base carrier 301. The base carrier 301 ensures stable attachment of the individual devices that are necessary for processing the transport order. In addition, the basic carrier 301 enables the individual components to be arranged in a clear and therefore assembly-friendly manner. The base support 301 is fastened to the traverse 300 by means of centrally arranged suspensions. The traverse 300 represents the interface to the commercially available elements of an electric monorail system. - 33 -

FIG. 9 shows the section C-C of FIG. 6. The section C-C shows the winding device 333 in more detail. The roller 334 and the deflection rollers 335 are arranged on a carrier or to the base carrier 301. A plastic tape 337 is wound or unwound on the roller 334. Fig. 9 shows a developed state of the roller 334. The arrangement of the plastic tape 337 on the roller 334 is such that both sides are wound up and down evenly. This ensures a uniform up and down movement of the handling device 330 attached to the plastic belt 337.

One of the deflection rollers 335 is mounted such that it can move in height. Is the plastic strap 337 loaded, i.e. If the handling device 330 hangs freely on the plastic bands 337, the deflecting roller 335 which is mounted in a vertically movable manner is pressed down into its lowest position. As soon as the handling device 330 encounters an obstacle during a downward movement, so that the plastic band 337 is relieved, the height-adjustable deflection roller 335 moves into its upper position and thereby actuates a relief switch 336. The relief switch 336 brings about an immediate stop of the motor 340. As a result is achieved in an advantageous manner that the lowering of the handling device 330 at the receiving point is lowered to the height of the ready-to-use coils and that when the transported coils are dispensed, the handling device 330 stops automatically at the level of the last layer in the transport container.

In the event of the relief switch 336 failing or in the event that the storage or receiving point is lower than the lowest possible lowering of the handling device 330, a metal body 338 is arranged in the end region of the plastic band 337. As soon as the roller 334 is almost unwound, the metal body 338 moves past a sensor 339, as a result of which a signal for stopping the motor 340 is generated. The metal body 338 is advantageously a metal rivet introduced into the plastic band 337. This has the advantage that when the plastic tape 337 is wound onto the roller 334 it does not apply upwards and thus damage the over - 34 -

the metal body 338 wrapped plastic tape 337 prevented.

If the deflection roller 335 is moved into the position 335 'when the plastic belt 337 is relieved, the relief switch 336 is relieved and sends a signal to the motor 340. The motor 340 is stopped by the signal. The motor 340 is restarted via the computer unit 72 controlled. The relief switch 336 thus has only the function of switching off the motor 340 and not the function of switching on.

FIG. 10 shows the section D-D of FIG. 6. From this is the storage of the. Deflectable pulley 335 visible. The axis of the deflection roller 335 is connected at both ends to tension springs 345. The tension springs 345 cause the deflection roller 335 to be moved into an upper position in the unloaded state. As a result, the relief switch 336 is deflected. The tension springs 345 are designed such that they move the deflection roller 335 very quickly into the upper position when the handling device 330 is relieved. This ensures that the motor 340 is switched off quickly.

11 to 13 show a vehicle 7 during various situations of the transport process. 11 shows the vehicle 7 at a source. The handling device 330 is lowered to the height of the coils 20. The grippers 332 enclose the coils 20 on their circumference.

The grippers 332 are controlled by compressed air cylinders. Therefore, the compressed air hose 322 leads from the compressor 320 to the handling device 330. The rocker 323 is inclined slightly upwards. The plastic tape 337 is partially unwound from the roller 334. As soon as the grippers 332 have reached the level of the bobbins 20 and hit a bobbin support, the relief switch 336 arranged on a deflection roller 335 reacts and stops the motor 340. A signal is then sent out by the computer unit 72, - 35 -

that activates the compressed air cylinders on the handling device 330 and thereby closes the grippers 332. As soon as the spools 20 are gripped by the grippers 332, the motor 340 is set in motion again and winds the plastic tape 337 onto the roller 334. As a result, the handling device 320 is conveyed into the position in FIG. 12.

If the handling device 330 is in its uppermost position, as shown in FIG. 12, the vehicle 7 is in a ready-to-drive state. In this position, vehicle 7 processes the further transport order. It travels from the source specified in the transport order to the predetermined destination. In the position shown in FIG. 12, the handling device 330 is in its most stable position. In addition, in this position it is ensured that the overall height of the vehicle 7, which extends below the lower edge of the travel rail 47, is minimized. This reduces the risk of collision with obstacles.

13 shows the vehicle 7 at a target 10. The handling device 330 is located in a transport container 51. The grippers 332 also include the coils 20. As a next step, the pneumatic cylinders of the handling device 330 are brought into a depressurized position. ^* The grippers 332 are supplied with no compressed air so that the gripper 332 to the coil 20 in wesent¬ union muster any strength. The articulated arrangement of the grippers 332 ensures that the lateral space requirement of the grippers 332 when opening is minimal. After the grippers 332 are depressurized, the plastic tape 337 is rolled onto the roller 334. The grippers 332 slide, favored by the shape of the grippers, past the coils 20 without touching adjacent coils 20. The advantageous arrangement of the plastic straps 337 is particularly notable with such long stroke paths of the handling device 330. The two plastic straps 337 are arranged on the side of the hanger 76 next to the running rail 47. In an advantageous - 36 -

Design, the width of the plastic band 337 is about 10 cm. This prevents the handling device 330 from swinging during lowering and pulling up. The use of only two plastic straps 337 is very advantageous because of the low technical outlay, in particular since only one wind-up device 332 is required for the stable operation of the handling device 330.

The compressor 325 supplies the compressed air supply for the grippers 332. In this exemplary embodiment, it is connected to the grippers 332 via two spirally wound hose lines. The first of the two compressed air hoses 322 is responsible for closing and the second compressed air hose 322 for opening the grippers 332, starting from the depressurized position.

A filter is arranged in front of the intake and exhaust air openings of the compressor 320, which protects against the high dust accumulation in the spinning mills.

With a suitable arrangement of the exhaust air valve of the compressor 325, the exhaust air can be used to clean the air filter of the compressor 325 and to blow off the travel rail 47. This is advantageous since, especially in spinning mills, a large amount of dust is produced, which has a negative effect on the functionality of the compressor 325 and the electric monorail conveyor.

The spirally wound compressed air hoses 322 have the advantage that they expand on the one hand to the deepest point that the handling device 330 approaches, and on the other hand take up little space when the handling device 330 is pulled up. This prevents the compressed air hoses 322 from getting caught or getting tangled. In a further embodiment according to the invention, the compressed air hoses 322 are wound up or unwound together with the plastic band 337 on a roller. The advantage of this embodiment is the gentle handling of the compressed air hoses 322. The winding of the plastic band 337 is advantageously controlled both by means of the incremental measuring device 343 and by means of the relief switch 336. While the unloading switch 336 reacts to the unloading of the plastic band 336, the length-wise winding or unwinding of the plastic band 337 enables winding at different speeds. It is advantageous if the greater part of the section to be unwound is carried out at a faster speed.

Shortly before the predetermined unwinding length is reached, the speed of unwinding of the plastic band 337 is reduced. This is associated with the advantage that the slow gear is engaged shortly before an end position, which causes a gentle stopping of the handling device 330.

The arrangement of the plastic straps 337 on the side next to the travel rail 47 such that the width of the plastic stretches 337 extends in the direction of travel advantageously achieves that on the one hand a high degree of lateral stability is achieved and on the other hand also stability with respect to pivoting movements is achieved in the direction of travel. This is further supported by the widely spaced fastening points of the plastic band 337 on the handling device 330.

14 and 15 show different filling patterns for coils of different diameters in the transport container 51. The principle that the coils are deposited in is the principle that the coils are deposited in the transport container 51 from the center outwards. This placing sequence opens up the advantage that, in particular in the case of the coils coming to rest on the container edge, they safely assume their predetermined position. In Fig. 14, the critical positions are the positions with the numbers 8, 9, 17, 18, 26 and 27. Here, despite the small lateral space requirement of the grippers 332, it is possible that the bobbins are inadvertently not provided for when they are deposited Roll position. It would be possible, for example, that the spool of number 8 would roll into the position of spool No. 6. Is this position - 38 -

but already occupied, it is ensured that the coil of position 8 remains in the predetermined position. This also avoids that a position in the central computer is managed as occupied, although it would still be free. A plurality of coils are arranged one behind the other in the positions indicated in the containers 51 in FIGS. 14 and 15. These are advantageously four coils, as can be seen in FIG. 1.

Due to the arrangement of the handling device 330 on the vehicle 7, as well as the overall concept of the self-sufficient vehicle 7, a filing sequence corresponding to the filling pattern of FIGS. 14 and 15 can be carried out in an advantageous manner. In the central computer 6, the storage order is determined in accordance with the different spool diameters in the transport container 51. The fact that the locations already occupied are stored in the transport container 51 in the central computer 6. there is the place for the subsequent coils. On the basis of the next depositing location, the central computer 6 determines the distance from the zero flag 45 to the stopping point of the vehicle in the transport order for the vehicle 7. A storage according to the filling pattern of FIG. 15 is shown in the top view in the transport containers 51 of FIG. 1. Here it can be clearly seen that the transport containers 51 are arranged in a stationary manner during loading. Only the length of the route from the zero flag 45 to the stopping point is varied.

16 shows the side view of the handling device 330. In this exemplary embodiment, it is a handling device 330 for transporting four coils 20. The grippers 332 are arranged at a distance from one another, so that each of the coils can be gripped by the grippers 332 on their winding. The handling device 330 is connected to the plastic strap 337 at the fastenings 346. The arrangement of the fastenings 346 at a great distance from one another ensures that the handling device 330 is moved up and down with little vibration. The grabs 332 are designed in such a way that they have the largest possible area at the points where they touch the coils 20. This results in a low surface pressure, which ensures gentle handling of the coils 20. The gripper 332 is rotatably arranged on the pivot element 352.

17 shows the side view of the handling device 330. The attachment 346 is designed such that the entire width of the plastic band 337 can be arranged on the attachment 346. A compressed air cylinder 350 causes the grippers 332 to open and close. The compressed air cylinder 350 is articulated on the swivel elements 352. The swivel elements are articulated on the one hand on the rigid part of the handling device 330 and on the other hand on the grippers 332. Between the rigid element of the handling device 330 and the gripper 332 there is also an articulated guide rod 351. When the grippers 332 are opened and closed, this guide rod 351 brings about a parallelogram-like geometry of the pivot points so that the grippers 332 are always vertical. This advantageously ensures that the grippers 332 require little lateral space when opened. This proves to be particularly advantageous when the coils 20 are placed in the immediate vicinity of the wall of a transport container 51. In addition, this ensures that the coils 20 are handled gently since the coils 20 have low frictional forces. The grippers 332 are rotatably supported via a vertically arranged axis of rotation 353. This makes it possible to adapt the grippers 332 to conical coils in such a way that the largest possible area of the grippers 332 is in contact with the coils 20, since the grippers 332 adapt to the shape of the coil. - 40 -

While the handling device 330 is shown in FIG. 17 in a pressure position in which no coil is transported, FIG. 18 shows half representations of the handling device 330 when transporting coils 20 of small and large diameters. It can be clearly seen from this that the arrangement of the pivot points and of the guide rod 351 results in a parallelogram-like control of the grippers 332. The grippers 332 are therefore in a vertical position regardless of the coil diameter. Because the grippers 332 grip the spool 20 only a little, a slight opening of the handling device 330 ensures that the spool 20 is set down safely.

19 shows a vehicle 7 with safety devices 400, 410 and 420. The safety device 400 is provided to secure the coils 20 in the event of a power failure. An energy failure would make it possible for the handling device 330 to no longer grip the coils 20 with sufficient security. The coils fall through the safety device 400 onto the support of the safety device 400, from which the handling device 330 can capture them after energy is again present on the vehicle. The safety device 400 is rotatably mounted on an axis of rotation 401. If the handling device 330 is lowered, the spring-loaded safety device 400 is folded down from the underside of the handling device. If the handling device 330 is wound up again, i. H. if it moves again against a platform 402 of the safety device 400, the safety device 400 in turn rotates about the axis of rotation 401 together with the platform 402 under the coils 20. The platform 402 is a firmly connected component of the safety device 400.

The safety device 410 serves as a collision protection against vehicles 7 driving in front. In the present exemplary embodiment, it is an ultrasonic sensor. It has been found that an ultrasonic sensor in particular does not lead to any problems with an optical transmission of the transport order. - 41 -

A collision protection is provided on vehicle 7 as a further safety device 420. The collision protection triggers a signal on the drive of the vehicle 7 by contact with an obstacle. In an advantageous embodiment, the motor first switches to slow travel and then stops. It has been shown that the braking distance is shorter as a result of this than if the drive comes to an immediate standstill. If the obstacle is no longer in front of the vehicle 7, i. H. Once the collision protection has returned to its original position, the vehicle starts up again automatically.

A pointer 430 is also arranged on the vehicle 7. The pointer 430 is movable from the position drawn with solid lines to the position drawn with dashed lines. On the basis of the pointer 430, it is possible for a switch to be recognized in which direction the vehicle 7 has to continue in order to carry out the transport order. Depending on whether the pointer 430 is in the retracted or extended position, the switch is moved, for example, in the straight-ahead position or in the turning position.

The pointer 430 also has the function of a storage location, a control of the storage location and / or the central computer to signal the successful storage of the goods to be transported. As soon as the vehicle 7 has assumed the storage position and has deposited the goods, the pointer 430 is moved into the extended position and detected by a sensor attached to the route. This sensor then transmits the information that the goods have been deposited to the controller. This information can be used for the next transport orders to determine the exact storage position of the next goods. - 42 -

The invention does not relate exclusively to the embodiments shown in the figures. For example, the storage of the coils is not limited to storage in transport containers of the type described. It is also possible, for example, to place the bobbins on small pallets or on single types _. Stow back roads.

Claims

- 43 -patent claims

1. A method for transporting goods, in particular goods from the textile industry, from a pick-up point to a depositing point, the goods to be transported being picked up by a vehicle at the pick-up point, transported to the depositing point and stored there, characterized in that a transport order is put together by a central computer, which specifies the pick-up and deposit points and the route there, that the transport order is transmitted from the central computer to a computer unit of a vehicle and that the transport order with the pick-up and storage of the goods is processed independently by the vehicle becomes.

2. The method according to claim 1, characterized in that the receiving points are polled cyclically by the central computer for goods to be transported.

3. The method according to claim 1 or 2, characterized in that the fulfillment of the order is reported to the central computer by the vehicle. - 44 -

4. A method for transporting bobbins or bobbin-like goods from the textile industry from a pick-up point to a depositing point, the goods to be transported being picked up on a vehicle of an electric monorail at the pick-up point, being transported to the depositing point and being deposited there, characterized in that that the reception points are queried cyclically by a central computer for the number of goods to be transported, that a transport order is compiled by the central computer as soon as a number of goods that can be transported in front of the vehicle is made available, that the Transfer order is transmitted from the central computer to a free vehicle, that the transport order is processed independently by the vehicle, and that the central computer is informed of the order fulfillment by the vehicle.

5. The method according to one or more of claims 1 to 4, characterized in that the transport order is put together as soon as the maximum number of goods which can be transported by the vehicle is made available.

6. The method according to one or more of claims 1 to 5, characterized in that the goods to be transported in a transport order are picked up and / or given off in succession at different recording and / or storage locations. - 45 -

7. The method according to one or more of claims 1 to 6, characterized in that the data of the transport order and the data of the execution of the order between the central computer and the computer unit of the vehicle are transmitted on a section of the route provided for this purpose.

8. The method according to one or more of claims 1 to 6, characterized in that the transport order between the central computer and the computer unit of the vehicle are received by the central computer or the vehicle regardless of the respective location of the vehicle.

9. The method according to one or more of claims 1 to 8, characterized. that the transport order is transmitted between the central computer and the computer unit of the vehicle by means of electrical signals over conductor lines.

10. The method according to one or more of claims 1 to 9, characterized in that the data are optically transmitted between the central computer and the vehicle.

11. The method according to claim 10, characterized in that the data are transmitted between the central computer and the vehicle by means of infrared rays.

12. The method according to one or more of claims 1 to 11, characterized in that a distance before the Aufnah¬ me and / or before the storage point with one opposite one - 46 -

maximum driving speed reduced speed of the vehicle.

13. The method according to one or more of claims 1 to 12, characterized in that a distance before the Aufnah¬ me and / or storage point is measured starting from a fixed point on the route to find the exact Auf¬ recording or storage point .

14. The method according to one or more of claims 1 to 13, characterized in that signals are sent from the vehicle for the order-based setting of the route.

15. The method according to one or more of claims 1 to 14, characterized in that a control at the Abstell¬ point the storage of the goods from the vehicle is si¬ signaled.

16. The method according to one or more of claims 1 to 15, characterized in that when an error occurs in the order processing, the vehicle is driven on a branch line.

17. The method according to one or more of claims 1 to 16, characterized in that in driving route sections before curves and / or switches such influence is exerted on the drive of the vehicle that the vehicle can be temporarily stopped. - 47 -

18. A method for transporting goods from a pick-up point to a deposit point, characterized in that the goods to be transported are provided at the pick-up points, that a central computer detects that the goods to be transported are provided, that one from the central computer for A suitable storage location to be transported is determined such that the route of a vehicle to the reception location, to the storage location and to a waiting position is determined by the central computer, and that the travel route, the reception and storage location are determined by the central computer in one transport order It is put together that the transport order is then transmitted to a computer unit of the vehicle, which processes the transport order independently by driving to the pick-up position, picking up the goods there, then driving to the storage position and delivering the goods and finally the central computer to fulfill the order notifies and d ate the vehicle to process the transport order on a switch in the route of a switch control signals the required switch position.

19. A process for the single-filing storage of bobbins or goods similar to spule¬ of the textile industry, which are transported in particular by a method of claims 1 to 18 with a vehicle from pick-up points to depositing points, characterized in that individual pick-up points for a single-type depositing of the goods certain dumping - 48 - can be assigned to parts.

20. The method according to claim 19, characterized in that the goods are sorted, recorded and / or filed according to the process variables size, shape and quality.

21. The method according to claim 19 or 20, characterized in that a central computer managing the transport of the goods detects the goods to be transported together with the respective process variables, that the central computer uses the process variables to determine a storage location to which the goods are transported, and that the central computer determines the exact storage location at the storage location on the basis of a predetermined storage sequence at the storage location and the storage locations that have already taken place at this storage location.

22. The method according to one or more of claims 19 to 21, characterized in that the containers are rotated depending on the position of the taper of the delivered coils for the correct storage of conical coils in containers at the storage location.

23. The method according to one or more of claims 19 to 22, characterized in that the handling device on the vehicle is rotated in dependence on the position of the taper of the coils for the correct storage of conical coils. - -

24. The method according to one or more of claims 19 to 23, characterized in that the taper of the conical coils are aligned by the rotation of individual gripping devices about an axis transverse to the coil axis in a coincident position of the vehicle.

25. The method according to one or more of claims 19 to 24, characterized gekennzeichne that the conicity of the conical bobbins is aligned in a direction in which the koni _¬ rule coils are stored according to a predetermined deposition pattern.

26. Transport system for the transport of goods from a pick-up point to a storage point with at least one vehicle for picking up, transporting and storing these goods, in particular for carrying out the method according to one of claims 1 to 25, characterized in that the A central computer (6) for managing the transport processes is assigned to the transport system, and that on the vehicle (7) a computer unit (72) for storing and processing a transport order compiled by the central computer (6), as well as devices for independent and active processing of the Transport order are arranged.

27. Transport system for transporting bobbins or bobbin-like goods of the textile industry from a pick-up point to a depositing point on rails of an electric monorail system with at least one vehicle for picking up, transporting - 50 -

and depositing these coils at predetermined locations, in particular for carrying out the method according to one of claims 1 to 25, characterized in that data with the information about a transport order at a location upstream of the pick-up point of the electric monorail system from a central computer ( 6) can be transmitted to a computer unit (72) of a free vehicle (7) and that the vehicles (7) are equipped with the devices for independent and active processing of the transport order.

28. Transport system according to claim 26 or 27, characterized in that the devices for independent and active processing of the transport order are devices for driving, for controlling, setting the course and for handling the goods to be transported.

29. Transport system according to one or more of claims 26 to 28, characterized in that at least two switching flags are arranged in the direction of travel of the vehicle (7) in front of each pick-up and depositing point, which switch on the speed and / or on a distance measuring device of the vehicle (7) act.

30. Transport device according to claim 29, characterized in that the first switching flag has a counting flag (44) for orienting the vehicle (7) in the route (4) and / or for reducing the speed of the vehicle (7) in front of one Stop is, and the second flag is one - 51 -

Zero flag (45) for the start of the distance measurement until ^' to the stop point of the vehicle (7).

31. Transport system according to one or more of claims 26 to 30, characterized in that on the route (40), conductor lines (73) for location-independent transmission of data between the central computer (6) and the computer unit (72) of the vehicle (7th ) is arranged.

32. Transport system according to one or more of claims 26 to 31, characterized in that on the vehicle (7) and in the area of a waiting position of the vehicle (7) for data transmission between the central computer (6) and the computer unit (72) infrared transmitter and receivers (61, 62) are arranged.

33. Transport system according to one or more of claims 26 to 32, characterized in that the route (40) is divided into block routes that can be blocked for driving.

34. Transport system according to one or more of claims 26 to 33, characterized in that the vehicle (7) signals a switch control the switch position required for the driving course.

35. Electric monorail system with a vehicle with devices for processing a transport order, in particular for performing the method according to one of claims 1 to 25, characterized in that the electric monorail system is a central - 52 -

Computer (6) is assigned, and that on the vehicle (7) a computer unit (72) communicable with the central computer (6) as well as the devices for the drive (340, 341, 342), the controller (72) , the course and the handling (330) of goods to be transported are arranged.

36. Electric monorail system according to claim 35, characterized in that a device for generating compressed air (320, 325) is arranged on the vehicle (7) for handling (330) the goods to be transported.

37. Electric monorail system according to claim 35 or 36, characterized gekenn¬ characterized in that the handling device (330) is connected to the vehicle (7) via variable-length components that are rigid in the direction of travel of the vehicle (7) and transverse to the direction of travel of the vehicle (7) are flexible.

38. Electric monorail system according to claim 37, characterized in that the variable-length components are plastic strips

(337) with a small thickness and a large width, which can be rolled up on a roller (334) by means of a winding device (333).

39. Electric monorail system according to claim 38, characterized in that in at least one of the plastic bands (337) at a short distance from its upper end a metal body

(338) is arranged, which can be detected by a sensor (339) arranged directly next to the plastic band (337) - 53 -

is as soon as the plastic tape (337) is almost completely rolled off the roller (334).

40. Electric monorail conveyor according to claim 38 or 39, characterized in that an incremental measuring device (343) for registering the number of revolutions of the roller (334) is arranged on the roller (334).

41. Electric monorail system according to one or more of claims 35 to 40, characterized in that on the handling device (330) gripping devices with grippers (332) for gripping coils (20) or coil-like goods are arranged on their peripheral surface.

42. Electric monorail system according to claim 41, characterized in that the grippers (332) are arranged on the handling device (330) in such a way that the coils (20) can be transported with coil axes arranged essentially horizontally and transversely to the direction of travel.

43. Electric monorail system according to claim 41 or 42, characterized in that the gripping devices are arranged transversely to the direction of travel on the handling device (330).

44. Electric monorail system according to one or more of claims 41 to 43, characterized in that the gripping devices can be controlled independently of one another.

45. Electric monorail conveyor according to one or more of claims 41 to 44, characterized in that the grippers (332) mit- 90/11956

- 54 -

opening width can be changed by means of a parallelogram guide.

46. Electric monorail system according to one or more of claims 38 to 45, characterized in that the motor (340) can be switched off by means of a relief switch (336) arranged on the induction device (333).

47. Electric monorail system according to one or more of claims 38 to 46, characterized in that the winding device (333) can be driven and braked by means of a sliding anchor motor.

48. Electric monorail system according to one or more of claims 35 to 47, characterized in that the handling device (330) in its uppermost position on the vehicle (7) is lockable.

49. Electric monorail conveyor according to claim 48, characterized in that resilient elements for the pretensioned receiving of the handling device (330) are arranged on the locking device.

50. Electric monorail system according to one or more of claims 35 to 49, characterized in that the running rail (47) _. in the direction of travel in front of the vehicle (7) can be cleaned by the exhaust air from the compressor (325).

51. Electric monorail system according to one or more of claims 35 to 50, characterized in that on the vehicle (7) egg - 55 -

ne incremental measuring device (751) is arranged for the distance measuring device.

52. Electric monorail conveyor according to one or more of claims 41 to 51, characterized in that the gripping devices for rotating picked goods are arranged on the handling device (330) so as to be rotatable about a vertical axis.

53. Electric monorail conveyor according to one or more of claims 41 to 52, characterized in that the lateral distance of the gripping devices from one another can be changed such that the gripping devices can be rotated about a vertical axis when the grippers (332) are opened as much as possible.

54. Electric monorail conveyor according to one or more of claims 35 to 53, characterized in that the handling device (330) is arranged on the vehicle (7) so as to be rotatable about a vertical axis.

55. Electric monorail system according to one or more of claims 35 to 54, characterized in that a coil fuse independent of the energy supply can be triggered by the handling device (330) in the wound state.