EP0620145B1 - Transporteur aérien électrique - Google Patents

Transporteur aérien électrique Download PDF

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Publication number
EP0620145B1
EP0620145B1 EP94102618A EP94102618A EP0620145B1 EP 0620145 B1 EP0620145 B1 EP 0620145B1 EP 94102618 A EP94102618 A EP 94102618A EP 94102618 A EP94102618 A EP 94102618A EP 0620145 B1 EP0620145 B1 EP 0620145B1
Authority
EP
European Patent Office
Prior art keywords
vehicle
overhead conveyor
electric overhead
coils
disposed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
EP94102618A
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German (de)
English (en)
Other versions
EP0620145A1 (fr
Inventor
Bernd Bahlmann
Michael Ueding
Udo Riedesel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Rieter Ingolstadt Spinnereimaschinenbau AG
Original Assignee
Rieter Ingolstadt Spinnereimaschinenbau AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Publication of EP0620145A1 publication Critical patent/EP0620145A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B61—RAILWAYS
    • B61L—GUIDING RAILWAY TRAFFIC; ENSURING THE SAFETY OF RAILWAY TRAFFIC
    • B61L23/00—Control, warning or like safety means along the route or between vehicles or trains
    • B61L23/002—Control or safety means for heart-points and crossings of aerial railways, funicular rack-railway
    • B61L23/005—Automatic control or safety means for points for operator-less railway, e.g. transportation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
    • B65H67/064—Supplying or transporting cross-wound packages, also combined with transporting the empty core
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
    • B65H67/064—Supplying or transporting cross-wound packages, also combined with transporting the empty core
    • B65H67/065—Manipulators with gripping or holding means for transferring the packages from one station to another, e.g. from a conveyor to a creel trolley
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H67/00—Replacing or removing cores, receptacles, or completed packages at paying-out, winding, or depositing stations
    • B65H67/06—Supplying cores, receptacles, or packages to, or transporting from, winding or depositing stations
    • B65H67/066—Depositing full or empty bobbins into a container or stacking them
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H2701/00—Handled material; Storage means
    • B65H2701/30—Handled filamentary material
    • B65H2701/31—Textiles threads or artificial strands of filaments

Definitions

  • the invention relates to a device 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.
  • the circular conveyor essentially consists of a chain to which hooks are attached at regular intervals.
  • the chain passes through a drive device with the aid of which the chain is moved.
  • Predefined transport hooks are recognized by sensors, 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.
  • a monorail which is used for the transport of coils.
  • the bobbins coming from the winding machines are fed to the overhead conveyor of a next processing station before being picked up by the vehicle. 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 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 have to be arranged on both the receiving and the dispensing station, which move the coils into a precisely defined position, or which shift pallets at the dispensing station into the position in which the coils open the pallet must be put. In a system with many pick-up and pick-up positions, this means a high economic outlay.
  • a transport device according to the preamble of claim 1 is known from EP-A-0 083 147.
  • 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.
  • 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.
  • 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 turnout, it is briefly stopped before entering the turnout. The vehicle then uses a light signal to indicate e.g. B. light - dark or a pointer, e.g. B. retracted - extended, in which direction the switch must be set. Similar circuits are also advantageous in front of bends to ensure that the bend 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.
  • a light signal to indicate e.g. B. light - dark or a pointer, e.g. B. retracted - extended, in which direction the switch must be set.
  • Similar circuits are also advantageous in front of bends to ensure that the bend 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.
  • 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 depositing 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 the 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.
  • an electric monorail system with a vehicle with facilities 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.
  • gripping devices with grippers for gripping coils or coil-like goods are arranged on the peripheral surface of the handling device.
  • the coils are advantageously transported essentially horizontally and transversely to the direction of travel.
  • the gripping devices can be controlled independently of one another, the goods can be picked up at different pick-up points and / or placed 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.
  • a mechanical lock is provided to secure the coils, which catches the coils.
  • FIG. 1 shows a sketch of a layout of a coil transport system.
  • 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 in FIG. 1, coils 20 which have been generated or provided at sources 1, 2 or 3 are assigned to 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.
  • group 31 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 per unit time or if a small storage space is available for the targets and the type purity is based on a few features, so that the remaining features of coils 20 are not decisive for a type distinction. By combining several sources on a few destinations, in addition to the smaller space requirement and the fewer number of facilities at the destinations, the subsequent logistics are advantageously simplified, since fewer destinations have to be disposed of.
  • 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 inclines or descents. It is also possible to include vertical conveyors in the route system.
  • the running rails 47 are obtained from standardized electric 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.
  • 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.
  • the transport order contains information about the sources and destinations to be approached, about the route to be traveled with the corresponding branches, and about the exact stop point of the vehicle 7 at the sources and destinations.
  • a computer unit 72 of the vehicle 7 it begins to process it. For this purpose, it travels 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 point 42.
  • the vehicle 7 follows the line of the Electric monorail vehicles 7 at the rear.
  • Switches 41 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 transport vehicle.
  • the switches 41 of the route 40, as well as the standby point 42, the sources 1, 2, 3, 4 and 5 and the destinations 10, 11, 12, 13, 14 and 15, are noted in the central computer as prominent points of the route 40.
  • 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 Source 1 is ignored and that source 2 is stopped for a coil pickup. If the vehicle 7 drives over prominent 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.
  • the vehicle 7 travels to a section of the route on which it is parked without blocking the other vehicles 7. On such a branch line, the 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.
  • 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 into 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.
  • the coils 20 are provided for reception by the vehicle in such a way that they lie directly below a gripping device of the vehicle 7. They are advantageously located on a step conveyor belt 100 on which they have been conveyed to the source.
  • the distance between the coils 20, which corresponds to the distance between grippers of the gripping device, depends 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 circumferential 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. For example, if 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 corner region. In the turnout area, switching the block sections prevents vehicles from entering and falling into an open turnout.
  • 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.
  • FIG. 2 shows a coil transport system in which the data transmission between the system controller and the vehicle 7 is carried out using infrared rays.
  • the system control is carried out by a central computer 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 bobbin conveyor belt is stopped only for the bobbin changing process at the individual spinning positions and for depositing a full bobbin on the bobbin conveyor belt.
  • the bobbin conveyor belt opens into a crotch conveyor belt 100 at the end of the rotor spinning machine. As soon as four bobbins have accumulated on the crotch conveyor belt 100, a signal for disposal by the central computer 6 is kept ready.
  • the central computer 6 polls 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 requirement message from the rotor spinning machine 1 or 2 into corresponding orders for the electric monorail vehicles 7.
  • 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. There the transport order is compiled 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.
  • 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 considered 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.
  • the turning station is rotated by 180 °. This ensures that the transport containers are evenly filled with conical coils.
  • the sensors 112 and 212 recognize whether the accumulation roller conveyors 50 have a further holding capacity for full transport containers. If there are full transport containers on the 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.
  • the position to be occupied next in the transport container is determined.
  • the position is advantageously based on a fixed filling pattern, which is described in more detail in relation to FIGS. 14 and 15.
  • This determination 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.
  • the central computer 6 also determines what the storage direction for conical coils 20 must be. As described above, this is due to the location dependent on the conical coils 20 on which the new layer of conical coils 20 is to be placed. If two coil layers with opposite conicity lie one on top of the other, this results in an essentially vertical stacking of the coils 20.
  • the turning station is then moved into the correct position or the order specifies the direction in which the conical coils on the vehicle 7 should be aligned.
  • 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 transmits the data to a computer unit 72 of the vehicle 7.
  • This data represents an internal driving course for 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.
  • synchronization flags 43 Three different types 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 corresponding destination.
  • a signal is sent to the drive of the vehicle 7 via the initiator 71, which causes a reduction in the driving speed. This ensures in an advantageous manner that the braking distances are so short with the reduced driving speed that the relevant positions can be approached exactly.
  • 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.
  • the vehicle continues again at the maximum speed to the intended storage location.
  • 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 emitted 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. The zero flag 45 is then 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 back to standby 42 and waits there for another job.
  • 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.
  • 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 malfunction, which means that the vehicle 7 is no longer able to continue the journey, it is dealt with Section of the route 40 is given an electrical signal which is evaluated by the central computer 6 and which is taken into account for 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, all counters on 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 counter 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.
  • the initiators 71 In the event of vibrations, it is possible for the initiators 71 to pass the same counting flag 44 forward and backward several times. By switching the two initiators 71 is now caused that when the counting flag 44 passes over The counter is incremented by one, while in the event of a backward overrun the counter is decreased by one. 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 setting up sources and destinations. At low cost, new sources and destinations can be integrated into existing systems by arranging additional counting flags 44 without changing the active components of the vehicles 7, which are more complicated than the flags.
  • 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.
  • 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.
  • 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 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.
  • 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 around 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 system control i.e. Signals received on the vehicle 7 via the infrared receiver 62 are forwarded to a programmable logic controller 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 information about the pick-up and drop-off point as well as the switch positions of the switches that are necessary for 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 cost-effective if the data transmission to the programmable logic controllers 81 of the stationary part takes place via lines.
  • FIG. 4 shows an advantageous alternative to optical data transmission using infrared rays.
  • 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 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 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.
  • the travel rail 47 is advantageously a travel rail for electric monorails according to VDI guideline 3643 / C1.
  • 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.
  • 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, the computer unit 72 receives its signals via an infrared receiver 62 arranged on the housing 76.
  • 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 rail 47 is least occupied by obstacles. There is a line of sight for optical data transmission 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 rails 47 are supported with floor supports, an arrangement on the vehicle 7 above the rail 47 is more advantageous, since in this case the obstacles below the 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.
  • 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 coils are picked up and put down with very little effort for the placement of the pick-up and depositing point. 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, so the hanger 76 is articulated, resulting in a loss of stability, which is compensated for by additional trolleys 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. It is thus possible to equip vehicles with, for example, three, four or five pairs of grippers 332 without great additional effort. 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 four coils 20 fit in a row in the 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, which would cause them 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.
  • the grippers 332 are controlled pneumatically.
  • the gripping force of the grippers 332 can be adjusted depending on the pneumatic pressure. This ensures that coils with a low coil 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 rotated 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.
  • 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.
  • the force for gripping the coils depending on the coil density can be adjusted via a valve for regulating the air pressure on the gripping device.
  • 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.
  • the gripping device shown in FIG. 5 it is possible with the gripping device shown in FIG. 5 to grip coils of different diameters.
  • the gripping devices 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. The low arrangement of the switch box 310 makes it 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 possible to connect a manual control to the vehicle 7.
  • the manual control ensures that in the event of a defect, for example the central computer 6, the sources can be disposed of 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 or 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.
  • 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 The measured distance is transmitted to the computer unit 72, whereby a signal is given to the motor 741 after the intended distance has been reached, so that the motor stops the vehicle 7.
  • the pressure vessel 320 is connected to the handling device 330 via spirally wound compressed air hoses 322.
  • the spirally wound compressed air hoses 322 advantageously prevent the compressed air hoses 322 from jamming when the handling device 330 moves.
  • the spirally wound compressed air hoses 322 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.
  • the compressed air hoses 322 are attached to the handling device 330 via a rocker 323.
  • 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.
  • the rocker 323 folds flat against the top 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 allows minimal surface pressure on the winding of the coils. 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.
  • 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.
  • FIG. 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.
  • a gear 341 is arranged on the carrier 331 following the motor 340.
  • the gear 341 increases 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 installation and adjustment option, since it can compensate for slight axis misalignments. If excessive forces occur on the handling device 330, the coupling 342 acts as protection for the motor 340 and 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 is measured. This is advantageous in order to measure an exact measurement of the current 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 low-vibration suspension of the grippers 332.
  • 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.
  • 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 vanes 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.
  • the housing 76 is shown without a gripper 332 and without a switch box 310.
  • the functional units motor 340, transmission 341, coupling 342 and the roller 334 are advantageously arranged below the cross member 300. This ensures that the 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.
  • shock absorbers 344 Another advantage of the shock absorbers 344 is that the grippers 332 are always in a slightly prestressed 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.
  • 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.
  • 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 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 knife (not shown) and an incremental encoder.
  • the incremental encoder 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.
  • 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 support 301 ensures stable attachment of the individual devices that are necessary for processing the transport order.
  • 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 cross member 300 via centrally arranged suspensions.
  • the traverse 300 represents the interface to the commercially available elements of an electric monorail system.
  • 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 transverse 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 smooth up and down movement of the handling device 330 attached to the plastic band 337.
  • One of the deflection rollers 335 is mounted such that it can move in height. If the plastic band 337 is loaded, i.e. if the handling device 330 hangs freely on the plastic straps 337, the deflection 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.
  • 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, whereby 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 the metal body 338 wrapped plastic tape 337 prevented.
  • the relief switch 336 is relieved and gives 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.
  • the storage of the vertically movable deflection roller 335 can be seen from this.
  • 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.
  • 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, that activates the compressed air cylinders on the handling device 330 and thereby closes the grippers 332.
  • the motor 340 is set in motion again and winds the plastic tape 337 onto the roller 334.
  • the handling device 320 is conveyed into the position in FIG. 12.
  • the handling device 330 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, it is ensured in this position that the overall height of the vehicle 7 reaching below the lower edge of the running rail 47 is minimized. This reduces the risk of collision with obstacles.
  • the handling device 330 is located in a transport container 51.
  • the grippers 332 still include the coils 20.
  • the pneumatic cylinders of the handling device 330 are brought into a depressurized position.
  • the grippers 332 are not pressurized with compressed air, so that the grippers 332 exert essentially no force on the coils 20.
  • the articulated arrangement of the grippers 332 ensures that the lateral space requirement of the grippers 332 when opening is minimal.
  • 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 distinctive in the case of 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.
  • 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 complexity, in particular since only one winding 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.
  • 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.
  • 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.
  • 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. So it is advantageous if the greater part of the distance to be unwound is carried out at a faster speed.
  • the arrangement of the plastic strips 337 laterally next to the travel rail 47 such that the width of the plastic strip 337 extends in the direction of travel advantageously achieves that on the one hand high lateral stability is achieved and on the other hand stability against pivoting movements in the direction of travel is achieved . This is further supported by the widely spaced fastening points of the plastic band 337 on the handling device 330.
  • FIG. 14 and 15 show different filling patterns for bobbins of different diameters in the transport container 51.
  • a characteristic of the filing sequence of the bobbins is the principle that the bobbins are deposited in the transport container 51 from the center outwards. This filing sequence opens up the advantage that, particularly in the case of the coils coming to rest on the container edge, they safely assume their predetermined position.
  • the critical positions are the positions with the numbers 8, 9, 17, 18, 26 and 27.
  • 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.
  • a plurality of coils are arranged one behind the other in the positions 51 in FIGS. 14 and 15 in the designated positions. These are advantageously four coils, as can be seen in FIG. 1.
  • the arrangement of the handling device 330 on the vehicle 7, as well as the overall conception of the self-sufficient vehicle 7, means that a filing sequence corresponding to the filling pattern of FIGS. 14 and 15 can be carried out in an advantageous manner.
  • the filing order is determined in accordance with the different coil diameters in the transport container 51.
  • the fact that the already occupied locations are stored in the transport container 51 in the central computer 6 results in the storage location for the subsequent coils.
  • 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. It can be clearly seen here 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.
  • FIG. 16 shows the side view of the handling device 330.
  • 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.
  • FIG. 17 shows the side view of the handling device 330.
  • the attachment 346 is designed such that the entire width of the plastic strap 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.
  • this guide rod 351 brings about a parallelogram-like geometry of the pivot points, so that the grippers 332 are always vertical.
  • 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.
  • FIG. 18 shows half representations of the handling device 330 when transporting spools 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.
  • the safety device 400 is provided to secure the coils 20 in the event of a power failure. A power 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 they can be detected by the handling device 330 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 collision protection against vehicles 7 driving in front.
  • 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.
  • 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.
  • the motor first switches to slow travel and then stops. It has been shown that the braking distance is shorter as a result than an immediate standstill of the drive. 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.
  • a switch it is possible for a switch to be recognized in which direction the vehicle 7 must continue in order to complete the transport order.
  • 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 control. This information can be used for the next transport orders to determine the exact storage position of the next goods.
  • 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 separate storage bins.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Health & Medical Sciences (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Conveyors (AREA)
  • Replacing, Conveying, And Pick-Finding For Filamentary Materials (AREA)
  • Winding, Rewinding, Material Storage Devices (AREA)
  • Preliminary Treatment Of Fibers (AREA)
  • Screw Conveyors (AREA)
  • Drying Of Solid Materials (AREA)
  • Harvesting Machines For Root Crops (AREA)
  • Warehouses Or Storage Devices (AREA)

Claims (21)

  1. Transporteur électrique comprenant un véhicule pourvu d'installations qui sont aptes à traiter une commande de transport, un calculateur central (6) étant affecté à la voie aérienne et une unité calculatrice (72) pouvant communiquer avec le calculateur centrale (6) ainsi que les installations servant à l'entraînement (340,341,342), à la commande (72) et au maniement (330) des biens à transporter étant disposées au véhicule (7), caractérisée en ce que le transporteur électrique est un transporteur électrique aérien et en ce qu'au véhicule (7) est disposée l'installation d'aiguillage.
  2. Transporteur aérien électrique selon la revendication 1, caractérisée en ce qu'au véhicule (7) est disposée un installation génératrice d'air comprimé (320, 325) pour le maniement (330) des biens à transporter.
  3. Transporteur aérien électrique selon la revendication 1 ou 2, caractérisée en ce que l'installation de maniement (330) est reliée au véhicule (7) par des composants variables en longueur qui sont rigides en direction de transport du véhicule (7) et flexible transversalement à la direction de transport du véhicule (7).
  4. Transporteur aérien électrique selon la revendication 3, caractérisée en ce que les composants variables en longueur sont des rubans (337) en matière synthétique de faible épaisseur et d'une grande largeur qui peuvent être renvidés sur un cylindre (334) moyennant un dispositif de renvidage (333).
  5. Transporteur aérien électrique selon la revendication 4, caractérisée en ce que dans au moins un des rubans (337) en matière synthétique, à une faible distance de son bout supérieur, il est disposé un corps (338) métallique qui peut être saisi par un détecteur (339) disposé immédiatement à côté du ruban (337) en matière synthétique, dès que le ruban (337) en matière synthétique est déroulé presque complètement du cylindre (334).
  6. Transporteur aérien électrique selon la revendication 4 ou 5, caractérisée en ce qu'au cylindre (334) il est disposé un dispositif de mesure incrémentiel (343) servant à l'enregistrement du nombre de tours du cylindre (334).
  7. Transporteur aérien électrique selon l'une ou plusieurs des revendications 1 à 6, caractérisée en ce qu'à l'installation de maniement (330) il sont disposés des dispositifs de préhension pourvus de griffes servant à la saisie de bobines (20 ) ou de biens analogues, à leur surface circonférentielle.
  8. Transporteur aérien électrique selon la revendication 7 caractérisée en ce que les griffes (332) sont disposées de telle manière à l'installation (330) de maniement que les les bobines (20) peuvent être transportées leur axe étant disposé essentiellement de façon horizontale et transversalement à la direction de transport.
  9. Transporteur aérien électrique selon la revendication 7 ou 8, caractérisée en ce que les dispositifs de préhension sont disposés à l'installation (330) de maniement transversalement à la direction de transport.
  10. Transporteur aérien électrique selon l'une ou plusieurs de revendications 7 à 9, caractérisée en ce que les dispositifs de préhension peuvent être commandés indépendamment l'un de l'autre.
  11. Transporteur aérien électrique selon l'une ou plusieurs des revendications 7 à 10, caractérisée en ce que la largeur d'ouverture des griffes (332) peut être modifiée au moyen d'une commande par parallélogramme.
  12. Transporteur aérien électrique selon l'une ou plusieurs des revendications 4 à 11, caractérisée en ce qu'au moyen d'un interrupteur de décharge (336), disposé au dispositif (333) de renvidage, le moteur (340) peut être déclenché.
  13. Transporteur aérien électrique selon l'une ou plusieurs des revendications 4 à 12, caractérisée en ce que le dispositif de renvidage (333) peut être entraîné et freiné au moyen d'un moteur à induit coulissant.
  14. Transporteur aérien électrique seion l'une ou plusieurs des revendications 1 à 13, caractérisée en ce que l'installation de maniement (330) peut être arrêtée au véhicule (7) dans sa position extrême haute.
  15. Transporteur aérien électrique selon la revendication 14, caractérisée en ce qu'au dispositif d'arrêt il sont disposés des éléments élastiques pour la réception prétendue de l'installation de maniement (330).
  16. Transporteur aérien électrique selon l'une ou plusieurs des revendications 1 à 15, caractérisée en ce que le rail (47) de roulement peut être nettoyé devant le véhicule (7), en direction du déplacement, par l'air d'échappement du compresseur (325).
  17. Transporteur aérien électrique selon l'une ou plusieurs des revendications 1 à 16, caractérisée en ce qu'au véhicule (7) il est disposé un dispositif de mesure incrémentiel (751) destiné à la mesure du parcours.
  18. Transporteur aérien électrique selon l'une ou plusieurs des revendications 7 à 17, caractérisée en ce que les dispositifs de préhension sont montés à l'installation de maniement (330) de façon mobile autour d'un axe vertical pour pouvoir tourner des biens saisis.
  19. Transporteur aérien électrique selon l'une ou plusieurs des revendications 7 à 18, caractérisée en ce que l'écart latéral des dispositifs de préhension, l'un par rapport à l'autre, peut être modifié de telle manière que les dispositifs de préhension peuvent être tournés autour d'un axe, les griffes (332) étant ouvertes au maximum.
  20. Transporteur aérien électrique selon l'une ou plusieurs des revendications 1 à 19, caractérisée en ce que l'installation de maniement (330) est disposée au véhicule (7) de façon mobile autour d'un axe vertical.
  21. Transporteur aérien électrique selon l'une ou plusieurs des revendications 1 à 20, caractérisée en ce que par l'installation de maniement (330), en état renvidé, un dispositif de sécurité pour bobines qui est indépendant de l'alimentation en énergie peut être enclenché.
EP94102618A 1989-04-07 1990-04-06 Transporteur aérien électrique Expired - Lifetime EP0620145B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE3911451 1989-04-07
DE3911451 1989-04-07
EP90905429A EP0427814B1 (fr) 1989-04-07 1990-04-06 Procede et dispositif pour transporter des bobines ou articles similaires utilises dans l'industrie textile

Related Parent Applications (3)

Application Number Title Priority Date Filing Date
EP90905429A Division-Into EP0427814B1 (fr) 1989-04-07 1990-04-06 Procede et dispositif pour transporter des bobines ou articles similaires utilises dans l'industrie textile
EP90905429A Division EP0427814B1 (fr) 1989-04-07 1990-04-06 Procede et dispositif pour transporter des bobines ou articles similaires utilises dans l'industrie textile
EP90905429.8 Division 1990-04-06

Publications (2)

Publication Number Publication Date
EP0620145A1 EP0620145A1 (fr) 1994-10-19
EP0620145B1 true EP0620145B1 (fr) 1997-10-22

Family

ID=6378170

Family Applications (2)

Application Number Title Priority Date Filing Date
EP90905429A Expired - Lifetime EP0427814B1 (fr) 1989-04-07 1990-04-06 Procede et dispositif pour transporter des bobines ou articles similaires utilises dans l'industrie textile
EP94102618A Expired - Lifetime EP0620145B1 (fr) 1989-04-07 1990-04-06 Transporteur aérien électrique

Family Applications Before (1)

Application Number Title Priority Date Filing Date
EP90905429A Expired - Lifetime EP0427814B1 (fr) 1989-04-07 1990-04-06 Procede et dispositif pour transporter des bobines ou articles similaires utilises dans l'industrie textile

Country Status (8)

Country Link
EP (2) EP0427814B1 (fr)
JP (1) JPH03505719A (fr)
AT (1) ATE124015T1 (fr)
BR (1) BR9006275A (fr)
CS (1) CS174090A2 (fr)
DD (1) DD300532A5 (fr)
DE (2) DE59009286D1 (fr)
WO (1) WO1990011956A2 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1522516A1 (fr) 2003-10-08 2005-04-13 Neuenhauser Maschinenbau GmbH Dispositif pour le transport des bobines

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JPH04316641A (ja) * 1991-02-21 1992-11-09 Tsudakoma Corp 給糸体の準備方法および準備機構
DE4409522A1 (de) * 1994-03-19 1995-09-21 Hacoba Textilmaschinen Verfahren und Vorrichtung zum Bestücken der Spulendorne eines Spulengatters
JP2007505801A (ja) * 2003-09-16 2007-03-15 ザウラー ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 巻取り機
CN108996094A (zh) * 2018-08-03 2018-12-14 苏州艾斯达克智能科技有限公司 全自动供换料管理方法
AT525853A1 (de) * 2022-02-04 2023-08-15 Tgw Mechanics Gmbh Verbesserte Hängefördervorrichtung für ein Kommissioniersystem und Transportträger zum Transport von Hängeware
DE102022116488A1 (de) * 2022-07-01 2024-01-04 Hsf Automation Gmbh Greifvorrichtung für ein Stanzsystem, Teilapparat, Stanzsystem und Verfahren zum Anpassen einer Greifvorrichtung und eines Teilapparats

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JPS5429797B2 (fr) * 1974-08-30 1979-09-26
DE3132559A1 (de) * 1981-08-18 1983-03-17 Gebhardt Fördertechnik GmbH, 6920 Sinsheim Verfahren zum steuern einer paletten-verteileranlage
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JPS61217321A (ja) * 1985-03-11 1986-09-26 村田機械株式会社 コーン状物品の箱詰め装置
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1522516A1 (fr) 2003-10-08 2005-04-13 Neuenhauser Maschinenbau GmbH Dispositif pour le transport des bobines

Also Published As

Publication number Publication date
WO1990011956A2 (fr) 1990-10-18
EP0427814A1 (fr) 1991-05-22
DE59009286D1 (de) 1995-07-27
JPH03505719A (ja) 1991-12-12
DE59010769D1 (de) 1997-11-27
EP0427814B1 (fr) 1995-06-21
DD300532A5 (de) 1992-06-17
BR9006275A (pt) 1991-08-06
EP0620145A1 (fr) 1994-10-19
ATE124015T1 (de) 1995-07-15
WO1990011956A3 (fr) 1991-02-07
CS174090A2 (en) 1991-09-15

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