WO2020249768A1

WO2020249768A1 - Bobbin transport vehicle, winding machine installation, method for exchanging a bobbin for a bobbin tube on a winding machine, and software with control logic

Info

Publication number: WO2020249768A1
Application number: PCT/EP2020/066363
Authority: WO
Inventors: René RIMBACH; Christian BUTTERWECK; Frank EBENAU
Original assignee: Georg Sahm Gmbh & Co. Kg
Priority date: 2019-06-14
Filing date: 2020-06-12
Publication date: 2020-12-17
Also published as: DE102019116207A1

Abstract

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

Description

REEL CASE TRANSPORT VEHICLE, REEL MACHINE SYSTEM, PROCEDURE FOR REPLACING A REEL FOR A REEL CASE ON A DISHWASHER AND

SOFTWARE WITH CONTROL LOGIC

TECHNICAL FIELD OF THE INVENTION

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

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

STATE OF THE ART

WO 98/24952 A1 discloses a winding machine system with several dishwashers arranged in rows, on which items to be wound are wound in parallel on tubular bobbin tubes to form bobbins. The rows of dishwashers form alleys with one at each end Coil tube supply device in the form of a bobbin tube storage device is arranged. The dishwashers have transfer devices by means of which finished coils can be transferred to a bobbin transport vehicle. The winding machine system also has a bobbin removal device with several shelves with assigned shelf conveyors, roller tables, input and output stations, converters, turning devices, transfer units, etc. It is proposed that the bobbins be held individually on trays or pallets and then in the Shelves are stored. The shelves can be high shelves with a variety of storage spaces. The winding machine system can also have a packaging area, which is supplied with bobbins via a suitable conveyor. In the packaging area, the reels are packed in foils and / or cardboard boxes and made available for removal. A fully automatic handling system connects the area in which the dishwashers are located with the bobbin removal device. The handling system is controlled by means of a central process control that spans the winding machine system. The handling system has a transport device, a transfer station and a separating device. The transport device consists of at least one conveyor which can be moved along the rows of dishwashers. Here, the transport device should ensure the handling and transport of the bobbins. The transport device can be designed as a floor-bound and preferably inductively guided, remotely controllable transport vehicle. But it is also possible that the transport device is an overhead conveyor such as a monorail overhead conveyor and. Ä. is. The transport device has multiple receptacles for receiving and transporting reels or doffs. These receptacles consist of several pins arranged next to one another in a row, which are aligned transversely to the direction of travel of the transport device and in a transfer position in front of the dishwasher are aligned with the dishwasher spindle. The pins can be arranged pivotably on the transport device in such a way that they can be inserted with spindles of dishwashers on both sides of the aisle formed between rows of dishwashers without the transport device having to be turned. Furthermore, the transport device can be used to supply the dishwasher with an empty bobbin tube that has previously been removed from the bobbin tube supply device after a completely wound bobbin has been removed. The transport device can have a transfer device such as a slide or a conveyor spindle, by means of which the coils held on the transport device are pushed from the pins. The winding machine system can control Have places where an automatic and / or visual inspection of the coils is carried out. A visual inspection of the quality of the bobbins, weighing the bobbins, labeling the bobbins, tying, peeling off or knotting the end areas of the goods to be wound or other work can be carried out here. EP 3 181 501 B1 also discloses a winding machine system in which dishwashers are arranged in two rows with a lane arranged in between. Each row of dishwashers has a transfer device which is moved along a rail extending in the longitudinal direction of the row and is suspended from the rail. When a bobbin is completely wound, the assigned dishwasher transmits a transfer request to a control unit assigned to the row of winding machines. As a result of this transfer request, the control unit controls a drive in such a way that the transfer device is moved along the rail to the completely wound bobbin. The dishwasher dispenses the fully wound bobbin and the dishwasher is equipped with an empty bobbin tube. The transfer device has an electric drive that is controlled by the control unit and causes the movement along the rail. The transfer device has a sensor which detects the presence of a person in the vicinity of the transfer device. This sensor can be designed, for example, as an optical sensor or an infrared sensor. If the sensor detects the presence of a person in the vicinity of the transfer device, a warning signal can be generated, for example via a loudspeaker or an optical display. The control unit can also be responsible for specifying the settings of the dishwashers in accordance with manual inputs by a user.

Another winding machine system is known from EP 3 470 560 A1.

DE 40 13 066 A1 discloses a bobbin changing device for bobbins with warp threads of a weaving machine. The bobbin changing device has a trolley with a fork-shaped holder for holding a bobbin. To receive a reel through the holder, the parallel arms of the fork-shaped holder are brought into a position in which they are aligned with guide rails of a reel chute. The end regions of a sleeve of a reel can roll along the guide rails of the reel chute and roll onto the fork-shaped holder until the end regions of the sleeve are received in concave receiving recesses in the upper sides of the arms of the fork-shaped holder. The fork-shaped holder engages around the coil with a support of the coil in the region of the end regions of the sleeve in the receiving recesses. The trolley can be moved in translation along a guide rail, while the fork-shaped holder can be moved transversely to the degree of freedom of the trolley via a first trolley. The transport carriage transports the bobbin held on the holder along the guide rail to a stationary pin in such a way that the bobbin is arranged coaxially with the pin. If the first carriage of the transport carriage, which carries the holder and thus the coil, is moved in the direction of the pin, the pin can enter the sleeve of the coil. When the holder is lowered, the coil is transferred to the pin, whereby the end regions of the sleeve emerge from the receiving recesses of the fork-shaped holder. On the transport carriage, a second carriage can be moved across the degree of freedom of the reel carriage. A receiving device is held on this second carriage, which is used to remove an empty tube after the reel has been unwound from a pin. The receiving device has two semi-cylindrical retaining plates. The retaining plates are held on scissor-like spreading arms so that they can pivot about a vertical axis. The scissor-like spreading arms are moved between an open position and a closed position by a drive via a lever mechanism. In the closed position of the retaining plates, they can enclose an empty sleeve. By moving the second carriage away from the pin, an empty sleeve received in the retaining plate can be pulled off the pin. With an opening in the retaining plate, the empty sleeve falls onto a sleeve slide, via which it is then removed. DE 29 37 620 A1 discloses a device for handling bobbins in the area of a textile machine. Here, after winding, bobbins can be pushed onto a mobile bobbin receiving device in the area of a winding machine by means of pneumatic actuating cylinders. In order to enable the bobbins to be pushed by the mobile bobbin holder onto a pin of a creel, the pins of the mobile bobbin holder are held pivotably between two different, locked positions on a frame of the mobile bobbin holder.

In

Günter Ullrich: Driverless transport systems. Wiesbaden: Vieweg + Teubner Verlag, 1st edition 2011, ISBN 978-3-8348-0791-5 Driverless transport systems are described that can be used in a production plant for motor vehicles or in a hospital. A system architecture of the driverless transport system and the functional modules of a control system for such driverless transport systems are also described. The book also describes different wheel configurations of a driverless transport system, options for supplying energy to the driverless transport system and options for contactless energy transmission.

OBJECT OF THE INVENTION

The invention is based on the object - a device that can be used when replacing a bobbin with an empty bobbin case

Bobbin transport vehicle,

an improved winding machine system for such an exchange,

a method for replacing a bobbin with a bobbin case in a dishwasher and

- to propose a data package used for this purpose, a data carrier that can be used for this purpose, or software that can be replaced for this purpose.

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

DESCRIPTION OF THE INVENTION

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

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

In principle, the bobbin holding device and / or the bobbin case holding device can be designed in any way with any holding device. According to the invention, the coil holding device on which a coil can be held is a passive coil holding device. Alternatively or cumulatively, the bobbin case holding device on which a bobbin case can be held can be a passive bobbin case holding device. In particular, there are no actuators for generating the holding effect or clamping the bobbin case in the bobbin case holding device and for eliminating the holding effect or the clamping effect. Rather, the bobbin case holding device and / or the Coil holding device can be actuated movement-controlled by the movement of the bobbin transport vehicle within the scope of the invention. To name only a few non-limiting examples of the invention, the movement-controlled actuation can consist in that, as a result of the movement of the bobbin transport vehicle (for example in the direction of a bobbin or bobbin case to be picked up, in the direction of a pin or a spindle or a frame, on the or which is holding a spool or tube to be picked up or to which or to which the bobbin or bobbin case is to be transferred) the bobbin case holding device or the bobbin holding device is transferred from a holding position or holding position to a released position (or vice versa). The energy for this actuation is thus provided by the drive with which the coil former transport vehicle is moved relative to the ground. It is possible that, without the movement-controlled actuation, the bobbin case holding device or bobbin holding device can be returned to the other operating position by a return mechanism or a return spring. The bobbin transport vehicle according to the invention can be moved freely using a control system and can thus be moved back and forth between the individual devices of the winding machine system as required, which is, for example, for the purpose of picking up an empty bobbin tube, for the purpose of removing a completely wound bobbin from a dishwasher, for the purpose of attaching the bobbin case to a spindle of a dishwasher and / or for the purpose of delivering a previously removed, completely wound bobbin to a bobbin removal device. With this movement, the movement-controlled actuation of the bobbin case holding device or bobbin holding device also takes place.

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

In the context of the invention it is also possible that the bobbin transport vehicle already carries a bobbin case held on the bobbin case holding device when the bobbin is removed from the dishwasher by means of the bobbin holding device. As a result, immediately after removing the bobbin and holding it on the bobbin holding device, the carried bobbin case is transferred to the empty spindle of the dishwasher can be attached without the finished wound coil having to be transported away beforehand or the bobbin case having to be picked up from a bobbin case supply device. As a result, the period of time for changing from the completely wound bobbin to the beginning of the new winding process on the empty bobbin tube can be shortened. The coil body transport vehicle can be driven in any way, for example by means of a fossil fuel. However, the coil body transport vehicle is preferably driven electrically. A wired power supply for the coil former transport vehicle can also be provided from an external power source. For an embodiment according to the invention, however, an accumulator is present (in or on the bobbin transport vehicle). The accumulator provides the energy for a drive and / or a steering of the coil former transport vehicle, so that the coil former transport vehicle is self-sufficient in terms of energy supply (at least in partial operating areas).

The bobbin transport vehicle can communicate with the associated devices such as the dishwasher, a central control unit of the winding machine system, a bobbin case supply device and / or a bobbin removal device in any way, in particular wired. For a proposal of the invention, a wireless transmitting and / or receiving device is provided on the bobbin transport vehicle, which can communicate wirelessly with the aforementioned devices and control units. By means of the wireless transmitting and / or receiving device of the bobbin transport vehicle, this can receive indicators or signals from a central control unit, whereby this can trigger the movement of the bobbin transport vehicle to a device or away from it. It is also possible, however, for the coil body transport vehicle to transmit a status signal to another control unit via the wireless transmitting and / or receiving device of the bobbin transport vehicle. For example, by means of the transmitting and / or receiving device, an indicator can be transmitted that there is a coil on a coil holding device of the coil body transport vehicle and / or that a coil case is and / or is on a coil case holding device of the coil body transport vehicle the bobbin transport vehicle is located in a vorbe certain relative position and / or orientation with respect to one of the said facilities. These signals or indicators can then be used by the other control units for the further function of the dishwasher, the bobbin tube supply device and the bobbin removal device, as will be explained in more detail below. In principle, the bobbin holding device and the bobbin case holding device can be arranged as desired on the bobbin transport vehicle, whereby this can be done, for example, one above the other or next to one another, or can also be displaced vertically or horizontally relative to a support structure of the bobbin transport vehicle using a suitable actuator . For an embodiment according to the invention, the bobbin holding device and bobbin case holding device are arranged on different sides of the bobbin transport vehicle. These different sides are preferably opposite sides which, for example, can be oriented in the direction of travel when the bobbin transport vehicle travels forwards and backwards. This embodiment has the particular advantage that, depending on whether the bobbin holding device is to be operated or the bobbin case holding device is to be operated, the bobbin transport vehicle with the side having the desired device in the direction of the dishwasher or a device can be moved, which then this device can interact with the dishwasher or the device, while the other device can not interact with the dishwasher or device. If an operation of the other device is then desired, the bobbin transport vehicle turns, so that the other device can be effective.

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

It is possible that the bobbin case holding device has a bobbin case clamping device with which a bobbin case can be clamped radially from the outside. This configuration has As a result, the bobbin case can also be plugged onto a spindle when it is clamped from the outside by the bobbin case clamping device, which makes handling easier.

The bobbin case clamping device can be designed as desired. For one proposal of the invention, the bobbin case tensioning device has at least one tensioning element which is acted upon radially inward by means of a tensioning spring. The tensioning force of the bobbin case tensioning device can then at least be influenced via the tensioning spring. The tensioning element and the tensioning spring can be transferred to a non-tensioning position by any mechanism or an actuator, while the tensioning spring then provides the tensioning force acting on the bobbin without the actuator acting. For a special proposal of the invention, the tensioning element can be moved radially outward in a movement-controlled manner against the action of the tensioning spring. In this case, the movement is controlled by the movement of the bobbin transport vehicle as a result of the approach of the bobbin transport vehicle to a bobbin case or a bobbin case supply device holding the bobbin case. Thus, the drive can generate a force with the movement when approaching, which moves the tensioning element into an open position and further tensions the tensioning spring. In this expanded open position of the clamping element, the bobbin tube can then be accommodated by the bobbin tube clamping device. As a result of the action of the tension spring, however, there is a radial tensioning of the bobbin case in the bobbin case clamping device. For a special proposal of the invention, the bobbin case tensioning device enables a sliding relative movement between the bobbin case held by the bobbin transport vehicle and a dishwasher or a fixing device of the dishwasher and after making contact with a stop, in particular a stop of the fixing device the bobbin case clamping device and the bobbin case. This sliding relative movement can be made possible, for example, by suitable dimensioning of the clamping force of the bobbin case in the bobbin case clamping device and the structural specification of the friction coefficient of the clamping element. Such a sliding relative movement can be used for tolerance compensation, which may be necessary, for example, if the determination of the position of the bobbin transport vehicle is subject to inaccuracy or the bobbin case is accommodated in the bobbin case clamping device with an axial fluctuation. To this sliding movement too enable, the bobbin case tensioning device does not take up the bobbin case so far that it rests against a stop or the floor or base of the bobbin case tensioning device, but that there is still a remaining path that the bobbin case further into the bobbin case as a result of the sliding relative movement. Clamping device can occur for the purpose of guaranteeing tolerance compensation when it hits the stop.

It is possible that the bobbin transport vehicle has a control unit and / or a control unit is arranged externally from the bobbin transport vehicle. The control unit can have a control logic which, in the presence of an indicator indicating that a bobbin case is to be picked up from a bobbin case provision device, controls the drive and / or the steering of the bobbin transport vehicle so that the bobbin transport vehicle moves to the bobbin case - Provisioning facility moved. The bobbin case can then be picked up by the bobbin case clamping device (in particular with a movement control through the movement of the bobbin transport vehicle) and the bobbin case held on the bobbin transport vehicle can then be handled and moved.

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

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

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

Alternatively or cumulatively, it is possible for the control logic to generate an actuation signal for a transfer device when an indicator is present, which indicates that the coil former transport vehicle is in a predetermined position and / or location relative to a coil. The transfer device, which can be designed, for example, as a slide of the dishwasher, transfers the fully wound coil from a spindle of the dishwasher to the bobbin holding device of the bobbin transport vehicle. Alternatively or cumulatively, it is possible that the control logic controls the drive and / or the steering of the bobbin transport vehicle in such a way that if an indicator is present that indicates that a transfer device has transferred the bobbin from a spindle of the dishwasher to the bobbin holding device the bobbin transport vehicle moves away from the dishwasher. The bobbin transport vehicle can then drive, for example, to the bobbin removal device, where the fully wound bobbin is then transferred to the bobbin removal device.

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

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

Another solution to the problem on which the invention is based is a winding machine system which has a dishwasher (preferably a winding unit with a large number of washing machines) and (at least) one bobbin transport vehicle, as has been described above. Furthermore, the winding machine system has a bobbin tube supply device and / or a bobbin removal device.

A further solution to the object on which the invention is based is a method for replacing a bobbin with a bobbin case in a dishwasher, this method being used in connection with a bobbin transport vehicle, as described above, and / or in connection with a winding machine system can be used. It is possible that in the method in the area of a bobbin case supply device, a bobbin case is clamped by a passive bobbin case clamping device of a bobbin transport vehicle. This takes place in that a drive and / or a steering of the bobbin transport vehicle are activated in order to bring about a movement of the bobbin transport vehicle. By this movement, the bobbin case clamping device is actuated in a motion-controlled manner, with which the bobbin case is clamped by the bobbin case clamping device. No additional actuator is therefore required for actuating the bobbin case clamping device and clamping the bobbin case - the drive and / or steering of the bobbin transport vehicle can be used to activate the clamping of the bobbin case clamping device.

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

Alternatively or cumulatively, it is possible that in the method a drive and / or a steering of the bobbin transport vehicle is controlled in such a way that a coil holding device of the bobbin transport vehicle is in a predetermined relative position and / or orientation with respect to one on a Spindle of a dishwasher wound coil is located. If there is then an indicator that the coil holding device of the coil former transport vehicle is in the predetermined relative position and / or orientation with respect to the is located on the dishwasher wound coil, a transfer device of the dishwasher, in particular a slide, is operated. As a result of the actuation of the transfer device, the bobbin is transferred from the spindle to the bobbin holding device of the bobbin transport vehicle. A further solution to the object on which the invention is based is a data carrier, a data packet or software with control logic or commands for executing a method as explained above.

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

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

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

BRIEF DESCRIPTION OF THE FIGURES

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

Fig. 1 shows schematically a winding machine system. Fig. 2 shows a three-dimensional view obliquely from above a bobbin-Trans port vehicle.

FIG. 3 shows the bobbin transport vehicle according to FIG. 2 in a side view. Fig. 4 shows a three-dimensional view of a coil holding device of a coil body transport vehicle according to FIGS. 2 and 3. FIG. 5 shows a three-dimensional view of a bobbin case holding device

Bobbin transport vehicle according to FIGS. 2 and 3.

Fig. 6 shows the bobbin tube holding device according to FIG. 5 in a part demon-oriented state obliquely from behind.

7 to 9 show a three-dimensional representation, a plan view and a front view of a winding machine system.

10 and 11 schematically show a method for handling bobbins and bobbin sleeves and an exchange of a reel that has been completely wound on a dishwasher for an empty bobbin case. FIGURE DESCRIPTION

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

1 shows, in a highly schematic manner, a winding machine system 1. The winding machine system 1 has several dishwashers 2a, 2b,..., Only one of these dishwashers 2 being shown in FIG. The dishwashers 2 can be arranged in one or more rows one above the other and / or next to one another, possibly also with the formation of alleys (cf. the prior art mentioned at the beginning).

The dishwasher 2 has a control unit 3 which controls the operation of the dishwasher 2 and executes the functions of a dishwasher 2 which are known per se. The dishwasher 2 also has a fixing device 4. In the fixing device 4, in an active position of the fixing device 4, a spool sleeve 41 can be fixed at least axially on a spindle 53 of the dishwasher 2. In contrast, in a deactivated position of the fixing device 4, the spool sleeve 41 is not fixed (axially) on the spindle 53. The dishwasher 2 has a transfer device 5. By means of the transfer device 5, after a bobbin 52 has been wound by the dishwasher 2, the bobbin 52 can be transferred from the dishwasher 2 to a bobbin transport vehicle 6, which is preferably done by pushing the bobbin 52 down from the Spindle 53 of the dishwasher 2 takes place.

The dishwasher 2 can have the components known per se from the prior art and carry out the functions known per se. For example, the winding machine 2 can produce a bobbin 53 on a bobbin case 41 with the creation of a winding on the bobbin case 41 from any material to be wound. The dishwasher 2 preferably has two parallel spindles 53 held on a revolver, whereby the spindles 53 can be pivoted alternately into a working position and a changing position by rotating the revolver. The spindles 53 can act as so-called sleeve clamps have formed fixing devices 4. If a bobbin 52 is completely wound on a spindle 53 and the bobbin tube i41 n arranged on it in the working position, the revolver is rotated (possibly without interrupting the feed of the material to be wound) in such a way that the completely wound bobbin 52 moves into the change position while an empty bobbin case 41 is transferred to the working position on the other spindle 53, where a winding is then created on the empty bobbin case 41. With regard to the handling of the winder during this transfer of the winding process from one spindle 53 to the other spindle 53 and the necessary severing of the ware, reference is made to the methods and devices known from the prior art. The winding machine system 1 also has a bobbin tube supply device 7, which can be, for example, a bobbin tube storage device 8 in the form of a store for bobbin tubes 41 or a conveying device via which bobbin tubes 41 are provided. The bobbin tube supply device 7 can optionally have a control unit 9. The winding machine system 1 has a bobbin removal device 10, which can be, for example, a bobbin storage device 11 in the form of a shelf or a bobbin conveyor device. The bobbin removal device can optionally have a control unit 12.

Optionally, the winding machine system 1 can have a quality assurance device 13 with an assigned control unit 14 and / or any further device 15 with an assigned control unit 16.

The winding machine system 1 has a bobbin transport vehicle 6. The bobbin transport vehicle 6 is used to handle and transport a bobbin. This bobbin is preferably the fully wound bobbin 52 with the bobbin case 41 and the winding formed thereon and / or an empty bobbin case 41.

The bobbin transport vehicle 6 is used for the transport and handling of a fully wound bobbin 52 with the removal of the bobbin from the dishwasher 2, its transport, for example, to the bobbin Pick-up device 10 and the transfer of the bobbin 52 to the bobbin pick-up device 10 and / or the pick-up of an empty bobbin tube 41 from a bobbin case supply device 7, the transport of the empty bobbin case 41 between the bobbin case preparation device 7 and a dishwasher 2 and handing over the empty ones

Spool tube 41 on a spindle 53 of the dishwasher 2.

For this purpose, the bobbin transport vehicle 6 executes the movements shown schematically in FIG. 1 along a movement path 18. The bobbin transport vehicle 6 is designed as a self-propelled bobbin transport vehicle 6, that is to say without a driver. The bobbin transport vehicle 6 is preferably not a rail-guided transport vehicle. Rather, it can have at least one steering 28, so that the coil body transport vehicle 6 can execute any movement paths 18 and thus can move along different movement paths for the movement between the same devices. The bobbin transport vehicle 6 has (at least) one bobbin holding device 19 and (at least) one bobbin case holding device 20, which is preferably designed as a bobbin case clamping device 21.

The bobbin case holding device 20 and the bobbin holding device 19 are each assigned a sensor 22, 23, whereby the sensor can be integrated in the bobbin case holding device 20 or the reel holding device 19 or in a base body or a support structure of the bobbin transport vehicle 6 can be integrated or attached to this / this.

The bobbin transport vehicle 19 has a control unit 24, which in particular controls the drive 27 and / or the steering 28 of the bobbin transport vehicle 6 and processes the signal from the sensors 22, 23. In FIG. 1, electrical connections, signal connections for signal exchange and / or control connections (with control also including regulation within the scope of the present invention) are shown schematically with dashed lines. The movement of the bobbin transport vehicle 6 can be guided by guide elements 17, in particular optical or inductive guide elements.

The winding machine system 1 has a central control unit 25, which communicates with the control units 3, 9, 12, 14, 16, 24 and controls the function of the devices 6, 7, 8, 10, 11, 13, 15 assigned to the control units mentioned / or coordinated. It is also possible that the central control unit 25 also controls the fixing device 4 and / or the transfer device 5. The communication between the devices and the control units can be wired. Wireless communication preferably takes place. FIGS. 2 to 6 show the bobbin transport vehicle 6 and its bobbin holding device 19 and bobbin case holding device 20.

According to FIG. 2, the bobbin transport vehicle 6 has a mobile substructure 26, a chassis, chassis or running gear. An electric drive 27, a steering system, a gear and / or a drive connection 29 to at least one wheel 30 and an electrical power supply for the drive 27, in particular an accumulator 31 and / or the control unit 24, are preferably integrated in the substructure 26.

As a result of the control of the drive 27 and the steering 28, the substructure 26 and thus the bobbin transport vehicle 6 can move freely between the dishwasher 2 and the devices 7, 10, 13, 15. A support structure 32 is fastened and supported on the substructure 26 and is designed as a vertically extending tower for the exemplary embodiment shown. On the support structure 32, two reel holding devices 19a, 19b are arranged on a side oriented in a direction of travel 33, these being arranged at different heights (here vertically one above the other). On the opposite side, ie on a side oriented in an opposite direction of travel 34, the support structure 32 carries two bobbin case holding devices 20a, 20b, which are also arranged here at different heights (in particular vertically one above the other).

The design of the reel holding devices 19 can be seen in particular in FIG. 4. Accordingly, the reel holding devices 19 each have two holding rods 35, 36 which are oriented parallel to one another and extend horizontally. It is possible that, as in FIG 4, the holding rods 35, 36 have a cylindrical outer surface and / or are designed as tubes and / or have a beveled, inclined end face. The distance between the holding rods 35, 36 is selected so that both holding rods 35, 36 can enter the cylindrical interior of a bobbin case 41 with a predetermined clearance. According to the embodiment shown in FIG. 4, the sensor 22 of the reel holding device 19 is located between the two holding rods 35, 36 and in the end region of the holding rods 35, 36 by holding them on a holding plate 37 over which the reel holding device 19 is attached the support structure 32 can be attached, are attached. The sensor 22 is designed, for example, as an inductive sensor. If a bobbin sleeve 41 (with or without a winding formed thereon) is pushed completely onto the holding rods 35, 36, the bobbin sleeve extends in the area of the sensor 22, with which the sensor 22 can recognize that the holding rods 35, 36 are completely and properly into the interior of the bobbin case 41 have been inserted.

In FIGS. 2, 3, 5 and 6, the design of the bobbin case holding device 20, namely the bobbin case clamping device 21, is also shown. The bobbin case tensioning device 21 has two support elements 38, 39 and a tensioning element 40. The support elements 38, 39 and the tensioning element 40 (in the tensioned state of a bobbin case 41) are distributed around the circumference of a bobbin case 41 at the same radius. The support elements 38, 39 are oriented parallel to one another and extend in a common horizontal plane. The spacing of the support elements 38, 39 is selected so that the bobbin case 41 rests against the support elements 38, 39 at a circumferential angle in the range of ± 30 ° to 75 ° with respect to the perpendicular direction. The support elements 38, 39 are designed here as rod-shaped or bar-shaped supports, these preferably having an insertion bevel 42 in the front end region. For the exemplary embodiment shown, the tensioning element 40 is designed as a tensioning lever 44 which can be pivoted about a pivot bearing 43. The pivot bearing 43 supports the clamping lever 44 on a base body 45 of the bobbin case clamping device 21, on which the support elements 38, 39 are also held. The end region 46 facing away from the pivot bearing 43 extends into the axial section in which the support elements 38, 39 extend. By means of at least one tension spring 47, the tensioning lever 44 is urged in a tensioning direction, whereby the end region 46 of the tensioning lever 44 in the direction of Carrying elements 38, 39 is tensioned and thus a bobbin sleeve 41 can be tensioned between the tensioning lever 44 and the carrying elements 38, 39.

For the exemplary embodiment shown in FIG. 5, the sensor 23 held on the base body 45 is arranged adjacent to the end region 46 of the tensioning lever 44 and adjacent to the lateral surface of a held bobbin case 41, the sensor 23 being based on an inductive measuring principle which detects when there is a a bobbin sleeve 41 is located in the measuring range of the sensor 23. The end region 46 of the tensioning element 40 has an insertion bevel 48.

7 shows a winding unit 49 in which dishwashers 2a, 2b, ... are arranged next to one another in two rows 50, 51 arranged one above the other, with several bobbins 52a, 52b, ... being simultaneously arranged by means of the dishwashers 2a, 2b, ... be wrapped.

7 also shows the bobbin transport vehicle 6 arranged adjacent to the bobbin assembly 49, on which two finished bobbins 52A, 52B are held in the bobbin holding devices 19a, 19b, which were previously wound by the bobbin assembly 49. Furthermore, FIG. 7 shows the bobbin tube supply device 7 and a bobbin removal device 10, which is a trolley on which bobbins 52 can be held via horizontally oriented rods and with which the bobbins 52 can be transported away.

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

10 shows a method for operating a winding machine system 1, in particular in connection with the automatic exchange of a full bobbin 52 for an empty bobbin tube 41 on a dishwasher 2:

In a process section 54, a bobbin case 41 is transferred from the bobbin case supply device 7 to the bobbin case holding device 20 of the bobbin transport vehicle 6. For this purpose, in a method step 55, the drive 27 of the bobbin transport vehicle 6 and its steering 28 are controlled in such a way that the bobbin transport vehicle 6 moves to the bobbin tube supply device 7. The bobbin case holding device 20 is moved to a defined distance from the bobbin case supply device 7 and ensures that the bobbin case holding device 20 is arranged coaxially to the bobbin case 41 provided by the bobbin case supply device 7.

In a process step 56, the entry of the free end region of the bobbin case 41 into the bobbin case clamping device 21 is then ensured by further movement of the bobbin transport vehicle 9, the support elements 38, 39 and the clamping element 40 interacting with the outer surface of the bobbin case 41 to step. The lead-in bevels 42 of the support elements 38, 39 and the lead-in bevel 48 of the clamping element 40 lead to a self-centering effect by means of which certain inaccuracies in the relative position and alignment of the bobbin case clamping device 21 to the bobbin case 41 provided on the bobbin case supply device 7 are compensated for can. At the beginning of this movement, the clamping element 40 is at a distance from the support elements 38,

39, which is smaller than the corresponding dimension of the lateral surface of the bobbin case 41 by an order of magnitude predetermined by the lead-in bevel 48. With the movement, the upper end face of the bobbin case 41 comes to rest against the lead-in bevel 48 of the clamping element

40. With the further movement, the end face of the bobbin case 41 generates a force acting radially outward on the insertion bevel 48, which has the result that the tensioning lever 44 is tensioned radially outward against the action of the tensioning spring 47. For such a radially outwardly moved clamping lever 44, the bobbin sleeve 41 can then slide between the clamping element 40 and the support elements 38, 39, the outer surface of the bobbin sleeve 41 being clamped radially between the clamping element 40 and the support elements 38, 39. This insertion movement is continued until, in a method step 57, the sensor 23 indicates that the bobbin case 41 has reached the intended position in the bobbin case clamping device 21.

With the presence of a corresponding indicator, the drive 27 and the steering 28 are then controlled in method step 58 so that the bobbin transport vehicle 6 with the bobbin case holding device 20 and the bobbin case 41 held on it moves away from the Coil tube supply device 7 is moved away, with the result that the bobbin tube is removed from the bobbin tube supply device 7.

Process section 54 is thus concluded.

In a subsequent further process section 59, a fully wound coil 52 is transferred from a dishwasher 2 to the coil holding device 19 of the coil body transport vehicle 6:

In a method step 60, the dishwasher 2 signals that a coil has been completely wound.

In a method step 61, the drive 27 and the steering 28 of the bobbin transport vehicle 6 are controlled in such a way that the bobbin transport vehicle 6 moves into a predetermined position and orientation relative to the dishwasher 2. Here, the bobbin holding device 19 is arranged on the side facing the dishwasher 2. In the predetermined position, the reel holding device 19 is arranged coaxially to the spindle 53 of the dishwasher 2. For the exemplary embodiment explained, the holding rods 35, 36 are thus arranged parallel to the longitudinal axis of the spindle 53. The plane that is defined by the longitudinal axes of the holding rods 35, 36 is above the longitudinal axis of the spindle 53, and the axis of a bobbin case 41 attached to the holding rods 35, 36 is (approximately) coaxial with the longitudinal axis of the spindle 53. It is possible that the holding rods 35, 36 are arranged at a defined small distance from the end face of the spindle 53, butt against it, or with a small overlap together with the spindle 53 through the interior of the bobbin sleeve 41 on which the bobbin 52 is wound is to extend. It is also possible that the spindle 53 does not extend completely through the bobbin case 41 and the holding rods 35, 36 extend into the free end area of the interior of the bobbin case 41.

In a method step 62, the fixing device 4 is then deactivated so that the bobbin case 41 and the entire bobbin 52 can move relative to the spindle 53.

In a method step 63, the transfer device 5 is then actuated. The actuation of the transfer device 5 results in the spool 52 being pushed from the spindle 53 onto the holding rods 35, 36. In a method step 64, the sensor 22 indicates that the bobbin 52 has reached the intended position on the bobbin case holding device 20 for which the spindle 53 has been moved completely out of the bobbin 52.

When such an indicator is present, the drive 27 and the steering 28 are controlled in a method step 65 such that the bobbin transport vehicle 6 with the bobbin holding device 19 and the bobbin 52 held on it moves away from the dishwasher 2.

Process section 59 is thus concluded.

In a subsequent process section 66 (cf. Fig. 11), the spindle 53, which is empty as a result of the removal of the coil 52 in the process section 59, is equipped with the bobbin sleeve 41 which was transferred in the process section 54:

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

Starting from this predetermined relative position and orientation, the bobbin transport vehicle 6 is further approached to the dishwasher 2 in a process step 68, whereby the spindle 63 can enter the cylindrical interior of the bobbin case 41, while the bobbin case 41 continues through the bobbin case holding device 20 held radially from the outside, clamped here is.

This insertion movement is continued until, in a method step 69, the intended position of the bobbin case 41 on the spindle 53 is reached, with which on the one hand the drive movement of the bobbin transport vehicle 6 in the direction of the dishwasher 2 is stopped. On the other hand, the fixing device 4 is activated, which secures the bobbin case 41 axially on the spindle 53. It is possible that the dishwasher 2 has a sensor which indicates that the intended position has been reached. On the basis of the signal from the sensor, on the one hand, an electronic fixing device 4 can then be actuated and the drive 27 can be activated in such a way that the movement is not continued. It is also possible, however, for the fixing device 4 to be activated in a movement-controlled manner by the movement of the bobbin case 41. To name only one example that does not limit the invention, one end face of the bobbin case 41 can actuate a fixing element of the fixing device 4 with its movement.

In a method step 70, the drive 27 and the steering 28 are then activated in such a way that the bobbin transport vehicle 6 moves away from the dishwasher 2. Since the bobbin case 41 is fixed at least axially by means of the fixing device 4, the bobbin holding device 19 is removed from the bobbin case 41. When using the bobbin case clamping device 21, despite the continued clamping of the bobbin case 41 between the clamping element 40 and the support elements 38, 39, this leads to a sliding relative movement until the bobbin case 41 is no longer between the clamping element 40 and the support elements 38, 39 is trapped.

Method section 66 is thus concluded.

In a process section 71, the fully wound bobbin 52 removed from the dishwasher 2 in process section 59 is transferred to the bobbin removal device 10: In a process step 72, the drive 27 and the steering 28 of the bobbin transport vehicle 6 are controlled so that the coil 52 held on the bobbin transport vehicle 6 in the bobbin holding device 19 is in a predetermined position and orientation to the bobbin removal device 10. The holding rods 35, 36 are preferably arranged in alignment with the horizontal rods of the bobbin removal device 10, on which the bobbins 52 can be held after the transfer.

In a method step 73, the bobbin 52 is then transferred from the bobbin holding device 19 to the bobbin removal device 10. This can be done by pushing the bobbin 52 from the holding rods 35, 36 onto the corresponding rod of the bobbin removal device 10 respectively. This can be caused manually by a user, by a transfer device of the bobbin transport vehicle 6 or a transfer device of the bobbin removal device 10.

The rod or other receptacle of the bobbin removal device 10 can be arranged and / or beveled in such a way that the bobbins 52 are lifted somewhat when pushed on by the bobbin transport vehicle 6. As a result, the frictional force between the inside of the bobbin case 41 and the holding rods 35, 36 is at least reduced, with the result that with the movement of the bobbin transport vehicle 6 away from the bobbin removal device 10, the bobbin 52 is on the rod or receiving the bobbins - Take-off device 10 remain because the friction of the bobbin case 41 with the receptacles or rods is greater than the friction between the bobbin case 41 and the holding rods 35, 36. Furthermore, the receptacles or rods of the bobbin removal device 10 can be inclined slightly backwards, so that the bobbins 52 tilt towards the bobbin removal device 10 and do not slip and fall during further transport.

Subsequently, in a method step 74, the drive 27 and the steering 28 of the bobbin transport vehicle 6 are controlled in such a way that it moves away from the bobbin removal device 10 again.

Process section 71 is thus concluded. A full bobbin on a (different) dishwasher 2 can then be successively exchanged for an empty bobbin case, whereby the process sections 54, 59, 66, 71 are run through again.

It should be emphasized that the previously explained process sections and / or process steps do not necessarily have to be carried out in the explained sequence. It is possible, for example, that several fully wound bobbins 52 are successively removed from several dishwashers 2 and only then are several bobbin tubes 41 removed from the bobbin tube supply device 7 and fed to the empty spindles 53 of the dishwashers 2. For a modification of the illustrated and described process sequence, a prerequisite for receiving a bobbin case 41 can be a notification of a need for a change from a dishwasher 2 in process step 60. This can be advantageous since it is then known which of the two reel tube holding devices 19a, 19b has to be equipped. In this case, a correspondingly modified sequence of process steps is used, process step 54 then being able to follow process step 60.

It is also possible for a modification of the method that the bobbin case 41 is only pushed onto the spindle 53 until a certain position of the bobbin transport vehicle 6 is reached, the end of the opening not being determined on the basis of the signal from a sensor 22, 23 becomes. Before that, the tensioned in the bobbin case tensioning device 21 reaches

The bobbin case 41 already has a stop of the fixing device 4. A certain tolerance compensation or degree of freedom between the bobbin case clamping device 21 and the tensioned bobbin case 41 is therefore necessary. This tolerance compensation or degree of freedom is ensured by the fact that the bobbin case tensioning device 21 is not pushed completely onto the bobbin case 41 in method step 54, but rather a remaining distance remains in the pushing-on direction. If the bobbin case 41 comes to rest against the stop of the fixing device 4, a further movement can occur, for example as a result of a measurement inaccuracy when determining the position of the bobbin transport vehicle 6 and / or as a result of inaccuracies when the bobbin case 41 is received by the bobbin case. Tensioning device 21 is required, and a sliding movement of the bobbin case tensioning device 21 relative to the lateral surface can provide the necessary tolerance compensation. Only then is the fixing device 4 actuated.

As explained, the control units 3, 9, 12, 14, 16, 24, 25 are networked with one another and are in a data exchange. It is entirely possible here for one of the named control units to be integrated into one of the other control units. For example, the central control unit 25 can also be assigned to one of the devices 2, 7, 10, 13, 15, 6. The control units 3, 9, 12, 14, 16, 24, 25 preferably communicate wirelessly, for which the control units 3, 9, 12, 14, 16, 24, 25 or the devices 2, 7, 10, 13, 15, 6 may have corresponding transmitting and / or receiving units. The communication within the network formed in this way is necessary for the coordination of the functions of the individual facilities. For example, it can be coordinated via the network that in process section 54, on the one hand, a bobbin case is provided for collection at the bobbin case supply device 7 and, on the other hand, with or after this provision, the bobbin transport vehicle 6 is moved to the bobbin case supply device 7. On the other hand, the control unit 24 can, under certain circumstances, use the sensor 23 without communicating with the central control unit 25 to determine the point in time at which the bobbin case 41 has been completely inserted into the bobbin case holding device 20 and control the drive 27 and the steering 28 in this way that the bobbin transport vehicle 6 moves away from the bobbin case supply device 7. Correspondingly, in method section 59, it can be communicated via the network and in particular the central control unit 25 from the dishwasher 2 to the bobbin transport vehicle 6 that a bobbin 52 has been completely wound, with which the bobbin transport vehicle 6 can start moving.

On the other hand, the coil body transport vehicle 6 can signal via the network and the central control unit 25 to the dishwasher 2 that the intended position and orientation has been reached, with which the control unit 3 of the dishwasher 2 can deactivate the fixing device 4 and actuate the transfer device 5 .

In the method section 54, for example, the network and the central control unit 25 can be used to signal from the bobbin transport vehicle 6 when the specified relative position and orientation of the bobbin transport vehicle 6, here the bobbin case clamping device 21, with respect to the dishwasher 2 , here the spindle 53, is reached, so that the fixing device 4 can then be activated by means of the control unit 3 of the dishwasher 2 in order to axially fix the bobbin sleeve 41 attached to the spindle 53. Conversely, the signal from the control unit 3 that the fixing device 4 is activated can then be transmitted via the network and the central control unit 25 to the bobbin transport vehicle 6, whereby the drive 27 and the steering 28 can be controlled by the control unit 24 that the bobbin transport vehicle 6 moves away from the dishwasher 2, whereby the bobbin case 11 axially fixed on the dishwasher 2 is pulled out of the bobbin case clamping device 21. The dishwashers 2 can be designed, for example, as has been described in the European patent application EP 1 507730 A1. This European patent application is made the subject of the present patent application with regard to the basic configuration of the dishwasher 2, the functions described therein, the configuration of the rotating spindles held on the turret, a fixing device for the bobbin case 41 and the change between the working position and the change position.

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

The central control unit 25 preferably sends and / or receives data to / from the dishwashers 2 and / or the bobbin transport vehicle 6 via an assigned sending and / or receiving device 76. For example, the control unit 25 can receive an indicator from a dishwasher 2, when a bobbin 52 has been completely wound and / or the revolver of the dishwasher 2 has been rotated in such a way that the completely wound bobbin 52 is in the change position. The dishwasher 2 can receive a signal from the central control unit 25 when the transfer device 5 is to be actuated. It is also possible that the control unit 25 receives a signal when the bobbin case holding device 20 has received or clamped a bobbin case 41. It is possible for the central control unit 25 to send an indicator to the bobbin transport vehicle 6 when a fully wound bobbin 52 is ready to be picked up from a dishwasher 2. It is possible that the bobbin transport vehicle 6 sends a signal to the control unit 25 when a predetermined position or location of the bobbin transport vehicle 6 is reached.

On the bobbin transport vehicle 6, the bobbin case holding device 20 and the bobbin holding device 19 are preferably arranged on different, opposite sides, with the coil holding device in particular interacting with the inner surface of the bobbin case 41, while the bobbin case holding device 20 preferably interacts with the outer surface of the bobbin case 41. The drive 27 and the steering 28 as well as their control by the control unit 24 are preferably designed such that forward and reverse travel, cornering and / or also a rotation of the coil body transport vehicle 6 are possible.

In addition to the power supply via an accumulator 31, the cable-based power supply of the coil body transport vehicle 6 can also take place.

In the context of the invention, a coil 52 cannot only be replaced when it is completely wound. Rather, it is also possible for a bobbin 52 to be replaced even if the winding process is interrupted prematurely.

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

The bobbin removal device 10 can be a bobbin carriage which provides a separate receiving or holding position for each bobbin 52. These pick-up positions are approached by the coil body transport vehicle 6 and equipped with coils 52. After the bobbin wagon has been filled, it can then be moved away and exchanged for an empty bobbin wagon.

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

The controller 25 coordinates the change in a dishwasher 2 from a bobbin 52 to an empty bobbin tube 41 and the transport of the empty bobbin tube 41 and the bobbin 52 between the dishwasher 2 and the devices 7, 10, 13, 15.

In Fig. 1 it is shown by way of example that the coil body transport vehicle 6 communicates with the central control unit 25 via wireless transmitting and / or receiving units 76, 77, while the central control unit 25 may be with the control unit 3 of the dishwasher 2, the control unit 9 of the bobbin tube supply device 7, the control unit 12 of the bobbin removal device 10, the control unit 14 of the quality assurance device 13 and / or the control unit 16 of the device 15 communicates by wire. Any other combination of wireless and wired communication is also possible.

According to the prior art mentioned at the beginning, the coil body transport vehicle 6 can have a device for detecting a person in the vicinity and it can have a

Warning device for avoiding a collision of the bobbin transport vehicle 6 with the person, in particular an optical and / or an acoustic warning device, can be provided.

In the present description, only one bobbin 52 was wound on a spindle 53 of a dishwasher 2 and only one bobbin 52 was held in each case on the bobbin transport vehicle 6, the bobbin case readiness device 7, the bobbin removal device 10. Without departing from the scope of the invention, several coils 52a, 52b,... Can be wound axially next to one another on a spindle 53 of a dishwasher 2 and / or on a bobbin transport vehicle 6, the bobbin tube supply device 7 and of the bobbin removal device 10, several bobbins 52a, 52b, ... and / or bobbin sleeves 41a, 41b, ... can be arranged axially next to one another.

REFERENCE LIST

Winding machine

dishwasher

Control unit

Fixing device

Transfer device

Bobbin transport vehicle

Reel tube supply device

Spool tube storage device

Control unit

Bobbin removal device

Bobbin storage device

Control unit

Quality assurance facility

Control unit

Facility

Control unit

Guiding element

Motion path

Bobbin holder

Bobbin case holder

Spool tube tensioning device

sensor

Control unit

Substructure

drive

steering

Drive connection

wheel

accumulator

Support structure Driving direction Driving direction handrail

Handrail

Retaining plate

Supporting element Supporting element Clamping element Spool sleeve Insertion slope Swivel bearing Clamping lever Base body end area

Tension spring lead-in incline winding unit series

line

Kitchen sink

spindle

Method step Method step Method step Method step Method step Method step Method step Method step Method step Method step Method step Method step Process step

Process step

Procedural stage

Process step

Charging station

Transmitting and / or receiving device Transmitting and / or receiving device

Claims

PATENT CLAIMS

1. Self-propelled bobbin transport vehicle (6) with

a) a drive (27) and / or a steering (28) and

b) a bobbin holding device (19) on which a bobbin (52) can be held, and / or a bobbin case holding device (20) on which a bobbin case (41) can be held,

c) where

ca) the coil holding device (19), on which a coil (52) can be held, is a passive coil holding device (19) and / or

cb) the bobbin case holding device (20), on which a bobbin case (41) can be held, is a passive bobbin case holding device (20).

2. bobbin transport vehicle (6) according to claim 1, characterized in that an accumulator (31) is present which provides the energy for a drive (27) and / or a steering (28) of the bobbin transport vehicle (6).

3. bobbin transport vehicle (6) according to claim 1 or 2, characterized in that a wireless transmitting and / or receiving device (77) is present.

4. bobbin transport vehicle (6) according to any one of the preceding claims, characterized in that the coil holding device (19) and the spool sleeve holding device (20) are arranged on different sides of the bobbin transport vehicle (6).

5. bobbin transport vehicle (6) according to claim 4, characterized in that the bobbin holding device (19) has an elongated bobbin holding device which is dimensioned and arranged in such a way that the bobbin holding device extends into the interior of a bobbin case (41 ) can extend.

6. bobbin transport vehicle (6) according to claim 5, characterized in that the coil holding device has a cross section whose outer contour deviates from a circular cross section.

7. bobbin transport vehicle (6) according to claim 5 or 6, characterized in that the coil holding device has a holding rod (35) or at least two parallel holding rods (35, 36).

8. bobbin transport vehicle (6) according to any one of the preceding claims, characterized in that the bobbin case holding device (20) has a Spulenhülsen- clamping device (21), by means of which a bobbin case (41) can be clamped radially from the outside.

9. bobbin transport vehicle (6) according to claim 8, characterized in that the bobbin case clamping device (21) has a clamping element (40) which is acted upon radially inward by means of a tension spring (47).

10. bobbin transport vehicle (6) according to claim 9, characterized in that the clamping element (47) controlled by movement by the approach of the bobbin transport vehicle (6) to a bobbin case (41) or to a bobbin case (41) holding a bobbin case supply device (7) can be moved radially outward against the action of the tension spring (47).

1 1. bobbin transport vehicle (6) according to any one of claims 8 to 10, characterized in that the bobbin case clamping device (21) with the approach of the bobbin case (41) held by the bobbin transport vehicle (6) to a dishwasher (2 ) or a fixing device (4) and a contact with a stop enables a sliding relative movement between the bobbin case clamping device (21) and the bobbin case (41).

12. bobbin transport vehicle (6) according to any one of the preceding claims, characterized in that a control unit (25; 3; 9; 12; 14; 16; 24) is present which has the control logic

a) in the presence of an indicator which indicates that a bobbin case (41) is to be picked up from a bobbin case provision device (7), the drive (27) and / or the Controls the steering (28) of the bobbin transport vehicle (6) in such a way that the bobbin transport vehicle (6) moves to the bobbin case supply device (7), and / or

b) if there is an indicator that indicates that a coil (52) is to be picked up from a dishwasher (2), the drive (27) and / or the steering (28) of the coil former transport vehicle (6) is controlled in such a way that moves the bobbin transport vehicle (6) to the bobbin (52), and / or

c) if there is an indicator that indicates that a bobbin case (41) is to be clamped in motion controlled by the movement of the bobbin case transport vehicle (6) in the area of a bobbin case supply device (7) by the bobbin case clamping device (21), the drive (27) and / or the steering (28) of the bobbin transport vehicle (6) controls so that

ca) the bobbin transport vehicle (6) is moved into a predetermined position and / or orientation relative to the bobbin case (41) and

cb) then the movement of the bobbin transport vehicle (6) is generated, which controls the movement-controlled clamping of the bobbin case (41) by the bobbin case clamping device (21), and / or

d) in the presence of an indicator which indicates that a bobbin case (41) held by the bobbin case tensioning device (21) has been fixed at least axially to a dishwasher (2), the drive (27) and / or the steering (28) ) controls the bobbin transport vehicle (6) in such a way that the bobbin transport vehicle (6) is moved away from the dishwasher (2), whereby the bobbin tube (41) is pulled out of or from the bobbin tube clamping device (21), and or

e) in the presence of an indicator which indicates that the bobbin transport vehicle (6) is in a predetermined position and / or location relative to a coil (52), an actuation signal for a transfer device (5) that controls the coil ( 52) is transferred, generated, and / or by a spindle (53) of the dishwasher (2) to the reel holding device (19)

f) in the presence of an indicator that indicates that a transfer device (5) has transferred the bobbin (52) from a spindle (53) of the dishwasher (2) to the bobbin holding device (19), the drive (27) and / or the steering (28) of the bobbin transport vehicle (6) controls so that the bobbin transport vehicle (6) moves away from the dishwasher (2).

13. bobbin transport vehicle (6) according to any one of the preceding claims, characterized in that the bobbin case holding device (20) is assigned a sensor (23), which

a) a bobbin tube (41) recognizes and / or

b) a relative position and / or orientation of a bobbin case (41) with respect to the bobbin case holding device (20) is detected and / or

c) detects whether a bobbin case (41) is being held by the bobbin case holding device (20).

14. bobbin transport vehicle (6) according to any one of the preceding claims, characterized in that the coil holding device (19) is assigned a sensor (22), which

a) a coil (52) recognizes and / or

b) a relative position and / or orientation of a coil (52) with respect to the coil holding device (19) is detected and / or

c) detects whether a coil (52) is being held by the coil holding device (19).

15. Winding machine system (1) with

a) a dishwasher (2),

b) a bobbin transport vehicle (6) according to one of the preceding claims and

c) a bobbin tube supply device (7) and / or a bobbin removal device (10).

16. A method for replacing a bobbin (52) with a bobbin case (41) on a dishwasher (2), in particular with a bobbin transport vehicle (6) according to one of claims 1 to 14 or with a winding machine system (1) according to claim 15, in which a) in the area of a bobbin case supply device (7) a bobbin case (41) is clamped by a passive bobbin case clamping device (21) of a bobbin transport vehicle (6) by a drive (27) and / or a steering ( 28) of the bobbin transport vehicle (6) is controlled to bring about a movement of the bobbin transport vehicle (6) and the bobbin case clamping device is controlled by the movement of the bobbin transport vehicle (6) (21) is actuated and the bobbin case (41) is clamped by the bobbin case clamping device (21), and / or

b) a drive (27) and / or a steering (28) of the bobbin transport vehicle (6) is controlled in such a way that a bobbin case (41) held on a passive bobbin case clamping device (21) is placed on a spindle (53) of a dishwasher (2) is attached, a fixing device (4) of the dishwasher (2) is activated, which fixes the spool tube (41) at least axially on the spindle (53) of the dishwasher (2), and if there is an indicator that the fixing device (4) the dishwasher (2) is activated, the drive (27) and / or the steering (28) of the bobbin transport vehicle (6) are controlled so that the bobbin transport vehicle (6) moves away from the dishwasher (2) moved away, whereby the movement of the bobbin transport vehicle (6) releases the bobbin case (41) from the bobbin case clamping device (21), and / or

c) a drive (27) and / or a steering (28) of the bobbin transport vehicle (6) is controlled so that a coil holding device (19) of the bobbin transport vehicle (6) is in a predetermined relative position and / or Orientation relative to a coil (52) wound on a spindle (53) of a dishwasher (2), if there is an indicator that the coil holding device (19) of the coil former transport vehicle (6) is in the predetermined relative position and / or Orientation opposite to the coil (52) wound on the dishwasher (2), a transfer device (5) of the dishwasher (2) is actuated, whereby the coil (52) from the spindle (53) to the coil holding device (19) of the Bobbin transport vehicle (6) is passed.

17. The method according to claim 16, characterized in that as the bobbin case (41) held by the bobbin transport vehicle (6) approaches a dishwasher (2) or a fixing device (4) and a contact with a stop, a sliding relative movement between the bobbin case clamping device (21) and the bobbin case (41) takes place.

18. Data carrier, data packet or software with control logic for executing a method according to claim 16 or 17.