Mobile unit and system having a high-bay warehouse and mobile unit

Abstract

The invention relates to a mobile unit and a system having a high-bay warehouse and a mobile unit, comprising - a running gear, - a geared motor as the traction drive, and - a wheel, which can be driven by the traction drive and is rotatably mounted on the running gear, in particular by a rolling bearing, the mobile unit having an eddy-current brake.

Description

[0001] Handset and system with high-bay warehouse and handset

[0002] Description:

[0003] The invention relates to a mobile unit and system with high-bay warehouse and mobile unit.

[0004] It is generally known that storage and retrieval machines are rail-guided vehicles on which goods can be transported and stored in and retrieved from the shelves of a high-bay warehouse.

[0005] The invention is therefore based on the object of developing a mobile part, whereby the braking distance should be as short as possible.

[0006] According to the invention, the object is achieved in the handset according to the features specified in claim 1 and in the system according to the features specified in claim 12.

[0007] Important features of the invention in the mobile part are that the mobile part has a chassis, a geared motor acting as a traction drive, a wheel that can be driven by the traction drive, wherein the wheel is rotatably mounted on the chassis, in particular by means of a rolling bearing, wherein the mobile part has an eddy current brake.

[0008] The advantage here is that an eddy current brake can be provided on a storage and retrieval machine, even though the storage and retrieval machine is a monorail vehicle and is subject to one-sided loading and therefore there could be a risk of tipping over.

[0009] A key feature of the invention is that the mobile unit can be moved back and forth on a single rail and has a lifting axle with which loads, especially goods, can be lifted, thus eliminating the risk of tipping if the mobile unit is loaded from one side. Another advantage is that the eddy current brake operates independently of the friction wheel slippage and thus generates a braking effect even if, for example, the friction coefficient of the drive wheel and rail or travel surface pairing is exceeded, for example, because lubricant gets onto the rail.

[0010] Furthermore, the eddy-current brake operates independently of mechanical failure of the drive train, which extends from the driving electric motor with friction brake to the drive wheel. For example, if a shaft breaks, the braking effect of the electric motor's friction brake is lost, but the braking effect of the eddy-current brake is still effective. Thus, the invention provides redundancy and therefore achieves greater safety.

[0011] In an advantageous design, the eddy-current brake is spaced from the geared motor in the direction of the wheel's rotational axis. This is advantageous because the center of gravity can be influenced accordingly, thus preventing tipping. While a bracket for the eddy-current brake is required, which incurs costs, it allows the center of gravity to be optimally positioned and prevents the guide rail from being heated by the eddy currents. Thus, the choice of wheel material is determined by strength considerations, not by thermal stress.

[0012] In an advantageous embodiment, the eddy current brake is located on the side of the wheel facing away from the geared motor, in the direction of the wheel's rotational axis. This is advantageous because the center of gravity can be positioned centrally on the wheel.

[0013] In an advantageous embodiment, the eddy-current brake, in particular a linear eddy-current brake, can be operatively connected to a brake rail aligned parallel to a rail on which the wheel rolls. This is advantageous in that the braking force can be amplified, especially at high speeds.

[0014] In an advantageous embodiment, an electromagnetically actuated, particularly rotary, brake, in particular a holding brake, is arranged on the geared motor, in particular on the rotor shaft of the electric motor. This is advantageous in that the kinetic energy can be dissipated primarily by the eddy-current brake, and holding is ensured by a reliable brake. In an advantageous embodiment, the eddy-current brake is arranged on a bracket connected to the chassis. This is advantageous in that an additional mass is available for positioning the geared motor.

[0015] In an advantageous embodiment, the mount is located on the side of the chassis facing away from the geared motor. This is advantageous because the center of gravity can be positioned.

[0016] In an advantageous embodiment, the mobile unit is a rail-guided storage and retrieval machine. This is advantageous because it enables safe track guidance.

[0017] In an advantageous embodiment, the chassis has a lifting axle. This allows loads, such as goods, to be moved vertically while still preventing the mobile unit from tipping over.

[0018] In an advantageous embodiment, the eddy-current brake has two rows of permanent magnets, with the permanent magnets of each row being arranged one behind the other in the direction of travel, in particular at regular intervals from one another, and in particular being magnetized alternately. The advantage here is that the eddy-current brake can be manufactured without any special effort.

[0019] In an advantageous embodiment, the center of gravity of the mass distribution formed by the geared motor and the mount, including the eddy-current brake, lies in a plane whose normal direction is parallel to the rotational axis of the wheel of the mobile unit and which intersects the contact area formed between the wheel and the rail. This is advantageous because it prevents the mobile unit from tipping over.

[0020] Important features of the system with high-bay warehouse and with a mobile part are that the rail is arranged on the floor of the system, wherein the brake rail is arranged parallel to the rail on the floor of the system, in particular wherein the brake rail is spaced from the rail and the center of gravity of the mass distribution formed by the geared motor and the holder including eddy current brake lies in a plane whose normal direction is aligned parallel to the axis of rotation of the wheel of the mobile part and which intersects the contact area formed between the wheel and the rail.

[0021] The advantage here is that the eddy current brake is spaced apart from the geared motor in the axial direction, i.e. in the direction of the wheel's axis of rotation, and thus tipping of the mobile part can be prevented, especially when designed as a monorail vehicle, such as a storage and retrieval machine.

[0022] Even if there is an additional guide rail for the handset on the ceiling of the system, the invention still has the advantage of keeping friction on the guide rail low.

[0023] In an advantageous embodiment, the brake rail engages between the two rows of permanent magnets, particularly in the braking area. This is advantageous because the eddy-current brake automatically decelerates when the brake rail engages the intermediate area between the two rows of permanent magnets of the eddy-current brake.

[0024] In an advantageous embodiment, the maximum braking torque that can be generated by the brake, particularly without taking the eddy current brake into account, is so small, taking into account the gear ratio, that the braking distance of the mobile part measured in the direction of travel is greater than the remaining distance available, particularly for the braking process, in the system, particularly in the high-bay warehouse, wherein the remaining distance is the minimum distance between the end of the rail, particularly the part of the rail that the mobile part can travel on, and all shelves in the high-bay warehouse. The advantage here is that the eddy current brake has a high braking force at high speeds and thus the brake only becomes effective at negligible speed. Further advantages arise from the subclaims. The invention is not limited to the combination of features in the claims.For the person skilled in the art, further reasonable combination possibilities of claims and / or individual claim features and / or features of the description and / or the figures will arise, in particular from the task and / or the task arising from a comparison with the prior art.

[0025] The invention will now be explained in more detail using schematic illustrations:

[0026] Figure 1 shows a schematic side view of a handset according to the invention.

[0027] Figure 2 shows a schematic sectional view of the handset.

[0028] As shown in the figures, the handset has a chassis 21 on which a rotatably mounted wheel 20 is arranged.

[0029] In addition, the chassis 21 has a lifting axle 2 by means of which the goods to be transported can be moved vertically.

[0030] The wheel 20 is driven by a gear motor 4 acting as a traction drive.

[0031] The geared motor 4 has a gear driven by an electric motor, the output shaft of which is connected in a rotationally fixed manner to the wheel 20 and the input shaft of which is connected in a rotationally fixed manner to the rotor shaft of the electric motor.

[0032] In particular, on the side of the rotor shaft axially remote from the gearbox, an electromagnetically actuated brake 3, in particular a rotary brake 3, is arranged, in particular the braking torque of which can be fed to the rotor shaft.

[0033] Preferably, the brake 3 is designed as a holding brake.

[0034] However, the maximum braking torque generated by this brake 3, even taking the gear ratio into account, is so small that the braking distance for the mobile unit would be greater than the remaining distance available for braking in the high-bay warehouse. The remaining distance is the minimum distance between the end of rail 6 and the shelves of the high-bay warehouse.

[0035] Therefore, a brake rail 1 is arranged parallel to the rail 6 in the high-bay warehouse, and an eddy-current brake 5 is attached to the chassis 21 of the mobile unit via a bracket 22. The eddy-current brake 5 has two rows of permanent magnets, which are preferably arranged evenly one behind the other in the direction of travel and are each alternately magnetized. The brake rail 1 extends between the two rows of permanent magnets and is made of a metal, thus being particularly electrically conductive. Therefore, the relative movement of the brake rail 1 to the permanent magnets induces eddy currents, generating power loss that continually reduces the kinetic energy of the mobile unit over time.

[0036] Perpendicular to the direction of travel and / or parallel to the axis of rotation of the wheel 20, a north pole of the first row directed towards the brake rail is opposite a south pole of the second row directed towards the brake rail.

[0037] Likewise, a south pole of the first row directed towards brake rail 1 is opposite a north pole of the second row directed towards the brake rail.

[0038] When the brake rail 1 enters the eddy current brake 5, it is located between the two rows.

[0039] The rows are attached to the bracket 22, which bracket is designed in one piece or in several parts.

[0040] The eddy current brake 5 enables a shorter braking distance to be achieved compared to the braking distance achieved by the rotary brake 3 alone.

[0041] However, holding the handset in place after deceleration can only be achieved by the rotary brake 3, since the eddy current brake produces no, or at least no significant, braking effect at low handset speeds. The braking effect is additionally supported by friction, particularly rolling friction and static friction.

[0042] The bracket 22 is arranged on the side of the chassis 21 facing away from the geared motor 4. Preferably, the geared motor is balanced with the bracket 22 including the eddy-current brake 5, so that the associated center of gravity lies in the plane whose normal direction is aligned parallel to the axis of rotation of the wheel 20 and which intersects the contact area of ​​the wheel 20 on the rail 6. In particular, the center of gravity is the center of gravity of the mass distribution exhibited by the geared motor 4 together with the mass distribution exhibited by the bracket 22 including the eddy-current brake 5.

[0043] In this way, improved driving stability can be achieved.

[0044] The mobile part is preferably designed as a monorail vehicle because the weight of the mobile part is transferred to the rail via the wheel 20 and the brake rail 1 is only laid in the braking distance area and does not function as a running rail.

[0045] Preferably, the wheel 20 rolls on a rail 6, in particular a guide rail, and thus the mobile unit can be designed as a rail vehicle. In this case, the rail vehicle is a storage and retrieval machine that can be used in a warehouse to transport goods.

[0046] The electromagnetically actuated brake 3, which acts as a holding brake for the rotor shaft, is arranged at the end of the rotor shaft of the electric motor of the geared motor axially facing away from the gearbox.

[0047] The brake 3 has a magnetic body made of a ferromagnetic material and has an annular recess whose ring axis is aligned coaxially with the axis of rotation of the rotor shaft and which is open towards the gearbox.

[0048] An energizable ring winding is inserted into the ring-shaped recess of the magnet body and sealed and potted with potting compound.

[0049] An annular carrier is mounted on the rotor shaft. It has external teeth that mesh with the internal teeth of a brake pad carrier mounted on the carrier. The carrier is connected to the rotor shaft in a rotationally fixed manner, preferably by means of a keyway. The brake pad carrier is mounted on the carrier so that it can be displaced in the axial direction.

[0050] An armature disk is made of ferromagnetic material and arranged axially between the brake pad carrier and the magnet body. When energized, the armature disk, which is arranged in a rotationally fixed but axially displaceable manner relative to the magnet body, in particular by means of bolts fastened in the magnet body protruding through recesses in the armature disk, is pulled towards the magnet body against the spring force generated by spring elements supported in the magnet body. When energized, the spring elements press the armature disk onto the brake pad carrier, so that this brake pad carrier is pressed on its side facing away from the armature disk onto a braking surface formed on the bearing flange of the electric motor, which accommodates a bearing for the rotatable mounting of the rotor shaft, or on a part connected to the bearing flange.

[0051] Advantageously, the brake engages automatically in the event of a power failure, thus automatically entering a safe state. Furthermore, the brake can also be activated during controlled operation using a control unit on the handset.

[0052] In further embodiments according to the invention, a guide by means of a guide rail is additionally provided on the upper side of the vehicle, wherein this guide rail is preferably arranged on the ceiling of the room in which the high-bay warehouse is located.

[0053] In further embodiments according to the invention, the eddy current brake is arranged centrally in the chassis 21, in particular in the direction of travel between the wheel 20 and another wheel of the mobile part, wherein the rail 6 then also functions as the brake rail 1 and the eddy current brake is designed to be switchable. For this purpose, the first of the rows is arranged on a first support part and the second of the rows on a second support part. In particular, the second is arranged to be displaceable relative to the first support part in the direction of travel, so that when the two support parts are displaced relative to one another, the north poles of the first row face the north poles of the second row and the south poles also face one another. In this way, the eddy current brake 5 is essentially switchable, i.e. a weaker or negligible braking effect can be activated instead of the braking effect that is present in the initial position before the displacement is carried out.List of reference symbols.

[0054] 1 Brake rail, especially brake fin 2 Lifting axle of the chassis

[0055] 3 Brake, rotary

[0056] 4 Gear motor

[0057] 5 Eddy current brake, linear, especially switchable

[0058] 20 Wheel, especially rail wheel 21 Chassis

[0059] 22 Bracket for eddy current brake

Claims

Patent claims:

1. A mobile part comprising a chassis, a geared motor acting as a traction drive, a wheel drivable by the traction drive, wherein the wheel is rotatably mounted on the chassis, in particular by means of a rolling bearing, characterized in that the mobile part has an eddy current brake, in particular an active part of an eddy current brake, in particular a permanent magnet arrangement for eddy current braking of the mobile part.

2. Mobile part according to claim 1, characterized in that the eddy current brake is spaced from the geared motor in the direction of the axis of rotation of the wheel.

3. Mobile part according to one of the preceding claims, characterized in that the eddy current brake is arranged on the side of the wheel facing away from the geared motor in the direction of the axis of rotation of the wheel.

4. Mobile part according to one of the preceding claims, characterized in that the eddy current brake, in particular a linear eddy current brake, can be brought into operative connection with a brake rail which is aligned parallel to a rail on which the wheel rolls.

5. Mobile part according to one of the preceding claims, characterized in that an electromagnetically actuated, in particular rotary, brake, in particular holding brake, is arranged on the geared motor, in particular on the rotor shaft of the electric motor.

6. Mobile part according to one of the preceding claims, characterized in that the eddy current brake is arranged on a holder which is connected to the chassis.

7. Handset according to one of the preceding claims, characterized in that the holder is arranged on the side of the chassis facing away from the geared motor.

8. Mobile unit according to one of the preceding claims, characterized in that the mobile unit is a rail-guided storage and retrieval unit.

9. Mobile part according to one of the preceding claims, characterized in that the chassis has a lifting axle.

10. Mobile part according to one of the preceding claims, characterized in that the eddy current brake has two rows of permanent magnets, wherein the permanent magnets of the respective row are arranged one behind the other in the direction of travel, in particular regularly spaced from one another, in particular and alternately magnetized.

11. Mobile part according to one of the preceding claims, characterized in that the center of gravity of the mass distribution formed by the geared motor and the holder including the eddy current brake lies in a plane whose normal direction is aligned parallel to the axis of rotation of the wheel of the mobile part and which intersects the contact area formed between the wheel and the rail.

12. System with high-bay warehouse and with a mobile part according to one of the preceding claims, wherein the mobile part is designed as a rail vehicle, in particular a storage and retrieval machine, characterized in that at least one rail is arranged on the floor of the system, wherein a brake rail is arranged parallel to the rail on the floor of the system, in particular wherein the brake rail is operatively connected to the permanent magnet arrangement and / or the permanent magnets for eddy current braking of the mobile part, in particular wherein the brake rail is spaced from the rail and the center of gravity of the mass distribution formed from the geared motor and the holder including eddy current brake lies in a plane whose normal direction is aligned parallel to the axis of rotation of the wheel of the mobile part and which intersects the contact area formed between the wheel and the rail.

13. Installation according to one of the preceding claims, characterized in that, in particular in the braking area, in particular for eddy current braking, the brake rail is inserted between the two rows of permanent magnets.

14. Installation according to one of the preceding claims, characterized in that the maximum braking torque that can be generated by the brake, in particular without taking into account the eddy current brake, taking into account the gear ratio is so small that the braking distance of the mobile part measured in the direction of travel is greater than the remaining distance available, in particular for the braking process, in the installation, in particular in the high-bay warehouse, wherein the remaining distance is the minimum distance between the end of the rail, in particular the part of the rail that can be traveled by the mobile part, and all shelves of the high-bay warehouse.

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