Facility having a storage and retrieval unit and a brake fin, and method for monitoring a facility

Abstract

The invention relates to a facility having a storage and retrieval unit and a brake fin, wherein the storage and retrieval unit can be moved along a travel path, a permanent magnet assembly is provided on the storage and retrieval unit, the brake fin is movably mounted on a first portion of the travel path via a rotary joint assembly, and a movement of the brake fin can be brought about by the permanent magnet assembly.

Description

[0001] System with storage and retrieval machine and brake fin and method for monitoring a system

[0002] Description:

[0003] The invention relates to a system with a storage and retrieval machine and a brake fin, and a method for monitoring a system.

[0004] It is generally known that a storage and retrieval machine is designed for the transport of objects, whereby the objects can be transported both along a travel path and in a vertical direction.

[0005] From DE 202013011 458 U1, a gravity-driven conveyor is known as the closest prior art.

[0006] The invention is therefore based on the objective of further developing a device and a method, wherein

[0007] According to the invention, the problem is solved in the system according to the features specified in claim 1 or 2.

[0008] Key features of the invention in the system with storage and retrieval machine and brake fin according to claim 1 are that the storage and retrieval machine is movable along a travel path, in particular a rail path, wherein a permanent magnet arrangement is arranged on the storage and retrieval machine, in particular wherein the brake fin is essentially flat and made of metal, wherein the brake fin is movable on a first travel path section, in particular guided, in particular via a pivot joint arrangement, in particular via a parallel joint arm, such that when the storage and retrieval machine enters the first travel path section, in particular at a minimum speed, the brake fin extends in a direction of travel.

[0009] ISI \ EIDOPAT 28.07.2025 The longitudinal slot of the permanent magnet arrangement is immersed increasingly deeper both in the direction of travel and perpendicular to the direction of travel, such that the magnetic flux flowing through the brake fin increases disproportionately to the distance traveled in the first section of the track, in particular where the minimum speed when entering is so high that the force acting on the brake fin, generated by eddy currents, overcomes gravity.

[0010] An advantage of this is that the brake fin is arranged to be movable, and thus, when retracting, the braking force drives a forced movement of the brake fin, which is designed in such a way that the brake fin is lifted when braking and thereby plunges ever deeper into the longitudinal slot, namely parallel to the ground plane, i.e. in the horizontal direction, and parallel to the lifting axis direction, i.e. in the vertical direction.

[0011] Due to the progressive increase in the area through which the magnetic flux flows, associated with immersion, the braking force increases accordingly and accelerates the braking fin increasingly during its movement.

[0012] The advantage of this movable arrangement of the brake fin is that, during retraction, the brake fin is carried along by the storage and retrieval machine until it reaches a stop, and is therefore retracted again during retraction. During retraction, the brake fin also emerges vertically from the longitudinal slot, and the area exposed to the magnetic flux decreases progressively, as does the braking force generated during retraction. Therefore, only a small torque needs to be applied by the traction motor during retraction. This is because the braking force generated by the eddy current brake decreases progressively during retraction, thus even enabling accelerated retraction from the initial travel section.

[0013] In contrast, a fixed brake fin would be difficult to overcome when extending.

[0014] The brake fin according to the invention is virtually self-switching, because when retracting the fin the brake becomes increasingly stronger and when extending the fin the brake is essentially switched off.

[0015] Important features of the system according to claim 2 are that the system is provided with a storage and retrieval machine and a brake fin, wherein the storage and retrieval machine is movable along a travel path, in particular a rail path, wherein a permanent magnet arrangement is arranged on the storage and retrieval machine, wherein the brake fin is movable on a first travel path section via a rotary joint arrangement, in particular via a parallel joint arm, wherein a movement of the brake fin, in particular a forced movement of the brake fin guided by the rotary joint arrangement, can be effected by the permanent magnet arrangement.

[0016] An advantage of this is that the eddy current brake is switched on during retraction by means of the swivel joint arrangement and is essentially switched off after a very short time during extension.

[0017] A further advantage is that the brake fin is arranged to be movable, and thus, when retracting, the braking force drives a forced movement of the brake fin, which is designed in such a way that the brake fin is lifted when braking and thereby plunges ever deeper into the longitudinal slot, namely parallel to the ground plane, i.e. in the horizontal direction, and parallel to the lifting axis direction, i.e. in the vertical direction.

[0018] Due to the progressive increase in the area through which the magnetic flux flows, associated with immersion, the braking force increases accordingly and accelerates the braking fin increasingly during its movement.

[0019] The advantage of this movable arrangement of the brake fin is that, during retraction, the brake fin is carried along by the storage and retrieval machine until it reaches a stop, and is therefore retracted again during retraction. During retraction, the brake fin also emerges vertically from the longitudinal slot, and the area exposed to the magnetic flux decreases progressively, as does the braking force generated during retraction. Therefore, only a small torque needs to be applied by the traction motor during retraction. This is because the braking force generated by the eddy current brake decreases progressively during retraction, thus even enabling accelerated retraction from the initial travel section. In contrast, a fixed brake fin would be difficult to overcome during retraction.

[0020] In a preferred embodiment, the track is arranged on the floor of the system, particularly on a level surface. This has the advantage of achieving stable driving characteristics.

[0021] In an advantageous embodiment, the main magnetic flux in the longitudinal slot of the permanent magnet arrangement is aligned parallel to the normal direction of the plane accommodating the brake fin, which is designed, in particular, as a flat sheet. The advantage here is that the strongest possible braking force can be generated.

[0022] In an advantageous embodiment, the main magnetic flux in the longitudinal slot of the permanent magnet arrangement is aligned perpendicular to the direction of travel and parallel to the floor plane of the system. The advantage here is that the magnetic field is used as efficiently as possible to generate a braking force.

[0023] In an advantageous embodiment, the center of gravity of the brake fin, and in particular any point on it, is movable along a segment of a circular arc. It is advantageous that the force exerted on the brake fin by the eddy currents causes it to move along this arc segment. When the storage and retrieval machine enters and exits the first travel section, the brake fin is carried along, specifically along the path along which it is movable. During entry, the brake fin penetrates deeper into the longitudinal slot, particularly in the transverse direction to the direction of travel of the storage and retrieval machine, so that the generated braking force increases progressively. When exiting the first travel section, the brake fin leaves the longitudinal slot very quickly, so that no significant counterforce slows the storage and retrieval machine down when it starts moving.

[0024] In an advantageous embodiment, the permanent magnet arrangement has a longitudinal slot through which the magnetic flux of the permanent magnet arrangement flows. When the storage and retrieval machine, and in particular the permanent magnet arrangement, enters the first travel section, the brake fin penetrates the longitudinal slot of the permanent magnet arrangement, particularly transversely to the direction of travel of the storage and retrieval machine, and in particular increasingly deeper. Thus, the distance to the floor or to a rail increases progressively. In particular, when the storage and retrieval machine enters the first travel section, a braking force of such a direction and such is generated that it drives the movement of the brake fin. It is advantageous that the eddy current brake is essentially activated when entering the first travel section and deactivated when exiting.

[0025] In an advantageous embodiment, when the storage and retrieval machine, and in particular the permanent magnet assembly, exits the first travel section, the brake fin emerges from the longitudinal slot of the permanent magnet assembly, particularly transversely to the direction of travel of the storage and retrieval machine, and in particular increasingly so, meaning that the distance of the brake fin to the floor of the system or to a rail decreases progressively. It is advantageous that the area of ​​the brake fin through which the magnetic flux flows is essentially equal to the area of ​​the brake fin immersed in the longitudinal slot. Due to the circular motion, i.e., not only horizontal motion but combined horizontal and vertical motion, the area through which the magnetic flux flows does not increase or decrease proportionally to the distance traveled in the first travel section, but rather disproportionately, in particular according to an exponential relationship, and in particular with an exponent greater than 1.

[0026] In an advantageous embodiment, it is important that when the storage and retrieval machine exits the first travel section, particularly at minimum speed, the brake fin protrudes from the longitudinal slot in such a way that the magnetic flux flowing through the brake fin decreases disproportionately to the distance traveled in the first travel section. It is advantageous that the brake fin is pushed out of the longitudinal slot very quickly, thus allowing the storage and retrieval machine to accelerate very rapidly.

[0027] In an advantageous embodiment, the system has a stationary stop element that limits the movement of the brake fin. The advantage here is that when the storage and retrieval machine enters the first travel section, the brake fin is moved up to the stop element and is then limited, so that the brake fin cannot move further due to the braking force, and thus the full braking force is applied to the storage and retrieval machine. In an advantageous embodiment, the brake fin is held by parallel, and in particular identical, rotary levers, in particular wherein each rotary lever is connected at its first end region to a first pivot joint and at its second end region to a second pivot joint.An advantage of this is that the brake fin maintains its orientation during movement, i.e., it always remains parallel to the ground surface and / or to the rails laid on the ground.

[0028] In an advantageous embodiment, support buffers are arranged on the brake fin, particularly on its underside, to space the brake fin from the base of the system. An advantage of this is that a well-defined distance can be maintained. Furthermore, the support buffers can be made of an elastic material, such as plastic, for damping purposes.

[0029] In an advantageous embodiment, the brake fin is designed as a flat sheet metal part, in particular an aluminum sheet metal part. It is advantageous that the plane accommodating the flat sheet metal part extends in the direction of travel and perpendicular to it, particularly in the vertical direction.

[0030] In a preferred design, rails are laid on the floor of the system, and the storage and retrieval machine is a rail vehicle. An advantage of this design is that the brake fin can be positioned parallel to the rail track, thus allowing the storage and retrieval machine to move along the designated path.

[0031] Key features of the system monitoring method are that the position of the storage and retrieval machine is detected and a target speed is specified based on the detected position, in particular by controlling the temporal progression of the detected positions to a temporal progression of predetermined target positions by specifying the temporal progression of the target speed, wherein the target speed decreases monotonically, and in particular strictly monotonically, with the distance traveled in the first travel section after entering that section, wherein the traction drive of the storage and retrieval machine is operated in speed control mode, so that the detected speed of the storage and retrieval machine is controlled to the target speed by specifying a target torque or a target motor current as a control variable to the traction drive, in particular to the electric motor of the traction drive.where the value of the control variable is monitored for exceeding a threshold value in absolute terms, in particular so that a warning is displayed and / or forwarded depending on whether the threshold value is exceeded.

[0032] An advantage of this approach is that the drive operates in a controlled manner, and the value of the manipulated variable determined by the drive's controller indicates whether the eddy current brake is functioning as intended or if a defect exists. Therefore, the brake test can be performed without any special effort.

[0033] In an advantageous embodiment, the target speed decreases proportionally to the distance traveled in the first section of the journey. A key advantage is that monitoring can be implemented easily. Further advantages are described in the dependent claims. The invention is not limited to the combination of features stated in the claims. For those skilled in the art, further meaningful combinations of claims and / or individual claim features and / or features of the description and / or the figures will be apparent, particularly from the problem statement and / or the problem arising from a comparison with the prior art.

[0034] The invention will now be explained in more detail with reference to schematic illustrations:

[0035] Figure 1 schematically sketches a system according to the invention with a storage and retrieval machine and brake fin 1.

[0036] Figures 2 to 5 schematically illustrate the entry of the storage and retrieval machine into the area of ​​the brake fin 1.

[0037] Figure 2 schematically depicts the state of the system before the operative connection between the storage and retrieval machine and the brake fin 1 is established.

[0038] Figure 3 schematically illustrates the state of the system when the operative connection between the storage and retrieval machine and the brake fin 1 is established.

[0039] Figure 4 schematically illustrates the folding up of the brake fin 1 when the storage and retrieval machine enters the storage area.

[0040] Figure 5 schematically illustrates the state of the system when the storage and retrieval machine has retracted into the brake fin 1 and come to rest.

[0041] Figures 6 to 8 schematically illustrate the extension of the storage and retrieval machine into the area of ​​the brake fin 1.

[0042] Figure 6 schematically depicts the state of the system before the storage and retrieval machine extends.

[0043] Figure 7 schematically illustrates the folding down of the brake fin 1 when the storage and retrieval machine is extended.

[0044] Figure 8 schematically illustrates the state of the system after the storage and retrieval machine has been extended.

[0045] As shown in the figures, the system includes a storage and retrieval machine (SRM) which has a traction drive 3 that drives at least one wheel of the SRM. A further drive is a lifting drive, which enables a load picked up by the SRM to be moved vertically, thus allowing it to be loaded and unloaded at different heights.

[0046] Preferably, the storage and retrieval machine is designed as a rail vehicle and can travel along the rail track 2.

[0047] A permanent magnet arrangement 4, which has a longitudinal slot, is arranged as an active component on the underside of the storage and retrieval machine, in particular on the underside of the frame of the storage and retrieval machine. The permanent magnet arrangement generates a magnetic field that passes through the longitudinal slot, and is therefore oriented essentially perpendicular to the direction of extension of the longitudinal slot.

[0048] In one section of the travel path, a brake fin is arranged as a sword-shaped reactive element, such that it projects into the longitudinal slot when the storage and retrieval machine approaches brake fin 1. As long as the storage and retrieval machine is moving, eddy currents are induced in brake fin 1 by the permanent magnet arrangement. In this way, the braking effect is achieved according to the principle of an eddy current brake.

[0049] The brake fin 1 is movable via rotary levers 20, the first end of which is attached to the base of the system via a pivot joint. The rails of track 2 are also placed and fastened to this pivot joint. A further pivot joint is provided at the other end of the rotary lever 20 and is attached to the brake fin 1. The brake fin 1 can thus be pivoted while remaining parallel to the system.

[0050] In particular, the rotary levers 20 form a parallel-jointed arm for the brake fin 1. Thus, during the rotation of the rotary levers 20, the brake fin 1 remains parallel to the rails, but is raised during the rotation in the vertical direction, i.e., in the conveying direction of the lifting mechanism of the storage and retrieval machine, and is also moved in the direction of the rails. Every point of the brake fin 1 moves along a circular path.

[0051] As shown in Figure 3, when the storage and retrieval machine with its permanent magnet assembly moves towards the brake fin 1, and the brake fin 1 projects further and further into the longitudinal slot of the permanent magnet assembly 4, the brake fin is lifted as a result of the resulting braking force, in particular the resulting force 30, and simultaneously moved in the direction of the rail until a stationary stop element 21 stops the brake fin 1 and it thus rests against the stop element 21, as shown in Figure 3. The stop element 21 is attached directly or indirectly to the base of the system.

[0052] Preferably, support buffers 22 are arranged on the underside of the brake fin 1, by means of which the brake fin 1 remains spaced away from the ground, in particular when it is lowered.

[0053] As shown in Figures 6 to 8, when the permanent magnet arrangement 4 is pulled out, a resultant force 70 is generated which causes the brake fin to lower, and after leaving the permanent magnet arrangement 4 the brake fin 1 rests on the ground via the support buffers 22.

[0054] It is also important that, as the brake fin 1 emerges from the longitudinal slot of the permanent magnet arrangement 4, the magnetic flux flowing through the brake fin 1 decreases disproportionately to the distance traveled in the first section of the track, since the brake fin 1 not only emerges parallel to the direction of travel, but is also pushed out in a transverse direction, in particular towards the ground.

[0055] As shown in Figure 9, a brake test can be performed.

[0056] Figure 9 shows the time course 90 of the speed and the time course of the torque 91 when the permanent magnet arrangement 4 is inserted into the brake fin 1, in particular the process shown schematically step by step in Figures 2 to 5.

[0057] Before entering the track, the traction drive generates a torque M, which is applied to the drive wheel, and the storage and retrieval machine has a speed v in the direction of travel. After the permanent magnet assembly 4 has entered the area of ​​the brake fin 1, a braking torque is generated by the eddy current brake – formed by the permanent magnet assembly 4 in operative connection with the brake fin 1 – so that the traction drive does not need to generate any torque to reduce the speed of the storage and retrieval machine in the intended manner, in particular proportionally to time as shown in Figure 9.

[0058] The eddy current brake is therefore considered to be functioning correctly when the torque required by the traction drive during deceleration disappears or remains below a threshold value 92. To monitor the torque, it is measured, in particular by generating a model value for the traction drive's torque in a control unit of an inverter or converter supplying the traction drive, and specifically by monitoring this model value, represented as an actual value 93, for exceeding the threshold value 92. The curve of the actual value 93 is shown in Figure 9.

[0059] Figure 9 shows the calculated torque curve 94, in particular the target torque, during the braking process. In further embodiments of the invention, instead of the torque, the motor current is monitored for exceeding a threshold value 92. Since the motor current can be measured cost-effectively using a commercially available sensor, this monitoring is simple and inexpensive to implement.

[0060] Reference symbol list

[0061] 1 Brake fin, in particular sword-shaped reactive part

[0062] 2 railway line

[0063] 3 Traction drive

[0064] 4 Permanent magnet arrangement

[0065] 5 Lifting drive

[0066] 6 Brake fin, in particular sword-shaped reactive part

[0067] 20 rotary levers

[0068] 21 Stop part

[0069] 22 support buffers

[0070] 30 resultant force

[0071] 70 resultant force

[0072] 90 Time course of the speed

[0073] 91 Time course of the torque

[0074] 92 threshold value

[0075] 93 Current torque curve

[0076] 94 Curve of the target torque

Claims

Patent claims:

1. System with a storage and retrieval machine and brake fin, wherein the storage and retrieval machine is movable along a travel path, in particular a rail path, wherein a permanent magnet arrangement is arranged on the storage and retrieval machine, in particular wherein the brake fin is essentially flat and made of metal, wherein the brake fin is arranged on a first travel path section, in particular guided, via a pivot joint arrangement, in particular via a parallel joint arm, in such a way that when the storage and retrieval machine enters the first travel path section, in particular at a minimum speed, the brake fin dips increasingly deeper into a longitudinal slot of the permanent magnet arrangement extending in the direction of travel, both in the direction of travel and perpendicular to the direction of travel, such that the magnetic flux flowing through the brake fin increases disproportionately to the distance traveled in the first travel path section.in particular where the minimum speed during entry is so high that the force generated by eddy currents acting on the brake fin overcomes gravity.

2. System with storage and retrieval machine and brake fin, wherein the storage and retrieval machine is movable along a travel path, in particular a rail path, wherein a permanent magnet arrangement is arranged on the storage and retrieval machine, wherein the brake fin is movable on a first travel path section via a rotary joint arrangement, in particular via a parallel joint arm, wherein a movement of the brake fin, in particular a forced movement of the brake fin guided by the rotary joint arrangement, can be effected by the permanent magnet arrangement.

3. System according to claim 1 or 2, characterized in that the driving track is arranged on the floor of the system, in particular on a flat floor surface.

4. System according to one of the preceding claims, characterized in that the main magnetic flux in the longitudinal slot of the permanent magnet arrangement is aligned parallel to the normal direction of the plane receiving the brake fin, in particular designed as a flat sheet, and / or that the main magnetic flux in the longitudinal slot of the permanent magnet arrangement is aligned perpendicular to the direction of travel and parallel to the ground plane of the system.

5. System according to one of the preceding claims, characterized in that, during the movement of the brake fin, the center of gravity, in particular each point, of the brake fin is movable along a circular arc segment. - 16 - 6. System according to one of the preceding claims, characterized in that the permanent magnet arrangement has a longitudinal slot through which the magnetic flux of the permanent magnet arrangement flows, wherein, upon entry of the storage and retrieval machine, in particular the permanent magnet arrangement, the brake fin penetrates into the longitudinal slot of the permanent magnet arrangement, in particular transversely to the direction of travel of the storage and retrieval machine, in particular increasingly deeper, in particular thus the distance to the floor or to a rail increases increasingly, in particular wherein, upon entry of the storage and retrieval machine, a braking force of such a direction and such a force is generated which drives the movement of the brake fin.

7. System according to one of the preceding claims, characterized in that when the storage and retrieval machine, in particular the permanent magnet arrangement, exits the first travel section, the brake fin emerges from the longitudinal slot of the permanent magnet arrangement, in particular transversely to the direction of travel of the storage and retrieval machine, in particular increasingly, i.e., the distance of the brake fin to the floor of the system or to a rail decreases increasingly and / or that when the storage and retrieval machine exits the first travel section, in particular at minimum speed, the brake fin emerges from the longitudinal slot in such a way both in the direction of travel and perpendicular to the direction of travel that the magnetic flux flowing through the brake fin decreases disproportionately to the distance traveled in the first travel section.

8. System according to one of the preceding claims, characterized in that the system has a stationary stop element which limits the movement of the brake fin. - 17 - 9. System according to one of the preceding claims, characterized in that the brake fin is held by means of rotary levers that are aligned parallel to each other, in particular identical to each other, in particular wherein each of the rotary levers is connected at its respective first end region to a respective first pivot joint and at its respective second end region to a respective second pivot joint.

10. System according to one of the preceding claims, characterized in that support buffers are arranged on the brake fin, in particular on the underside of the brake fin, to space the brake fin away from the base of the system.

11. System according to one of the preceding claims, characterized in that the brake fin is designed as a flat sheet metal part, in particular an aluminum sheet metal part.

12. Plant according to one of the preceding claims, characterized in that rails are laid on the floor of the plant and the storage and retrieval machine is a rail vehicle. - 18 - 13. Method for monitoring a system according to one of the preceding claims, characterized in that the track position of the storage and retrieval machine is detected and a target speed is specified depending on the detected track position, in particular by controlling the temporal profile of the detected track positions to a temporal profile of predetermined target positions by specifying the temporal profile of the target speed, wherein the target speed decreases monotonically, in particular strictly monotonically, with the distance traveled in the first track section after entering it, wherein the traction drive of the storage and retrieval machine is operated in speed control mode, so that the detected speed of the storage and retrieval machine is controlled to the target speed by adjusting the traction drive, in particular the electric motor of the traction drive,A target torque or a target motor current is specified as the manipulated variable, whereby the value of the manipulated variable is monitored for exceeding a threshold value, in particular so that a warning is displayed and / or forwarded depending on whether the threshold value is exceeded.

14. Method according to one of the preceding claims, characterized in that in the first driving section the target speed decreases proportionally to the distance traveled in the first driving section.

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