EP4133286A1 - Chariot de manutention avec détection de la vitesse du moteur et moteur asynchrone - Google Patents

Chariot de manutention avec détection de la vitesse du moteur et moteur asynchrone

Info

Publication number
EP4133286A1
EP4133286A1 EP21715806.2A EP21715806A EP4133286A1 EP 4133286 A1 EP4133286 A1 EP 4133286A1 EP 21715806 A EP21715806 A EP 21715806A EP 4133286 A1 EP4133286 A1 EP 4133286A1
Authority
EP
European Patent Office
Prior art keywords
motor
motor shaft
magnetic field
industrial truck
field sensors
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP21715806.2A
Other languages
German (de)
English (en)
Inventor
Jürgen KELLER
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hubtex Maschinenbau GmbH and Co KG
Original Assignee
Hubtex Maschinenbau GmbH and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hubtex Maschinenbau GmbH and Co KG filed Critical Hubtex Maschinenbau GmbH and Co KG
Publication of EP4133286A1 publication Critical patent/EP4133286A1/fr
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D3/00—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups
    • G01D3/08—Indicating or recording apparatus with provision for the special purposes referred to in the subgroups with provision for safeguarding the apparatus, e.g. against abnormal operation, against breakdown
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P1/00—Details of instruments
    • G01P1/02—Housings
    • G01P1/026—Housings for speed measuring devices, e.g. pulse generator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
    • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
    • G01P3/42—Devices characterised by the use of electric or magnetic means
    • G01P3/44—Devices characterised by the use of electric or magnetic means for measuring angular speed
    • G01P3/48—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage
    • G01P3/481—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals
    • G01P3/487—Devices characterised by the use of electric or magnetic means for measuring angular speed by measuring frequency of generated current or voltage of pulse signals delivered by rotating magnets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07572—Propulsion arrangements
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the invention relates to an industrial truck with a drive unit comprising a three-phase motor and a motor shaft extending from the three-phase motor and with a speed detection device for detecting the motor shaft speed for regulating the three-phase motor. Furthermore, the invention relates to a three-phase asynchronous motor for such an industrial truck.
  • Industrial trucks are used for storage and retrieval as well as the transport of goods and are well known in numerous variants.
  • the present invention is not limited to a particular type of industrial truck. Examples of such an industrial truck include a design as a low-lift truck or a lift mast truck.
  • a three-phase motor is to be understood as an AC three-phase motor.
  • the three-phase motor is preferably designed as a three-phase asynchronous electric motor, which is installed in a drive axle of an industrial truck to drive the drive wheels.
  • Such a motor can be designed as a brushless, electronically commutated motor; in the present case it is preferably an asynchronous motor with a frequency converter.
  • the three-phase motor usually has a motor housing made of a ferromagnetic view material, especially steel, and is used to support the motor shaft.
  • the motor housing can in particular also form the axle housing, the motor stator being fixed in the housing and the motor rotor penetrating the electric motor and being driven by it.
  • the motor shaft is to be understood in particular as the drive shaft of the three-phase motor that serves as a motor rotor.
  • Speed detection devices for regulating the three-phase motor are also known.
  • optically or magnetically operating systems are known.
  • a speed sensor such as a rotary encoder
  • an output signal is fed back, for example, to a drive inverter of the motor.
  • Such a speed feedback is usually implemented in known drive units on a bearing, in particular with a so-called speed sensor bearing.
  • a motor bearing is designed and used as a speed sensor bearing, an incremental signal detected at the speed sensor bearing being output to a speed control device.
  • speed sensor bearings are particularly expensive and complex in their construction, in particular with regard to their structure and their arrangement.
  • speed sensor bearings which are arranged in an own housing part, require a relatively large amount of effort in production and in maintenance or repair.
  • Such speed sensor bearings are relatively difficult to access from the outside and can usually only be repaired or replaced with relatively great effort. It follows that industrial trucks with such Sensorla like to manufacture and operate are relatively cost-intensive.
  • the object of the present invention is therefore to provide an industrial truck that improves at least one of the disadvantages mentioned above and in particular enables a safe and maintenance-friendly drive unit.
  • the invention solves the problem posed by an industrial truck with the characteristics of the main claim and by a three-phase asynchronous motor with the features of claim 11.
  • Advantageous embodiments and developments of the invention are disclosed in the dependent claims, the description and the figures.
  • the speed detection device has at least one magnetic sensor element arranged on the motor shaft, in particular at least one permanent magnet, and at least three, in particular on the motor shaft circumferentially, in a transverse plane arranged radially around the motor shaft, magnetic field sensors for detecting the speed of the motor shaft.
  • the speed detection is designed to be particularly safe and reliable.
  • two of the three sensors can function as replacement sensors in that they are only activated or the engine shaft speed is only detected when the at least one other sensor has a fault or fails.
  • a first magnetic field sensor can be operated as an active sensor who outputs the data for regulating the three-phase motor, while the other two magnetic field sensors are not used for regulation, but rather serve as redundancy means.
  • the two inactive speed sensors in particular form a passive redundancy and in particular only become active when the first magnetic field sensor has a fault or has failed.
  • the two other sensors or their detection signals can be used for comparison purposes in order to be able to detect a possible malfunction of the system particularly quickly.
  • To determine the rotor position of the motor shaft, in particular of the motor rotor a combination of or an operative connection between at least one magnet designed as the transmitter element and the at least three magnetic field sensors is used, the at least one magnet being connected to the rotor and generating a measuring magnetic field , in which the Mag netfeldsensoren are each arranged.
  • the magnetic field sensors are fixed in place and the magnet is non-rotatably connected to the rotor, so that the magnet rotates together with its measuring magnetic field relative to the magnetic field sensors.
  • the Mag net can in particular be designed as a permanent magnet, for example as a ring magnet.
  • the angle of the measuring magnetic field can be determined by the magnetic field sensors, so that conclusions can be drawn about the position of the rotor. This enables particularly reliable detection of the rotational speed and rapid interchangeability of the detection device.
  • the at least three magnetic field sensors arranged on the outside around the motor shaft are accessible from the outside in a particularly simple manner.
  • a speed sensor is permanently safe and reliable in its function, so that reliable operation of the drive unit of the industrial truck is made possible.
  • the speed sensors can each be designed, for example, as a magnet-based sensor which outputs an incremental A / B track with a defined number of pulses per motor revolution.
  • the magnetic field sensors are preferably arranged to be distributed uniformly in the circumferential direction of the motor shaft.
  • the magnetic field sensors can, for example, be arranged at the same circumferential distance from one another, for example with three magnetic field sensors at an angle around the motor shaft of 120 degrees.
  • the at least three magnetic field sensors are particularly preferably arranged at an angle to the motor shaft of 60 degrees to one another. This enables the speed of the motor shaft to be recorded particularly reliably. In particular, the sensors can thus be quickly accessed from the outside and can thus be exchanged in a particularly simple manner in the event of a fault.
  • the at least three magnetic field sensors are preferably arranged coaxially to the motor shaft.
  • the magnetic field sensors can each be arranged at the same circumferential distance from one another. This is a Particularly premature accessibility of each individual magnetic field sensor from the outside possible.
  • the at least three magnetic field sensors are preferably arranged in an area of a bearingless section of the motor shaft. This means in particular that the motor shaft has no bearing or bearing in the area of the magnetic field sensors. In particular, the three magnetic field sensors are not arranged radially adjacent to a bearing of the motor shaft. As a result, interference on the magnetic field sensors induced by the bearing can be avoided.
  • the magnetic field sensors are particularly preferably each formed as a Hall sensor. Hall sensors offer the particular advantage that they are very insensitive to dirt and water, provided they contain non-ferromagnetic components.
  • the at least three magnetic field sensors are preferably each used or integrated in a receptacle, in particular a bearing plate, of the motor housing.
  • the speed detection device is designed to be particularly compact and space-saving.
  • the speed detection device preferably has a gearwheel which is connected to the motor shaft in a rotationally fixed manner, preferably in the transverse plane, the magnetic field sensors being arranged radially to the gearwheel.
  • the gearwheel can in particular have at least one transmitter element or can itself be designed as such.
  • the gear is preferably designed in such a way that a magnetic field generated by or on it can be generated, which follows the rotation of the motor shaft.
  • the magnetic field can fluctuate in the circumferential direction around the motor shaft. This can be achieved, for example, in that the gear has a plurality of permanent magnets which are distributed around the gear in the circumferential direction.
  • the active magnetic field sensor for example designed as a Hall sensor, preferably scans the gear connected to the motor shaft and can thereby output an incremental A / B track with a defined number of pulses per motor revolution. Furthermore, with such an arrangement, the magnetic field sensors can still be switched off from the outside. exchangeable and particularly not susceptible to failure, which guarantees reliable operation of the motor.
  • the at least one magnetic transmitter element is preferably arranged on the toothed wheel or on a toothed segment of the toothed wheel.
  • the gearwheel or a toothed segment of the gearwheel preferably has a magnetic ring as a transmitter element, which is in active connection with the at least one active magnetic field sensor.
  • the gear has a total of eighty tooth segments. This enables particularly safe operation of the rotational speed detection device.
  • the at least one magnetic transmitter element for example the magnetic ring, is preferably embedded in the gearwheel or toothed segment. This enables particularly safe operation and a particularly compact design of the rotational speed detection device.
  • the three-phase motor preferably forms a traction motor of the industrial truck.
  • the three-phase motor for driving the drive wheels can be installed in a drive axle of an industrial truck. This enables a particularly safe, reliable and compact system.
  • a three-phase asynchronous motor for an industrial truck with the features according to one of claims 1 to 10 is provided.
  • Figure 1 - a detail of a drive unit according to the invention of a Flurför derzeugs in a longitudinal sectional view
  • FIG. 2 a detail of a three-phase motor according to the invention in a cross-sectional view.
  • a drive unit 1 of a not shown Flurför derzeugs 100 is shown in a longitudinal sectional view.
  • the drive unit 1 comprises in particular a three-phase motor 2 and a motor shaft 3.
  • the three-phase motor 2 is designed as a three-phase asynchronous motor 200, which is used as the travel drive of the industrial truck 100.
  • the three-phase motor 2 has, in particular, a motor housing 10 and a motor part 12 arranged therein.
  • the motor shaft 3 extends through the motor part 12 and is supported, inter alia, via a bearing 11 relative to the motor housing 10.
  • a speed detection device 4 is provided in an area of the drive unit 1 arranged outside the motor part 12.
  • the speed detection device 4 is used to control the speed of the three-phase motor.
  • the speed of the motor shaft 3 is detected by means of the speed detection device 4 and a corresponding signal is sent or fed back to a drive inverter (not shown) for controlling the motor part 12.
  • the signals that are evaluated by a controller are required, for example, to switch on protective fields of personal protection scanners installed on the vehicle 100.
  • the speed detection device 4 is arranged in particular in a section 31 of the motor shaft 3 in which the motor shaft 3 has no bearing. In the present case, a bearing 11 is provided axially adjacent to section 31, but not in section 31.
  • the speed detection device 4 comprises three magnetic field sensors 5, 6, 7 arranged radially spaced from the motor shaft 3, as in particular As can be seen in FIG. 2, the magnetic field sensors 5, 6, 7 are arranged coaxially to the motor shaft 3 and in the circumferential direction of the motor shaft 3 at an angle of approximately 60 degrees to one another. By arranging all three sensors 5, 6, 7 on one half of the motor shaft 3, they can be exchanged, for example, in a particularly simple manner.
  • the three magnetic field sensors 5, 6, 7 are each designed as a Hall sensor and in a receptacle or a position plate of the motor housing 10 arranged. Two of the three Hall sensors 5, 6, 7 are always provided for an emergency, in particular if one of the Hall sensors 5, 6, 7 should fail. This means that the system is designed with two redundancies.
  • a first Hall sensor 5 can be actively used for speed feedback to the drive inverter, while the other two Hall sensors 6, 7 are used for redundant speed detection and / or only in the event of a failure or malfunction of the first Hall sensor 5.
  • the speed detection device 4 also has a gear 8 connected to the motor shaft 3, the Hall sensors 5, 6, 7 being arranged radially to the gear 8.
  • the gear wheel 8 has several tooth segments 81, each of which has a magnet 9 that can be brought into operative connection with the Hall sensors 5, 6, 7.
  • a magnetic ring 9 can also be provided. This magnetic ring 9 can in particular be embedded in the gear wheel 8 or in the tooth segment 81.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un chariot de manutention (100) comprenant une unité d'entraînement (1) ayant un moteur triphasé (2) et un arbre de moteur (3) s'étendant à partir du moteur triphasé (2) et comprenant un dispositif de détection de vitesse de rotation (4) pour détecter la vitesse de rotation de l'arbre de moteur pour commander le moteur triphasé (2). Le dispositif de détection de vitesse de rotation (4) présente au moins un élément d'émission magnétique (9) et au moins trois capteurs de champ magnétique (5, 6, 7) disposés radialement autour de l'arbre de moteur (3) dans un plan transversal pour détecter la vitesse de rotation de l'arbre de moteur (3).
EP21715806.2A 2020-04-06 2021-03-23 Chariot de manutention avec détection de la vitesse du moteur et moteur asynchrone Pending EP4133286A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102020109534.1A DE102020109534A1 (de) 2020-04-06 2020-04-06 Flurförderzeug mit Motor-Drehzahlerfassung und Asynchronmotor
PCT/EP2021/057410 WO2021204528A1 (fr) 2020-04-06 2021-03-23 Chariot de manutention avec détection de la vitesse du moteur et moteur asynchrone

Publications (1)

Publication Number Publication Date
EP4133286A1 true EP4133286A1 (fr) 2023-02-15

Family

ID=75339693

Family Applications (1)

Application Number Title Priority Date Filing Date
EP21715806.2A Pending EP4133286A1 (fr) 2020-04-06 2021-03-23 Chariot de manutention avec détection de la vitesse du moteur et moteur asynchrone

Country Status (6)

Country Link
US (1) US20230194560A1 (fr)
EP (1) EP4133286A1 (fr)
JP (1) JP2023521325A (fr)
AU (1) AU2021252064A1 (fr)
DE (1) DE102020109534A1 (fr)
WO (1) WO2021204528A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN114069979A (zh) * 2021-11-22 2022-02-18 北京卫星环境工程研究所 一种空间在轨维修用电动工具的电控系统
CN114814294A (zh) * 2022-04-26 2022-07-29 佛山市川东磁电股份有限公司 一种传感器测试装置

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5953503B2 (ja) * 1978-07-25 1984-12-25 三菱電機株式会社 回転検出装置
DE19949106C2 (de) 1999-10-12 2002-07-18 Roland Man Druckmasch Verfahren zur Drehzahlmessung und Vorrichtung zur Durchführung des Verfahrens
DE102010049169A1 (de) 2010-10-21 2012-04-26 Still Gmbh Verfahren zur Steuerung einer elektrischen Drehfeldmaschine einer mobilen Arbeitsmaschine
US11919664B2 (en) * 2016-07-29 2024-03-05 Japan Aerospace Exploration Agency Reaction wheel apparatus
JP6648687B2 (ja) * 2016-12-27 2020-02-14 株式会社豊田自動織機 産業車両におけるモータ回転数検出方法およびその装置

Also Published As

Publication number Publication date
US20230194560A1 (en) 2023-06-22
AU2021252064A1 (en) 2022-11-03
JP2023521325A (ja) 2023-05-24
WO2021204528A1 (fr) 2021-10-14
DE102020109534A1 (de) 2021-10-07

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