A trolley control circuit and trolley

Abstract

The present invention discloses a trolley control circuit and a trolley, wherein the control circuit comprises: a switch module, a relay module, a left drive motor, a left brake motor, a right drive motor and a right brake motor; the switch module is connected to the relay module; the relay module is respectively connected to the left drive motor, the left brake motor, the right drive motor and the right brake motor; the switch module is used to control the on-off of the coil current of the relay module, so that the relay module can realize the control of the running state of the left drive motor, the left brake motor, the right drive motor and the right brake motor. By implementing the embodiment of the present invention, the running state of the trolley can be controlled without using a controller, thereby reducing the development difficulty.

Description

Technical Field

[0001] The present invention relates to the technical field of electronic circuits, and in particular to a trolley control circuit and a trolley. Background Art

[0002] Most of the existing remote control cars or children's toy cars are controlled by built-in integrated circuits such as single-chip microcomputers to control the running status of the car, such as starting, stopping, turning, etc., which requires the use of controllers and the setting of corresponding control programs, making development difficult and costly. Summary of the invention

[0003] The embodiment of the present invention provides a trolley control circuit and a trolley capable of controlling the running state of the trolley without using a controller, thereby reducing the difficulty of development.

[0004] An embodiment of the present invention provides a trolley control circuit, comprising: a switch module, a relay module, a left drive motor, a left brake motor, a right drive motor and a right brake motor;

[0005] The switch module is connected to the relay module; the relay module is respectively connected to the left drive motor, the left brake motor, the right drive motor and the right brake motor;

[0006] The switch module is used to control the on and off of the coil current of the relay module, so that the relay module can control the operating states of the left drive motor, the left brake motor, the right drive motor and the right brake motor.

[0007] Further, the relay module includes: a first relay, a second relay, a third relay and a fourth relay; the switch module is connected to the first relay, the second relay, the third relay and the fourth relay respectively, and the switch module is used to control the on and off of the coil current in the first relay, the second relay, the third relay and the fourth relay;

[0008] The left drive motor is connected to the normally closed end contact of the first relay, the left brake motor is connected to the common end contact of the second relay, the right brake motor is connected to the common end contact of the third relay, and the right drive motor is connected to the normally closed end contact of the fourth relay.

[0009] Further, the switch module includes a first switch unit and a second switch unit;

[0010] The first end of the first switch unit is connected to the positive electrode of the power supply, and the second end of the first switch unit is connected to the first coil external connection end of the first relay and the first coil external connection end of the second relay respectively;

[0011] The first end of the second switch unit is connected to the positive pole of the power supply, and the second end of the second switch unit is connected to the first coil external connection end of the third relay and the first coil external connection end of the fourth relay respectively.

[0012] Furthermore, the switch module further comprises: a third switch unit and a gate switch; the gate switch comprises a first sub-switch, a second sub-switch and a third sub-switch;

[0013] The first end of the third switch unit is connected to the positive electrode of the power supply, and the second end of the third switch unit is connected to the input end of the gate switch;

[0014] The second sub-switch is a no-load switch;

[0015] The first sub-switch is connected to the second end of the first switch unit; the third sub-switch is connected to the second end of the second switch unit.

[0016] Furthermore, the switch module further includes: a fourth switch unit; the relay module further includes a fifth relay;

[0017] The first end of the fourth switch unit is connected to the positive electrode of the power supply, and the second end of the fourth switch unit is connected to the external terminal of the first coil of the fifth relay;

[0018] The second coil external terminal of the fifth relay is connected to the negative pole of the power supply, the first common terminal contact and the second common terminal contact of the fifth relay are both connected to the positive pole of the power supply, the first normally open terminal contact of the fifth relay is connected to the second terminal of the first switch unit, and the second normally open terminal contact of the fifth relay is connected to the second terminal of the second switch unit.

[0019] Further, the second coil external terminal of the first relay is connected to the negative electrode of the power supply, the first common terminal contact of the first relay is connected to the positive electrode of the power supply, the second common terminal contact of the first relay is connected to the negative electrode of the power supply, the first normally closed terminal contact of the first relay is connected to the positive terminal of the left drive motor, and the second normally closed terminal contact of the first relay is connected to the negative terminal of the left drive motor;

[0020] The second coil external terminal of the second relay is connected to the negative electrode of the power supply, the first common terminal contact of the second relay is connected to the negative terminal of the left brake motor, the second common terminal contact of the second relay is connected to the positive terminal of the left brake motor, the first normally open terminal contact of the second relay is connected to the negative terminal of the power supply, the second normally open terminal contact of the second relay is connected to the positive terminal of the power supply, the first normally closed terminal contact of the second relay is connected to the positive terminal of the power supply, and the second normally closed terminal contact of the second relay is connected to the negative terminal of the power supply;

[0021] The second coil external terminal of the third relay is connected to the negative electrode of the power supply, the first common terminal contact of the third relay is connected to the negative terminal of the right brake motor, the second common terminal contact of the third relay is connected to the positive terminal of the right brake motor, the first normally open terminal contact of the third relay is connected to the negative terminal of the power supply, the second normally open terminal contact of the third relay is connected to the positive terminal of the power supply, the first normally closed terminal contact of the third relay is connected to the positive terminal of the power supply, and the second normally closed terminal contact of the third relay is connected to the negative terminal of the power supply;

[0022] The second coil external terminal of the fourth relay is connected to the negative pole of the power supply, the first common terminal contact of the fourth relay is connected to the positive pole of the power supply, the second common terminal contact of the fourth relay is connected to the negative pole of the power supply, the first normally closed terminal contact of the fourth relay is connected to the positive terminal of the right drive motor, and the second normally closed terminal contact of the fourth relay is connected to the negative terminal of the right drive motor.

[0023] Furthermore, the switch module further includes a fifth switch unit and a sixth switch unit; the relay module further includes a sixth relay and a seventh relay;

[0024] The second end of the first switch unit is connected to the first coil external terminal of the first relay and the first coil external terminal of the second relay through the fifth switch unit; the second end of the second switch unit is connected to the first coil external terminal of the third relay and the first coil external terminal of the fourth relay through the sixth switch unit;

[0025] The second coil external connection terminal of the first relay is connected to the negative pole of the power supply, the first common terminal contact of the first relay is connected to the first normally closed terminal contact of the sixth relay, the second common terminal contact of the first relay is connected to the second normally closed terminal contact of the sixth relay, the first normally closed terminal contact of the first relay is connected to the positive terminal of the left drive motor, and the second normally closed terminal contact of the first relay is connected to the negative terminal of the left drive motor;

[0026] The second coil external terminal of the second relay is connected to the negative electrode of the power supply, the first common terminal contact of the second relay is connected to the negative terminal of the left brake motor, the second common terminal contact of the second relay is connected to the positive terminal of the left brake motor, the first normally open terminal contact of the second relay is connected to the negative terminal of the power supply, the second normally open terminal contact of the second relay is connected to the positive terminal of the power supply, the first normally closed terminal contact of the second relay is connected to the positive terminal of the power supply, and the second normally closed terminal contact of the second relay is connected to the negative terminal of the power supply;

[0027] The second coil external terminal of the third relay is connected to the negative electrode of the power supply, the first common terminal contact of the third relay is connected to the negative terminal of the right brake motor, the second common terminal contact of the third relay is connected to the positive terminal of the right brake motor, the first normally open terminal contact of the third relay is connected to the negative terminal of the power supply, the second normally open terminal contact of the third relay is connected to the positive terminal of the power supply, the first normally closed terminal contact of the third relay is connected to the positive terminal of the power supply, and the second normally closed terminal contact of the third relay is connected to the negative terminal of the power supply;

[0028] The second coil external terminal of the fourth relay is connected to the negative pole of the power supply, the first common terminal contact of the fourth relay is connected to the first normally closed terminal contact of the seventh relay, the second common terminal contact of the fourth relay is connected to the second normally closed terminal contact of the seventh relay, the first normally closed terminal contact of the fourth relay is connected to the positive terminal of the right drive motor, and the second normally closed terminal contact of the fourth relay is connected to the negative terminal of the right drive motor;

[0029] The first coil external terminal of the sixth relay is connected to the second terminal of the first switch unit, the second coil external terminal of the sixth relay is connected to the negative electrode of the power supply, the first common terminal contact of the sixth relay is connected to the positive electrode of the power supply, and the second common terminal contact of the sixth relay is connected to the negative electrode of the power supply;

[0030] The first coil external terminal of the seventh relay is connected to the negative pole of the power supply, the second coil external terminal of the seventh relay is connected to the second end of the second switch unit, the first common terminal contact of the seventh relay is connected to the positive pole of the power supply, and the second common terminal contact of the sixth relay is connected to the negative pole of the power supply.

[0031] Furthermore, it comprises a radio receiving module; the radio receiving module is connected to the switch module.

[0032] Based on the above embodiments, another embodiment of the present invention provides a trolley including the trolley control circuit described in any one of the above 7 embodiments of the present invention.

[0033] The following beneficial effects are achieved by implementing the embodiments of the present invention:

[0034] The embodiment of the present invention provides a trolley control circuit and a trolley, wherein the trolley control circuit includes a switch module, a relay module, a left drive motor, a left brake motor, a right drive motor and a right brake motor;

[0035] The switch module is connected to the relay module; the relay module is respectively connected to the left drive motor, the left brake motor, the right drive motor and the right brake motor; the switch module is used to control the on and off of the coil current of the relay module, so that the relay module can control the running state of the left drive motor, the left brake motor, the right drive motor and the right brake motor, thereby realizing the control of the running state of the trolley. By implementing the present invention, the running state of the trolley can be controlled without using a single-chip microcomputer, and the control program does not need to be configured, which reduces the development difficulty and cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a circuit structure diagram of a trolley control circuit provided in one embodiment of the present invention.

[0037] Figure 2 It is a circuit structure diagram of a trolley control circuit provided by another embodiment of the present invention.

[0038] Figure 3 It is a circuit structure diagram of a trolley control circuit provided by another embodiment of the present invention.

[0039] Figure 4 It is a circuit structure diagram of a trolley control circuit provided by another embodiment of the present invention.

[0040] Figure 5 It is a circuit structure diagram of a trolley control circuit provided by another embodiment of the present invention.

[0041] Figure 6 It is a circuit structure diagram of a trolley control circuit provided by another embodiment of the present invention.

[0042] Figure 7 It is a circuit structure diagram of a trolley control circuit provided by another embodiment of the present invention.

[0043] Figure 8 It is a circuit structure diagram of a trolley control circuit provided by another embodiment of the present invention. DETAILED DESCRIPTION

[0044] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0045] like Figure 1, as shown in one embodiment of the present invention, a trolley control circuit is provided, including a switch module, a relay module, a left drive motor M1, a left brake motor M2, a right drive motor M4 and a right brake motor M3; the switch module is connected to the relay module; the relay module is respectively connected to the left drive motor M1, the left brake motor M2, the right drive motor M4 and the right brake motor M3; the switch module is used to control the on and off of the coil current of the relay module, so that the relay module can control the operating states of the left drive motor, the left brake motor, the right drive motor and the right brake motor.

[0046] Specifically, in this embodiment, the relay module includes: a first relay k1, a second relay k2, a third relay k3, and a fourth relay k4;

[0047] The switch module is connected to the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 respectively, and the switch module is used to control the on and off of the coil current in the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4;

[0048] The left drive motor M1 is connected to the normally closed end contact of the first relay k1, the left brake motor M2 is connected to the common end contact of the second relay k2, the right brake motor M3 is connected to the common end contact of the third relay k3, and the right drive motor M4 is connected to the normally closed end contact of the fourth relay k4.

[0049] First, the switch module is described. In the present invention, the switch module can have various structural forms;

[0050] The first type: the switch module includes a first switch unit S1 and a second switch unit S2;

[0051] The first end of the first switch unit S1 is connected to the positive electrode of the power supply, and the second end of the first switch unit S1 is connected to the first coil external connection end of the first relay k1 and the first coil external connection end of the second relay k2 respectively;

[0052] A first end of the second switch unit S2 is connected to the positive electrode of the power supply, and a second end of the second switch unit S2 is connected to a first coil external terminal of the third relay k3 and a first coil external terminal of the fourth relay k4 respectively.

[0053] Preferably, in the present invention, the first switch unit S1 and the second switch unit S2 are both inching normally open switches.

[0054] The second type: on the basis of the first type, a third switch unit S3 and a selection switch are added; the selection switch includes a first sub-switch S31, a second sub-switch S32 and a third sub-switch S33; the first end of the third switch unit S3 is connected to the positive pole of the power supply, and the second end of the third switch unit S3 is connected to the input end of the selection switch; the second sub-switch S32 is a no-load switch; the first sub-switch S31 is connected to the second end of the first switch unit S1; the third sub-switch S33 is connected to the second end of the second switch unit S2.

[0055] In a preferred embodiment, the third switch unit S3 is a normally closed switch and a gate switch that can only connect one sub-switch inside at a time.

[0056] The third type: on the basis of the second type, a fourth switch unit S4 is added, and at the same time, a fifth relay k5 is added to the relay module, the first end of the fourth switch unit S4 is connected to the positive pole of the power supply, and the second end of the fourth switch unit S4 is connected to the first coil external end of the fifth relay k5; the second coil external end of the fifth relay k5 is connected to the negative pole of the power supply, the first normally open end contact of the fifth relay k5 is connected to the second end of the first switch unit S1, and the second normally open end contact of the fifth relay k5 is connected to the second end of the second switch unit S2; the first common end contact and the second common end contact of the fifth relay are both connected to the positive pole of the power supply.

[0057] In a preferred embodiment, the fourth switch unit S4 is a self-locking switch.

[0058] Next, the structure of the entire car control circuit is further explained;

[0059] In a preferred embodiment, Figure 1 As shown: the second coil external terminal of the first relay k1 is connected to the negative electrode of the power supply, the first common terminal contact of the first relay k1 is connected to the positive electrode of the power supply, the second common terminal contact of the first relay k1 is connected to the negative electrode of the power supply, the first normally closed terminal contact of the first relay k1 is connected to the positive terminal of the left drive motor M1, and the second normally closed terminal contact of the first relay k1 is connected to the negative terminal of the left drive motor M1;

[0060] The second coil external terminal of the second relay k2 is connected to the negative electrode of the power supply, the first common terminal contact of the second relay k2 is connected to the negative terminal of the left brake motor M2, the second common terminal contact of the second relay k2 is connected to the positive terminal of the left brake motor M2, the first normally open terminal contact of the second relay k2 is connected to the negative electrode of the power supply, the second normally open terminal contact of the second relay k2 is connected to the positive electrode of the power supply, the first normally closed terminal contact of the second relay k2 is connected to the positive electrode of the power supply, and the second normally closed terminal contact of the second relay k2 is connected to the negative electrode of the power supply;

[0061] The second coil external terminal of the third relay k3 is connected to the negative electrode of the power supply, the first common terminal contact of the third relay k3 is connected to the negative terminal of the right brake motor M3, the second common terminal contact of the third relay k3 is connected to the positive terminal of the right brake motor M3, the first normally open terminal contact of the third relay k3 is connected to the negative electrode of the power supply, the second normally open terminal contact of the third relay k3 is connected to the positive electrode of the power supply, the first normally closed terminal contact of the third relay k3 is connected to the positive electrode of the power supply, and the second normally closed terminal contact of the third relay k3 is connected to the negative electrode of the power supply;

[0062] The second coil external terminal of the fourth relay k4 is connected to the negative pole of the power supply, the first common terminal contact of the fourth relay k4 is connected to the positive pole of the power supply, the second common terminal contact of the fourth relay k4 is connected to the negative pole of the power supply, the first normally closed terminal contact of the fourth relay k4 is connected to the positive terminal of the right drive motor M4, and the second normally closed terminal contact of the fourth relay k4 is connected to the negative terminal of the right drive motor M4.

[0063] It should be noted that the left brake motor M2 and the right brake motor M3 are both connected to brake lines, which are used to connect the brake components, and are equipped with travel switches. When the left brake motor M2 and the right brake motor rotate forward, the brake lines are tightened, driving the brake components (such as disc brakes) to brake and realize the braking function. When the left brake motor M2 and the right brake motor rotate reversely, the brake lines are released to end the braking. (The connection method between the brake motor and the brake device is a prior art and will not be described in detail here). In addition, the specific connection method of the above-mentioned left drive motor, right drive motor, left brake motor and right brake motor is schematic. Technical personnel in this field can adjust the connection method between the motor and the positive and negative poles of the power supply according to actual conditions. For example, in some embodiments, when designing a small car, the left and right drive motors are arranged in a mirror-symmetrical manner. In this way, assuming that the left drive motor rotates forward when the left drive motor rotates forward, then correspondingly, in the case of the above-mentioned mirror-symmetrical arrangement, the right drive wheel rotates forward only when the right drive motor reverses. At this time, when making circuit connections, it is necessary to keep the connection method of the left drive motor unchanged, connect the positive port of the right drive motor to the second normally closed contact of the fourth relay, and connect the negative port of the right drive motor to the third normally closed contact of the fourth relay (the other contact connection methods of the fourth relay remain unchanged). That is, in the present invention, the connection method of each relay and each motor can be adaptively changed, and is not limited to the present invention. Figure 1 The circuit shown.

[0064] The following Figure 1 The control principle of the circuit shown is explained:

[0065] like Figure 1In the circuit shown, the first switch unit S1 controls the on-off of the current in the first relay k1 and the second relay k2, the second switch unit S2 controls the on-off of the current in the third relay k3 and the fourth relay k4, the third switch unit S3 controls the on-off of the current in the selection switch, the fourth switch unit S4 controls the on-off of the current in the fifth relay k5, and the fifth relay k5 can control the on-off of the current in the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4.

[0066] The first relay k1 controls the running state of the left drive motor M1. Figure 1 And the above connection method connects the first relay k1 to the left drive motor M1. According to the working principle of the relay, when the first relay k1 is energized, the left drive motor M1 is de-energized, and when the first relay k1 is de-energized, the left drive motor M1 is energized.

[0067] The second relay k2 controls the operation state of the left brake motor M2. Figure 1 And the above connection method connects the second relay k2 to the left brake motor M2. According to the working principle of the relay, when the second relay k2 is energized, the left brake motor M2 rotates forward, and when the second relay k2 is de-energized, the left brake motor M2 rotates reversely.

[0068] The third relay k3 controls the operation state of the right brake motor M3. Figure 1 And the above connection method connects the third relay k3 to the right brake motor M3. According to the working principle of the relay, when the third relay k3 is energized, the right brake motor M3 rotates forward, and when the third relay k3 is de-energized, the right brake motor M3 rotates reversely.

[0069] The fourth relay k4 controls the running state of the right drive motor M4. Figure 1 And the above connection method, the fourth relay k4 is connected to the right drive motor M4. According to the working principle of the relay, when the fourth relay k4 is energized, the left drive motor M1 is de-energized, and when the fourth relay k4 is de-energized, the left drive motor M1 is energized.

[0070] Based on the above description, there are four situations for controlling the running status of the trolley:

[0071] ① The first relay k1 and the second relay k2 are energized and the third relay k3 and the fourth relay k4 are de-energized. At this time, the left drive motor M1 loses power and stops rotating. The left brake motor M2 rotates forward, causing the left wheel to lose power and be braked at the same time (i.e., the left wheel is locked and cannot rotate). The right drive motor M4 rotates normally, and the right brake motor M3 is not braked, so the entire car will turn left.

[0072] ② The first relay k1 and the second relay k2 lose power and the third relay k3 and the fourth relay k4 gain power. At this time, the right drive motor M4 loses power and stops rotating. The right brake motor M3 rotates forward, causing the right wheel to lose power and be braked at the same time (i.e., the right wheel is locked and cannot rotate). The left drive motor M1 rotates normally, and the left brake motor M2 is not braked, so the entire car will turn right.

[0073] ③ The first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all de-energized. At this time, the right drive motor M4 and the left drive motor M1 are energized, the left brake motor M2 and the right brake motor M3 rotate in the opposite direction, and no braking is performed. At this time, the car moves straight forward.

[0074] ④ The first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized. At this time, the right drive motor M4 and the left drive motor M1 lose power, and the left brake motor M2 and the right brake motor M3 rotate forward to brake. At this time, the car stops moving.

[0075] The above four types of control over the movement state of the vehicle can be achieved by controlling the current on and off of the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 through the switch module.

[0076] The details are as follows:

[0077] 1) When the third switch unit S3 is closed and the first sub-switch S31 is closed, no matter the first switch unit S1 is closed or open, if the fourth switch unit S4 and the second switch unit S2 are open at this time, the first relay k1 and the second relay k2 are energized, and the car turns left, which is the above situation ①. If the fourth switch unit S4 and / or the second switch unit S2 are closed at this time, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the car stops, which is the above situation ④.

[0078] 2) When the third switch unit S3 is closed and the third sub-switch S33 is closed, no matter the second switch unit S2 is closed or open, if the fourth switch unit S4 and the first switch unit S1 are open at this time, the third relay k3 and the fourth relay k4 are energized, and the car turns right, which is the above situation ②. If the fourth switch unit S4 and / or the first switch unit S1 are closed at this time, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the car stops, which is the above situation ④.

[0079] 3) When the third switch unit S3 is closed and the second sub-switch S32 is closed, if the first switch unit S1, the second switch unit S2 and the fourth switch unit S4 are all disconnected, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all de-energized, and the car goes straight, which is the above situation ③. If the first switch unit S1 is closed, and the second switch unit S2 and the fourth switch unit S4 are disconnected, the first relay k1 and the second relay k2 are energized, and the car turns left, which is the above situation ①. If the second switch unit S2 is closed, and the first switch unit S1 and the fourth switch unit S4 are disconnected, the third relay k3 and the fourth relay k4 are energized, and the car turns right, which is the above situation ②. If the first switch unit S1 and the second switch unit S2 are closed at the same time, regardless of whether the fourth switch unit S4 is closed or disconnected, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the car stops, which is the above situation ④. If the fourth switch unit S4 is closed, no matter the first switch unit S1 and the second switch unit S2 are closed or open, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized and the trolley stops, which is the situation ④ above.

[0080] 4) When the fourth switch unit S4 is closed, no matter the first switch unit S1, the second switch unit S2 and the third switch unit S3 are closed or open, the fifth relay k5 is energized, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the trolley stops, which is the situation ④ above.

[0081] 5) The third switch unit S3 is disconnected. At this time, if the first switch unit S1 is closed, and the second switch unit S2 and the fourth switch unit S4 are disconnected, the first relay k1 and the second relay k2 are energized, and the car turns left, which is the above situation ①. If the fourth switch unit S4 and / or the second switch unit S2 are closed, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the car stops, which is the above situation ④. At this time, if the second switch unit S2 is closed, and the first switch unit S1 and the fourth switch unit S4 are disconnected, the third relay k3 and the fourth relay k4 are energized, and the car turns right, which is the situation ②. If the fourth switch unit S4 and / or the first switch unit S1 are closed, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the car stops, which is the above situation ④.

[0082] 6) When the first switch unit S1 is closed, if the second switch unit S2, the third switch unit S3 and the fourth switch unit S4 are all disconnected, the first relay k1 and the second relay k2 are energized, the trolley turns left, and situation ① occurs. If the fourth switch unit S4 or the second switch unit S2 is closed, regardless of whether the third switch unit S3 is closed or disconnected, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the trolley stops, which is situation ④ above. If the third switch unit S3 is closed, the second switch unit S2 and the fourth switch unit S4 are both disconnected, if the first sub-switch S31 or the second sub-switch S32 is turned on, the first relay k1 and the second relay k2 are energized, and the trolley turns left, which is situation ① above. If the third sub-switch S33 is turned on and closed, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the trolley stops, which is situation ④ above.

[0083] 7) When the second switch unit S2 is closed, if the first switch unit S1, the third switch unit S3 and the fourth switch unit S4 are all disconnected, the third relay k3 and the fourth relay k4 are energized, and the car turns right, resulting in situation ②. If the fourth switch unit S4 or the first switch unit S1 is closed, regardless of whether the third switch unit S3 is closed or disconnected, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the car stops, which is situation ④ above. If the third switch unit S3 is closed, the fourth switch unit S4 and the first switch unit S1 are disconnected. At this time, if the second sub-switch S32 or the third sub-switch S33 is connected, the third relay k3 and the fourth relay k4 are energized, and the car turns right, which is situation ② above. If the first sub-switch S31 is connected, the first relay k1, the second relay k2, the third relay k3 and the fourth relay k4 are all energized, and the car stops, which is situation ④ above.

[0084] The above is Figure 1 The control principle of the trolley control circuit shown in the figure needs to be explained that the switch module may also only include the third switch unit S3 and the selection switch.

[0085] Optional, such as Figure 2 As shown, in another embodiment of the present invention, the switch module further includes a fifth switch unit S5 and a sixth switch unit S6; the relay module further includes a sixth relay k6 and a seventh relay k7;

[0086] The second end of the first switch unit S1 is connected to the first coil external terminal of the first relay k1 and the first coil external terminal of the second relay k2 through the fifth switch unit S5; the second end of the second switch unit S2 is connected to the first coil external terminal of the third relay k3 and the first coil external terminal of the fourth relay k4 through the sixth switch unit S6;

[0087] The second coil external terminal of the first relay k1 is connected to the negative electrode of the power supply, the first common terminal contact of the first relay k1 is connected to the first normally closed terminal contact of the sixth relay k6, the second common terminal contact of the first relay k1 is connected to the second normally closed terminal contact of the sixth relay k6, the first normally closed terminal contact of the first relay k1 is connected to the positive terminal of the left drive motor M1, and the second normally closed terminal contact of the first relay k1 is connected to the negative terminal of the left drive motor M1;

[0088] The second coil external terminal of the second relay k2 is connected to the negative electrode of the power supply, the first common terminal contact of the second relay k2 is connected to the negative terminal of the left brake motor M2, the second common terminal contact of the second relay k2 is connected to the positive terminal of the left brake motor M2, the first normally open terminal contact of the second relay k2 is connected to the negative electrode of the power supply, the second normally open terminal contact of the second relay k2 is connected to the positive electrode of the power supply, the first normally closed terminal contact of the second relay k2 is connected to the positive electrode of the power supply, and the second normally closed terminal contact of the second relay k2 is connected to the negative electrode of the power supply;

[0089] The second coil external terminal of the third relay k3 is connected to the negative electrode of the power supply, the first common terminal contact of the third relay k3 is connected to the negative terminal of the right brake motor M3, the second common terminal contact of the third relay k3 is connected to the positive terminal of the right brake motor M3, the first normally open terminal contact of the third relay k3 is connected to the negative electrode of the power supply, the second normally open terminal contact of the third relay k3 is connected to the positive electrode of the power supply, the first normally closed terminal contact of the third relay k3 is connected to the positive electrode of the power supply, and the second normally closed terminal contact of the third relay k3 is connected to the negative electrode of the power supply;

[0090] The second coil external terminal of the fourth relay k4 is connected to the negative electrode of the power supply, the first common terminal contact of the fourth relay k4 is connected to the first normally closed terminal contact of the seventh relay k7, the second common terminal contact of the fourth relay k4 is connected to the second normally closed terminal contact of the seventh relay k7, the first normally closed terminal contact of the fourth relay k4 is connected to the positive terminal of the right drive motor M4, and the second normally closed terminal contact of the fourth relay k4 is connected to the negative terminal of the right drive motor M4;

[0091] The first coil external terminal of the sixth relay k6 is connected to the second terminal of the first switch unit S1, the second coil external terminal of the sixth relay k6 is connected to the negative electrode of the power supply, the first common terminal contact of the sixth relay k6 is connected to the positive electrode of the power supply, and the second common terminal contact of the sixth relay k6 is connected to the negative electrode of the power supply;

[0092] The first coil external terminal of the seventh relay k7 is connected to the negative pole of the power supply, the second coil external terminal of the seventh relay k7 is connected to the second end of the second switch unit S2, the first common terminal contact of the seventh relay k7 is connected to the positive pole of the power supply, and the second common terminal contact of the seventh relay k7 is connected to the negative pole of the power supply.

[0093] In this embodiment, a fifth switch unit S5, a sixth switch unit S6, a sixth relay k6 and a seventh relay k7 are added, and the connection mode of the first relay k1 and the fourth relay k4 is changed, so that the vehicle can realize the left deviation and right deviation functions.

[0094] Preferably, the fifth switch unit S5 and the sixth switch unit S6 are both inching switches.

[0095] The first relay k1 and the sixth relay k6 are connected in series to control the left drive motor M1. As long as any one of the first relay k1 or the sixth relay k6 is energized, the left drive motor M1 will lose power. Only when the first relay k1 and the sixth relay k6 are de-energized at the same time, the left drive motor M1 will be energized.

[0096] The fourth relay k4 and the seventh relay k7 are connected in series to control the right drive motor M4. As long as any one of the fourth relay k4 or the seventh relay k7 is energized, the right drive motor M4 will lose power. Only when the fourth relay k4 and the seventh relay k7 are de-energized at the same time, the right drive motor M4 will be energized.

[0097] and Figure 2 The car control circuit shown is compared with Figure 1 The control circuit shown has the following two additional cases:

[0098] ⑤ The left drive motor M1 loses power, the left brake motor M2 rotates in the reverse direction, the right drive motor M4 receives power, and the right brake motor M3 rotates in the reverse direction. At this time, the left drive motor M1 stops rotating, and the left wheel has no power. However, since the left brake motor M2 rotates in the reverse direction without braking, and the right drive motor M4 rotates, and the right brake motor M3 does not brake, at this time, although the left wheel has no power, it can still be driven to rotate without locking, and the vehicle body deviates to the left.

[0099] ⑥ The right drive motor M4 loses power, the right brake motor M3 rotates in the reverse direction, the left drive motor M1 receives power, and the left brake motor M2 rotates in the reverse direction. At this time, the right drive motor M4 stops rotating, and the right wheel has no power. However, since the right brake motor M3 rotates in the reverse direction without braking, and the left drive motor M1 rotates, and the left brake motor M2 does not brake, at this time, although the right wheel has no power, it can still be driven to rotate without locking, and the vehicle body deviates to the right.

[0100] The states of the switches in the above two situations are as follows:

[0101] When the third switch unit S3 is closed, the first sub-switch S31 is turned on, the first switch unit S1 is turned off, the second switch unit S2 is turned off, the fourth switch unit S4 is turned off, and the fifth switch unit S5 is turned off, the car deviates to the left, and the above situation occurs⑤

[0102] When the third switch unit S3 is closed, the third sub-switch S33 is turned on, the first switch unit S1 is turned off, the second switch unit S2 is turned off, the fourth switch unit S4 is turned off, and the sixth switch unit S6 is turned off, the vehicle deviates to the right, and the above situation ⑥ occurs.

[0103] As for the attached Figure 2 Other types of operating state control that can be achieved by the trolley control circuit shown in the figure are not listed here one by one, and those skilled in the art can refer to the attached Figure 2 The circuit shown can be used to learn the status of each switch when the car is in other operating states.

[0104] The first relay, the second relay, the third relay and the fourth relay of the present invention are all relays with 8 pins. In an optional embodiment, two 14-pin relays can also be used to replace the four relays. Specifically, as shown in 3, in an optional embodiment of the present invention, the relay module includes a relay A, a relay B and the fifth relay K5; the relay A and the relay B are both relays with 14 pins.

[0105] The first coil external terminal of relay A is connected to the second terminal of the first switch unit S1, the second coil external terminal is connected to the negative electrode of the power supply, the first common terminal contact is connected to the positive electrode of the power supply, the second common terminal contact is connected to the negative electrode of the power supply, the third common terminal contact is connected to the negative terminal of the left brake motor M2, and the fourth common terminal contact is connected to the positive terminal of the left brake motor M2; the first normally open terminal contact and the second normally open terminal contact are not connected to other devices, the third normally open terminal contact is connected to the negative electrode of the power supply, and the fourth normally open terminal contact is connected to the positive electrode of the power supply;

[0106] The first normally closed contact is connected to the positive input port of the left drive motor M1, the second normally closed contact is connected to the negative input port of the left drive motor M1, the third normally closed contact is connected to the positive pole of the power supply, and the fourth normally closed contact is connected to the negative pole of the power supply.

[0107] The first coil external terminal of relay B is connected to the second end of the second switch unit S2, the second coil external terminal is connected to the negative pole of the power supply, the first common terminal contact is connected to the negative pole port of the right brake motor M3, the second common terminal contact is connected to the positive pole port of the right brake motor M3, the third common terminal contact is connected to the positive pole of the power supply, and the fourth common terminal contact is connected to the negative pole of the power supply; the first normally open terminal contact is connected to the negative pole of the power supply, the second normally open terminal contact is connected to the positive pole of the power supply, the third normally open terminal contact and the fourth normally open terminal contact are not connected to other devices; the first normally closed terminal contact is connected to the positive pole of the power supply, the second normally closed terminal contact is connected to the negative pole of the power supply, the third normally closed terminal contact is connected to the positive input terminal of the right drive motor M4, and the fourth normally closed terminal contact is connected to the negative input terminal of the right drive motor M5.

[0108] Similarly, Figure 2 Corresponding to the embodiment shown, in another preferred embodiment of the present invention, Figure 2 The first relay, the second relay, the third relay and the fourth relay in the circuit are replaced by two 14-pin relays, namely relay A and relay B, so as to obtain the attached Figure 4 Circuit structure.

[0109] In this embodiment, the first coil external terminal of relay A is connected to the second terminal of the fifth switch unit S5, the first terminal of the fifth switch unit is connected to the second terminal of the first switch unit, and the second coil external terminal is connected to the negative pole of the power supply; the first common terminal contact is connected to the first normally closed terminal contact of the sixth relay K6, the second common terminal contact is connected to the second normally closed terminal contact of the sixth relay K6, the third common terminal contact is connected to the negative terminal port of the left brake motor M2, and the fourth common terminal contact is connected to the positive terminal port of the left brake motor M2; the first normally open terminal contact and the second normally open terminal contact are not connected to other devices, the third normally open terminal contact is connected to the negative pole of the power supply, and the fourth normally open terminal contact is connected to the positive pole of the power supply; the first normally closed terminal contact is connected to the positive input port of the left drive motor M1, the second normally closed terminal contact is connected to the negative input port of the left drive motor M1, the third normally closed terminal contact is connected to the positive pole of the power supply, and the fourth normally closed terminal contact is connected to the negative pole of the power supply.

[0110] The first coil external terminal of relay B is connected to the second terminal of the sixth switch unit S6, and the second coil external terminal is connected to the negative pole of the power supply; the first common terminal contact is connected to the negative pole port of the right brake motor M3, the second common terminal contact is connected to the positive pole port of the right brake motor M3, the third common terminal contact is connected to the first normally closed terminal contact of the seventh relay K7, and the fourth common terminal contact is connected to the second normally closed terminal contact of the seventh relay K7; the first normally open terminal contact is connected to the negative pole of the power supply, the second normally open terminal contact is connected to the positive pole of the power supply, and the third normally open terminal contact and the fourth normally open terminal contact are not connected to other devices; the first normally closed terminal contact is connected to the positive pole of the power supply, the second normally closed terminal contact is connected to the negative pole of the power supply, the third normally closed terminal contact is connected to the positive input terminal of the right drive motor M4, and the fourth normally closed terminal contact is connected to the negative input terminal of the right drive motor M5.

[0111] In a preferred embodiment, the trolley control circuit further includes a radio receiving module; the radio receiving module is connected to the switch module.

[0112] In the attached Figure 1 , 2 , 3, 4 add a radio receiving module to form an attached Figure 5 , Attachment Figure 6 , Attachment Figure 7 and attached Figure 8 The circuit structure shown in the figure is connected to a radio receiving module in the circuit, which receives the switch control signal of the external remote control device through the radio receiving module, and then controls the state of each switch in the switch module to realize the remote control of the vehicle.

[0113] Based on the above embodiments, another example of the present invention provides a trolley including a trolley control circuit according to any one of the embodiments of the present invention.

[0114] Of course, the above-mentioned car also includes a left driving wheel, a right driving wheel, a frame, a driving motor and corresponding driving wheels connected by shafts, sprocket chains, etc. These belong to the prior art and will not be described one by one.

[0115] By implementing the embodiment of the present invention, the running state of the vehicle can be controlled without using a single chip microcomputer (ie, a controller), and there is no need to configure a control program, thereby reducing the difficulty and cost of development.

[0116] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A trolley control circuit, characterized in that: include: Switch module, relay module, left drive motor, left brake motor, right drive motor and right brake motor; The switch module is connected to the relay module; the relay module is respectively connected to the left drive motor, the left brake motor, the right drive motor and the right brake motor; The switch module is used to control the on and off of the coil current of the relay module, so that the relay module can control the operating states of the left drive motor, the left brake motor, the right drive motor and the right brake motor; The switch module includes a first switch unit, a second switch unit, a third switch unit, a fourth switch unit, a fifth switch unit and a sixth switch unit; the relay module includes a first relay, a second relay, a third relay, a fourth relay, a fifth relay, a sixth relay and a seventh relay; Wherein, the second end of the first switch unit is connected to the first coil external connection end of the first relay and the first coil external connection end of the second relay through the fifth switch unit; The second end of the second switch unit is connected to the first coil external terminal of the third relay and the first coil external terminal of the fourth relay through the sixth switch unit; The second coil external connection terminal of the first relay is connected to the negative pole of the power supply, the first common terminal contact of the first relay is connected to the first normally closed terminal contact of the sixth relay, the second common terminal contact of the first relay is connected to the second normally closed terminal contact of the sixth relay, the first normally closed terminal contact of the first relay is connected to the positive terminal of the left drive motor, and the second normally closed terminal contact of the first relay is connected to the negative terminal of the left drive motor; The second coil external terminal of the second relay is connected to the negative electrode of the power supply, the first common terminal contact of the second relay is connected to the negative terminal of the left brake motor, the second common terminal contact of the second relay is connected to the positive terminal of the left brake motor, the first normally open terminal contact of the second relay is connected to the negative terminal of the power supply, the second normally open terminal contact of the second relay is connected to the positive terminal of the power supply, the first normally closed terminal contact of the second relay is connected to the positive terminal of the power supply, and the second normally closed terminal contact of the second relay is connected to the negative terminal of the power supply; The second coil external terminal of the third relay is connected to the negative electrode of the power supply, the first common terminal contact of the third relay is connected to the negative terminal of the right brake motor, the second common terminal contact of the third relay is connected to the positive terminal of the right brake motor, the first normally open terminal contact of the third relay is connected to the negative terminal of the power supply, the second normally open terminal contact of the third relay is connected to the positive terminal of the power supply, the first normally closed terminal contact of the third relay is connected to the positive terminal of the power supply, and the second normally closed terminal contact of the third relay is connected to the negative terminal of the power supply; The second coil external terminal of the fourth relay is connected to the negative pole of the power supply, the first common terminal contact of the fourth relay is connected to the first normally closed terminal contact of the seventh relay, the second common terminal contact of the fourth relay is connected to the second normally closed terminal contact of the seventh relay, the first normally closed terminal contact of the fourth relay is connected to the positive terminal of the right drive motor, and the second normally closed terminal contact of the fourth relay is connected to the negative terminal of the right drive motor; The first coil external terminal of the sixth relay is connected to the second terminal of the first switch unit, the second coil external terminal of the sixth relay is connected to the negative electrode of the power supply, the first common terminal contact of the sixth relay is connected to the positive electrode of the power supply, and the second common terminal contact of the sixth relay is connected to the negative electrode of the power supply; The first coil external terminal of the seventh relay is connected to the negative pole of the power supply, the second coil external terminal of the seventh relay is connected to the second end of the second switch unit, the first common terminal contact of the seventh relay is connected to the positive pole of the power supply, and the second common terminal contact of the sixth relay is connected to the negative pole of the power supply.

2. The trolley control circuit according to claim 1, characterized in that: The switch module is connected to the first relay, the second relay, the third relay and the fourth relay respectively, and the switch module is used to control the on and off of the coil current in the first relay, the second relay, the third relay and the fourth relay; The left drive motor is connected to the normally closed end contact of the first relay, the left brake motor is connected to the common end contact of the second relay, the right brake motor is connected to the common end contact of the third relay, and the right drive motor is connected to the normally closed end contact of the fourth relay.

3. The trolley control circuit according to claim 1, characterized in that: The first end of the first switch unit is connected to the positive electrode of the power supply, and the second end of the first switch unit is connected to the first coil external connection end of the first relay and the first coil external connection end of the second relay respectively; The first end of the second switch unit is connected to the positive pole of the power supply, and the second end of the second switch unit is connected to the first coil external connection end of the third relay and the first coil external connection end of the fourth relay respectively.

4. The trolley control circuit according to claim 1, characterized in that: The switch module further includes a gate switch; the gate switch includes a first sub-switch, a second sub-switch and a third sub-switch; The first end of the third switch unit is connected to the positive electrode of the power supply, and the second end of the third switch unit is connected to the input end of the gate switch; The second sub-switch is a no-load switch; The first sub-switch is connected to the second end of the first switch unit; the third sub-switch is connected to the second end of the second switch unit.

5. The trolley control circuit according to claim 1, characterized in that: The first end of the fourth switch unit is connected to the positive electrode of the power supply, and the second end of the fourth switch unit is connected to the external terminal of the first coil of the fifth relay; The second coil external terminal of the fifth relay is connected to the negative pole of the power supply, the first common terminal contact and the second common terminal contact of the fifth relay are both connected to the positive pole of the power supply, the first normally open terminal contact of the fifth relay is connected to the second terminal of the first switch unit, and the second normally open terminal contact of the fifth relay is connected to the second terminal of the second switch unit.

6. The trolley control circuit according to claim 1, characterized in that: The second coil external terminal of the first relay is connected to the negative electrode of the power supply, the first common terminal contact of the first relay is connected to the positive electrode of the power supply, the second common terminal contact of the first relay is connected to the negative electrode of the power supply, the first normally closed terminal contact of the first relay is connected to the positive terminal of the left drive motor, and the second normally closed terminal contact of the first relay is connected to the negative terminal of the left drive motor; The second coil external terminal of the second relay is connected to the negative electrode of the power supply, the first common terminal contact of the second relay is connected to the negative terminal of the left brake motor, the second common terminal contact of the second relay is connected to the positive terminal of the left brake motor, the first normally open terminal contact of the second relay is connected to the negative terminal of the power supply, the second normally open terminal contact of the second relay is connected to the positive terminal of the power supply, the first normally closed terminal contact of the second relay is connected to the positive terminal of the power supply, and the second normally closed terminal contact of the second relay is connected to the negative terminal of the power supply; The second coil external terminal of the third relay is connected to the negative electrode of the power supply, the first common terminal contact of the third relay is connected to the negative terminal of the right brake motor, the second common terminal contact of the third relay is connected to the positive terminal of the right brake motor, the first normally open terminal contact of the third relay is connected to the negative terminal of the power supply, the second normally open terminal contact of the third relay is connected to the positive terminal of the power supply, the first normally closed terminal contact of the third relay is connected to the positive terminal of the power supply, and the second normally closed terminal contact of the third relay is connected to the negative terminal of the power supply; The second coil external terminal of the fourth relay is connected to the negative pole of the power supply, the first common terminal contact of the fourth relay is connected to the positive pole of the power supply, the second common terminal contact of the fourth relay is connected to the negative pole of the power supply, the first normally closed terminal contact of the fourth relay is connected to the positive terminal of the right drive motor, and the second normally closed terminal contact of the fourth relay is connected to the negative terminal of the right drive motor.

7. The trolley control circuit according to claim 1, characterized in that: It also includes a radio receiving module; the radio receiving module is connected to the switch module.

8. A small car, characterized in that: It comprises a trolley control circuit as described in any one of claims 1-7.

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