A shuttle vehicle control circuit

Abstract

The embodiment of the application discloses a kind of shuttle control circuit and shuttle.The shuttle control circuit includes: power module;Circuit breaker module, with power module electric connection;Voltage conversion module, with circuit breaker module electric connection;Relay module, with voltage conversion module electric connection, for controlling the working state of shuttle;Control module is connected with relay module, for receiving the control instruction transmitted by outside, and according to control instruction control the working state of relay module, to carry out remote control to shuttle.The shuttle control circuit and shuttle provided by the embodiment of the application can realize remote restart control to shuttle.

Description

Technical Field

[0001] The present invention relates to shuttle control technology, and more particularly to a shuttle control circuit and a shuttle. Background Technology

[0002] For shuttles such as four-way shuttles (also known as four-way vehicles), the main actuators are four servo motors, which realize functions such as walking, lifting and reversing, and picking up and placing goods. When an alarm occurs on the shuttle, a power-off restart is required to clear the alarm. Therefore, when an alarm occurs on the shuttle, restart control is necessary.

[0003] Currently, when restarting the existing shuttle, manual assistance is usually required. Maintenance personnel have to climb the racks and operate the power switch on the shuttle to cut off and restore power, which is time-consuming and poses safety hazards. Summary of the Invention

[0004] This invention provides a shuttle control circuit and a shuttle to enable remote restart control of the shuttle.

[0005] This invention provides a shuttle control circuit, comprising:

[0006] Power module;

[0007] The circuit breaker module is electrically connected to the power supply module.

[0008] The voltage conversion module is electrically connected to the circuit breaker module;

[0009] The relay module, electrically connected to the voltage conversion module, is used to control the operating status of the shuttle car;

[0010] The control module, connected to the relay module, is used to receive control commands transmitted from the outside and control the working state of the relay module according to the control commands, so as to remotely control the shuttle.

[0011] Optionally, the power module includes a battery and a capacitor. The battery is electrically connected to the capacitor and the voltage conversion module through a circuit breaker module. The relay module includes a first relay and a second relay. The coil of the first relay is electrically connected to the output terminal of the voltage conversion module. The coil of the second relay is electrically connected to the output terminal of the voltage conversion module through the normally closed contact of the first relay. The normally open contact of the second relay is located on the output side of the capacitor.

[0012] Optionally, the relay module may also include a third relay, the normally open contact of which is located in the path connecting the battery and the capacitor.

[0013] Optionally, the first relay is a time-delay relay.

[0014] Optionally, the shuttle control circuit described above also includes an inductor, and the power module is electrically connected to the circuit breaker module through the inductor.

[0015] Optionally, the circuit breaker module includes a first circuit breaker and a second circuit breaker. The power supply module is electrically connected to the voltage conversion module through the first circuit breaker, and the voltage conversion module is electrically connected to the relay module through the second circuit breaker.

[0016] Optionally, the shuttle control circuit mentioned above also includes a switch module, and the circuit breaker module is electrically connected to the voltage conversion module through the switch module.

[0017] Optionally, the switch module includes at least one key switch.

[0018] Optionally, the power module includes a battery and a charger, with the battery electrically connected to the charger, which is used to charge the battery.

[0019] Secondly, embodiments of the present invention also provide a shuttle car, which is controlled by the shuttle car control circuit described in the first aspect.

[0020] The shuttle control circuit and shuttle provided in this embodiment of the invention include: a power supply module; a circuit breaker module electrically connected to the power supply module; a voltage conversion module electrically connected to the circuit breaker module; a relay module electrically connected to the voltage conversion module, used to control the working state of the shuttle; and a control module connected to the relay module, used to receive externally transmitted control commands and control the working state of the relay module according to the control commands, so as to remotely control the shuttle. The shuttle control circuit and shuttle provided in this embodiment of the invention remotely control the shuttle by controlling the working state of the relay module through the control module. For example, the control module controls the energization and de-energization of the coil of the relay in the relay module through remote communication, thereby controlling the on / off state of the switch corresponding to the relay coil, controlling the power supply line of the shuttle driver, controlling the working state of the driver, and thus controlling the working state of the shuttle, so as to realize the remote restart control of the shuttle by the shuttle control circuit. Attached Figure Description

[0021] Figure 1 This is a structural block diagram of a shuttle control circuit provided in an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of a shuttle control circuit provided in an embodiment of the present invention. Detailed Implementation

[0023] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0024] Figure 1 This is a structural block diagram of a shuttle control circuit provided in an embodiment of the present invention. (Reference) Figure 1 The shuttle control circuit includes: power module 10, circuit breaker module 20, voltage conversion module 30, relay module 40 and control module 50.

[0025] The circuit breaker module 20 is electrically connected to the power supply module 10; the voltage conversion module 30 is electrically connected to the circuit breaker module 20; the relay module 40 is electrically connected to the voltage conversion module 30 and is used to control the working state of the shuttle; the control module 50 is connected to the relay module 40 and is used to receive externally transmitted control commands and control the working state of the relay module 40 according to the control commands to remotely control the shuttle.

[0026] For example, the control module 50 can be a PLC, which can be remotely connected to the relay module 40. The PLC can remotely control the on / off state of the relay module 40. The output voltage of the power supply module 10 can be 48V. The voltage conversion module 30 can convert the output voltage of the power supply module 10, such as converting the 48V output voltage of the power supply module 10 to 24V. The circuit breaker module 20 connects the power supply module 10 and the voltage conversion module 30. The circuit breaker module 20 can disconnect the circuit when there is an overcurrent in its path, that is, cut off the faulty circuit, prevent the accident from escalating, and ensure safe operation. When the path of the circuit breaker module 20 is normal, the circuit breaker module 20 is conducting. The power supply module 10 is electrically connected to the voltage conversion module 30 through the circuit breaker module 20. The power supply module 10 transmits electrical energy to the voltage conversion module 30. The voltage conversion module 30 converts the voltage of the electrical energy transmitted by the power supply module 10, such as reducing the voltage, so as to supply power to the control module 50 to meet the actual power supply requirements. Multiple relays can be installed in the relay module 40. The switch of one relay is connected in series with the coil of another relay and then electrically connected to the voltage conversion module 30. The control module 50 can remotely communicate with the relay module 40 (which may include time-delay relays). Through remote communication, the control module 50 controls the on / off state of the switch of one of the relays, thereby controlling the energization of the coil of the other relay connected in series with the aforementioned relay, and thus controlling the on / off state of the switch corresponding to the relay coil. The switch corresponding to the relay coil can be located at the output terminal of the power module 10. The output terminal of the power module 10 can be connected to the shuttle's driver (such as a servo driver), thereby controlling the on / off state of the switch corresponding to the relay coil by controlling the energization of the relay coil, thus controlling the operating state of the driver, and consequently, the operating state of the shuttle. When the control module 50 receives an externally transmitted control command, such as an alarm from the shuttle's driver or a command to restart the shuttle, the control module 50 de-energizes the relay coil, disconnects the switch corresponding to the relay coil, and disconnects the power supply module 10 from the shuttle's driver, causing the shuttle's driver to stop working. After a preset time (e.g., a few seconds) since the shuttle has stopped working, the control module 50 energizes the relay coil, closes the switch corresponding to the coil, and connects the power supply module 10 to the shuttle's driver, allowing the shuttle's driver to start working, thus resolving the driver alarm problem. The shuttle's driver then drives the shuttle to work, thereby realizing remote restart control of the shuttle by the shuttle control circuit.

[0027] It should be noted that the preset time can be set according to actual control needs, and no limit is set here.

[0028] The shuttle control circuit provided in this embodiment includes: a shuttle control circuit and a shuttle, comprising: a power supply module; a circuit breaker module electrically connected to the power supply module; a voltage conversion module electrically connected to the circuit breaker module; a relay module electrically connected to the voltage conversion module, used to control the working state of the shuttle; and a control module connected to the relay module, used to receive externally transmitted control commands and control the working state of the relay module according to the control commands, so as to remotely control the shuttle. The shuttle control circuit and shuttle provided in this embodiment remotely control the shuttle by controlling the working state of the relay module through the control module. For example, the control module controls the energization and de-energization of the coil of the relay in the relay module through remote communication, thereby controlling the on / off state of the switch corresponding to the relay coil, controlling the power supply line of the shuttle driver, controlling the working state of the driver, and thus controlling the working state of the shuttle, to realize the remote restart control of the shuttle by the shuttle control circuit.

[0029] Optionally, the power module 10 includes a battery 11 and a capacitor 12. The battery 11 is electrically connected to the capacitor 12 and the voltage conversion module 30 through the circuit breaker module 20. The relay module 40 includes a first relay KA1 and a second relay KA2. The coil of the first relay KA1 is electrically connected to the output terminal of the voltage conversion module 30. The coil of the second relay KA2 is electrically connected to the output terminal of the voltage conversion module 30 through the normally closed contact of the first relay KA1. The normally open contact of the second relay KA2 is located on the output side of the capacitor 12.

[0030] For example, Figure 2 This is a schematic diagram of a shuttle control circuit provided in an embodiment of the present invention. (Reference) Figure 2Battery 11 is electrically connected to capacitor 12. Battery 11 can charge capacitor 12. Both battery 11 and capacitor 12 can power the shuttle. For example, battery 11 powers the shuttle's motor, such as a servo motor, while capacitor 12 powers the shuttle's driver. The output voltage of both battery 11 and capacitor 12 can be 48V. The output side of capacitor 12 transmits electrical energy to the shuttle's driver through the normally open contact of the second relay KA2. When the normally open contact of the second relay KA2 is open, the output side of capacitor 12 is disconnected from the circuit containing the shuttle's driver, and the shuttle driver stops working, causing the shuttle to stop. When the normally open contact of the second relay KA2 is closed, the output side of capacitor 12 is connected to the circuit containing the shuttle's driver, and the shuttle driver starts working, driving the shuttle to operate. The coil of the first relay KA1 can be connected in series with a switch. When the coil of the first relay KA1 is energized, the control module 50 can remotely control the switch connected in series with the coil of the first relay KA1 to conduct. At this time, the normally closed contact of the first relay KA1 opens, the coil of the second relay KA2 connected in series with the normally closed contact of the first relay KA1 is de-energized, and the normally open contact of the second relay KA2 opens. Thus, the output side of the capacitor 12 is disconnected from the path where the shuttle's driver is located, and the shuttle's driver stops working, causing the shuttle to stop working. After the shuttle stops working for a preset time, the control module 50 can remotely control the switch connected in series with the coil of the first relay KA1 to open. At this time, the normally closed contact of the first relay KA1 closes, the coil of the second relay KA2 connected in series with the normally closed contact of the first relay KA1 is energized, and the normally open contact of the second relay KA2 closes. Thus, the output side of the capacitor 12 is connected to the path where the shuttle's driver is located, and the shuttle's driver starts working. The shuttle's driver drives the shuttle to work, thereby realizing remote restart control of the shuttle.

[0031] It should be noted that the first relay and the second relay can be electromagnetic relays or other types of relays such as solid-state relays. The specific type of each relay can be determined according to the actual control requirements and is not limited here. Therefore, the scope of protection of this invention should not be limited to electromagnetic relays with coil structures because of the word "coil".

[0032] Optionally, the relay module 40 also includes a third relay KA3, the normally open contact of which is located in the path connecting the battery 11 and the capacitor 12.

[0033] For details, please refer to Figure 2Battery 11 is electrically connected to capacitor 12 via the normally open contact of third relay KA3. Battery 11 can output electrical energy to the driver through the normally open contact of third relay KA3. The opening and closing of the normally open contact of third relay KA3 can control the connection and disconnection of the circuit between battery 11 and driver. The coil of third relay KA3 can be located in another circuit connected to control module 50. Control module 50 controls the opening and closing of the normally open contact of third relay KA3 by controlling the energization of the coil of third relay KA3, thereby controlling the connection and disconnection of the circuit between battery 11 and driver.

[0034] Optionally, the first relay KA1 is a time-delay relay.

[0035] For example, the delay time of the first relay KA1 is more than 1 second. When the shuttle control circuit is working, the electrical energy output by the voltage conversion module 30 is transmitted to the control module 50 through the normally closed contact of the first relay KA1 to power the control module 50. At the same time, it powers the coil of the second relay KA2, causing the normally open contact of the second relay KA2 to close, so that the power module 10 powers the shuttle's driver. When the control module 50 receives a control command that the shuttle needs to be restarted, it can generate a trigger signal and transmit the trigger signal to the first relay KA1 to remotely control the normally closed contact of the first relay KA1 to open. At the same time, the coils of the second relay KA2 and the third relay KA3 are de-energized, and the normally open contacts of the second relay KA2 and the third relay KA3 are opened, de-energizing the driver. After the power is de-energized, the normally closed contact of the first relay KA1 will not close immediately. It will only close after a set delay time has elapsed, restoring the power supply to the driver and the control module 50, realizing the remote restart control of the shuttle and solving the alarm problem of the driver.

[0036] For example, the control module 50 is a PLC. In this embodiment, the control circuits of the first relay KA1 and the third relay KA3 are both connected to the output terminal of the PLC. When the shuttle needs to be restarted, the PLC output signal triggers the first relay KA1, the normally closed contact of the first relay KA1 opens, the control circuit is de-energized, that is, the power supply line of the PLC is disconnected, the PLC has no output, the coil of the third relay KA3 is de-energized, the normally open contact of the third relay KA3 opens, which can cut off the power supply line between the battery and the servo driver; at the same time, the coil of the second relay KA2 is de-energized, the normally open contact of the second relay KA2 opens, which can cut off the power supply line from the capacitor to the servo driver, thus ensuring that the servo driver is de-energized.

[0037] Furthermore, during circuit restart, the PLC simultaneously triggers the second relay KA2 and the third relay KA3, which respectively cut off the power supply to the servo driver and the PLC. Since the PLC's output signal is also canceled after power loss, the second relay KA2 and the third relay KA3 immediately return to the on state. If the power-off time is too short, the servo driver, due to its built-in capacitor, will not clear the alarm due to insufficient power-off time. However, by using a time-delay relay, the normally closed contact of the time-delay relay immediately opens upon receiving a control signal; when the control signal is canceled, the contact does not immediately activate but closes only after a set time. Therefore, although the control signal output by the PLC disappears after the control circuit is powered off, the normally closed contact of the first relay KA1 does not immediately close but only closes after the set delay time, restoring power to the driver and the PLC. At this time, the driver alarm is cleared, and the bus connection is re-established, thus effectively solving the problem of alarms not being cleared during remote restart.

[0038] Continue to refer to Figure 2 Optionally, the shuttle control circuit mentioned above also includes an inductor 60, through which the power module 10 is electrically connected to the circuit breaker module 20.

[0039] Specifically, such as Figure 2 As shown, the battery 11 in the power module 10 is electrically connected to the circuit breaker module 20 through the inductor 60. The inductor 60 can suppress the instantaneous current in its circuit to the allowable range of the battery 11, preventing the battery 11 from entering the overcurrent protection state due to excessive instantaneous current.

[0040] Continue to refer to Figure 2 Optionally, the circuit breaker module 20 includes a first circuit breaker S1 and a second circuit breaker S2. The power supply module 10 is electrically connected to the voltage conversion module 30 through the first circuit breaker S1, and the voltage conversion module 30 is electrically connected to the relay module 40 through the second circuit breaker S2.

[0041] Specifically, both the first circuit breaker S1 and the second circuit breaker S2 can protect the circuit. The first circuit breaker S1 protects the connection between the power supply module 10 and the voltage conversion module 30, while the second circuit breaker S2 protects the connection between the voltage conversion module 30 and the relay module 40. When an overcurrent occurs in the circuit where the circuit breaker is located, the circuit breaker can disconnect the circuit to prevent damage to the components in the circuit, thereby protecting the circuit.

[0042] Continue to refer to Figure 2 Optionally, the shuttle control circuit described above also includes a switch module 70, and the circuit breaker module 20 is electrically connected to the voltage conversion module 30 through the switch module 70.

[0043] Specifically, the switching module 70 controls the connection and disconnection of the circuit between the circuit breaker module 20 and the voltage conversion module 30. The switching module 70 can be controlled by the control module 50 or other control methods. When the voltage conversion module 30 is not needed, it can be stopped by disconnecting the switching module 70. Alternatively, there can be two voltage conversion modules 30, electrically connected. One module can convert the voltage V1 (e.g., 48V) output from the power module 10 to 24V (V2), and the other module can convert the converted 24V to 5V (V3) to power the barcode scanner on the shuttle.

[0044] Optionally, the switch module 70 includes at least one key switch.

[0045] The key switch is typically in the closed position to ensure that the path containing the voltage conversion module 30 in the shuttle control circuit is open, allowing the input terminal of the voltage conversion module 30 to receive the electrical energy transmitted on its line. When the voltage conversion module 30 is not required to operate, it can be switched to the open position by the key switch to achieve no input to the voltage conversion module 30.

[0046] Optionally, the power module 10 includes a battery 11 and a charger 13, with the battery 11 electrically connected to the charger 13, which is used to charge the battery 11.

[0047] Specifically, when the battery 11 has low power, it can be charged by connecting to an external power source via charger 13 to ensure that it has enough power to supply the shuttle's motor. The voltage of the battery 11 after it is fully charged can be 54V.

[0048] In addition, the circuit is equipped with a capacitor detection board U1 and multiple diodes. The capacitor detection board U1 can detect the capacitor voltage. The diodes are unidirectional and can prevent current backflow. For example, the diodes connected to the capacitor can prevent the capacitor current from flowing back to the charging head, ensuring that the charging head is not charged when not charging.

[0049] The shuttle control circuit provided in this embodiment includes: a shuttle control circuit and a shuttle, comprising: a power supply module; a circuit breaker module electrically connected to the power supply module; a voltage conversion module electrically connected to the circuit breaker module; a relay module electrically connected to the voltage conversion module, used to control the working state of the shuttle; and a control module connected to the relay module, used to receive externally transmitted control commands and control the working state of the relay module according to the control commands, so as to remotely control the shuttle. The shuttle control circuit and shuttle provided in this embodiment remotely control the shuttle by controlling the working state of the relay module through the control module. For example, the control module controls the energization and de-energization of the coil of the relay in the relay module through remote communication, thereby controlling the on / off state of the switch corresponding to the relay coil, controlling the power supply line of the shuttle driver, controlling the working state of the driver, and thus controlling the working state of the shuttle, to realize the remote restart control of the shuttle by the shuttle control circuit.

[0050] This invention also provides a shuttle vehicle, which is controlled by the shuttle vehicle control circuit described in the first aspect. The shuttle vehicle control circuit can remotely restart the shuttle vehicle; the specific control process is described above, and will not be repeated here.

[0051] The shuttle provided in this embodiment of the invention belongs to the same inventive concept as the shuttle control circuit provided in any embodiment of the invention and has corresponding beneficial effects. For technical details not covered in this embodiment, please refer to the shuttle control circuit provided in any embodiment of the invention.

[0052] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, combinations, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A shuttle control circuit, characterized in that, include: Power module; The circuit breaker module is electrically connected to the power supply module; The voltage conversion module is electrically connected to the circuit breaker module; The power module includes a battery and a capacitor, and the battery is electrically connected to the capacitor and the voltage conversion module through the circuit breaker module. A relay module, electrically connected to the voltage conversion module, is used to control the working state of the shuttle; a control module, connected to the relay module, is used to receive externally transmitted control commands and control the working state of the relay module according to the control commands, so as to remotely control the shuttle. The relay module includes a first relay and a second relay. The coil of the first relay is electrically connected to the output terminal of the voltage conversion module. The coil of the second relay is electrically connected to the output terminal of the voltage conversion module through the normally closed contact of the first relay. The normally open contact of the second relay is located on the output side of the capacitor. The relay module also includes a third relay, the normally open contact of which is disposed in the path connecting the battery and the capacitor. The first relay is a time-delay relay.

2. The shuttle control circuit according to claim 1, characterized in that, It also includes an inductor, through which the power module is electrically connected to the circuit breaker module.

3. The shuttle control circuit according to claim 1, characterized in that, The circuit breaker module includes a first circuit breaker and a second circuit breaker. The power supply module is electrically connected to the voltage conversion module through the first circuit breaker, and the voltage conversion module is electrically connected to the relay module through the second circuit breaker.

4. The shuttle control circuit according to claim 1, characterized in that, It also includes a switch module, and the circuit breaker module is electrically connected to the voltage conversion module through the switch module.

5. The shuttle control circuit according to claim 4, characterized in that, The switch module includes at least one key switch.

6. The shuttle control circuit according to claim 1, characterized in that, The power module includes a battery and a charger, the battery being electrically connected to the charger, and the charger being used to charge the battery.

Images