AGV switch control circuit adopting wireless IO module

Abstract

The utility model discloses an AGV switch control circuit adopting a wireless IO module, which belongs to the technical field of electrical control and mainly comprises a power converter TPM, the power converter TPM is electrically connected with a power management module PMM, and the power management module PMM is electrically connected with an AGV body, a starting circuit II, a control circuit and a standby battery GB. The AGV body comprises a driving unit and an AGV controller; the control circuit comprises a wireless communication circuit and a switching circuit, the wireless communication module is connected with the switching circuit in parallel, the wireless communication circuit comprises a wireless IO module, and the wireless IO module is connected with an AGV dispatching system. The problem that in the prior art, seamless switching between non-contact power supply and battery power supply cannot be achieved is solved, one-key on-off of the non-contact power supply AGV is achieved through cooperation of the wireless IO module in the AGV and the intermediate relay, and good flexibility and practicability are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of electrical control, and in particular to an AGV switch control circuit using a wireless IO module. Background Art

[0002] Contactless power supply technology is an effective method to achieve energy transmission from stationary equipment to stationary or mobile equipment by using modern power electronic energy conversion technology and magnetic field coupling technology, and with the help of modern control theory. Contactless power supply can replace the charging waiting problem caused by pure battery power supply, improve AGV operation efficiency and customer production efficiency, and is widely used in manufacturing industry;

[0003] Contactless power supply is divided into high voltage (DC500V / DC560V) and low voltage (DC24V~DC72V) contactless power supply according to the power supply voltage; when the AGV needs to leave the contactless power supply area due to factors such as failure, it is necessary to use the backup battery GB to power the driver. The prior art application with publication number CN 215679081 U discloses an AGV power on / off control circuit, which includes: a power supply; a remote switch, which includes a remote normally closed contact and a remote normally open contact connected in parallel with the remote normally closed contact; a local switch, which includes a local normally closed contact and a local normally open contact connected in parallel with the local normally closed contact, the local normally open contact and the remote normally closed contact are connected in series to form a first branch, and the local normally closed contact and the remote normally open contact are connected in series to form a second branch; a contactor, the power supply supplies power to the contactor through the first branch or the second branch, when the contactor is energized, the AGV is turned on, and when the contactor is de-energized, the AGV is turned off. However, it lacks an enabling circuit for the backup battery, and currently lacks a control circuit that can seamlessly switch power and control the AGV switch through a wireless IO module. Utility Model Content

[0004] The purpose of the utility model is to provide an AGV switch control circuit using a wireless IO module to solve the problem that the contactless power supply and battery power supply cannot be seamlessly switched in the prior art, and the one-button switch of the contactless power supply AGV is realized by cooperating with an intermediate relay through the wireless IO module in the AGV, which has good flexibility and practicality.

[0005] The utility model is realized by the following technical solutions:

[0006] An AGV switch control circuit using a wireless IO module includes a power converter TPM, the power converter TPM is electrically connected to a power management module PMM, the power management module PMM is electrically connected to an AGV body, a start circuit II, a control circuit and a backup battery GB, the AGV body includes a drive unit and an AGV controller; the control circuit includes a wireless communication circuit and a switch circuit, the wireless communication module is connected in parallel with the switch circuit, the wireless communication circuit includes a wireless IO module, the wireless IO module is connected to an AGV scheduling system, and the wireless IO module is electrically connected to an intermediate relay KA4 and intermediate relay KA2; the switching circuit includes a power switch SL1 and a contactor KM1, one end of the power switch SL is connected in series with the intermediate relay KA1, the other end is connected in series with the normally closed contact KA21 of the intermediate relay KA2, and the contactor KM1 is connected in series with the normally open contact KA11 of the intermediate relay KA1; the two ends of the power switch SL are respectively connected in parallel with the normally open contact KA41 of the intermediate relay KA4 and the normally open contact KA12 of the intermediate relay KA1; the normally open contact KM11 of the contactor KM1 is arranged between the power management module PMM and the control circuit.

[0007] Furthermore, the wireless IO module is electrically connected to a switching power supply I; and the AGV controller is electrically connected to a switching power supply II.

[0008] Furthermore, the switching circuit also includes a contactor KM2, the AGV controller is connected to an intermediate relay KA3, the normally open contact KA31 of the intermediate relay KA3 is connected in series with the contactor KM2; the normally open contact KM21 of the contactor KM2 is arranged between the power management module PMM and the backup battery GB.

[0009] Furthermore, the backup battery GB is connected to a switch circuit I, and the switch circuit I is provided with a power switch SL2.

[0010] Furthermore, the power management module PMM is provided with a switch circuit II and a switch circuit III, the switch circuit II is provided with a normally open contact KA13 of an intermediate relay KA1, and both ends of the normally open contact KA13 of the intermediate relay KA1 are connected in parallel with a power switch SL3.

[0011] Furthermore, the power converter TPM is connected to a switch circuit IV, and a normally open contact KA14 of an intermediate relay is provided on the switch circuit IV; two ends of the normally open contact KA14 of the intermediate relay are connected in parallel with a power switch SL4.

[0012] Furthermore, the power switch SL1, power switch SL2, power switch SL3 and power switch SL4 are knob switches, and the power switch SL1, power switch SL2 and power switch SL3 are normally open contacts on the right side of the knob switch, and the power switch SL1, power switch SL2 and power switch SL3 act together; the power switch SL4 is a normally closed contact on the left side of the knob switch, and the middle of the knob switch is in neutral.

[0013] Furthermore, the power converter TPM is electrically connected to a power taking board THM.

[0014] Compared with the prior art, the beneficial effects of the utility model are:

[0015] The utility model adds a power management module PMM between the power converter TPM and the AGV body, which can better control the power supply of each circuit and protect the power supply system; better realize the seamless switching between contactless power supply and battery power supply, and improve the environmental applicability of AGV; adopts a wireless IO module, reduces the wiring cost, is sensitive to response, has low power consumption, long standby time, and high adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a partial circuit schematic diagram of the power converter and power management module of the utility model;

[0017] Figure 2 This is a partial circuit schematic diagram of the AGV controller of the utility model;

[0018] Figure 3 It is a circuit schematic diagram of the control circuit part of the utility model. DETAILED DESCRIPTION

[0019] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without creative work should all fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only referenced to the directions of the drawings. Therefore, the directional words used are used to illustrate rather than limit the creation of the present invention.

[0020] The utility model is further described below in conjunction with the accompanying drawings.

[0021] Embodiment 1: An AGV switch control circuit using a wireless IO module, such as Figure 1-Figure 3As shown, it includes a power converter TPM, the power converter TPM is electrically connected to a power management module PMM, the power management module PMM is electrically connected to an AGV body, a start circuit II, a control circuit and a backup battery GB, and the AGV body includes a drive unit and an AGV controller; the control circuit includes a wireless communication circuit and a switch circuit, the wireless communication module is connected in parallel with the switch circuit, the wireless communication circuit includes a wireless IO module, the wireless IO module is connected to an AGV scheduling system, and the wireless IO module is electrically connected to an intermediate relay KA4 and an intermediate relay KA2; the switch circuit includes a power switch SL1 and a contactor KM1, one end of the power switch SL is connected in series with an intermediate relay KA1, and the other end is connected in series with a normally closed contact KA21 of the intermediate relay KA2, and the contactor KM1 is connected in series with a normally open contact KA11 of the intermediate relay KA1; the two ends of the power switch SL are respectively connected in parallel with the normally open contact KA41 of the intermediate relay KA4 and the normally open contact KA12 of the intermediate relay KA1; the normally open contact KM11 of the contactor KM1 is arranged between the power management module PMM and the control circuit.

[0022] Embodiment 2, an AGV switch control circuit using a wireless IO module, wherein the wireless IO module is electrically connected to a switch power supply I; the AGV controller is electrically connected to a switch power supply II; the switch circuit further comprises a contactor KM2, the AGV controller is connected to an intermediate relay KA3, the normally open contact KA31 of the intermediate relay KA3 is connected in series with the contactor KM2; the normally open contact KM21 of the contactor KM2 is arranged between a power management module PMM and a backup battery GB; the backup battery GB is connected to a switch circuit I, and a power switch SL2 is arranged on the switch circuit I; the power management module PMM is provided with a switch circuit II and a switch circuit III, the switch circuit II is provided with a normally open contact KA13 of an intermediate relay KA1, and the intermediate relay KA2 is connected to the normally open contact KA21 of the contactor KM2; the normally open contact KM21 of the contactor KM2 is arranged between a power management module PMM and a backup battery GB; the backup battery GB is connected to a switch circuit I, and a power switch SL2 is arranged on the switch circuit I; the power management module PMM is provided with a switch circuit II and a switch circuit III, the switch circuit II is provided with a normally open contact KA13 of an intermediate relay KA1, and the intermediate relay KA2 is connected to the normally open contact KA11 of the intermediate relay KA2. The two ends of the normally open contact KA13 of the relay KA1 are connected in parallel with the power switch SL3; the power converter TPM is connected with the switch circuit IV, and the normally open contact KA14 of the intermediate relay is provided on the switch circuit IV; the two ends of the normally open contact KA14 of the intermediate relay are connected in parallel with the power switch SL4; the power switch SL1, the power switch SL2, the power switch SL3 and the power switch SL4 are knob switches, the power switch SL1, the power switch SL2 and the power switch SL3 are the normally open contacts on the left side of the knob switch, and the power switch SL1, the power switch SL2 and the power switch SL3 act together; the power switch SL4 is the normally closed contact on the right side of the knob switch, and the middle of the knob switch is neutral; the power converter TPM is electrically connected with the power board THM. The rest is the same as the first embodiment.

[0023] The power board THM converts the changing magnetic field in the power supply cable laid on the ground into high-frequency current, and the power converter TPM receives the high-frequency electric energy from the coil in the power board and rectifies it for output to the load. The power management module PMM is responsible for the seamless switching of contactless power supply and backup battery power supply and charging the backup battery. When the contactless power supply is normal, 500VDC / 560VDC is directly output to the main circuit of the AGV body through the power management module PMM to supply the motor driver and switching power supply II; when the backup battery is low on power, the power management module PMM can charge the battery; when the contactless power supply is disconnected, the power management module PMM seamlessly switches to the backup battery power supply, and the 48VDC output by the backup battery is boosted to 490VDC through the power management module PMM and output to the AGV main circuit.

[0024] The power converter TPM, the power management module PMM and the backup battery GB each have a working switch, which can only work when the switch is turned on. A knob switch is used in the circuit to manually control the switch of these three components. The knob switch has three gears. The right gear is a group of self-locking normally closed contacts, including power switch SL1, power switch SL2 and power switch SL3. The power switches SL1, SL2 and SL3 act together. The middle gear is the neutral gear, and the left gear is a group of self-resetting normally open contacts; including the backup battery power switch SL4, that is, when the knob switch is in the neutral gear, the backup battery GB is in the power-on state, and when the knob switch SL1 is in the left gear, the backup battery GB is in the power-off state; the power converter TPM and the power management module PMM are in the power-off state when the knob switch is in the neutral gear, and the power converter TPM and the power management module PMM are in the power-off state when the knob switch is in the right gear. The power converter TPM and the power management module PMM are in the power-on state when the knob switch is in the neutral gear. The knob switch is in the middle neutral position by default, that is, the backup battery GB is in the on state by default, the power converter TPM and the power management module PMM are in the off state by default. When the user takes a long vacation, the knob switch is turned to the left self-locking position.

[0025] The one-key startup process of the non-contact power supply AGV: the knob switch is in the middle neutral position, the backup battery GB is in the startup discharge state, the circuit breaker QF4 is closed by default, and the backup battery power enters the switch power supply I through the circuit breaker QF4. The switch power supply I converts the DC48V output of the backup battery GB into DC24V to power the wireless IO module. The wireless IO module communicates with the AGV dispatching system in real time through the wireless network; the customer clicks the one-key startup on the AGV dispatching system interface, and the wireless IO module on the AGV body receives the one-key startup signal of the AGV dispatching system and inputs the output point 2 on the wireless IO module This output point controls the coil of the intermediate relay KA4 to be energized, so that the normally open contact KA41 of the intermediate relay KA4 is energized, thereby energizing the coil of the intermediate relay KA1, and the normally open contacts KA11, KA12, KA13, and KA14 of the intermediate relay KA1 are all energized, and the normally open contact KA12 is closed to form a self-locking startup circuit; the normally open contact KA14 of the switch of the power converter TPM is closed, and the power converter TPM starts to operate normally; the normally open contact KA13 of the switch of the power management module PMM is closed, and the power management module PMM starts to operate normally. After the power converter TPM and the power management module PMM work normally, the circuit breakers QF1, QF2, and QF3 are closed by default. After the power passes through the circuit breakers QF1 and QF2, the power passes through the switch power supply II to convert DC500 / 560V to DC24V to power the AGV controller and other sensors. The power passes through the circuit breaker QF3 to power on the drive unit, and the AGV is powered on.

[0026] The process of one-key shutdown / sleep of non-contact power supply AGV: the knob switch is in the middle neutral position, the wireless IO module communicates with the AGV dispatching system in real time through the wireless network, and the customer clicks one-key shutdown / sleep on the AGV dispatching system interface. The wireless IO module on the AGV receives the one-key shutdown / sleep signal of the AGV dispatching system and outputs the output point 1 on the wireless IO module. This output point controls the coil of relay KA2 to be energized. At this time, the normally closed contact KA21 of the intermediate relay KA2 is disconnected, causing the coil of the intermediate relay KA1 to lose power and disconnect. The normally open contacts KA11 and KA11 of the intermediate relay KA1 are closed. 2. The normally open contacts KA13 and KA14 are both disconnected, causing the power converter TPM and the power management module PMM switches to be disconnected and stop working, and the contactor KM1 coil for discharging the backup battery loses power and disconnects, so that the backup battery only supplies power to the wireless IO module. The rated power consumption of the wireless IO module is about 7W. The backup battery capacity of the assembled AGV is mostly above 48V30AH. In theory, the backup battery can standby for about 8 days, which is sufficient for normal production of the enterprise, achieving the purpose of sleep and shutdown; when the enterprise does not use the AGV for a long time on holiday, the power is cut off by manual shutdown.

[0027] Manual startup process of contactless power supply AGV: Circuit breakers QF1, QF2, QF3 and QF4 are in the energized state by default. Turn the power switch to the middle position first, then turn the power switch to the right for 2 seconds and release it. At this time, the coil of the intermediate relay KA1 is energized, and the normally open contacts KA11, KA12, KA13 and KA14 are energized. The normally open contact KA12 is closed to form a self-locking startup circuit; the normally open contact KA14 of the power converter TPM is closed, and the power converter TPM starts to operate normally; the normally open contact KA13 of the power management module PMM is closed, and the power management module PMM starts to operate normally. After the power converter TPM and the power management module PMM work normally, the circuit breakers QF1, QF2 and QF3 are closed by default. After the power passes through the circuit breakers QF1 and QF2, it converts DC500 / 560V into DC24V through the switching power supply II to power the AGV controller and other sensors. The power passes through the circuit breaker QF3 to power on the drive part, and the AGV is powered on.

[0028] Manual shutdown process of contactless power supply AGV: turn the rotary switch to the self-locking position on the left. At this time, the normally closed contact of the backup battery power switch SL1 is disconnected, the backup battery stops discharging, the intermediate relay KA1 coil loses power and disconnects, and the normally open contacts KA11, KA12, KA13, and KA14 of the intermediate relay KA1 are disconnected, so that the power converter TPM and the power management module PMM switches are disconnected and stop working. When the company does not use the AGV for a long time during holidays, the power is cut off by manual shutdown.

[0029] The present invention has been described in detail above. The above description is only a preferred embodiment of the present invention and should not limit the scope of implementation of the present invention. That is, all equivalent changes and modifications made within the scope of this application should still fall within the scope of the present invention.

Claims

1. An AGV switch control circuit using a wireless IO module, characterized in that: It includes a power converter TPM, the power converter TPM is electrically connected to a power management module PMM, the power management module PMM is electrically connected to an AGV body, a start circuit II, a control circuit and a backup battery GB, the AGV body includes a drive unit and an AGV controller; the control circuit includes a wireless communication circuit and a switch circuit, the wireless communication circuit is connected in parallel with the switch circuit, the wireless communication circuit includes a wireless IO module, the wireless IO module is connected to an AGV dispatching system, and the wireless IO module is electrically connected to an intermediate relay KA4 and an intermediate relay KA2; the switch circuit includes a power switch SL1 and a contactor KM1, one end of the power switch SL is connected in series with an intermediate relay KA1, the other end is connected in series with a normally closed contact KA21 of the intermediate relay KA2, and the contactor KM1 is connected in series with a normally open contact KA11 of the intermediate relay KA1; the two ends of the power switch SL are respectively connected in parallel with the normally open contact KA41 of the intermediate relay KA4 and the normally open contact KA12 of the intermediate relay KA1; the normally open contact KM11 of the contactor KM1 is arranged between the power management module PMM and the control circuit.

2. The AGV switch control circuit using a wireless IO module according to claim 1 is characterized in that: The wireless IO module is electrically connected to a switch power supply I; the AGV controller is electrically connected to a switch power supply II.

3. The AGV switch control circuit using a wireless IO module according to claim 2 is characterized in that: The switch circuit also includes a contactor KM2, the AGV controller is connected to an intermediate relay KA3, and the normally open contact KA31 of the intermediate relay KA3 is connected in series with the contactor KM2; the normally open contact KM21 of the contactor KM2 is arranged between the power management module PMM and the backup battery GB.

4. The AGV switch control circuit using a wireless IO module according to claim 1, characterized in that: The backup battery GB is connected to a switch circuit I, and the switch circuit I is provided with a power switch SL2.

5. The AGV switch control circuit using a wireless IO module according to claim 4 is characterized in that: The power management module PMM is provided with a switch circuit II and a switch circuit III. The switch circuit II is provided with a normally open contact KA13 of an intermediate relay KA1. Both ends of the normally open contact KA13 of the intermediate relay KA1 are connected in parallel with a power switch SL3.

6. The AGV switch control circuit using a wireless IO module according to claim 5, characterized in that: The power converter TPM is connected to a switch circuit IV, and a normally open contact KA14 of an intermediate relay is provided on the switch circuit IV; two ends of the normally open contact KA14 of the intermediate relay are connected in parallel with a power switch SL4.

7. The AGV switch control circuit using a wireless IO module according to claim 6, characterized in that: The power switch SL1, power switch SL2, power switch SL3 and power switch SL4 are knob switches. The power switch SL1, power switch SL2 and power switch SL3 are normally open contacts on the left side of the knob switch. The power switch SL1, power switch SL2 and power switch SL3 act together; the power switch SL4 is a normally closed contact on the right side of the knob switch, and the middle of the knob switch is in neutral.

8. The AGV switch control circuit using a wireless IO module according to claim 1, characterized in that: The power converter TPM is electrically connected to the power taking board THM.

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