AGV manual protection control system

Abstract

The utility model discloses an AGV manual protection control system, comprising a traction motor, a pump motor and a VCU controller which are respectively connected in series with a power supply, and the output end of the VCU controller is respectively in signal connection with the traction motor and the pump motor; the hand-held device is used for manually controlling the traction motor to work, is connected to a power supply in series and is connected with the VCU controller through a CAN (Controller Area Network) line; the level input end of the VCU controller is connected with the scram button, the level output end of the VCU controller is connected with the relay, the lifting electromagnetic valve and the descending electromagnetic valve, and the lifting electromagnetic valve and the descending electromagnetic valve are both connected with an oil way of the lifting oil cylinder and used for controlling lifting work of the lifting oil cylinder. According to the control system, the operation of the handheld device is protected, if the AGV needs to act again after the emergency stop button is operated to stop the action of the AGV in an emergency state, the handheld device needs to be reset to the initial state and then is operated, and the operation safety is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of forklifts, in particular to an AGV manual protection control system. Background Art

[0002] AGVs (Automatic Guided Vehicles) are key equipment in automated logistics and transportation systems and flexible production systems, playing a vital role in automated logistics warehouses. AGVs operate in two modes: automatic and manual. In manual control, the AGV is controlled by an operator using a handheld device. The handheld device typically features a display, operating buttons, and an emergency stop button, used to display the AGV's status, input control commands, and initiate an emergency stop. In the event of an emergency, the operator must press the emergency stop button to immediately stop the AGV. Inadvertently pressing the handheld device's operating buttons can easily lead to loss of vehicle control, posing a safety risk.

[0003] Therefore, it is necessary to improve the control circuit of AGV to improve the safety of forklift operation. Utility Model Content

[0004] To solve the above problems, the present invention provides an AGV manual protection control system. After the AGV stops suddenly, the AGV can only be controlled by operating the operation buttons on the handheld device after the handheld device is reset to the initial state. This avoids the vehicle from losing control due to misoperation after the emergency stop is released, thereby improving the safety of forklift operation.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present utility model is:

[0006] An AGV manual protection control system comprises a traction motor, a pump motor and a VCU controller respectively connected in series to a power supply, wherein the output end of the VCU controller is respectively connected to the traction motor and the pump motor signals; further comprising a handset for manually controlling the operation of the traction motor, wherein the handset is connected in series to the power supply and is connected to the VCU controller via a CAN line; the level input end of the VCU controller is connected to an emergency stop button, and the level output end of the VCU controller is respectively connected to a relay, a lifting solenoid valve and a lowering solenoid valve, wherein the lifting solenoid valve and the lowering solenoid valve are both connected to the oil circuit of the lifting cylinder for controlling the lifting operation of the lifting cylinder.

[0007] In a further solution, an electromagnetic brake is installed on the drive shaft of the traction motor, and the electromagnetic brake is connected in parallel to both ends of the VCU controller; when the electromagnetic brake loses power, the drive shaft of the traction motor is locked, causing the traction motor to stop working.

[0008] In a further solution, the contact switch of the relay is connected in series between the electromagnetic brake and the power supply, one end of the relay coil is connected to the power supply, and the other end is connected to the level output end of the VCU controller.

[0009] In a further solution, the positive end of the power supply is connected to a key switch and a DC-DC converter in sequence; the output end of the DC-DC converter is connected to the traction motor through fuse 1, the output end of the DC-DC converter is connected to the pump motor through fuse 2, and the output end of the DC-DC converter is connected to the VCU controller, handheld device, emergency stop button, relay coil, lifting solenoid valve and lowering solenoid valve respectively through fuse 3.

[0010] In a further embodiment, the contact switch of the relay is a normally closed contact.

[0011] In a further solution, the input end of the emergency stop button is connected to the power supply, and the handheld device sends message information to the VCU controller through the CAN line; when the emergency stop button is pressed to disconnect the circuit, the input end of the VCU controller is low level, the coil of the control relay is energized, and the contact switch of the relay is disconnected, so that the traction motor or pump motor stops working; when the emergency stop button is released and the handheld device is restarted, the message information is sent to the VCU controller again, the input end of the VCU controller is high level, the coil of the control relay is de-energized, and the contact switch of the relay is connected, and the traction motor or pump motor starts working.

[0012] In a further solution, the VCU controller controls the working status of the lifting solenoid valve, the lowering solenoid valve, the traction motor or the pump motor according to the message information of the handheld device and the emergency stop button.

[0013] In this application, the input end of the VCU controller is connected to the emergency stop button, and the emergency stop button is connected to the power supply. The output voltage of the power supply is converted to 24V through a DC-DC converter. When the emergency stop button is connected, the 24V voltage input to the input end of the VCU controller is a high level; when the emergency stop button is pressed and disconnected, the 0V voltage input to the input end of the VCU controller is a low level; similarly, the 24V voltage output from the output end of the VCU controller is a high level and the 0V voltage is a low level, which are respectively connected to the coil of the solenoid valve, the rising solenoid valve and the falling solenoid valve to synchronously control them to start or stop working.

[0014] This application controls the operating status of the traction motor or pump motor by switching the emergency stop button and sending messages from the handheld device to the VCU controller via the CAN line. In an emergency, manually pressing the emergency stop button stops the AGV. After the emergency is resolved, the handheld device must be reset to its initial state before the AGV can operate normally.

[0015] Therefore, the control system of this application protects the operation of the handheld device. When an emergency occurs, the emergency stop button is pressed to stop the AGV. In this application, AGV operations include controlling the AGV's movement, stopping, and the lifting and lowering of the oil cylinder. To restart the AGV, the handheld device must be reset to its initial state before operating. This improves operational safety and prevents the AGV from losing control due to improper operation of the operating buttons on the handheld device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings in the specification, which constitute a part of this application, are used to provide further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0017] Figure 1 This is a schematic diagram of the principle of the utility model.

[0018] In the figure: 1 power supply, 2 key switch, 3 DC-DC converter, 4 fuse 1, 5 traction motor, 6 fuse 2, 7 pump motor, 8 fuse 3, 9-1 relay coil, 9-2 relay normally closed contact, 10 electromagnetic brake, 11 lifting solenoid valve, 12 lowering solenoid valve, 13 VCU controller, 14 emergency stop button, 15 handheld device. DETAILED DESCRIPTION

[0019] The present application will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that, unless there is a conflict, the embodiments and features in the embodiments of the present application can be combined with each other.

[0020] See Figure 1 This embodiment provides an AGV manual protection control system, including a traction motor 5, a pump motor 7 and a VCU controller 13 respectively connected in series to a power supply 1, and the output end of the VCU controller 13 is respectively connected to the traction motor 5 and the pump motor 7 for signal connection; it also includes a handheld device 15 for manually controlling the operation of the traction motor 5, the handheld device 15 is connected in series to the power supply 1, and is connected to the VCU controller 13 through a CAN line; the level input end of the VCU controller 13 is connected to the emergency stop button 14, and the level output end of the VCU controller 13 is respectively connected to a relay, a lifting solenoid valve 11 and a lowering solenoid valve 12, and the lifting solenoid valve 11 and the lowering solenoid valve 12 are both connected to the oil circuit of the lifting cylinder for controlling the lifting operation of the lifting cylinder.

[0021] In a further solution, an electromagnetic brake 10 is installed on the drive shaft of the traction motor 5, and the electromagnetic brake 10 is connected in parallel to both ends of the VCU controller 13; when the electromagnetic brake 10 loses power, the drive shaft of the traction motor 5 is locked, causing the traction motor 5 to stop working.

[0022] The relay in this application is a normally closed relay. When it is energized, its contacts are disconnected, and when it is powered off, its contacts are closed. The traction motor, pump motor, VCU controller, electromagnetic brake, handheld device, lifting solenoid valve, lowering solenoid valve, etc. are all existing equipment on the AGV forklift. This application does not improve their structure and principle, but only redesigns their circuit connection in order to improve the safety of the AGV. The handheld device is provided with a forward or backward button, a lifting button, a lowering button and an emergency stop button, etc. In this application, the forward or backward button, the lifting button, and the lowering button on the handheld device are connected in series at both ends of the power supply and connected to the VCU controller through a CAN line; and the emergency stop button is connected to the level input end of the VCU controller.

[0023] Specifically, the contact switch 9-2 of the relay is a normally closed contact, and the contact switch 9-2 of the relay is connected in series between the electromagnetic brake 10 and the power supply 1. One end of the relay coil 9-1 is connected to the power supply 1, and the other end is connected to the level output end of the VCU controller 9.

[0024] Among them, when the emergency stop button is connected, the 24V voltage input to the input end of the VCU controller is a high level; when the emergency stop button is pressed and the circuit is disconnected, the 0V voltage input to the input end of the VCU controller is a low level; similarly, the 24V voltage output from the output end of the VCU controller is a high level and the 0V voltage is a low level. The output end of the VCU controller is respectively connected to the coil of the solenoid valve, the lifting solenoid valve and the lowering solenoid valve, and synchronously controls them to start or stop working.

[0025] In a further solution, the positive end of the power supply 1 is connected to the key switch 2 and the DC-DC converter 3 in sequence; the output end of the DC-DC converter 3 is connected to the traction motor 5 through the fuse 1 4, the output end of the DC-DC converter 3 is connected to the pump motor 7 through the fuse 2 6, and the output end of the DC-DC converter 3 is connected to the VCU controller 13, the handheld device 15, the emergency stop button 14, the relay coil 9-1, the lifting solenoid valve 11 and the lowering solenoid valve 12 through the fuse 3 8 respectively.

[0026] In this embodiment, the power source is preferably a lithium battery, which is used to power various components, and the DC-DC converter converts the 48V voltage of the lithium battery into a 24V voltage.

[0027] Specifically, the input end of the emergency stop button 14 is connected to the power supply 1, and the handheld device 15 sends message information to the VCU controller 13 through the CAN line, such as the walking message information 01 (02), the lifting message information 03, and the descending message information 04; when the emergency stop button 14 is pressed to disconnect the circuit, the input end of the VCU controller 13 is low level, the coil 9-1 of the control relay is energized and the contact switch 9-2 of the relay is disconnected, so that the traction motor 5 or the pump motor 7 stops working; when the emergency stop button 14 is released and the handheld device 15 is restarted and the message information is resent to the VCU controller 13, the input end of the VCU controller 13 is high level, the coil 9-1 of the control relay is de-energized and the contact switch 9-2 of the relay is connected, and the traction motor 5 or the pump motor 7 starts working.

[0028] That is, the VCU controller 13 controls the working states of the lifting solenoid valve 11, the lowering solenoid valve 12, the traction motor 5 or the pump motor 7 according to the message information of the handheld device 15 and the emergency stop button 14.

[0029] The specific control process is as follows:

[0030] When AGV is moving:

[0031] Turn on key switch 2, and the DC-DC converter converts the 48V voltage of the lithium battery into 24V voltage to power various components.

[0032] Press the forward or reverse button on the handheld device 15, and the travel message 01 (02) is sent to the VCU controller 13 via the CAN line communication. The VCU controller 13 sends a working instruction (2000rpm or 1000rpm) to the traction motor 5, and the AGV vehicle runs normally. When encountering an emergency, press the emergency stop button 14 to disconnect the circuit. The IN1 port of the VCU controller 13 inputs a low level, and the OUT3 port outputs a low level. Then the relay coil 9-1 is energized, the relay normally open contact 9-2 is disconnected, and the electromagnetic brake 10 is de-energized to lock the traction motor. At the same time, the VCU controller 13 sends a stop instruction (0rpm) to the traction motor 5, and the traction motor 5 stops rotating, and the AGV stops running.

[0033] Release the emergency stop button 14, and the IN1 port of the VCU controller 13 inputs a high level. The VCU controller 13 then detects whether the walking message sent by the handheld device 14 has changed, that is, whether the button on the handheld device 14 is reset. When the VCU controller 13 receives the walking message 01 (02) and it has not changed, that is, the button on the handheld device 14 has not been reset and is still in the forward (backward) state, the VCU controller 13 controls the OUT3 port to output a low level, and the electromagnetic brake 10 is still in the power-off locked state, that is, the AGV is still stopped.

[0034] When the VCU controller 13 receives the walking message 00, the forward (backward) button of the handheld device 14 is reset, and then the forward (backward) button is pressed again, the VCU controller 13 controls the OUT3 port to output a high level, the relay coil 9-1 is de-energized, the relay normally open contact 9-2 is closed, the electromagnetic brake 10 is energized and released, and the VCU controller 13 sends a working instruction (2000rpm or 1000rpm) to the traction motor 5, the traction motor 5 rotates normally, and the AGV continues to run.

[0035] When the fork is raised:

[0036] Pressing the lift button on the handheld device 15 sends a lift message 03 to the VCU controller 13 via the CAN line. The VCU controller 13 sends a working instruction (2000rpm or 1000rpm) to the pump motor 7. The VCU controller 13 controls the OUT1 port to output a low level, the lift solenoid valve 11 opens, and the oil circuit is opened, and the forklift is raised. In an emergency, pressing the emergency stop button 14 causes the IN1 port of the VCU controller 13 to input a low level. The VCU controller 13 sends a stop instruction (0rpm) to the pump motor 7 and controls its OUT1 port to output a high level. The lift solenoid valve 11 closes, disconnecting the oil circuit, and the pump motor stops rotating, and the forklift stops running.

[0037] Release the emergency stop button 14, the IN1 port of the VCU controller 13 inputs a high level, and the VCU controller 13 detects whether the lifting message sent by the handheld device 14 has changed, that is, whether the lifting button on the handheld device 14 is reset. When the VCU controller 13 still receives the lifting message 03, it indicates that the lifting button of the handheld device 14 has not been reset, that is, the lifting button of the handheld device 14 is still in the lifting state. The VCU controller 13 controls the OUT1 port to output a high level, the lifting solenoid valve 11 is closed, and the VCU controller 13 sends a stop command (0rpm) to the pump motor 7. The pump motor stops rotating and the fork is still in the stopped state.

[0038] When the VCU controller 13 receives the lifting message 00, it indicates that the lifting button of the handheld device 14 is reset. Press the lifting button again, and the VCU controller 13 sends a working instruction (2000rpm) to the pump motor 7. The VCU controller 13 controls the OUT1 port to output a low level, the lifting solenoid valve 11 opens, and the fork continues to lift.

[0039] When the forks are lowered:

[0040] Pressing the Descent button on the handheld device 15 sends a Descent message 04 to the VCU controller 13 via the CAN line. The VCU controller 13 controls the OUT2 port to output a low level, the Descent solenoid valve 12 opens, and the fork lowers. In an emergency, pressing the Emergency Stop button 14 causes the IN1 port of the VCU controller 13 to input a low level, the VCU controller 13 controls the OUT2 port to output a high level, the Descent solenoid valve 12 closes, and the fork stops.

[0041] When the emergency stop button 14 is released, the IN1 port of the VCU controller 13 inputs a high level. The VCU controller 13 then detects whether the descent message sent by the handheld device 14 has changed, that is, whether the descent button of the handheld device 14 has been reset. When the VCU controller 13 receives the descent message 04, indicating that the descent button of the handheld device 14 has not been reset, that is, the descent button of the handheld device 14 is still in the descent state, the VCU controller 13 controls the OUT1 port to output a high level, the descent solenoid valve 12 is closed, and the fork still stops.

[0042] When the VCU controller 13 receives the descending message 00, indicating that the descending button of the handheld device 14 is reset, the descending button is pressed again, and the VCU controller 13 controls the OUT1 port to output a low level, the descending solenoid valve 12 opens, and the fork continues to descend.

[0043] Therefore, when the AGV of this application is manually controlled to operate, a handheld device is used for operation, that is, by pressing the operating buttons on the handheld device (such as the forward button, the reverse button, the lifting or lowering button), a message instruction is sent to the VCU controller through CAN communication, and the VCU controller controls the traction motor or the pump motor to work, and the AGV works normally. When an emergency occurs, manually press the emergency stop switch and the AGV stops working. When the emergency state is lifted, the handheld device needs to be reset to the original state, and then the relevant operating buttons on the handheld device are operated before the AGV can work normally. This avoids the vehicle from losing control due to misoperation after the emergency stop is lifted, and improves the safety of forklift operation.

[0044] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application are within the scope of protection of the pending claims of the present application.

Claims

1. An AGV manual protection control system, comprising a traction motor (5), a pump motor (7) and a VCU controller (13) respectively connected in series to a power supply (1), wherein the output end of the VCU controller (13) is respectively connected to the traction motor (5) and the pump motor (7) for signal transmission; and characterized in that: The invention also includes a handheld device (15) for manually controlling the operation of the traction motor (5), wherein the handheld device (15) is connected in series to the power supply (1) and is connected to the VCU controller (9) via a CAN line; the level input end of the VCU controller (9) is connected to the emergency stop button (14), and the level output end of the VCU controller (9) is respectively connected to a relay, a lifting solenoid valve (11), and a lowering solenoid valve (12); the lifting solenoid valve (11) and the lowering solenoid valve (12) are both connected to the oil circuit of the lifting cylinder for controlling the lifting operation of the lifting cylinder.

2. The AGV manual protection control system according to claim 1, characterized in that: An electromagnetic brake (10) is installed on the transmission shaft of the traction motor (5), and the electromagnetic brake (10) is connected in parallel to both ends of the VCU controller (13); when the electromagnetic brake (10) loses power, the transmission shaft of the traction motor (5) is locked, causing the traction motor (5) to stop working.

3. The AGV manual protection control system according to claim 2, characterized in that: The contact switch (9-2) of the relay is connected in series between the electromagnetic brake (10) and the power supply (1); one end of the coil (9-1) of the relay is connected to the power supply (1), and the other end is connected to the level output end of the VCU controller (9).

4. The AGV manual protection control system according to claim 1, characterized in that: The positive terminal of the power supply (1) is connected to a key switch (2) and a DC-DC converter (3) in sequence; the output end of the DC-DC converter (3) is connected to a traction motor (5) via a fuse 1 (4); the output end of the DC-DC converter (3) is connected to a pump motor (7) via a fuse 2 (6); and the output end of the DC-DC converter (3) is connected to a VCU controller (13), a handheld device (15), an emergency stop button (14), a coil of a relay (9-1), a lifting solenoid valve (11), and a lowering solenoid valve (12) respectively via a fuse 3 (8).

5. The AGV manual protection control system according to claim 3, characterized in that: The contact switch (9-2) of the relay is a normally closed contact.

6. The AGV manual protection control system according to claim 1, characterized in that: The input end of the emergency stop button (14) is connected to the power supply (1), and the handheld device (15) sends message information to the VCU controller (9) via the CAN line; when the emergency stop button (14) is pressed to disconnect the circuit, the input end of the VCU controller (13) is at a low level, the coil (9-1) of the control relay is energized, and the contact switch (9-2) of the relay is disconnected, so that the traction motor (5) or the pump motor (7) stops working; when the emergency stop button (14) is released and the handheld device (15) is restarted, the message information is resent to the VCU controller (9), the input end of the VCU controller (13) is at a high level, the coil (9-1) of the control relay is de-energized, and the contact switch (9-2) of the relay is connected, so that the traction motor (5) or the pump motor (7) starts working.

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