CN113359590A - Integrated motion controller and shuttle control system - Google Patents
Integrated motion controller and shuttle control system Download PDFInfo
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- CN113359590A CN113359590A CN202010141929.1A CN202010141929A CN113359590A CN 113359590 A CN113359590 A CN 113359590A CN 202010141929 A CN202010141929 A CN 202010141929A CN 113359590 A CN113359590 A CN 113359590A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/05—Programmable logic controllers, e.g. simulating logic interconnections of signals according to ladder diagrams or function charts
- G05B19/058—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/10—Plc systems
- G05B2219/16—Plc to applications
- G05B2219/163—Domotique, domestic, home control, automation, smart, intelligent house
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Automation & Control Theory (AREA)
- Programmable Controllers (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention provides an integrated motion controller and a shuttle vehicle control system, and relates to the technical field of shuttle vehicles, wherein the integrated motion controller comprises a main controller, a photoelectric power supply module, a plurality of photoelectric receiving modules and a plurality of photoelectric modules, each photoelectric receiving module is connected with a photoelectric module wiring socket, and each photoelectric module is connected with a photoelectric module wiring plug; the photoelectric module wiring socket is matched with the photoelectric module wiring plug; the photoelectric module is connected with the corresponding photoelectric receiving module through a photoelectric module connecting plug and a photoelectric module connecting socket; each photoelectric module wiring socket is connected with a photoelectric power supply module; the plurality of photoelectric receiving modules are respectively connected with the main controller; the invention can avoid wiring errors, is convenient to wire and can avoid poor contact.
Description
Technical Field
The invention relates to the technical field of shuttle vehicles, in particular to an integrated motion controller and a shuttle vehicle control system.
Background
At present, a PLC controller is adopted on a shuttle car to realize the control of the shuttle car, and the PLC controller realizes the electric connection with a photoelectric module through a screw wiring terminal, so that the wiring mode is complex in operation, and in the wiring process, terminals such as a power supply end, a grounding end, a signal connecting end and the like are respectively arranged at different positions, so that the wiring is complex and the error is easy to occur; in addition, in the long-term operation process of the shuttle car, the problem of poor contact and the like caused by the fact that the terminal of the PLC is loosened frequently occurs, and professional maintenance personnel are long in time and difficult to find when repairing fault points.
Disclosure of Invention
The invention aims to provide an integrated motion controller and a shuttle vehicle control system, which can avoid wiring errors, are convenient to wire and can avoid poor contact.
In a first aspect, an embodiment provides an integrated motion controller, including a main controller, a photoelectric power supply module, a plurality of photoelectric receiving modules, and a plurality of photoelectric modules;
each photoelectric receiving module is connected with a photoelectric module wiring socket, and each photoelectric module is connected with a photoelectric module wiring plug; the photoelectric module wiring socket is matched with the photoelectric module wiring plug; the photoelectric module is connected with the corresponding photoelectric receiving module through a photoelectric module connecting plug and a photoelectric module connecting socket; each photoelectric module wiring socket is connected with a photoelectric power supply module; the plurality of photoelectric receiving modules are respectively connected with the main controller;
the photoelectric power supply module is used for supplying power to a plurality of photoelectric module wiring sockets;
the photoelectric module is used for sending photoelectric signals;
the photoelectric module wiring socket and the photoelectric module wiring socket are used for realizing the electric connection of a plurality of photoelectric modules and a plurality of photoelectric receiving modules so as to transmit photoelectric signals to the photoelectric receiving modules;
the photoelectric receiving module is used for preprocessing a photoelectric signal and then sending the preprocessed photoelectric signal to the main controller;
and the main controller is used for sending a motor control signal to the motor driver according to the photoelectric signal.
In an optional embodiment, the system further comprises a motor communication module, the main controller is further connected with the motor communication module, and the motor communication module is connected with a motor driver;
and the motor communication module is used for sending the motor control signal to the motor driver.
In an optional embodiment, the motor communication module is provided with a first interface, the motor driver is provided with a second interface, and the first interface and the second interface are connected through a communication bus.
In an alternative embodiment, the communication bus is a CAN bus.
In an optional embodiment, the system further comprises a dc power supply module and a dc power supply interface, wherein the dc power supply module is connected to the main controller and the dc power supply interface respectively.
In an optional embodiment, the system further comprises an RS232 communication module and an RS232 communication interface, wherein the RS232 communication module is connected to the RS232 communication interface and the main controller respectively.
In an optional implementation mode, the intelligent control system further comprises an RS485 communication module and an RS485 communication interface, wherein the RS485 communication module is respectively connected with the RS485 communication interface and the main controller.
In an optional implementation manner, the system further comprises a wireless communication module and a wireless communication interface, wherein the wireless communication module is respectively connected with the wireless communication interface and the main controller.
In an optional embodiment, the system further comprises an encoder high-speed pulse interface, and the encoder high-speed pulse interface is connected with the main controller.
In a second aspect, embodiments provide a shuttle vehicle control system, comprising a human-computer interaction system, the integrated motion controller of any of the foregoing embodiments, a motor driver, a motor, and an actuator; the human-computer interaction system is communicated with the integrated motion controller; the motion controller is connected with the motor driver, the motor driver is connected with the motor, and the motor is connected with the executing mechanism.
The shuttle car of the embodiment adopts the integrated motion controller, so that wiring errors can be avoided, wiring is convenient, poor contact can be avoided, and wiring efficiency is improved; the direct-current power supply module, the RS232 communication module, the RS485 communication module, the wireless communication module and other modules are integrated into a whole, so that the function expansion is facilitated; small volume and complete functions.
According to the integrated motion controller and the shuttle car control system, the photoelectric module wiring socket is respectively and electrically connected with the photoelectric power supply module and the photoelectric receiving module, and the photoelectric module wiring plug is connected with the photoelectric module, so that when wiring is performed, the photoelectric module wiring socket is only connected with the corresponding photoelectric module wiring plug, wiring errors can be avoided, wiring is convenient, poor contact can be avoided, and wiring efficiency is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a system diagram of an integrated motion controller according to an embodiment of the present invention;
FIG. 2 is another system diagram of an integrated motion controller according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an optoelectronic module socket of an integrated motion controller according to an embodiment of the present invention;
FIG. 4 is a schematic circuit diagram of an optoelectronic module connector plug of the integrated motion controller according to an embodiment of the present invention;
fig. 5 is a system schematic diagram of a shuttle control system provided by an embodiment of the invention.
In the figure: 11-a photovoltaic module; 12-a photovoltaic module wiring plug; 13-a photovoltaic module connection socket; 14-a photoelectric receiving module; 15-a main controller; 16-a photovoltaic power module; 17-a motor communication module; 21-a wireless communication interface; 22-a wireless communication module; 23-encoder high-speed pulse interface; 24-RS485 communication interface; 25-RS485 communication module; 26-RS232 communication module; 27-RS232 communication interface; 28-a direct current power supply module; 29-a direct current power supply interface; 30-an output module; 31-an output interface; 100-an integrated motion controller; 200-a human-computer interaction system; 300-a motor driver; 400-motor; 500-actuator.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Some embodiments of the invention are described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
At present, a controller of the shuttle car is controlled by a PLC (programmable logic controller), the PLC is electrically connected with a photoelectric module through a screw wiring terminal, the wiring mode is complex in operation, and in the wiring process, terminals such as a power supply end, a grounding end and a signal connecting end are respectively arranged at different positions, so that the wiring is complex and errors are very easy to occur; in addition, in the long-term operation process, the terminal of the PLC is easy to loosen, the abnormal condition of poor contact is caused, and after the problem occurs, professional maintenance personnel are needed to maintain and troubleshoot fault points, so that the troubleshooting time is long.
In the later project customer demand stage, various demands often appear in the customer, need carry out the function extension on PLC controller's basis, and PLC controller after the function extension can appear redesign, shortcoming such as uniformity poor. For example, some project customers need to add a code scanner, most of the code scanners in the market adopt 232 communication interfaces, and at the moment, the communication interfaces and the power supply of the 232 communication interfaces need to be expanded, so that the power supply needs to be redesigned and added, not only is the research and development efficiency reduced, but also the space design requirements cannot be met by the conventional PLC controllers in the market and the power supply due to the design requirements on the product space in the pre-sale planning stage.
In addition, the algorithm of the PLC controller can only be used for the existing integrated module, and when a new function is added and a new algorithm needs to be updated, the existing PLC controller is inconvenient to realize algorithm expansion.
In summary, the conventional programmable PLC controller has complicated wiring, and an unfamiliar person can have wiring errors and abnormal troubleshooting problems due to operation, and the terminal wiring is easy to have poor contact in a long-term vibration operation occasion. The interface of the conventional PLC controller is single, and when various devices are controlled, various modules need to be added, so that the expansion is complex. The conventional PLC is not provided with a built-in switching power supply, the switching power supply needs to be added in the using process, and the like, so that the occupied space is large. The algorithm of the PLC controller can only use an integrated module, and some new algorithms are expanded in the actual field use process, so that the expansion is inconvenient.
Therefore, the embodiment provides the integrated motion controller and the shuttle vehicle control system, which can avoid wiring errors, are convenient to wire and can avoid poor contact; the present invention will be described in detail by way of examples.
Referring to fig. 1, the present embodiment provides an integrated motion controller, including a main controller 15, a photoelectric power supply module 16, a plurality of photoelectric receiving modules 14, and a plurality of photoelectric modules 11;
each photoelectric receiving module 14 is connected with a photoelectric module wiring socket 13, and each photoelectric module 11 is connected with a photoelectric module wiring plug 12; the photoelectric module wiring socket 13 is matched with the photoelectric module wiring plug 12; the photoelectric module 11 is connected with a corresponding photoelectric receiving module 14 through a photoelectric module wiring plug 12 and a photoelectric module wiring socket 13; each photoelectric module wiring socket 13 is connected with a photoelectric power supply module 16; the plurality of photoelectric receiving modules 14 are respectively connected with a main controller 15;
a photoelectric power supply module 16 for supplying power to the plurality of photoelectric module connection sockets 13;
the photoelectric module 11 is used for sending photoelectric signals;
a photoelectric module connection socket 13 and a photoelectric module connection socket 13 for electrically connecting the plurality of photoelectric modules 11 and the plurality of photoelectric receiving modules 14 to transmit photoelectric signals to the photoelectric receiving modules 14;
the photoelectric receiving module 14 is used for preprocessing a photoelectric signal and then sending the preprocessed photoelectric signal to the main controller 15;
and the main controller 15 is used for sending a motor control signal to the motor driver according to the photoelectric signal.
Specifically, in this embodiment, the optoelectronic modules 11 are respectively disposed at different positions of the shuttle car, the optoelectronic modules 11 are returned by the object after sending the optoelectronic signal, and the main controller 15 detects that the optoelectronic module 11 receives the returned optoelectronic signal, so as to determine the position of the shuttle car where the object is located. The photoelectric receiving module 14 is configured to perform preprocessing on a photoelectric signal sent by the photoelectric module 11; the main controller 15 performs logical operation according to the received photoelectric signal, calculates which motor needs to perform what operation, generates a motor control new number, and sends a motor control signal to the motor driver, so that the motor driver drives the motor, and the motor controls a corresponding execution mechanism to operate.
At present, the photoelectric receiving module 14 and the photoelectric module 11 are connected by using a screw terminal. Referring to fig. 3, a schematic structural diagram of the optoelectronic module socket 13 is shown, wherein 4 sets of the optoelectronic module sockets 13 are provided, and each set is correspondingly connected to one optoelectronic module plug 12. Fig. 4 is a schematic circuit diagram of the optoelectronic module wiring plug 12, and the optoelectronic module wiring plug 12 is provided with a +12V wiring pin, a-12V wiring pin, a DIY pin (this pin transmits an optoelectronic new number), and the wiring principle of the optoelectronic module is shown in the figure. In fig. 4, each of the optoelectronic module connector plugs 12 is connected to a photosensor (in this embodiment, a diffuse reflection photoelectric switch is used), that is, a-12V pin is connected to a photosensor BU pin, a +12V pin is connected to a photosensor BN pin, and a DIX pin is connected to a photosensor BK pin.
Because this embodiment adopts photovoltaic module connection plug 12 and photovoltaic module connection socket 13 to connect, like this, only need during the wiring with photovoltaic module connection socket 13 with the photovoltaic module connection plug 12 that corresponds link to each other can to can avoid the wiring to make mistakes, not only make things convenient for the wiring, but also can avoid appearing contact failure, improve wiring efficiency.
Preferably, in order to further satisfy the rationality of effective layout space laying of shuttle car electric control circuit, this embodiment adopts the design of pluralism joint (fast pressing, locking, mistake proofing and inserting etc.) in cooperation with corresponding relevant circuit, promptly pencil circuit design. The wiring harness circuit design can realize high-efficiency and simple circuit installation and maintenance, and can ensure the reliability of transmitting electric signals and connecting circuits.
Optionally, referring to fig. 2, the controller further includes a motor communication module 17, the main controller 15 is further connected to the motor communication module 17, and the motor communication module 17 is connected to the motor driver;
and the motor communication module 17 is used for sending the motor control signal to the motor driver.
Optionally, the motor communication module 17 is provided with a first interface, the motor driver is provided with a second interface, and the first interface and the second interface are connected through a communication bus.
Optionally, the communication bus is a CAN bus.
Specifically, when the current PLC controller (for example, siemens PLC) communicates with the servo driver, the CAN needs to be switched first by Profinet, and then the relevant servo driver is controlled by the CAN. Meanwhile, the communication message needs to send a position mode message and a speed mode message, and the communication efficiency is low.
The motion controller body of the embodiment integrates a mainstream servo communication module in the market, and the motion controller body and a servo controller and other direct current communication protocols support. For example, the driver of this embodiment supports CANopen communication, a network cable CAN be directly led out from the CAN interface to be docked with a corresponding (servo driver), the hardware wiring is convenient and simple, and meanwhile, the communication message is less and the communication efficiency is higher in view of the development protocol combined with the driver.
Optionally, referring to fig. 2, a dc power supply module 28 and a dc power supply interface 29 are further included, and the dc power supply module 28 is connected to the main controller 15 and the dc power supply interface 29, respectively.
Specifically, the DC power supply module 28 of the present embodiment outputs DC12V power, and can provide DC power for various small devices. The number of the dc power supply modules 28 may be set to plural as necessary.
Optionally, referring to fig. 2, an RS232 communication module 26 and an RS232 communication interface 27 are further included, and the RS232 communication module 26 is connected to the RS232 communication interface 27 and the main controller 15, respectively.
Optionally, referring to fig. 2, the wireless communication device further includes an RS485 communication module 25 and an RS485 communication interface 24, where the RS485 communication module 25 is connected to the RS485 communication interface 24 and the main controller 15, respectively.
Optionally, referring to fig. 2, a wireless communication module 22 and a wireless communication interface 21 are further included, and the wireless communication module 22 is connected to the wireless communication interface 21 and the main controller 15, respectively.
Optionally, referring to fig. 2, an encoder high-speed pulse interface 23 is further included, and the encoder high-speed pulse interface 23 is connected to the main controller 15.
Specifically, the present embodiment is further provided with a wireless communication interface 21, an RS485 communication interface 24, an RS232 communication interface 27, an encoder high-speed pulse interface 23, and the like, so as to implement wireless communication, RS485 communication, RS232 communication, high-speed counting, and the like.
Therefore, in the embodiment, various interfaces are integrated on the motion controller, so that the function expansion is convenient to carry out, the research and development period is favorably shortened, the size is reduced, and the algorithm optimization is convenient.
Preferably, the system further comprises an output module 30 and an output interface 31, wherein the output module 30 is connected with the output interface 31 and the main controller 15 respectively. The output interface 31 is used for connecting a relay or other modules, and the output module 30 is used for processing a new number of the main controller 15.
Referring to fig. 5, the present embodiment provides a shuttle control system, a human-computer interaction system 200, an integrated motion controller 100 as in the previous embodiment, a motor driver 300, a motor 400 and an actuator 500; the human-computer interaction system 200 communicates with the integrated motion controller 100; the integrated motion controller 100 is connected to a motor driver 300, the motor driver 300 is connected to a motor 400, and the motor 400 is connected to an actuator 500.
The shuttle car of the embodiment adopts the integrated motion controller 100, so that the wiring is convenient, the maintenance is convenient, the wrong insertion is prevented, the poor contact can not occur in the vibration, and the wiring working efficiency of a production field is improved; the functional module is complete, the volume is small, and the integration of various functions is convenient; according to different occasions, the algorithm is optimized conveniently according to actual use.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. An integrated motion controller is characterized by comprising a main controller, a photoelectric power supply module, a plurality of photoelectric receiving modules and a plurality of photoelectric modules;
each photoelectric receiving module is connected with a photoelectric module wiring socket, and each photoelectric module is connected with a photoelectric module wiring plug; the photoelectric module wiring socket is matched with the photoelectric module wiring plug; the photoelectric module is connected with the corresponding photoelectric receiving module through a photoelectric module connecting plug and a photoelectric module connecting socket; each photoelectric module wiring socket is connected with a photoelectric power supply module; the plurality of photoelectric receiving modules are respectively connected with the main controller;
the photoelectric power supply module is used for supplying power to a plurality of photoelectric module wiring sockets;
the photoelectric module is used for sending photoelectric signals;
the photoelectric module wiring socket and the photoelectric module wiring socket are used for realizing the electric connection of a plurality of photoelectric modules and a plurality of photoelectric receiving modules so as to transmit photoelectric signals to the photoelectric receiving modules;
the photoelectric receiving module is used for preprocessing a photoelectric signal and then sending the preprocessed photoelectric signal to the main controller;
and the main controller is used for sending a motor control signal to the motor driver according to the photoelectric signal.
2. The integrated motion controller according to claim 1, further comprising a motor communication module, the main controller further connected to the motor communication module, the motor communication module connected to a motor driver;
and the motor communication module is used for sending the motor control signal to the motor driver.
3. The integrated motion controller according to claim 2, wherein the motor communication module is provided with a first interface, the motor driver is provided with a second interface, and the first interface and the second interface are connected by a communication bus.
4. The integrated motion controller of claim 3, wherein the communication bus is a CAN bus.
5. The integrated motion controller according to claim 1, further comprising a dc power module and a dc power interface, the dc power module being connected to the main controller and the dc power interface, respectively.
6. The integrated motion controller according to claim 1, further comprising an RS232 communication module and an RS232 communication interface, wherein the RS232 communication module is connected to the RS232 communication interface and the main controller, respectively.
7. The integrated motion controller according to claim 1, further comprising an RS485 communication module and an RS485 communication interface, wherein the RS485 communication module is connected to the RS485 communication interface and the master controller, respectively.
8. The integrated motion controller according to claim 1, further comprising a wireless communication module and a wireless communication interface, the wireless communication module being connected to the wireless communication interface and the main controller, respectively.
9. The integrated motion controller according to claim 1, further comprising an encoder high speed pulse interface, the encoder high speed pulse interface being connected to the master controller.
10. A shuttle control system comprising a human-machine interaction system, an integrated motion controller of any of claims 1-9, a motor drive, a motor, and an actuator; the human-computer interaction system is communicated with the integrated motion controller; the motion controller is connected with the motor driver, the motor driver is connected with the motor, and the motor is connected with the executing mechanism.
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| CN202010141929.1A CN113359590B (en) | 2020-03-03 | 2020-03-03 | Integrated motion controller and shuttle control system |
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| CN202010141929.1A CN113359590B (en) | 2020-03-03 | 2020-03-03 | Integrated motion controller and shuttle control system |
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| CN113359590B (en) | 2022-08-09 |
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