CN208411645U - A kind of unmanned electrocar safe control loop - Google Patents
A kind of unmanned electrocar safe control loop Download PDFInfo
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- CN208411645U CN208411645U CN201721852193.9U CN201721852193U CN208411645U CN 208411645 U CN208411645 U CN 208411645U CN 201721852193 U CN201721852193 U CN 201721852193U CN 208411645 U CN208411645 U CN 208411645U
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- relay
- emergency stop
- unmanned
- electrocar
- safety
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Abstract
The utility model relates to a kind of unmanned electrocar safe control loop, including emergency stop circuit units, current supply circuit unit and brake loop unit, current supply circuit unit is connect with emergency stop circuit units, brake loop unit respectively.Emergency stop circuit units include control power supply M1, multiple controllers, scram button S1, safety relay K4, safety relay K5, emergency stop relay K1.Unmanned electrocar safety control system provided by the utility model; series connection scram button, safety relay contact, controller relay switch various control circuit disconnect in its emergency stop circuit; form the normal Redundant Control of polyisocyanate; as long as there are various exceptions, and emergency stop relay can all be caused to power off in the system of realization, final motor is out of service and band-type brake.
Description
Technical field
The utility model relates to carrier technical field of safety protection, it is more particularly related to a kind of unmanned electricity
The safe control loop of dynamic carrier.
Background technique
Unmanned electrocar refer to equipped with electricity magnetically or optically equal homing guidances device, can be along defined guide path row
It sails, the transport vehicle with safeguard protection and various transfer functions, it is completed by unmanned pair using battery as power
The carrying of cargo flexibly and easily, was rapidly progressed in recent years due to its high degree of automation.Unmanned electrocar work
The environment of work is more complicated, often mixes with the working region of employee, and its working environment is sometimes narrow, this
Sample just brings many uncertainties to the work of automatic guided vehicle, so its safety guarantee safeguard function just becomes especially to weigh
It wants, therefore the design in emergency stop circuit just becomes indispensable ingredient in automatic guided vehicle.Emergency stop device not only can be with guarantor
The safety of member and equipment, it can also be ensured that the equipment safety of carrier itself.
Unmanned electrocar belongs to the higher equipment of safety requirements, if carrier all parts are abnormal or event
Hinder must hard stop, otherwise equipment will be damaged, and endanger the life security of operator, caused by lose it is extremely tight
Weight.As necessary safety guard, importance is self-evident in emergency stop circuit, passes through the scram button being installed in equipment
It is operated, failure can pass through scram button and carry out emergent stopping, protect the safety of equipment and operator.
The emergency stop circuit of traditional unmanned electrocar generally uses unity loop control, and scram button configures individual part
Contact access system controller circuit, presses scram button, and carrier will be shut down.Unity loop control has the following deficiencies:
Once the contact of scram button is broken down, control electrocar emergency shutdown, poor reliability will be unable to.
Summary of the invention
The purpose of the utility model is to overcome above-mentioned deficiency in the prior art, a kind of high reliablity is provided nobody remove
Transport vehicle safe control loop.Safe control loop includes emergency stop circuit units, current supply circuit unit and brake loop unit, described
Current supply circuit unit is connect with the emergency stop circuit units, the brake loop unit respectively.The emergency stop circuit units include
Control power supply M1, multiple controllers, scram button S1, safety relay K4, safety relay K5, emergency stop relay K1.
Further, the scram button S1 is normally closed switch, the output end of the control power supply and the multiple control
Device series connection, the multiple controller are distributed in the controlling position of unmanned electrocar, and the relay of the multiple controller
It is serially connected between output pin.
Further, the scram button S1 and the safety relay K4, the contact of safety relay K5, emergency stop relay
It is serially connected between the wire loop of device K1, the wire loop string of the safety sensor 1 and described safety relay K4, K5
Connection.
Further, the current supply circuit include contactor relay power supply, the emergency stop relay K1 contact all the way,
Motor power contactor Q2.
Further, the contact switch of motor power contactor Q2, the power supply are in series in the motor power circuit
It connects with the motor power contactor Q2 wire loop contact all the way of the K1 of emergency stop relay described in circuit.
Further, the brake loop includes motor power, movable motor band-type brake coil KM, the emergency stop relay K1
Another way contact.
Further, each controller on the emergency stop circuit has relay K normally opened contact output pin all the way,
The relay output pin of the multiple controller is serially connected, when controller starting finishes, in normal condition, the relay
Contact closure；When controller detects it is abnormal when, the relay contact disconnect.
The utility model is include at least the following beneficial effects:
1, the normal Redundant Control of polyisocyanate: the emergency stop relay in disconnection emergency stop circuit is forced to power off using having, in circuit
Series connection scram button, safety relay contact, controller relay switch various control circuit disconnect, and form the normal redundancy control of polyisocyanate
System, once there are various exceptions, and emergency stop relay can all be caused to power off in system.
2, power-off protection: in the case where system controls power cut-off, state that emergency stop will remain open.
3, security monitoring: carrying out effective avoidance by safety sensor 1, monitors that there are barriers in certain area, then
The power-off of emergency stop relay is cut off, emergency stop circuit disconnects.
Detailed description of the invention
The drawings are intended to provide a further understanding of the invention, and constitutes part of specification, with following tool
Body embodiment is used to explain the present invention together, but is not construed as limiting the invention.In the accompanying drawings:
Attached drawing 1 show a kind of circuit diagram of unmanned electrocar safe control loop of the utility model.
S1 in figure: scram button, K4: safety relay, K5: safety relay, K1: emergency stop relay, K: in controller
Relay, S1: scram button, Q2: motor power contactor, KM: band-type brake coil, M1: control power supply 24V, M2: motor power
24V, M3: contactor relay power supply 24V, M4: control power supply 0V, M5: motor power 0V.
Specific embodiment
The utility model is described in detail below with reference to attached drawing and in conjunction with the embodiments.It should be noted that not rushing
In the case where prominent, the features in the embodiments and the embodiments of the present application be can be combined with each other.
As shown in Figure 1, a kind of unmanned electrocar safe control loop, including emergency stop circuit units, current supply circuit list
Member and brake loop unit, the current supply circuit unit are connect with emergency stop circuit units, brake loop unit respectively.
Specifically, the emergency stop circuit units include control power supply, multiple controllers, scram button S1, safety relay
The elements such as device K4, safety relay K5, emergency stop relay K1.Wherein, scram button S1 is normally closed switch, controls the output of power supply
End is connected with multiple controllers, and multiple controllers, which are distributed in unmanned electrocar, respectively needs controlling position, and multiple controllers
It is serially connected between relay output pin.According to design principle, the design in emergency stop circuit needs power-off protection, and emergency stop is pressed
Button S1 and safety relay K4, the contact of safety relay K5, emergency stop relay K1 wire loop between be serially connected.
The current supply circuit includes that contactor relay power supply, the contact all the way of emergency stop relay K1, motor power connect
The elements such as tentaculum Q2.While the contact of motor power contactor Q2 is in series in motor power circuit, the one of emergency stop relay K1
Road contact is connected with motor power contactor Q2 coil, and control power supply 0V is equally accessed in this final circuit.
Brake loop include motor power, movable motor band-type brake coil KM, can software control the contact band-type brake relay K2,
The another way contact of emergency stop relay K1.
Each controller on above-mentioned emergency stop circuit has relay K normally opened contact output pin all the way, multiple controls
The relay output pin of device is serially connected, when controller starting finishes, when all going well, and the relay contact closure；Work as control
When device processed detects abnormal, which is disconnected.
Scram button S1 in emergency stop circuit units is connect with the output contact of safety relay K4 and K5, be used as safety after
The input of electric appliance K4, K5 signal controls output contact by its internal logic and disconnects, and the wire loop of safety relay K4, K5
It connects respectively with two OSSD pins of safety sensor 1, because being equipped in vehicle body two sides or the tailstock contactless
Safety sensor 1, within a certain area, when safety sensor 1 has sensed barrier when carrier is detected in protection zone
When object, two OSSD of safety sensor 1 export shutdown signal and give safety relay K4, K5, safety relay K4, K5 coil
Power loss, contact disconnects, to stop the power supply of emergency stop relay.
In emergency stop circuit, the wire loop of emergency stop relay K1 is equally accessed in this emergency stop circuit, the emergency stop relay
Two output contacts of K1 are respectively connected in current supply circuit and brake loop, once emergency stop relay K1 coil losing electricity, goes here and there respectively
The emergency stop contact relay K1 for being coupled to current supply circuit and brake loop disconnects, so that motor power contactor Q2 line in current supply circuit
Power loss is enclosed, and is disconnected with the concatenated motor power contacts of contactor of motor power, then motor power circuit powers off；And brake loop
In the emergency stop contact relay K1 disconnect.
Also connect in brake loop into can software control the contact band-type brake relay K2, do not have in the normal emergency stop circuit of system
Have under disconnection, can control vehicle by the closure and release of software control band-type brake and normally stop and run.
Scram button S1 can be self-resetting switch.When cutting off scram button S1, the disconnection in emergency stop circuit is also resulted in,
The other end in the emergency stop circuit finally accesses control 0V.The output end of power supply can be direct current herein, or exchange
Electricity, external main power source are also possible to alternating current or direct current.
In conclusion the one of appearance of such as multiple controllers is different when any link on emergency stop circuit is abnormal
Often, after safety sensor 1 detects barrier, emergency stop operation and will lead to emergency stop relay K1 power loss, electric motor loop power-off is embraced
The power-off of lock circuit, motor power are cut off band-type brake locking motor simultaneously, motor stalls.
The emergency stop control loop controls motor power and holding brake action respectively, forms duplicate protection, reliable in action, and can be into
Row emergency stop resets and monitors that whether there are obstacles in vehicle body periphery two sides or the tailstock, within a certain area, when safety sensor 1
When having sensed barrier, vehicle stopping will cause.
The utility model has the advantages that following several:
1, the normal Redundant Control of polyisocyanate: the emergency stop relay in disconnection emergency stop circuit is forced to power off using having, in circuit
Series connection scram button, safety relay contact, controller relay switch various control circuit disconnect, and form the normal redundancy control of polyisocyanate
System, once there are various exceptions, and emergency stop relay can all be caused to power off in system.
2, power-off protection: in the case where system controls power cut-off, state that emergency stop will remain open.
3, security monitoring: carrying out effective avoidance by safety sensor 1, monitors that there are barriers in certain area, then
The power-off of emergency stop relay is cut off, emergency stop circuit disconnects.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (7)
1. a kind of unmanned electrocar safe control loop, it is characterized in that: the safe control loop includes emergency stop circuit list
Member, current supply circuit unit and brake loop unit, the current supply circuit unit respectively with the emergency stop circuit units, the band-type brake
Circuit units connection, the emergency stop circuit units include control power supply M1, multiple controllers, scram button S1, safety relay
K4, safety relay K5, emergency stop relay K1, safety sensor (1).
2. unmanned electrocar safe control loop according to claim 1, it is characterized in that: the scram button S1 is
The output end of normally closed switch, the control power supply is connected with the multiple controller, and the multiple controller is distributed in unmanned electricity
The controlling position of dynamic carrier, and be serially connected between the relay output pin of the multiple controller.
3. unmanned electrocar safe control loop according to claim 1 or 2, it is characterized in that: the scram button
The S1 and safety relay K4, the contact of safety relay K5, emergency stop relay K1 wire loop between be serially connected, institute
Safety sensor (1) is stated to connect with the wire loop of described safety relay K4, K5.
4. unmanned electrocar safe control loop according to claim 3, it is characterized in that: the current supply circuit includes
Contactor relay power supply, the contact all the way of the emergency stop relay K1, motor power contactor Q2.
5. unmanned electrocar safe control loop according to claim 4, it is characterized in that: being gone here and there in motor power circuit
Be associated with the contact switch of motor power contactor Q2, the contact all the way of emergency stop relay K1 described in the current supply circuit with it is described
Motor power contactor Q2 wire loop is connected.
6. unmanned electrocar safe control loop according to claim 3, it is characterized in that: the brake loop includes
Motor power, movable motor band-type brake coil KM, the emergency stop relay K1 another way contact, can software control band-type brake relay
The contact device K2.
7. a kind of unmanned electrocar, it is characterised in that any described including walking unit, chassis and claim 1-6
Unmanned electrocar safe control loop.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721852193.9U CN208411645U (en) | 2017-12-26 | 2017-12-26 | A kind of unmanned electrocar safe control loop |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721852193.9U CN208411645U (en) | 2017-12-26 | 2017-12-26 | A kind of unmanned electrocar safe control loop |
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| Publication Number | Publication Date |
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| CN208411645U true CN208411645U (en) | 2019-01-22 |
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| CN201721852193.9U Active CN208411645U (en) | 2017-12-26 | 2017-12-26 | A kind of unmanned electrocar safe control loop |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110189960A (en) * | 2019-05-17 | 2019-08-30 | 山东航天电子技术研究所 | A kind of space station mechanical arm Used For Eva person's manual braking device |
| CN112099340A (en) * | 2020-09-27 | 2020-12-18 | 中油国家油气钻井装备工程技术研究中心有限公司 | Emergency stop redundancy control system and control method |
| CN113119928A (en) * | 2021-04-16 | 2021-07-16 | 北京理工中云智车科技有限公司 | Electric safety system for wire-controlled chassis of unmanned vehicle |
| CN115097759A (en) * | 2022-06-24 | 2022-09-23 | 武汉港迪技术股份有限公司 | Emergency stop signal control system and method for construction elevator all-in-one machine |
-
2017
- 2017-12-26 CN CN201721852193.9U patent/CN208411645U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110189960A (en) * | 2019-05-17 | 2019-08-30 | 山东航天电子技术研究所 | A kind of space station mechanical arm Used For Eva person's manual braking device |
| CN112099340A (en) * | 2020-09-27 | 2020-12-18 | 中油国家油气钻井装备工程技术研究中心有限公司 | Emergency stop redundancy control system and control method |
| CN112099340B (en) * | 2020-09-27 | 2023-08-29 | 中油国家油气钻井装备工程技术研究中心有限公司 | Emergency stop redundant control system and control method |
| CN113119928A (en) * | 2021-04-16 | 2021-07-16 | 北京理工中云智车科技有限公司 | Electric safety system for wire-controlled chassis of unmanned vehicle |
| CN115097759A (en) * | 2022-06-24 | 2022-09-23 | 武汉港迪技术股份有限公司 | Emergency stop signal control system and method for construction elevator all-in-one machine |
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| TR01 | Transfer of patent right |
Effective date of registration: 20220402 Address after: 325000 No. 298, Weixi Road, Yueqing Economic Development Zone, Yueqing City, Wenzhou City, Zhejiang Province Patentee after: Wenzhou Sikong Intelligent Technology Co.,Ltd. Address before: Room a211, 2 / F, building 9, phase I, Changsha Zhongdian Software Park, 39 Jianshan Road, Changsha hi tech Development Zone, Changsha City, Hunan Province 410000 Patentee before: HUNAN CICO INTELLIGENT TECHNOLOGY CO.,LTD. |