CN209200745U - A kind of suspension transport vehicle control system for using super capacitor as energy supply - Google Patents
A kind of suspension transport vehicle control system for using super capacitor as energy supply Download PDFInfo
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- CN209200745U CN209200745U CN201822088003.1U CN201822088003U CN209200745U CN 209200745 U CN209200745 U CN 209200745U CN 201822088003 U CN201822088003 U CN 201822088003U CN 209200745 U CN209200745 U CN 209200745U
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Abstract
A kind of suspension transport vehicle control system for using super capacitor as energy supply, including press charging module, pressure stabilizing discharge module, core controller, NRF24L01 wireless communication module, RFID radio frequency identification module and motor drive module.The utility model outstanding feature is super capacitor as energy source, by being pressed super capacitor group and pressure stabilizing measure, powers for suspension transport vehicle, avoids huge loss caused by traditional brush power supply.The transmitting for carrying out data using NRF2401 wireless-transmission network simultaneously, improves the capability of information sharing of multiple transport vehicles on the same assembly line.
Description
Technical field:
The utility model belongs to electric class.Its outstanding feature is using super capacitor as the energy supply of entire transportation system
Source, greatly reduce because electrified rail loss and caused by economic loss.It is carried out simultaneously using NRF24L01 communication network
The transmitting of parameter and control signal, improves the stability of system.
Background technique:
Traditional suspension type transport vehicle is powered using copper rail, utilizes carbon brush connection transportation vehicle and guide rail.This mode can be with
It uninterruptedly powers for transport vehicle, and supply voltage is stablized, transport vehicle stability is strong.But in parking, transport vehicle is often
It strikes sparks with guide rail, on the one hand causes a serious security risk, on the one hand accelerate the aging speed of carbon brush.Since carbon brush cost is high
High, higher replacement rate very big can must improve production cost.
A kind of new method of supplying power to applied to mill practices is induced current method.It is former using the electromagnetic induction of inductance coil
Reason, a large amount of cable is distributed around guide rail and passes to heavy current, is transport vehicle by inducing electric current in inductance coil
Kinematic system power supply.Although this method will not bring the problem of increased production cost caused by frequently replacement brush, give
Cable equally will cause biggish security risk for forceful electric power, and still immature technology causes a large amount of power wastages unavoidably；While its
Cost itself is high, and general enterprises are difficult to bear.
Utility model content:
This project is mainly studied such as how super capacitor as novel power supply instead of existing rail brush scheme in factory
Or the suspension transport vehicle on induced current scheme driving assembly line, and as core, RFID radio frequency identification is added and realizes transport
Identification of the vehicle to working terminal, be added infrared module auxiliary control transport vehicle start and stop, be added wireless module so that
Each transport trainset ultimately forms a whole set of new factory floor assembly line transportation logistics system at Internet of Things.
The utility model has the advantages that the utility model selects super capacitor as energy supply source, it is equal by being carried out to super capacitor group
Pressure and pressure stabilizing control, power for suspension transport vehicle.Whole system processes the working method of part using the multi-site division of labor, therefore needs
Accurately to start and brake, to guarantee the accuracy and fluency of whole process.To realize that accurate braking, use are red
Deceleration buffer band is judged as auxiliary signal sampling instrument to pipe outside, and is realized by RFID module and is accurately made at processing stations
It is dynamic.While station processing, charging card slot charges to super capacitor, while RFID module storage suspension transport vehicle and website letter
Breath.The communication ad hoc network of terminal and each transport vehicle is realized using NRF24L01 as communication module, is acquired transport vehicle in real time and is worked as
Preceding operating status.Whole system compared to old and still immature technology each existed system for, both safety and stability,
Advantage at low cost is had both again.
Detailed description of the invention
Fig. 1 is the utility model
Fig. 2 is BOOST circuit diagram；
Fig. 3 is super capacitor voltage regulator circuit；
Fig. 4 is parallel-capacitor circuit topology diagram；
Fig. 5 is the synchronous Push And Release of paralleling switch；
Wherein: 1, super capacitor group 2, core controller 3, infrared tube 4, direct current generator 5, steering engine 6, telescopic rod
7, driving circuit 8, charging pile 9, buffer parking area 10, track
Specific embodiment
The utility model is further described below by specific embodiment.
It is a kind of with the suspension transport vehicle control system that super capacitor is energy supply shown in Fig. 1, including super capacitor group,
Press charging module, pressure stabilizing discharge module, core controller, wireless communication module, radio frequency identification module, state display module,
Motor drive module and other supplementary modules are constituted.
The super capacitor group 1 is made of four super capacitor monomers, is located in two capacitor slots, all for whole system
Module for power supply.Pressure charging module is located on the fixed charging pile 8 of track, and extruding contact when passing through parking accesses capacitance group
Charging circuit realizes charging.Capacitor output is divided into two-way, directly powers all the way for drive module 7, and another way accesses Voltage stabilizing module
3.3 volts of voltages are exported as the power supply of core controller 2,5 volts of voltages are module for power supply, including steering engine, NRF24L01 and infrared right
Pipe etc..
The pressure charging module is the voltage-equalizing control circuit that LM358 integrated transporting discharging is constituted, and pressure stabilizing discharge module is
The voltage regulator circuit that TPS63070 integrated chip is constituted.Two circuits guarantee that super capacitor keeps monomer capacitor electric during the charging process
Pressure is consistent, and guarantees that super capacitor has relatively stable constant voltage output in a long time.
The motor drive module is made of direct current generator 4 and driving circuit 7: two direct current generators 4 are located on rear side of car body,
Wheel stretches out car body as power output, and driving circuit 7 is located at interior chassis, and power supply is connect with direct current generator.Direct current simultaneously
Machine includes speed measuring module, and output is connected with core controller 2 obtains the current speed of service, constitutes closed-loop control system.
The core controller 2 is located on car body interior insulation plate, prevents from being shorted and damage, and provides control letter for other modules
Number.
The supplementary module includes: that infrared tube 3 detects stop sign and enters buffer parking area 9；Steering engine 5 and telescopic rod
6 realize aid parking, and telescopic rod is stretched out after entering buffer parking area and realizes accurate parking.
The wireless communication module is made of NRF04L01, is located on core controller 2, just will be current after the completion of parking
Site information, which is sent to, is waiting received core controller, while being converted to and receiving state and start waiting from core controller
Receive outbound signaling.Core controller is just converted to transmission state after receiving all transport vehicles and sending information and sends one by one
Dispatching a car allows signal.Full-duplex communication is realized by the reiving/transmitting state switching of slave.
The station recognition mark is made of FRID radio frequency card reading, exposes to the outside of suspension transport vehicle, parking at
By the transfer card number of reading mifare one card to identify current site information after function, and this information is sent out by communication module
It send.
Charged after transport vehicle parking and send the machine current information, after all transport vehicles have all charged after ability
It dispatches a car again, to guarantee the stability and safety of system.
Due to the characteristic of super capacitor, charging rate quickly, so can't be waited because of charging in working terminal
Long time, to guarantee the steady smooth operation of system.
For supercapacitor, firstly, the output voltage waveforms of super capacitor are exponentially decline, it is unable to satisfy
Load the long when property requirement to constant voltage；Secondly, the voltage rating of the super capacitor monomer of existing commercialization generally all compares
It is lower, in order to meet requirement of the external loading to voltage class, it usually needs supercapacitor to be used in series.But due to system
The difference of technique etc. is made, there are the inconsistencies of capacity and internal resistance for super capacitor monomer, cause filling in each capacitor monomer work
Velocity of discharge difference reduces the energy storage capacity and service life of capacitance group so as to cause the unbalanced of monomer voltage.Therefore,
The perseverance for taking suitable voltage balance circuit and voltage regulator circuit that super capacitor monomer voltage is made to be consistent and be maintained for a long time
Pressure output is of great significance.
There is the method for pressure stabilizing in practice is much described below a kind of pressure stabilizing discharge circuit based on BOOST converter.
BOOST circuit theory is as shown in Figure 2.
The voltage U of inductance L in circuitLExpression formula are as follows:
D is the duty ratio of diode current flow in formula.
It can be obtained according to the second volt Balance under limit:
UsDTs-(U0-Us)D′Ts=0 (formula 2.2)
Wherein D '=1-D.
Arrange the ratio of the output voltage and input voltage that obtain BOOST circuit:
Duty ratio is adjusted it can be seen from formula 2.3 can change the step-up ratio of converter.It can design accordingly a kind of super
Capacitance voltage stabilizing circuit, as shown in Figure 3.The pressure stabilizing charge/discharge control circuit is by super capacitor energy storage system, Boost, negative
It carries, control system unit composition.During super capacitor energy storage system powering load, the voltage acquisition of control system
Unit, which changes load voltage, carries out real-time sampling, by collected voltage and reference voltage UrefIt sums, then passes through
PID regulator is adjusted, and exports the duty ratio of result pwm pulse, and the output voltage for declining energy-storage system is become by BOOST
Parallel operation carries out boosting voltage-stabiliser tube range of voltage values to needed for loading.
For the capacitor series connection unbalanced circuit characteristic of bring, can be solved using shunt capacitance equalizer circuit, it is basic
Principle is as follows:
Equalizer circuit topological structure:
Equalizer circuit is formed by several equalizing capacitances and the net cascade of cascade inductance port, and every level-one equalizing capacitance port passes through
Switch is in parallel with series connection accumulation monomer (super capacitor) respectively, and is connect by inductance with next stage equalizing capacitance port, thus
The equalizer circuit structure of series mould set capacitor energy storage system is formed, as shown in Figure 4.It cascades inductance and parallel current path is being provided
Electric current when limit switch closure between equalizing capacitance positive and negative anodes simultaneously.
Parallel-capacitor circuit presses principle:
All switches (S1~S2N) are by the synchronous on or off of square wave driving, square wave (ON/OFF) period in circuit shown in Fig. 4
T duty ratio is D.Equalizing capacitance and super capacitor close moment connection, equalizing capacitance and super capacitor exchange charge, electricity in switch
Pressure reaches unanimity.Equalizing capacitance is connected in parallel with each other exchange charge by inductance during all switching tubes disconnect, and voltage tends to
Unanimously.Fig. 2-4 is shown in above-mentioned realization.All switches are driven constantly to repeat the above process by square wave, then super capacitor and equalizing capacitance
Voltage is convergent.Theoretically, only need to give switch motion phase and duty ratio can be realized unbalanced energy it is automatic shift and press
Output.
C1~CN is super capacitor in figure；S1~SN is switch element；Cb1~CbN is equalizing capacitance；La1~La (N-
1) and Lb1~Lb (N-1) is respectively cascade inductance between equalizing capacitance positive and negative anodes.
For wireless communication module, common wireless communication module has Wi-Fi, ZigBee, NRF2401 etc..The biography of Wi-Fi
Defeated rate is fast, and can realize one-to-many communication, long transmission distance, but its is at high cost, and control algolithm is complicated；ZigBee is logical
Believe that technical controlling is succinct, at low cost, but its transmission range is close, rate is low.And NRF2401 works in 2.4~2.5GHz ISM
Frequency range, the functional modules such as built-in chip type frequency synthesizer, power amplifier, crystal oscillator and modulator are easily realized one-to-many
Communication, output power and communication channel can be configured by program.Chip energy consumption is very low, long transmission distance, low in cost,
And the communication of midsequent method can be used, be suitable for batch and use.Suspension transport vehicle in the process of running believes the position of oneself
Real-time Transmission is ceased to host, and location information is understood into fortune for station manipulation personnel from its output is shown in real time after host process
The position of defeated vehicle.
For infrared tube identification module, if since transport vehicle stops in the website of RFID radio frequency identification module rapidly,
Very big probability will lead to system and lose stability.Since band carries, workpiece quality is larger, and biggish inertia will lead to itself because of speed
Degree can not be reduced in time to out of control, can not finally be realized and precisely be stopped rapidly in website.It is identified in advance using infrared tube
Protrusion reduce-speed sign before website makes transport vehicle decelerate to one compared with low velocity in buffer area, then fills in processing website support
Electric card slot does last time and brakes, and may be implemented precisely to stop.As shown in Figure 2-5.
For RFID module, when transport vehicle reaches processing website, information is acquired by radio frequency card reading technology, transport vehicle will
Module sends back terminal to current information by wireless communication.Radio frequency card reading there are two state, one be current transportation vehicle be in plus
At station point, another state is during it is in and goes to (n+1)th website from n-th of website.These information will pass
It returns terminal and uniformly regulates and controls each transporter by terminal and control its motion state to avoid bumping against.
Claims (4)
1. a kind of suspension transport vehicle control system for using super capacitor as energy supply, including super capacitor group, pressure charging
Module, pressure stabilizing discharge module, core controller, wireless communication module, radio frequency identification module, display module, motor drive module
And other supplementary modules；It is characterized by:
The super capacitor group (1) is made of four super capacitor monomers, is located in two capacitor slots, is all moulds of whole system
Block power supply；
The pressure charging module is located on the fixed charging pile (8) of track, passes through extruding when parking and contacts super capacitor
Group (1) accesses charging circuit and realizes charging；
The super capacitor group output is divided into two-way, directly powers all the way for motor drive module, and another way accesses pressure stabilizing electric discharge
Module is core controller (2) power supply；
The motor drive module is made of direct current generator (4) and driving circuit (7): after two direct current generators (4) are located at car body
Side, driving circuit (7) are located at interior chassis, connect power supply with direct current generator (4)；Direct current generator (4) includes speed measuring module simultaneously,
Its output is connect with core controller (2), obtains the current speed of service, constitutes closed-loop control system；
The core controller (2) is located on car body interior insulation plate, provides control signal for other modules；
The wireless communication module is located on core controller (2), is to be bi-directionally connected with core controller (2)；
The supplementary module includes: infrared tube (3), steering engine (5) and telescopic rod (6), and infrared tube (3) detects stop sign simultaneously
Into buffer parking area (9)；Steering engine (5) can control telescopic rod (6) stretching by turning an angle when needing to stop, and fill
Electric stake agrees with, aid parking；
The radio frequency identification module exposes to the outside of suspension transport vehicle, current site information is read after stopping successfully, and lead to
It crosses communication module and this information is sent to core controller (2)；
The display module is used for real-time display transport vehicle current state information, for monitoring its operating status.
2. a kind of suspension transport vehicle control system for using super capacitor as energy supply according to claim 1, special
Sign is: the wireless communication module is made of NRF04L01.
3. a kind of suspension transport vehicle control system for using super capacitor as energy supply according to claim 1, special
Sign is: the radio frequency identification module is made of FRID radio frequency card reading.
4. a kind of suspension transport vehicle control system for using super capacitor as energy supply according to claim 1, special
Sign is: being charged after transport vehicle parking by charging pile and sending the machine is presently in the information such as position to core control
Device, each transport vehicle is dispatched a car from core controller receiving after all transport vehicles have all charged allows signal that could dispatch a car again,
To guarantee the stability and safety of system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822088003.1U CN209200745U (en) | 2018-12-13 | 2018-12-13 | A kind of suspension transport vehicle control system for using super capacitor as energy supply |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822088003.1U CN209200745U (en) | 2018-12-13 | 2018-12-13 | A kind of suspension transport vehicle control system for using super capacitor as energy supply |
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| CN209200745U true CN209200745U (en) | 2019-08-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112486154A (en) * | 2019-09-10 | 2021-03-12 | 深圳拓邦股份有限公司 | Infrared and tracking based refilling method and system |
-
2018
- 2018-12-13 CN CN201822088003.1U patent/CN209200745U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112486154A (en) * | 2019-09-10 | 2021-03-12 | 深圳拓邦股份有限公司 | Infrared and tracking based refilling method and system |
| CN112486154B (en) * | 2019-09-10 | 2023-12-29 | 深圳拓邦股份有限公司 | Recharging method and system based on infrared rays and tracking |
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