JPH0739285Y2 - Control circuit for unmanned vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a control circuit used for cooling a traveling motor of an unmanned vehicle.

B. Outline of the Invention This invention is for suppressing the internal temperature rise of the traveling motor when the temperature of the field winding of the traveling motor rises during ultra low speed traveling of a battery-powered unmanned vehicle and during general traveling. In the control circuit of the unmanned vehicle, a fan motor that drives the fan for air cooling, a switch that controls the fan motor in conjunction with the controller of the unmanned vehicle to detect the running state, and the running of the unmanned vehicle In parallel with a switch that detects the temperature of the driving motor, the rotation speed of the driving motor of the unmanned vehicle decreases and the air cooling effect of the fan rotating by the driving motor disappears. When the internal temperature of the motor for running an unmanned vehicle rises during general running or high-speed running, each of the above two switches is used to individually detect each state and rotate the blower to cool the air. That.

With this invention, it is possible to continuously drive unmanned vehicles at ultra-low speed for a long time with a small-capacity motor, and use a temperature detection switch during high-speed driving or general driving to raise the temperature for some reason. Only rotate the blower and limit the battery consumption.

C. Conventional Technology Conventionally, a battery-powered unmanned vehicle is driven by a traveling motor. To dissipate the heat from the field winding of the traveling motor, a fan attached to the rotating shaft or rotor of the traveling motor is driven by the rotation of the traveling motor to blow air and cool the air. Was there.

D. Problems to be Solved by the Invention As described above, in the case of normal running of a battery-powered unmanned vehicle, air cooling can be performed by a fan provided in a rotor or the like and rotationally driven by a running motor. However, for example, when a battery-driven automatic guided vehicle is used as a substitute for a conveyor in a production line, a wide traveling speed from ultra-low speed to high speed is required. Therefore, in this ultra-low speed traveling, the rotation of the traveling motor is reduced and
The rotation speed becomes rpm, and the rotation speed of the fan provided in the rotor of the traveling motor decreases, so the effect of air cooling disappears, a large-capacity traveling motor is required, and a bulky and expensive motor must be used. The problem arises that it must be done.

In view of the above problems, in order to drive an unmanned vehicle with an inexpensive conventional motor without increasing the required capacity of the traveling motor, even if the rotational speed of the traveling motor decreases, An object of the present invention is to provide a control circuit for a battery-powered unmanned vehicle that can cool a motor.

E. Means for Solving the Problems In order to achieve the above object, the present invention connects a fan motor of a blower for cooling a running motor of an unmanned vehicle in parallel in a control circuit of a battery type unmanned vehicle. Connected to the battery of the unmanned vehicle via two switches, one of these two switches works in conjunction with the controller of the unmanned vehicle to turn on only when the unmanned vehicle runs at ultra-low speed, the other one It is characterized in that it is provided so as to be turned on when the temperature of the traveling motor of the unmanned vehicle rises.

F. Action The present invention uses two switches to start the fan motor under two separate starting conditions, and the blower cools the running motor of the unmanned vehicle.

That is, when the battery-powered unmanned vehicle is traveling at an extremely low speed, the controller of the unmanned vehicle operates in conjunction with the blower circuit 1
The two switches are turned on to operate the blower to blow air into the traveling motor and forcibly cool the traveling motor.

In this way, since the fan cools the traveling motor while the temperature of the traveling motor does not rise when the unmanned vehicle travels at an extremely low speed, deterioration due to the temperature rise of the traveling motor does not occur.

In addition, even if the battery-powered unmanned vehicle is traveling at high speed or in normal traveling, if the temperature inside the traveling motor rises for some reason, another one that operates by detecting the temperature inside the traveling motor is operated. The switch turns on the circuit of the blower, operates the blower, blows air into the traveling motor, and further enhances the cooling effect together with the fan conventionally provided in the traveling motor of the unmanned vehicle.

In this way, regardless of the traveling state, when the temperature of the traveling motor becomes high, the blower always cools the traveling motor, so that the traveling motor is not damaged due to the temperature rise.

Further, once the blower operates once due to the temperature rise, the blower does not stop unless the temperature of the traveling motor drops to a certain extent, so that deterioration due to the temperature rise of the traveling motor does not occur.

G. Embodiment One embodiment of the present invention will be described below with reference to the drawings.

1 and 2, the + side wiring 2 and the − side wiring 3 of the battery 1 which is the power source of the battery type unmanned vehicle (not shown).
A control device 4 for controlling this unmanned vehicle is connected to.

A wire 8 of a fan motor 7 for driving a sirocco fan 6 attached to a traveling motor 5 for driving the battery type unmanned vehicle by a belt 9 is connected to the + side wiring 2 and the-side wiring 3. .

This traveling motor 5 is provided with a cooling air inlet 10 on the side with the brush (not shown), and is cooled on the side opposite to the side with the brush via a rotor (not shown) as in the conventional case. A fan (not shown) and a cooling air outlet 11 are provided.

The switch RY ₁ and the switch RY ₂ connected in parallel to each other are connected to the fan motor 7.

The switch RY ₁ is a switch that interlocks with the control device 4 of the unmanned vehicle and is controlled by the control program of the unmanned vehicle.

As shown in FIG. 3, the flowchart checks whether the general running (including the normal running and the high speed running) or the ultra low speed running is specified in block 13 based on the information input by the operator. If the general running is designated, data processing for the general running is performed in block 14 and data processing for turning off the switch RY ₁ is performed.

When the ultra-low speed traveling is designated, data processing for the ultra-low speed traveling is performed in block 15 and data processing for turning on the switch RY ₁ is performed. In the next block 16, data is output to the switch RY ₁ as a signal. The switch RY ₁ turns on the circuit when running at ultra-low speed by a signal, and the fan motor 7 of the sirocco fan 6
Is rotated to cool the traveling motor 5. If the operator has input information for instructing general traveling to the control device 4,
Switch RY ₁ turns off the circuit.

The switch RY ₂ is a switch that detects the temperature and turns on and off the circuit of the fan motor 7 of the sirocco fan 6. When the switch RY ₂ is bimetal, the bimetal is attached to the coil of the traveling motor 5 or the like. You can leave it. At this time, the switch RY ₂ turns on the circuit when the temperature of the coil of the traveling motor 5 reaches a certain temperature.

In other cases, as shown in FIG. 4, the coil 18 is the electromagnetic relay switch and the field winding of the traveling motor 5.
It is operated by a temperature sensor 19, eg a thermistor, mounted on the. When the coil 18 reaches a certain temperature or higher, the resistance value of the temperature sensor 19 decreases, a current flows through the electromagnetic relay coil 20, the switch RY ₂ is turned on by the electromagnetic action, the fan motor 7 rotates, and the sirocco fan 6 runs. Motor 5
To cool.

With the above-mentioned configuration, when the operator gives an instruction for ultra-low speed traveling, the control program incorporated in the control device 4 of the unmanned vehicle performs the ultra-low speed traveling processing as described above, and switches the switch RY ₁ . It is turned on, the fan motor 7 is rotated, and the sirocco fan 6 cools the traveling motor 5.

If the internal temperature of the traveling motor 5 rises abnormally for some reason during high-speed or normal traveling of a battery-powered unmanned vehicle, the circuit of the fan motor 7 is turned on by turning on the switch RY _2. As described above, air is blown from the sirocco fan 6 to the inside of the traveling motor 5 to cool it, and the cooling effect is enhanced in combination with the action of a conventional cooling fan (not shown) for the traveling motor 5.

H. Effect of the Invention The control circuit of the unmanned vehicle of the present invention is used in the battery-powered unmanned vehicle as described above, so that the fan motor rotates to rotate the blower such as a sirocco fan when the vehicle runs at an extremely low speed. Blowers can be cooled by blowing air inside the driving motor of a battery-powered unmanned vehicle.

Therefore, in the case where the fan provided in the running motor has conventionally air-cooled the running motor during normal running or high-speed running, and when the running speed becomes extremely low, the rotation speed of the fan decreases and the cooling effect disappears. However, since the fan motor rotates the blower, the cooling effect can be maintained.

Further, since the blower cools the traveling motor while the temperature of the traveling motor does not rise when the unmanned vehicle travels at an extremely low speed, deterioration due to the temperature rise of the traveling motor does not occur.

Therefore, the battery-powered unmanned vehicle can be driven with the conventional small-capacity running motor, continuous operation can be performed at ultra-low speed for a long time, and it is not necessary to use a bulky and expensive large-capacity motor.

On the other hand, even if the vehicle is not running at ultra-low speed, the fan motor will rotate if the internal temperature of the running motor of the battery-powered unmanned vehicle rises to an abnormal temperature for some reason during normal running or high speed running. Since the blower is rotated,
The air blow can further enhance the air-cooling effect by the fan that rotates with the rotation of the motor that has been conventionally provided in the motor for running the unmanned vehicle.

In this way, regardless of the traveling state, when the temperature of the traveling motor becomes high, the blower always cools the traveling motor, so that the traveling motor is not damaged due to the temperature rise.

Further, once the blower operates once due to the temperature rise, the blower does not stop unless the temperature of the traveling motor drops to a certain extent, so that deterioration due to the temperature rise of the traveling motor does not occur.

As described above, the fan motor rotates the blower when the battery-powered unmanned vehicle runs at ultra-low speed, and independently of this, the inside of the unmanned vehicle running motor is abnormal during normal running or high-speed running. This is the case when the temperature becomes extremely high, and the fan is rotated only to the minimum necessary, so battery consumption can be saved.

[Brief description of drawings]

FIG. 1 is a circuit diagram of a battery-powered unmanned vehicle, FIG. 2 is a perspective view of essential parts showing a sirocco fan attached to a running motor of the battery-powered unmanned vehicle, FIG. 3 is a flowchart, and FIG. 4 is a switch RY ₂ It is a circuit diagram of another example of. In the drawings, 1 is a battery, 4 is an unmanned vehicle controller, 5 is an unmanned vehicle drive motor, 6 is a sirocco fan, 7 is a fan motor, and RY ₁ and RY ₂ are switches.

Claims (1)

[Scope of utility model registration request] 1. A control circuit for a battery type unmanned vehicle, wherein a fan motor of a blower for cooling a running motor of the unmanned vehicle is connected to a battery of the unmanned vehicle through two switches connected in parallel, One of these two switches works in conjunction with the unmanned vehicle controller to turn on only when the unmanned vehicle runs at ultra-low speed, and the other one turns on when the temperature of the motor for running the unmanned vehicle rises. A control circuit for an unmanned vehicle, which is provided in the.