JP2011026074A - Winch device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce a burden on a user when drawing a belt out of a drum by reducing the drawing load of the belt with the rotation of a motor to draw the belt. <P>SOLUTION: When a caregiver draws the belt of a winch device, the rotation of the drum via a planetary reduction part and a spur gear reduction part is started with a heavy load. A rotation sensor detects the rotation of the drum. A control part determines that the belt is drawn by the caregiver from the fact that no current is being carried to the motor and the rotation of the drum is detected, and controls the motor to be rotated to draw the belt (Step S3). With transition from Step S3 to Step S4 to establish the preset operation stopping conditions of the motor, it stops the rotation of the motor (Step S5). <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a winch device that pulls out or winds up a belt, for example, pulls down a wheelchair that has locked the belt from a vehicle interior via a slope, or lifts the vehicle into the vehicle interior.

FIG. 6 shows one operation when the wheelchair 1 is pulled down from the vehicle interior to the ground via the slope. When the wheelchair 1 is pulled down from the vehicle interior to the ground, generally, the operation is as follows. The wheelchair 1 in the vehicle interior is locked by a hook at the tip of the belt of the winch device, and the wheelchair 1 is fixed by this belt so as not to move in the vehicle interior.
The wheelchair 1 is pulled down to the ground through the slope while being assisted by the caregiver by spanning the slope between the ground and the floor in the vehicle and rotating the motor of the winch device (not shown) to pull out the belt. .

  A lock mechanism that mechanically prevents rotation of a drum (not shown) that winds up the belt so that the belt is not pulled out inadvertently when the wheelchair 1 is fixed in the vehicle interior by the belt. Is provided. This locking mechanism is composed of a ratchet portion that is provided coaxially with the drum, and an engaging claw that engages with a tooth portion formed around the ratchet portion so that the tip can be releasably engaged by turning on and off the solenoid. Has been.

Since the tip of the engaging claw is engaged with the tooth portion of the ratchet portion, the lock mechanism is locked to prevent the rotation of the ratchet portion and prevent the drum from rotating, and the belt is pulled out carelessly. The wheelchair 1 is fixed in the passenger compartment.
Further, even when the wheelchair 1 is temporarily stopped in the middle of the slope, the belt is prevented from being inadvertently pulled out by the lock mechanism, and the wheelchair 1 is prevented from descending to ensure safety. Yes.

  As what uses the above lock mechanisms, the patent document 1 shown below is mentioned, for example.

JP 2007-50965 A

  By the way, when the wheelchair 1 is pulled up from the ground to the vehicle interior via a slope, the wheelchair 1 is located on the ground, and therefore, it is necessary to pull out the belt from the winch device to the wheelchair 1. Therefore, in Patent Document 1, for example, when the operation switch is operated, the solenoid is driven to set the lock mechanism to the unlocked state, and the motor is rotated in the direction of pulling out the belt without pulling the belt, the belt is loosened. There was a problem of becoming dumpling.

In the case where a speed reducer is always interposed between the drum around which the belt is wound and the motor that rotationally drives the drum, the motor itself is free (non-energized state) when the belt is pulled out of the drum. Even so, there is a problem that the pull-out of the belt is heavy due to the reduction gear.
Even if the motor is in a free state due to various conditions such as a large reduction gear ratio of the reduction gear and mechanical efficiency, even an adult male feels that the belt is pulled out heavily. In addition, as the belt is pulled out of the drum, the winding diameter of the belt decreases, so the load for gradually pulling out the belt increases, the belt pulling out becomes heavier, and the burden on the caregiver becomes very heavy. was there.

  The present invention has been provided in view of the above-described problems, and when pulling out the belt from the drum, the motor is rotated in the belt pulling direction to lighten the load in pulling out the belt, thereby reducing the burden on the user. A winch device intended to be reduced is provided.

Therefore, in the winch device of the present invention, the belt 11 for pulling up and down the towed object, the drum 32 around which the belt 11 is wound, and the belt 32 is rotated by rotating the drum 32 forward and backward. A winch device having a motor 31 that operates in a pulling-out direction or a winding-up direction,
A signal from the rotation sensor 33 that detects the rotation of the drum 32 and a signal from the rotation sensor 33 that is detected by the rotation of the drum 32 when the motor 31 is in a non-energized state and the belt 11 is pulled out in the pull-out direction. And a control means 21 for rotating the motor 31 in the direction in which the belt 11 is pulled out.

  (1) According to the present invention, when the motor 31 is in a non-energized state and receives a signal from the rotation sensor 33 which is detected by the rotation of the drum 32, the belt 11 is pulled out in the pulling direction. Since the belt 31 is rotated in the direction in which the belt 11 is pulled out, when the belt 11 is pulled out from the drum 32, the load in pulling out the belt 11 can be reduced, and the burden on the user can be reduced.

  (2) According to the present invention, as a condition for stopping the operation of the motor 31, when the belt 11 is pulled out by a predetermined amount, or when the belt 11 is pulled out for a predetermined time, the stop operation switch 14 is operated. Therefore, the belt 11 can be pulled out by a predetermined amount, or can be pulled out by an arbitrary pulling amount, so that convenience is improved.

  (3) According to the present invention, the to-be-towed object is a wheelchair 1, and a pair of left and right winch devices 12 are installed, and the wheelchair 1 is pulled up and down by a belt 11 from the left and right winch devices 12. Thus, when the wheelchair 1 is pulled up, the burden on the caregiver can be reduced when the belt 11 is pulled out of the winch device 12.

It is explanatory drawing at the time of pulling down a wheelchair in the winch apparatus main body in embodiment of this invention. It is a block diagram of a winch device main part in an embodiment of the invention. (A) and (b) are the side view and top view of a winch apparatus in embodiment of this invention. It is an enlarged view of the locking mechanism in the embodiment of the present invention. It is a flowchart which shows the control action in embodiment of this invention. It is explanatory drawing in the case of pulling down a wheelchair via a slope.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. Note that a to-be-towed object that is pulled up and pulled down by a winch device will be described as a wheelchair as an example. FIG. 1 shows a state in which a hook (not shown) provided at the tip of left and right belts 11R and 11L is locked to a wheelchair 1 and the wheelchair 1 is pulled down by the winch device body 10 of the present invention. Yes.
The winch device body 10 includes a pair of left and right winch devices 12R and 12L that pull out and wind the belts 11R and 11L, and a control device 20 that controls the rotation of the motors of the winch devices 12R and 12L.

  FIG. 2 shows a block diagram of the winch control device 10, mainly showing a block diagram of the relevant part of the present invention. Further, only one of the winch devices 12 is shown, and only one of the portions for controlling the winch device 12 is shown. In the case where the wheelchair 1 is pulled up or down by the winch device 12 arranged on the left and right as in the wheelchair 1, the winch device 12 and the belt are necessary on the left and right, respectively. For example, when the load is pulled up or down by a single belt, a single belt may be sufficient. In such a case, the configuration shown in FIG.

  The winch device 12 includes a motor 31, a later-described speed reduction unit connected to the rotation shaft of the motor 31, a drum 32 around which the belt 11 is wound, and a motor 31 (drum provided on the drum 32 side, for example) 32), a rotation sensor 33 for monitoring the rotation, and a reverse preventing solenoid 34 for setting a lock mechanism (to be described later) to a locked state or an unlocked state.

  Here, the rotation sensor 33 is constituted by, for example, a Hall element (including a Hall IC), a large number of magnets are arranged in the circumferential direction on the drum 32 side, and the belt is driven by the rotation of the motor 31, that is, the rotation of the drum 32. The pull-out amount and take-up amount of the belt 11 are calculated by counting the number of pulses output from the rotation sensor 33.

  This pulse count amount is set to “0” when all the belt 11 is wound around the drum 32, and the amount of the belt 11 pulled out is counted up by a pulse count corresponding to the rotation amount of the drum 32 thereafter. When the belt 11 is taken up, the take-up amount of the belt 11 is calculated by counting down.

The control device 20 includes a control unit 21, a storage unit 22, a PWM circuit 23, a motor drive circuit 24, a counter unit 25, a solenoid drive circuit 26, and the like.
The control unit 21 configured by the CPU controls the whole in accordance with a predetermined program procedure, and the storage unit 22 stores data from the ROM storing the program and the rotation sensor 33. Is composed of a RAM or the like for temporarily storing the data.

The PWM circuit 23 outputs a signal having a predetermined duty ratio based on a signal from the control unit 21, and the motor drive circuit 24 controls the rotation of the motor 31 in the forward and reverse directions based on the output signal from the PWM circuit 23. The solenoid drive circuit 26 applies power to the reverse prevention solenoid 34 to drive-control the reverse prevention solenoid 34 to an energized state or a non-energized state.
The state where the reverse prevention solenoid 34 is not energized (non-energized) is the locked state of the lock mechanism, and the state where the reverse prevention solenoid 34 is energized is the unlocked state.

The operation switch 14 is a switch used when the wheelchair 1 is pulled down from the vehicle interior via a slope or pulled up into the vehicle interior, and an up signal, a down signal, a stop signal, etc. are output from the operation switch 14 to the control device 20. Is done.
In addition, the control unit 21 controls the lock mechanism to be locked or unlocked by driving the retract prevention solenoid 34 of the winch device 12 on and off in response to a signal from the operation switch 14.

The counter unit 25 counts the pulses from the rotation sensor 33 in real time, and the control unit 21 determines the speed of the motor 31 at predetermined time intervals based on the pulse count amount by the counter unit 25. A signal is sent to the PWM circuit 23 every predetermined time so that the rotation speed becomes a predetermined speed.
Note that the determination of the speed of the motor 31 by the control unit 21 and the transmission of the signal to the PWM circuit 23 so that the rotational speed of the motor 31 is a predetermined speed are preferably performed at the same time. As long as the performance is not affected, the transmission interval may be delayed or the like may be performed at different predetermined times.

  3 shows the winch device 12, FIG. 3A shows a side view of the winch device 12, and FIG. 3B shows a plan view of the winch device 12. A motor 31 is disposed in the casing 30 forming the skeleton, and a spur gear reduction unit 35 is connected to an output shaft of the motor 31. Further, the output shaft of the spur gear reduction unit 35 is connected to a planetary reduction unit 36, and the drum 32 is connected to the output shaft of the planetary reduction unit 36, and the belt 11 is wound around the drum 32.

In addition, a magnet 37 is provided on the output shaft (rotary shaft) of the spur gear reduction unit 35, and the magnet 37 is rotated by rotation of the spur gear reduction unit 35, that is, rotation of the drum 32. Is detected by the Hall IC 40, and the counter unit 25 counts signals from the Hall IC 40, that is, pulses. The Hall IC 40 and the magnet 37 constitute a rotation sensor 33.
The rotation sensor 33 does not count the pulse from the rotation of the drum 32 itself, but the rotation sensor 33 counts the pulse by the rotation of the spur gear reduction unit 35 before the deceleration of the planetary reduction unit 36 that rotates the drum 32. By doing so, the detection accuracy of the rotation amount of the drum 32 is increased. Of course, the rotation of the drum 32 itself may be directly detected by the rotation sensor 33 and pulse counted.

  On the other hand, a ratchet portion 42 having the same diameter as the outer diameter of the drum 32 is disposed on the side surface of the drum 32, and rotates with the rotation of the drum 32. A tooth portion 43 is continuously formed on the periphery of the substantially disc-shaped ratchet portion 42, and a claw portion 45 at the tip end of the engaging claw 44 is detachably engaged with the tooth portion 43. Yes.

The ratchet portion 42, the engaging claw 44, and the retreat preventing solenoid 34 for driving the engaging claw 44 constitute a lock mechanism, and FIG. 4 shows an enlarged view of the lock mechanism. As shown in FIGS. 3 and 4, the engaging claw 44 is rotatably arranged by a shaft 46, and the base portion of the engaging claw 44 is connected to the tip of the rod 50 of the receding prevention solenoid 34 via the connecting shaft 47. It is pivotally connected.
A coil-like spring 51 is interposed between the rod 50 of the reverse prevention solenoid 34 and a metal fitting 52 such as a C-ring fixed to the tip end side of the rod 50. As shown in the drawing, in the non-energized state of the retraction preventing solenoid 34, the rod 51 protrudes by returning the spring 51 and repelling the metal fitting 52, and the protruding claw 44 causes the engaging claw 44 to revolve around the shaft 46. Energize clockwise.

When the engaging claw 44 rotates counterclockwise, the claw portion 45 at the tip of the engaging claw 44 engages with the tooth portion 43 of the ratchet portion 42 to prevent the ratchet portion 42 from rotating in the clockwise direction. Note that the arrow 5 shown in FIG. 4 is the drawing direction of the belt 11, and the arrow 6 is the winding direction of the belt 11.
When the belt 11 is pulled out or wound up by operating the operation switch 14, the reverse prevention solenoid 34 is energized, and the rod 50 is attracted against the spring force of the spring 51 and the engaging claw 44 is moved around the shaft 46. By rotating clockwise about the center, the claw portion 45 of the engaging claw 44 is disengaged from the tooth portion 43, the rotation of the ratchet portion 42 is brought into a free state, and the motor 31 is driven forward or reversely. Further, when stopping the drawing and winding of the belt 11, the motor 31 is stopped and the energization of the retreat prevention solenoid 34 is stopped to rotate the engaging claw 44 counterclockwise.

  Here, the reverse prevention solenoid 34 is in a non-energized state, and the state in which the claw portion 45 of the engagement claw 44 is engaged with the tooth portion 43 of the ratchet portion 42 is set to the locked state, and the belt 11 is unintentionally pulled out. It is preventing. Further, the state in which the retracting prevention solenoid 34 is energized and the claw portion 45 of the engaging claw 44 is separated from the tooth portion 43 of the ratchet portion 42 to release the engagement is set to the unlocked state, and the belt 11 is pulled out and wound up. Can be done.

  Next, assist control of the motor 31 when the belt 11 that is the gist of the present invention is pulled out from the drum 32 will be described. First, by operating the operation switch 14 in the direction in which the belt 11 is pulled out, the control unit 21 of the control device 20 that has received a signal from the operation switch 14 drives the solenoid drive circuit 26 to energize the reverse prevention solenoid 34. . When the reverse prevention solenoid 34 is energized, the lock mechanism is unlocked as described above, the drum 32 is rotatable, and the motor 31 is free (see step S1 in FIG. 5).

Next, when the caregiver pulls out the belt 11 of the winch device 12, the drum 32 starts to rotate while being heavy via the planetary reduction unit 36 and the spur gear reduction unit 35, and the rotation sensor 33 detects the rotation of the drum 32. To do. The control unit 21 determines that the belt 11 has been pulled out by the caregiver by detecting the rotation of the drum 32 while the motor 31 is not energized, and the control unit 21 determines the PWM circuit 23 and the motor drive circuit. 24 is controlled to control the rotation of the motor 31 in the pulling-out direction of the belt 11 (see step S3).
In the state where the belt 11 is wound around the drum 32, since the winding diameter of the belt 11 being wound is large, the load for pulling out the belt 11 is somewhat small. Therefore, the assist by the motor 31 is activated. Therefore, the caregiver is requested to pull out the belt 11 only at the beginning.

The rotational speed of the motor 31 for assisting withdrawing the belt 11 is such that the duty ratio in the PWM circuit 23 is 100% and the motor 31 is operated at the highest speed. When the speed at which the caregiver pulls out the belt 11 is faster than the rotation speed of the motor 31, the weight is almost the same as when the motor 31 is pulled out when the motor 31 is free.
However, when the rotational speed of the motor 31 is faster than the speed at which the caregiver pulls out the belt 11, the caregiver does not need any force to pull the belt 11, and the caregiver's burden can be reduced. When the motor 31, that is, the drum 32 is rotated and the belt 11 is pulled out, the caregiver is usually almost the same as or slightly slower than the speed at which the belt 11 is pulled out, so there is almost no burden on the caregiver.

  When the motor 31 is operating in the pulling-out direction of the belt 11 in step S3, if an operation stop condition for the motor 31 described later is satisfied, the process proceeds to step S5 and the control unit 21 stops the motor 31. If the stop condition of the motor 31 is not satisfied, the process returns to step S2 and is repeated. In step S2, the process proceeds to step S4 to determine the operation stop condition.

  Next, regarding the operation stop condition of the motor 31 described above, when it is determined that the predetermined amount of the belt 11 has been pulled out by counting up by the counter unit 25 of the control device 20, or the operation switch 14 by the caregiver. Is stopped, or when the belt 11 is pulled out for a predetermined time.

For example, the predetermined amount of the belt 11 is pulled out when the belt 11 is pulled out most. In addition, the fixed time when the belt 11 is pulled out for a predetermined time is, for example, the time required for the belt 11 to be pulled out most. This is because the time required for the belt 11 to be most drawn out from the rotational speed of the drum 32 is set by calculation in advance. The control unit 21 determines the operation stop condition of the motor 31 described above.
As described above, the operation stop condition of the motor 31 is any of the case where the belt 11 is pulled out by a predetermined amount, the case where the belt 11 is pulled out for a predetermined time, and the operation switch 14 for stopping is operated. Therefore, the belt 11 can be pulled out by a predetermined amount or can be pulled out with an arbitrary pulling amount, so that convenience is improved.

When the belts 11L and 11R are pulled out from the left and right winch devices 12L and 12R, the belts 11L and 11R may be pulled out simultaneously, or the belts 11 may be pulled out separately. If the belt 11 is pulled out separately, and the belt 11 is pulled out by the operation switch 14 in the middle, there is a possibility that the pull-out amounts of the left and right belts 11 are different.
Therefore, when pulling out the belts 11 separately, the pulling amounts of the left and right belts 11 are the same when the belt 11 is pulled out by a predetermined amount or when the motor 31 stops rotating after a certain time has passed. Therefore, it is a preferable example to stop pulling out the belt 11 under such a stop condition.

  When the load is raised and lowered, and there is one winch device 12, the operation stop condition of the motor 31 when the belt 11 is pulled out can be arbitrarily selected from the above three.

  5, when the motor 31 stops, the control unit 21 drives the solenoid drive circuit 26 to de-energize the reverse movement prevention solenoid 34 and ratchet the claw portion 45 of the engagement claw 44 of the lock mechanism. The belt portion 11 is engaged with the tooth portion 43 to be locked to prevent the belt 11 from being pulled out accidentally.

  Next, operations when the wheelchair 1 is pulled up from the ground to the vehicle interior by the winch device main body 10 and when the wheelchair 1 is pulled down from the vehicle interior to the ground via a slope will be briefly described.

When the wheelchair 1 is pulled up, the control unit 21 turns on the solenoid drive circuit 26 by energizing the operation switch 14 so that the reverse prevention solenoid 34 is energized and the lock mechanism is unlocked. The circuit 23 is driven and the motor 31 is driven in reverse rotation with a predetermined duty ratio via the motor drive circuit 24.
When the counter unit 25 counts down the pulses from the rotation sensor 33 and counts the value of “0”, the control unit 21 determines that the wheelchair 1 has been pulled up to a predetermined position. At the same time, the PWM circuit 23 is controlled to stop the operation, and the solenoid drive circuit 26 is driven off to turn off the reverse prevention solenoid 34 to bring the lock mechanism into the locked state.

  Thus, in a state where the motor 31 is stopped, the control unit 21 drives the solenoid drive circuit 26 to turn off, so that the reverse movement prevention solenoid 34 is not energized. When the reverse movement prevention solenoid 34 is in a non-energized state, the claw portion 45 of the engagement claw 44 of the lock mechanism is engaged with the tooth portion 43 of the ratchet portion 42, so that the lock mechanism is locked, and the ratchet portion 42, that is, the drum 32. Is prevented from rotating in the direction in which the belt 11 is pulled out.

  When the operation switch 14 is operated in the direction of pulling down the wheelchair 1, the control unit 21 of the control device 20 drives the retraction preventing solenoid 34 by the solenoid drive circuit 26 to bring the lock mechanism into the unlocked state. Controls the PWM circuit 23 and causes the motor drive circuit 24 to drive the motor 31 in the normal direction at a predetermined duty ratio.

When the motor 31 is driven to rotate forward, the drum 32 rotates in the pulling-out direction of the belt 11 via the spur gear speed reduction unit 35 and the planetary speed reduction unit 36, thereby pulling down the wheelchair 1 from the vehicle interior to the ground via the slope. Can do.
A pulse from the rotation sensor 33 is input to the counter unit 25 in accordance with the amount of the belt 11 pulled out. When the counted amount counted from the counter unit 25 reaches a preset value, the wheelchair 1 is pulled out by a predetermined amount. The control unit 21 determines, and the control unit 21 controls the PWM circuit 23 to stop the motor 31 and also drives the solenoid drive circuit 26 off to turn off the reverse prevention solenoid 34 to lock the lock mechanism. And

  In the present embodiment, the winch device 12 is controlled by the control device 20 provided separately from the winch device 12. However, the function of the control device 20 as a control unit for controlling the winch device 12 is controlled by the winch. The device 12 may be provided for control.

  In the above description, the case where the wheelchair 1 is pulled down from the vehicle interior to the ground via the slope or the case where the wheelchair 1 is pulled up has been described. However, the present invention is not applied only to the vehicle. For example, the present invention can be applied even when exiting from the entrance of a house through stairs or a slope, and a pair of left and right winch devices 12L and 12R are installed on both sides of the entrance, and the wheelchair 1 is pulled down in the same manner as described above. The present invention can be similarly applied to the case of pulling up the case. Further, three or more winch devices may be used by further arranging a winch device in the height direction.

Further, the winch device body 10 is not limited to the wheelchair 1. For example, the present invention can also be applied to lifting and lowering a load from a high position through a slope in a three-dimensional automatic warehouse. Of course, the present invention can be applied not only to a three-dimensional automatic warehouse but also to any field.
In addition, when lowering the wheelchair 1 or a load from a high place via a slope, the belt 11 may be one or a pair of left and right may be provided.

DESCRIPTION OF SYMBOLS 1 Wheelchair 11 Belt 12 Winch device 14 Operation switch 20 Control device 21 Control part (control means)
31 Motor 32 Drum 33 Rotation sensor

Claims (3)

A belt (11) for pulling up and down a to-be-towed object, a drum (32) around which the belt (11) is wound, and the belt (11) by rotating the drum (32) forward and backward. A winch device having a motor (31) that operates in a pulling direction or a winding direction,
A rotation sensor (33) for detecting the rotation of the drum (32);
When the motor (31) is in a non-energized state and receives a signal from the rotation sensor (33) which is detected by the rotation of the drum (32) that the belt (11) has been pulled out. A winch device comprising: a control means (21) for rotating the motor (31) in a pulling direction of the belt (11).   As the operation stop condition of the motor (31), when the belt (11) is pulled out by a predetermined amount, when the belt (11) is pulled out for a predetermined time, the stop operation switch (14) is operated. The winch device according to claim 1, wherein the winch device is any one of cases.   The towed object is a wheelchair (1), a pair of left and right winch devices (12) are installed, and the wheelchair (1) is pulled up by a belt (11) from the left and right winch devices (12), The winch device according to claim 1 or 2, wherein the winch device is pulled down.

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