JP2011224126A - Wheelchair lifting system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a wheelchair lifting system for stably lifting up and housing a wheelchair into a vehicle even when the length of belts pulled out from right and left winch devices before lifting up the wheelchair are different.SOLUTION: The wheelchair lifting system includes a pair of the right and left winch devices and a belt pull-out amount control section. The belt pull-out amount control section compares the belt pull-out amount difference being the difference between the left belt pull-out amount and the right belt pull-out amount calculated by a belt pull-out amount difference calculation section with an inclination threshold that is a value relating to the inclination in the right and left direction of the wheelchair tolerable when the wheelchair is housed in a vehicle and that is stored in an inclination threshold storage section storing the inclination threshold, and the belt pull-out amount control section rotates one drum having the larger belt pull-out amount than the other.

Description

  The present invention relates to a wheelchair lifting device used for lifting a wheelchair inside a vehicle.

  A wheelchair lifting device using a pair of left and right winch devices when pulling the wheelchair into the vehicle pulls out the belt from the winch device installed in the vehicle and attaches a hook or the like provided at the tip of the belt to the wheelchair. By hooking and winding the belt with the winch device, the wheelchair can be accommodated in the vehicle through the slope while being assisted by the caregiver. This wheelchair lifting device can be arranged in such a way that a pair of left and right winch devices can be separately arranged in the left and right in the vehicle, so that the layout is free, a space can be taken near the center of the vehicle, and a small size Even in this vehicle, the storage space for the wheelchair can be easily secured, so that it can be suitably used as a wheelchair lifting device.

  As a lifting device for a wheelchair using such a winch device, the belt winding amount in the left and right winch devices is calculated, and the winding amount in the right winch device and the left are calculated based on the winch device having a small winding amount. It is determined whether or not a difference more than a predetermined value has occurred in the winding amount in the winch device. If the belt winding amount in the left winch device is delayed or advanced by a certain width or more, it is based on the difference. A device for accelerating or decelerating the rotational speed of the drive motor of the left winch device has been proposed (Patent Document 1).

JP 2006-280400 A

  However, such pulling devices have different pulling amounts for pulling out the belt from each winch device. For this reason, when the pull-out amounts of the left and right belts differ greatly when starting to lift the wheelchair, controlling only the winding amount during the pull-up operation will cause the wheelchair to tilt at the beginning of the pull-up. There is a possibility that the wheelchair may come off from the slope that passes when the vehicle is stored with no slack. In addition, when a stopper is provided on the slope side end so that it is not necessary to be monitored sufficiently by a person, the pull-up force of the winch device is strong, so the stopper is made higher than when it is stored by human work. It is necessary, and measures such as providing a stopper at a height of more than half of the wheel height of the wheelchair are necessary. For this reason, an obstacle occurs in the storing operation such as a reduction in space in the vehicle.

  Even if the lengths of the belts pulled out from the left and right winch devices before the wheelchair are pulled up are different, the present invention prevents the wheelchair from being shifted in the left-right direction and pulled out of the slope, and safely lifts the wheelchair to An object of the present invention is to provide a wheelchair lifting device that can be stored inside.

  The wheelchair lifting device according to the present invention winds a belt attached to a drum of a pair of left and right winch devices around the drum by a motor in the winch device, so that the wheelchair locked at the front end of the belt is attached to the vehicle. It is a wheelchair pulling device to be stored, which is a pulling amount of the belt of the left winch device based on a drum rotation sensor that detects rotation of the drum directly or indirectly and drum rotation information detected by the drum rotation sensor. A belt pull-out amount calculation unit that calculates a left belt pull-out amount and a right belt pull-out amount that is a belt pull-out amount of the right winch device, and a belt pull-out amount difference that is a difference between the left belt pull-out amount and the right belt pull-out amount The belt withdrawal amount difference calculation unit for calculating the value and the wheelchair can be allowed when stored in the vehicle. An inclination threshold value storage unit that stores an inclination threshold value that is a value related to the inclination of the wheelchair in the left-right direction, the belt withdrawal amount difference value and the inclination threshold value are compared, and the absolute value of the belt withdrawal amount difference value is the inclination value. A wheelchair pulling device comprising a belt pulling amount control unit for rotating a drum having a larger belt pulling amount so that the belt pulling amount difference value is equal to or less than the inclination threshold when the threshold is exceeded. is there.

  According to the wheelchair lifting device of the present invention, with respect to the inclination threshold set in accordance with the slope width or the like, the belt pull-out amount difference value, which is the difference between the left belt pull-out amount and the right belt pull-out amount, and the tilt threshold are calculated. In comparison, when the absolute value of the belt pull-out amount difference value exceeds the inclination threshold value, the belt pull-out for rotating the drum with the larger belt pull-out amount so that the belt pull-out amount difference value becomes equal to or less than the inclination threshold value. Since the volume control unit is provided, even when the belt is attached to the wheelchair, even if the pull-out amount of either the left or right belt is long and slack, the winch device that has no slack in the belt will start winding. Moreover, since the slack is removed, the wheelchair can be safely stored in the vehicle without coming off the slope.

It is a mimetic diagram showing one embodiment of a wheelchair raising device of the present invention. It is a block diagram of the raising apparatus in embodiment of FIG. It is explanatory drawing in the case of pulling up the wheelchair in embodiment of FIG. 1 via a slope. It is a flowchart which shows the control action at the time of the raising operation | movement of the wheelchair in this invention.

  Hereinafter, although this invention is demonstrated using drawing, this invention is not limited to these. FIG. 1 is a diagram illustrating an embodiment of a wheelchair lifting apparatus according to the present invention. 1 is a pair of left and right winch devices (12L, 12R) for pulling out and winding the belts (11L, 11R), and a control device for controlling rotation of the motors of these winch devices (12L, 12R). 20.

  FIG. 2 is a block diagram of the wheelchair pulling apparatus 10 of FIG. 1 and shows a portion related to the present invention as a block diagram. The left and right winch devices (12L, 12R) have drums (15L, 15R) around which the left and right belts (11R, 11L) are wound, and motors (14R, 14L) that respectively rotate the drums (15L, 15R). I have. The motor (14L, 14R) is provided with a clutch (not shown) connected to the rotation shaft and a drum rotation sensor (16L, 16R) for monitoring the rotation of the drum (15L, 15R). The wheelchair 1 locked to the tip of the belt (11L, 11R) is stored in the vehicle by winding the belt (11L, 11R) around the drum (15L, 15R) by the motor of the winch device (12L, 12R). Can do.

  The wheelchair lifting device 10 includes a drum rotation sensor (16L, 16R) that directly or indirectly detects the rotation of the drum (15L, 15R). The drum rotation sensor (16L, 16R) may use either direct detection or indirect detection as long as it can detect the rotation of the drum. In the embodiment of FIG. 2, for example, a Hall element (Hall IC) is used. It is possible to arrange a large number of magnets in the circumferential direction of the drum, and directly detect the rotation of the drum, thereby pulling out and winding the belt (11L, 11R). Drum rotation information that is information about the rotation amount of 15L, 15R) can be obtained.

  The drum rotation information obtained by the drum rotation sensor (16L, 16R) is information for calculating the drawn length of the belt (11L, 11R). Based on the respective drum rotation information of the right drum 15R and the left drum 15L, the belt withdrawal amount calculation unit 21 calculates the belt withdrawal amount for each of the left winch device 12L and the right winch device 12R. The left belt withdrawal amount and the right belt withdrawal amount calculated by the belt withdrawal amount calculation unit 21 are compared by the belt withdrawal amount difference calculation unit 22, and the difference between the left belt withdrawal amount and the right belt withdrawal amount is calculated. A belt withdrawal amount difference value, which is a value, is calculated. When the drum rotation information is the pulse count by the Hall IC, the amount of belt (11L, 11R) to be pulled out when the count of pulses output from the drum rotation sensor (16L, 16R) is increased by 1 in advance. For example, when the pulse count is about 3 mm when the pulse count increases by 1, and the pulse count is 200, it can be recognized that the belt 11 is pulled out by 200 × 3 = 600 mm. As for the belt withdrawal amount, the pulse count amount may be used as it is, or may be an actual belt withdrawal amount multiplied by the belt withdrawal amount per pulse count. At this time, the belt withdrawal amount is calculated by storing the previous belt withdrawal amount such as the previous pulse count number in the storage unit, and the rotation direction of the belt winding unit with respect to the previous withdrawal amount taken out from the storage unit. Accordingly, it is possible to appropriately calculate the belt withdrawal amount by calculating the belt withdrawal amount by increasing the pulse count, and the storage unit may be provided in each belt withdrawal amount calculation unit 21 or each belt withdrawal amount calculation unit. And may be provided in the control device independently.

  Here, as shown in FIG. 1, the wheelchair lifting device 10 is pulled up by the left and right winch devices (12L, 12R) by hooking a hook or the like provided at the tip of the belt (11L, 11R) to the wheelchair 1. For example, when the pull-out amount of the left belt 11L is larger than the pull-out amount of the right belt 11R, when the left and right winch devices (12L, 12R) wind up the belt (11L, 11R), the right belt 11R Since the left belt 11L is still loose when the tension is applied, the right side of the wheelchair 1 is pulled up first. In this case, the right side of the wheelchair 1 slides up so as to approach the winch device 12R until the left belt is in tension, so that the wheelchair 1 is pulled up while tilted to the left as shown in FIG. It becomes.

  In this case, when the wheelchair 1 is lifted while being tilted to the left, the wheel (2, 2 ') of the wheelchair 1 is pulled up while rotating. If the inclination of the wheelchair 1 to the left side when crossing the slope 4 is larger than a predetermined value because the wheel 4 is crossed the slope 4, the left wheel 2 is removed from the slope 4 when passing through the slope 4. Will be. In other words, when the width of the slope 4 is not sufficiently wide, if the difference between the right belt pull-out amount and the left belt pull-out amount does not exceed a specific length, the inclination of the wheelchair 1 when it is pulled into the vehicle is predetermined. Therefore, there is no risk of wheel removal. With respect to the tilt in the left-right direction of the wheelchair 1 that can be allowed when the wheelchair 1 is housed in the vehicle, a tilt threshold that is a threshold for whether or not wheel removal from the slope 4 can occur can be set.

  As shown in FIG. 3, when the wheelchair 1 is tilted to the left when stored in the vehicle 7 from the lower end 5 of the slope 4, the straight line on which the left wheel 2 reaches the upper left end 6 of the slope is shown. The inclination of the wheelchair 1 that passes through the route is a limit inclination that does not cause the wheel to fall off from the slope. At this time, D which is the difference between the left belt pull-out amount and the right belt pull-out amount can be used as the inclination threshold value.

  Here, when the slope is wide enough, the wheelchair 1 is almost sideways when the wheelchair 1 is tilted to take off the wheel, and the wheel (2, 2 ') may slide up without rotating. Since there are many possibilities, it is considered that when there is a possibility of wheel removal, the slope is narrow to some extent and the wheelchair is within a certain degree of inclination. When the slope 4 is somewhat narrow, the right belt lock in which the tip of the belt of the right winch device 12R is locked from the left belt lock position 3 where the tip of the belt 11L of the left winch device 12L is locked to the wheelchair 1 is provided. Approximating the ratio of the length of the inclination threshold D to the distance Z to the position 3 ′ to the ratio of the allowable deviation width Y in the width direction to the extent that does not hinder the accommodation of the wheelchair with respect to the slope length X Can do. In other words, the inclination threshold D is the wheelchair 1 that has passed the allowable deviation width Y in the width direction to the extent that the wheelchair 1 does not interfere with the accommodation of the wheelchair when the wheelchair 1 passes over the slope 4 provided in the vehicle. The tip of the belt 11R of the right winch device 12R is moved from the left belt locking position 3 where the tip of the belt 11L of the left winch device 12L is locked to the wheelchair 1 to the value divided by the length X of the slope 4 A value Z obtained by multiplying the distance to the locked right belt locking position 3 ′ can be obtained as an approximate value.

  As shown in FIG. 2, the inclination threshold value is stored in the inclination threshold value storage unit 24, and compared with the belt withdrawal amount difference value by the belt withdrawal amount control unit 23. A determination is made whether or not. The tilt threshold may be provided separately for the left and right storage units according to the position of the left and right winch devices (12L, 12R), the structure of the slope 4, and the like.

  When the absolute value of the belt withdrawal amount difference value is larger than the inclination threshold value, the belt withdrawal amount control unit 23 compares the inclination threshold value with the belt withdrawal amount difference value. The drive control of the motor (left motor 14L in the case of FIG. 3) is controlled so that the belt is wound by the length corresponding to the absolute value. The belt pull-out amount control unit 23 functions as a comparison / determination unit for comparing the inclination threshold value and the belt pull-out amount difference value, and includes a motor drive control unit (251, 252) and a solenoid drive control unit 261, 262. However, these may be provided separately or may be configured integrally. When the belt pulled out excessively by the drive command to the motor by the belt pull-out amount control unit 23 is wound, the lengths of the left belt 11L and the right belt 11R become substantially the same. Even if both winch devices (12L, 12R) are driven so as to pull up the wheelchair 1, the wheelchair 1 can be prevented from tilting, so there is no fear that the wheel 4 will be removed from the slope 4.

  To pull the wheelchair 1 into the vehicle, use the lifting of the right and left winch devices (12L, 12R) at substantially the same speed so that the wheelchair 1 can be lifted stably into the vehicle. Can do. Also, using the drum rotation sensor (16L, 16R), the difference between the pull-out amounts of the left and right belts (11L, 11R) is compared and determined by the belt pull-out amount difference value calculation unit. A correction amount for making the pulse count of the motor 14L and the pulse count of the right motor 14R the same count is calculated. For example, when the control of the motors (14L, 14R) is PWM control, the duty ratio is varied. According to the correction amount, the output to the left and right motors (14L, 14R) is corrected in addition to the left and right motor drive control units (251, 252), and the pulling amounts of the left belt 11L and the right belt 11R being pulled up are almost equal. A correction amount calculation unit may be provided to control the left and right motor drive control units so as to be the same.

  As described above, the pull-out amount of the belt before the pulling is controlled by the control device 20, but an auxiliary device such as a start switch or an audio signal may be used as appropriate, and the control device 20, the start switch, and the control end signal may be used. An apparatus position such as a display can also be provided at an appropriate position depending on the vehicle configuration.

  Next, the control operation when the wheelchair 1 is pulled up will be described using the flowchart of FIG. First, the belt (11L, 11R) is pulled out from the wheelchair lifting device 10 installed in the passenger compartment, and the hook at the tip of the belt (11L, 11R) is locked to the wheelchair 1 on the ground. In such a case, since the winch devices (12L, 12R) of the wheelchair lifting device 10 are installed on the left and right, it is impossible to pull out the belts (11L, 11R) at the same time. The other belt 11R is pulled out after being pulled out.

  Of course, when the belts (11L, 11R) are pulled out one by one, even if the two belts (11L, 11R) are pulled out simultaneously, the pull-out amounts of the belts (11L, 11R) are not the same. The pull-out amounts of the two belts (11L, 11R) are different. When the left and right belts (11L, 11R) are pulled out, pulses corresponding to the pulling amounts of the respective belts (11L, 11R) are output by the left and right drum rotation sensors (16L, 16R). Pulses are input from the left and right drum rotation sensors (16L, 16R) to the belt withdrawal amount calculation unit 21, respectively, and the belt withdrawal amount calculation unit 21 counts up the pulses, as shown in step 1 of FIG. In addition, the left belt drawing amount and the right belt drawing amount of the drawn belts (11L, 11R) are calculated.

  Next, as shown in Step 2 (S2) of FIG. 4, the belt withdrawal amount difference value, which is the difference between the left belt withdrawal amount and the right belt withdrawal amount calculated by the belt withdrawal amount difference calculation unit 22, is calculated in advance. Compared with the inclination threshold value stored in the inclination threshold value storage unit, when the inclination threshold value is exceeded, the process proceeds to the belt withdrawal amount control step (S3 to S15), and when it is equal to or less than the inclination threshold value, the steady belt winding operation step. The process proceeds to (S16 to S21).

  If the belt pull-out amount difference value compared with the tilt threshold exceeds the tilt threshold, the process proceeds to step S3 to determine which of the left belt pull-out amount and the right belt pull-out amount is greater. When the left belt pull-out amount is large, the process proceeds to step S4, and when the right belt pull-out amount is large, the process proceeds to step S10.

  When the process proceeds to step S4, the left back prevention solenoid 13L of the left winch device 12L is driven ON, the ratchet that is a locking mechanism is removed, and the left motor 14L is set in a free state. Next, as in step S5, the left motor 14L is driven at a constant duty ratio to wind the left belt 11L around the drum. Based on the pulse count counted by the left drum rotation sensor 16L after the left motor 14L is driven for a certain time, the belt withdrawal amount calculation unit 21 calculates the withdrawal amount of the left belt as shown in step S6, and the difference in the belt withdrawal amount. The belt withdrawal amount difference value after winding is calculated by the value calculation unit 22, the inclination threshold value and the belt withdrawal amount difference value are compared by the belt withdrawal amount control unit 23, and the difference between the withdrawal amounts of the left and right belts is determined. It is determined whether the inclination threshold is exceeded.

  When the difference between the pull-out amounts of the left and right belts (11L, 11R) is equal to or less than the inclination threshold value, information is transmitted by the belt pull-out amount control unit 23, and the left winch is output by the motor drive control unit 251 as shown in S7. The reverse drive solenoid 13L of the device 12L is driven OFF, and after a predetermined time has elapsed (step S8), the left motor 14L is stopped by the motor drive controller 251 as shown in step S9.

  If the difference between the pull-out amounts of the left and right belts exceeds the tilt threshold value, the process returns to step S5 and the drive of the left motor 14L is continued, and the process proceeds to step S6 again and the belt pull-out amount difference value calculating unit 22 tilts. The threshold value is compared with the belt withdrawal amount difference value. Step S5 and step S6 are repeated until the value obtained by subtracting the right belt pull-out amount from the left belt pull-out amount is equal to or less than the inclination threshold value, so that there is no problem for the wheelchair 1 to pass the slope 4. The difference between the left belt pull-out amount and the right belt pull-out amount can be used.

  When it is determined in step S3 that the right belt pull-out amount is larger than the left belt pull-out amount, the process proceeds to step 10 and the right winch device from step 10 to step S15 is performed as in steps S4 to S9. Control about 12R is performed.

  As described above, after the difference between the left belt pull-out amount and the right belt pull-out amount becomes a difference that does not cause the slope to be removed, steady belt winding control is performed. As steady belt winding control, for example, as shown in FIG. 4, the control from step S16 to step S21 is performed. The reverse prevention solenoids (13L, 13R) of the left and right winch devices (12L, 12R) are turned ON, the ratchets that are locking mechanisms are removed from both the left and right, and the motors (14L, 14R) are brought into a free state.

  Next, as shown in step S17, the left and right motors (14L, 14R) are driven in the winding direction. At this time, the pull-out values of the left and right belts (11L, 11R) are calculated based on the pulse counts output from the drum rotation sensors (16L, 16R) of the left and right winch devices (12L, 12R). When the amount of winding of the left and right belts is determined by the pulse count number, and there is no difference between the left and right belt winding amounts beyond a certain value, the motor drive control unit (251, 252) uses the duty ratio at the start of driving. The left and right motors (14L, 14R) are driven. When there is a difference of a certain value or more in the pulse count number, motor drive control is performed so that the duty ratio of the motor with the larger number of counts, that is, the motor with the larger belt withdrawal amount, is slightly increased according to the count difference. The motor drive control unit controls the motor so that the duty ratio to the motor corresponding to the belt corresponding to the belt with a small amount of belt withdrawal is slightly reduced. By performing such control, it is possible to prevent the loosening when the wheelchair 1 is pulled up and to perform the lifting operation stably.

  After a certain period of time has elapsed since the left and right motors were driven, the left and right belt winding amounts are calculated by counting down the drum rotation sensor pulses and the right and left winch devices (12L, 12R). Check if completed in If winding is not completed in the left and right winch devices, the process returns to step 17 to continue driving the left and right motors in the winding direction.

  When the winding of the predetermined amount of belt is completed in the left and right winch devices, the process proceeds to step S19, and the receding prevention solenoids (13L, 13R) for the left and right winch devices are turned OFF, and after the diameter is set for a certain time (step In S20), both the motors (14L, 14R) of the left and right winch devices (12L, 12R) are stopped, and the operation of lifting the wheelchair 1 into the vehicle is completed. By performing such belt winding control, it is possible to prevent the slack of one side of the belt when the belt is pulled up and to reliably prevent the right and left tilt of the wheelchair 1 when the belt is pulled up. Since the slack of the belts (11L, 11R) before the wheelchair 1 is lifted up to can be eliminated and the slack of the belts (11L, 11R) when the wheelchair 1 is lifted can be prevented, the wheelchair 1 can be more stably Can be raised.

DESCRIPTION OF SYMBOLS 1 Wheelchair 10 Wheelchair raising device 11L, 11R Belt 12L, 12R Winch device 13L, 13R Retraction prevention solenoid 14L, 14R Motor 15L, 15R Drum 16L, 16R Drum rotation sensor 20 Control device 21 Belt withdrawal amount calculation part 22 Belt withdrawal amount difference value Calculation unit 23 Belt pull-out amount control unit 24 Inclination threshold storage unit 251, 252 Motor drive control unit 261, 262 Solenoid drive control unit

Claims (2)

A wheelchair lifting device for storing a wheelchair locked at the tip of the belt in a vehicle by winding a belt attached to a drum of a pair of left and right winch devices around the drum by a motor in the winch device. ,
A drum rotation sensor for directly or indirectly detecting the rotation of the drum;
A belt withdrawal amount calculation that calculates a left belt withdrawal amount, which is a belt withdrawal amount of the left winch device, and a right belt withdrawal amount, which is a belt withdrawal amount of the right winch device, based on drum rotation information detected by the drum rotation sensor. And
A belt withdrawal amount difference value calculating unit that calculates a belt withdrawal amount difference value that is a difference between the left belt withdrawal amount and the right belt withdrawal amount;
An inclination threshold value storage unit for storing an inclination threshold value that is a value relating to an inclination in the left-right direction of the wheelchair that is allowed when the wheelchair is stored in a vehicle;
The belt withdrawal amount difference value is compared with the inclination threshold value, and when the absolute value of the belt withdrawal amount difference value exceeds the inclination threshold value, the belt withdrawal amount difference value becomes equal to or less than the inclination threshold value. A wheelchair pulling apparatus comprising a belt pulling amount control unit for rotating a drum having a larger pulling amount. The inclination threshold is an allowable deviation width in a width direction that allows the wheelchair to pass through a slope provided in the vehicle so as not to hinder accommodation of the wheelchair. The value divided by the length from the left belt locking position where the tip of the belt of the left winch device is locked to the wheelchair to the right belt locking position where the tip of the belt of the right winch device is locked to the wheelchair. The wheelchair lifting device according to claim 1, which is a value obtained by multiplying the distance by.

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