JP2013035623A - Winch device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a winch device that detects an actual position of a wheelchair to perform control based on the position.SOLUTION: A distance sensor 30 provided on a vehicle 2 to detect a person to be cared on a wheelchair 1 and a distance to the person to be cared, is provided on the ceiling face of the vehicle 2. Drum target speed data corresponding to the distance data from the distance sensor 30 is stored in a memory means 22 in advance. When a control means 21 pulls up or down the wheelchair 1, the drum is driven on the basis of the target speed data stored in the memory means 22 via a motor 41 depending on the distance data from the distance sensor 30.

Description

  The present invention relates to a winch device that winds and pulls down a wheelchair by winding or feeding a belt around a drum, and a method for controlling the winch device.

In a winch device that raises or lowers a wheelchair to or from a vehicle via a traction member, the amount of traction member that the drum winds up varies depending on the tension acting on the traction member even if the rotation amount of the drum that winds the traction member is the same .
As a result, the amount of rotation of the drum and the position of the wheelchair do not necessarily match, so if you try to change the speed of the wheelchair when you pull it up or down, depending on the position of the wheelchair, such as making it faster on the slope or slower in the car The speed may change suddenly on a flat part, which may cause fear to the care recipient.

  Incidentally, as an example in which a sensor (light receiver) is provided in the vehicle, for example, Patent Document 1 shown below can be cited.

JP 2001-294075 A

  The light receiver described in this Patent Document 1 is intended to limit the signal reception range by a receiver provided in the vehicle, improve safety at the time of opening and closing the door, and improve reliability. As will be described later, the sensor of the present invention differs from the above-mentioned Patent Document 1 in type, purpose, and operational effect.

  The present invention has been provided in view of the above-described problems, and provides a winch device and a winch device control method capable of detecting the position of an actual wheelchair and performing control based on the position. It is aimed.

Therefore, in the winch device according to the present invention, a traction member 11 for lifting and lowering the wheelchair 1 through a slope 3 spanned between the ground and the vehicle 2, and a drum for winding or feeding the traction member 11 43 and a winch device 10 provided with a motor 41 for driving the drum 43,
The winch device 10 includes:
A distance sensor 30 that is disposed in the vehicle 2 and detects a cared person riding on the wheelchair 1 and detects a distance from the cared person, and the distance data from the distance sensor 30 The storage means 22 for storing the target speed data of the drum 43 in advance and the drum 41 via the motor 41 according to the distance data from the distance sensor 30 when the wheelchair 1 is lifted or pulled down. The control means 21 which drives 43 based on the said target speed data is provided.

(1) According to the winch device of the present invention, the distance sensor 30 that is disposed in the vehicle 2 and detects a cared person riding on the wheelchair 1 and detects a distance from the cared person, and the distance According to the distance data from the distance sensor 30 when the wheelchair 1 is lifted or pulled down, the storage means 22 that stores the target speed data of the drum 43 according to the distance data from the sensor 30 in advance. Since the control means 21 for driving the drum 43 based on the target speed data is provided via the motor 41, the motor 41 is controlled by detecting the actual distance to the cared person. Therefore, the wheelchair 1 can be pulled to a predetermined position regardless of the rotation amount of the drum 43 and the pulling amount of the pulling member 11. In addition, since the control is performed at an actual distance, the speed control can be performed by a winch device having any structure / condition.

(2) According to the winch device of the present invention, the target speed data includes the first speed V2 applied between the lower end portion and the upper end portion of the slope 3, the upper end portion of the slope 3, and the vehicle interior. And the second speed V3 that is lower than the first speed V2 applied between the predetermined fixed positions of the wheelchair 1. The wheelchair 1 is smoothly and safely pulled up and down by such speed control. be able to.

(3) According to the winch device of the present invention, since the distance sensor 30 is an infrared sensor, detection of the cared person is ensured, and the cost as a sensor for measuring the distance to the cared person is low. It becomes.

(4) According to the winch device of the present invention, when the wheelchair 1 is lifted or pulled down, the drum 43 is driven based on the target speed data via the motor 41 according to the distance data from the distance sensor 30. Since it controls, the motor 41 is controlled by detecting the actual distance between the cared person and, therefore, regardless of the rotation amount of the drum 43 and the pulling amount of the traction member 11, The wheelchair 1 can be pulled to a predetermined position. In addition, since the control is performed at an actual distance, the speed control can be performed by a winch device having any structure / condition.

It is explanatory drawing in case the wheelchair is pulled up or pulled down with the winch apparatus in embodiment of this invention. It is a block diagram of the winch device in an embodiment of the invention. It is a schematic plan view of the winch apparatus in embodiment of this invention. It is an enlarged view of a ratchet mechanism (lock mechanism) in an embodiment of the present invention. It is a conceptual diagram of the control in embodiment of this invention. It is a functional diagram of control in an embodiment of the present invention. It is a timing chart in an embodiment of the invention. It is a flowchart of the control operation | movement in embodiment of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a winch device 10 according to the present invention in which hooks (not shown) provided at the front ends of belts 11L and 11R as left and right traction members are locked to a wheelchair 1 and the wheelchair 1 is lifted or pulled down. It shows the state.
The winch device 10 includes a pair of left and right drive devices 12L and 12R that feed and wind the belts 11L and 11R, and a control device 20 that controls the rotation of the motors of the drive devices 12L and 12R.

FIG. 2 shows a block diagram of the winch device 10, mainly showing a block diagram of relevant portions of the present invention. Since the left and right drive units 12L and 12R have the same configuration, the left drive unit 12L will be described. The left driving device 12L includes a motor 41L, an electromagnetic clutch 42L for connecting or releasing transmission of rotation of the motor 41L, and a belt 11L around which the rotation of the motor 41 is transmitted via the electromagnetic clutch 42. Drum 43L, and a ratchet mechanism, which will be described later, which is a locking mechanism, and a retraction preventing solenoid 45L for locking or unlocking the drum 43L.
Note that the right driving device 12R has the same configuration as the left driving device 12L, and therefore, the subscript R is added and description thereof is omitted. The mechanical configuration of the drive device 12 will be described later.

  The control device 20 corresponds to the control means (control section) 21, the storage means (storage section) 22, and the left and right drive devices 12 (12L, 12R), and corresponds to the PWM circuit 23 (23L, 23R) and the motor drive circuit 24 ( 24L, 24R), solenoid drive circuit 25 (25L, 25R), clutch drive unit 26 (26L, 26R), and a cared person riding in the wheelchair 1 in response to signals from the distance sensor 30 installed in the vehicle And a distance calculation unit 27 that detects the distance to

  The distance sensor 30 is installed on the ceiling surface of the vehicle as shown in FIG. 5, and the distance sensor 30 is composed of, for example, an infrared sensor. The distance between the cared person and the cared person is always detected, and the distance sensor 30 outputs a voltage signal corresponding to the distance to the cared person. A signal from the distance sensor 30 is sent to the control device 20. The distance sensor 30 may be any sensor as long as it can always detect the distance to the cared person on the wheelchair 1, and a distance image sensor or the like may be used. Also, the installation location is not limited to the ceiling such as the rear door or the back of the driver's seat.

The control unit 21 configured by the CPU controls the whole in accordance with a predetermined program procedure, and the storage unit 22 receives a ROM from the program and the distance calculation unit 27. It is composed of a RAM or the like that temporarily stores distance 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 motor 41 to rotate in the forward and reverse directions based on the output signal from the PWM circuit 23.

Further, the operation switch 14 is a switch for lifting the wheelchair 1 from the ground to the vehicle interior via a slope, or for lowering the wheelchair 1 from the vehicle interior to the ground, and an instruction to drive the motor 41 such as an up signal, a down signal, and a stop signal. A signal is output from the operation switch 14 to the control device 20.
In addition, the control unit 21 controls the ratchet mechanism to be locked or unlocked by driving the back-off prevention solenoid 45 of the driving device 12 on and off via the solenoid driving circuit 26 in response to a signal from the operation switch 14. It is like that.

The clutch drive unit 26 is controlled by the control unit 21 that has received an ON signal and an OFF signal from the operation switch 14, and the electromagnetic clutch 42 is turned on or off to connect or release the rotation of the motor 41 to the drum 43. To do.
The distance calculation unit 27 calculates an actual distance from the cared person according to the voltage signal output from the distance sensor 30, and the control unit 21 controls the PWM circuit 23 based on the distance data. The speed at which the wheelchair 1 is pulled is changed and controlled on the ground, the slope, the inside of the vehicle, and the like.

  In addition, a notification unit 16 including a lamp and a buzzer is provided, and when an operation signal is received from the operation switch 14 or when the operation is finished, the notification is made to the care receiver or caregiver. I am doing so. In addition, you may comprise the alerting | reporting part 16 with a speaker instead of a buzzer.

  FIG. 3 is a schematic plan view of the driving device 12. Note that since the mechanical configuration of the present invention is not the gist, the mechanical configuration of the driving device 12 will be briefly described. A motor 41 is disposed in the casing 40 forming the skeleton, and a speed reduction unit is connected to the output shaft of the motor 41. An electromagnetic clutch 42 is interposed between the speed reducer and the drum 43, and the belt 11 is wound around the drum 43.

  On the other hand, a ratchet plate 52 having substantially the same diameter as the outer diameter of the drum 43 is disposed on the side surface of the drum 43, and rotates with the rotation of the drum 43. Ratchet teeth 53 are continuously formed on the periphery of the substantially disc-shaped ratchet plate 52, and a ratchet claw 55 at the tip of the engagement piece 54 is detachably engaged with the ratchet teeth 53. Yes.

The ratchet plate 52, the engagement piece 54, and the retreat prevention solenoid 45 that drives the engagement piece 54 constitute a ratchet mechanism (lock mechanism), and FIG. 4 is an enlarged view of the ratchet mechanism. As shown in FIGS. 3 and 4, the engagement piece 54 is rotatably arranged by a shaft 56, and the base portion of the engagement piece 54 is connected to the tip of the rod 60 of the receding prevention solenoid 45 via a connecting shaft 57. It is pivotally connected.
A coil-shaped spring 61 is interposed between the rod 60 of the retraction preventing solenoid 45 and a metal fitting 62 such as a C-ring fixed to the distal end side of the rod 60. As shown in the drawing, in the non-energized state of the retraction preventing solenoid 45, the rod 61 protrudes by the spring 61 returning and repelling the metal fitting 62, and the protruding piece 60 causes the engaging piece 54 to revolve around the shaft 56. Energize clockwise.

When the engagement piece 54 rotates counterclockwise, the ratchet pawl 55 at the tip of the engagement piece 54 engages with the ratchet teeth 53 of the ratchet plate 52, thereby preventing the ratchet plate 52 from rotating in the clockwise direction. Note that an arrow 5 shown in FIG. 4 is a feeding direction of the belt 11, and an arrow 6 is a winding direction of the belt 11.
When the belt 11 is fed or taken up by the operation of the operation switch 14, the reverse prevention solenoid 45 is energized, and the rod 60 is attracted against the spring force of the spring 61 to pull the engagement piece 54 on the shaft 56. The ratchet pawl 55 of the engagement piece 54 is disengaged from the ratchet teeth 53 by rotating clockwise about the center, and the rotation of the ratchet plate 52 is set in a free state, so that the motor 41 is driven forward or backward. Further, when stopping the feeding and winding of the belt 11, the motor 41 is stopped, the energization of the reverse movement solenoid 45 is stopped, and the engagement piece 54 is rotated counterclockwise to lock the ratchet mechanism. Put it in a state.

  Here, the state in which the reverse movement prevention solenoid 45 is in a non-energized state and the ratchet pawl 55 of the engagement piece 54 is engaged with the ratchet teeth 53 of the ratchet plate 52 is set to the locked state, and the belt 11 is unintentionally pulled out. It is preventing. Further, the state where the anti-retraction solenoid 45 is energized and the ratchet pawl 55 of the engagement piece 54 is separated from the ratchet teeth 53 of the ratchet plate 52 and the engagement is released is referred to as an unlocked state. Can be done.

  Next, the control operation of the present invention will be described. FIG. 5 is a conceptual diagram of control in the present embodiment. The storage means (storage unit) 22 stores the target speed data of the drum 43 according to the distance data from the distance sensor 30 and the wheelchair 1 is lifted or The winch device 10 includes a control means (control unit) 21 that drives the drum 43 based on the target speed data via the motor 41 in accordance with the distance data from the distance sensor 30 when pulling down. .

  When the slope 3 is passed between the floor surface of the vehicle 2 and the ground, and the caregiver pulls up or down the wheelchair 1 on which the care receiver is riding into the vehicle interior via the slope 3, the distance sensor 30 While detecting the cared person, the distance with the cared person is detected.

  FIG. 6 is a functional diagram of control in the present embodiment, and does not simply feed back the rotation speed of the motor 41, but the position of the wheelchair 1, that is, the distance data (load state) of the wheelchair 1 detected by the distance sensor 30. The speed control of the wheelchair 1 is performed by closed-loop control in which feedback is made.

FIG. 7 shows a timing chart in the case where the wheelchair 1 is pulled up or down from the ground to the vehicle interior via the slope 3. In the present embodiment, as shown in FIG. 7C, the first speed from the ground to the lower end of the slope 3 is set to the target speed V1, and the lower end and the upper end of the slope 3 are first speed higher than V1. The second speed V3, which is slower than V2, is applied between the upper end of the slope 3 and a predetermined fixed position of the wheelchair 1 in the passenger compartment.
In the present embodiment, the speed of V3 is applied slower than V1, but the speed is not limited to this and is slower than V2, but may be faster than V1 or the same speed.

  FIG. 7B shows the output of the distance sensor 30, and a DC voltage of 0 V to 5 V is output according to the distance between the distance sensor 30 and the cared person who is the detection target. Yes. Here, for example, a DC voltage of aV is output from the distance sensor 30 when the care recipient is located at the lower end portion of the slope 3, and the distance is obtained when the care recipient is located at the upper end portion of the slope 3. For example, a DC voltage of bV is output from the sensor 30.

  In the control device 20, the distance calculation unit 27 calculates the distance between the care receiver and the distance sensor 30 in accordance with the DC voltage value from the distance sensor 30, and sends the calculated distance data to the control unit 21. The storage unit 22 stores in advance target speed data of the drum 43 corresponding to the distance data from the distance sensor 30, and the control unit 21 sets the drum 43 to the target speed based on the target speed data. Thus, the rotation of the motor 41 is controlled.

That is, V1 is the target speed data between the ground and the lower end portion of the slope 3, V2 is the target speed data between the lower end portion and the upper end portion of the slope 3, and the predetermined upper end portion of the slope 3 and the vehicle interior. V3 is stored in advance in the storage unit 22 between the fixed positions.
Then, the control unit 21 controls the drum 43 via the motor 41 so that the DC voltage value from the distance sensor 30 becomes V1 from a value higher than 0V to aV, and the output value from the distance sensor 30. Is between aV and bV, the control unit 21 controls the drum 43 via the motor 41 so that the speed becomes V2. Further, the control unit 21 controls the drum 43 via the motor 41 so that the output value from the distance sensor 30 increases from bV to a predetermined value lower than 5V so that the speed becomes V3.

  As described above, the target speed data is applied between the first speed V2 applied between the lower end portion and the upper end portion of the slope 3, and between the upper end portion of the slope 3 and a predetermined fixed position in the vehicle interior. The second speed V3 slower than the first speed V2 is included, so that the wheelchair 1 can be lifted or pulled down smoothly and safely by such speed control.

  FIG. 8 shows a flowchart in the case where the winch device 10 is operated and, for example, the cared person is pulled up from the ground to a predetermined fixed position in the passenger compartment by the wheelchair 1. First, when there is a user (caregiver) operation in step S1, the process proceeds to step S2. For example, when the control device 20 determines whether there is an abnormality and a permission condition such as no abnormality is established, the step is performed. The process proceeds to S3.

  In step S3, the control unit 21 controls the notification unit 16 to generate a reception sound and proceeds to step S4. The control unit 21 drives the clutch drive unit 26 to turn on the electromagnetic clutch 42, and further, the motor drive circuit. 24 is driven to rotate the motor 41 (see step S5). Next, in step S6, the control unit 21 drives the solenoid drive circuit 25 to turn on the reverse prevention solenoid 45 to release the ratchet mechanism. Thereby, the drum 43 can be rotated.

Next, the process proceeds from step S6 to step S7, where the wheelchair 1 carrying the cared person is fixed from the ground to the lower end of the slope 3, from the lower end to the upper end of the slope 3, and from the upper end of the slope 3 to the predetermined interior of the passenger compartment. As described above, the speed control of the motor 41 is performed based on FIGS. 7B and 7C in accordance with the movement to the position.
In step S8, if a stop condition is established such that the wheelchair 1 comes to a predetermined position and stops, the process proceeds to step S9, the reverse prevention solenoid 45 is turned off, and the ratchet mechanism is fixed (locked). Then, the motor 41 is turned off, and the electromagnetic clutch 42 is also turned off (see steps S10 and S11).

As described above, in the present embodiment, since the motor 41 is controlled by detecting the actual distance to the cared person, the wheelchair 1 is set to a predetermined value regardless of the amount of rotation of the drum 43 and the amount of pull-out of the belt 11. It can be pulled to position. In addition, since the control is performed at an actual distance, the speed control can be performed by a winch device having any structure / condition.
Moreover, since the distance sensor 30 is an infrared sensor, the detection of the cared person is ensured, and the cost as a sensor for measuring the distance to the cared person is reduced.

DESCRIPTION OF SYMBOLS 1 Wheelchair 2 Vehicle 3 Slope 10 Winch device 11 Belt 20 Control device 21 Control unit 27 Distance calculation unit 30 Distance sensor

Claims (4)

A traction member (11) for lifting and lowering the wheelchair (1) through a slope (3) spanned between the ground and the vehicle (2), and the traction member (11) is wound or sent out. A winch device (10) comprising a drum (43) and a motor (41) for driving the drum (43),
The winch device (10)
A distance sensor (30) disposed in the vehicle (2) for detecting a cared person riding on the wheelchair (1) and detecting a distance from the cared person;
Storage means (22) for storing in advance target speed data of the drum (43) according to distance data from the distance sensor (30);
When the wheelchair (1) is pulled up or down, the drum (43) is moved based on the target speed data via the motor (41) according to the distance data from the distance sensor (30). A winch device comprising control means (21) for driving.   The target speed data includes a first speed (V2) applied between a lower end portion and an upper end portion of the slope (3), a predetermined fixed position in the vehicle interior and the upper end portion of the slope (3). 2. The winch device according to claim 1, further comprising a second speed (V3) that is slower than the first speed (V2) applied in between.   The winch device according to claim 1 or 2, wherein the distance sensor (30) is an infrared sensor. A traction member (11) for lifting and lowering the wheelchair (1) through a slope (3) spanned between the ground and the vehicle (2), and the traction member (11) is wound or sent out. A control method for a winch device (10) comprising a drum (43) and a motor (41) for driving the drum (43),
The winch device (10)
A distance sensor (30) disposed in the vehicle (2) for detecting a cared person riding on the wheelchair (1) and detecting a distance from the cared person;
Storage means (22) for storing in advance target speed data of the drum (43) according to distance data from the distance sensor (30),
When the wheelchair (1) is pulled up or down, the drum (43) is moved based on the target speed data via the motor (41) according to the distance data from the distance sensor (30). A control method for a winch device, characterized in that drive control is performed.

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