JP2014169049A - Mounting device for object to be mounted - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mounting device for an object to be mounted capable of suppressing an impact that a displacement of a slope has on an object to be mounted.SOLUTION: A mounting device 10 includes a main plate body 34 on which an object 26 to be mounted is mounted, a vehicle body side plate body 36 provided between one end of the main plate body 34 and a vehicle body, and a ground side plate body 38 provided between the other end of the main plate body 34 and a ground plane, and is provided with a slope 22 where the main plate body 34 can be elevated and lowered between a low position and a high position in a state that the ground side plate body 38 is in contact with the ground, a slope driving mechanism for driving the main plate body 34, and a control part 100 for controlling the slope driving mechanism so that an elevating and lowering speed of the end part of the vehicle body side plate body side of the main plate body 34, and an elevating and lowering speed of the end part of the ground side plate body side differ from each other.

Description

  The present invention relates to a mounting device that mounts a mounted object such as a wheelchair on which a cared person is riding, for example.

  For example, Patent Literature 1 discloses a wheelchair lifting device that lifts a wheelchair along a slope spanned between a floor surface of a vehicle body rear opening and a road surface. In this wheelchair lifting device, a structure is employed in which a belt locked on the wheelchair is wound up by an electric winch so that the occupant is pulled up along the slope while riding on the wheelchair.

JP 2006-271661 A

  By the way, in recent years, the number of vehicles (for example, hybrid vehicles, electric vehicles, etc.) in which the ground clearance of the tailgate at the rear of the vehicle body is higher than that in the past has been increased by placing batteries under the floor. When the wheelchair lifting device disclosed in Patent Document 1 is applied to such a vehicle having a high opening ground clearance, the inclination angle when the slope is grounded and the longitudinal length of the slope are affected, and the belt is wound up. An excessive load is applied to the electric winch.

  Therefore, it is conceivable that the slope is composed of a plurality of plate bodies and the adjacent plate bodies are connected to each other by a plurality of rotating shafts. In this case, when the slope is displaced in a state where the mounted object is mounted on one plate body, there is a problem that the grounding part of the slope moves and affects the mounted object such as vibration.

  The present invention has been made in view of the foregoing points, and an object of the present invention is to provide a mounting device for a mounted object that can suppress the influence of the displacement of the slope on the mounted object.

  In order to achieve the above object, a mounting apparatus for a mounted object according to the present invention is provided between a main plate on which the mounted object is mounted, one end of the main plate and the vehicle body, and at least one plate. A main body side plate body, and a ground side plate body provided between the other end of the main plate body and a ground plane, and the ground plane side plate body in a state where the ground side plate body is grounded. A slope that allows the body to move up and down between a low position and a high position, slope drive means for driving the main plate body, elevating speed of the vehicle body side plate body side end portion of the main plate body, and elevating speed of the ground side plate body side end portion And a control means for controlling the slope driving means so as to be different from each other.

  According to this configuration, the control means controls the slope drive mechanism so that the ascending / descending speed of the vehicle body side plate side end portion of the main plate body is different from the ascending / descending speed of the ground side plate body side end portion. In addition, the influence of the displacement of the slope on the mounted object, such as the generation of vibration due to the movement of the ground contact portion, can be suppressed.

  The mounted device mounting apparatus further includes a lifting speed detecting means for detecting a lifting speed of one of the vehicle body side plate body side end and the grounding side plate body side end of the main plate body, and the control means includes the lifting and lowering means. Based on the detection result of the speed detecting means, the slope driving means may be controlled so as to determine the other ascending / descending speed of the vehicle body side plate side end portion and the ground side plate side end portion of the main plate body. .

  According to this configuration, the main plate can be raised and lowered while maintaining the inclination of the main plate in a suitable state.

  When the main plate is on the low position side, the control means controls the slope driving means so that the rising speed of the vehicle body side plate body side end is slower than the rising speed of the grounding side plate body side end. It may be configured to.

  According to such a configuration, it is possible to prevent the inclination of the main plate body from increasing while suppressing the movement of the ground contact portion of the slope in the early stage of ascent from the low position.

  Further, when the main plate body is on the high position side, the control means is configured so that the descending speed of the vehicle body side plate body side end portion is faster than the descending speed of the ground side plate body side end portion. The structure which controls this may be sufficient.

  According to such a configuration, it is possible to prevent the inclination of the main plate body from being increased while suppressing the movement of the ground contact portion of the slope in the initial descending from the high position.

  According to the present invention, it is possible to obtain a mounting device that can suppress the influence of the displacement of the slope on the mounting material.

It is a side view of the state where the mounting device concerning the embodiment of the present invention was applied to vehicles. It is a schematic diagram of the vehicle and slope shown in FIG. It is a schematic diagram which shows the structure of the drive mechanism which rotates a rotating shaft, and the switching mechanism which switches the rotation possible state of a rotating shaft, and a rotation impossible state. It is a schematic structure perspective view which shows the state in which the drive mechanism and the switching mechanism were applied to the 3rd rotating shaft. It is a schematic diagram which shows the state in which the hook of the electric winch was accommodated in the accommodating part. It is a block diagram which shows the connection relationship with a control part. It is explanatory drawing which shows the storage state of a slope, a standing fixed state, and a grounding state. It is a schematic diagram which shows the accommodation state of a slope, a standing fixed state, and a grounding state. It is a longitudinal cross-sectional view along the VIII-VIII line of FIG. It is a flowchart for demonstrating the operation example of a mounting apparatus. It is a flowchart for demonstrating the operation example of a mounting apparatus. FIG. 2 is a side view showing a state where the wheelchair has moved from the state shown in FIG. 1 and is mounted on a main plate body in a low position. It is a side view which shows the state which the main board body displaced from the low position to the 1st intermediate position, with the wheelchair mounted in the main board body. It is a side view which shows the state which the wheelchair moved and arrived at the vehicle interior rear space. It is a side view which shows the state by which the wheelchair moved from the state shown in FIG. 14, and the wheelchair was mounted in the main plate body in a high position. It is a side view which shows the state which the main board body displaced from the high position to the 2nd intermediate position, with the wheelchair mounted in the main board body. (A) is a side view which shows the raising / lowering speed when a main board body exists in a low position side, (b) is a side view which shows the raising / lowering speed when a main board body exists in a high position side.

  Next, embodiments of the present invention will be described in detail with reference to the drawings as appropriate. FIG. 1 is a side view of a state in which a mounting device according to an embodiment of the present invention is applied to a vehicle, and FIG. 2 is a schematic diagram of the vehicle and slope shown in FIG. Note that “front and rear” and “up and down” indicated by arrows in each figure indicate the front and rear direction and vertical direction of the vehicle, and “left and right” indicate the left and right direction (vehicle width direction) as viewed from the driver's seat, respectively. ing.

  As shown in FIG. 1, the mounting apparatus 10 according to the embodiment of the present invention is applied to, for example, a vehicle 16 provided with a back door (tailgate) 14 that opens and closes a vehicle body rear opening 12. Note that the mounting device 10 is not limited to the vehicle 16 having the back door 14 and can be applied to, for example, a vehicle having left and right rear slide doors (not shown).

  The mounting apparatus 10 includes a slope 22 that spans between a floor surface 18 of the vehicle body rear opening 12 and a ground contact surface (road surface) 20. The slope 22 is for pulling out a wheelchair (mounted object) 26 on which the cared person 24 is riding into the vehicle interior rear space 28 and also to the outside of the vehicle.

  A pair of left and right electric winches 30 are provided in the passenger compartment of the vehicle 16. The pair of left and right electric winches 30 is provided with a drum 31 (see FIG. 6) that can wind up the belt 32 that is locked to the wheelchair 26 by the rotation of the motor 33 (see FIG. 6). The wheelchair 26 on which the vehicle rides can be drawn into the rear space 28 of the passenger compartment. In addition, the pair of left and right electric winches 30 is disposed, for example, between the vehicle body and the seat along the vehicle width direction.

  As shown in FIG. 2, the slope 22 includes a main plate 34 on which the wheelchair 26 is mounted, and a plate provided between one end of the main plate 34 on the vehicle front side and the vehicle body rear opening (vehicle body) 12. Vehicle body side plate body 36 and a grounding side plate body 38 formed of a plate body provided between the other end of the main plate body 34 on the vehicle rear side and the grounding surface 20.

  The main plate body 34, the vehicle body side plate body 36, and the grounding side plate body 38 are each formed of a rectangular flat plate in plan view, and may be formed of, for example, a hollow body made of a resin material or a light metal material. This is to reduce the weight of the slope 22.

  In the present embodiment, the main plate 34 is configured as a single plate, but for example, the entire plurality of plates developed so that a plurality of adjacent plates slide relative to each other may be used as the main plate 34. In addition, the vehicle body side plate 36 and the ground side plate 38 are not limited to a single plate, but may be composed of a plurality of plates.

  As shown in FIG. 1, FIG. 2, or FIG. 6, a first rotating shaft 40 a extending along the vehicle width direction is provided between the floor surface 18 of the vehicle 16 and the vehicle body side plate 36. The vehicle body side plate 36 is rotatably connected to the fixed floor surface 18 with the axis of the first rotation shaft 40a as the rotation center. A second rotating shaft 40b extending along the vehicle width direction is provided between the vehicle body side plate 36 and the main plate 34. The vehicle body side plate 36 and the main plate 34 are connected to each other so as to be rotatable about the axis of the second rotation shaft 40b. Further, a third rotating shaft 40c extending along the vehicle width direction is provided between the main plate 34 and the ground side plate 38. The main plate 34 and the ground side plate 38 are connected to each other so as to be rotatable about the axis of the third rotation shaft 40c.

  As shown in FIG. 2, the dimension L1 of the vehicle body side plate 36 in the direction (vehicle longitudinal direction) orthogonal to the first to third rotation shafts 40a to 40c is the first to third rotation shafts 40a to 40a. It is set to be the same as the dimension L2 of the ground contact side plate 38 in the direction orthogonal to the vehicle 40c (vehicle longitudinal direction) (L1 = L2). That is, the vehicle body side plate 36 and the ground side plate 38 are configured identically.

  When the dimension L1 of the vehicle body side plate 36 and the dimension L2 of the ground side plate 38 are the same (L1 = L2), the main plate 34 is kept at a low position (in FIG. 2) with the angle of the main plate 34 held at a predetermined angle. Can be displaced (position change) between a high position (see thick broken line in FIG. 2) and a high position (see thick broken line in FIG. 2). For this reason, the stability of the wheelchair 26 at the time of displacement (position change) of the main plate 34 can be improved.

  As shown in FIG. 2, the dimension L3 of the main plate 34 in the direction (vehicle longitudinal direction) orthogonal to the first to third rotation shafts 40a to 40c is the first to third rotation shafts 40a to 40c. The dimension L1 of the vehicle body side plate 36 in the direction orthogonal to the vehicle (front-rear direction) and the ground side plate 38 in the direction orthogonal to the first to third rotation shafts 40a-40c (vehicle front-rear direction). It is set larger than the dimension L2 (L3> L1, L2).

  If the dimension L3 of the main plate 34 is larger than the dimension L1 of the vehicle body side plate 36 and the dimension L2 of the ground side plate 38 (L3> L1, L2), the wheelchair 26 can be stably displaced (change in position). A wide mountable range (mountable area) can be secured, and the stability of the wheelchair 26 when the slope 22 is displaced can be improved.

  2, the dimension L1 of the vehicle body side plate 36 in the direction orthogonal to the first to third rotation shafts 40a to 40c (vehicle longitudinal direction) and the first to third rotation shafts 40a to 40a. The dimension L3 of the main plate 34 in the direction orthogonal to the vehicle 40c (vehicle longitudinal direction) and the dimension of the ground side plate 38 in the direction orthogonal to the first to third rotating shafts 40a to 40c (vehicle longitudinal direction). The total (L1 + L2 + L3) with L2 is an imaginary straight line S (a thin line in FIG. 2) connecting the axis of the first rotation shaft provided between the vehicle front end of the main plate 34 and the vehicle body and the grounding surface 20. It is set to be larger than the dimension LV of the one-dot chain line (see (L1 + L2 + L3)> LV).

  When the sum (L1 + L2 + L3) of the dimension L1 of the vehicle body side plate 36, the dimension L3 of the main plate 34, and the dimension L2 of the ground side plate 38 is larger than the dimension LV of the virtual straight line S ((L1 + L2 + L3)> LV) The slope 22 can be displaced without moving the other end of the ground side plate 38 in contact with the ground plane 20.

  The mounting apparatus 10 includes a slope drive mechanism 42 (see FIGS. 3 and 4) that rotates the second rotation shaft 40b and the third rotation shaft 40c, respectively. In addition, the mounting device 10 is provided with a rotatable state in which the driving force by the slope driving mechanism 42 is transmitted and the second rotating shaft 40b and the third rotating shaft 40c are rotatable, and the slope driving mechanism 42. There is provided a switching mechanism 44 (see FIGS. 3 and 4) that switches between a non-rotating state in which the transmission of the driving force is interrupted and the first to third rotating shafts 40a to 40c are in a non-rotating state. The slope driving mechanism 42 and the switching mechanism 44 constitute slope driving means for driving the slope.

  The slope 22 rotates the second rotation shaft 40b and the third rotation shaft 40c by the slope drive mechanism 42, so that the main plate 34 is in a low position in the vertical direction (position of a thick solid line in FIG. 2) and a high height. It is provided so as to be displaced between positions (positions indicated by thick broken lines in FIG. 2). The main plate 34 moves in parallel in the vertical direction between the low position and the high position while maintaining the inclination angle at a predetermined angle (see FIG. 8).

  When the main plate 34 is in the low position in the vertical direction (the position of the thick solid line in FIG. 2), the longitudinal axis of the main plate 34 and the longitudinal axis of the ground side plate 38 are in a straight line. Is set to be When the vehicle is in the low position, the longitudinal axis of the vehicle body side plate body 36 is set to a state in which the vehicle body side plate body 36 is inclined by a predetermined angle with respect to the main plate body 34 with a downward gradient toward the main plate body 34 side (vehicle rear side).

  When the main plate 34 is in a high position in the vertical direction (the position indicated by the thick broken line in FIG. 2), the longitudinal axis of the vehicle body side plate 36 and the longitudinal axis of the main plate 34 are in a straight line. Is set to be When the vehicle is in the high position, the axis of the ground side plate 38 in the longitudinal direction of the vehicle body is set to be inclined by a predetermined angle with respect to the main plate 34 with a downward gradient toward the vehicle rear side.

  Slope drive mechanisms 42 are respectively provided for the second rotation shaft 40b and the third rotation shaft 40c, and the drive mechanisms 42 are configured identically. Therefore, the drive mechanism 42 that rotates the third rotation shaft 40c will be described in detail, and the description of the drive mechanism 42 that rotates the second rotation shaft 40b will be omitted.

  FIG. 3 is a schematic diagram showing a configuration of a slope drive mechanism that rotates the rotation shaft, and a switching mechanism that switches between a rotatable state and a rotation impossible state of the rotation shaft, and FIG. It is a schematic structure perspective view which shows the state in which the switching mechanism was applied to the 3rd rotating shaft.

  As shown in FIGS. 3 and 4, the slope drive mechanism 42 is connected to the motor 60 side via a switching mechanism 44 and a motor 60 that rotates a motor shaft 60 a in the forward and reverse directions using a battery (not shown) as a power source. It has a drive side gear 62 and a driven side gear 64 that is connected to the third rotating shaft 40c and is disposed so as to be able to mesh with the drive side gear 62.

  As shown in FIG. 3, the switching mechanism 44 is configured as, for example, an electromagnetic clutch 68 provided with a solenoid 66. The clutch 68 includes a solenoid 66 in which coils are stacked and wound, and a pair of disk-shaped clutch plates 70a in which a concave and convex surface and a concave and convex surface face each other and can be connected (connected) and separated from each other. 70b, a pair of shaft portions 72a and 72b respectively connected to the center portions of the pair of clutch plates 70a and 70b, and the other clutch plate 70b is pressed by a spring force to be connected (connected) to one clutch plate 70a. And a spring member 74. The other clutch plate 70b adjacent to the solenoid 66 functions as a movable iron core (armature) attracted by the solenoid 66.

  One clutch plate 70a is connected to the motor shaft 60a via a coupling member (not shown), and the other clutch plate 70b is connected to the drive side gear 62 via a shaft portion 72b. In the ON state of the clutch 68 in which one clutch plate 70a and the other clutch plate 70b are connected, the solenoid 66 is energized and electromagnetic force is generated by the exciting action, and the other clutch plate 70b is moved to the solenoid 66 side by this electromagnetic force. Sucked. When the other clutch plate 70b is sucked, the other clutch plate 70b is separated from the one clutch plate 70a by a predetermined interval, and the clutch 68 is turned off. By turning the clutch 68 off, the third rotation shaft 40c is in a free state, and each plate constituting the slope 22 can be rotated manually.

  In the ON state of the clutch 68, the drive side gear 62 and the driven side gear 64 mesh with each other, and the rotational driving force by the energized motor 60 is transmitted to the third rotation shaft 40c, so that the third rotation shaft 40c is It rotates in a predetermined direction. On the other hand, when the clutch 68 is in the off state, the drive side gear 62 is separated from the driven side gear 64 and is in the non-engagement state (the drive side gear 62 is in the idling state). Transmission to the moving shaft 40c is blocked.

  In the present embodiment, the first rotation shaft 40a is not provided with the slope drive mechanism 42 and is always in a free state. However, the first rotation shaft 40a is also provided with the slope drive mechanism 42. May be.

  In addition, storage portions 201 for storing hooks 32 a attached to the tip of the belt 32 of the electric winch 30 are provided at both left and right ends of the rear end portion of the passenger compartment. In the present embodiment, the storage unit 201 is a ring that can lock the hook 32a. Here, the belt 32 and the hook 32 a constitute a pulling member that pulls the wheelchair 26.

  Next, the control unit 100 disposed on the floor surface of the vehicle 16 will be described. FIG. 6 is a block diagram showing a connection relationship with the control unit.

  As shown in FIG. 6, the control unit (control unit) 100 includes a first slope angle detection unit 101 that detects a rotation angle of the first rotation shaft 40a and a rotation angle of the second rotation shaft 40b. The second slope angle detecting means 102 for detecting the rotation angle, the third slope angle detecting means 103 for detecting the rotation angle of the third rotation shaft 40c, the rotation amount detection means 111 for detecting the rotation amount of the drum 31, and the electric motor. The storage detection means 112 for detecting that the belt 32 of the winch 30 is stored in the storage unit 201 (see FIG. 5) is connected thereto.

  Further, the control unit 100 is electrically connected to the switching mechanism 44 and derives a switching control signal (electrical signal) to the solenoid 66 of the switching mechanism 44 so that the clutch 68 is turned on (connected to the motor 60). The second rotating shaft 40b and the third rotating shaft 40c can be rotated by the motor 60, and cannot be manually rotated when the motor 60 is stopped. The second rotation shaft 40b and the third rotation shaft 40c are in a state where they cannot be rotated by the motor 60 and can be manually rotated). Further, the control unit 100 is electrically connected to the slope drive mechanism 42 and drives and controls the motor 60 by deriving a motor drive signal to the motor 60 of the slope drive mechanism 42. Further, the control unit 100 is electrically connected to the motor 33 of the electric winch 30 and causes the motor 33 to rotate the drum 31 by deriving a drive signal to the motor 33. The electric winch 30 is an example of the “winch” of the present invention, and includes a winch in a narrow sense having a drum 31, a belt 32, and a hook 32a, and a motor 33 that is a winch driving means.

  The first slope angle detection means 101 is a sensor that detects an angle θ1 (see FIG. 8) formed by the floor surface 18 of the vehicle body and the vehicle body side plate 36, and θ1 = 0 degrees in the housed state and a low position in the grounded state. Θ1 = maximum at PL.

  The second slope angle detecting means 102 is a sensor for detecting an angle θ2 (see FIG. 8) formed by the vehicle body side plate 36 and the main plate 34, and θ2 = minimum at a low position in the ground contact state and a high position at the ground contact state. At PH, θ2 = maximum = 180 degrees.

  The third slope angle detection means 103 is a sensor that detects an angle θ3 (see FIG. 8) formed by the main plate 34 and the ground side plate 38, and θ3 = minimum = 0 degrees in the housed state, and a low position in the grounded state. At PL, θ3 = maximum = 180 degrees.

  Here, since the angles θ2 and θ3 are parameters relating to the height of the main plate 34 from the ground contact surface 20 in the ground contact state of the slope 22, the second slope angle detection means 102 and the third slope angle detection means 103 are: It can be said that it is a slope height detecting means for detecting the height of the main plate 34. Further, since the detection results of the second slope angle detection means 102 and the third slope angle detection means 103 are parameters relating to the height of the slope 22 from the ground contact surface 20 of the main plate body 34, it relates to the drive state of the slope drive means. It can be said that it is a parameter.

  The rotation amount detection means 111 is constituted by a rotation angle sensor such as a rotary encoder provided on the drum 31 of the electric winch 30. By detecting the rotation angle of the drum 31 with the rotation angle sensor and detecting the winding amount (pull-up amount) of the belt 32 by the drum 31, the control unit 100 determines whether the wheelchair 26 is mounted on the main plate body 34 or not. Can be determined (the position of the wheelchair 26 on the slope 22). Here, the detection result of the rotation amount detecting means 111 is a parameter related to the driving state of the electric winch 30 because it is a parameter related to the drawing length of the belt 32 of the electric winch 30.

  The rotation amount detection means 111 is not limited to the rotation angle sensor. For example, a pair of light sensors each composed of a light emitting element and a light receiving element are arranged on both sides of the main plate 34 so as to emit light. The mounted state of the wheelchair 26 may be detected by blocking light emitted from the element to the light receiving element by the wheelchair 26 moved on the main plate 34. Furthermore, a mounting state may be detected by disposing a weight sensor (strain gauge) (not shown) on the main plate 34 and detecting the amount of strain generated by the wheelchair 26 moved on the main plate 34. Furthermore, a not-shown capacitance sensor (capacitance-type proximity sensor) is disposed on the main plate 34, and the cared person 24 riding on the wheelchair 26 with respect to an electrode (not shown) provided on the capacitance sensor. May be detected by increasing the capacitance of the electrode. Furthermore, a plurality of piezoelectric elements (piezo elements) arranged in a matrix may be disposed on the slope 22.

  The control unit 100 includes, for example, a CPU, a RAM, a ROM, and an input / output circuit, and performs various arithmetic processes based on input of detection signals from each detection unit and programs and data stored in the ROM. Execute control by. The control unit 100 controls the other driving state based on one driving state of the slope driving means (the slope driving mechanism 42 and the switching mechanism 44) and the electric winch 30. That is, the slope driving means of the slope 22 and the electric winch 30 (that is, the motor 33) according to the present invention are interlocked and controlled by the control unit 100. In particular, the control unit 100 prohibits driving of the other of the slope driving unit and the electric winch 30 when one of the slope driving unit and the electric winch 30 is driven, although there are some exceptions in the operation examples described later. . That is, in a state where driving is prohibited, even if there is a remote control operation or the like, the motor 60 of the slope driving mechanism 42 cannot rotate (that is, the main plate 34 of the slope 22 can move up and down. The motor 60 of the electric winch 30 cannot rotate (that is, the drum 31 of the electric winch 30 cannot take up or pull out the belt 32).

Further, the control unit 100 performs the first rotation from the detection results of the first to third slope angle detection units 101 to 103, the dimensions L1 to L3 of the plates 36, 34, and 38 stored in advance and the ground plane 20. It is determined whether or not the slope 22 is grounded based on the dimension LH that is the height to the shaft 40a.
Note that the method for determining ground contact is not limited to the above-described one, and for example, the detection result by the ground contact detection means configured by a limit switch disposed below the vehicle rear side end of the ground side plate 38 is used. May be. The grounding state is detected when the sensing element provided in the limit switch comes into contact with the grounding surface 20. The grounding detection means is not limited to the limit switch, and for example, a non-contact type sensor such as a reflection type optical sensor may be used.

Further, the control unit 100 can recognize the height of the main plate body 34 from the ground contact surface 20 based on the detection result of at least one of the second slope angle detection unit 102 and the third slope angle detection unit 103.
For example, if the detection result of the third slope angle detection unit 103 is 180 degrees in the grounding state, the control unit 100 recognizes that the slope 22 is at the low position PL (see FIG. 8) and detects the second slope angle. If the detection result of the means 102 is 180 degrees, it is recognized that the slope 22 is at the high position PH (see FIG. 8). The control unit 100 stores in advance the angles of the second rotation shaft 40b and the third rotation shaft 40c at the positions PL, PH, P1, and P2 of the slope 22, and the control unit 100 stores the angles in advance. The driving state of the slope driving means (slope driving mechanism 42) can be recognized using the value.

  Further, the control unit 100 calculates the drawing length of the belt 32 of the electric winch 30 based on the rotation amount of the drum 31 detected by the rotation amount detection unit 111 and the diameter of the drum 31 stored in advance. Based on the calculation result, permission and prohibition of driving of the slope driving means (slope driving mechanism 42) are switched. Furthermore, in this embodiment, the control part 100 can correct | amend the drawing length of the belt 32 of the electric winch 30 based on the thickness of the belt 32 memorize | stored beforehand.

  Further, when the storage detection unit 112 detects that the hook 32a of the electric winch 30 is stored in the storage unit 201, the control unit 100 resets the detection result of the rotation amount detection unit 111. Depending on the installation location of the storage unit 201, the pull-out length of the belt 32 of the electric winch 30 in the storage state of the hook 32a may change depending on the seat state, the storage state of the luggage, and the like. In such a case, after the user confirms the state of the seat, etc., based on the operation of a remote controller (not shown) and the storage detection by the storage detection unit 112, the control unit 100 causes the hook 32a to be stored in the storage unit. The belt 32 is wound around the electric winch 30 in the state of being housed in 201, and the detection result of the rotation amount detecting means 111 can be reset in a state where the belt 32 is loosened.

  In addition, the control unit 100 controls the slope driving mechanism 42, that is, the motor 60 of each of the second rotation shaft 40b and the third rotation shaft 40c. A control example of the end of the main plate 34 on the side of the vehicle body side plate 36 and the end of the ground side plate 38 on the side of the main plate 34 will be described in detail in the following operation example.

FIG. 9 is a longitudinal sectional view taken along line VIII-VIII in FIG.
On the upper surface of the ground side plate 38, for example, a pair of left and right grips 46 that are gripped by a caregiver (operator) or the like are provided. As shown in FIG. 9, each gripping portion 46 has a casing 52 that is inserted through the rectangular opening 48 of the ground side plate 38 and is accommodated in the hollow portion 50. The casing 52 includes an engagement protrusion 54 that protrudes along the upper surface of the ground side plate 38, a curved portion 56 that has a curved surface that gently curves from the upper surface to the lower surface of the ground side plate 38, and an engagement protrusion. 54 and a vertical wall 58 connecting the curved portion 56.

  FIG. 7 is an explanatory diagram showing a state in which the slope is stored in the passenger compartment, a state in which the slope is vertically fixed, and a grounding state in which the slope is moved out of the vehicle and the other end of the slope is grounded to the ground plane. It is a schematic diagram which shows each said state, respectively.

  After the slope 22 is moved from the housed state through the standing and fixed state to the outside of the vehicle, the slope 22 enters a grounded state in which the other end in the vehicle front-rear direction is grounded to the grounding surface 20. In the storage state of the slope 22 in the vehicle interior, the main plate body 34 and the vehicle body side plate body 36 are in a substantially horizontal state, and the grounding side plate body 38 starts from the third rotating shaft 40c with respect to the main plate body 34 and the vehicle body side plate body 36. It is in a state of being bent into an acute angle. In this stored state, as shown in FIG. 7, the pair of gripping portions 46 are provided on the upper surface of the ground side plate 38 at positions close to the vehicle body rear opening 12 (see FIG. 1). Even if the vehicle does not enter the vehicle compartment, the slope 22 can be easily grounded by gripping the grip 46 from outside the vehicle through the vehicle body rear opening 12.

  The mounting apparatus 10 according to the present embodiment is basically configured as described above. Next, the operation and effects thereof will be described.

  10 and 11 are flowcharts for explaining an operation example of the mounting device, and FIG. 12 shows a state in which the wheelchair has moved from the state shown in FIG. 1 and is mounted on the main plate at a low position. FIG. 13 is a side view illustrating a state in which the main plate body is displaced from the low position to the first intermediate position while the wheelchair is mounted on the main plate body, and FIG. FIG. 15 is a side view showing a state in which the wheelchair is moved, and FIG. 15 is a side view showing a state in which the wheelchair is mounted on the main plate in the high position. FIG. It is a side view which shows the state which the main board body displaced from the high position to the 2nd intermediate position, with being mounted in. In FIGS. 1 and 12 to 16, white arrows indicate the moving direction of the belt 32 and the rotating directions of the second rotating shaft 40 b and the third rotating shaft 40 c when getting on, and the black arrow indicates the belt 32 when getting off the vehicle. And the rotational directions of the second rotational shaft 40b and the third rotational shaft 40c.

Here, with reference to FIG. 8, four positions which the slope 22 takes when boarding and getting off will be described.
(Low position)
At the start of boarding, the slope 22 is in the low position PL. In the present embodiment, the height HL of the main plate 34 is the lowest at the low position PL, and the gradient change in the front-rear direction of the third rotation shaft 40c is zero.
(High position)
At the start of getting off, the slope 22 is in the high position PH. In the present embodiment, the height HH of the main plate 34 is the highest at the high position PH, and the gradient change in the front-rear direction of the second rotation shaft 40b is zero.
(First intermediate position)
At the first intermediate position P1, which is important in the control at the time of boarding, the height H1 of the main plate 34 is next to the height HH, and the gradient change in the front-rear direction of the second rotating shaft 40b is not zero but small.
(Second intermediate position)
At the second intermediate position P2, which is important for the control when getting off, the height H2 of the main plate 34 is next to the height HL, and the gradient change in the front-rear direction of the third rotating shaft 40c is not zero but small.

<When boarding>
First, as shown in FIG. 1, the slope 22 housed in the passenger compartment is moved out of the vehicle, and the slope 22 is moved between the vehicle body and the grounding surface 20 so that the main plate 34 is in the low position PL in the vertical direction. Hang over. At the low position PL, the longitudinal axis of the main plate 34 and the longitudinal axis of the ground side plate 38 are set on the same straight line, and the longitudinal axis of the vehicle side plate 36 is the main plate. It is set in a state where it is inclined by a predetermined angle with a downward slope toward the body 34 side (vehicle rear side). Here, in the stowed state to the standing and fixed state of the slope 22, the clutch 68 of the switching mechanism 44 of the second rotating shaft 40b is set to the ON state, and the second rotating shaft 40b is θ2 = 180 degrees. And the clutch 68 of the switching mechanism 44 of the third rotating shaft 40c is set to the OFF state. For example, based on the detection result of the first slope angle detection means 101, the control unit 100 rotates the second rotation shaft 40b when the slope 22 is pulled out from the standing fixed state. Further, based on the detection results of the slope angle detection means 101 to 103, when the slope 22 contacts the ground surface 20, the clutch 68 of the third rotation shaft 40c is set to the ON state and the third rotation shaft 40c. , The slope 22 can be set to the low position PL. During the boarding operation and the getting-off operation after the slope 22 is set to the low position PL, the clutch 68 of the switching mechanism 44 on the second rotating shaft 40b and the third rotating shaft 40c is always in the ON state. In this state, the control unit 100 determines whether the slope 22 is grounded based on the detection results of the first to third slope angle detection units 101 to 103 (only the detection result of the first slope angle detection unit 101 is acceptable). It is determined whether or not (step S11).

  Subsequently, the caregiver pulls the belt 32 from the drum 31 and locks the hook 32 a of the electric winch 30 to the wheelchair 26. In this state, when the caregiver performs a remote control operation, the control unit 100 determines whether the pull-out length of the electric winch 30 is equal to or longer than the first predetermined length based on the detection result of the rotation amount detection unit 111. (Step S12).

  Here, the first predetermined length is set in advance as a length when the wheelchair 26 is outside the vehicle and not on the slope 22. In the case of Yes in step S11 and Yes in step S12, the control unit 100 starts an operation for getting on the wheelchair 26. That is, the control unit 100 prohibits the driving of the slope 22 and permits the driving of the electric winch 30 (step S13), and controls the electric winch 30 to urge the electric winch 30 and be locked to the wheelchair 26. When the belt 32 is wound up by the drum 31 (step S14), the cared person 24 moves toward the vehicle body along the slope 22 while riding on the wheelchair 26.

  In this operation example, the control unit 100 determines that the detection results of both the rotation amount detection means 111 are based on the detection results of the rotation amount detection means 111 provided in each of the pair of left and right electric winches 30 and 30. Each control may be performed when the condition is satisfied, and the pair of left and right electric winches 30, 30 are interlocked based on the detection result of the rotation amount detection means 111 provided on one of the pair of left and right electric winches 30, 30. You may control.

  Subsequently, the control unit 100 determines whether or not the wheelchair 26 is mounted on the main plate 34 based on the detection result of the rotation amount detection unit 111 (step S15), and as shown in FIG. When the main plate 34 is mounted (Yes in Step S15), the driving of the slope 22 is permitted and the driving of the electric winch 30 is prohibited (Step S16). The control unit 100 stops the winding operation of the drum 31 of the electric winch 30 and holds the wheelchair 26 mounted on the main plate 34 as shown in FIG. And the 3rd rotating shaft 40c is each rotated in a predetermined direction, and the main board 34 is switched from the low position PL to the state of the 1st intermediate position P1 (step S17). That is, the second pivot shaft 40b is pivoted in a predetermined direction so that the longitudinal axis of the vehicle body side plate 36 and the longitudinal axis of the main plate 34 are brought close to the same straight line. At the same time, the third rotation shaft 40c is rotated so that the longitudinal axis of the ground side plate 38 is inclined by a predetermined angle with a downward gradient toward the vehicle rear side.

  Subsequently, the control unit 100 determines whether or not the main plate body 34 is equal to or higher than the first predetermined height H1 based on the detection results of the second slope angle detection means 102 and the third slope angle detection means 103 (that is, the first slope height detection means 103). Whether or not the intermediate plate P1 has reached the intermediate position P1) (step S18), and when the main plate 34 reaches or exceeds the first predetermined height (Yes in step S18), the slope 22 and the electric winch 30 are both driven. Allow (step S19). The control unit 100 resumes the winding operation of the drum 31 of the electric winch 30 and rotates the second rotation shaft 40b and the third rotation shaft 40c in predetermined directions to move the main plate 34 to the first intermediate position. The state is switched from P1 to the high position PH shown in FIG. 8 (step S20).

  Subsequently, the control unit 100 determines whether or not the main plate 34 is not less than the maximum height HH based on the detection results of the second slope angle detection unit 102 and the third slope angle detection unit 103 (that is, the high position PH). (Step S21) and when the main plate 34 reaches the maximum height HH (Yes in Step S21), the driving of the slope 22 is prohibited and the driving of the electric winch 30 is permitted. (Step S22).

  Thus, in a state where the gradient change in the front-rear direction of the second rotation shaft 40b is small, the control unit 100 urges the electric winch 30 while raising the main plate 34 and starts winding the belt 32. At the same time, the caregiver can push the wheelchair 26 toward the vehicle body along the slope 22 to allow the wheelchair 26 to get on the position of the rear space 28 of the passenger compartment (see FIG. 14). Then, the control unit 100 determines whether or not the wheelchair 26 has been boarded based on the detection result of the rotation amount detection unit 111 (that is, whether or not the wheelchair 26 has reached the position of the vehicle interior rear space 28). However, when it is determined that the boarding is completed (Yes in step S24), the winding of the belt 32 of the electric winch 30 is stopped, and the operation flow in boarding is terminated.

  In steps S16 to S22, the control unit 100 determines the slope drive mechanism 42, that is, the second time so that the ascending / descending speed of the end of the main plate 34 on the vehicle body side plate 36 is different from the ascending / descending speed of the ground side plate 38 side end. The motor 60 of each of the moving shaft 40b and the third rotating shaft 40c is controlled.

  Specifically, the control unit 100 determines the ascending / descending speed of the end of the main plate 34 on the side of the vehicle body side plate 36 and the ascending / descending speed of the end of the side of the ground side plate 38 so as to suppress the movement of the ground contact portion of the ground side plate 38. Make different.

More specifically, as shown in FIG. 17A, the control unit 100 is configured such that, on the low position side, the ascending / descending speed (rising speed) v _{21 of the} end of the main plate 34 on the vehicle body side plate 36 is The slope drive mechanism 42 is controlled so as to be slower than the elevating speed (rising speed) v _{31 of the} 38 side end. In FIG. 17, it is assumed that the ascending / descending speed is positive in the ascending direction and negative in the descending direction.
That is, in the early rising stage from the low position, the main plate 34 rises at a speed at which the end on the ground side plate 38 side is higher than the end on the vehicle body side plate 36. By doing so, the mounting apparatus 10 can suppress an increase in the inclination of the main plate 34 while suppressing the movement of the ground contact portion of the ground side plate 38 in the initial rise from the low position.

Here, suppression of the movement of the ground contact portion will be described. In the initial stage of ascent from the low position, the control unit 100 is assumed to have a slope drive mechanism so that the ascending / descending speed of the vehicle body side plate 36 side end of the main plate 34 and the grounding side plate 38 end of the main plate 34 are the same. When 42 is controlled, the ground contact portion (tip portion) of the ground side plate 38 moves backward. On the other hand, the mounting apparatus 10 of this operation example has a slope drive mechanism so that the elevation speed v ₂₁ at the end of the main plate 34 on the vehicle body side plate 36 side is slower than the elevation speed v ₃₁ at the end on the ground side plate 38 side. 42 is controlled, the movement of the ground contact portion of the ground side plate 38 can be suppressed.

Since the first rotation shaft 40a is freely rotatable, the control unit 100 starts driving the motor 60 of the second rotation shaft 40b in the initial stage of ascent from the low position. The configuration may be such that the ascending / descending speed v ₂₁ at the vehicle body side plate body 36 side end portion is made slower than the ascending / descending speed v ₃₁ at the ground side plate body 38 side end portion by delaying from the start of driving of the motor 60 of 40c.

On the high position side, as shown in FIG. 17B, the control unit 100 is configured such that the ascending / descending speed (rising speed) v _{22 of the} end of the main plate 34 on the vehicle body side plate 36 is the end on the ground side plate 38 side. controlling the slope drive mechanism 42 to be faster than the lifting speed (increasing speed) v ₃₂ parts.
That is, at the end of rising from the low position, the main plate 34 rises at a speed at which the end on the vehicle body side plate 36 is higher than the end on the ground side plate 38. By doing in this way, at the end of the rise from the low position, the mounting device 10 can adjust the inclination of the main plate 34 to the inclination at the high position while suppressing the movement of the ground contact portion of the ground side plate 38. .

  Here, the controller 100 gradually increases or gradually increases the lifting speed of the end of the main plate 34 on the side of the vehicle body side plate 36 and gradually decreases or increases the lifting speed of the end of the ground side plate 38 side. It may be configured to control so as to decrease stepwise.

The mounting apparatus 10 further includes third rotation shaft rotation speed detection means 122 (see FIG. 6) that is a sensor that detects the rotation speed of the third rotation shaft 40c, and the control unit 100 performs the third rotation. The configuration may be such that the motor 60 of the second rotation shaft 40b in the slope drive mechanism 42 is controlled based on the detection result of the shaft rotation speed detection means 122.
Here, the detection result of the third rotation shaft rotational speed detecting means 122 is proportional to the ascending / descending speed of the end of the main plate 34 on the ground side plate 38 side, and the parameter relating to the ascending / descending speed of the end of the ground side plate 38 on the side. Even so, the control unit 100 determines the lifting speed of the end of the main plate 34 on the side of the vehicle body side plate 36 based on the lifting speed of the end of the main plate 34 on the ground side plate 38 side. That is, it can be said that the control unit 100 controls the slope driving mechanism 42 with the motor 60 of the third rotation shaft 40c as a master and the motor 60 of the second rotation shaft 40b as a slave.
In the present operation example, the control unit 100 performs control so that the ascending / descending speed (rising speed) of the end portion on the ground side plate 38 side is gradually decreased or gradually decreased. Based on a pre-stored table, calculation formula, and the like, when the ascending / descending speed (rising speed) of the ground plate side plate 38 side end of the main plate body 34 is high, the ascending / descending speed (rising speed) of the main plate body 34 end of the vehicle body side plate body 36 Speed) is determined to be slow, and when the lifting / lowering speed (rising speed) of the end of the main plate 34 on the ground side plate 38 side is slow, the lifting / lowering speed (rising speed) of the end of the main plate 34 on the vehicle body side plate 36 is determined to be slow. .

<When getting off>
In the case of No in step S12, the control unit 100 determines whether the pull-out length of the electric winch 30 is equal to or shorter than the second predetermined length based on the detection result of the rotation amount detection unit 111 (step S31). .

  Here, the second predetermined length is set in advance as the length when the wheelchair 26 is in the passenger compartment. When Yes in step S11, No in step S12, and Yes in step S31, the control unit 100 starts an operation for getting off the wheelchair 26. That is, the control unit 100 permits the slope 22 to be driven and prohibits the electric winch 30 from being driven (step S32), and rotates the second rotating shaft 40b and the third rotating shaft 40c in predetermined directions. The main plate 34 is switched from the low position PL (see FIG. 1) to the high position PH (see FIG. 14) (step S33). Subsequently, the control unit 100 determines whether or not the main plate 34 has the maximum height HH based on the detection results of the second slope angle detection unit 102 and the third slope angle detection unit 103 (that is, at the high position PH). (Step S34) and when the main plate 34 reaches the maximum height HH (Yes in Step S34), the driving of the slope 22 is prohibited and the driving of the electric winch 30 is permitted ( In step S35, the electric winch 30 is controlled to urge the electric winch 30 and pull out the belt 32 locked to the wheelchair 26 from the drum 31 (step S36), so that the cared person 24 gets on the wheelchair 26. Move along the slope 22 to the outside of the vehicle.

  Subsequently, the control unit 100 determines whether or not the wheelchair 26 is mounted on the main plate 34 based on the detection result of the rotation amount detection means 111 (step S37), and as shown in FIG. When the main plate 34 is mounted (Yes in Step S37), the drive of the slope 22 is permitted and the drive of the electric winch 30 is prohibited (Step S38). The control unit 100 stops the pulling-out operation of the drum 31 of the electric winch 30 and holds the state where the wheelchair 26 is mounted on the main plate 34 as shown in FIG. The third rotation shaft 40c is rotated in a predetermined direction to switch the main plate 34 from the high position PH to the second intermediate position P2 (step S39). That is, the second rotation shaft 40b is rotated in a predetermined direction so that the longitudinal axis of the ground side plate 38 is inclined by a predetermined angle with a downward gradient toward the vehicle rear side. At the same time, the third pivot shaft 40c is pivoted so that the longitudinal axis of the ground plate 38 and the longitudinal axis of the main plate 34 come close to the same straight line.

  Subsequently, the control unit 100 determines whether or not the main plate 34 is equal to or lower than the second predetermined height H2 based on the detection results of the second slope angle detection means 102 and the third slope angle detection means 103 (that is, the first slope angle detection means 103). 2 (whether or not the intermediate position P2 has been reached) is determined (step S40), and when the main plate 34 is equal to or lower than the second predetermined height H2 (Yes in step S40), the slope 22 and the electric winch 30 are driven. Both are permitted (step S41). The control unit 100 restarts the operation of pulling out the drum 31 of the electric winch 30, and rotates the second rotation shaft 40b and the third rotation shaft 40c in predetermined directions to move the main plate 34 to the second intermediate position P2. Is switched to the low position PL shown in FIG. 1 (step S42).

  Subsequently, the control unit 100 determines whether or not the main plate 34 is equal to or lower than the minimum height HL based on the detection results of the second slope angle detection unit 102 and the third slope angle detection unit 103 (that is, the low position PL). (Step S43), and when the main plate 34 reaches the minimum height HL (Yes in Step S43), the driving of the slope 22 is prohibited and the driving of the electric winch 30 is permitted. (Step S44).

  As described above, in a state where the gradient change in the front-rear direction of the third rotating shaft 40c is small, the control unit 100 starts to pull out the belt 32 by urging the electric winch 30 while lowering the main plate 34. When the caregiver pulls the wheelchair 26 along the slope 22 to the outside of the vehicle, the wheelchair 26 can be unloaded from the vehicle (see FIG. 1). Then, the control unit 100 determines whether or not the wheelchair 26 has been dismounted (that is, whether or not the wheelchair 26 has reached a position outside the vehicle) based on the detection result of the rotation amount detection means 111 (step S46). ) When it is determined that the getting-off is completed (Yes in step S46), the drawing of the belt 32 of the electric winch 30 is stopped, and the operation flow for getting off is terminated.

  After getting off the car, the caregiver operates the remote control in a state where the slope 22 is stored and the hook 32a of the electric winch 30 is stored in the storage unit 201. The control unit 100 controls the driving of the electric winch 30 in accordance with the remote control operation, thereby winding the belt 32 and finishes winding in a state where the slack of the belt 32 is eliminated. In this state, the control unit 100 resets the detection result by the rotation amount detection unit 111.

  In steps S39 to S44, the control unit 100 determines the slope driving mechanism 42, that is, the second time so that the ascending / descending speed of the end of the main plate 34 on the side of the vehicle body side plate 36 differs from the ascending / descending speed of the end of the ground side plate 38 side. The motor 60 of each of the moving shaft 40b and the third rotating shaft 40c is controlled.

  Specifically, the control unit 100 determines the ascending / descending speed of the end of the main plate 34 on the side of the vehicle body side plate 36 and the ascending / descending speed of the end of the side of the ground side plate 38 so as to suppress the movement of the ground contact portion of the ground side plate 38. Make different.

More specifically, as shown in FIG. 17B, the control unit 100 is configured such that, on the high position side, the ascending / descending speed (downward speed) −v _{22 of the} end of the main plate 34 on the vehicle body side plate 36 is The slope drive mechanism 42 is controlled to be faster than the ascending / descending speed (lowering speed) -v _{32 of the} body 38 side end.
That is, at the initial stage of descending from the high position, the main plate 34 descends at a speed at which the vehicle body side plate 36 side end is larger than the ground side plate 38 side end. By doing so, the mounting apparatus 10 can suppress an increase in the inclination of the main plate 34 while suppressing the movement of the ground contact portion of the ground side plate 38 in the initial descent from the high position.

Here, suppression of the movement of the ground contact portion will be described. At the beginning of the descent from the high position, the control unit 100 is assumed to have a slope drive mechanism so that the ascending / descending speed of the vehicle body side plate 36 side end of the main plate 34 and the grounding side plate 38 end of the main plate 34 are the same. When 42 is controlled, the ground contact portion (tip portion) of the ground side plate 38 moves forward. On the other hand, the mounting apparatus 10 of this operation example has a slope so that the ascending / descending speed −v ₂₂ at the vehicle body side plate 36 side end of the main plate 34 is faster than the ascending / descending speed −v _{32 of} the ground side plate 38 side end. Since the drive mechanism 42 is controlled, the movement of the ground contact portion of the ground side plate 38 can be suppressed.

Since the first rotation shaft 40a is freely rotatable, the control unit 100 starts driving the motor 60 of the third rotation shaft 40c at the initial lowering from the high position. The configuration is such that the raising / lowering speed −v ₂₂ at the vehicle body side plate body 36 side end portion of the main plate body 34 is made faster than the raising / lowering speed −v ₃₂ at the ground side plate body 38 side end portion by delaying from the start of driving of the motor 60 of 40b. It may be.

Further, as shown in FIG. 17A, the control unit 100 has a lowering speed (lowering speed) −v ₂₁ at the vehicle body side plate body 36 side end portion of the main plate body 34 on the ground side plate body 38 side. The slope drive mechanism 42 is controlled so as to be slower than the lifting / lowering speed (falling speed) -v _{31 of the} end portion.
That is, at the end of the descent from the high position, the main plate 34 descends at a speed at which the vehicle body side plate 36 side end is larger than the ground side plate 38 side end. By doing in this way, at the end of the descent from the high position, the mounting apparatus 10 can adjust the inclination of the main plate 34 to the inclination at the low position while suppressing the movement of the ground contact portion of the ground side plate 38. .

  Here, the control unit 100 gradually decreases or gradually decreases the magnitude of the lifting / lowering speed of the end of the main plate 34 on the vehicle body side plate 36 and gradually increases or decreases the magnitude of the lifting / lowering speed of the end on the ground side plate 38. It may be configured to control so as to increase stepwise.

The mounting apparatus 10 further includes second rotation shaft rotation speed detection means 121 (see FIG. 6) that is a sensor that detects the rotation speed of the second rotation shaft 40b, and the control unit 100 performs the second rotation. The configuration may be such that the motor 60 of the third rotation shaft 40 c in the slope drive mechanism 42 is controlled based on the detection result of the shaft rotation speed detection means 121.
Here, the detection result of the second rotation shaft rotation speed detection means 121 is proportional to the ascending / descending speed of the end of the main plate 34 on the side of the vehicle body side plate 36, and is a parameter relating to the ascending / descending speed of the end of the side of the body side plate 36. Even so, the control unit 100 determines the ascending / descending speed of the end of the main plate 34 on the ground side plate 38 side based on the ascending / descending speed of the end of the main plate 34 on the side of the vehicle body side plate 36. That is, it can be said that the control unit 100 controls the slope driving mechanism 42 using the motor 60 of the second rotation shaft 40b as a master and the motor 60 of the second rotation shaft 40c as a slave.
In the present operation example, the control unit 100 performs control so that the magnitude of the ascending / descending speed of the end of the main plate 34 on the side of the vehicle body side plate 36 gradually decreases or gradually decreases. Based on a pre-stored table, calculation formula, and the like, when the ascending / descending speed (downward speed) of the main plate 34 on the side of the vehicle body side plate 36 is high, the ascending / descending speed (downward) of the end of the main plate 34 on the ground side plate 38 side is lowered. Speed) is determined to be slow, and when the lifting / lowering speed (lowering speed) of the end of the main plate 34 on the vehicle body side plate 36 is slow, the lifting / lowering speed (lowering speed) of the end of the main plate 34 on the ground side plate 38 is determined to be higher. .

In the mounting device 10 according to the embodiment of the present invention, the control unit 100 has a slope driving mechanism so that the ascending / descending speed of the end of the main plate 34 on the side of the vehicle body side plate 36 is different from the ascending / descending speed of the end of the ground side plate 38. 42 is controlled, it is possible to suppress the movement of the ground contact portion of the slope 22 and to suppress the influence of the displacement of the slope 22 on the wheelchair 26 that is the object to be loaded, such as generation of vibration due to the movement of the ground contact portion.
Further, in the mounting apparatus 10, the control unit 100 determines the other lifting speed based on one lifting speed of the vehicle body side plate body 36 side end and the grounding side plate body 38 side end of the main plate body 34. The main plate 34 can be moved up and down while maintaining a suitable inclination.
In addition, when the main plate 34 is on the low position side, the mounting device 10 is configured such that the control unit 100 determines that the lifting speed at the vehicle body side plate 36 side end is larger than the grounding side plate 38 side end. Since the slope drive mechanism 42 is controlled so as to be smaller than the height, for example, at the initial rise from the low position, the inclination of the main plate 34 can be prevented from increasing while suppressing the movement of the ground contact portion of the slope 22. .
Further, in the mounting device 10, when the main plate 34 is on the high position side, the controller 100 determines that the magnitude of the elevation speed at the end on the vehicle body side plate 36 is larger than the magnitude of the elevation at the end on the ground side plate 38. Since the slope drive mechanism 42 is controlled so as to be larger than the height, for example, in the initial lowering from the high position, it is possible to prevent the inclination of the main plate 34 from being increased while suppressing the movement of the ground contact portion of the slope 24. it can.
Moreover, the mounting apparatus 10 can control the slope 22 and the electric winch 30 in cooperation with each other, and can move the wheelchair 26 that is the mounted object more smoothly.
Further, the mounting device 10 prevents the slope 22 and the electric winch 30 from operating simultaneously by prohibiting the other drive when one of the slope driving mechanism 42 and the motor 33 of the electric winch 30 is driving, For example, the uncomfortable feeling given to the cared person 24 on the wheelchair 26 can be suppressed.
Further, the mounting device 10 can control the slope 22 and the electric winch 30 in cooperation with each other based on the height of the main plate 34, which is an example of the driving state of the slope driving mechanism 42, and makes the wheelchair 26 smoother. Can be moved to.
Further, since the mounting device 10 allows the wheelchair 26 to pass through the step with a small step formed on the slope 22, the mounting device 10 is required for getting on or getting off while suppressing a sense of incongruity given to the cared person 24 on the wheelchair 26, for example. Time can be shortened.
In addition, the mounting device 10 can control the slope 22 and the electric winch 30 in cooperation with each other based on the rotation angle of the rotation shaft, which is an example of the driving state of the slope drive mechanism 42, and the wheelchair 26 can be controlled more. It can be moved smoothly.
Further, the mounting device 10 can control the slope 22 and the electric winch 30 in a coordinated manner based on the rotation amount of the drum 31 which is an example of the driving state of the electric winch 30, and moves the wheelchair 26 more smoothly. Can be made.
Further, the mounting device 10 can more accurately calculate the position of the wheelchair 26 by considering the thickness of the belt 32, and can control the slope 22 and the electric winch 30 in cooperation with each other based on the calculation result. The wheelchair 26 can be moved more smoothly.
Further, the mounting device 10 can suppress the occurrence of an error in the rotation amount detection unit 111 due to multiple use.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, A design change is possible suitably in the range which does not deviate from the summary of this invention. For example, the height of the main plate 34 is not limited to that based on the ground contact surface 20, and may be based on the first rotation shaft 40a, for example.

10 Mounting device (Mounting device for the load)
16 Vehicle 20 Grounding surface 22 Slope 26 Wheelchair (loaded object)
34 Main plate body 36 Car body side plate body 38 Ground side plate body 40a-40c Rotating shaft 42 Slope drive mechanism (slope drive means)
44 Switching mechanism (slope drive means)
100 Control unit (control means)
121 Second rotation shaft rotation speed detection means (lifting speed detection means)
122 3rd rotating shaft rotational speed detection means (lifting speed detection means)

Claims (4)

A main plate on which an object to be mounted is mounted; a vehicle body side plate comprising at least one plate provided between one end of the main plate and the vehicle body; and between the other end of the main plate and the ground plane. A slope plate which is provided and has a grounding side plate body composed of at least one plate body, and the main plate body can be moved up and down between a low position and a high position in a state where the grounding side plate body is grounded,
Slope drive means for driving the main plate body;
Control means for controlling the slope driving means so that the lifting speed of the vehicle body side plate body side end portion of the main plate body is different from the lifting speed of the ground side plate body side end portion;
An apparatus for mounting an object to be mounted. Further comprising a lifting speed detecting means for detecting a lifting speed of one of the vehicle body side plate body side end portion and the grounding side plate body side end portion of the main plate body;
The control means controls the slope driving means so as to determine the other raising / lowering speed of the vehicle body side plate body side end portion and the grounding side plate body side end portion of the main plate body based on the detection result of the raising / lowering speed detection means. The mounting apparatus for mounting objects according to claim 1, wherein: When the main plate is on the low position side, the control means controls the slope driving means so that the rising speed of the vehicle body side plate body side end is slower than the rising speed of the grounding side plate body side end. The mounting device for mounting objects according to claim 1 or 2, wherein the mounting device is mounted. The control means controls the slope driving means so that when the main plate body is on the high position side, the descending speed of the vehicle body side plate body side end portion is faster than the descending speed of the ground side plate body side end portion. The apparatus for mounting an object to be mounted according to any one of claims 1 to 3, wherein:

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