JP2017185898A - Loading object loader - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a loading object loader capable of suppressing costs and weights by preferably assisting a slope development/storage work while dispensing with a special mechanism for the slope development/storage work.SOLUTION: A loader 10 comprises a slope 22 capable of switching the development state that one end is rotatably mounted at the opening part 12 of a vehicle body to develop outside of the cabin and the storage state to store in the cabin, an electric winch 30 for keeping a loading object 24 on board and out of board via the slope 22, and a control part 100 for controlling the electric winch 30, electric winch 30 comprising a belt 32 to control the delivery amount and a hook 32a provided at the tip part of the belt 32 to be lockable on either of the slope 22 and the loading object 24, and the control part 100 executing a loading object on-board mode for keeping the loading object 24 on board and out of board and a slope assist mode for assisting the development and storage of the slope 22.SELECTED DRAWING: Figure 1

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, in a wheelchair specification vehicle in which a wheelchair is mounted as an object to be loaded, there is a demand to decrease the slope inclination angle when the slope for riding the wheelchair is deployed outside the vehicle, or to reduce dedicated parts for the base vehicle There is. Therefore, especially when a hybrid vehicle with a battery mounted at the rear of the vehicle body or a vehicle with a high opening height of a minivan system is used as a wheelchair-specification vehicle, the overall length in the deployment / retraction direction of the slope is increased, and the weight of the slope is increased. Will increase.

  In view of such circumstances, a technique for assisting the expansion / storage of the slope has been proposed. Patent Document 1 describes a technique in which a slope plate feeding / retracting power mechanism for winding and feeding a wire is provided in a vehicle. Patent Document 2 describes a technique for providing a vehicle with a spring that assists the biasing force in the retracting direction of the slope. Patent Document 3 describes a technique in which a gas damper that assists the biasing force in the retracting direction of the slope is provided in the vehicle.

Japanese Patent Application Laid-Open No. 07-108867 JP 2006-137320 A JP-A-11-123210

  However, in the technique described in Patent Document 2, the spring cannot be increased in size due to a spatial restriction between the slope and the vehicle body, and thus it is difficult to cope with an increase in the weight of the slope. In addition, since the direction of the urging force with respect to the slope is limited to one direction in the storage direction, for example, when the operator applies a force in such a manner that the slope is thrown in the storage direction, the slope vigorously moves to the storage position. Since it moves, there is a problem that merchantability is not good.

  On the other hand, the technique described in Patent Document 3 can cope with the problems of the technique described in Patent Document 2. However, since the gas damper is attached to the inner surface of the rear opening (tailgate opening) of the vehicle body, it cannot cope with the case where the slope and the tailgate opening are separated from each other. There is a problem that the degree of freedom in layout cannot be increased.

  Moreover, the technique described in Patent Document 1 can cope with the problems of the techniques described in Patent Documents 2 and 3. However, the techniques described in Patent Documents 1 to 3 have a problem that the cost and weight increase because a dedicated mechanism for the operation of expanding and storing the slope is required.

  The present invention has been made in view of the above-described points, and it appropriately assists the development / storage operation of the slope while suppressing the cost and weight while eliminating the need for a dedicated mechanism for the expansion / storage operation of the slope. An object of the present invention is to provide an apparatus for mounting an object to be mounted.

  In order to achieve the above-described object, the mounted device mounting apparatus according to the present invention includes an unfolded state in which one end is rotatably attached to the opening of the vehicle body and is unfolded from the opening to the outside of the vehicle compartment. A slope that can be switched between a storage state stored in a room, an electric winch for getting on and off the object to be mounted via the slope, and a control unit that controls the electric winch, and the electric The winch includes: a traction tool whose feeding amount is controlled by the control unit; and a locking part that is provided at a tip of the traction tool and can be locked to either the slope or the mounted object. And the control unit executes a mounted object getting on / off mode in which the mounted object gets on and off, and a slope assist mode that assists in developing and storing the slope.

  According to this configuration, since the electric winch is used for both the loading / unloading mode and the slope assist mode, a dedicated mechanism for expanding / storing the slope becomes unnecessary, and the cost and weight can be reduced. .

  The mounted device mounting apparatus includes a guide portion provided at a position above the electric winch of the vehicle body. In the slope assist mode, the traction tool is folded downward via the guide portion. The locking portion may be locked to the slope.

  According to such a configuration, since the guide portion is provided, a force for lifting the slope upward can be generated when the slope is expanded / stored, and the slope can be efficiently expanded / stored. Therefore, it is possible to reduce the size of the motor that is the drive source of the electric winch, or to share the motor with the electric winch that does not have the slope assist mode.

  The control unit may be configured to be able to automatically select the mounted object getting on / off mode and the slope assist mode.

  According to such a configuration, the operation by the operator is simplified and the convenience can be improved.

  The mounted device mounting apparatus includes a tow tool detection unit that detects whether or not the tow tool is hung on the guide unit, and the control unit detects the tow tool at the start of control of the electric winch. When it is detected that the traction tool is hung on the guide part by the part, the slope assist mode is executed, and the traction tool detection part detects that the traction tool is hung on the guide part. If not, the load / unload mode may be executed.

  According to this configuration, it is possible to select an appropriate mode and improve convenience.

  The mounted device mounting apparatus includes an angle detection unit that detects a feeding angle of the traction unit, and the control unit detects that the angle detected by the angle sensor is in a horizontal direction at the start of control of the electric winch. A configuration in which the slope assist mode is executed when the angle is equal to or larger than a predetermined angle as a reference, and the mounted object getting on / off mode is executed when the angle detected by the angle sensor is less than the predetermined angle. It may be.

  According to this configuration, it is possible to select an appropriate mode and improve convenience.

  The electric winch includes a drum around which the traction tool can be wound, and a motor that rotates the drum, and the mounting device of the mounted object includes a rotation amount detection unit that detects the rotation amount of the drum. The control unit executes the slope assist mode when the rotation amount detected by the rotation amount detection unit is equal to or greater than a predetermined rotation amount at the start of control of the electric winch, and detects the rotation amount. When the rotation amount detected by the unit is less than the predetermined rotation amount, the load / unload mode may be executed.

  According to this configuration, it is possible to select an appropriate mode and improve convenience.

  The structure in which the retracting / feeding speed of the traction tool in the load / unload mode is set lower than the winding / feeding speed of the traction tool in the slope assist mode.

  According to such a configuration, it is possible to improve safety when getting on / off a loaded object such as a wheelchair and luggage, and at the same time, increase work speed when deploying / storing the slope, thereby improving convenience.

  The said control part may be the structure which can switch the said slope assist mode to the said boarding / alighting mode on the basis of an operator's manual operation.

  According to such a configuration, when the operation of the slope is expanded / stored by assisting the deployment / storage operation of the slope by switching the operation mode from the slope assist mode to the load / unload mode on the basis of the manual operation by the operator, the slope posture is slower. Changes can be made.

  According to the present invention, it is possible to favorably assist the slope deployment / storage operation and reduce cost and weight while eliminating the need for a dedicated mechanism for the slope deployment / storage operation.

It is a side view of the state where the mounting device concerning an embodiment of the present invention was applied to vehicles, and is a figure showing the time of starting of the boarding mode of a loading / unloading mode. 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 (storage position) of a slope, a standing fixed state (standup position), and a grounding state (deployment position). It is a schematic diagram which shows the storing state of the slope, the standing fixed state, and the grounding state. It is a side view of the state where the mounting device concerning an embodiment of the present invention was applied to vehicles, and is a figure showing the time of the start of the dismounting mode of the mounted object getting on and off mode. (A) is a perspective view in the state where a mounting device concerning an embodiment of the present invention was applied to vehicles, and (b) is a longitudinal section of a grasping part. It is a schematic diagram for demonstrating the assistance with respect to the slope of a storage position, a standing position, and a deployment position.

  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 includes a drum 31 (see FIG. 6) that can be pulled out while winding the belt 32 locked to the wheelchair 26 by rotation of a motor 34 (see FIG. 6). The wheelchair 26 on which the vehicle rides can be drawn into the rear space 28 of the passenger compartment. The pair of left and right electric winches 30 are disposed between the seat 17 and the floor surface 18 in the second row from the front in the vehicle 16, for example.

  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 (see the alternate long and short dash line) ((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 by a manual operation assisted by the electric winch 30.

  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), and the rotational driving force by the motor 60 is the third time. 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.

  Further, as shown in FIG. 5, storage portions 201 for storing hooks 32 a attached to the front end 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 100 includes a first slope angle detection unit 101 that detects the rotation angle of the first rotation shaft 40a and a first rotation angle that detects the rotation angle of the second rotation shaft 40b. 2 slope angle detection unit 102, 3rd slope angle detection unit 103 that detects the rotation angle of third rotation shaft 40c, angle detection unit 112 that detects the feeding angle of belt 32 of electric winch 30, and drum 31 A rotation amount detection unit 113 that detects the rotation amount of the electric winch 30 and a storage detection unit 114 that detects that the belt 32 of the electric winch 30 is stored in the storage unit 201 (see FIG. 5) are connected to each other.

  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 includes a drum 31, a belt 32 that is an example of a traction tool that can be wound around the drum 31, a hook 32 a that is an example of a locking portion provided at the tip of the belt 32, and a drum. A rotating motor 33. When the drum 31 rotates in the forward direction, the belt 32 is fed out from the drum 31, and when the drum 31 rotates in the reverse direction, the belt 32 is wound around the drum 31.

  The first slope angle detection unit 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 retracted state, and a low position in the grounding state. Θ1 = maximum at PL.

  The second slope angle detection unit 102 is a sensor that detects 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 grounding state and a high position at the grounding state. At PH, θ2 = maximum = 180 degrees.

  The third slope angle detection unit 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 from the ground contact surface 20 of the main plate 34 in the ground contact state of the slope 22, the second slope angle detection unit 102 and the third slope angle detection unit 103 are It can be said that it is a slope height detection unit that detects the height of the main plate 34. Further, since the detection results of the second slope angle detection unit 102 and the third slope angle detection unit 103 are parameters related to the height of the slope 22 from the ground contact surface of the main plate 34, parameters related to the driving state of the slope driving means. You can say that.

<Traction tool detector>
The traction tool detection unit 111 is a sensor that detects whether or not the belt 32, which is an example of a traction tool, is hung on the guide unit 91 (see FIG. 1). The traction tool detection unit 111 is a contact sensor provided in the guide unit 91, for example, and outputs a signal to the control unit 100 when the belt 32 contacts the sensor.

<Angle detection unit>
The angle detection unit 112 is a sensor that detects a feeding angle of the belt 32 of the electric winch 30. The payout angle is 0 degree in the horizontal direction, and becomes a larger value as it goes upward.

<Rotation amount detection unit>
The rotation amount detection unit 113 includes 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, the control unit 100 determines whether the wheelchair 26 is mounted or not mounted on the main plate 34. (The position of the wheelchair 26 on the slope 22) can be determined. Here, since the detection result of the rotation amount detection unit 113 is a parameter related to the pulling length of the belt 32 of the electric winch 30, it can be said that it is a parameter related to the driving state of the electric winch 30.

  The rotation amount detection unit 113 is not limited to a rotation angle sensor. For example, a pair of light sensors each composed of a light emitting element and a light receiving element are arranged opposite to each other on both sides of the main plate 34 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.

<Storage detector>
The storage detection unit 114 is a sensor that detects whether or not the hook 32 a of the electric winch 30 is stored in the storage unit 201.

  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 the remote controller 120 is operated, the motor 60 of the slope driving mechanism 42 cannot rotate (that is, the main plate 34 of the slope 22 moves 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, when 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 unit 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 112 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 extraction | drawer 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 114 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 112. 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 the remote controller 120 and the storage detection by the storage detection unit 114, the control unit 100 causes the hook 32a to be stored in the storage unit 201. The belt 32 is wound around the electric winch 30 in the state where the belt 32 is housed, and the detection result of the rotation amount detection unit 112 can be reset while the belt 32 is loosened.

  FIG. 7 is an explanatory view showing a state in which the slope is stored in the passenger compartment, a state in which the slope is erected and 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.

  The slope 22 rotates around the first rotation shaft 40a, so that the slope 22 is erected and fixed in an upright position standing up with respect to the floor 18 from a stored state in which it is stored along the floor 18 of the vehicle body. After moving to the outside of the vehicle through the state, the slope 22 is in the deployed position developed outside the vehicle compartment, and the slope 22 is in a grounded state where the other end in the vehicle front-rear direction is grounded to the ground plane 20. Further, the slope 22 can be moved from the deployed position to the retracted position via the standing position, that is, the slope 22 is rotated between the retracted position, the standing position and the deployed position by the rotation of the first rotation shaft 40a. The position can be changed. In the retracted state of the slope 22 in the passenger compartment, 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 with respect to the main plate body 34 and the vehicle body side plate body 36 starting from the third rotation shaft 40c. It is in a state of being bent into an acute angle. In this retracted 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. In addition, it can be said that the standing fixed state in the standing position is a second storage state in the second storage position in which the slope 22 is stored in a state where the mounted object 24 is mounted in the vehicle.

Here, with reference to FIG. 8, two 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.

  As shown in FIGS. 10A and 10B, in the mounting device 10, for example, a caregiver (operator) is placed at the center of the slope 22 (grounding side plate 38 to be described later) on the upper surface in the left-right direction during deployment. ) And the like are provided. The grip portion 46 includes a handle 25 having a grip 23 that is gripped by a caregiver's hand, a hinge 27 that is fixed to the upper surface of the slope 22 and that rotatably holds the handle 25, and a handle 25 on the upper surface of the slope 22. And a rectangular housing recess 29 for housing the housing.

<Guide part and locked part>
As shown in FIG. 11, the mounting device 10 includes a pair of left and right guide portions 91 and a pair of left and right engaged portions 92 as a structure used in a slope assist mode to be described later.

  The guide portion 91 is provided above the main body portion (drum 31) of the electric winch 30, in the present embodiment, in the vicinity of the opening 12 on the ceiling surface of the vehicle 16, and is a rectangular frame attached to the ceiling surface. Presents a shape. In the slope assist mode, the belt 32 that is a traction tool is inserted through the guide portion 91.

  The locked portion 92 is provided at the end of the slope 22 on both sides of the main plate 34 in the vehicle width direction on the third rotation shaft 40c side, and has a substantially annular shape when attached to the main plate 34. . In the slope assist mode, the hook 31a is locked to the locked portion 92.

<Control method of electric winch by control unit>
The control unit 100 controls the motor 33 of the electric winch 30 in two types of modes, that is, an object loading / unloading mode and a slope assist mode. The mode selection by the control unit 100 is automatically performed based on the detection / detection results of the detection / detection units 111 to 113. The automatic selection of the mode will be described later in detail. In the present embodiment, the control unit 100 uses the motor 33 of the pair of left and right electric winches 30 when the detection / detection results of the pair of left / right detection / detection units 111 to 113 indicate the same mode. To control.

  The remote controller 120 includes a start button and a stop button. When an operator who desires to drive the electric winch 30 operates the start button, the control unit 100 automatically selects a mode based on the operation and starts controlling the motor 33 of the electric winch 30. When an operator who desires to stop the electric winch 30 operates the stop button, the control unit 100 stops the motor 33 of the electric winch 30 based on the operation.

<Loading / unloading mode>
First, the load / unload mode will be described with reference to FIGS. 1 and 9. The mounted object getting-on / off mode is a mode in which the mounted object 26 is boarded from the outside of the vehicle via the slope 22 and the mounted object 26 is unloaded from the inside of the vehicle via the slope 22. The mounted object getting on / off mode is executed in a state where the hook 32 a is locked to the mounted object 26 without the belt 32 being hooked on the guide portion 91. Specifically, the loaded object getting on / off mode includes a boarding mode and a boarding mode.

<Ride mode>
The boarding mode is a mode for getting the loaded object 26 into the vehicle via the slope 22 from the outside of the vehicle. In the riding mode, the slope 22 is deployed outside the vehicle (see FIG. 1), and the operator (caregiver) extends the belt 32 from the drum 31 of the electric winch 30 and locks the hook 32a to the mounted object 26. . In this state, when the operator operates the start button of the remote controller 120, the control unit 100 rotates the motor 33 in the reverse direction and winds the belt 32 around the drum 31 at the winding speed V1. As a result, the mounted object 26 moves on the slope 22 at the winding speed V1 and gets into the vehicle while being guided by the operator (see FIGS. 1 to 9).

<Get off mode>
The dismounting mode is a mode for dismounting the mounted object 26 from the inside of the vehicle via the slope 22 to the outside of the vehicle. In the dismounting mode, the slope 22 is deployed outside the vehicle (see FIG. 9), and the operator locks the hook 32a to the mounted object 26. In this state, when the operator operates the start button of the remote controller 120, the control unit 100 rotates the motor 33 in the forward direction and feeds the belt 32 from the drum 31 at the feed speed V1. Accordingly, the mounted object 26 moves on the slope 22 at the feeding speed V1 while being tensioned in the in-vehicle direction by the belt 32 while being guided by the operator, and moves from the inside of the vehicle to the outside of the vehicle (see FIG. 9 → (See FIG. 1).

  The winding speed V1 in the boarding mode and the feeding speed V1 in the getting-off mode have the same magnitude and are set in opposite directions.

  In addition, in the loading / unloading mode, the control unit 100 can execute the control described in Japanese Patent Application Laid-Open No. 2014-169049 or Japanese Patent Application Laid-Open No. 2014-169051 by the applicant of the present application.

<Slope assist mode>
Next, the slope assist mode will be described with reference to FIG. In FIG. 11, the hook 32a is omitted. The slope assist mode is a mode for expanding the slope 22 from the inside of the vehicle to the outside of the vehicle or storing the slope 22 from the outside of the vehicle to the inside of the vehicle. The slope assist mode is executed in a state where the belt 32 is inserted into the guide portion 91 and the hook 32 a is locked to the locked portion 92 of the slope 22. Further, in the slope assist mode, the clutch 68 is in an off state, the second rotation shaft 40b and the third rotation shaft 40c are in a free state, and each plate body constituting the slope 22 is rotated manually. Be able to. Specifically, the slope assist mode includes a deployment mode and a storage mode.

<Deployment mode>
The expansion mode is a mode for expanding the slope 22 stored in the vehicle to the outside of the vehicle, and includes a first expansion mode and a second expansion mode.

  The first deployment mode is a mode for assisting the deployment of the slope 22 from the storage position to the standing position. In the first deployment mode, the control unit 100 rotates the motor 33 in the reverse direction and winds the belt 32 around the drum 31 at the winding speed V2. Thereby, the slope 32 rotates around the first rotation shaft 40a from the storage position to the standing position in a state where the handle 25 of the grip portion 46 is gripped by the operator. That is, when the operator develops the slope 22, the electric winch 30 supports a part of the weight of the slope 22, thereby assisting the operator in unfolding the slope 22.

  The second deployment mode is a mode for assisting deployment from the standing position of the slope 22 to the deployment position (high position or low position). In the second deployment mode, the control unit 100 rotates the motor 33 in the forward direction and feeds the belt 32 from the drum 31 at the feed speed V2. Thereby, the slope 22 rotates around the first rotation shaft 40a from the standing position to the deployed position (high position or low position) in a state where the handle 25 of the grip portion 46 is gripped by the operator. That is, when the operator develops the slope 22, the electric winch 30 supports a part of the weight of the slope 22, thereby assisting the operator in unfolding the slope 22.

<Storage mode>
The storage mode is a mode for storing the slope 22 deployed outside the vehicle into the vehicle, and includes a first storage mode and a second storage mode.

  The first storage mode is a mode for assisting the storage of the slope 22 from the deployed position (high position or low position) to the standing position. In the first storage mode, the control unit 100 rotates the motor 33 in the reverse direction to wind the belt 32 around the drum 31 at the winding speed V2. Thereby, the slope 22 rotates around the first rotation shaft 40a from the deployed position (high position or low position) to the standing position in a state where the handle 25 of the grip portion 46 is gripped by the operator. That is, when the operator stores the slope 22, the electric winch 30 supports a part of the weight of the slope 22, thereby assisting the operator in storing the slope 22.

  The second storage mode is a mode for assisting storage from the standing position of the slope 22 to the storage position. In the second storage mode, the control unit 100 rotates the motor 33 in the forward direction and feeds the belt 32 from the drum 31 at the feed speed V2. Accordingly, the slope 22 rotates around the first rotation shaft 40a from the standing position to the retracted position in a state where the handle 25 of the grip portion 46 is gripped by the operator. That is, when the operator stores the slope 22, the electric winch 30 supports a part of the weight of the slope 22, thereby assisting the operator in storing the slope 22.

  In the slope assist mode, the electric winch 30 applies a rotational force around the first rotation shaft 40a to the slope 22 in the direction of the standing position from either the storage position or the deployment position.

<Automatic mode selection>
In the present embodiment, the control unit 100 determines the slope assist mode and the mounted state based on one of the detection result of the traction tool detection unit 111, the detection result of the angle detection unit 112, and the detection result of the rotation amount detection unit 113. Automatically select and execute one of the vehicle entry / exit modes.

<Mode determination by tow tool detection unit>
When the slope 22 is deployed / stored, the belt 32 as a traction tool is hung on the guide portion 91, and the traction tool detection unit 111 detects the belt 32. On the other hand, when the mounted object 26 gets on / off the vehicle, the belt 32 as a traction tool is not hung on the guide portion 91, and the traction device detection unit 111 does not detect the belt 32.

  In view of this situation, when the traction tool detection unit 111 detects the belt 32 at the start of control, the control unit 100 selects and executes the slope assist mode. On the other hand, when the tow tool detection unit 111 does not detect the belt 32 at the start of control, the control unit 100 selects and executes the load / unload mode.

<Mode selection by angle detector>
If the slope 22 is expanded / storage is a traction tool belt 32 is hooked on the guide portion 91, the feeding angle phi of the belt 32, and has a threshold angle (predetermined angle) phi _TH or more. On the other hand, when the mounted object 26 gets on / off the vehicle, the belt 32 as a towing tool is not hung on the guide portion 91, and the feeding angle φ of the belt 32 is less than the angle threshold φ _TH . Here, the angle threshold φ _TH is larger than the feeding angle of the belt 32 assumed in a state where the hook 31 a is locked to the mounted object 24 outside the vehicle, and the belt in a state where the belt 32 is hung on the guide portion 91. It is set in advance as a value smaller than 32 feeding angles.

In view of this situation, when the angle detected by the angle detector 112 is equal to or greater than the angle threshold φ _TH at the start of control, the controller 100 selects and executes the slope assist mode. On the other hand, when the angle detected by the angle detection unit 112 is less than the angle threshold φ _TH at the start of control, the control unit 100 selects and executes the mounted object getting on / off mode.

<Mode selection by rotation amount detector>
When the slope 22 is deployed from the retracted position / stored from the deployed position (high position or low position), the belt 32 as a traction tool is hung on the guide portion 91, and the rotation amount of the drum 31 is The rotation amount threshold value (predetermined rotation amount) is Y _TH or more. On the other hand, when the mounted object 26 gets on / off the vehicle, the belt 32 as a towing tool is not hung on the guide portion 91, and the rotation amount of the drum 31 is less than the threshold value _YTH . Here, the rotation amount threshold Y _TH is larger than the rotation amount corresponding to the extended length of the belt 32 assumed when the hook 31a is locked to the mounted object 24 outside the vehicle. The value is set in advance as a value smaller than the rotation amount corresponding to the feeding length of the belt 32 in a state where the hook 31a is hooked and locked to the locked portion 92 of the slope 22 at the storage position.

In view of this situation, when the rotation amount detected by the rotation amount detection unit 113 is equal to or greater than the rotation amount threshold value _YTH at the start of control, the control unit 100 selects and executes the slope assist mode. On the other hand, when the rotation amount detected by the rotation amount detection unit 113 is less than the rotation amount threshold value _YTH at the start of control, the control unit 100 selects and executes the mounted object getting on / off mode.

<Composite mode selection>
At the start of control, the control unit 100 selects either the slope assist mode or the loaded object getting on / off mode based on at least one of the detection result of the traction tool detection unit 111 and the detection result of the angle detection unit 112.

  When the slope assist mode is selected, the control unit 100 selects and executes either the expansion mode or the storage mode based on the detection result of the rotation amount detection unit 113.

For example, when the slope 22 is in the storage position as an initial state, the rotation amount detected by the rotation amount detection unit 113 is equal to or greater than the second rotation amount threshold Y _TH2 and less than the third rotation amount threshold Y _TH3 . The control unit 100 selects and executes the first expansion mode in the expansion mode. Here, the second rotation amount threshold value Y _TH 2 is the extension length of the belt 32 in a state where the belt 32 is hooked on the guide portion 91 and the hook 31a is locked to the locked portion 92 of the slope 22 in the standing position. Is set in advance as a value slightly larger than the rotation amount corresponding to. The third rotation amount threshold value Y _TH3 corresponds to the extended length of the belt 32 in a state where the belt 32 is hooked on the guide portion 91 and the hook 31a is locked to the locked portion 92 of the slope 22 in the retracted position. This corresponds to the extended length of the belt 32 in a state where the belt 32 is hooked on the guide portion 91 and the hook 31a is locked to the locked portion 92 of the slope 22 in the deployed position (high position). It is preset as a value smaller than the rotation amount.

When the rotation amount detected by the rotation amount detection unit 113 becomes less than the second rotation amount threshold value _YTH2 , the control unit 100 ends the first deployment mode. After the end of the first deployment mode, the operator rotates the slope 22 slightly closer to the deployment position than the standing position. When the start button of the remote controller 120 is operated within a predetermined time from the end of the first expansion mode, the control unit 100 selects and executes the second expansion mode.

In addition, when the slope 22 is in the deployed position as an initial state, the rotation amount detected by the rotation amount detection unit 113 is equal to or greater than the third rotation amount threshold value _YTH3 . 1 storage mode is selected and executed. When the rotation amount detected by the rotation amount detection unit 113 becomes less than the second rotation amount threshold value _YTH2 , the control unit 100 ends the first storage mode. After the end of the first storage mode, the operator rotates the slope 22 slightly closer to the storage position than the standing position. When the start button of the remote controller 120 is operated within a predetermined time from the end of the first storage mode, the control unit 100 selects and executes the second storage mode.

  When the loading / unloading mode is selected, the control unit 100 selects and executes either the boarding mode or the getting-off mode based on the detection result of the rotation amount detection unit 113.

For example, when the mounted object 26 is located outside the vehicle as an initial state, the rotation amount detected by the rotation amount detection unit 113 is equal to or greater than the fourth rotation amount threshold value Y _TH4 , so that the control unit 100 can _enter the riding mode. Select and execute. When the mounted object 26 is located in the vehicle as an initial state, the rotation amount detected by the rotation amount detection unit 113 is less than the fourth rotation amount threshold value _YTH4. Select and execute. Here, the fourth rotation amount threshold Y _TH4 is larger than the rotation amount corresponding to the extended length of the belt 32 assumed in a state where the hook 31a is locked to the mounted object 24 in the vehicle, and is mounted in the vehicle. It is set in advance as a value smaller than the rotation amount corresponding to the feeding length of the belt 32 assumed in a state where the hook 31a is locked to the object 24.

Table 1 summarizes the contents of such control.

<Speed setting>
In the present embodiment, the winding / unwinding speed V1 of the belt 32 in the load / unload mode is set lower than the winding / unwinding speed V2 of the belt 32 in the slope assist mode.

<Manual mode switching>
When the operator presses and holds down the start button of the remote controller 120 in a state where the slope assist mode is selected, the control unit 100 changes the operation mode from the slope assist mode to the load / unload mode from the slope assist mode. To realize the winding / unwinding speed V2 of the belt 32 in the load / unload mode. This is because it is possible to change the posture of the slope 22 more slowly when assisting the operation of deploying / storing the slope 22. Note that, in a state where the load / unload mode is selected, the control unit 100 is prohibited from switching the operation mode from the load / unload mode to the slope assist mode. This is to ensure the safety of getting on / off the object 24 to be loaded.

Since the mounting apparatus 10 according to the embodiment of the present invention uses the electric winch 30 for both the loading / unloading mode and the slope assist mode, a dedicated mechanism for expanding / retracting the slope 22 becomes unnecessary, Cost and weight can be reduced.
In addition, the mounting device 10 is adapted to perform guidance by an unwinding / winding speed of the electric winch 30, various cautions, that is, voice, an indicator described in Japanese Patent Application Laid-Open No. 2014-169051 by the applicant of the present invention, and the like. The presence / absence, type, and the like can be switched, and both the safety when getting on / off the loaded object 24 and the convenience when deploying / storing the slope 22 can be achieved.

  Further, since the mounting device 10 is provided with the guide portion 91, when the slope 22 is deployed / stored, a force for lifting the slope 22 upward can be generated, and the slope 22 can be efficiently deployed / expanded. Can be stored. Therefore, the motor 33 that is a drive source of the electric winch 30 can be downsized, and the motor can be shared with the electric winch 30 that does not have the slope assist mode.

  In addition, since the mounting device 10 automatically selects and executes the loading / unloading mode and the slope assist mode, the operation by the operator is simplified and the convenience can be improved.

  Further, the mounting device 10 automatically selects a mode based on any of the detection result of the tow tool detection unit 111, the detection result of the angle detection unit 112, and the detection result of the rotation amount detection unit 113. Mode can be selected to improve convenience.

  Further, since the loading / unloading speed V1 of the belt 32 in the load / unload mode is set to be lower than the winding / feeding speed V2 of the belt 32 in the slope assist mode, the loading device 10 has a wheelchair, luggage, etc. This increases the safety when getting on / off the object to be mounted 24, increases the working speed when deploying / storing the slope 22, and improves convenience.

Further, the mounting device 10 is more slowly when assisting the deployment / storage operation of the slope 22 by switching the operation mode from the slope assist mode to the mounted object getting on / off mode based on the manual operation of the operator. The posture of the slope 22 can be changed.
In addition, the mounting device 10 is prohibited from switching the operation mode from the loading / unloading mode to the slope assist mode in the state where the loading / unloading mode is selected. It is possible to ensure safety in getting on / off the vehicle.

As mentioned above, although embodiment of this invention was described, this invention is not limited to the said embodiment, In the range which does not deviate from the summary of this invention, it can change suitably. For example, the guide 91 may be configured in the vicinity of the opening 12 on the side surface of the vehicle 16.
Further, the electric winch 30 may be provided on the ceiling surface of the vehicle 16 and the guide portion 91 may be provided on the floor 18 of the vehicle 16. Moreover, the shape of the guide part 91 is not limited to what was shown in figure, For example, the shape which the left-right paired guide part 91 integrates and exhibits one rectangular frame may be sufficient. The shape of the slope 22 can be changed as appropriate. The remote controller 120 may be configured to have a dedicated button for switching from the load / unload mode to the slope assist mode.

10 Mounting device (Mounting device for the load)
16 Vehicle 20 Grounding surface 22 Slope 26 Wheelchair (loaded object)
30 Electric winch 31 Drum 32 Belt (traction tool)
32a hook (locking part)
34 Main plate body 36 Car body side plate body 38 Ground side plate body 40a to 40c Rotating shaft 91 Guide portion 92 Locked portion 100 Control portion 111 Traction tool detection portion 112 Angle detection portion 113 Rotation amount detection portion

Claims (8)

A slope that is pivotably attached at one end to the opening of the vehicle body, and that can be switched between a deployed state that is deployed from the opening to the outside of the vehicle compartment and a stored state that is stored in the vehicle compartment;
An electric winch for getting on and off the object to be loaded via the slope;
A control unit for controlling the electric winch;
With
The electric winch is
A traction tool whose feeding amount is controlled by the control unit;
A locking portion that is provided at the tip of the traction tool and can be locked to either the slope or the mounted object;
With
The controller is
A loading / unloading mode for loading and unloading the loaded object;
A slope assist mode for assisting the expansion and storage of the slope;
An apparatus for mounting an object to be mounted. A guide portion provided at a position above the electric winch of the vehicle body;
2. The object according to claim 1, wherein, in the slope assist mode, the traction tool is folded downward via the guide portion, and the locking portion is locked to the slope. Loading device. The apparatus for mounting an object to be mounted according to claim 2, wherein the control unit can automatically select the object getting-on / off mode and the slope assist mode. A traction tool detection unit for detecting whether or not the traction tool is hung on the guide unit;
The controller is
At the start of control of the electric winch,
When it is detected by the traction tool detection unit that the traction tool is hung on the guide unit, the slope assist mode is executed,
The mounted object mounting device according to claim 3, wherein the mounted object getting-on / off mode is executed when it is not detected by the tow tool detection part that the hook is hung on the guide part. . An angle detection unit for detecting a feeding angle of the traction unit;
The controller is
At the start of control of the electric winch,
When the angle detected by the angle sensor is greater than or equal to a predetermined angle with respect to the horizontal direction, the slope assist mode is executed,
The mounted object mounting device according to claim 3 or 4, wherein when the angle detected by the angle sensor is less than the predetermined angle, the mounted object getting on / off mode is executed. . The electric winch is
A drum around which the traction tool can be wound;
A motor for rotating the drum;
With
A rotation amount detection unit for detecting the rotation amount of the drum;
The controller is
At the start of control of the electric winch,
When the rotation amount detected by the rotation amount detection unit is equal to or greater than a predetermined rotation amount, the slope assist mode is executed,
The loaded object getting on / off mode is executed when the rotation amount detected by the rotation amount detection unit is less than the predetermined rotation amount. The mounting apparatus of the to-be-mounted object described in 2. The winding / unwinding speed of the traction tool in the loading / unloading mode is set lower than the winding / unwinding speed of the traction tool in the slope assist mode. The mounting apparatus of the mounted object as described in any one of 6 The mounting device mounting apparatus according to claim 7, wherein the control unit can switch the slope assist mode to the mounting object getting-on / off mode based on a manual operation by an operator.

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