JP2019156572A - Control device for electrically-driven winch - Google Patents

Abstract

To prevent emission of a warning sound as long as backward movement of an object to be towed does not occur.SOLUTION: A threshold storage unit 53 stores a first threshold TH1 compared with an amount by which a belt is pulled. When the amount by which the belt is pulled is smaller than the first threshold TH1, a controller 50 inhibits operation of a backward-movement detection unit 54. This can prevent operation of the backward-movement detection unit 54 even if a power source is turned off with the belt left slightly slacking in the vehicle cabin, a power source is turned on thereafter, and a slack removal motor 95 is actuated. Therefore, as long as backward movement of a wheelchair (an object to be towed) does not occur, emission of a warning sound can be inhibited, making it possible to improve convenience and reliability.SELECTED DRAWING: Figure 8

Description

  The present invention relates to a control device for an electric winch that carries a towed object into or out of a vehicle compartment.

  Conventionally, a mounting space for mounting a wheelchair as a towed object is provided in the vehicle interior of the welfare vehicle and on the rear side. From the mounting space, a slope is drawn out of the passenger compartment, and a wheelchair outside the passenger compartment is carried into the mounting space via the slope. An electric winch having a hooked belt is installed on the vehicle front side of the mounting space. By pulling out the belt from the electric winch, hooking the hook on the wheelchair frame, and driving the electric winch under this state, the wheelchair can be easily carried into the mounting space.

  For example, a technique described in Patent Document 1 is known as an electric winch for carrying a wheelchair into or out of the passenger compartment. The electric winch described in Patent Document 1 includes a drum around which a belt for pulling a wheelchair is wound, an electric motor unit that rotates the drum, an electromagnetic clutch provided between the drum and the electric motor unit, and a reverse of the drum. A ratchet mechanism for preventing rotation and a slack eliminating motor for slackening the belt are provided.

  The controller then locks the ratchet mechanism to prevent the drum from rotating further in the event that the drum rotates backward due to an electromagnetic clutch failure, etc., and drives the buzzer to sound a warning sound. Let

JP 2013-060271 A

  By the way, the welfare vehicle is not limited to a large one-box vehicle (large vehicle) but may be based on a small mini vehicle (small vehicle). In a large vehicle, the floor surface of the mounting space is relatively flat, but in a small vehicle, in order to secure the mounting space by tilting the rear seat forward, irregularities are formed on the floor surface of the mounting space. For example, in a small vehicle, as shown in FIG. 1, a relatively large recess G is formed between a driver seat and a passenger seat and a rear seat that is tilted forward. In a small vehicle, the electric winch is installed below the driver's seat and the passenger seat.

  And if the electric winch described in the above-mentioned patent document 1 is simply applied to such a small vehicle, the following problems may occur.

  For example, when the power is turned off while the wheelchair is not towed and the belt is left in the passenger compartment with some slack, and then the power is turned on again, the slack eliminating motor operates and the belt The slack is removed. Then, the hook provided at the front end of the belt is attracted to the electric winch while moving so as to slide on the rear seat.

  After that, the hook approaching the electric winch drops vigorously into the recess G shown in FIG. At this time, if the pawl of the ratchet mechanism is just before being meshed with the next tooth of the latch gear, the drum will reversely rotate against the weak rotational force of the slack eliminating motor due to the weight of the steel hook. As a result, the controller erroneously detects that the towed object has moved backward, and drives the buzzer to sound a warning sound.

  An object of the present invention is to provide a control device for an electric winch capable of prohibiting a warning sound when the towed object is not retracted.

  In one aspect of the present invention, a control device for an electric winch for carrying a towed object into or out of a vehicle interior, the controller for controlling the loading and unloading of the belt that pulls the towed object, and provided in the controller, A belt pull-out amount detection unit for detecting the belt pull-out amount, a threshold storage unit that is provided in the controller and stores a comparison threshold value to be compared with the belt pull-out amount, and is provided in the controller. A reverse detection unit that detects that the towed object is moving backward, and the controller prohibits the operation of the reverse detection unit when the belt withdrawal amount is smaller than the comparison threshold value. To do.

  In another aspect of the present invention, when detecting that the towed object is retreating, the retreat detecting unit drives an informing unit that notifies the retraction of the towed object.

  In another aspect of the present invention, the comparison threshold value is smaller than a pulling amount of the belt when the towed object is at a fixed position in the vehicle interior.

  In another aspect of the present invention, the controller permits an operator to switch to a belt-free mode in which the belt can be taken in and out freely when the belt withdrawal amount is smaller than the comparison threshold value.

  According to the present invention, the threshold storage unit stores a comparison threshold value to be compared with the belt withdrawal amount, and the controller detects the backward movement when the belt withdrawal amount is smaller than the comparison threshold value. Even if the power is turned off while the belt is left in the passenger compartment with some slack, and then the power is turned on again and the slack eliminating motor is activated, the reverse detection unit is not operated. You can Therefore, it is possible to prohibit the sounding of the warning sound when the towed object is not retracted, thereby improving convenience and reliability.

It is a schematic diagram which shows the vehicle carrying an electric winch. It is explanatory drawing of the electric winch which looked at the vehicle of FIG. 1 from upper direction. (A) is a top view which shows the operation panel installed in the vehicle, (b) is a top view which shows the remote control which can be operated from the vehicle interior. It is a perspective view which shows the detailed structure of an electric winch. It is a top view which shows the internal structure (deceleration mechanism) of an electric motor part. It is a perspective view which shows the internal structure (drum periphery) of an electric winch. It is a schematic diagram which shows the connection relation of the member which comprises an electric winch. It is a block diagram which shows the periphery (electrical system) of a controller. It is a flowchart which shows the logic which prohibits operation | movement of a reverse detection part. It is explanatory drawing explaining the 1st, 2nd threshold value provided in the belt position memory | storage part. It is explanatory drawing explaining the state for which operation | movement of the reverse detection part was prohibited.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

  1 is a schematic view showing a vehicle equipped with an electric winch, FIG. 2 is an explanatory view of the electric winch when the vehicle of FIG. 1 is viewed from above, and FIG. 3A shows an operation panel installed in the vehicle. FIG. 4B is a plan view showing a remote control that can be operated from outside the passenger compartment, FIG. 4 is a perspective view showing the detailed structure of the electric winch, and FIG. 5 is a plan view showing the internal structure (deceleration mechanism) of the electric motor unit. FIG. 6 is a perspective view showing the internal structure (around the drum) of the electric winch, FIG. 7 is a schematic view showing the connection relationship of members constituting the electric winch, and FIG. 8 is the periphery of the controller (electric system). FIG. 9 is a flowchart showing the logic for inhibiting the operation of the reverse detection unit, FIG. 10 is an explanatory diagram for explaining the first and second threshold values provided in the belt position storage unit, and FIG. Explains the state where the operation of the reverse detection unit is prohibited That illustrates the show, respectively.

  A vehicle 10 shown in FIGS. 1 and 2 is a welfare vehicle based on a light vehicle (small vehicle). A mounting space 11 in which a wheelchair (towed object) 20 is mounted is provided in the vehicle interior of the vehicle 10 and on the rear side (right side in the figure). A pair of electric winches 30 arranged at predetermined intervals in the vehicle width direction (vertical direction in FIG. 2) of the vehicle 10 is provided on the vehicle front side (left side in the figure) of the mounting space 11. These electric winches 30 are respectively installed below the driver seat DR and the passenger seat AS of the vehicle 10. In FIG. 1, only the driver's seat DR side is shown.

  Each of the pair of electric winches 30 includes a belt 32 provided with a hook 31 on the tip side, and the belt 32 pulls the wheelchair 20. Here, the hook 31 is made of steel having sufficient rigidity so as not to be easily deformed. Then, the belt 32 is pulled out from the pair of electric winches 30, and the hooks 31 are hooked on the pair of front frames 21 on the left and right sides of the wheelchair 20. Thereafter, the wheelchair 20 is moved toward the mounting space 11 by causing the pair of electric winches 30 to operate synchronously and pulling the pair of belts 32 in this state.

  A slope 12 is provided on the vehicle rear side of the mounting space 11 to connect the ground J and the floor surface F of the vehicle 10 with a gentle inclination angle. The slope 12 is a combination of a total of three aluminum plates that can slide freely. Is formed. When the vehicle 10 travels, the slope 12 is folded compactly and leans on the vehicle rear side of the mounting space 11 and on the inside of the closed back door 13 or the like.

  Then, the wheelchair 20 moves on the slope 12 from the state shown in FIG. 2 by moving the pair of electric winches 30 synchronously and pulling in the pair of belts 32, and eventually the floor as shown in FIG. It reaches the surface F and is carried into a fixed position in the mounting space 11. Here, the fixed position is a position where the wheelchair 20 is in the state shown in the uppermost stage of FIGS. 1 and 10, that is, the wheelchair 20 is fixed so as not to rattle against the vehicle 10, and the vehicle 10 can travel. Says the position that will be in a state.

  Here, when the wheelchair 20 is carried into the mounting space 11 of the vehicle 10, first, the rear seat (second seat) RS is brought down to the front. As a result, a relatively large mounting space 11 appears behind the vehicle 10 that is a light vehicle. And between the driver's seat DR and the passenger seat AS, and the rear seat RS that has been tilted forward, a recessed portion G that is recessed toward the floor surface F is formed, and a pair of belts 32 are formed from the recessed portion G. It is designed to be pulled out.

  In addition, the pair of electric winches 30 are operated synchronously to send out the pair of belts 32, whereby the wheelchair 20 mounted in the mounting space 11 moves on the slope 12, and is eventually carried out from the floor F to the ground J. Is done. By providing the slope 12 in this manner, the wheelchair 20 can be easily moved between the ground J and the floor surface F. The pair of electric winches 30 is operated by an assistant (operator), and the assistant supports (supports) the wheelchair 20 from behind the wheelchair 20 while the pair of electric winches 30 is operated.

  The control device 40 that controls the pair of electric winches 30 is configured as shown in FIG. That is, the control device 40 includes a pair of electric winches 30, a controller 50, an operation panel 60, and a remote controller 70. Between the pair of electric winches 30 and the controller 50, and between the operation panel 60 and the controller 50, wirings 14 are provided in an electrically connected manner. The remote controller 70 is wireless and can communicate with the controller 50 wirelessly. By taking the remote controller 70 out of the passenger compartment, the pair of electric winches 30 can be operated from outside the passenger compartment.

  As shown in FIG. 2, a pair of fixing belts 16 having hooks 15 are provided on the floor surface F of the vehicle 10. The hooks 15 of these fixing belts 16 are respectively hooked on a pair of wheels 22 on the left and right sides of the wheelchair 20 in the mounting space 11. Thereby, the wheelchair 20 mounted in the mounting space 11 is supported at a total of four locations including the hook 31 of the belt 32 and the hook 15 of the fixed belt 16. Therefore, the wheelchair 20 does not move or rattle at the fixed position of the vehicle 10.

  As shown in FIG. 1, in a state where the wheelchair 20 is fixed at a fixed position in the mounting space 11, a pair of casters (small wheels) 23 provided on the left and right sides and the front side of the wheelchair 20 are It is arranged on the rear seat RS that is tilted forward. In other words, a relatively large mounting space 11 is formed by effectively using the internal space of the vehicle 10 that is a light vehicle (small vehicle).

  The operation panel 60 includes a panel body 61 as shown in FIG. The panel main body 61 is disposed on the rear side of the vehicle 10, and the operation panel 60 can be easily operated from outside the passenger compartment. The panel main body 61 is provided with a main power switch 62, a belt free switch 63, a speed changeover switch 64, and a buzzer (notification unit) 65.

  The main power switch 62 is a switch operated when the system power of the control device 40 is turned on. When the main power switch 62 is turned on, the system power is turned on and the indicator 62a is turned on. Here, the main power switch 62 is also operated when the control device 40 is initialized. For example, the control device 40 is initialized by a long press of 3 seconds or more.

  The belt-free switch 63 is a switch that is operated when the pair of electric winches 30 is in an unlocked state. Then, by turning on the belt-free switch 63, the pair of belts 32 can be manually pulled out and housed (withdrawal). That is, the belt-free switch 63 is turned on, the pair of belts 32 is pulled out, the pair of hooks 31 is hooked on the wheelchair 20 outside the passenger compartment, or the length of the pair of belts 32 pulled out from the pair of electric winches 30 respectively. You can even align. Here, when the belt-free switch 63 is turned on, the indicator 63a is turned on.

  When the wheelchair 20 is mounted on or removed from the mounting space 11, the speed changeover switch 64 sets the moving speed of the pair of belts 32, that is, the pull-in speed and the feeding speed, to a low speed (LOW) or a high speed (HIGH). This switch is operated when switching to).

  Further, the buzzer 65 emits a warning sound such as an electronic sound when the pair of belts 32 is retracted or delivered (normal operation), or when the pair of electric winches 30 is malfunctioning (when a failure occurs). It comes to sound. That is, the buzzer 65 notifies the surroundings of the retreat of the wheelchair 20 or the like. Here, the warning sound is not limited to an electronic sound, and may be a voice announcement.

  The remote controller 70 is a wireless remote control unit, and can be used when the main power switch 62 of the operation panel 60 is operated and the system power of the control device 40 is turned on. The remote control 70 includes a remote control main body 71 as shown in FIG. The remote control main body 71 is provided with a remote control power switch 72, an on switch 73 and an output switch 74. The remote controller 70 further includes an indicator 75, and the indicator 75 is turned on when the remote controller 70 is operated.

  The remote controller 70 is operated by an assistant. Then, by turning on the remote control power switch 72 by the assistant and then pressing the on switch 73 or the out switch 74, the pair of electric winches 30 are operated synchronously. Specifically, while the on switch 73 is being pressed, the pair of electric winches 30 are continuously operated, and the loading of the wheelchair 20 into the mounting space 11 is assisted. On the other hand, while the exit switch 74 is being pressed, the pair of electric winches 30 rotate in the reverse direction, and the carry-out of the wheelchair 20 from the mounting space 11 is assisted.

  However, during the operation of the remote controller 70, the assistant holds the grip GR (see FIG. 1) of the wheelchair 20, supports the wheelchair 20, and guides the movement thereof. Thus, the control apparatus 40 assists the movement of the wheelchair 20 by the assistant by controlling the pair of electric winches 30.

  As shown in FIGS. 4 and 7, the electric winch 30 includes an electric motor unit 80 and a drum unit 90. The electric motor unit 80 and the drum unit 90 are integrated (unitized) by a plurality of fastening screws (not shown).

  The electric motor unit 80 includes a motor unit 81 and a gear unit 82. As shown in FIG. 5, a plurality of magnets 81a are provided inside the motor unit 81, and an armature 81c around which a coil 81b is wound is rotatably provided inside these magnets 81a. . An armature shaft 81d is fixed to the rotation center of the armature 81c. A commutator 81f with which a pair of brushes 81e are slidably contacted is provided at an intermediate portion in the longitudinal direction of the armature shaft 81d. By supplying a drive current from the pair of brushes 81e to the coil 81b via the commutator 81f, the armature shaft 81d. Rotates.

  A worm 81g is integrally provided on the distal end side (left side in the figure) of the armature shaft 81d, and this worm 81g extends to the inside of the gear portion 82. A worm wheel 82a meshing with the worm 81g is rotatably provided in the gear portion 82, and the worm 81g and the worm wheel 82a constitute a speed reduction mechanism SD. The deceleration mechanism SD decelerates the rotation R1 of the armature shaft 81d to increase the torque, and outputs the increased rotation R2 from the output shaft 83 to the outside via the worm wheel 82a. Here, the output shaft 83 protrudes toward the drum portion 90 and rotates the drum 92 (see FIG. 6) forming the drum portion 90. That is, the motor unit 81 is configured to take in and out the belt 32 from the opening 91a (see FIG. 4).

  As described above, the reduction mechanism SD is a worm reduction device including the worm 81g and the worm wheel 82a, so that it is difficult to transmit the rotational force from the output shaft 83 to the armature shaft 81d. That is, the speed reduction mechanism SD including the worm 81g and the worm wheel 82a generates a braking force that stops the rotation of the output shaft 83 transmitted from the drum portion 90.

  As shown in FIG. 7, an electromagnetic clutch 84 is provided between the gear portion 82 (worm wheel 82a) and the output shaft 83, that is, between the drum 92 and the motor portion 81 in the motor portion power transmission path. Yes. The electromagnetic clutch 84 is controlled by the controller 50 (see FIG. 2), and puts the drum 92 and the motor unit 81 into the engaged state or the released state. Specifically, when the electromagnetic clutch 84 is in the engaged state, the drum 92 and the motor unit 81 are connected so that power can be transmitted, and when the electromagnetic clutch 84 is in the opened state, the drum 92 and the motor unit 81 are connected. Disconnected.

  Here, the electromagnetic clutch 84 includes a first plate (not shown) that rotates integrally with the worm wheel 82a, a second plate (not shown) that rotates integrally with the output shaft 83, and a stator coil (not shown). It has. Then, by supplying a drive current to the stator coil, the stator coil generates an electromagnetic force, whereby each plate is attracted and fastened (fastened state). On the other hand, each plate is separated (open state) by stopping the supply of the drive current to the stator coil.

  As shown in FIG. 4, the drum unit 90 includes a casing 91. The casing 91 is formed in a substantially box shape, and a drum 92, a ratchet mechanism 93, and a slack eliminating mechanism 94 shown in FIG. A drive current is supplied to the outside of the casing 91 to a slack eliminating motor 95 that removes slack of the belt 32 wound around the drum 92, a rotation sensor 96 that detects the rotation of the drum 92, the electric motor unit 80, the slack eliminating motor 95, and the like. For example, a connector connecting portion 97 to which an external connector (not shown) is connected is provided.

  An opening 91a is formed in the side portion of the casing 91, and the belt 32 can freely enter and exit from the opening 91a. The belt 32 is guided in and out by a guide member 98 provided in the vicinity of the opening 91 a of the casing 91, thereby preventing the belt 32 from being twisted. Further, the guide member 98 does not allow the hook 31 to pass through, thereby preventing the entire belt 32 from being pulled into the casing 91.

  4 is a pair of mounting stays for fixing the electric winch 30 to the floor F (see FIG. 2) of the vehicle 10, and these mounting stays ST are a plurality of fastening bolts (not shown). Is firmly fixed to the floor F. As a result, the electric winch 30 is firmly fixed to the vehicle 10 without rattling.

  In addition, the drum 92, the ratchet mechanism 93, and the slack eliminating mechanism 94 are housed inside the casing 91, but the slack eliminating motor 95, the guide member 98, and the hook 31 are disposed outside the casing 91.

  A belt 32 is wound around the drum 92, and a drum shaft 92a is attached to the center of rotation of the drum 92 so as to be integrally rotatable. The rotation of the output shaft 83 (see FIG. 5) of the electric motor unit 80 is transmitted to the drum shaft 92a, and the drum shaft 92a and the drum 92 rotate in the forward and reverse directions of the electric motor unit 80. Along with the drive, it is rotationally driven in forward and reverse directions. As a result, the belt 32 can be drawn into the casing 91 or sent out of the casing 91.

  As shown in FIG. 7, a one-way clutch 92b is provided between the drum 92 and the drum shaft 92a. The one-way clutch 92b is configured to transmit this rotation to the drum 92 as it is when the drum shaft 92a rotates in the retracting direction of the belt 32 (counterclockwise direction in FIG. 6). On the other hand, when the drum 92 rotates in the drawing direction of the belt 32 before the drum shaft 92a, the rotation of the drum 92 is not transmitted to the drum shaft 92a, and the drum 92 can be idle.

  The ratchet mechanism 93 engages with a latch gear 93a provided on the drum 92 so as to be integrally rotatable, and the latch gear 93a, and allows the drum 92 to rotate in the pull-in direction of the belt 32, and rotates the belt 32 in the feed-out direction ( A swingable pawl 93b that restricts the clockwise direction in FIG. 6 and a solenoid drive member 93c that swings the pawl 93b are provided.

  The solenoid driving member 93c is provided with a driving pin 93d. By supplying a driving current to the solenoid driving member 93c under the control of the controller 50, the driving pin 93d moves in the axial direction of the pin and retracts. As a result, the latch gear 93a and the pawl 93b are disengaged from each other to be unlocked, and the drum 92 can rotate in both the retracting direction and the feeding direction of the belt 32. Thus, the wheelchair 20 can be lowered from the mounting space 11 by making the drum 92 rotatable in both directions.

  On the other hand, by stopping the supply of the drive current to the solenoid drive member 93c under the control of the controller 50, the drive pin 93d is projected by the spring force of the return spring (not shown). As a result, the pawl 93b is engaged with the latch gear 93a to be locked, and the rotation of the drum 92 in the feed-out direction of the belt 32 is restricted while allowing the rotation of the drum 92 in the pull-in direction of the belt 32. Retraction of the wheelchair 20 on 12 is prevented.

  The slack eliminating mechanism 94 includes a spar gear 94 a provided on the drum 92 so as to be integrally rotatable, a small-diameter gear 94 b that meshes with the spur gear 94 a, and a reduction gear mechanism 94 c that is rotationally driven by a slack eliminating motor 95. The slack eliminating motor 95 generates a rotational force in the direction in which the drum 92 winds up the belt 32. The rotational force of the slack eliminating motor 95 is transmitted through the reduction gear mechanism 94c, the small diameter gear 94b, the torque limiter 94d, and the spur gear 94a. 92.

  Here, as shown in FIG. 7, a torque limiter 94d is provided between the small-diameter gear 94b and the reduction gear mechanism 94c, and the torque limiter 94d cuts off the transmission of torque above a certain level. ing. As a result, the slack eliminating motor 95 is prevented from being overloaded, and the slack eliminating motor 95 is protected. That is, as the slack eliminating motor 95, a small motor capable of generating a torque (low torque) that can remove the slack of the belt 32 can be employed.

  As shown in FIG. 8, the controller 50 includes an ignition switch IG, a vehicle speed sensor VS, a shift position sensor SP, an operation panel 60 and a buzzer 65 in addition to a pair of electric winches 30 (only one is shown in the figure). They are electrically connected via a wiring 14 (see FIG. 2) or the like. The controller 50 can receive various operation signals from the remote controller 70 wirelessly.

  The controller 50 includes a drive control unit 51 that comprehensively controls the electric winch 30 based on various input signals, that is, controls the insertion and removal of the belt 32 that pulls the wheelchair 20. The drive control unit 51 controls the motor unit 81, the electromagnetic clutch 84, the solenoid drive member 93c, and the slack eliminating motor 95, which are drive system components of the electric winch 30, respectively.

  The controller 50 is supplied with a rotation signal r indicating the rotation state of the drum 92 and a current signal A flowing through the motor unit 81. Accordingly, the drive control unit 51 grasps the drive state of the electric winch 30 based on the rotation signal r and the current signal A.

  Here, the controller 50 is activated by the input of an ON signal from the ignition switch IG, whereby the electric winch 30 enters a standby state. At this time, when the vehicle speed signal V (m / s) from the vehicle speed sensor VS is input and the drive control unit 51 determines that the vehicle 10 is traveling, the drive control unit 51 prohibits the operation of the electric winch 30. In addition to this, the drive control unit 51 determines that the vehicle 10 is not in the stopped state even when the signal from the shift position sensor SP is other than the parking signal (P signal), and operates the electric winch 30. Ban.

  Thus, the drive control part 51 permits operation | movement of the electric winch 30 by using as a trigger that the vehicle 10 is stopped reliably. Therefore, the control device 40 (see FIG. 2) has high reliability and safety.

  In addition, the controller 50 is provided with a belt withdrawal amount detection unit 52 that detects the withdrawal amount of the belt 32. The controller 50 determines the position of the wheelchair 20 relative to the vehicle 10 (see FIG. 1) based on the amount of withdrawal of the belt 32 from the drum 92 (see FIG. 6) detected by the belt withdrawal amount detection unit 52. Know if there is. Information on the amount of the belt 32 pulled out (position information on the wheelchair 20) is output to the drive control unit 51, the threshold storage unit 53, and the reverse detection unit 54.

  The drive control unit 51 controls the electric winch 30 based on the input position information of the wheelchair 20. Specifically, the control contents of the electric winch 30 by the drive control unit 51 include control contents as shown in the following (1) to (5), for example.

  (1) Immediately before the wheelchair 20 is carried into the mounting space 11, the rotational speed of the motor unit 81 of the electric winch 30 is controlled to be slow. As a result, it is possible to prevent the care recipient from feeling uneasy. At this time, an announcement such as “Installation in the vehicle will soon be completed” may be made via the buzzer 65.

  (2) When the wheelchair 20 is carried in and immediately before it is ridden on the slope 12, the rotation speed of the motor part 81 of the electric winch 30 is controlled so as not to give anxiety to the care recipient. it can. At this time, an announcement such as “move onto the slope. Please grab the grip” may be made via the buzzer 65.

  (3) By aligning the belt withdrawal amounts from the pair of electric winches 30 to the same length, for example, it is possible to eliminate a problem that the traveling direction of the wheelchair 20 is bent on the slope 12. At this time, an announcement such as “Adjusting the belt withdrawal amount. Do not connect the wheelchair” may be made via the buzzer 65.

  (4) When the wheelchair 20 is carried in and the wheelchair 20 is on the slope 12, that is, when the load on the electric winch 30 is large, the energization current to the motor unit 81 is increased, and the motor unit 81 Can be controlled to increase the output. Thereby, the wheelchair 20 can be quickly carried into the mounting space 11.

  (5) When the wheelchair 20 is carried out of the passenger compartment and the wheelchair 20 is on the slope 12, that is, when the load on the electric winch 30 is large, the energization current to the motor unit 81 is reduced. In addition, it is possible to control to apply a brake to the motor unit 81. Thereby, the rapid acceleration on the slope 12 of the wheelchair 20 is suppressed, and anxiety is not given to the care recipient.

  Here, the pull-out amount of the belt 32 is set to the “on” count number of the pulse signal (rotation signal r) from the rotation sensor 96 that detects the rotation of the drum 92 around which the belt 32 is wound (see Pct in FIG. 10). It is a proportional value. That is, the increase / decrease in the amount of the belt 32 pulled out is proportional to the increase / decrease in the count number Pct. Then, the belt withdrawal amount detection unit 52 uses the count number Pct when the wheelchair 20 is fixed at the fixed position of the vehicle 10 (the uppermost state in FIG. 10) as the reference position of the wheelchair 20 (in the state where the loading is completed). Position) is stored as n1.

  The rotation sensor 96 includes a Hall element, and a ring magnet (not shown) that rotates with the rotation of the drum 92 is provided at a portion of the drum 92 that faces the rotation sensor 96. Thereby, the rotation sensor 96 generates a rectangular wave signal (pulse signal) indicating “ON” or “OFF” with the relative rotation of the ring magnet.

  In addition, the reference position n1 stored in the belt withdrawal amount detection unit 52 does not disappear even when the system power of the control device 40 (see FIG. 2) is turned off regardless of the operation of the ignition switch IG.

  Further, the threshold value storage unit 53 stores (stores) a first threshold value TH1 and a second threshold value TH2 that are compared with the amount of withdrawal of the belt 32 (count number Pct). These first and second threshold values TH1 and TH2 are not lost even when the system power supply of the control device 40 is turned off regardless of the operation of the ignition switch IG.

  The first threshold value TH1 constitutes a comparison threshold value in the present invention. Specifically, as shown in FIG. 10, the magnitude of the first threshold value TH1 is the state of the belt 32 when the wheelchair 20 is fixed at the fixed position of the vehicle 10, that is, the “ride completion state”. It is set to a value slightly smaller than the drawing amount (= reference position n1) (TH1 <n1).

  Therefore, when the controller 50 determines that the count number Pct is smaller than the first threshold value TH1 (Pct <TH1), that is, when the count number Pct is in the count small area AR1, the belt 32 is attached to the wheelchair 20. It can be determined that it is not connected to. In other words, the first threshold value TH1 is a threshold value used to determine whether or not the belt 32 is connected to the wheelchair 20.

  On the other hand, the second threshold value TH2 is set to a value larger than the first threshold value TH1 (TH2> TH1). Specifically, as shown in FIG. 10, the magnitude of the second threshold value TH2 is such that the belt 32 is in a state where the wheelchair 20 is out of the vehicle compartment of the vehicle 10, that is, in the [alighting completion state]. It is set to a value slightly smaller than the withdrawal amount n3 (TH2 <n3).

  Here, the state where the belt 32 is pulled out n3 means that the position of the axle portion of the wheel 22 of the wheelchair 20 is separated from the slope 12 by a predetermined distance S, and the wheel 22 is surely on the ground J. It is a state. In such a state, even if the caster 23 of the wheelchair 20 is on the slope 12, the wheelchair 20 does not move backward.

  Therefore, when the controller 50 determines that the count number Pct is larger than the second threshold value TH2 (Pct> TH2), that is, when the count number Pct is in the count large area AR3, the wheelchair 20 is surely It can be determined that the vehicle is out of the passenger compartment. In other words, the second threshold value TH2 is a threshold value used to determine whether or not the wheelchair 20 is out of the passenger compartment.

  From the above, when the count number Pct is in the counting area AR2 between the first threshold value TH1 and the second threshold value TH2 (TH1 ≦ Pct ≦ TH2), the wheelchair 20 Can be determined to be on the inclined floor surface F or slope 12. For example, as shown in FIG. 10, when the belt 32 is in the pull-out amount n2 (n1 <n2 <n3), the wheelchair 20 is on the slope 12, and the wheelchair 20 at this time is in the state of getting on and off. It can be judged. In other words, the first and second threshold values TH1 and TH2 are both threshold values used to determine whether or not the wheelchair 20 is in an inclined state.

  Further, as shown in FIG. 8, the controller 50 is provided with a retreat detection unit 54 that detects that the wheelchair 20 is retreating. Similarly to the belt withdrawal amount detection unit 52, the reverse detection unit 54 receives a pulse signal (rotation signal r) from a rotation sensor 96 that detects the rotation of the drum 92 around which the belt 32 is wound. Then, the backward movement detection unit 54 monitors the increase / decrease of the count number Pct, and when the wheelchair 20 is carried in, that is, when the count number Pct is to be decreased, the wheelchair 20 has some cause ( It is determined that the vehicle is moving backward due to a failure of the electric winch 30 or the like. Thereafter, the reverse detection unit 54 drives the buzzer 65 to sound a warning sound.

  Further, when the wheelchair 20 is carried out, the reverse detection unit 54 also makes the wheelchair 20 retreat abnormally for some reason (such as failure of the electric winch 30) even when the count number Pct increases rapidly. Judge. Thereafter, the reverse detection unit 54 drives the buzzer 65 to sound a warning sound.

  Note that the reverse detection unit 54 functions as the controller 50 is activated. That is, the reverse detection unit 54 is activated based on the input of the ON signal from the ignition switch IG.

  Next, the operation of the control device 40 formed as described above will be described in detail with reference to the drawings. Note that the flowchart shown in FIG. 9 particularly shows the specific operation contents of the belt withdrawal amount detection unit 52, the threshold storage unit 53, and the reverse detection unit 54.

  First, when the ignition switch IG is turned on by an operator or the like, an ON signal is output to the controller 50. Then, the controller 50 is activated based on the input of the ON signal from the ignition switch IG. Accordingly, the reverse detection unit 54 is also activated (step S1).

  In step S2, the controller 50 determines whether or not the main power switch 62 (see FIG. 3A) of the operation panel 60 has been turned ON. If it is determined as “no” in step S2, the determination process in step S2 is repeated until it is determined as “yes”. And when it determines with "yes" at step S2, it progresses to the following step S3.

  In step S3, the drive control unit 51 drives the slack eliminating motor 95 (see FIG. 6) of the slack eliminating mechanism 94. Accordingly, for example, as shown in the broken line portion of FIG. 11, when the belt 32 is left in a state of being pulled out, the belt 32 is attached to the electric winch 30 (drum 92) as indicated by an arrow M1. It will be rolled up. That is, the slack of the belt 32 is removed. At this time, since the wheelchair 20 is not connected to the hook 31 of the belt 32, the hook 31 moves so as to slide on the rear seat RS, and the belt 32 is sufficiently wound even with the low torque of the slack eliminating motor 95. be able to.

  In step S4, the retreat detection unit 54 determines whether or not the wheelchair 20 has been retreated. That is, in step S4, the reverse detection unit 54 determines whether the belt 32 is pulled out and the count number Pct is increased. If it is determined as “no” in step S4, the determination process in step S4 is repeated until it is determined as “yes”. And when it determines with "yes" at step S4, it progresses to the following step S5.

  In step S5, the controller 50 determines whether or not the count number Pct is smaller than the first threshold value TH1. That is, the controller 50 determines whether or not the withdrawal amount of the belt 32 is in the count small area AR1. If it is determined “no” in step S5, the process proceeds to step S8. If it is determined “yes” in step S5, the process proceeds to step S6.

  In subsequent step S6, it is determined in step S4 that the belt 32 has been pulled out, and in step S5, it is determined that the amount of withdrawal of the belt 32 is in the count small area AR1 (determined to be the amount of withdrawal n0 in FIG. 11). Therefore, the controller 50 estimates that the hook 31 of the belt 32 approaches the electric winch 30 and has fallen into the recess G.

  In the state shown in FIG. 11, the wheelchair 20 is not actually retracted. Therefore, a warning sound should not be generated from the buzzer 65 (see FIG. 3A), and the buzzer 65 is not driven. Is desirable. Therefore, in the present embodiment, a process for prohibiting the operation of the backward movement detection unit 54 is executed in step S6. Specifically, in step S6, the controller 50 stops a part of the function of the reverse detection unit 54 so as not to drive the buzzer 65 (not to sound a warning sound).

  Thereby, the operator is not surprised by the sudden warning sound of the buzzer 65, and further, the operation of stopping the driving of the buzzer 65 by long-pressing the main power switch 62 to initialize the control device 40. There is no need to make a mistaken blowout stop.

  In subsequent step S <b> 7, the controller 50 executes processing for permitting transition (switching) to the belt-free mode in which the operator can freely put in and out the belt 32. As a result, the belt free switch 63 (see FIG. 3A) of the operation panel 60 can be used, and the belt 32 can be taken in and out freely by the operator operating the belt free switch 63. That is, for example, in order to carry the wheelchair 20 into the mounting space 11, it is possible to pull out the belt 32 and connect the hook 31 of the belt 32 to the front frame 21 of the wheelchair 20. Thereafter, the process returns to the upstream step S2.

  In step S8, the controller 50 determines whether or not the count number Pct is between the first threshold value TH1 and the second threshold value TH2 (whether TH1 ≦ Pct ≦ TH2). If it is determined “no” in step S8, the process proceeds to step S11. If it is determined “yes” in step S8, the process proceeds to step S9.

  In subsequent step S9, since it is determined in step S4 that the belt 32 has been pulled out, and in step S8, it is determined that the amount of belt 32 being pulled out is in the counting area AR2, the controller 50 causes the hook of the belt 32 to be hooked. It is estimated that the wheelchair 20 connected to 31 is moving backward.

  In such a state, a warning sound should be emitted from the buzzer 65 to alert the surroundings. Therefore, in step S <b> 9, the controller 50 executes a process for permitting the operation of the reverse detection unit 54. As a result, the operator can support (support) the wheelchair 20 so as to prevent the wheelchair 20 from further retreating by sounding a warning sound from the buzzer 65.

  In subsequent step S10, the controller 50 prohibits the transition to the belt-free mode because the amount of withdrawal of the belt 32 is in the counting area AR2 and the wheelchair 20 is on the inclined floor F or slope 12. Execute the process. That is, when the amount of withdrawal of the belt 32 is in the counting area AR2, the operation of the belt free switch 63 on the operation panel 60 is invalid. Thereafter, the process returns to the upstream step S2.

  In step S11, since it is determined in step S4 that the belt 32 has been pulled out, and in step S8, it is determined that the amount of belt 32 that has been pulled out is in the count large area AR3, the controller 50 causes the wheelchair 20 to move outside. It is presumed that the wheelchair 20 that has been carried out and connected to the hook 31 of the belt 32 is retracted.

  In this case, for example, it means that the wheelchair 20 is retracted even when the ground J on the rear side of the vehicle 10 is carried out at a place where it faces the bottom of a hill and is carried out to the outside. Therefore, a warning sound should be emitted from the buzzer 65 to call attention to the surroundings. Accordingly, in step S <b> 11, the controller 50 executes a process for permitting the operation of the reverse detection unit 54. As a result, the operator can support (support) the wheelchair 20 so as to prevent the wheelchair 20 from further retreating by sounding a warning sound from the buzzer 65.

  In subsequent step S12, the controller 50 executes a process of permitting the transition to the belt free mode in which the operator can freely put in and out the belt 32. As a result, the belt free switch 63 of the operation panel 60 can be used, and the belt 32 can be taken in and out freely by the operator operating the belt free switch 63. That is, it is possible to pull out the belt 32 a little and remove the hook 31 from the wheelchair 20 or to pull the removed belt 32 into the electric winch 30 (to finish). Thereafter, the process returns to the upstream step S2.

  As described above in detail, according to the control device 40 of the electric winch 30 according to the present embodiment, the threshold value storage unit 53 is provided with the first threshold value TH1 to be compared with the amount by which the belt 32 is pulled out. Thus, the controller 50 prohibits the operation of the reverse detection unit 54 when the amount of withdrawal of the belt 32 is smaller than the first threshold value TH1.

  As a result, even if the power is turned off while the belt 32 is left in the passenger compartment with some slack, and then the power is turned on again and the slack eliminating motor 95 is activated, the reverse detection unit 54 is not operated. it can. Therefore, when the wheelchair 20 is not retracted, the warning sound can be prohibited, and as a result, convenience and reliability can be improved.

  Moreover, according to the control device 40 of the electric winch 30 according to the present embodiment, when the backward movement detection unit 54 detects that the wheelchair 20 is moving backward, it drives the buzzer 65 that informs the surroundings of the wheelchair 20 moving backward. .

  Thus, the operator can support the wheelchair 20 so as to prevent the wheelchair 20 from further retreating by sounding a warning sound from the buzzer 65.

  Furthermore, according to the control device 40 of the electric winch 30 according to the present embodiment, the first threshold value TH1 is the amount by which the belt 32 is pulled out when the wheelchair 20 is at a fixed position in the vehicle interior (= reference position n1, Smaller than that shown in FIG.

  Thereby, even when the wheelchair 20 moves backward from the fixed position in the vehicle interior, the controller 50 can reliably sound a warning sound from the buzzer 65.

  Further, according to the control device 40 of the electric winch 30 according to the present embodiment, the controller 50 allows the operator to freely put in and out the belt 32 when the amount of withdrawal of the belt 32 is smaller than the first threshold value TH1. Allow switch to possible belt free mode.

  Accordingly, it is possible to pull out the belt 32 in order to carry the wheelchair 20 into the mounting space 11 and connect the hook 31 of the belt 32 to the front frame 21 of the wheelchair 20, so that the convenience is not lowered.

  It goes without saying that the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention. For example, in the above embodiment, the towed object is the wheelchair 20, but the present invention is not limited to this, and the towed object may be a stretcher with casters.

  Further, in the above embodiment, the case where the pair of electric winches 30 are respectively installed in the lower part of the driver's seat DR and the passenger seat AS has been described. You may install in the dead space.

  In addition, the material, shape, dimension, number, installation location, and the like of each component in the above embodiment are arbitrary as long as the present invention can be achieved, and are not limited to the above embodiment.

DESCRIPTION OF SYMBOLS 10 Vehicle 11 Installation space 12 Slope 13 Back door 14 Wiring 15 Hook 16 Fixed belt 20 Wheelchair (traction object)
21 Front frame 22 Wheel 23 Caster 30 Electric winch 31 Hook 32 Belt 40 Control device 50 Controller 51 Drive control unit 52 Belt pull-out amount detection unit 53 Threshold storage unit 54 Retraction detection unit 60 Operation panel 61 Panel main body 62 Main power switch 62a Indicator 63 Belt free switch 63a Indicator 64 Speed changeover switch 65 Buzzer (notification unit)
70 remote control 71 remote control body 72 remote control power switch 73 on switch 74 out switch 75 indicator 80 electric motor unit 81 motor unit 81a magnet 81b coil 81c armature 81d armature shaft 81e brush 81f commutator 81g worm 82 gear portion 82a worm wheel 83 output shaft 84 Electromagnetic clutch 90 Drum portion 91 Casing 91a Opening 92 Drum 92a Drum shaft 92b One-way clutch 93 Ratchet mechanism 93a Latch gear 93c Solenoid drive member 93d Drive pin 94 Loosening mechanism 94a Spur gear 94b Small diameter gear 94c Reduction gear mechanism 94d Torque limiter motor 95d 96 Rotation sensor 97 Connector connection 98 Guide member A Current signal AR1 Count Small area AR2 Counting area AR3 Counting large area AS Passenger seat DR Driver's seat F Floor G Depression GR grip IG Ignition switch J Ground Pct Count RS Rear seat SD Deceleration mechanism SP Shift position sensor ST Mounting stay TH1 First threshold Value (comparison threshold)
TH2 Second threshold V Vehicle speed signal VS Vehicle speed sensor r Rotation signal

Claims (4)

A control device for an electric winch that carries a towed object into or out of the vehicle,
A controller for controlling the withdrawal of the belt for towing the towed object;
A belt withdrawal amount detection unit provided in the controller for detecting the belt withdrawal amount;
A threshold value storage unit provided in the controller, in which a comparison threshold value to be compared with the belt withdrawal amount is stored;
A reverse detection unit provided in the controller for detecting that the towed object is moving backward;
With
The controller prohibits the operation of the reverse detection unit when the belt withdrawal amount is smaller than the comparison threshold;
Control device for electric winch. In the control device of the electric winch according to claim 1,
When the retraction detection unit detects that the towed object is retreating, it drives an informing unit that notifies retraction of the towed object.
Control device for electric winch. The control device for an electric winch according to claim 1 or 2,
The comparison threshold value is smaller than a pulling amount of the belt when the towed object is at a fixed position in the vehicle interior.
Control device for electric winch. In the control apparatus of the electric winch of any one of Claims 1-3,
The controller allows the operator to switch to a belt-free mode in which the belt can be taken in and out freely when the amount of withdrawal of the belt is smaller than the comparison threshold;
Control device for electric winch.

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