JP2021075375A - Winch device - Google Patents

Abstract

To provide a winch device that can generate an electrical braking force to a pair of motors in a well-balanced manner and that can vary the braking force according to the moving speed of the belt.SOLUTION: A control circuit 51 brakes a pair of drive circuits 52R and 52L with the same control contents to bring the moving speed, or actual speed, of the pair of belts closer to a target speed threshold Va, and varies the control contents of the braking control into three types: closed-circuit braking (weak), regenerative braking (medium), and one-phase energized braking (strong), depending on the difference between the actual speed and the target speed threshold Va. This enables a balanced braking control of the pair of electric motor sections 80 and brings the wheelchair's moving speed, or actual speed, closer to the target speed threshold Va, regardless of the light weight of the wheelchair. This reduces the sense of anxiety for the wheelchair user and the caregivers accompanying them.SELECTED DRAWING: Figure 8

Description

The present invention relates to a winch device that moves a towed object.

Conventionally, a mounting space for mounting a wheelchair (towed object) is provided in the passenger compartment of a welfare vehicle and on the rear side. A slope is pulled out from the mounting space toward the outside of the passenger compartment, and the wheelchair outside the passenger compartment is moved to the loading space through the slope. In addition, electric winches equipped with belts with hooks are installed on the front side and the left and right sides of the vehicle in the mounting space. Then, by pulling out the belts from the pair of electric winches, hooking the hooks on the left and right frames of the wheelchair, and driving the pair of electric winches in this state, the wheelchair can be easily moved to the mounting space.

Such a winch device is described in, for example, Patent Document 1. The winch device described in Patent Document 1 includes a pair of winch devices (electric winches) on the left and right sides, and each motor provided in these winch devices is rotated by one control device (controller). It is designed to be controlled. Specifically, the control device controls the motor to reach a predetermined speed according to the number of pulses counted from the rotation sensor.

Japanese Unexamined Patent Publication No. 2011-020831

However, in the winch device described in Patent Document 1 described above, for example, when the winch device is driven to lower the wheelchair from the inside of the vehicle to the outside of the vehicle, the inclination angle of the slope and the weight of the person requiring care (user) are used. There was a risk that the operating speed of the winch device would vary greatly due to the light weight of the winch device. Specifically, in the case of a heavy user, there is a problem that the moving speed on the slope is faster than that of a light user, which causes anxiety to the user and the caregiver. It was.

An object of the present invention is to provide a winch device capable of generating electric braking force in a pair of motors in a well-balanced manner and capable of making the braking force different according to the moving speed of a belt.

In one aspect of the present invention, a winch device for moving a towed object, the first motor, a first drum rotated by the first motor, a first belt wound around the first drum, and the first one. A first electric winch having a first sensor for detecting the first moving speed of the belt, a second motor, a second drum rotated by the second motor, a second belt wound around the second drum, and the first. A second electric winch having a second sensor for detecting the second moving speed of the two belts, a first and second drive circuit unit for driving the first and second motors, respectively, and the first and second moving speeds. The control circuit unit has a control circuit unit that compares the speed with a predetermined target speed threshold, and includes one controller that controls the first and second electric winches, and the control circuit unit has the first and second movements. If it is determined that one of the speeds is equal to or higher than the target speed threshold, the same control of the first and second drive circuits is performed so that the first and second moving speeds approach the target speed threshold. Braking control is performed according to the content, and further, the control content of the braking control is made different according to the difference between one of the first and second moving speeds and the target speed threshold.

In another aspect of the present invention, the control circuit unit uses the first and second motors as the difference between one of the first and second moving speeds and the target speed threshold value increases. It is characterized in that the control content of the braking control is different so as to increase the braking force generated by.

In another aspect of the present invention, a winch device for moving a towed object, the first motor, a first drum rotated by the first motor, a first belt wound around the first drum, and the first. It has a first electric winch having a first sensor for detecting the first moving speed of one belt, a second motor, a second drum rotated by the second motor, and a second belt wound around the second drum. It has a second electric winch, first and second drive circuits for driving the first and second motors, respectively, and a control circuit for comparing the first moving speed with a predetermined target speed threshold. The control circuit unit includes one controller for controlling the first and second electric winches, and when the control circuit unit determines that the first moving speed is equal to or higher than the target speed threshold, the first moving speed is set to the above. Braking control is performed on the first and second drive circuit units with the same control content so as to approach the target speed threshold, and the control content of the braking control is set to the difference between the first moving speed and the target speed threshold. It is characterized by making it different according to it.

In another aspect of the present invention, the control circuit unit increases the braking force generated by the first and second motors as the difference between the first moving speed and the target speed threshold value increases. It is characterized in that the control content of the braking control is different.

In another aspect of the present invention, a winch device for moving a towed object, the first motor, a first drum rotated by the first motor, a first belt wound around the first drum, and the first. A first electric winch having a first sensor for detecting the first moving speed of one belt, a first driving circuit unit for driving the first motor, and a first target speed threshold in which the first moving speed is set in advance. A first controller having a first control circuit unit and controlling the first electric winch, a second motor, a second drum rotated by the second motor, and a second wound around the second drum. A belt, a second electric winch having a second sensor for detecting the second moving speed of the second belt, a second drive circuit unit for driving the second motor, and the second moving speed are predetermined. It has a second control circuit unit for comparison with a second target speed threshold, and includes a second controller that controls the second electric winch, and the first controller and the second controller can communicate with each other by a communication line. The first target speed threshold and the second target speed threshold are set to the same value, and the first and second control circuit units have the first moving speed of the first target speed threshold. Based on the judgment result of the first judgment result that is judged to be the above, and the judgment result of the second judgment result that the second movement speed is judged to be equal to or higher than the second target speed threshold, the judgment result is the first. Braking control is performed on the first and second drive circuit units with the same control contents so that the first and second moving speeds approach the first and second target speed thresholds, and further, the control contents of the braking control are controlled. , The first and second moving speeds are made different according to the difference between the first and second target speed thresholds.

In another aspect of the present invention, the first and second control circuit units use the first control circuit unit as the difference between the first and second moving speeds and the first and second target speed thresholds increases. , The control content of the braking control is different so as to increase the braking force generated by the second motor.

According to the present invention, the control circuit unit brake-controls the pair of drive circuit units with the same control content so that the moving speed of the pair of belts approaches the target speed threshold value, and further controls the braking control with the pair of belts. It is made different according to the difference between the moving speed and the target speed threshold value.

As a result, the pair of motors can be brake-controlled in a well-balanced manner, and the moving speed of the towed object can be brought close to the target speed threshold regardless of the weight of the towed object. Therefore, when the towed object is a wheelchair, it is possible to reduce the anxiety given to the user of the wheelchair and the caregiver accompanying the wheelchair.

It is a schematic diagram of the vehicle equipped with the winch device. It is a figure which looked at the rear side of the vehicle of FIG. 1 from above. (A) is a plan view of the operation panel, and (b) is a plan view of the remote controller. It is a perspective view which shows the appearance of an electric winch. It is sectional drawing which shows the periphery of the planetary gear reducer of an electric winch. It is a perspective view which shows the drum periphery of an electric winch. It is a schematic diagram which shows the connection relationship of the member which constitutes an electric winch. It is a block diagram which shows the periphery of a controller. It is a circuit diagram which shows the detailed structure of a drive circuit part. (A), (b), and (c) are circuit diagrams for explaining the types (three types) of braking control. It is a flowchart explaining the first stage of the two-sided speed control (delivery). It is a flowchart explaining the latter part of the two-sided speed control (delivery). It is a graph which shows the control effect of the braking control. It is a flowchart explaining the first stage of the two-sided speed control (pull-in). It is a flowchart explaining the latter part of the two-sided speed control (pull-in). It is a flowchart explaining the first stage of one-sided speed control (delivery, Embodiment 2). It is a flowchart explaining the latter part of one-sided speed control (pull-in, Embodiment 2). It is a block diagram corresponding to FIG. 8 which shows Embodiment 3. FIG. It is a block diagram corresponding to FIG. 8 which shows Embodiment 4. FIG.

Hereinafter, Embodiment 1 of the present invention will be described in detail with reference to the drawings.

1 is a schematic view of a vehicle equipped with a winch device, FIG. 2 is a view of the rear side of the vehicle of FIG. 1 as viewed from above, FIG. 3A is a plan view of an operation panel, and FIG. 2B is a remote control. FIG. 4 is a perspective view showing the appearance of the electric winch, FIG. 5 is a sectional view showing the periphery of the planetary gear reducer of the electric winch, and FIG. 6 is a perspective view showing the periphery of the drum of the electric winch. 7 is a schematic diagram showing the connection relationship of the members constituting the electric winch, FIG. 8 is a block diagram showing the periphery of the controller, and FIG. 9 is a circuit diagram showing the detailed structure of the drive circuit unit. (B) and (c) are circuit diagrams explaining the types of braking control (three types), FIG. 11 is a flowchart explaining the first stage of two-sided speed control (delivery), and FIG. 12 is a two-sided speed control (delivery). A flowchart illustrating the latter stage, FIG. 13 is a graph showing the control effect of braking control, FIG. 14 is a flowchart explaining the first stage of the two-sided speed control (pull-in), and FIG. 15 is a latter stage of the two-sided speed control (pull-in). Each of the flowcharts to be performed is shown.

The vehicle 10 shown in FIGS. 1 and 2 is a small welfare vehicle. A mounting space 11 for mounting the wheelchair (towed object) 20 is provided in the vehicle interior and on the rear side (right side in the drawing) of the vehicle 10. On the vehicle front side (left side in the drawing) of the mounting space 11, the electric winch 30R on the right side and the electric winch 30L on the left side are arranged at predetermined intervals in the vehicle width direction (vertical direction in FIG. 2) of the vehicle 10. .. The electric winches 30R and 30L on the left and right sides are arranged below the driver's seat DR and the passenger seat AS of the vehicle 10, respectively. Note that FIG. 1 shows only the driver's seat DR side.

The pair of electric winches 30R and 30L have the same structure as each other (see FIG. 8), and are provided with a belt 32 provided with a hook 31 on the tip side, and the belt 32 pulls the wheelchair 20. There is. Then, the belts 32 are pulled out from the pair of electric winches 30R and 30L, and the hooks 31 are hooked on the pair of front frames 21 on the left and right sides of the wheelchair 20. Then, in this state, the pair of electric winches 30R and 30L are synchronously driven to pull in the pair of belts 32. As a result, the wheelchair 20 is moved toward the mounting space 11.

On the rear side of the vehicle of the mounting space 11, a slope 12 for connecting the ground J and the floor surface F of the vehicle 10 at a gentle inclination angle is provided, and the slope 12 connects a total of three aluminum plates in a slidable manner. It is composed of. Then, when the vehicle 10 is traveling, the slope 12 is compactly folded and leans against the inside of the closed back door 13 or the like on the rear side of the vehicle in the mounting space 11.

By synchronously driving the pair of electric winches 30R and 30L and pulling in the pair of belts 32, the wheelchair 20 gradually climbs on the slope 12 from the state shown in FIG. 2, and is eventually shown in FIG. As such, it reaches the floor surface F and is carried into a predetermined position in the mounting space 11. Then, the wheelchair 20 is fixed to the vehicle 10 so as not to rattle, and the vehicle 10 is in a state where it can run.

Here, when the wheelchair 20 is carried into the mounting space 11 of the vehicle 10, the rear seat ST is first tilted forward. As a result, a relatively large mounting space 11 appears behind the vehicle interior of the vehicle 10. The pair of belts 32 are pulled out from between the driver's seat DR and the passenger seat AS and the rear seat ST tilted forward, respectively.

Further, by synchronously driving the pair of electric winches 30R and 30L to send out the pair of belts 32, the wheelchair 20 mounted in the mounting space 11 gradually descends on the slope 12, and eventually the floor surface F to the ground. It is carried out to J. By providing the slope 12 in this way, the wheelchair 20 can be easily moved between the ground J and the floor surface F. The pair of electric winches 30R and 30L are operated by a caregiver, and the caregiver supports the wheelchair 20 from behind during the operation of the pair of electric winches 30R and 30L.

The winch device 40 is configured as shown in FIG. That is, the winch device 40 is composed of a pair of electric winches 30R and 30L, one controller 50, an operation panel 60, and a remote controller 70. A wire harness 14 is electrically connected between the pair of electric winches 30R and 30L and the controller 50 and between the operation panel 60 and the controller 50, respectively. The remote controller 70 is a wireless type, and can communicate with the controller 50 wirelessly. Therefore, by taking the remote controller 70 out of the passenger compartment, the pair of electric winches 30R and 30L can be operated outside the passenger compartment.

Further, as shown in FIG. 2, a pair of fixing belts 16 provided with hooks 15 are provided on the floor surface F of the vehicle 10. The hooks 15 of these fixing belts 16 are hooked on the axles 22 of the wheelchair 20 in the mounting space 11. As a result, the wheelchair 20 mounted in the mounting space 11 is supported at a total of four locations, that is, 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 a predetermined position of the vehicle 10.

The operation panel 60 includes a panel body 61 as shown in FIG. 3 (a). The panel body 61 is arranged on the rear side of the vehicle 10, and the operation panel 60 can be easily operated from outside the vehicle interior. 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 65.

The main power switch 62 is a switch that is operated when the system power of the winch device 40 is turned on. Then, by turning on the main power switch 62, the system power is turned on and the indicator 62a is turned on. Here, the main power switch 62 is also operated when the winch device 40 is initialized. For example, the winch device 40 is initialized by pressing and holding it for 3 seconds or longer.

The belt-free switch 63 is a switch that is operated when the pair of electric winches 30R and 30L are unlocked. Then, by turning on the belt-free switch 63, the pair of belts 32 can be manually pulled out and stored (taken in and out) freely. That is, the belt-free switch 63 is turned on, the pair of belts 32 are pulled out, the pair of hooks 31 are hooked on the wheelchair 20 outside the passenger compartment, and the pair of belts 32 pulled out from the pair of electric winches 30R and 30L, respectively. You can make the lengths of the. Here, when the belt-free switch 63 is turned on, the indicator 63a lights up.

When the wheelchair 20 is carried in or out of the mounting space 11, the speed changeover switch 64 sets the moving speed of the pair of belts 32, that is, the pulling speed and the feeding speed, to low speed (LOW) or high speed (LOW) or high speed (LOW). It is a switch to be operated when switching to HIGH).

Further, the buzzer 65 warns of electronic sounds and the like when the pair of belts 32 are pulled in or sent out (normal operation), and when the pair of electric winches 30R and 30L are malfunctioning (when a failure occurs). It is designed to make a sound. That is, the buzzer 65 is designed to notify the outside of the retreat of the wheelchair 20 and the like. Here, the warning sound is not limited to the electronic sound, and may be an announcement by voice.

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 winch device 40 is turned on. As shown in FIG. 3B, the remote controller 70 includes a remote controller main body 71. 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 is further provided with an indicator 75, and the indicator 75 is turned on when the remote controller 70 is operated or the like.

The operation of the remote controller 70 is performed by an assistant. Then, the remote control power switch 72 is turned on by the caregiver, and then the on switch 73 or the output switch 74 is pressed to synchronously drive the pair of electric winches 30R and 30L. Specifically, while the on switch 73 is being pressed, the pair of electric winches 30R and 30L are continuously driven to assist the wheelchair 20 in being carried into the mounting space 11. On the other hand, while the output switch 74 is being pressed, the pair of electric winches 30R and 30L rotate in the reverse direction to assist the wheelchair 20 from being carried out from the mounting space 11.

However, during the operation of the remote controller 70, the caregiver grips the grip GR (see FIG. 1) of the wheelchair 20 to support the wheelchair 20 and guide its movement. As described above, the winch device 40 assists the caregiver in moving the wheelchair 20 by driving (controlling) the pair of electric winches 30R and 30L.

The pair of electric winches 30R and 30L are formed in the same shape, respectively, and adopt the structure as shown in FIGS. 4 and 7. Hereinafter, among the pair of electric winches 30R and 30L, the detailed structure thereof will be described on behalf of the electric winch 30R on the right side. Here, the electric winch 30R constitutes the first electric winch in the present invention, and the electric winch 30L constitutes the second electric winch in the present invention.

The electric winch 30R includes an electric motor unit 80 and a drum unit 90. The electric motor unit 80 of the electric winch 30R constitutes the first motor in the present invention, and the electric motor 80 of the electric winch 30L is the first motor in the present invention. It constitutes two motors. The electric motor unit 80 and the drum unit 90 are integrated with each other by a plurality of fixing bolts S (only two are shown in FIG. 4).

As shown in FIG. 5, the electric motor unit 80 includes a motor unit 81 and a gear unit 82. The motor unit 81 is a three-phase brushless motor including a U-phase coil Cu, a V-phase coil Cv, and a W-phase coil Cw. The motor unit 81 includes an annular stator 81a fixed to the motor housing 80a. Then, the respective coils Cu, Cv, and Cw are wound around the stator 81a according to the winding method of the delta connection (see FIG. 9). Further, a rotor 81b is rotatably provided inside the stator 81a in the radial direction.

The rotor 81b is formed into a substantially tubular shape by pressing a steel plate or the like. A tubular permanent magnet 81c magnetized to a plurality of poles is fixed to the outer peripheral portion of the rotor 81b in the circumferential direction of the rotor 81b. The permanent magnet 81c faces the inside of the stator 81a in the radial direction. As a result, as shown in FIG. 8, the rotor 81b is rotated by sequentially supplying the drive current ID (R) to the respective coils Cu, Cv, and Cw.

A base end portion (upper part in the drawing) of the rotor shaft 81d is fixed to the rotation center of the rotor 81b. As a result, the rotor shaft 81d rotates with the rotation of the rotor 81b. The rotor shaft 81d is rotatably supported by the motor housing 80a via the first and second bearings B1 and B2.

Here, the sensor substrate 80b is housed inside the motor housing 80a, and the rotor rotation sensor 80c for detecting the rotational state of the rotor 81b is mounted on the sensor substrate 80b. A magnetic sensor such as a hall sensor is used for the rotor rotation sensor 80c. Further, the rotor rotation sensor 80c faces the permanent magnet 81c from the axial direction of the rotor shaft 81d.

As a result, the rotor rotation sensor 80c captures the change in the magnetic poles of the permanent magnet 81c and outputs a rotor rotation signal RR (R) composed of a square wave to the controller 50 (see FIGS. 8 and 9). .. Then, the controller 50 controls the rotation state of the rotor 81b while detecting the rotation position of the rotor 81b with respect to the stator 81a based on the input rotor rotation signal RR (R).

A carrier 82d forming the planetary gear reducer 82a is rotatably mounted on the tip end portion (lower part in the drawing) of the rotor shaft 81d via a third bearing B3. A drum shaft 92a is integrally rotatably fixed to the center of rotation of the carrier 82d. Here, the planetary gear reducer 82a reduces the rotational speed of the rotor shaft 81d to increase the torque, and outputs the increased torque rotational force to the drum shaft 92a (drum 92). As a result, the belt 32 is taken in and out of the opening 91a (see FIG. 4) by rotating the motor portion 81 in the forward and reverse directions.

As shown in FIG. 5, a planetary gear reducer 82a is provided on the axially tip side (lower side in the drawing) of the rotor shaft 81d. The planetary gear reducer 82a forms a gear portion 82, and includes a sun gear 82b, three planetary gears 82c, a carrier 82d that supports these planetary gears 82c, and a ring gear 82e.

The sun gear 82b is integrally formed with the rotor shaft 81d, and the ring gear 82e is fixed to the casing 91. The three planetary gears 82c are arranged so as to be able to transmit power between the sun gear 82b and the ring gear 82e. Specifically, the planetary gear 82c is meshed with both the sun gear 82b and the ring gear 82e.

The carrier 82d rotatably supports the three planetary gears 82c at intervals of 120 degrees. Further, the carrier 82d is rotatably supported by the tip end portion of the rotor shaft 81d via the third bearing B3. Further, a drum shaft 92a is fixed to the carrier 82d, whereby the drum 92 rotates together with the carrier 82d. That is, the carrier 82d has a function as an output unit of the electric motor unit 80. Then, the rotational speed of the sun gear 82b is reduced to a predetermined rotational speed to increase the torque, and the increased torque is output from the carrier 82d. That is, the carrier 82d is rotated at a lower speed and higher torque than the sun gear 82b.

As described above, the electric winch 30R employs the planetary gear reducer 82a for the reduction mechanism and the three-phase brushless motor for the motor unit 81. Therefore, the entire electric winch 30R can be made thinner. Therefore, as shown in FIG. 5, even if the drum 92 is arranged coaxially with the planetary gear reducer 82a and the motor unit 81, the electric winch 30R does not need to be so large.

As shown in FIG. 4, the drum portion 90 includes a casing 91. The casing 91 is formed in a substantially box shape, and the drum 92, the ratchet mechanism 93, and the slack removing mechanism 94 shown in FIG. 6 are housed therein. Outside the casing 91, a drive current is applied to a slack removing motor 95 for removing slack in the belt 32 wound around the drum 92, a drum rotation sensor 96 for detecting the rotational state of the drum 92, an electric motor unit 80, a slack removing motor 95, and the like. A connector connection portion 97 or the like to which an external connector (not shown) for supply is connected is provided.

Here, the drum rotation sensor 96 faces the sensor magnet MG (see FIGS. 5 and 6) that is rotated together with the drum 92. As a result, the drum rotation sensor 96 outputs a drum rotation signal RD (R) composed of a square wave to the controller 50 as the sensor magnet MG (drum 92) rotates (see FIG. 8). In the drum rotation sensor 96 as well, a magnetic sensor such as a hall sensor is adopted as in the rotor rotation sensor 80c.

An opening 91a is formed on 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 91a of the casing 91, whereby twisting of the belt 32 is prevented. 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.

Here, reference numeral FT in FIGS. 4 and 5 is a mounting stay for fixing the electric winch 30R to the floor surface F (see FIG. 2) of the vehicle 10, and the mounting stay FT is a plurality of fastenings (not shown). It is received by the bolt on the floor surface F. As a result, the electric winch 30R is firmly fixed to the vehicle 10 without rattling.

A belt 32 is wound around the drum 92, and a drum shaft 92a is fixed to the center of rotation of the drum 92. As shown in FIG. 5, the drum shaft 92a is rotatably supported by the casing 91 via the fourth bearing B4 and the fifth bearing B5. Then, the rotational force decelerated by the planetary gear reducer 82a and increased in torque is directly transmitted to the drum shaft 92a from the planetary gear reducer 82a. As a result, the drum shaft 92a and the drum 92 are rotationally driven in the forward and reverse directions as the electric motor unit 80 is rotationally driven in the forward and reverse directions. Therefore, the belt 32 can be pulled into the casing 91 or sent out of the casing 91.

Here, the drum 92 of the electric winch 30R constitutes the first drum in the present invention, and the drum 92 of the electric winch 30L constitutes the second drum in the present invention. Further, the belt 32 of the electric winch 30R constitutes the first belt in the present invention, and the belt 32 of the electric winch 30L constitutes the second belt in the present invention. Further, the drum rotation sensor 96 of the electric winch 30R constitutes the first sensor in the present invention, and the drum rotation sensor 96 of the electric winch 30L constitutes the second sensor in the present invention.

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 pull-in direction (counterclockwise direction in FIG. 6) of the belt 32. Then, for example, when only the drum 92 rotates with respect to the drum shaft 92a in the pull-in direction of the belt 32, the rotation of the drum 92 is not transmitted to the drum shaft 92a, and the drum 92 with respect to the drum shaft 92a. And spin idle.

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

The solenoid drive member 93c includes a drive pin 93d, and by supplying a drive current to the solenoid drive member 93c under the control of the controller 50 (see FIG. 8), the drive pin 93d moves in the axial direction of the pin and retracts. It has become. As a result, the latch gear 93a and the pawl 93b are disengaged and released, and in the released state, the drum 92 rotates in both the pulling direction (one direction) and the feeding direction (other direction) of the belt 32. Is allowed. By making the drum 92 rotatable in both directions in this way, the wheelchair 20 can be lowered from the mounting space 11.

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 in a locked state, and in the locked state, the belt 32 is fed in the feeding direction (other direction) while allowing the drum 92 to rotate in the pulling direction (one direction) of the belt 32. ) Is restricted from rotating the drum 92. Therefore, the wheelchair 20 is prevented from retreating on the slope 12.

The slack removing mechanism 94 includes a spur gear 94a integrally provided on the drum 92, a small diameter gear 94b that meshes with the spur gear 94a, and a reduction gear mechanism 94c that is rotationally driven by the slack removing motor 95. The loosening motor 95 generates a rotational force in the direction in which the drum 92 winds the belt 32, and the rotational force of the loosening motor 95 is the drum via the reduction gear mechanism 94c, the torque limiter 94d, the small diameter gear 94b, and the spur gear 94a. It is transmitted to 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 the transmission of torque above a certain level. It has become. This prevents the loosening motor 95 from being overloaded and protects the loosening motor 95. In other words, as the slack removing motor 95, a small motor capable of generating a low torque capable of removing the slack of the belt 32 can be adopted.

As shown in FIG. 8, in addition to the electric winches 30R and 30L on the left and right sides, 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. It is electrically connected via (see FIG. 2) or the like. Further, the controller 50 can wirelessly receive various operation signals from the remote controller 70.

The controller 50 includes a control circuit unit 51 that comprehensively controls the electric winches 30R and 30L based on various input signals, that is, controls the insertion and removal of the belt 32 that pulls the wheelchair 20. Further, the controller 50 drives the electric motor units 80 of the electric winches 30R and 30L on the left and right sides, respectively, based on the inputs of the control signals H1, H2, H3, H4, H5, and H6 from the control circuit unit 51. The circuit units 52R and 52L are provided.

Here, the drive circuit unit 52R constitutes the first drive circuit unit in the present invention, and the drive circuit unit 52L constitutes the second drive circuit unit in the present invention. Further, the control circuit unit 51 individually controls the drive system components other than the electric motor unit 80, that is, the solenoid drive member 93c and the loosening motor 95, based on various input signals.

Drum rotation signals RD (R) and RD (L) indicating the rotation state (low-speed rotation) of the respective drums 92 are input to the control circuit unit 51 from the left and right drum rotation sensors 96. Note that (R) at the end of the code indicates the right side, and (L) indicates the left side. Further, rotor rotation signals RR (R) and RR (L) indicating the rotation state (high-speed rotation) of each rotor 81b are input from the rotor rotation sensors 80c on the left and right sides. As a result, the control circuit unit 51 grasps the driving state of the electric winches 30R and 30L based on the drum rotation signals RD (R) and RD (L) and the rotor rotation signals RR (R) and RR (L).

Here, the controller 50 is activated by the input of the ON signal from the ignition switch IG, whereby the electric winches 30R and 30L are put into the standby state. At this time, when the vehicle speed signal V (m / s) from the vehicle speed sensor VS is input and the control circuit unit 51 determines that the vehicle 10 is running, the operation of the electric winches 30R and 30L is prohibited. .. In addition to this, the control circuit 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 determines that the electric winches 30R and 30L are in the stopped state. Prohibit operation.

As described above, the control circuit unit 51 permits the operation of the electric winches 30R and 30L by using the fact that the vehicle 10 is reliably stopped as a trigger. Therefore, the winch device 40 (see FIG. 2) is highly reliable and safe.

Further, the control circuit unit 51 stores the pull-out amount of the belt 32, and grasps the position of the wheelchair 20 with respect to the vehicle 10 (see FIG. 1) from the pull-out amount of the belt 32. The control circuit unit 51 can finely control the electric winches 30R and 30L based on the information on the amount of pulling out of the belt 32 (position information of the wheelchair 20). Here, the pull-out amount of the belt 32 is a value proportional to the count number of the drum rotation signals RD (R) and RD (L) composed of the square wave. That is, the increase / decrease in the withdrawal amount of the belt 32 is proportional to the increase / decrease in the number of counts.

Further, the control circuit unit 51 determines the current moving speed of the left and right belts 32, that is, the actual speeds of the belts 32, Vo (R), Vo, based on the input drum rotation signals RD (R) and RD (L). (L) is calculated respectively. Specifically, the control circuit unit 51 measures the appearance intervals of the drum rotation signals RD (R) and RD (L), which are pulse signals (square waves), and the length of the appearance intervals or the rectangular wave per unit time. The actual speeds Vo (R) and Vo (L) of the belt 32 are calculated from the number of appearances of the belt 32. The actual speed Vo (R) on the right side constitutes the first moving speed in the present invention, and the actual speed Vo (L) on the left side constitutes the second moving speed in the present invention.

Further, the control circuit unit 51 stores a predetermined target speed threshold value Va, a first speed threshold value Th1, and a second speed threshold value Th2. Here, the control circuit unit 51 executes a comparison process for comparing these threshold values Va, Th1 and Th2 with the actual speeds Vo (R) and Vo (L) of the belt 32. The magnitude relationship of the threshold values is Va <Th1 <TH2 (see FIG. 13).

Then, the control circuit unit 51 refers to the drive circuit units 52R and 52L on the left and right sides so that the actual speeds Vo (R) and Vo (L) that are equal to or higher than the target speed threshold value Va are brought closer to the target speed threshold value Va. Then, the control signals H1 to H6 are output at predetermined timings, respectively. Specifically, the control circuit unit 51 controls the drive circuit units 52R and 52L in the same manner so as to generate the same braking force (electric brake) in the electric motor units 80 on the left and right sides with a predetermined size. The signals H1 to H6 are output. As a result, the respective drive circuit units 52R and 52L are brake-controlled by the control circuit unit 51 with the same control content, and both the left and right electric motor units 80 generate the optimum braking force substantially at the same time.

In addition to the target speed threshold value Va, the control circuit unit 51 stores a first speed threshold value Th1 and a second speed threshold value Th2, which are larger than the target speed threshold value Va. This is because optimum braking control is performed as the difference between (L) and the target speed threshold value Va increases.

Specifically, when the difference between the actual speeds Vo (R) and Vo (L) and the target speed threshold value Va is small, "braking control (weak)" is executed. Further, when the difference between the actual speeds Vo (R) and Vo (L) and the target speed threshold value Va is medium, "braking control (medium)" is executed. Further, when the difference between the actual speeds Vo (R) and Vo (L) and the target speed threshold value Va is large, "braking control (strong)" is executed (see FIGS. 10 and 12). That is, the control circuit unit 51 is adapted to make the control content of the braking control different according to the difference between the actual speeds Vo (R) and Vo (L) and the target speed threshold value Va.

As shown in FIG. 9, the power supply Bt mounted on the vehicle 10 is electrically connected to the drive circuit units 52R and 52L on the left and right sides, respectively. A plurality of first switching elements F1, F2, and F3 are arranged on the positive side (upper side in the figure) of the power supply Bt, and a plurality of second switching elements are arranged on the negative side (lower side in the figure) of the power supply Bt. F4, F5, and F6 are arranged. However, the drive circuit units 52R and 52L on the left and right sides are the same, and in FIG. 9, only the drive circuit unit 52R on the right side and the motor unit 81 on the right side are shown.

Here, in the present embodiment, the first switching elements F1, F2, F3 and the second switching elements F4, F5, F6 are provided so as to be paired with each other, and these switching elements F1, F2, F2. Each of F3, F4, F5, and F6 is composed of a MOS type FET.

Control signals H1 to H6 from the control circuit unit 51 are input to these switching elements F1 to F6 at predetermined timings. As a result, the switching elements F1 to F6 are sequentially turned on and off (switching) at high speed. Therefore, the drive current ID (R) is supplied to the U-phase coil Cu, the V-phase coil Cv, and the W-phase coil Cw of the motor unit 81 one after another, and the rotor 81b of the motor unit 81 is rotationally driven. The magnitude of the drive current ID (R) can be finely changed by PWM control.

Next, the basic operation of the motor unit 81 will be described. Since the motor unit 81 on the left side also operates in the same manner as the motor unit 81 on the right side, only the motor unit 81 on the right side will be described with reference to FIG.

In order to drive the motor unit 81 to rotate, the drive current ID (R) may be supplied to the three coils Cu, Cv, and Cw one after another. However, depending on the magnitude of the load applied to the motor unit 81, the rotation of the rotor 81b may not follow the supply of the drive current ID (R) to the three coils Cu, Cv, and Cw.

Therefore, the control circuit unit 51 monitors the rotation state of the rotor 81b based on the rotor rotation signal RR (R) from the rotor rotation sensor 80c, and thereby, the drive current ID (R) for each of the coils Cu, Cv, and Cw. The supply timing of is adjusted. In other words, the control circuit unit 51 synchronizes the supply of the drive current ID (R) with the rotation state of the rotor 81b, and controls the motor unit 81 so as to be in the optimum rotation state.

For example, by setting the first switching element F1 to "ON" and the second switching element F5 to "PWM control", a drive current ID (R) having a predetermined size is supplied to the U-phase coil Cu. Next, by setting the first switching element F2 to "ON" and the second switching element F6 to "PWM control", a drive current ID (R) having a predetermined magnitude is supplied to the V-phase coil Cv. Further, subsequently, by setting the first switching element F3 to "ON" and the second switching element F4 to "PWM control", a drive current ID (R) having a predetermined size is supplied to the W-phase coil Cw.

In this way, by sequentially supplying the drive current ID (R) to each of the coils Cu, Cv, and Cw, an electromagnetic force is sequentially generated in each of the coils Cu, Cv, and Cw, thereby causing the rotor 81b. Is rotationally driven in a predetermined direction.

Further, the motor unit 81 can also generate three types of braking forces (weak, medium, and strong) having different strengths. In order to perform braking control for generating each braking force in the motor unit 81, for example, the switching elements F1 to F6 may be controlled to be switched between "ON", "PWM control" and "OFF" as follows. good.

[Closed circuit braking (weak)]
As shown in FIG. 10A, by setting the first switching element F1 to "ON" and the second switching element F2 to "PWM control", the respective coils Cu, Cv, Cw are shown as shown by the broken lines. Form a closed circuit through. Here, all the other switching elements F3 to F6 are set to "OFF". Then, the switching elements F1 to F6 are sequentially switched so as to delay (stop) the rotation of the motor unit 81 to form a closed circuit passing through the V-phase coil Cv and a closed circuit passing through the W-phase coil Cw. Therefore, a relatively weak braking force is generated.

The braking force generated by forming the closed circuits one after another as described above is the magnitude of the induced current generated in each of the coils Cu, Cv, and Cw as the permanent magnet 81c (see FIG. 5) rotates. Depends on. That is, the faster the rotation speed of the rotor 81b, the larger the induced current and the larger the braking force.

"Regenerative braking (middle)"
As shown in FIG. 10B, all of the first to third switching elements F1 to F3 on the plus side (upper stage) are set to "OFF", and the fourth to sixth switching elements F4 to F4 to the minus side (lower stage) are set to "OFF". By setting all of F6 to "PWM control" at the same timing, a regenerative circuit passing through the respective coils Cu, Cv, and Cw is formed as shown by the broken line. As a result, a braking force larger than the closed circuit braking (weak) shown in FIG. 10A is generated.

In the above-mentioned regenerative circuit, the braking force can be finely adjusted by adjusting the duty ratio of PWM control according to the difference between the actual speeds Vo (R) and Vo (L) and the target speed threshold value Va. it can. For example, if the difference between the actual speeds Vo (R) and Vo (L) and the target speed threshold value Va is large, the duty ratio is increased in order to obtain a large braking force, and the actual speeds Vo (R) and Vo ( If the difference between L) and the target speed threshold Va is small, the duty ratio may be reduced in order to obtain a small braking force.

"One-phase energizing braking (strong)"
As shown in FIG. 10 (c), by setting the first switching element F1 to "ON" and the fifth switching element F5 to "PWM control", the power supply Bt and the respective coils Cu, as shown by the broken line, A one-phase energization circuit that passes through Cv and Cw is formed. Here, all of the other switching elements F2 to F4 and F6 are set to "OFF". Then, unlike the normal rotation drive of the electric motor unit 80, in order to prevent the rotor 81b from rotating, the first to sixth switching elements F1 to F6 are set to "ON", "PWM control", and "OFF". The position is fixed. That is, the positions of "ON", "PWM control", and "OFF" are not changed according to the rotation of the motor unit 81.

However, the switching elements to be "ON", "PWM control", and "OFF" should be changed according to the rotation position of the motor unit 81 (rotation position of the rotor 81b) at the start of "one-phase energization braking (strong)". To. That is, as described above, the first switching element F1 is not limited to "ON" and the fifth switching element F5 is set to "PWM control".

As a result, a braking force larger than that of the regenerative braking (middle) shown in FIG. 10B is generated. Here, the magnitude (strength) of the braking force can be summarized as follows: closed circuit braking (weak) <regenerative braking (medium) <one-phase energization braking (strong).

Next, the operation of the controller 50 will be described in detail with reference to the drawings.

In the flowcharts (front stage and rear stage) shown in FIGS. 11 and 12, the winch device 40 (see FIG. 2) is operated to carry the wheelchair 20 mounted in the mounting space 11 of the vehicle 10 out of the vehicle interior. The operation contents of the controller 50 at the time are shown.

First, in step S10, when the caregiver operates the output switch 74 (see FIG. 3B) of the remote controller 70, the controller 50 is based on the moving speed information of the belt 32 from the left and right sides (both sides). Then, the speed control (delivery) of the electric motor unit 80 (see FIG. 5) is started.

In the following step S11, the controller 50 supplies a drive current to the solenoid drive members 93c (see FIG. 6) on both sides, and each solenoid drive member 93c is turned on. Then, thrusts for retracting the drive pin 93d (see FIG. 6) are generated in the solenoid drive members 93c on both sides. As a result, the preparation for disengaging the latch gear 93a and the pawl 93b is completed.

In this state, a predetermined pulling force is applied to the belts 32 (see FIG. 2) on both sides from the wheelchair 20. Therefore, the latch gear 93a and the pawl 93b are still in mesh with each other, and the ratchet mechanisms 93 on both sides are not yet in the released state.

After that, in step S12, the controller 50 executes an operation of releasing the latch gears 93a on both sides (an operation of releasing the latch gears 93a). Specifically, the electric motor units 80 on both sides are temporarily driven to rotate slightly in the pull-in direction. As a result, the engagement between the latch gear 93a and the pawl 93b is disengaged, and the ratchet mechanisms 93 on both sides are finally released. Therefore, the belts 32 on both sides are ready for the feeding operation.

Then, in step S13, the electric motor units 80 on both sides are rotationally driven in the direction in which the respective belts 32 are sent out. As a result, the feeding operation of the belts 32 on both sides is started, and the wheelchair 20 gradually starts to descend on the slope 12. At this time, for example, when the weight of the user of the wheelchair 20 is heavy, not only the moving speed of the belts 32 on both sides in the feeding direction becomes faster, but also the weight balance on the left and right sides is different, so that the belts 32 move in the feeding direction. It is possible that the moving speed of the wheelchair varies from side to side. Therefore, the controller 50 monitors the actual moving speeds of the left and right belts 32, that is, the actual speeds Vo (R) and Vo (L), respectively.

Specifically, in step S14, the control circuit unit 51 first determines the actual speeds Vo (R) and Vo (L) of the left and right belts 32 from the appearance intervals of the drum rotation signals RD (R) and RD (L). ) Is calculated. Next, a comparison process for comparing the calculated actual speeds Vo (R) and Vo (L) with the target speed threshold value Va is executed. More specifically, the control circuit unit 51 determines whether or not any of the left and right actual speeds Vo (R) and Vo (L) is equal to or higher than the target speed threshold value Va.

Then, if it is determined to be no in step S14, the process proceeds to step S15, and in step S15, whether or not the operation of the output switch 74 of the remote controller 70 by the caregiver is canceled, that is, the electric winches 30R and 30L are sent out. Determine if the operation has been turned off. Then, if it is determined to be no in step S15, the process returns to step S14, and if it is determined to be yes in step S15, the process proceeds to step S16.

In step S16, the control circuit unit 51 executes control to stop the supply of the drive current to the solenoid drive members 93c on both sides. As a result, each solenoid drive member 93c is turned off. Therefore, the latch gear 93a and the pawl 93b are engaged with each other, and the rotation of the drum 92 is locked. As a result, the speed control of the electric motor units 80 on both sides by the controller 50 is completed.

On the other hand, if yes is determined in step S14, the process proceeds to step S17, and in step S17, braking control of the electric motor units 80 on both sides is started. The braking control in step S17 is not performed individually by the electric motor units 80 on both sides, but the same braking control is performed substantially simultaneously on each of the electric motor units 80 on both sides. Therefore, the load on the controller 50 is reduced as compared with the case where the electric motor units 80 on both sides are individually brake-controlled. Further, since the timing of braking control of the electric motor units 80 on both sides does not vary, it is not necessary to give anxiety to the user or caregiver of the wheelchair 20.

In the following step S18, in step S14, the actual speed Vo (R) or the actual speed Vo (L) (hereinafter, simply referred to as the actual speed Vo) of the person determined to be equal to or higher than the target speed threshold value Va is set to the target speed threshold value Va. It is determined whether or not the speed is equal to or less than the first speed threshold value Th1. Then, if yes is determined in step S18, the process proceeds to step S19, and if no is determined in step S18, the process proceeds to step S24.

In step S19, the control circuit unit 51 executes "braking control (weak)". Specifically, based on the fact that the difference between the actual speed Vo and the target speed threshold value Va is small (yes determination in step S18), the control circuit unit 51 closes the drive circuit units 52R and 52L on both sides, respectively. Control to generate "circuit braking (weak)". As a result, both the drive circuit units 52R and 52L on both sides form a circuit (closed circuit) as shown in FIG. 10A substantially at the same time, and the electric motor units 80 on both sides generate a relatively weak braking force. .. As a result, the electric brake (weak) is applied to the rotation of the drum 92 in the feeding direction, and the actual speed Vo approaches the target speed threshold value Va.

Then, in step S20, it is determined whether or not the actual speed Vo is less than the target speed threshold value Va. If it is determined to be no in step S20, the process proceeds to step S21, and if it is determined to be yes in step S20, the process proceeds to step S23. In step S21, it is determined whether or not the operation of the output switch 74 of the remote controller 70 by the caregiver is canceled, that is, whether or not the feeding operation of the electric winches 30R and 30L is turned off. If it is determined to be no in step S21, the process returns to step S18.

On the other hand, if yes is determined in step S21, the process proceeds to step S22, and in step S22, the control circuit unit 51 executes control to stop the supply of the drive current to the solenoid drive members 93c on both sides. As a result, each solenoid drive member 93c is turned off. Therefore, the latch gear 93a and the pawl 93b are engaged with each other, and the rotation of the drum 92 is locked. As a result, the speed control of the electric motor units 80 on both sides by the controller 50 is completed.

In step S23, the control of "braking control (weak)" by the control circuit unit 51 is stopped based on the yes determination in step S20, that is, the determination that the actual speed Vo is less than the target speed threshold value Va. After that, the process returns to step S14 of FIG.

In step S24, it is determined whether or not the actual speed Vo is equal to or more than the first speed threshold Th1 and less than the second speed threshold Th2. Then, if yes is determined in step S24, the process proceeds to step S25, and if no is determined in step S24, the process proceeds to step S26.

In step S25, the control circuit unit 51 executes "braking control (middle)". Specifically, based on the fact that the difference between the actual speed Vo and the target speed threshold value Va is medium (yes determination in step S24), the control circuit unit 51 sets the drive circuit units 52R and 52L on both sides. Each is controlled so as to generate "regenerative braking (medium)". As a result, both the drive circuit units 52R and 52L on both sides become circuits (regenerative circuits) as shown in FIG. 10B substantially at the same time, and the electric motor units 80 on both sides are "closed circuit braking (weak)". Generates a medium braking force greater than. As a result, the electric brake (middle) is applied to the rotation of the drum 92 in the feeding direction, and the actual speed Vo approaches the target speed threshold value Va. Then, the process proceeds to step S21.

Further, in step S26, it is determined whether or not the actual speed Vo is equal to or higher than the second speed threshold value Th2. Then, if yes is determined in step S26, the process proceeds to step S27, and if no is determined in step S26, the process proceeds to step S21.

In step S27, the control circuit unit 51 executes “braking control (strong)”. Specifically, based on the large difference between the actual speed Vo and the target speed threshold value Va (yes determination in step S26), the control circuit unit 51 sets the drive circuit units 52R and 52L on both sides to "one", respectively. Control to generate "phase energization braking (strong)". As a result, both the drive circuit units 52R and 52L on both sides become a circuit (one-phase energization circuit) as shown in FIG. 10 (c) substantially at the same time, and the electric motor units 80 on both sides are "regenerative braking (middle)). Generates even greater braking force than. As a result, the electric brake (strong) is applied to the rotation of the drum 92 in the feeding direction, and the actual speed Vo approaches the target speed threshold value Va. Then, the process proceeds to step S21.

As described above, in the present embodiment, the braking force is switched between "weak", "medium", and "strong" based on the difference between the actual speed Vo and the target speed threshold value Va. Therefore, the control effect as shown by the solid line in FIG. 13 can be obtained. Specifically, when the user of the wheelchair 20 is heavy and the braking control as described above is not performed, the behavior as shown by the broken line is exhibited. That is, since the electric brake is not applied, the moving speed of the wheelchair 20 immediately increases on the inclined slope 12. Therefore, the user of the wheelchair 20 and the caregiver who accompanies the wheelchair 20 feel uneasy.

On the other hand, in the present embodiment, the moving speed of the belt 32 increases between the time t1 and the time t2 (weak braking region AR1), but a weak electric brake (closed circuit braking) is applied. The rise can be moderated. Further, even between the time t2 and the time t3 (medium braking region AR2), the moving speed of the belt 32 increases, but the medium electric brake (regenerative braking) is applied, so that the increase should be moderated. Can be done. Then, since the strongest electric brake (one-phase energization control) is applied between the time t3 and the time t4 (forced driving region AR3), it is possible to prevent the moving speed of the belt 32 from further increasing. Moreover, the moving speed of the belt 32 can be brought closer to the target speed threshold value Va.

After that, in the medium braking region AR2 between the time t4 and the time t5 and the weak braking region AR1 between the time t5 and the time t6, the change from "regenerative braking (medium)" to "closed circuit braking (weak)". Then, the actual velocity Vo gradually approaches the target velocity threshold Va.

As a result, the moving speed (actual speed Vo) of the belt 32 can be gradually changed and approached to the target speed threshold value Va in substantially the entire range of the braking control from the time t1 to the time t6. It is possible to reduce the feeling of anxiety to the caregiver who accompanies this. Further, since the above-mentioned braking control (3 types) is performed substantially simultaneously for both of the electric motor units 80 on both sides, braking control can be performed in a well-balanced manner on the left and right sides, which also allows the user of the wheelchair 20 It is possible to reduce the feeling of anxiety to the caregivers who accompany this.

Next, FIGS. 14 and 15 show the operation contents of the controller 50 when the winch device 40 (see FIG. 2) is operated to bring the wheelchair 20 outside the vehicle interior into the mounting space 11 of the vehicle 10. The explanation will be given using a flowchart (first stage and second stage). In order to avoid duplicate explanations, only the parts different from the speed control (delivery) shown in the flowcharts of FIGS. 11 and 12 will be described.

In step S30 (shaded portion), when the on switch 73 (see FIG. 3B) of the remote controller 70 is operated by the caregiver, the electric motor portions 80 (both sides) on the left and right sides (both sides) of the controller 50 (FIG. 5) are operated. The speed control (pull-in) of (see) is started. Then, in step S33 (shaded portion) following step S11, the electric motor portions 80 on both sides are rotationally driven in the direction in which the respective belts 32 are pulled in. As a result, the pulling operation of the belts 32 on both sides is started, and the wheelchair 20 gradually starts to climb on the slope 12.

Here, in the pull-in operation of the belt 32, the operation of step S12 in FIG. 11 is omitted. This is because, in the flowchart (pull-in operation) shown in FIG. 14, the electric motor units 80 on both sides are rotationally driven in the pull-in direction, so that the ratchet mechanism 93 is automatically released in the next step S33. ..

Further, in step S35 (shaded portion) in FIG. 14 and step S41 (shaded portion) in FIG. 15, whether or not the operation of the on-switch 73 of the remote controller 70 by the caregiver is canceled, that is, the pull-in operation of the electric winches 30R and 30L. Determine if is turned off.

As described above, even in the flowcharts (pull-in operation) shown in FIGS. 14 and 15, substantially the same control effect as the flowcharts (delivery operation) shown in FIGS. 11 and 12 can be obtained. Here, when the moving speed (actual speed Vo) of the belt 32 becomes faster than the target speed threshold value Va in the pulling operation, the weight of the user of the wheelchair 20 is determined by the specifications of the winch device 40. For example, when the weight is lighter than the standard weight.

As described in detail above, according to the winch device 40 of the first embodiment, the control circuit unit 51 sets the moving speed of the pair of belts 32, that is, the actual speeds Vo (R) and Vo (L) as the target speed threshold value Va. The pair of drive circuit units 52R and 52L are brake-controlled with the same control content so as to approach, and the control content of the braking control is the difference between the actual speed Vo (R) and Vo (L) and the target speed threshold Va. Depending on the situation, there are three types of braking: closed circuit braking (weak), regenerative braking (medium), and one-phase energization braking (strong).

As a result, the pair of electric motor units 80 can be brake-controlled in a well-balanced manner, and the moving speed of the wheelchair 20, that is, the actual speeds Vo (R) and Vo (L) can be controlled regardless of the weight of the wheelchair 20. The target speed threshold value Va can be approached. Therefore, it is possible to reduce anxiety given to the user of the wheelchair 20 and the caregiver accompanying the wheelchair 20.

Further, according to the winch device 40 of the first embodiment, the control circuit unit 51 increases the difference between the actual speed Vo (R) or Vo (L) and the target speed threshold value Va. Therefore, the braking force generated by the pair of electric motor units 80 is increased such that closed circuit braking (weak) <regenerative braking (medium) <one-phase energization braking (strong).

Therefore, it is possible to suppress a sudden change in the moving speed of the wheelchair 20, further reduce the anxiety given to the user of the wheelchair 20 and the caregiver accompanying the user, and the actual speed Vo (R). ), Vo (L) can approach the target velocity threshold value Va as quickly as possible. Therefore, it is possible to improve the reliability of the winch device 40.

Next, other embodiments according to the present invention will be described in detail with reference to the drawings. The same symbols are given to the parts having the same functions as those in the first embodiment described above, and detailed description thereof will be omitted.

FIG. 16 is a flowchart explaining the first stage of one-sided speed control (delivery, embodiment 2), FIG. 17 is a flowchart explaining the second stage of one-sided speed control (pull-in, embodiment 2), and FIG. 18 is an embodiment. FIG. 19 shows a block diagram corresponding to FIG. 8 showing No. 3, and FIG. 19 shows a block diagram corresponding to FIG. 8 showing the fourth embodiment.

[Embodiment 2]
In the first embodiment described above, in step S14 of FIG. 11 (delivery operation) and FIG. 14 (pull-in operation), the control circuit unit 51 determines which of the left and right actual speeds Vo (R) and Vo (L). Was determined whether or not the target speed threshold value Va or higher was reached. That is, in the first embodiment, the control circuit unit 51 determines both the actual speeds Vo (R) and Vo (L) of the left and right belts 32 from the appearance intervals of the drum rotation signals RD (R) and RD (L). Was calculated, and a comparison process was executed in which both the calculated actual speeds Vo (R) and Vo (L) were compared with the target speed threshold value Va.

On the other hand, in the second embodiment, in step S54 (shaded portion) of FIGS. 16 (sending operation) and 17 (pulling operation), the control circuit unit 51 determines from the appearance interval of the drum rotation signal RD (R). A comparison process is performed in which only the actual speed Vo (R) of the belt 32 on the right side, which is one of the left and right sides, is calculated, and only the calculated actual speed Vo (R) is compared with the target speed threshold value Va. It is supposed to run.

In other words, in the second embodiment, the control logic is simplified as compared with the first embodiment. However, contrary to the above, only the actual speed Vo (L) of the left belt 32, which is the other of the left and right sides, is calculated, and only the calculated actual speed Vo (L) and the target speed threshold value are calculated. A comparison process for comparing with Va may be executed.

That is, in step S50 and step S60 (shaded portion) on the upstream side of step S54 in FIGS. 16 and 17, the controller is operated by the caregiver operating the output switch 74 (see FIG. 3B) of the remote controller 70. The 50 starts the speed control (feeding operation and pulling operation) of the electric motor unit 80 (see FIG. 5) based only on the moving speed information of the belt 32 from the right side (one side).

The peripheral structure of the controller 50 including the electric winches 30R and 30L of the second embodiment is the same as that of the first embodiment (see FIG. 8). Further, the processing contents of the controller 50 after step S17 in FIGS. 16 and 17 are the same as those in the first embodiment (see FIG. 12 (sending operation) and FIG. 15 (retracting operation)).

Also in the second embodiment configured as described above, substantially the same effect as that of the first embodiment can be obtained. In addition to this, in the second embodiment, the control logic of the controller 50 can be simplified, so that the braking control can be started promptly (improvement of response speed). Therefore, it is possible to further reduce anxiety given to the user of the wheelchair 20 and the caregiver accompanying the wheelchair 20.

[Embodiment 3]
As shown in FIG. 18, in the winch device 100 of the third embodiment, the controller 50 is built in the electric winch 30R on the right side as compared with the winch device 40 (see FIG. 8) of the first embodiment described above. The difference is that the structure of the electric winch 30L on the left side is simplified. Specifically, the electric winch 30L of the third embodiment is provided with a drum rotation sensor (second sensor) that detects the moving speed of the belt 32 on the left side of the electric winch 30L of the first embodiment. Absent.

That is, the electric winch 30L on the left side is based on the operation information of the electric winch 30R on the right side, that is, the moving speed (actual speed Vo (R)) of the belt 32 obtained from the drum rotation signal RD (R) on the right side. It is controlled (rotational drive and braking control) by the controller 50 built into the electric winch 30R.

Here, the control content performed by the controller 50 on the winch device 100 of the third embodiment is the same as that of the second embodiment. That is, the feeding operation of the belt 32 is controlled according to the flowcharts of FIGS. 16 (first stage) and 12 (second stage). On the other hand, the pulling operation of the belt 32 is controlled according to the flowcharts of FIGS. 17 (first stage) and 15 (second stage).

Also in the third embodiment configured as described above, substantially the same effect as that of the first embodiment can be obtained. In addition to this, in the third embodiment, as in the second embodiment, the control logic of the controller 50 can be simplified to promptly start the braking control, and the structure of the electric winch 30L on the left side is simplified. It can also be transformed into. Therefore, the cost of the entire winch device can be reduced. As described above, the winch device 100 of the third embodiment can be said to be a "cheap version" of the winch device 40 of the first embodiment.

[Embodiment 4]
As shown in FIG. 19, the winch device 200 of the fourth embodiment corresponds to the electric winches 30R and 30L on the left and right sides as compared with the winch device 40 (see FIG. 8) of the first embodiment described above. The difference is that the controllers 50R and 50L are individually provided. Specifically, the electric winch 30R on the right side is controlled by the controller 50R on the right side, and the electric winch 30L on the left side is controlled by the controller 50L on the left side. The controller 50R constitutes the first controller in the present invention, and the controller 50L constitutes the second controller in the present invention.

An ignition switch IG, a vehicle speed sensor VS, a shift position sensor SP, an operation panel 60, and a buzzer 65 are electrically connected to each of the controllers 50R and 50L via a wire harness 14. Further, the controller 50R and the controller 50L are communicably connected to each other via the communication line 201. The pair of controllers 50R and 50L can wirelessly receive various operation signals from the remote controller 70.

As described above, in the fourth embodiment, since the controllers 50R and 50L having the same structure are individually provided on the left and right sides, the left and right side control circuit units 51R and 51L are provided on each of the controllers 50R and 50L, respectively. ing. The control circuit unit 51R constitutes the first control circuit unit in the present invention, and the control circuit unit 51L constitutes the second control circuit unit in the present invention.

The target speed threshold value Va, the first speed threshold value Th1 and the second speed threshold value Th2 set to the same values are stored in advance in the respective control circuit units 51R and 51L. The target speed threshold value Va stored in the control circuit unit 51R constitutes the first target speed threshold value in the present invention, and the target speed threshold value Va stored in the control circuit unit 51L constitutes the second target speed threshold value in the present invention. doing.

Here, the control contents performed by the controllers 50R and 50L with respect to the winch device 200 of the fourth embodiment are substantially the same as those of the first embodiment. That is, the feeding operation of the belt 32 is controlled according to the flowcharts of FIGS. 11 (first stage) and 12 (second stage). On the other hand, the pulling operation of the belt 32 is controlled according to the flowcharts of FIGS. 14 (first stage) and 15 (second stage).

However, in the fourth embodiment, the following processing is executed in step S14 of FIG. 11 (sending operation) and FIG. 14 (pulling operation). That is, the control circuit unit 51R on the right side determines whether or not the actual speed Vo (R) is equal to or higher than the target speed threshold value Va, and the control circuit unit 51L on the left side determines whether the actual speed Vo (L) is the target speed threshold value Va or more. Whether or not it is the above is judged. Then, the control circuit unit 51R and the control circuit unit 51L notify each other of the above-mentioned determination results via the communication line 201. Then, the first determination result that the actual speed Vo (R) by the control circuit unit 51R is equal to or higher than the target speed threshold value Va or more, or the actual speed Vo (L) by the control circuit unit 51L is equal to or higher than the target speed threshold value Va. Of the second judgment results, which one is judged first is judged by each other. Then, when both the first determination result and the second determination result cannot be obtained (in the case of no determination in step S14), the process proceeds to step S15.

On the other hand, for example, when it is determined that the first determination result (right side) is obtained before the second determination result (left side) (when yes determination is made in step S14), the process proceeds to step S17 and step S17. Then, based on the first determination result, each of the control circuit units 51R and 51L has a drive circuit unit so that the actual speeds Vo (R) and Vo (L) are brought closer to the target speed threshold value Va. Braking control of each of 52R and 52L is performed substantially simultaneously with the same control content.

Also in the fourth embodiment configured as described above, substantially the same effect as that of the first embodiment can be obtained. In addition to this, in the fourth embodiment, controls other than braking control performed in cooperation with each other, for example, control for rotationally driving the left and right motor units 81 as usual without braking control, are controlled by the controllers 50R and 50L. It is possible to make each of the above perform precisely.

It goes without saying that the present invention is not limited to each of the above embodiments, and various modifications can be made without departing from the gist thereof. For example, in each of the above embodiments, the towed object is a wheelchair 20, but the present invention is not limited to this, and the towed object may be a stretcher with casters or the like.

Further, in each of the above embodiments, the case where the pair of electric winches 30R and 30L are installed under the driver's seat DR and the passenger seat AS, respectively, is shown, but the present invention is not limited to this, and the rear lower portion of the vehicle 10 is not limited to this. Etc., it may be installed in another dead space.

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

10 Vehicle 11 Mounting space 12 Slope 13 Back door 14 Wire harness 15 Hook 16 Fixed belt 20 Wheelchair 21 Front frame 22 Axle 30R, 30L Electric winch (1st electric winch, 2nd electric winch)
31 Hook 32 Belt (1st belt, 2nd belt)
40 Winch device 50, 50R, 50L controller (1st controller, 2nd controller)
51, 51R, 50L control circuit section (first control circuit section, second control circuit section)
52R, 52L drive circuit section (first drive circuit section, second drive circuit section)
60 Operation panel 61 Panel body 62 Main power switch 62a Indicator 63 Belt-free switch 63a Indicator 64 Speed changeover switch 65 Buzzer 70 Remote control 71 Remote control body 72 Remote control power switch 73 On switch 74 Output switch 75 Indicator 80 Electric motor section (1st motor, 1st motor, 2nd motor)
80a Motor housing 80b Sensor board 80c Rotor rotation sensor 81 Motor part 81a Stator 81b Rotor 81c Permanent magnet 81d Rotor shaft 82 Gear part 82a Planetary gear reducer 82b Sun gear 82c Planetary gear 82d Carrier 82e Ring gear 90 Drum part 91 1st drum, 2nd drum)
92a Drum shaft 92b One-way clutch 93 Ratchet mechanism 93a Latch gear 93b Stopping 93c Solenoid drive member 93d Drive pin 94 Loosening mechanism 94a Spur gear 94b Small diameter gear 94c Reduction gear mechanism 94d Torque limiter 95 Loosening motor 96 Drum rotation sensor 2 sensors)
97 Connector connection 98 Guide member 100 Winch device 200 Winch device 201 Communication line AR1 Weak braking area AR2 Medium braking area AR3 Forced driving area AS Passenger seat B1 to B5 1st to 5th bearings Bt power supply Cu U phase coil Cv V phase coil Cw W phase coil DR Driver's seat F Floor surface F1 to F6 1st to 6th switching elements FT Mounting stay GR Grip H1 to H6 Control signal IG Ignition switch J Ground MG sensor Magnet S Fixed bolt SP Shift position sensor ST Rear seat Th1 1st 1 Speed threshold Th2 2nd speed threshold V Vehicle speed signal VS Vehicle speed sensor Va Target speed threshold (1st target speed threshold, 2nd target speed threshold)
Vo (R), Vo (L) Actual speed (first movement speed, second movement speed)

Claims (6)

A winch device that moves a towed object
A first motor, a first drum rotated by the first motor, a first belt wound around the first drum, and a first electric winch having a first sensor for detecting the first moving speed of the first belt. ,
A second motor, a second drum rotated by the second motor, a second belt wound around the second drum, and a second electric winch having a second sensor for detecting the second moving speed of the second belt. ,
It has a first and second drive circuit unit that drives the first and second motors, respectively, and a control circuit unit that compares the first and second moving speeds with a predetermined target speed threshold value. , One controller to control the second electric winch,
With
The control circuit unit
When it is determined that one of the first and second moving speeds is equal to or higher than the target speed threshold value,
Braking control is performed on the first and second drive circuit units with the same control contents so that the first and second moving speeds approach the target speed threshold value.
Further, the control content of the braking control is made different according to the difference between any one of the first and second moving speeds and the target speed threshold value.
Winch device. The control circuit unit increases the braking force generated by the first and second motors as the difference between one of the first and second moving speeds and the target speed threshold value increases. The control content of the braking control is different as described above.
The winch device according to claim 1. A winch device that moves a towed object
A first motor, a first drum rotated by the first motor, a first belt wound around the first drum, and a first electric winch having a first sensor for detecting the first moving speed of the first belt. ,
A second motor, a second drum rotated by the second motor, and a second electric winch having a second belt wound around the second drum.
It has first and second drive circuit units that drive the first and second motors, respectively, and a control circuit unit that compares the first movement speed with a predetermined target speed threshold value, and has the first and second drive circuits. One controller that controls the electric winch,
With
The control circuit unit
When it is determined that the first moving speed is equal to or higher than the target speed threshold value,
Braking control is performed on the first and second drive circuit units with the same control contents so that the first moving speed approaches the target speed threshold value.
Further, the control content of the braking control is made different according to the difference between the first moving speed and the target speed threshold value.
Winch device. The control circuit unit controls the braking control so as to increase the braking force generated by the first and second motors as the difference between the first moving speed and the target speed threshold value increases. Characterized by making them different,
The winch device according to claim 3. A winch device that moves a towed object
A first motor, a first drum rotated by the first motor, a first belt wound around the first drum, and a first electric winch having a first sensor for detecting the first moving speed of the first belt. ,
A first drive circuit unit that drives the first motor, and a first control circuit unit that compares the first moving speed with a predetermined first target speed threshold value, and controls the first electric winch. 1 controller and
A second motor, a second drum rotated by the second motor, a second belt wound around the second drum, and a second electric winch having a second sensor for detecting the second moving speed of the second belt. ,
A second drive circuit unit that drives the second motor and a second control circuit unit that compares the second moving speed with a predetermined second target speed threshold value to control the second electric winch. 2 controllers and
With
The first controller and the second controller are communicably connected to each other by a communication line, and the first target speed threshold value and the second target speed threshold value are set to the same values.
The first and second control circuit units
Of the first determination result in which the first movement speed is determined to be equal to or higher than the first target speed threshold value and the second determination result in which it is determined that the second movement speed is equal to or higher than the second target speed threshold value. Based on the judgment result of the person who made the judgment first
Braking control is performed on the first and second drive circuit units with the same control contents so that the first and second moving speeds approach the first and second target speed thresholds.
Further, the control content of the braking control is made different according to the difference between the first and second moving speeds and the first and second target speed thresholds.
Winch device. In the first and second control circuit units, the first and second motors are generated as the difference between the first and second moving speeds and the first and second target speed thresholds increases. It is characterized in that the control content of the braking control is different so as to increase the power.
The winch device according to claim 5.

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