JP6027728B2 - Electric winch control device - Google Patents

Description

  The present invention relates to a control device for an electric winch that pulls an object to be pulled such as a wheelchair.

  Conventionally, a wheelchair mounting space in which a wheelchair (towed object) can be mounted is formed on the rear side of the welfare vehicle. From the wheelchair mounting space, a slope is drawn out toward the outside of the vehicle, and the wheelchair outside the vehicle is guided to the wheelchair mounting space by the slope. An electric winch having a hooked belt is installed on the front side of the wheelchair-mounted space. By pulling the belt from the electric winch, hooking a hook at a predetermined position of the wheelchair, and driving the electric winch in this state, the wheelchair can be easily guided to the wheelchair mounting space. Here, the electric winch is installed to assist the assistant, and the electric winch is operated by the assistant.

  As described above, for example, a technique described in Patent Document 1 is known as an apparatus that can pull a wheelchair toward a wheelchair-mounted space. The technique described in Patent Document 1 includes a drum around which a belt for pulling a wheelchair is wound, and a drive motor (motor) having a gear box. A ratchet mechanism is provided near the drum between the drum and the gear box, and an electromagnetic clutch is provided near the gear box between the drum and the gear box.

  In the locked state, the ratchet mechanism prevents rotation of the drum in the belt drawing direction (other direction) while allowing rotation in the belt winding direction (one direction). In the unlocked state (release state), The drum is allowed to rotate in the belt drawing direction and the belt winding direction. Further, the electromagnetic clutch is adapted to intermittently (engage / release) the connection state between the gear box and the drum in accordance with an external input. That is, the electromagnetic clutch is configured to be able to interrupt power transmission between the motor and the drum.

Japanese Patent Laying-Open No. 2006-271661 (FIG. 2)

  However, according to the technique described in Patent Document 1 described above, rotation of the drum in the other direction is restricted only by the ratchet mechanism. Therefore, when the ratchet mechanism breaks down for some reason and the rotation of the drum in the other direction cannot be restricted, there is a problem that the wheelchair moves backward when the wheelchair is on the slope. Here, since the rotational force (reverse rotational force) that rotates the drum transmitted from the wheelchair in the other direction is transmitted to the motor via the electromagnetic clutch and the gear box, the drum is placed on the reverse rotational force transmission path. It is desirable to provide a brake element (fail-safe function) that can suppress rotation in the other direction.

  An object of the present invention is to provide a control device for an electric winch that can suppress rotation of the drum in the other direction even if the ratchet mechanism fails.

An electric winch control device according to the present invention includes an electric winch having a drum around which a belt for pulling a towed object is wound, a motor for rotating the drum, and a controller for controlling the electric winch. A control device, which is provided on the drum and operated in a locked state to allow the drum to rotate in one direction in order to drive and control the electric winch via the controller. A ratchet mechanism that restricts rotation in the other direction while permitting rotation of the drum in one direction and the other direction in a released state, and an electromagnetic clutch that puts the drum and the motor into an engaged state or an opened state, A rotation sensor for detecting the rotation of the drum; and a controller for detecting a motor stop signal from the operation member. In accordance with the force, while controlling the ratchet mechanism in a locked state, the relay switch of the motor is turned ON to form a short circuit to execute a braking control for generating an electric brake in the motor, and further, the electromagnetic A drive control unit that controls the clutch to an open state, and the drive control unit, when pulling the belt, when controlling the electromagnetic clutch to the open state in accordance with the input of the motor stop signal, When the detection signal is input from the rotation sensor and it is detected that the drum is rotating, it is determined that the ratchet mechanism is abnormal, the electromagnetic clutch is controlled to be in an engaged state, and the engaged state of the electromagnetic clutch cannot be confirmed. and when running control of the electromagnetic clutch in the engaged state again, to transmit the braking force of the motor to the drum It is characterized in.

  According to the control device for the electric winch of the present invention, the drum is restricted from rotating in the other direction while allowing the drum to rotate in one direction in the locked state, and in the released state to the drum in one direction and the other direction. A ratchet mechanism that allows rotation is provided, and a drive control unit that brakes the motor while controlling the ratchet mechanism in a locked state is provided in the controller in accordance with the input of a motor stop signal from the operation member. Thereby, when the motor is stopped, the braking force can be generated in the motor. Therefore, even if the ratchet mechanism breaks down when the motor is stopped and the drum cannot be locked, the drum is kept difficult to rotate by the braking force (fail safe function) of the motor, and the drum is moved in the other direction. Can be controlled. Therefore, it is possible to suppress problems such as the retracted object retreating.

  According to the control device for the electric winch of the present invention, the electric winch includes the electromagnetic clutch that puts the drum and the motor into the engaged state or the released state, and the rotation sensor that detects the rotation of the drum, and the drive control unit includes the operation member. With the input of the motor stop signal from and the input of the detection signal from the rotation sensor, the electromagnetic clutch is controlled to the engaged state. As a result, even with an electric winch equipped with an electromagnetic clutch between the drum and the motor, the braking force of the motor can be transmitted to the drum, and the rotation of the drum in the other direction can be restricted, so that the to-be-towed object moves backward. It is possible to suppress problems such as

(A), (b) is explanatory drawing explaining the basic operation | movement of the electric winch mounted in the vehicle. It is explanatory drawing explaining the system configuration | structure of this invention 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 outside by the assistant. It is a perspective view which shows the detailed structure of an electric winch. It is a perspective view which shows the internal structure (part) of the electric winch of FIG. It is a figure which shows typically the connection relation of the member which comprises the electric winch of FIG. It is a block diagram which shows the internal structure of a controller. It is a flowchart explaining the motor stop operation | movement of a controller.

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

  FIGS. 1A and 1B are explanatory diagrams for explaining the basic operation of the electric winch mounted on the vehicle, and FIG. 2 is an explanatory diagram for explaining the system configuration of the present invention when the vehicle of FIG. 1 is viewed from above. 3A is a plan view showing an operation panel installed in the vehicle, FIG. 3B is a plan view showing a remote control that can be operated from outside the vehicle by an assistant, and FIG. 4 is a perspective view showing a detailed structure of the electric winch. 5 is a perspective view showing an internal structure (a part) of the electric winch shown in FIG. 4, and FIG. 6 is a diagram schematically showing a connection relation of members constituting the electric winch shown in FIG.

  As shown in FIGS. 1 and 2, the vehicle 10 is a welfare vehicle, and a wheelchair mounting space 11 in which a wheelchair 20 as a to-be-towed object can be mounted is formed on the rear side (right side in the drawing) of the vehicle 10. ing. A pair of electric winches 30 is installed on the vehicle front side (left side in the figure) of the wheelchair mounting space 11 with a predetermined interval in the vehicle width direction (vertical direction in FIG. 2) of the vehicle 10. Each electric winch 30 includes a belt 32 to which a hook 31 is attached on the tip side, and the belt 32 pulls the wheelchair 20. Specifically, each belt 32 is pulled out from each electric winch 30, and each hook 31 is hooked on a pair of front frames 21 on the left and right sides of the wheelchair 20, and each electric winch 30 is operated synchronously under this state. By retracting each belt 32, the wheelchair 20 moves in the direction indicated by the arrow M1 in the figure.

  A slope 12 that connects the ground G and the floor surface F of the vehicle 10 at a moderate inclination angle is installed on the vehicle rear side of the wheelchair mounting space 11. The slope 12 is stored in a storage portion (not shown) formed on the floor surface F when the vehicle 10 is traveling. On the other hand, when the vehicle 10 is stopped and the back door 13 is opened, and a slope operation switch (not shown) is turned on, the slope 12 extends from the storage portion toward the outside of the vehicle.

  As shown in FIG. 1 (b), the wheelchair 20 moves on the slope 12 by causing each electric winch 30 to operate synchronously, and eventually the wheelchair 20 is shown by a broken line in the figure. It reaches the floor surface F and is mounted in the wheelchair mounting space 11. Further, by sending out each belt 32 by each electric winch 30, the wheelchair 20 mounted in the wheelchair mounting space 11 is moved from the floor surface F to the ground G as shown in FIG. By providing the slope 12 in this manner, the movement of the wheelchair 20 between the ground G and the floor surface F can be easily guided. Here, each electric winch 30 is operated by an assistant (operator) (not shown), and the assistant supports the wheelchair 20 from the rear of the wheelchair 20 during the operation of each electric winch 30.

  The control device 40 that controls each electric winch 30 is configured as shown in FIG. That is, the control device 40 includes the electric winches 30, the controller 50, the operation panel 60, and the remote controller 70. Between each electric winch 30 and the controller 50, and between the operation panel 60 and the controller 50, the wiring 14 which consists of a communication line and a power wire is provided electrically connected. The remote controller 70 is wireless and can communicate with the controller 50 wirelessly. By taking the remote controller 70 out of the vehicle, each electric winch 30 can be operated from the outside of the vehicle.

  Here, as shown in FIG. 2, a pair of fixing belts 16 having hooks 15 are installed on the floor F of the vehicle 10, and each hook 15 of each fixing belt 16 is mounted in the wheelchair mounting space 11. The wheelchair 20 is hooked on a pair of wheels 22 on the left and right sides. As a result, the wheelchair 20 mounted in the wheelchair mounting space 11 is fixed at a total of four locations of the hooks 31 of the belts 32 and the hooks 15 of the fixing belts 16. As a result, the wheelchair 20 moves within the vehicle 10. Suppresses rattling.

  An operation panel 60 as an operation member includes a panel body 61 as shown in FIG. The panel body 61 is provided on the rear side from the center of the wheelchair mounting space 11, and the operation panel 60 can be operated from the rear of the vehicle 10. 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 (speaker) 65 as a sounding member.

  The main power switch 62 is operated to turn on the system power of the control device 40. By turning on the main power switch 62, the system power is turned on. At this time, the indicator 62a of the main power switch 62 is lit. The main power switch 62 is also operated when the control device 40 is reset (initialized). For example, the main power switch 62 is set to be reset by pressing and holding it for 3 seconds or longer.

  The belt-free switch 63 is operated to release the lock state of each electric winch 30. By turning on the belt-free switch 63, each belt 32 can be pulled out and stored. That is, the belt-free switch 63 is turned on so that each belt 32 can be pulled out and hooked on the wheelchair 20 outside the vehicle, or the length of each belt 32 pulled out from each electric winch 30 can be made uniform. Here, when the belt-free switch 63 is turned on, the indicator 63a of the belt-free switch 63 is turned on.

  When the wheelchair 20 is mounted on the wheelchair mounting space 11 or lowered from the wheelchair mounting space 11, the speed changeover switch 64 sets the moving speed of each belt 32, that is, the pull-in speed or the sending speed, to a low speed (LOW) or a high speed ( It is operated to switch to HIGH). Further, the buzzer 65 generates a warning sound such as an electronic sound when each belt 32 is retracted or delivered, or when each electric winch 30 is malfunctioning (when a failure occurs). Here, the warning sound is not limited to an electronic sound, and may be a voice announcement.

  The remote controller 70 as an operation member is a dry battery-driven 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 supply of the control device 40 is on. As shown in FIG. 3B, the remote controller 70 includes a remote controller main body 71. The remote controller main body 71 includes 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. Further, when the indicator 75 becomes dark, the dry battery (not shown) is replaced.

  Here, the operation of the remote controller 70 is performed by an assistant, the assistant turns on the remote controller power switch 72, and then presses the on switch 73 to activate each electric winch 30. While the on switch 73 is being pressed, each electric winch 30 continues to operate and assists in mounting the wheelchair 20 in the wheelchair mounting space 11. On the other hand, when the out switch 74 is pressed, each electric winch 30 is operated in the opposite direction. And while pushing out switch 74, the operation of lowering wheelchair 20 from wheelchair mounting space 11 is assisted. In other words, the assistant stops pressing the on switch 73 and the out switch 74 and puts the switches 73 and 74 into a non-operation state, so that the motor stop signal Stp from the remote controller 70 to the controller 50 (see FIG. 7). Is output.

  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 its movement. Thus, the control apparatus 40 assists the movement of the wheelchair 20 by the assistant by drivingly controlling each electric winch 30.

  Each electric winch 30 provided on the left and right sides of the vehicle 10 has the same shape and the same structure. 4 to 6, only one of the electric winches 30 is shown, and the detailed structure thereof will be described below as a representative of any one of the electric winches 30.

  As shown in FIGS. 4 and 6, 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 (motor) 81 and a gear unit 82. A rotation shaft (not shown) is rotatably provided in the motor unit 81, and is configured of a worm and a worm wheel for reducing the rotation of the rotation shaft to increase the torque, inside the gear unit 82. A speed reduction mechanism (not shown) is provided. The rotational force of the worm wheel is transmitted to the output shaft 83 (see FIG. 6), and the output shaft 83 projects toward the drum portion 90 to rotate the drum 92 (see FIG. 5) forming the drum portion 90. ing.

  Further, the speed reduction mechanism in the gear portion 82 is formed of a worm and a worm wheel, which makes it difficult to transmit the rotational force from the output shaft 83 to the rotation shaft of the motor portion 81. That is, the speed reduction mechanism including the worm and the worm wheel generates a mechanical braking force (mechanical brake) that acts to stop the rotation of the output shaft 83.

  As shown in FIG. 6, an electromagnetic clutch 84 is provided between the gear portion 82 (worm wheel) and the output shaft 83, that is, between the drum 92 and the motor portion 81 in the motor portion power transmission path. The electromagnetic clutch 84 is controlled by the controller 50 to bring the drum 92 and the motor unit 81 into the engaged state or the released state. Specifically, the drum 92 and the motor unit 81 are connected so as to be able to transmit power by setting the electromagnetic clutch 84 to an engaged state, and the drum 92 and the motor unit 81 are connected by opening the electromagnetic clutch 84. Disconnected.

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

  The drum portion 90 includes a casing 91 as shown in FIG. 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 each of these mounting stays ST is a plurality of fastenings (not shown). It is firmly fixed to the floor surface F with bolts. As a result, the electric winch 30 is firmly fixed to the vehicle 10 without rattling.

  As shown in FIG. 5, a drum 92, a ratchet mechanism 93, and a slack eliminating mechanism 94 are accommodated in the casing 91. However, the slack eliminating motor 95, the guide member 98 and the hook 31 shown in FIG. 5 are provided outside the casing 91 as shown in FIG.

  A belt 32 is wound around the drum 92, and a drum shaft 92 a is attached to the rotation center of the drum 92 so as to be integrally rotatable. The rotation of the output shaft 83 (see FIG. 6) 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.

  A one-way clutch 92b is provided between the drum 92 and the drum shaft 92a as shown in FIG. 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 in FIG. 5). 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 is idled. That is, the one-way clutch 92b allows rotation of the drum 92 in the winding direction with respect to the drum shaft 92a, and restricts rotation of the drum 92 in the feed-out direction with respect to the drum shaft 92a.

  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, allows the drum 92 to rotate in the pull-in direction (one direction) of the belt 92, and feeds out the belt 32. A swingable pawl 93b that can prevent rotation in the other direction (clockwise in FIG. 5) and a solenoid drive member 93c that swings and drives 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 in a released state, and the drum 92 can be rotated in both directions of the belt 32 in the drawing direction and the feeding direction. In this way, the drum 92 is allowed to rotate in both directions, so that the wheelchair 20 can be lowered from the wheelchair mounting space 11.

  On the other hand, by stopping the supply of drive current to the solenoid drive member 93c under the control of the controller 50, the drive pin 93d protrudes due to the spring force of a built-in 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 torque limiter 94d, the small diameter gear 94b, and the spur gear 94a. It is transmitted to the drum 92. Further, a torque limiter 94d is provided between the small-diameter gear 94b and the reduction gear mechanism 94c as shown in FIG. 6, and the torque limiter 94d cuts off the transmission of torque above a certain level. As a result, overloading of the slack eliminating motor 95 is prevented, and the slack eliminating motor 95 is protected. That is, as the slack eliminating motor 95, a small motor capable of generating a torque that can remove the slack of the belt 32 can be adopted.

  FIG. 7 is a block diagram showing the internal structure of the controller. As shown in FIG. 7, the controller 50 controls the drive system components (81, 84, 93 c, 95) constituting the electric winch 30 based on input of various operation signals from the operation panel 60 and the remote controller 70. A drive control unit 51 is provided.

  Various operation signals are input to the controller 50 in a wired or wireless manner from the operation panel 60 and the remote controller 70, and a detection signal Ds (see FIG. 7) is input from the rotation sensor 96. The controller 50 is electrically connected to a motor unit 81, an electromagnetic clutch 84, a solenoid drive member 93c, and a slack eliminating motor 95 that constitute the electric winch 30, and the drive control unit 51 receives an operation signal and a detection signal Ds ( Each drive system component (81, 84, 93c, 95) is optimally controlled based on the input signal. The drive control unit 51 controls the driving of the pair of electric winches 30 in synchronization.

  Here, the rotation sensor 96 is composed of 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. Thus, when the ring magnet rotates together with the drum 92, the rotation sensor 96 generates a rectangular wave signal (pulse signal) indicating “ON” or “OFF” in accordance with switching of the magnetic poles of the ring magnet. Then, the drive control unit 51 calculates a load applied to the belt 32, a moving speed of the belt 32, and the like from each input pulse signal. The various data calculated here are reflected in fine drive control of the electric winch 30.

  When the motor stop signal Stp from the remote controller 70 is input to the drive control unit 51 and the motor stop signal Stp is input to the drive control unit 51, the drive control unit 51 controls the ratchet mechanism 93 in the locked state. Then, the motor unit 81 is controlled to be braked, and the electromagnetic clutch 84 is controlled to be opened. That is, the supply of drive current to the solenoid drive member 93c is stopped and turned off, the relay switch RS of the motor unit 81 is turned on, and the supply of drive current to the electromagnetic clutch 84 is stopped and turned off. . As a result, the ratchet mechanism 93 is locked and rotation of the drum 92 in the other direction, that is, reverse rotation in the direction in which the belt 32 is fed out is prevented.

  Here, the motor unit 81 is brake-controlled to prepare for the case where the drum 92 rotates in the reverse direction, and the supply of drive current to the electromagnetic clutch 84 is stopped to reduce power consumption. In this motor stopped state, the drive control unit 51 monitors the input of the detection signal Ds from the rotation sensor 96. When the detection signal Ds is input from the rotation sensor 96, that is, the motor is in a stopped state. Nevertheless, when the drum 92 is rotating (especially reverse rotation), a driving current is supplied to the electromagnetic clutch 84 to turn it on, whereby the braking force (electrical braking and mechanical braking) by the motor unit 81 is achieved. Can be transmitted to the drum 92. In this way, the motor unit 81 is used as a brake element to obtain a fail-safe function (reverse rotation prevention function), and as a result, further rotation of the drum 92 is suppressed.

  Next, operation | movement of the control apparatus 40 formed as mentioned above is demonstrated in detail using drawing. FIG. 8 is a flowchart illustrating the motor stop operation of the controller.

  First, the assistant operates the main power switch 62 of the operation panel 60 to turn on the system power of the control device 40, and further operates the remote control power switch 72 of the remote controller 70, and then operates the on switch 73, for example. Then, each electric winch 30 is driven and controlled in synchronization with each other, and the wheelchair 20 is drawn into the wheelchair mounting space 11 (see FIG. 1) (step S1).

  Thereafter, in subsequent step S <b> 2, it is determined whether or not the on switch 73 is in a non-operation state, that is, whether or not the motor stop signal Stp is input from the remote controller 70 to the drive control unit 51 of the controller 50. Here, when the on switch 73 is still in the operating state (no determination), the process of repeating step S2 is executed. On the other hand, when the on switch 73 is not operated and the motor stop signal Stp is input to the drive control unit 51 (yes determination), the process proceeds to step S3.

  In step S3, the solenoid drive member 93c of the ratchet mechanism 93 is turned off to execute control for bringing the ratchet mechanism 93 into a locked state. In subsequent step S4, the relay switch RS of the motor unit 81 is turned on, and braking control for causing the motor unit 81 to generate an electric brake is executed. In the subsequent step S5, the electromagnetic clutch 84 is turned off, and control for opening the electromagnetic clutch 84 is executed. Thereby, the reverse rotation of the drum 92 is prevented by the locked state of the ratchet mechanism 93, and for example, the wheelchair 20 on the slope 12 can be stopped on the spot without retreating.

  Here, the power consumption is suppressed by stopping the supply of the drive current to the solenoid drive member 93c and the electromagnetic clutch 84. In the motor unit 81, power is not consumed because the relay switch RS is simply turned on to form a short circuit (brake circuit).

  In step S6, it is determined whether or not the detection signal Ds (pulse signal) from the rotation sensor 96 is input to the drive control unit 51, that is, whether or not the drum 92 is rotating. If the detection signal Ds is not input, that is, if the drum 92 is not rotating in the reverse direction (no determination), it is determined that the ratchet mechanism 93 is operating normally (locked state) and the process proceeds to step S10.

  On the other hand, when the rotation of the drum 92 is detected in step S6 (yes determination), it is determined that the ratchet mechanism 93 is abnormal (release state) and the process proceeds to step S7. In the subsequent step S7, a drive current is supplied to the electromagnetic clutch 84, thereby bringing the electromagnetic clutch 84 into an engaged state. In step S8, it is confirmed whether or not the electromagnetic clutch 84 is normally turned on. If the electromagnetic clutch 84 is not turned on (no determination), the process returns to step S7 and the electromagnetic clutch 84 is engaged again. Execute the control to make the state.

  On the other hand, when it is confirmed in step S8 that the electromagnetic clutch 84 is turned on (yes determination), the process proceeds to step S9, and in step S9, the buzzer 65 is turned on (sounds). In this way, by sounding the buzzer 65 in the drive control unit 51, an alarm is given to an assistant or the like that an abnormality has occurred in the control device 40, and further an inspection of the control device 40 is urged. Thereafter, the process proceeds to step S10. In step S10, the operation check of the ratchet mechanism 93 and the braking control (fail-safe control) of the motor unit 81 shown in steps S1 to S9 are completed.

  In addition, when repeating no determination by step S8, failure of the electromagnetic clutch 84 is also considered. Therefore, for example, when the no determination is repeated three times in step S8, control for sounding the buzzer 65 may be executed in another step (not shown) to warn that the degree of urgency is higher.

  As described above in detail, according to the control device 40 of the electric winch 30 according to the present embodiment, the drum 92 is restricted from rotating in the other direction while allowing the drum 92 to rotate in one direction in the locked state. Then, a ratchet mechanism 93 that allows the drum 92 to rotate in one direction and the other direction in the released state is provided, and the ratchet mechanism 93 is controlled to be locked in accordance with the input of the motor stop signal Stp from the remote controller 70 to the controller 50. However, a drive control unit 51 for controlling the braking of the motor unit 81 is provided.

  Thereby, the braking force can be generated in the motor unit 81 when the motor unit 81 is stopped. Therefore, even if the ratchet mechanism 93 breaks down when the motor unit 81 is stopped and the drum 92 cannot be locked, the drum 92 is held in a state in which it is difficult to rotate by the braking force (fail safe function) of the motor unit 81. Thus, the rotation of the drum 92 in the other direction can be restricted. Therefore, problems such as the wheelchair 20 retreating can be suppressed.

  Further, according to the control device 40 of the electric winch 30 according to the present embodiment, the electric winch 30 detects the rotation of the drum 92 and the electromagnetic clutch 84 that brings the drum 92 and the motor unit 81 into the engaged state or the released state. A rotation sensor 96 is provided, and the drive control unit 51 controls the electromagnetic clutch 84 to the engaged state in accordance with the input of the motor stop signal Stp from the remote controller 70 and the input of the detection signal Ds from the rotation sensor 96. Thereby, even in the electric winch 30 including the electromagnetic clutch 84 between the drum 92 and the motor unit 81, the braking force of the motor unit 81 is transmitted to the drum 92, and the drum 92 is rotated in the other direction. It is possible to regulate, and as a result, problems such as the wheelchair 20 retreating can be suppressed.

  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-described embodiment, the electric winch 30 including the electromagnetic clutch 84 between the drum 92 and the motor unit 81 is shown. However, the present invention is not limited thereto, and the drum and the motor unit are arranged. The present invention can also be applied to an electric winch that does not include an electromagnetic clutch that is connected to be integrally rotatable. In this case, power consumption can be reduced, and control logic for controlling the electromagnetic clutch is not required, and the controller can be reduced in weight (simplified).

  Further, in the above-described embodiment, the motor stop signal Stp is output from the remote controller 70 by operating the remote controller 70. However, the present invention is not limited to this, for example, an operation panel 60 may be provided with a motor stop switch for stopping the motor unit 81, and the motor stop signal Stp may be output from the operation panel 60 by operating the motor stop switch.

DESCRIPTION OF SYMBOLS 10 Vehicle 11 Wheelchair installation space 12 Slope 13 Back door 14 Wiring 15 Hook 16 Fixed belt 20 Wheelchair (towed object)
21 Front frame 22 Wheel 30 Electric winch 31 Hook 32 Belt 40 Control device 50 Controller 51 Drive control unit 60 Operation panel (operation member)
61 Panel body 62 Main power switch 62a Indicator 63 Belt free switch 63a Indicator 64 Speed change switch 65 Buzzer 70 Remote control (operation member)
71 Remote Control Body 72 Remote Control Power Switch 73 On Switch 74 Out Switch 75 Indicator 80 Electric Motor Unit 81 Motor Unit (Motor)
82 gear portion 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 93b pawl 93c solenoid drive member 93d drive pin 94 slack removal mechanism 94a spur gear 94b small gear 94b small gear 94b Gear mechanism 94d Torque limiter 95 Slack removal motor 96 Rotation sensor 97 Connector connection 98 Guide member F Floor G Ground GR Grip ST Mounting stay RS Relay switch Ds Detection signal Stp Motor stop signal

Claims (1)

An electric winch control device comprising: a drum around which a belt for pulling a towed object is wound; an electric winch having a motor for rotating the drum; and a controller for controlling the electric winch,
An operation member operated by an operator in order to drive and control the electric winch via the controller;
A ratchet mechanism which is provided on the drum and restricts rotation in the other direction while allowing rotation in the one direction of the drum in the locked state, and allows rotation in one direction and the other direction of the drum in the released state; ,
An electromagnetic clutch for engaging or releasing the drum and the motor;
A rotation sensor for detecting rotation of the drum;
The controller is provided with the motor stop signal input from the operation member, and the relay switch of the motor is turned on to form a short circuit while controlling the ratchet mechanism in a locked state. A drive control unit that executes braking control to generate an electric brake, and further controls the electromagnetic clutch to a released state;
Have
When the belt is being pulled in and the drive control unit controls the electromagnetic clutch to be in an open state with the input of the motor stop signal, a detection signal is input from the rotation sensor and the drum rotates. If it is detected that the ratchet mechanism is abnormal, the electromagnetic clutch is controlled to be in an engaged state, and if the engaged state of the electromagnetic clutch cannot be confirmed, the control is performed again to make the electromagnetic clutch in an engaged state. , the control device for an electric winch, characterized in that to transmit the braking force of the motor to the drum.

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