JP6429459B2 - Wing car and wing opening and closing device - Google Patents

Description

  The present invention relates to a wing vehicle, and more particularly, to a wing vehicle including a wing opening / closing device.

  In general, a wing vehicle including a wing opening and closing device that opens and closes a left wing and a right wing that are supported by a wing body so as to be freely opened and closed is known in order to facilitate loading and unloading operations on a truck.

  As a conventional wing opening / closing device of this type, a device including an electric pump and a hydraulic cylinder is known (for example, see Patent Document 1).

Japanese Patent No. 4144484

  However, in a wing vehicle equipped with a conventional wing opening and closing device, there is a problem that there is a possibility of colliding with an obstacle when traveling without noticing that the wing remains open.

  An object of the present invention is to provide a wing vehicle that can detect that a wing is not in a fully closed state.

Typical means for solving the above-described problems are as follows.
(1) a left wing and a right wing supported to be freely opened and closed by a wing body, and a wing opening and closing device for opening and closing the left wing and the right wing,
In a wing car equipped with
The controller of the wing opening and closing device is:
The left wing and the right wing are controlled by controlling a DC motor that opens and closes the left wing and the right wing, and a cumulative value of a discharge amount of a hydraulic pump driven by the DC motor when the left wing and the right wing are closed is used. A slow stop sequence that recognizes the current state of the right wing and operates a slow stop;
The end point of the slow stop section in the slow stop operation during the closing operation of the left wing and the right wing is stored in a memory as fully closed state data, and the left wing or the right wing is based on the fully closed state data of the memory Wing full-closed state detection function that warns that is not fully closed,
Comprising
Wing car characterized by that.
(2) A wing opening and closing device for opening and closing a left wing and a right wing supported to be freely opened and closed by a wing body of a wing vehicle,
The controller
The left wing and the right wing are controlled by controlling a DC motor that opens and closes the left wing and the right wing, and a cumulative value of a discharge amount of a hydraulic pump driven by the DC motor when the left wing and the right wing are closed is used. A slow stop sequence that recognizes the current state of the right wing and operates the stop
The end point of the slow stop section in the slow stop operation during the closing operation of the left wing and the right wing is stored in a memory as fully closed state data, and the left wing or the right wing is based on the fully closed state data of the memory Wing full-closed state detection function that warns that is not fully closed,
Comprising
Wing opening and closing device characterized by that.

  According to the above-described means, it can be detected that the wing is not fully closed.

It is a perspective view which shows the wing vehicle carrying the wing opening / closing apparatus which is one Embodiment of this invention. It is a circuit diagram which shows the wing opening / closing apparatus which is one Embodiment of this invention. It is a graph which shows the relationship between the time at the time of opening operation of the wing opening / closing apparatus which is one Embodiment of this invention, and a motor voltage. It is a graph which shows the relationship between the time at the time of closing operation of the wing opening / closing apparatus which is one Embodiment of this invention, and a motor voltage. It is a flowchart which shows the wing opening travel prevention flow of the wing opening / closing apparatus which is one Embodiment of this invention. It is a flowchart which shows the routine which resets a latch relay. It is a graph which shows the pressure change of the wing opening and closing device which is one embodiment of the present invention.

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

  In the present embodiment, the wing opening and closing device according to the present invention is configured to control the opening and closing of the wing of the wing vehicle shown in FIG. 1, and is applied to the side joist of the loading platform on which the wing body of the wing vehicle is constructed. It is hung directly.

As shown in FIG. 1, the wing vehicle 1 includes a wing body 3 mounted on a loading platform of a truck 2, and a pair of wings 5 are rotated by a support shaft 4 on left and right side walls of the wing body 3. It is supported so as to be movable, and is installed to open and close diagonally upward in a gull wing form.
Since the left and right wings 5 and 5 have the same structure and are arranged symmetrically, the left wing 5 will be representatively described below.

A pair of double-acting hydraulic cylinder devices (hereinafter referred to as hydraulic cylinder devices) 10 and 20 are disposed on the front and rear walls of the wing body 3 so as to face upward and downward, respectively. The sides are pivotally attached to the wing body 3 respectively.
The piston rod 11 in the front hydraulic cylinder device 10 is pivotally attached to the front end of the wing 5, and the piston rod 21 in the rear hydraulic cylinder device 20 is pivotally attached to the rear end of the wing 5. Has been. Therefore, the wing 5 is driven to open and close by the expansion and contraction operation of the front and rear hydraulic cylinder devices 10 and 20.
The front and rear hydraulic cylinder devices 10 and 20 are configured to be driven and controlled by a wing opening / closing device 30, and the wing opening / closing device 30 will be described later in a horizontal joist of a loading platform in which a wing body of a wing vehicle is constructed. Suspended to do.

Next, the configuration of the hydraulic circuit of the wing opening / closing device of the wing vehicle will be described with reference to FIG.
Since the wing opening / closing device of the wing vehicle is configured symmetrically, the left side circuit will be representatively described for convenience.
The wing opening / closing device 30 includes a hydraulic pump 32 that is rotationally driven by a DC motor 31 and an oil tank 35 in which hydraulic oil is stored. The suction port 32 a of the hydraulic pump 32 is connected to the oil tank 35 via a filter 36, and the supply path 33 is connected to the discharge port of the hydraulic pump 32. A discharge path 34 is connected to the oil tank 35, and a relief valve 37 is interposed between the supply path 33 and the discharge path 34.
A direction control valve 40 is connected to the supply path 33 and the discharge path 34. The direction control valve 40 is configured as a 4-port, 3-position, ABT connection, spring center, and electromagnetic switching valve. A first supply / discharge path 41 is connected to a first load port A (hereinafter referred to as A port) of the direction control valve 40, and a second supply / discharge path is connected to a second load port B (hereinafter referred to as B port). 42 is connected.
Left and right operation switches 45 and 45 operated by an operator are respectively connected to the solenoids of the left and right direction control valves 40, and the left and right operation switches 45 and 45 are connected to a battery 46, respectively. The left and right operation switches 45, 45 are connected to the controller 50, and the switch positions are transmitted to the controller 50.

A first pilot check valve 43 is interposed in the first supply / exhaust passage 41, and the first pilot check valve 43 is configured to prevent backflow to the A port. The pilot circuit 43 a of the first pilot check valve 43 is connected to the direction control valve 40 side of the second pilot check valve 44 in the second supply / discharge path 42.
Further, a second pilot check valve 44 is provided in the second supply / discharge passage 42, and the pilot circuit 44 a of the second pilot check valve 44 controls the direction of the first pilot check valve 43 in the first supply / discharge passage 41. It is connected to the valve 40 side.

As shown in FIG. 2, the cylinder chamber of the front hydraulic cylinder device 10 is partitioned by the piston 12 into an ascending drive cylinder chamber 13 and a descending drive cylinder chamber 14. A front ascending drive side branch path 15 is connected to the ascending drive side cylinder chamber 13, and a front side descending drive side branch path 16 is connected to the descending drive side cylinder chamber 14.
Similarly, the cylinder chamber of the rear hydraulic cylinder device 20 is partitioned by the piston 22 into an ascending drive cylinder chamber 23 and a descending drive cylinder chamber 24. A rear ascending drive side branch path 25 is connected to the ascending drive side cylinder chamber 23, and a rear side descending drive side branch path 26 is connected to the descending drive side cylinder chamber 24.

The front ascending drive side branch path 15 and the rear ascending drive side branch path 25 are connected to the first supply / exhaust path 41 on the opposite side of the direction control valve 40 of the first pilot check valve 43, respectively. The branch path 15 and the rear ascending drive side branch path 25 are substantially branched from the first supply / discharge path 41.
Similarly, the front lower drive side branch path 16 and the rear lower drive side branch path 26 are connected to the second supply / discharge path 42 on the side opposite to the direction control valve 40 of the second pilot check valve 44, respectively. The side downward drive side branch path 16 and the rear side downward drive side branch path 26 are substantially branched from the second supply / discharge path 42.

  In the front ascending drive side branch path 15 and the rear ascending drive side branch path 25, a slow return valve 17 is provided at a position near the ascending drive side cylinder chambers 13 and 23 at the branch point. The slow return valve 17 is composed of a check valve 17a and a throttle valve 17b. When supplying pressure oil to the ascending drive side cylinder chambers 13, 23, the check valve 17a is opened, and the ascending drive side cylinder chamber 13, When the pressure oil is discharged from 23, the check valve 17a is closed and the tank is gradually discharged through the throttle valve 17b, so that the wing 5 is not suddenly closed.

  A detour that bypasses the direction control valve 40 at a position closer to the first pilot check valve 43 than a branch point between the front ascending drive side branch path 15 and the rear ascending drive side branch path 25 of the first supply / discharge path 41. One end of 38 is connected, and the other end of the bypass 38 is connected to the oil tank 35 via the discharge path 34. The bypass circuit 38 is provided with a stop valve 39 that is normally closed and opened in an emergency, and the bypass circuit 38 and the stop valve 39 are formed in a manifold (not shown) of the wing opening / closing device 30.

The controller 50 includes a central processing unit (CPU) 51, a driver 52 that drives the DC motor 31, a memory 55, and a latch relay 56 that controls the alarm device 57.
The driver 52 drives the DC motor 31 with the electric power of the battery 46 and is turned on / off by the relay 53. The driver 52 has a function of controlling the DC motor 31 by pulse width modulation (PWM) control or pulse frequency modulation (PFM).
The latch relay 56 is set or reset depending on the open / closed state of the left and right wings 5 and 5, and controls the alarm device 57 according to the state.

Here, the operation of the hydraulic circuit of the wing opening / closing device 30 according to the above configuration will be described.
While the wing vehicle 1 is traveling, the wing 5 is maintained in a closed state so as to seal the wing body 3. At this time, the front and rear hydraulic cylinder devices 10 and 20 are maintained in the shortened state, and the direction control valve 40 is maintained in the neutral position.

  When the wing 5 is opened during loading and unloading work on the wing body 3, in FIG. 2, the directional control valve 40 has a pump port P (hereinafter referred to as P port) as an A port, and a tank port T (hereinafter referred to as T port). Are switched to the wing lifting operation position connected to the B port.

  In this wing raising operation position, the hydraulic oil of the hydraulic pump 32 is supplied to the front raising drive side cylinder chamber 13 and the rear raising drive side cylinder chamber 23 from the supply path 33 → the direction control valve 40 → the first supply / discharge path 41 → first. The pilot check valve 43 is supplied via the check valve 17a of the front slow return valve 17 and the front ascending drive side branch path 15 and the rear ascending drive side branch path 25, respectively. At the same time, pressure oil is supplied from the first supply / discharge passage 41 via the pilot circuit 44a, the second pilot check valve 44 is opened, and the backflow of the second supply / discharge passage 42 is allowed.

  On the other hand, the pressure oil in the descending drive side cylinder chamber 14 of the front hydraulic cylinder device 10 and the descending drive side cylinder chamber 24 of the rear hydraulic cylinder device 20 is transferred to the oil tank 35, the front descending drive side branch passage 16 and the rear descending drive side. The gas is discharged via the branch path 26 → second supply / discharge path 42 → second pilot check valve 44 → direction control valve 40 → discharge path 34.

  The front and rear hydraulic cylinder devices 10 and 20 are extended by the above pressure oil supply operation and discharge operation, so that the wing 5 is simultaneously lifted by the piston rods 11 and 21 of both hydraulic cylinder devices 10 and 20. As shown in FIG. 1, the side of the wing body 3 is opened.

  When the wing 5 is raised to a predetermined opening, the directional control valve 40 is returned to the neutral position shown in FIG. In this neutral position state, the same holding state as that at the time of closing is created, so that the wing 5 can be kept open at a predetermined opening degree.

  Thereafter, when the opened wing 5 is closed, the directional control valve 40 shown in FIG. 2 is switched to the wing lowering operation position in which the P port is connected to the B port and the T port is connected to the A port.

  In this switching operation position (the wing lowering operation position), the pressure oil in the ascending drive side cylinder chamber 13 of the front hydraulic cylinder device 10 and the ascending drive side cylinder chamber 23 of the rear hydraulic cylinder device 20 rises to the oil tank 35. It is discharged via the drive side branch path 15 and the rear side ascending drive side branch path 25 → the throttle valve 17b of the front slow return valve 17 → the first supply / discharge path 41 → the direction control valve 40 → the discharge path 34.

At this time, since the pressure oil in the second supply / discharge passage 42 is introduced into the first pilot check valve 43 provided in the first supply / discharge passage 41 by the pilot circuit 43a, the first pilot check valve 43 flows backward. Will be allowed.
On the other hand, the pressure oil from the hydraulic pump 32 is supplied to the lowering drive side cylinder chamber 14 of the front hydraulic cylinder device 10 and the lowering drive side cylinder chamber 24 of the rear hydraulic cylinder device 20 to the supply path 33 → the direction control valve 40 → second supply / discharge. They are supplied via the path 42 → the second pilot check valve 44 → the front descending drive side branch path 16 and the rear descending drive side branch path 26, respectively.

  When the wing 5 is completely closed, the directional control valve 40 is returned to the neutral position and the original closed state is created.

  Next, a sequence for slowly starting and stopping in the wing opening and closing device will be described with reference to FIGS.

3A and 3B show the slow start and slow stop operations when the wing 5 is opened.
In the slow start section, the voltage of the DC motor 31 is gradually increased by the PWM control by the driver 52 from the start of the start. Due to this gradual increase, the wing 5 is released slowly at a low speed, so that the impact of the heavy wing 5 is alleviated.
In the slow stop section before the wing 5 is fully opened, the voltage of the DC motor 31 is suddenly reduced from the total voltage by the PWM control by the driver 52 from the slow stop start point (corresponding to the end point of the normal section) of the slow stop section. The reduced voltage is applied to the DC motor 31. Thereby, since the DC motor 31 is operated at a low speed, the wing 5 is gradually opened.
When the end point of the slow stop section is reached, the controller 50 automatically stops the DC motor 31. Since the opening speed of the wing 5 at the time of this automatic stop is low, the impact of the heavy wing 5 is mitigated.

4A and 4B show the slow start and slow stop operations when the wing 5 is closed.
In the slow start section, the voltage of the DC motor 31 is gradually increased by the PWM control by the driver 52 from the start of the start. Due to this gradual increase, the wing 5 is gradually closed at a low speed, so that the impact of the heavy wing 5 is mitigated.
A preset voltage is applied to the DC motor 31 after the slow start end point of the slow start section. By applying this constant voltage, the wing 5 is closed at a high speed and at a constant speed, so that the total closing time is shortened.
In the slow stop section before the wing 5 is fully closed, the voltage of the DC motor 31 is suddenly reduced from a constant voltage by PWM control by the driver 52 from the slow stop start point (corresponding to the end point of the normal section) of the slow stop section. The reduced voltage is applied to the DC motor 31. Thereby, since the DC motor 31 is operated at a low speed, the wing 5 is gradually closed.
When the end point of the slow stop section is reached, the controller 50 automatically stops the DC motor 31. Since the closing speed of the wing 5 during this automatic stop is low, the impact of the heavy wing 5 is mitigated.

Here, the slow stop start point of the slow stop section can be represented by a pressure value (see FIG. 7) between the directional control valve 40 and the pump 32 measured by a pressure sensor (not shown). This is because the pressure between the directional control valve 40 and the pump 32 is proportional to the load of the hydraulic cylinder device, and the displacement amount of the wing 5 is estimated from the pressure value between the directional control valve 40 and the pump 32. Because you can. That is, by determining the point at which the position of the wing 5 reaches a predetermined position as the slow stop start point of the slow stop section, the pressure value Ps (see FIG. 7) of the corresponding pressure sensor is set to the slow stop start of the slow stop section. Can be represented as a point.
Further, when the wing reaches fully open or fully closed, the current measured pressure value between the directional control valve 40 and the pump 32 increases rapidly compared to the immediately preceding measured pressure value. It can be expressed as an end point.

By the way, even in a wing vehicle equipped with a wing opening / closing device with a slow start / slow stop function, if the wing travels with the wing open, the wing may come into contact with the building.
Therefore, in the present embodiment, the wing opening / closing device 30 is provided with a controller 50 for executing a function of detecting that the wing is not in the fully closed state (hereinafter referred to as a wing fully closed state detecting function).

  Hereinafter, the wing fully-closed state detection function of the controller 50 will be described with reference to the flowcharts shown in FIGS.

When the flow for executing the wing fully closed state detection function starts, in the first step S1, the controller 50 determines whether or not the operation switch 45 is turned on (ON) in the closed position.
If the operation switch 45 is in the closed position (YES), the process proceeds to the second step S2.
When the operation switch 45 is not put in the closed position (NO), the process proceeds to the end.
In the second step S2, the controller 50 causes the DC motor 31 to perform a slow start drive.
In the third step S <b> 3, the controller 50 determines “whether the slow start section has ended”.
When the slow start section is completed (YES), the process proceeds to the fourth step S4.
If the slow start section has not ended (NO), the process returns to the second step S2.
In the fourth step S4, the controller 50 executes normal driving (high speed operation), and proceeds to the fifth step S5.
As described above, refer to FIG.

In the fifth step S <b> 5, the controller 50 determines whether “a slow stop section has been reached”.
If the slow stop section is reached (YES), the process proceeds to the sixth step S6.
When it is not the slow stop section (NO), the process returns to the fourth step S4.
In the sixth step S6, the controller 50 performs a slow stop drive (deceleration operation), and proceeds to the seventh step S7.
In the seventh step S <b> 7, the controller 50 determines whether “the end point of the slow stop section (fully closed) has been reached”.
If the end point of the slow stop section (fully closed) is reached (YES), the process proceeds to the eighth step S8.
If it is not the end point (fully closed) of the slow stop section (NO), the process returns to the sixth step S6. In the eighth step S8, the controller 50 stops the driving of the DC motor 31. As described above, refer to FIG.

After stopping the DC motor 31, the controller 50 proceeds to the ninth step S9.
In the ninth step S <b> 9, the controller 50 stores the fully closed state data in the memory 55.
In the tenth step S10, the controller 50 determines from the fully closed state data in the memory 55 whether "slow stop has been executed for the opposite wing", that is, "the opposite wing is also fully closed".
When the opposite wing is fully closed (YES), the process proceeds to the eleventh step S11.
If the opposite wing is not fully closed (NO), go to the end.
In the eleventh step S11, the controller 50 sets the latch relay 56 and proceeds to the end.

FIG. 6 is a flowchart showing a routine for resetting the latch relay.
When the routine for resetting the latch relay is started, in the first step S1, the controller 50 determines whether or not the operation switch 45 is turned on (ON) in the open position.
If the operation switch 45 is in the open position (YES), the process proceeds to the second step S2.
When the operation switch 45 is not put in the open position (NO), the process proceeds to the end.
In the second step S2, the controller 50 determines whether “the wings on both sides are fully closed”.
If both wings are fully closed (YES), the process proceeds to the third step S3.
If neither wing on both sides is fully closed (NO), the process proceeds to the fourth step S4.
In the third step S3, the controller 50 resets the latch relay 56 and proceeds to the fourth step S4.
In the fourth step S4, the controller 50 causes the DC motor 31 to be driven. In the fifth step S <b> 5, the controller 50 stores the open state data in the memory 55.

When the ignition switch (not shown) of the wing vehicle is turned on with the latch relay 56 set, the controller 50 does not activate the alarm device 57.
However, when the ignition switch of the wing vehicle is turned on with the latch relay 56 not set or reset, the controller 50 activates the alarm device 57. Thereby, it can be detected that the wing is not fully closed.

  According to this embodiment, the following effects can be obtained.

(1) Since the wing opening / closing device can detect that the wing is not in the fully closed state, the driver can be detected without attaching a detector (for example, a limit switch or an approach sensor) for detecting the fully closed state. An alarm can be given that the wing remains open.

(2) Since the wing fully closed state detection function flow of the wing opening device determines the fully closed state of the left and right wings, the accuracy of detecting that the wing is not in the fully closed state can be improved.

(3) Since it is possible to omit the installation of detectors for detecting the fully closed state of the left and right wings in the left and right wings and the front and rear, left and right hydraulic cylinder devices, the number of man-hours for mounting and adjusting the detectors Can be omitted. If a detector is installed, a long wiring is required, but this can also be omitted.

  In addition, this invention is not limited to the above embodiment, It cannot be overemphasized that it can change variously in the range which does not deviate from the summary.

  For example, a warning to the driver can be given by buzzer, sound, warning light display, or by preventing the engine of the wing car from starting.

  The program for executing the slow start / slow stop function of the wing opening / closing device is not limited to recognizing the current state of the wing based on the pressure value of the hydraulic circuit and executing the slow start / slow stop function. A method of executing the slow start / slow stop function by recognizing the current state of the wing based on the cumulative number of revolutions of the hydraulic pump and the cumulative value of the driving pulse of the DC motor, and using the cumulative value of the discharge amount of the hydraulic pump A method of recognizing the current state of the vehicle and executing a slow start / slow stop function may be employed, and the present invention is not limited to these methods.

  In addition, the detection of the fully closed wing is not limited to the fact that the current measured pressure value between the directional control valve and the pump is rapidly increased compared to the immediately preceding measured pressure value when the wing is fully closed. You may use the fact that the current measurement value decreases rapidly compared to the previous measurement value based on the motor rotation speed, or the current measurement value based on the current value of the DC motor A rapid increase compared to the measured value may be used.

  Further, the slow start control during the wing opening / closing operation may be omitted.

  Also, the slow stop control during the wing opening operation may be omitted.

  Moreover, the installation location of the alarm device is not limited to the wing opening / closing device, but can also be installed in the cab.

  Further, the latch relay can be omitted by using an alarm device that can maintain the fully closed state even when the wing switch is turned off.

1 ... Wing car, 2 ... truck, 3 ... wing body, 4 ... support shaft, 5 ... wing, 6 ... loading platform,
DESCRIPTION OF SYMBOLS 10 ... Front side hydraulic cylinder apparatus, 11 ... Piston rod, 12 ... Piston, 13 ... Front side raising drive side cylinder chamber, 14 ... Front side lowering drive side cylinder chamber, 15 ... Front side raising drive side branch path, 16 ... Front side lowering drive side branch 17: Front slow return valve, 17a: Check valve, 17b: Throttle valve,
DESCRIPTION OF SYMBOLS 20 ... Rear side hydraulic cylinder apparatus, 21 ... Piston rod, 22 ... Piston, 23 ... Rear side raising drive side cylinder chamber, 24 ... Rear side lowering drive side cylinder chamber, 25 ... Rear side raising drive side branch path, 26 ... Rear Side descending drive side branch,
DESCRIPTION OF SYMBOLS 30 ... Wing opening / closing device (hydraulic actuator drive device), 31 ... DC motor, 32 ... Hydraulic pump, 32a ... Intake port, 33 ... Supply path, 34 ... Discharge path, 35 ... Oil tank, 36 ... Filter, 37 ... Relief valve 38 ... Detour, 39 ... Stop valve,
DESCRIPTION OF SYMBOLS 40 ... Direction control valve, 41 ... First supply / discharge path, 42 ... Second supply / discharge path, 43 ... First pilot check valve, 43a ... Pilot circuit, 44 ... Second pilot check valve, 44a ... Pilot circuit,
45 ... operation switch, 46 ... battery,
DESCRIPTION OF SYMBOLS 50 ... Controller, 51 ... Central processing unit (CPU), 52 ... Driver, 53 ... Relay, 55 ... Memory, 56 ... Latch relay, 57 ... Alarm device.

Claims (4)

A left wing and a right wing supported by the wing body so as to be freely opened and closed, and
A wing opening and closing device for opening and closing the left wing and the right wing;
In a wing car equipped with
The controller of the wing opening and closing device is:
The left wing and the right wing are controlled by controlling a DC motor that opens and closes the left wing and the right wing, and a cumulative value of a discharge amount of a hydraulic pump driven by the DC motor when the left wing and the right wing are closed is used. A slow stop sequence that recognizes the current state of the right wing and operates a slow stop;
The end point of the slow stop section in the slow stop operation during the closing operation of the left wing and the right wing is stored in a memory as fully closed state data, and the left wing or the right wing is based on the fully closed state data of the memory Wing full-closed state detection function that warns that is not fully closed,
Comprising
Wing car characterized by that. The wing opening and closing device is reset when the operation switch of either the left wing or the right wing is turned on in the fully closed state of both the left wing and the right wing, and the left wing or the Set when both the left wing and the right wing are in the fully closed state after the operation switch of either one of the right wings is put into the closed position, and alarms depending on the state of the set or the reset. A latch relay for controlling the device;
The wing vehicle according to claim 1. A wing opening and closing device that opens and closes a left wing and a right wing that are respectively supported by a wing body of a wing vehicle so as to be freely opened and closed.
The controller
The left wing and the right wing are controlled by controlling a DC motor that opens and closes the left wing and the right wing, and a cumulative value of a discharge amount of a hydraulic pump driven by the DC motor when the left wing and the right wing are closed is used. A slow stop sequence that recognizes the current state of the right wing and operates a slow stop;
The end point of the slow stop section in the slow stop operation during the closing operation of the left wing and the right wing is stored in a memory as fully closed state data, and the left wing or the right wing is based on the fully closed state data of the memory Wing full-closed state detection function that warns that is not fully closed,
Comprising
Wing opening and closing device characterized by that. In the fully closed state of both the left wing and the right wing, it is reset when either the left wing or the right wing operation switch is put into an open position, and either the left wing or the right wing is reset. A latch relay that is set when both the left wing and the right wing are in the fully closed state after the operation switch is turned on, and controls the alarm device according to the set or reset state. Comprising
The wing opening and closing device according to claim 3.

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