JP6825969B2 - Electric winch control device - Google Patents

Description

The present invention relates to a control device for an electric winch having a belt for pulling a towed object such as a wheelchair.

Conventionally, a wheelchair mounting space for mounting a wheelchair (towed object) is provided on the rear side of the welfare vehicle. A slope is pulled out from the wheelchair-mounted space toward the outside of the vehicle, and the slope can guide the wheelchair outside the vehicle to the wheelchair-mounted space.

An electric winch equipped with a belt with a hook is installed on the front side of the vehicle in the wheelchair mounting space. Then, by pulling out the belt from the electric winch, hooking the hook on the frame of the wheelchair, and driving the electric winch in this state, the wheelchair can be easily guided to the wheelchair mounting space. The electric winch assists the caregiver, and the electric winch is operated by the caregiver.

As described above, as a device capable of towing a wheelchair toward a wheelchair mounting space, for example, the technique described in Patent Document 1 is known. The technique described in Patent Document 1 is a drum around which a belt for pulling a wheelchair is wound, a motor (electric motor) for rotating the drum, an electromagnetic clutch provided between the drum and the motor, and a reverse rotation of the drum. It is equipped with a ratchet mechanism to prevent it.

Then, in the electric winch described in Patent Document 1, for example, when the belt is pulled out from the drum and hooked on the wheelchair, the belt-free switch provided on the operation panel is turned on. As a result, the belt can be pulled out of the vehicle, and the hook provided on the belt can be hooked on the frame of the wheelchair or the like.

Japanese Unexamined Patent Publication No. 2013-060267

In the technique described in Patent Document 1 described above, the belt can be pulled out and stored based on the on operation of the belt free switch. Therefore, for example, if the belt-free switch is accidentally turned on while the wheelchair is placed on the slope, the wheelchair may rattle on the spot or the load on the caregiver may increase. It can happen.

An object of the present invention is an electric winch capable of reliably performing a belt-free operation based on the intention of an operator by adding other conditions for making the belt-free operation in addition to the on operation of the belt-free switch. The purpose is to provide a control device.

In one aspect of the present invention, a control device for an electric winch having a belt for pulling a towed object, the electric winch includes a drum around which the belt is wound and a rotation sensor for detecting the rotational state of the drum. , The electric motor that rotates the drum, the worm reducer provided in the electric motor, the electromagnetic clutch that connects or releases the power transmission between the drum and the worm reducer, the electric motor, and the electromagnetic clutch. The controller includes a controller for controlling the belt , an operating member operated by the operator, and a ratchet mechanism that allows the belt to rotate in the pull-in direction and regulates the rotation of the belt in the pull-out direction . When the operating member is operated to switch to the belt-free mode for freely pulling out the belt and the retracted state of the belt is detected based on the detection signal from the rotation sensor, the electromagnetic clutch is engaged. When it is controlled to the open state and switched to the belt-free mode, the engagement between the pawl of the ratchet mechanism and the latch gear is released, and the drive circuit of the electric motor is short-circuited to generate a braking force in the electric motor. To.

In another aspect of the present invention, the controller releases the short circuit of the drive circuit when it is switched to the belt-free mode and the retracted state of the belt is detected.

In another aspect of the present invention, the controller PWM-controls a short circuit of the drive circuit according to the moving speed of the belt to adjust the braking force.

According to the present invention, the controller is switched to the belt-free mode in which the operating member is operated to freely pull out the belt, and when the retracted state of the belt is detected based on the detection signal from the rotation sensor, the controller is electromagnetic. The clutch is controlled from the engaged state to the released state.

As a result, the electromagnetic clutch is not released from the connected state unless the operator operates the operating member (first condition) and the operator pulls in the belt (second condition). Therefore, it is possible to reliably perform the belt-free operation based on the intention of the operator.

(A) and (b) are explanatory views explaining the basic operation of the electric winch mounted on the vehicle. It is explanatory drawing explaining the system structure of this invention which looked at the vehicle of FIG. 1 from above. (A) is a plan view showing an operation panel installed on the vehicle, and (b) is a plan view showing a remote controller that can be operated from outside the vehicle by an assistant. It is a perspective view which shows the detailed structure of an electric winch. It is explanatory drawing explaining the internal structure (motor part, gear part) of the electric winch of FIG. (A) and (b) are electric circuit diagrams for explaining a drive circuit (forward rotation state, reverse rotation state) for controlling a motor unit. (A) and (b) are electric circuit diagrams explaining a drive circuit (short-circuit state) for controlling a motor unit. It is explanatory drawing explaining the internal structure (ratchet mechanism, slack removal mechanism) of the electric winch of FIG. It is a figure which shows typically the connection relationship 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 operation of a belt-free mode of a controller. It is a flowchart which shows the processing content in step S15 of FIG. It is a timing chart explaining the flow of operation of the belt-free mode.

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

1A and 1B are explanatory views for explaining the basic operation of the electric winch mounted on the vehicle, and FIG. 2 is an explanatory view 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 the detailed structure of the electric winch. 5A and 5B are explanatory views for explaining the internal structure (motor unit and gear unit) of the electric winch of FIG. 4, and FIGS. 6A and 6B are drive circuits (forward rotation state) for controlling the motor unit. , Reverse rotation state), FIGS. 7 (a) and 7 (b) are electric circuit diagrams for explaining the drive circuit (short-circuit state) for controlling the motor unit, and FIG. 8 is the electric circuit diagram of FIG. An explanatory diagram for explaining the internal structure (ratchet mechanism, slack removing mechanism) of the winch is shown, and FIG. 9 shows a diagram schematically showing the connection relationship of the members constituting the electric winch of FIG.

As shown in FIGS. 1 and 2, the vehicle 10 is a welfare vehicle, and a wheelchair mounting space 11 on which a wheelchair (towed object) 20 can be mounted is provided on the rear side (right side in the figure) of the vehicle 10. Has been done. A pair of electric winches 30 are installed at predetermined intervals in the vehicle width direction (vertical direction in FIG. 2) of the vehicle 10 on the vehicle front side (left side in the drawing) of the wheelchair mounting space 11.

The pair of electric winches 30 include a belt 32 provided with a hook 31 on the tip end side, and the belt 32 pulls the wheelchair 20. Specifically, the belts 32 are pulled out from the pair of electric winches 30, and the hooks 31 are hooked on the pair of front frames 21 on the left and right sides of the wheelchair 20. Then, in this state, the pair of electric winches 30 are synchronously operated and the belts 32 are pulled in, respectively, so that the wheelchair 20 is moved in the direction of the arrow M1 in the drawing.

A slope 12 is installed on the rear side of the wheelchair mounting space 11 to connect the ground G and the floor surface F of the vehicle 10 at a gentle inclination angle. The slope 12 is stored in a storage portion (not shown) formed on the floor surface F when the vehicle 10 is traveling. Then, when the slope 12 is used, first, the vehicle 10 is stopped and the back door 13 is opened. Then, the slope 12 is pulled out from the storage portion by pulling or the like. As a result, the slope 12 extends from the storage portion toward the outside of the vehicle and is inclined as shown in the drawing.

By synchronously operating the pair of electric winches 30 and pulling in the belts 32, the wheelchair 20 moves on the slope 12 as shown in FIG. 1 (b). After that, as shown by the broken line in the figure, the wheelchair 20 reaches the floor surface F and is mounted in the wheelchair mounting space 11. Further, by pulling out the belts 32 by the pair of electric winches 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. 1 (b). Can be done.

By providing the slope 12 in this way, it is easy to move the wheelchair 20 between the ground G and the floor surface F. Here, the pair of electric winches 30 are operated by a caregiver (operator) (not shown), and during the operation of the pair of electric winches 30, the caregiver supports the wheelchair 20 from behind the wheelchair 20. ..

The control device 40 for controlling the pair of electric winches 30 is configured as shown in FIG. That is, the control device 40 is composed of a pair of electric winches 30, a controller 50, an operation panel 60, and a remote controller 70. A wiring 14 including a communication line and a power supply line is electrically connected between the pair of electric winches 30 and the controller 50, and between the operation panel 60 and the controller 50. The remote controller 70 is a wireless type and can wirelessly communicate with the controller 50. By taking the remote controller 70 out of the vehicle, the pair of electric winches 30 can be operated from the outside of the vehicle.

Here, as shown in FIG. 2, a pair of fixed belts 16 provided with hooks 15 are installed on the floor surface F of the vehicle 10. The hooks 15 of the pair of fixing belts 16 are hooked on the pair of wheels 22 on the left and right sides of the wheelchair 20 mounted in the wheelchair mounting space 11. As a result, the wheelchair 20 mounted in the wheelchair mounting space 11 is fixed at a total of four locations, the hook 31 of the pair of belts 32 and the hook 15 of the pair of fixing belts 16, and the wheelchair 20 can move in the vehicle 10. Rattling is suppressed.

As shown in FIG. 3A, the operation panel (operation member) 60 includes a panel body 61. The panel body 61 is provided from the center to the rear side of the wheelchair mounting space 11, and the operation panel 60 can be operated from the outside and the rear side of the vehicle 10. The panel body 61 is provided with a main power switch 62, a belt-free switch 63, a speed changeover switch 64, and a buzzer (sounding member) 65.

The main power switch 62 is operated when the system power of the control device 40 is turned on. By turning on the main power switch 62, the system power is turned on, and the indicator 62a of the main power switch 62 lights up. The main power switch 62 is also operated when the control device 40 is system reset (initialized). Specifically, for example, the system is reset by pressing and holding for 3 seconds or longer.

The belt-free switch 63 is operated when the locked state of the pair of electric winches 30 is released. The control device 40 is switched to the "belt-free mode" by turning on the belt-free switch 63 (first condition) and pulling the belt 32 into the electric winch 30 by an assistant (second condition). As a result, the pair of belts 32 can be pulled out and stored.

That is, by satisfying both the first condition and the second condition described above, the pair of belts 32 can be pulled out and hooked on the wheelchair 20 outside the vehicle, or the length of each belt 32 pulled out from the pair of electric winches 30. It becomes possible to align. Here, when the belt-free switch 63 is turned on, the indicator 63a of the belt-free switch 63 is turned on. The operation of the "belt-free mode" by the controller 50 (see FIG. 10) will be described in detail later.

The speed changeover switch 64 reduces the moving speed of the pair of belts 32, that is, the pulling speed and the pulling speed, to a low speed (LOW) or a high speed when the wheelchair 20 is mounted on the wheelchair mounting space 11 or lowered from the wheelchair mounting space 11. It is operated when switching to (HIGH).

Further, the buzzer 65 generates a warning sound such as an electronic sound when the pair of belts 32 are pulled in or pulled out, and when the pair of electric winches 30 are malfunctioning (when an abnormality occurs). .. However, the buzzer 65 is not limited to generating a warning sound such as an electronic sound, and may generate an announcement by voice or the like.

As shown in FIG. 3B, the remote controller (operation member) 70 is a dry battery-powered wireless remote control unit, and the main power switch 62 of the operation panel 60 is operated to turn on the system power of the control device 40. It can be used when it is in the state. The remote controller 70 includes a remote controller body 71. The remote controller main body 71 includes a remote controller 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 or the like. Also, when the indicator 75 becomes dark, the dry battery (not shown) should be replaced.

Here, the operation of the remote controller 70 is performed by an assistant. Then, when the caregiver turns on the remote control power switch 72 and then presses the on switch 73, the pair of electric winches 30 are operated in synchronization with each other. While the on switch 73 is pressed, each electric winch 30 is continuously driven to assist the wheelchair 20 in the wheelchair mounting space 11. On the other hand, when the output switch 74 is pressed, each electric winch 30 is driven in the opposite direction. While the output switch 74 is being pressed, the wheelchair 20 is assisted in lowering the wheelchair 20 from the wheelchair mounting space 11. That is, when the caregiver stops the operation of the on switch 73 and the output switch 74, the respective switches 73 and 74 are put into a non-operation state, and the motor stop signal (operation signal OP (FIG. 10))) is output.

Further, 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. In this way, the control device 40 is adapted to assist the caregiver in moving the wheelchair 20 by driving and controlling the pair of electric winches 30.

The pair of electric winches 30 provided on the left and right sides of the vehicle 10 all have the same shape and the same structure. Therefore, in FIGS. 4 to 9, only one of the electric winches 30 is shown, and the detailed structure thereof will be described below on behalf of the one of the electric winches 30.

As shown in FIGS. 4 and 9, the electric winch 30 includes an electric motor unit (electric motor) 80 and a drum unit 90. The electric motor unit 80 and the drum unit 90 are integrated (unitized) by a plurality of fastening screws (not shown).

The electric motor unit 80 includes a motor unit 81 and a gear unit 82. As shown in FIG. 5, a plurality of magnets 81a (only two are shown in the drawing) are provided inside the motor unit 81, and an armature 81c around which a coil 81b is wound is provided inside these magnets 81a. Is rotatably provided. The armature shaft 81d is fixed at the center of rotation of the armature 81c.

A commutator 81f to which a pair of brushes 81e are slidably contacted is provided at an intermediate portion in the longitudinal direction of the armature shaft 81d. As a result, a drive current is supplied from the pair of brushes 81e to the coil 81b via the commutator 81f. Therefore, the armature shaft 81d is rotated in the forward direction or the reverse direction at a predetermined rotation speed.

The motor unit 81 is driven by the drive circuit DC shown in FIGS. 6 and 7. A generally well-known "H-bridge circuit" is adopted as the drive circuit DC of the motor unit 81. Specifically, the drive circuit DC includes a first circuit unit L1 in which a pair of switching elements S1 and S2 are connected in series, a second circuit unit L2 in which a pair of switching elements S3 and S4 are connected in series, and a battery ( A third circuit unit L3 provided with a power supply) BT is provided, and these circuit units L1 to L3 are connected in parallel to each other. A motor unit 81 (a pair of brushes 81e and a commutator 81f) is provided between the midpoint C1 of the first circuit unit L1 and the midpoint C2 of the second circuit unit L2.

Then, the controller 50 (see FIG. 10) controls the switching elements S1 and S4 to "ON" and the switching elements S2 and S3 to "OFF" as shown in FIG. 6A. , As shown by the thick line arrow, the drive current flows, and the motor unit 81 is "normally rotated". On the other hand, as shown in FIG. 6B, the controller 50 controls the switching elements S3 and S2 to “ON” and the switching elements S1 and S4 to “OFF”, whereby the thick line arrow As shown in the above, a drive current flows, and the motor unit 81 is “reversed”.

Here, a short brake (short circuit braking) is applied to the motor unit 81 under the control of the controller 50. Specifically, as shown in FIG. 7A, the controller 50 controls the switching elements S1 and S3 (upper stage) to "ON" and sets the switching elements S2 and S4 (lower stage) to "OFF". By controlling, the motor unit 81 is short-circuited, and as a result, the short brake is applied (short brake A). Further, as shown in FIG. 7B, the controller 50 controls the switching elements S2 and S4 (lower stage) to "ON" and the switching elements S1 and S3 (upper stage) to "OFF". Also, the motor unit 81 is short-circuited, and as a result, the short brake is applied (short brake B).

Here, in the present embodiment, field effect transistors (FETs) are used for the four switching elements S1 to S4 forming the drive circuit DC. Other switching elements may be used for the switching elements S1 to S4.

As shown in FIG. 5, a worm 81g is integrally provided on the tip end side (left side in the drawing) of the armature shaft 81d, and the worm 81g extends to the inside of the gear portion 82. Inside the gear portion 82, a worm wheel 82a that meshes with the worm 81g is rotatably provided. The worm reducer DS is composed of the worm 81g and the worm wheel 82a.

Then, the worm reducer DS decelerates the rotation speed R1 of the armature shaft 81d to increase the torque, and transmits the decelerated rotation speed R2 (R2 <R1) to the output shaft 83 via the worm wheel 82a. Here, the output shaft 83 is projected toward the drum portion 90 to rotate the drum 92 (see FIG. 8) forming the drum portion 90. That is, the torque-enhanced rotational force of the output shaft 83 is transmitted to the drum 92.

In this way, by adopting the worm reducer DS, it is possible to prevent the output shaft 83 from being rotated by a load from the outside (drum 92). That is, the worm reducer DS can be easily rotated in a state where the output shaft 83 is decelerated by the rotational force from the armature shaft 81d, but the armature shaft 81d is easily rotated by the rotational force from the output shaft 83. Can't. As described above, the worm reducer DS generates a relatively large mechanical braking force (mechanical brake) with respect to the external force applied to the output shaft 83.

As shown in FIG. 9, an electromagnetic clutch 84 is provided between the gear portion 82 (worm wheel 82a) and the output shaft 83, that is, between the drum 92 and the worm reducer DS in the power transmission path of the motor portion. ing. The electromagnetic clutch 84 is controlled by the controller 50, and sets a "fastened state" or an "open state" between the drum 92 and the worm reducer DS. Specifically, by setting the electromagnetic clutch 84 in the "fastened state", the drum 92 and the worm reducer DS are connected so as to be able to transmit power, and by setting the electromagnetic clutch 84 in the "open state", the drum 92 and the drum 92 are connected. It is separated from the worm reducer DS.

The electromagnetic clutch 84 includes a first plate (not shown) that rotates integrally with the worm wheel 82a, a second plate (not shown) that rotates integrally with the output shaft 83, and a stator coil (not shown). .. Then, by supplying a drive current to the stator coil (power on), 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 (power off).

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. 8 are housed therein. Outside the casing 91, a drive current is applied to a slack removing motor 95 that removes slack of the belt 32 wound around the drum 92, a rotation sensor 96 that detects 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.

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

As shown in FIG. 8, the drum 92, the ratchet mechanism 93, and the slack removing mechanism 94 are housed inside the casing 91. However, the loosening motor 95, the guide member 98, and the hook 31 shown in FIG. 8 are provided outside the casing 91 as shown in FIG.

A belt 32 is wound around the drum 92, and a drum shaft 92a is integrally rotatably attached to the center of rotation of the drum 92. The rotation of the output shaft 83 (see FIG. 9) of the electric motor unit 80 is transmitted to the drum shaft 92a, and the drum shaft 92a and the drum 92 are forward and reverse as the electric motor unit 80 is driven to rotate in the forward and reverse directions. It is rotationally driven in the direction. As a result, the belt 32 can be pulled into the casing 91 or pulled 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 pull-in direction (counterclockwise direction in FIG. 8) of the belt 32. On the other hand, when the drum 92 rotates in the pulling 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 configured to idle. That is, the one-way clutch 92b allows the drum 92 to rotate with respect to the drum shaft 92a in the winding direction, and restricts the rotation of the drum 92 with respect to the drum shaft 92a in the drawing direction.

The ratchet mechanism 93 engages with the latch gear 93a rotatably provided on the drum 92 and allows the drum 92 to rotate in the pull-in direction (one direction) of the belt 32, and pulls out the belt 32. It includes a swingable ratchet 93b that regulates rotation in the (other direction) (clockwise direction in FIG. 8), and a solenoid drive member 93c that swings and drives the ratchet 93b.

The solenoid drive member 93c includes a drive pin 93d, and by supplying a drive current (power on) to the solenoid drive member 93c under the control of the controller 50, the drive 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 and released, and the drum 92 can rotate in both the pull-in direction and the pull-out direction of the belt 32. Therefore, the drum 92 is allowed to rotate in both directions, and the wheelchair 20 can be lowered from the wheelchair mounting space 11.

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

The slack removing mechanism 94 includes a spur gear 94a rotatably provided on the drum 92, a small diameter gear 94b meshed with the spur gear 94a, and a reduction gear mechanism 94c rotationally driven by the slack removing motor 95. The loosening motor 95 generates a rotational force in the direction of winding the belt 32, and the rotational force of the loosening motor 95 is a reduction gear mechanism 94c, a torque limiter, as shown in the loosening motor power transmission path of FIG. It is transmitted to the drum 92 via the 94d, the small diameter gear 94b, and the spur gear 94a.

Further, a torque limiter 94d is provided between the small diameter gear 94b and the reduction gear mechanism 94c as shown in FIG. 9, and the torque limiter 94d cuts the transmission of torque of a certain value or more. This prevents the slack removing motor 95 from being overloaded and protects the slack removing motor 95. That is, as the slack removing motor 95, a small motor capable of generating a torque sufficient to remove the slack of the belt 32 can be adopted.

FIG. 10 shows a block diagram showing the internal structure of the controller.

As shown in FIG. 10, the controller 50 includes drive system components (81, 84, 93c, 95) constituting the electric winch 30 based on inputs of various operation signal OPs from the operation panel 60 and the remote controller 70. A drive control unit 51 for drive control is provided.

Various operation signals OP are input to the controller 50 by wire or wirelessly from the operation panel 60 and the remote controller 70, respectively, and a detection signal (input signal) P is input from the rotation sensor 96. Further, the motor unit 81, the electromagnetic clutch 84, the solenoid drive member 93c, and the loosening motor 95 constituting the electric winch 30 are electrically connected to the controller 50, and the drive control unit 51 is connected to the operation signal OP and the detection signal P. The drive system components (81, 84, 93c, 95) are controlled based on the above. The drive control unit 51 drives and controls the pair of electric winches 30 in synchronization with each other.

Here, the rotation sensor 96 is composed of a Hall element, and a ring magnet (not shown) that is rotated with the rotation of the drum 92 is provided at a portion of the drum 92 facing the rotation sensor 96. As a result, the rotation sensor 96 is adapted to generate a square wave signal (pulse signal) in response to the switching of the magnetic poles accompanying the rotation of the ring magnet.

Then, the drive control unit 51 calculates the pull-out amount of the belt 32, the moving speed of the belt 32, and the like by integrating the input detection signal P (pulse signal) and measuring the appearance timing thereof. Various data calculated by the drive control unit 51, that is, the amount of pulling out of the belt 32, the moving speed, and the like are used for fine drive control of the electric winch 30.

Here, the drive control unit 51 is provided with a pulse comparison unit 51a and a duty ratio setting unit 51b. The pulse comparison unit 51a executes a comparison process for comparing the integrated value of the detection signal P (P (cnt) in FIG. 11) and the threshold value obtained by the predetermined control logic (Clu (cnt) in FIG. 11). To do. Further, the pulse comparison unit 51a stores the integrated value of the detection signal P, the above-mentioned threshold value, and the like.

On the other hand, the duty ratio setting unit 51b sets the duty ratio for short braking, which applies an electric braking force to the motor unit 81, based on a predetermined control logic. That is, the switching elements S1 to S4 in the drive circuit DC (see FIGS. 6 and 7) of the motor unit 81 are PWM-controlled by the drive control unit 51, and the effectiveness of the short brake can be adjusted.

The detailed operations of the pulse comparison unit 51a and the duty ratio setting unit 51b will be described later.

Next, the basic operation of the drive control unit 51 will be described.

[Riding operation]
When the main power switch 62 (see FIG. 3A) of the operation panel 60 is operated by the caregiver, the system power supply of the control device 40 (see FIG. 2) is turned on. Next, when the remote control power switch 72 of the remote controller 70 is operated and the on switch 73 (see FIG. 3B) is operated, the pair of electric winches 30 are driven and controlled in synchronization with each other. As a result, the belt 32 is pulled in, and the wheelchair 20 moves toward the wheelchair mounting space 11 (see FIG. 1).

[Getting off]
Contrary to the riding operation, when the wheelchair 20 is lowered from the wheelchair mounting space 11 to the outside of the vehicle, the output switch 74 (see FIG. 3B) is operated. As a result, the pair of electric winches 30 are driven and controlled in synchronization with each other. As a result, the belt 32 is pulled out, and the wheelchair 20 can be lowered from the wheelchair mounting space 11.

[Stop operation]
When the caregiver stops the operation of the on switch 73 and the output switch 74, the motor stop signal is input from the remote controller 70 to the drive control unit 51. Then, the drive control unit 51 controls the electromagnetic clutch 84 to the engaged state (power on), controls the ratchet mechanism 93 to the locked state (power off), and further applies a short brake (see FIG. 7) to the motor unit 81. Performs multiplication control. This prevents the drum 92 (see FIG. 8) from rotating in the other direction, that is, the reverse rotation in the direction in which the belt 32 is pulled out.

In this way, by applying the short brake as shown in FIG. 7 to the motor unit 81, the reverse rotation of the drum 92 is more reliably prevented. In this case, since the motor unit 81 is only short-circuited, power consumption is not applied. The stopped state of the electric winch 30 described above corresponds to the state before the time t0 shown in FIG.

Next, the operation of the "belt-free mode" by the controller 50, which is the main part of the present invention, will be described in detail with reference to the drawings.

FIG. 11 shows a flowchart explaining the operation of the belt-free mode of the controller, FIG. 12 shows a flowchart showing the processing contents in step S15 of FIG. 11, and FIG. 13 shows a timing chart explaining the flow of the operation of the belt-free mode. ing.

As shown in FIG. 1A, in order to mount the wheelchair 20 outside the vehicle in the wheelchair mounting space 11, the belt-free switch 63 of the operation panel 60 is first turned on so that the belt 32 can be pulled out freely. Manipulate. The belt-free switch 63 is turned on by an assistant. Then, as shown in step S10 of FIG. 11, the operation of the "belt-free mode" by the controller 50 is started.

Specifically, as shown in FIG. 13, the control device 40 in the standby state (stopped state) first becomes "belt-free" at the time t1 (the time after the belt-free switch 63 is operated). It becomes "ready state".

Here, immediately after the start of the "belt-free mode" in step S10, the control device 40 is in a state of preparation before making it belt-free, and at the stage of time t1, the belt 32 cannot be pulled out of the vehicle yet. ing. As a result, for example, when the wheelchair 20 is on the slope 12 (see FIG. 1B), even if the belt-free switch 63 is erroneously operated, the belt-free state does not occur.

Next, in step S11 of FIG. 11, an operation (latch meshing operation) of securely engaging the latch gear 93a and the pawl 93b of the ratchet mechanism 93 is executed. Specifically, at the time t2 in FIG. 13, the power of the electromagnetic clutch 84 is turned off, and the electromagnetic clutch 84 is once in the "open state". As a result, similarly to the above, for example, when the wheelchair 20 is on the slope 12, even if the belt-free switch 63 is erroneously operated, the belt-free state does not occur. Further, when the electromagnetic clutch 84 is in the "open state", the excessive meshing operation can be prevented by once removing the load applied to the latch gear 93a and the pawl 93b of the ratchet mechanism 93, and the latch gear 93a and the pawl 93b are surely released. It becomes possible to make it possible.

Next, in step S12 of FIG. 11, the power of the electromagnetic clutch 84 is turned on, and the electromagnetic clutch 84 is brought into the "fastened state" again. Specifically, at the time t3 in FIG. 13, the electromagnetic clutch 84 is in the "engaged state". At this time, the drive control unit 51 monitors the movement of the belt 32 in the pull-in direction or the pull-out direction by monitoring the belt 32 monitoring flag, specifically, the “L side (left side) movement flag” and the “R side (R side). Right side) Set the "move flag" respectively.

Immediately after that, in step S13 of FIG. 11, the power of the solenoid drive member 93c is turned on to put the ratchet mechanism 93 in the “release state”. That is, the meshing between the pawl 93b of the ratchet mechanism 93 and the latch gear 93a is released. Specifically, at the time t4 in FIG. 13, the ratchet mechanism 93 is put into the "release state".

At this time, a relatively large mechanical braking force is generated on the drum 92 by the function of the worm reducer DS (see FIG. 5) of the gear portion 82. That is, the withdrawal of the belt 32 is suppressed. As a result, for example, even when the wheelchair 20 is on the slope 12, the retreat of the wheelchair 20 is suppressed.

Even if the weight of the user of the wheelchair 20 is heavy (for example, 100 kg) and the wheelchair 20 is retracted, the drive circuit DC of the motor unit 81 is in a short-circuited state (see FIG. 7). Therefore, a short brake is applied to the motor unit 81, and the motor unit 81 generates a braking force. Therefore, similarly to the above, for example, when the wheelchair 20 is on the slope 12, even if the belt-free switch 63 is erroneously operated, the acceleration of the retreat of the wheelchair 20 is suppressed.

In the subsequent step S14 of FIG. 11, the pulse comparison unit 51a compares the integrated value P (cnt) of the detection signal P from the rotation sensor 96 (see FIG. 10) with the clutch release reference value Clu (cnt). Execute. Specifically, it is determined whether or not the integrated value P (cnt) is equal to or less than the clutch release reference value Clu (cnt). When it is determined in step S14 that P (cnt)> Clu (cnt) (no determination), the caregiver does not intentionally operate the belt 32 in the retracting direction, or the wheelchair 20 on the slope 12 retracts. Assuming that the belt 32 is pulled out, the process proceeds to step S15.

Here, the clutch release reference value Clu (cut) is a value obtained by subtracting "2" pulses from the integrated value P (cnt) obtained in the previous control cycle. As a result, by comparing the clutch release reference value Clu (cut) with the integrated value P (cnt) obtained in this control cycle, it is possible to determine whether the belt 32 is moving in the pull-in direction or the pull-out direction. The drive control unit 51 can grasp whether or not the vehicle is moving to.

Specifically, when the previous integrated value P (cnt) is "100", the current clutch release reference value Clu (cut) is "98". Then, when the integrated value P (cnt) this time is "101", the no determination is made in step S14. Further, even if the integrated value P (cnt) this time is "100" and is the same as the previous time, the no determination is made in step S14. Further, even if the integrated value P (cnt) this time is "99", that is, even if the belt 32 is slightly pulled in, in this case, it is regarded as an "error" and a no determination is made in step S14. .. In this way, when it is determined in step S14 that P (cnt)> Clu (cnt), the caregiver does not intentionally operate the belt 32 in the retracting direction, or the wheelchair 20 on the slope 12 retracts. It is said that it is.

On the other hand, when the integrated value P (cnt) this time is "98" or less, it is determined in step S14 that P (cnt) ≤ Clu (cnt) (yes determination). That is, it is said that the caregiver intentionally pulls (operates) the belt 32 in the pulling direction opposite to the pulling direction. After that, the process proceeds to step S16.

In this way, in order to obtain the certainty of the operation of the belt 32 in the pulling direction by the caregiver (the caregiver's intention), the clutch release reference value Clu (cut) is set with a difference of "2" pulses. doing. However, when setting the clutch release reference value Clu (cut), not only the difference of "2" pulses but also the difference of "3" pulses or more should be provided according to the specifications required for the control device 40. You can also.

In step S15, the duty ratio setting unit 51b sets the duty ratio (braking PWM Duty ratio) for the short brake. Specifically, as shown in FIG. 12, the duty ratio setting unit 51b sets the duty ratio of PWM control that short-circuits the drive circuit DC according to the moving speed (belt speed) of the belt 32. As a result, it is possible to more reliably suppress the acceleration of the retreat of the wheelchair 20 on the slope 12. However, when the caregiver finds that the wheelchair 20 is retracted, the caregiver promptly operates the belt-free switch 63 to urgently stop the operation of the "belt-free mode".

In step S151 of FIG. 12, the drive control unit 51 calculates the moving speed of the belt 32 based on the input of the detection signal P, and determines whether or not the calculated moving speed of the belt 32 is low. Here, the calculated moving speed of the belt 32 is compared with the first threshold value α (for example, 0.5 km / h). Then, if the determination in step S151 is that the belt speed ≤ α (yes determination), the process proceeds to step S152. In step S152, the duty ratio is set to "0%" on the assumption that the wheelchair 20 is not connected to the belt 32 or the wheelchair 20 is hardly retracted (stopped). After that, the process proceeds to step S17 of FIG. On the other hand, if the determination in step S151 is belt speed> α (no determination), the process proceeds to step S153.

In step S153, it is determined whether or not the calculated moving speed of the belt 32 is in the medium speed range. Here, the calculated moving speed of the belt 32 is compared with the second threshold value β (for example, 1.0 km / h). Then, when the determination in step S153 is that the belt speed ≤ β (yes determination), the process proceeds to step S154. In step S154, assuming that the wheelchair 20 is slowly and gradually retreating, the duty ratio is set to "50%". After that, the process proceeds to step S17 of FIG. As a result, the retreat of the wheelchair 20 (pulling out of the belt 32) is effectively suppressed. On the other hand, if the determination in step S153 is belt speed> β (no determination), the process proceeds to step S155.

In step S155, it is determined whether or not the calculated moving speed of the belt 32 is in the high speed range. Here, the calculated moving speed of the belt 32 is compared with the third threshold value γ (for example, 2.0 km / h). Then, if the determination in step S155 is that the belt speed ≤ γ (yes determination), the process proceeds to step S156. In step S156, the duty ratio is set to "100%", assuming that the wheelchair 20 is retracting relatively quickly. After that, the process proceeds to step S17 of FIG. As a result, the retreat of the wheelchair 20 (pulling out of the belt 32) is effectively suppressed. On the other hand, when the determination in step S155 is belt speed> γ (no determination), the process proceeds to step S17 in FIG. 11 without setting the duty ratio.

As described above, the calculated movement speed of the belt 32 is not compared with the three threshold values (first threshold value α, second threshold value β, third threshold value γ), and the duty ratio setting map (FIG. (Not shown) may be provided to linearly determine the duty ratio according to the calculated movement speed of the belt 32 from the duty ratio setting map.

In step S17 of FIG. 11, it is determined whether or not the calculated moving speed of the belt 32 is in the higher speed range. Here, it is determined whether or not the calculated moving speed of the belt 32 is larger than the third threshold value γ. Then, when the determination in step S17 is that the belt speed ≤ γ (no determination), the process proceeds to step S18. On the other hand, if the determination in step S17 is belt speed> γ (yes determination), the process proceeds to step S19.

In step S18, the pulse comparison unit 51a executes a process of comparing the current integrated value P (cnt) with the previous integrated value P-1 (cnt). Specifically, it is determined whether or not the current integrated value P (cnt) is larger than the previous integrated value P-1 (cnt). That is, in step S18, it is determined whether or not the amount of pulling out of the belt 32 is increasing. When it is determined in step S18 that P (cnt) ≤ P-1 (cnt) (no determination), it is assumed that the caregiver is not operating the belt 32 or the wheelchair 20 is stopped on the slope 12. , Return to step S14 on the upstream side. That is, when the belt-free switch 63 is erroneously operated and the caregiver is not operating the belt 32 or the wheelchair 20 is stopped on the slope 12, the drive control unit 51 becomes belt-free. Do not execute the operation to be performed.

On the other hand, when it is determined in step S18 that P (cnt)> P-1 (cnt) (yes determination), it is assumed that the wheelchair 20 is retracted on the slope 12 and the amount of pulling out of the belt 32 is increasing. Proceed to S20. In step S20, the drive control unit 51 updates the clutch release reference value Cl (cut) based on the increase in the amount of pulling out of the belt 32. Specifically, when the withdrawal amount of the belt 32 increases and the integrated value P (cnt) this time is "105", the value obtained by subtracting "2" pulses from the integrated value P (cnt). Is calculated. That is, the default value "n" shown in step S20 of FIG. 11 is "2" in the present embodiment. Then, "103" obtained in step S20 is set to the clutch release reference value Clu (cut) of the next control cycle, and then the process returns to step S14.

In step S19, assuming that the wheelchair 20 is retreating on the slope 12 at a relatively high speed, the drive control unit 51 executes a process of urgently stopping the movement of the belt 32. Specifically, the power supply of the solenoid drive member 93c is turned off, and the latch gear 93a of the ratchet mechanism 93 and the pawl 93b are engaged with each other. As a result, the reversal of the drum 92 is stopped, and further retreat of the wheelchair 20 is prevented. Then, the drive control unit 51 sounds the buzzer 65 (generates an alarm) in order to notify the caregiver that the movement of the belt 32 has been urgently stopped. After that, the process proceeds to step S22, and the operation of the "belt-free mode" is stopped.

In step S16 after it is determined in step S14 that P (cnt) ≤ Clu (cnt) (after the yes determination), the caregiver intentionally pulls the belt 32 in the pulling direction opposite to the pulling direction. Based on the determination (operating), that is, the determination that the retracted state of the belt 32 has been detected, the drive control unit 51 turns off the power of the electromagnetic clutch 84 and opens the electromagnetic clutch 84 in the "open state". To. Further, the drive control unit 51 releases the state in which the short brake of the motor unit 81 is applied. That is, the short circuit of the drive circuit DC shown in FIG. 7 is released, and the drive circuit DC is opened.

Here, the trigger for starting the operation in step S16 is that the "L side movement flag" at the time t5 in FIG. 13 is released, that is, the belt 32 of the electric winch 30 on the left side is "2" pulses at the will of the caregiver. The above was pulled in, and the "R side movement flag" at time t6 in FIG. 13 was released, that is, the belt 32 of the electric winch 30 on the right side was pulled in by "2" pulses or more at the will of the caregiver. , And both are satisfied.

Specifically, at time t5 in FIG. 13, the integrated value P (cnt) of the electric winch 30 on the left side is reduced by “2” pulses from “307” to “305”. Further, at the time t6 in FIG. 13, the integrated value P (cnt) of the electric winch 30 on the right side is reduced by “2” pulses from “300” to “298”.

As a result, after the time t6 of FIG. 13, the operation of the "belt-free mode" is set to the "belt-free state", and the caregiver can freely pull out the belt 32 from the electric winches 30 on the left and right sides. After the "belt-free state" is set in step S16, the process proceeds to step S21, and the drive control unit 51 determines whether or not the belt-free switch 63 (see FIG. 3A) has been turned off.

If it is determined in step S21 that the off operation has not been performed (no determination), the process returns to step S14 in order to continue the "belt-free state". On the other hand, if it is determined in step S21 that the off operation has been performed (yes determination), the process proceeds to step S22 in order to stop the "belt-free state". After that, in step S22, the operation of the "belt-free mode" is stopped.

As shown in FIG. 13, the power supply of the slack removing motor 95 is always on (operating state) during the operation of the "belt-free mode". Therefore, when the caregiver operates the belt 32 in the pulling direction, the drum 92 is rotated with a small driving torque, so that the integrated value P (cnt) becomes small. In this way, the drive control unit 51 can monitor that the integrated value P (cnt) becomes small when the caregiver operates the belt 32 in the retracting direction.

As described in detail above, according to the control device 40 of the electric winch 30 according to the present embodiment, the controller 50 is for "the belt free switch 63 of the operation panel 60 is turned on and the belt 32 is freely pulled out. When the operation is switched to the "belt free mode" and the retracted state of the belt 32 is detected based on the detection signal P from the rotation sensor 96, the electromagnetic clutch 84 is controlled from the connected state to the open state.

As a result, the electromagnetic clutch 84 is in a connected state unless the caregiver turns on the belt-free switch 63 of the operation panel 60 (first condition) and the caregiver pulls in the belt 32 (second condition). Does not open from. Therefore, it is possible to reliably perform the belt-free operation based on the intention of the caregiver.

Further, according to the control device 40 of the electric winch 30 according to the present embodiment, the electric winch 30 allows the belt 32 to rotate in the pull-in direction and regulates the rotation of the belt 32 in the pull-out direction. When the controller 50 is switched to the operation of the "belt-free mode", the ratchet mechanism 93 is disengaged from the pawl 93b and the latch gear 93a, and the drive circuit DC of the motor unit 81 is short-circuited to short-circuit the motor unit 81. Generates a braking force.

As a result, when the wheelchair 20 is on the slope 12, even if the belt-free switch 63 is erroneously operated, it is possible to effectively suppress the acceleration of the retreat of the wheelchair 20.

Further, according to the control device 40 of the electric winch 30 according to the present embodiment, when the controller 50 is switched to the operation of the "belt free mode" and the retracted state of the belt 32 is detected, the drive circuit DC Release the short circuit.

As a result, the caregiver can easily and freely pull out the belt 32 from the electric winches 30 on the left and right sides without substantially resistance.

Further, according to the control device 40 of the electric winch 30 according to the present embodiment, the controller 50 adjusts the braking force by PWM-controlling the short circuit of the drive circuit DC according to the moving speed of the belt 32.

As a result, the size of the short brake by the motor unit 81 can be optimized, and it is possible to suppress the generation of unnecessary power consumption while surely suppressing the retreat of the wheelchair 20 on the slope 12.

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 gist thereof.

The material, shape, size, number, installation location, etc. of each component in the above embodiment are arbitrary as long as the present invention can be achieved, and are not limited to the above embodiment.

10 Vehicle 11 Wheelchair mounting space 12 Slope 13 Backdoor 14 Wiring 15 Hook 16 Fixed belt 20 Wheelchair (towed object)
21 Front frame 22 Wheels 30 Electric winch 31 Hook 32 Belt 40 Control device 50 Controller 51 Drive control unit 51a Pulse comparison unit 51b Duty ratio setting unit 60 Operation panel (operation member)
61 Panel body 62 Main power switch 62a Indicator 63 Belt-free switch 63a Indicator 64 Speed changeover switch 65 Buzzer 70 Remote control (operating member)
71 Remote control body 72 Remote control power switch 73 On switch 74 Out switch 75 Indicator 80 Electric motor section (electric motor)
81 Motor part 81a Magnet 81b Coil 81c Armature 81d Armature shaft 81e Brush 81f Reducer 81g Worm 82 Gear part 82a Warm wheel 83 Output shaft 84 Electromagnetic clutch 90 Drum part 91 Casing 91a Opening 92 Drum 92a 93a Latch gear 93b Stopping 93c Electromagnetic 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 Rotation sensor 97 Connector connection 98 Guide member C1, C2 Midpoint DC drive circuit DS Worm reducer F Floor surface G Ground GR Grip L1 1st circuit part L2 2nd circuit part L3 3rd circuit part OP Operation signal P Detection signal S1 to S4 Switching element ST Mounting stay BT Battery (power supply)

Claims (3)

A control device for an electric winch having a belt that pulls a towed object.
The electric winch
The drum around which the belt is wrapped and
A rotation sensor that detects the rotation state of the drum and
An electric motor that rotates the drum and
A worm reducer provided in the electric motor and
An electromagnetic clutch that connects or releases the power transmission between the drum and the worm reducer,
A controller that controls the electric motor and the electromagnetic clutch,
Operating members operated by the operator and
A ratchet mechanism that allows rotation of the belt in the pull-in direction and regulates rotation of the belt in the pull-out direction.
With
The controller
When the operating member is operated to switch to the belt-free mode for freely pulling out the belt and the retracted state of the belt is detected based on the detection signal from the rotation sensor, the electromagnetic clutch is engaged. Control from to open state ,
Wherein is switched to the belt-free mode, the releases the engagement between the ratchet mechanism of the pawl and Ratchigiya, and the Ru electric motor by short-circuiting the driving circuit to generate a braking force to said electric motor,
Control device for electric winch. In the control device for the electric winch according to claim 1 ,
The controller
When the belt is switched to the free mode and the retracted state of the belt is detected, the short circuit of the drive circuit is released.
Control device for electric winch. In the control device for the electric winch according to claim 1 or 2 .
The controller
The braking force is adjusted by PWM controlling the short circuit of the drive circuit according to the moving speed of the belt.
Control device for electric winch.

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