JP6989420B2 - Electric winch control device - Google Patents

Description

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

Conventionally, a mounting space for mounting a wheelchair as a towing object is provided in the passenger compartment and on the rear side of the welfare vehicle. A slope is pulled out from the mounting space toward the outside of the vehicle interior, and the wheelchair outside the vehicle interior is carried into the mounting space via the slope. In addition, an electric winch equipped with a belt with a hook is installed on the front side of the vehicle in the mounting space. By pulling out the belt from the electric winch, hooking the hook on the frame of the wheelchair, and driving the electric winch under the condition, the wheelchair can be easily carried into the mounting space.

As an electric winch that carries a wheelchair into or out of a vehicle interior, for example, the technique described in Patent Document 1 is known. The electric winch described in Patent Document 1 is a drum around which a belt for pulling a wheelchair is wound, an electric motor portion for rotating the drum, an electromagnetic clutch provided between the drum and the electric motor portion, and the reverse of the drum. It is equipped with a ratchet mechanism that prevents rotation and a slack removal motor that removes slack in the belt.

Then, when the drum rotates in the reverse direction due to a failure of the electromagnetic clutch, the controller locks the ratchet mechanism to prevent the drum from rotating in the reverse direction, and drives the buzzer to sound a warning sound. Let me.

Japanese Unexamined Patent Publication No. 2013-060271

By the way, welfare vehicles are not limited to large one-box vehicles (large vehicles), but also include small light vehicles (small vehicles). In a large car, the floor surface of the mounting space is relatively flat, but in a small car, the rear seats are tilted forward to secure the mounting space, so that the floor surface of the mounting space is uneven. For example, in a compact car, as shown in FIG. 1, a relatively large recess G is formed between the driver's seat and the passenger seat and the rear seat tilted forward. In a compact car, the electric winch is installed in the lower part of the driver's seat and the passenger seat.

If the electric winch described in the above-mentioned Patent Document 1 is simply applied to such a compact car, the following problems may occur.

For example, if the power is turned off while the wheelchair is not towed and the belt is left in the passenger compartment with some slack, and then the power is turned on again, the slack removal motor is activated to operate the belt. The slack is removed. Then, the hook provided at the tip of the belt is attracted to the electric winch while sliding on the rear seat.

After that, the hook approaching the electric winch vigorously falls into the recess G shown in FIG. At this time, if the pawl of the ratchet mechanism is about to be meshed with the next tooth of the latch gear, the weight of the steel hook causes the drum to rotate in the reverse direction against the weak rotational force of the loosening motor. As a result, the controller erroneously detects that the towed object has retracted and drives the buzzer to sound a warning sound.

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

In one aspect of the present invention, the controller is a control device for an electric winch that carries in or out of the vehicle interior of the towed object, and is provided in the controller and a controller that controls the in and out of the belt that pulls the towed object. A belt pull-out amount detecting unit for detecting the belt pull-out amount, a threshold storage unit provided in the controller and storing a comparison threshold value to be compared with the belt pull-out amount, and a threshold storage unit provided in the controller. The controller includes a backward detection unit that detects that the towed object is retracted, and the controller prohibits the operation of the backward detection unit when the withdrawal amount of the belt is smaller than the comparison threshold value. do.

In another aspect of the present invention, the retreat detection unit drives a notification unit that notifies the retreat of the towed object when it detects that the towed object is retreating.

In another aspect of the invention, the comparison threshold is less than the amount of pulling out of the belt when the traction is in a fixed position in the vehicle interior.

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

According to the present invention, the threshold value storage unit stores a comparison threshold value to be compared with the belt withdrawal amount, and the controller detects backward movement when the belt withdrawal amount is smaller than the comparison threshold value. Since the operation of the part is prohibited, the reverse detection part will not operate even if the power is turned off while the belt is left in the passenger compartment with some slack, and then the power is turned on again and the slack removal motor operates. Can be done. Therefore, it is possible to prohibit the sounding of the warning sound when the towed object is not retracted, and it is possible to improve convenience and reliability.

It is a schematic diagram which shows the vehicle equipped with the electric winch. It is explanatory drawing of the electric winch which saw the vehicle of FIG. 1 from above. (A) is a plan view showing an operation panel installed in the vehicle, and (b) is a plan view showing a remote controller that can be operated from outside the vehicle interior. It is a perspective view which shows the detailed structure of an electric winch. It is a top view which shows the internal structure (deceleration mechanism) of an electric motor part. It is a perspective view which shows the internal structure (around a drum) of an electric winch. It is a schematic diagram which shows the connection relation of the member which constitutes an electric winch. It is a block diagram which shows the periphery (electrical system) of a controller. It is a flowchart which shows the logic which prohibits the operation of the backward detection part. It is explanatory drawing explaining the 1st and 2nd threshold value provided in the belt position storage part. It is explanatory drawing explaining the state which the operation of the retreat detection part is prohibited.

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

1 is a schematic view showing a vehicle equipped with an electric winch, FIG. 2 is an explanatory view of the electric winch when the vehicle of FIG. 1 is viewed from above, and FIG. 3A shows an operation panel installed on the vehicle. A plan view, (b) is a plan view showing a remote control that can be operated from outside the vehicle interior, FIG. 4 is a perspective view showing a detailed structure of an electric winch, and FIG. 5 is a plan showing an internal structure (deceleration mechanism) of an electric motor unit. 6A is a perspective view showing the internal structure (around the drum) of the electric winch, FIG. 7 is a schematic view showing the connection relationship of the members constituting the electric winch, and FIG. 8 is a peripheral view (electrical system) of the controller. FIG. 9 is a block diagram showing, FIG. 9 is a flowchart showing a logic for prohibiting the operation of the backward detection unit, and FIG. 10 is an explanatory diagram explaining the first and second thresholds provided in the belt position storage unit. Each shows an explanatory diagram explaining a state in which the operation of the backward detection unit is prohibited.

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

Each of the pair of electric winches 30 includes a belt 32 provided with a hook 31 on the tip side thereof, and the belt 32 pulls the wheelchair 20. Here, the hook 31 is made of steel having sufficient rigidity so as not to be easily deformed. Then, the 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 to pull in the pair of belts 32, so that the wheelchair 20 is moved toward the mounting space 11.

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

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

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

Further, by synchronizing the pair of electric winches 30 to send out the pair of belts 32, the wheelchair 20 mounted in the mounting space 11 moves on the slope 12, and is eventually carried out from the floor surface F to the ground J. Will be done. By providing the slope 12 in this way, the wheelchair 20 can be easily moved between the ground J and the floor surface F. The pair of electric winches 30 are operated by a caregiver (operator), and during the operation of the pair of electric winches 30, the caregiver supports (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 includes a pair of electric winches 30, a controller 50, an operation panel 60, and a remote controller 70. Wiring 14 is electrically connected between the pair of electric winches 30 and the controller 50 and between the operation panel 60 and the controller 50, respectively. The remote controller 70 is wireless and can communicate with the controller 50 wirelessly, and by taking the remote controller 70 out of the vehicle interior, the pair of electric winches 30 can be operated from outside the vehicle interior.

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

As shown in FIG. 1, when the wheelchair 20 is fixed at a fixed position in the mounting space 11, the pair of casters (small wheels) 23 provided on the left and right sides and the front side of the wheelchair 20 are It is located on the rear seat RS, which has been tilted forward. In other words, the internal space of the vehicle 10 which is a light vehicle (compact car) is effectively used to form a relatively large mounting space 11.

The operation panel 60 includes a panel body 61 as shown in FIG. 3 (a). The panel main body 61 is arranged on the rear side of the vehicle 10, and the operation panel 60 can be easily operated from outside the vehicle interior. The panel main body 61 is provided with a main power switch 62, a belt-free switch 63, a speed changeover switch 64, and a buzzer (notification unit) 65.

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

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

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

Further, the buzzer 65 emits a warning sound such as an electronic sound when the pair of belts 32 are pulled in or sent out (normal operation), and when the pair of electric winches 30 malfunction (failure occurs). It is designed to buzz. That is, the buzzer 65 informs the surroundings of the retreat of the wheelchair 20 and the like. Here, the warning sound is not limited to the electronic sound, and may be an announcement by voice.

The remote controller 70 is a wireless remote control unit, and can be used when the main power switch 62 of the operation panel 60 is operated and the system power of the control device 40 is turned on. As shown in FIG. 3B, the remote controller 70 includes a remote controller main body 71. The remote control main body 71 is provided with a remote control power switch 72, an on switch 73, and an output switch 74. The remote controller 70 is further provided with an indicator 75, and the indicator 75 is turned on when the remote controller 70 is operated or the like.

The operation of the remote controller 70 is performed by a caregiver. Then, the remote control power switch 72 is turned on by the caregiver, and then the on switch 73 or the output switch 74 is pressed, so that the pair of electric winches 30 are operated in synchronization with each other. Specifically, while the on switch 73 is pressed, the pair of electric winches 30 continuously operate to assist the wheelchair 20 in being carried into the mounting space 11. On the other hand, while the output switch 74 is pressed, the pair of electric winches 30 rotate in the reverse direction to assist the wheelchair 20 from being carried out from the mounting space 11.

However, during the operation of the remote controller 70, the caregiver grips the grip GR (see FIG. 1) of the wheelchair 20 to support the wheelchair 20 and guide its movement. In this way, the control device 40 assists the caregiver in moving the wheelchair 20 by controlling the pair of electric winches 30.

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

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

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, and the worm 81g and the worm wheel 82a constitute a reduction mechanism SD. Then, the reduction mechanism SD decelerates the rotation R1 of the armature shaft 81d to increase the torque, and outputs the increased torque rotation R2 from the output shaft 83 to the outside via the worm wheel 82a. Here, the output shaft 83 is projected toward the drum portion 90, and the drum 92 (see FIG. 6) forming the drum portion 90 is rotated. That is, the motor unit 81 is adapted to move the belt 32 in and out of the opening 91a (see FIG. 4).

As described above, by using the deceleration mechanism SD as a worm reducer including the worm 81g and the worm wheel 82a, it is difficult to transmit the rotational force from the output shaft 83 to the armature shaft 81d. That is, the deceleration mechanism SD including the worm 81g and the worm wheel 82a is adapted to generate a braking force for stopping the rotation of the output shaft 83 transmitted from the drum portion 90.

As shown in FIG. 7, an electromagnetic clutch 84 is provided between the gear portion 82 (worm wheel 82a) and the output shaft 83, that is, between the drum 92 and the motor portion 81 in the power transmission path of the motor portion. There is. The electromagnetic clutch 84 is controlled by the controller 50 (see FIG. 2), and the drum 92 and the motor portion 81 are brought into the engaged state or the open state. Specifically, when the electromagnetic clutch 84 is engaged, the drum 92 and the motor unit 81 are connected so as to be able to transmit power, and when the electromagnetic clutch 84 is opened, the drum 92 and the motor unit 81 are connected to each other. Be separated.

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

The drum portion 90 includes a casing 91 as shown in FIG. The casing 91 is formed in a substantially box shape, and the drum 92, the ratchet mechanism 93, and the slack removing mechanism 94 shown in FIG. 6 are housed inside the casing 91. To the outside of the casing 91, a drive current is supplied to a slack removing motor 95 for removing slack in the belt 32 wound around the drum 92, a rotation sensor 96 for detecting the rotation 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) 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, thereby preventing the belt 32 from twisting. 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 these mounting stays ST are a plurality of fastening bolts (not shown). It is firmly fixed to the floor surface F by. As a result, the electric winch 30 is firmly fixed to the vehicle 10 without rattling.

The drum 92, the ratchet mechanism 93, and the slack removing mechanism 94 are housed inside the casing 91, but the slack removing motor 95, the guide member 98, and the hook 31 are arranged outside the casing 91.

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. 5) of the electric motor unit 80 is transmitted to the drum shaft 92a, and the drum shaft 92a and the drum 92 rotate in the forward and reverse directions of the electric motor unit 80. It is driven to rotate in the forward and reverse directions as it is driven. As a result, the belt 32 can be pulled into the casing 91 or sent out of the casing 91.

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

The ratchet mechanism 93 engages with the latch gear 93a rotatably provided on the drum 92 and the latch gear 93a, allows the drum 92 to rotate in the pull-in direction, and rotates the belt 32 in the feed-out direction (rotation in the feed direction). FIG. 6 includes a swingable ratchet 93b that regulates (clockwise direction), 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 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 engagement between the latch gear 93a and the pawl 93b is released and the belt 32 is unlocked, and the drum 92 can rotate in both the pull-in direction and the feed-out direction of the belt 32. By making the drum 92 rotatable in both directions in this way, the wheelchair 20 can be lowered from the mounting space 11.

On the other hand, by stopping the supply of the drive current to the solenoid drive member 93c under the control of the controller 50, the drive pin 93d is projected by the spring force of the return spring (not shown). As a result, the pawl 93b is engaged with the latch gear 93a to be in a locked state, and while allowing the drum 92 to rotate in the pull-in direction of the belt 32, the rotation of the drum 92 in the feed-out direction of the belt 32 is restricted, 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 that meshes with the spur gear 94a, and a reduction gear mechanism 94c that is rotationally driven by the slack removing motor 95. The loosening motor 95 generates a rotational force in the direction in which the drum 92 winds up the belt 32, and the rotational force of the loosening motor 95 is the drum via the reduction gear mechanism 94c, the small diameter gear 94b, the torque limiter 94d, and the spur gear 94a. It is transmitted to 92.

Here, as shown in FIG. 7, a torque limiter 94d is provided between the small diameter gear 94b and the reduction gear mechanism 94c, and the torque limiter 94d cuts the transmission of torque above a certain level. ing. 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 (low torque) capable of removing the slack of the belt 32 can be adopted.

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

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

Further, a rotation signal r indicating the rotation state of the drum 92 is input to the controller 50, and a current signal A flowing through the motor unit 81 is input to the controller 50. As a result, the drive control unit 51 grasps the drive state of the electric winch 30 based on the rotation signal r and the current signal A.

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

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

Further, the controller 50 is provided with a belt withdrawal amount detecting unit 52 for detecting the withdrawal amount of the belt 32. Then, the controller 50 determines the position of the wheelchair 20 with respect to the vehicle 10 (see FIG. 1) based on the pull-out amount of the belt 32 from the drum 92 (see FIG. 6) detected by the belt pull-out amount detection unit 52. Know if there is one. Then, the information on the withdrawal amount of the belt 32 (position information of the wheelchair 20) is output to the drive control unit 51, the threshold value storage unit 53, and the backward detection unit 54.

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

(1) Immediately before the wheelchair 20 is carried into the mounting space 11, the rotation speed of the motor unit 81 of the electric winch 30 is controlled to be slowed down. This makes it possible to prevent the care recipient from feeling anxious. At this time, an announcement such as "The installation on the vehicle will be completed soon" may be made via the buzzer 65.

(2) The rotation speed of the motor unit 81 of the electric winch 30 is controlled to be slowed down at the time of carrying in the wheelchair 20 and immediately before riding on the slope 12, so as not to give anxiety to the care recipient. can. At this time, an announcement such as "Move on the slope. Please grab the grip." May be made via the buzzer 65.

(3) By aligning the amount of pulling out the belts from the pair of electric winches 30 to the same length, for example, it is possible to eliminate the problem that the traveling direction of the wheelchair 20 bends on the slope 12. At this time, an announcement such as "Adjusting the amount of pulling out the belt. Please do not connect the wheelchair." May be made via the buzzer 65.

(4) When the wheelchair 20 is carried in and the wheelchair 20 is on the slope 12, that is, when the load on the electric winch 30 is large, the energizing current to the motor unit 81 is increased to increase the energization current of the motor unit 81. It is possible to control to increase the output of. As a result, the wheelchair 20 can be quickly carried into the mounting space 11.

(5) When the wheelchair 20 is carried out of the vehicle interior and the wheelchair 20 is on the slope 12, that is, when the load on the electric winch 30 is large, the energizing current to the motor unit 81 is reduced. , It is possible to control to apply the brake to the motor unit 81. As a result, the sudden acceleration of the wheelchair 20 on the slope 12 is suppressed, and the care-requiring person does not feel anxious.

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

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 facing the rotation sensor 96. As a result, the rotation sensor 96 generates a rectangular wave signal (pulse signal) indicating “on” or “off” with the relative rotation of the ring magnet.

Further, the reference position n1 stored in the belt pull-out amount detection unit 52 does not disappear even if the system power supply of the control device 40 (see FIG. 2) is turned off regardless of the operation of the ignition switch IG.

Further, the threshold value storage unit 53 stores (stores) a first threshold value TH1 and a second threshold value TH2 to be compared with the withdrawal amount (count number Pct) of the belt 32. Even in these first and second threshold values TH1 and TH2, they do not disappear even if the system power supply of the control device 40 is turned off regardless of the operation of the ignition switch IG.

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

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

On the other hand, the second threshold value TH2 is set to a value larger than the first threshold value TH1 (TH2> TH1). Specifically, as shown in FIG. 10, the size of the second threshold value TH2 is the state of the wheelchair 20 outside the passenger compartment of the vehicle 10, that is, the size of the belt 32 when the vehicle is in the [disembarkation completed state]. It is set to a value slightly smaller than the withdrawal amount n3 (TH2 <n3).

Here, the state in which the belt 32 has a withdrawal amount of n3 means that the position of the axle portion of the wheel 22 of the wheelchair 20 is separated from the slope 12 by a predetermined distance S, and the wheel 22 is surely on the ground J. It is a state. In such a state, even if the caster 23 of the wheelchair 20 is on the slope 12, the wheelchair 20 does not retreat.

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

From the above, the controller 50 is the wheelchair 20 when the count number Pct is in the counting region AR2 between the first threshold value TH1 and the second threshold value TH2 (TH1 ≦ Pct ≦ TH2). Can be determined to be on a sloping floor surface F or slope 12. For example, as shown in FIG. 10, when the belt 32 has a withdrawal amount of n2 (n1 <n2 <n3), the wheelchair 20 is on the slope 12, and the wheelchair 20 at this time is [in the middle of getting on and off]. Can be judged. In other words, the first and second threshold values TH1 and TH2 are both threshold values used to determine whether or not the wheelchair 20 is in an inclined state.

Further, as shown in FIG. 8, the controller 50 is provided with a retreat detection unit 54 for detecting that the wheelchair 20 is retreating. A pulse signal (rotation signal r) is input to the backward detection unit 54 from the rotation sensor 96 that detects the rotation of the drum 92 around which the belt 32 is wound, similarly to the belt withdrawal amount detection unit 52. Then, the backward detection unit 54 monitors the increase / decrease in the count number Pct, and when the wheelchair 20 is brought in, that is, when the count number Pct should decrease and the count number Pct increases, the wheelchair 20 causes some cause ( It is determined that the vehicle is retreating due to a failure of the electric winch 30 or the like. After that, the backward detection unit 54 drives the buzzer 65 to sound a warning sound.

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

The backward detection unit 54 comes to function with the activation of the controller 50. That is, the backward detection unit 54 is activated based on the input of the ON signal from the ignition switch IG.

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

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

In step S2, the controller 50 determines whether or not the main power switch 62 (see FIG. 3A) of the operation panel 60 has been turned on. If it is determined to be "no" in step S2, the determination process of step S2 is repeated until it is determined to be "yes". Then, if it is determined as "yes" in step S2, the process proceeds to the next step S3.

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

In step S4, the backward detection unit 54 determines whether or not the wheelchair 20 has been retracted. That is, in step S4, the backward detection unit 54 determines whether or not the belt 32 is pulled out and the count number Pct is increased. If it is determined to be "no" in step S4, the determination process of step S4 is repeated until it is determined to be "yes". Then, if it is determined as "yes" in step S4, the process proceeds to the next step S5.

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

In the following step S6, it was determined in step S4 that the belt 32 was pulled out, and in step S5 it was determined that the withdrawal amount of the belt 32 was in the count small area AR1 (determined as the withdrawal amount n0 in FIG. 11). Therefore, the controller 50 estimates that the hook 31 of the belt 32 approaches the electric winch 30 and falls into the recess G.

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

As a result, the operator is not surprised by the sudden sound of the warning sound of the buzzer 65, and further, the work of stopping the drive of the buzzer 65 by pressing and holding the main power switch 62 to initialize the control device 40. You do not have to do (work to stop erroneous buzzing).

In a subsequent step S7, the controller 50 executes a process of permitting the operator to shift (switch) to the belt-free mode in which the belt 32 can be freely put in and taken out. As a result, the belt-free switch 63 of the operation panel 60 (see FIG. 3A) can be used, and the operator can freely put in and take out the belt 32 by operating the belt-free switch 63. That is, for example, it is possible to pull out the belt 32 in order to carry the wheelchair 20 into the mounting space 11 and connect the hook 31 of the belt 32 to the front frame 21 of the wheelchair 20. After that, the process returns to step S2 upstream.

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

In the following step S9, since it was determined in step S4 that the belt 32 was pulled out, and in step S8 it was determined that the amount of withdrawal of the belt 32 was in the counting region AR2, the controller 50 hooked the belt 32. It is estimated that the wheelchair 20 connected to 31 is retracted.

Then, in such a state, a warning sound should be sounded from the buzzer 65 to call attention to the surroundings. Therefore, in step S9, the controller 50 executes a process for permitting the operation of the backward detection unit 54. As a result, the operator can support (support) the wheelchair 20 so as to prevent the wheelchair 20 from further retreating by sounding a warning sound from the buzzer 65.

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

In step S11, it was determined in step S4 that the belt 32 was pulled out, and in step S8, it was determined that the amount of withdrawal of the belt 32 was in the count large area AR3. It is estimated that the wheelchair 20 that has been carried out and is connected to the hook 31 of the belt 32 is retracted.

In this case, for example, it means that the wheelchair 20 is retracted even if it is carried out at a place where the ground J on the rear side of the vehicle 10 faces the bottom of the slope and is carried out to the outside. Therefore, a warning sound should be sounded from the buzzer 65 to call attention to the surroundings. Therefore, in step S11, the controller 50 executes a process for permitting the operation of the backward detection unit 54. As a result, the operator can support (support) the wheelchair 20 so as to prevent the wheelchair 20 from further retreating by sounding a warning sound from the buzzer 65.

In a subsequent step S12, the controller 50 executes a process of permitting the operator to shift to the belt-free mode in which the belt 32 can be freely taken in and out. As a result, the belt-free switch 63 of the operation panel 60 can be used, and the operator can freely put in and take out the belt 32 by operating the belt-free switch 63. That is, the belt 32 can be pulled out a little to remove the hook 31 from the wheelchair 20, and the removed belt 32 can be pulled in (closed) to the electric winch 30. After that, the process returns to step S2 upstream.

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

As a result, even if the power is turned off while the belt 32 is left in the vehicle interior with some slack and then the power is turned on again to operate the slack removing motor 95, the backward detection unit 54 is not operated. can. Therefore, it is possible to prohibit the sounding of the warning sound when the wheelchair 20 is not retracted, and it is possible to improve convenience and reliability.

Further, according to the control device 40 of the electric winch 30 according to the present embodiment, the retreat detection unit 54 drives a buzzer 65 that notifies the surroundings of the retreat of the wheelchair 20 when it detects that the wheelchair 20 is retreating. ..

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

Further, according to the control device 40 of the electric winch 30 according to the present embodiment, the first threshold value TH1 is the amount of pulling out of the belt 32 when the wheelchair 20 is in a fixed position in the vehicle interior (= reference position n1, (See FIG. 10).

As a result, even when the wheelchair 20 is retracted from the fixed position in the vehicle interior, the controller 50 can surely sound a warning sound from the buzzer 65.

Further, according to the control device 40 of the electric winch 30 according to the present embodiment, the controller 50 can freely move the belt 32 in and out by the operator when the pull-out amount of the belt 32 is smaller than the first threshold value TH1. Allow switching to possible belt-free mode.

As a result, the belt 32 can be pulled out in order to carry the wheelchair 20 into the mounting space 11, and the hook 31 of the belt 32 can be connected to the front frame 21 of the wheelchair 20 without deteriorating convenience.

It goes without saying that the present invention is not limited to the above embodiment and can be variously modified without departing from the gist thereof. For example, in the above embodiment, the towed object is the wheelchair 20, but the present invention is not limited to this, and the towed object may be a stretcher with casters.

Further, in the above embodiment, the case where the pair of electric winches 30 are installed in the lower parts of the driver's seat DR and the passenger's seat AS is shown, but the present invention is not limited to this, and the rear lower portion of the vehicle 10 and the like are not limited to this. It may be installed in the dead space of.

In addition, the material, shape, dimensions, 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 Mounting space 12 Slope 13 Backdoor 14 Wiring 15 Hook 16 Fixed belt 20 Wheelchair (tow)
21 Front frame 22 Wheels 23 Caster 30 Electric winch 31 Hook 32 Belt 40 Control device 50 Controller 51 Drive control unit 52 Belt pull-out amount detection unit 53 Threshold storage unit 54 Backward detection unit 60 Operation panel 61 Panel body 62 Main power switch 62a Indicator 63 Belt-free switch 63a Indicator 64 Speed changeover switch 65 Buzzer (notifier)
70 Remote control 71 Remote control body 72 Remote control power switch 73 On switch 74 Out switch 75 Indicator 80 Electric motor part 81 Motor part 81a Magnet 81b Coil 81c Armature 81d Armature shaft 81e Brush 81f Rectifier 81g Warm 82 Gear part 82a Warm wheel 83 Electromagnetic clutch 90 Drum part 91 Casing 91a Opening 92 Drum 92a Drum shaft 92b One-way clutch 93 Ratchet mechanism 93a Latch gear 93c Solvent drive member 93d Drive pin 94 Loosening mechanism 94a Spur gear 94b Small diameter gear 94c Deceleration gear mechanism 94d 96 Rotation sensor 97 Connector connection 98 Guide member A Current signal AR1 Count small area AR2 Count medium area AR3 Count large area AS Passenger seat DR Driver's seat F Floor surface G Recessed part GR Grip IG Ignition switch J Ground Pct Count number RS Rear seat SD deceleration mechanism SP shift position sensor ST mounting stay TH1 1st threshold (comparison threshold)
TH2 2nd threshold V vehicle speed signal VS vehicle speed sensor r rotation signal

Claims (4)

A control device for an electric winch that carries a towed object into or out of the vehicle interior.
A controller that controls the loading and unloading of the belt that pulls the towed object,
A belt pull-out amount detection unit provided on the controller to detect the pull-out amount of the belt,
A threshold value storage unit provided in the controller and storing a comparison threshold value to be compared with the withdrawal amount of the belt, and a threshold value storage unit.
A retreat detection unit provided on the controller to detect that the towed object is retreating,
Equipped with
The controller prohibits the operation of the retreat detection unit when the pull-out amount of the belt is smaller than the comparison threshold value.
Control device for electric winch. In the control device for the electric winch according to claim 1,
When the retreat detection unit detects that the towed object is retreating, the retreat detecting unit drives a notification unit for notifying the retreat of the towed object.
Control device for electric winch. In the control device for the electric winch according to claim 1 or 2.
The comparison threshold is smaller than the pull-out amount of the belt when the traction object is in a fixed position in the vehicle interior.
Control device for electric winch. In the control device for the electric winch according to any one of claims 1 to 3.
The controller allows the operator to switch to a belt-free mode in which the belt can be freely taken in and out when the pull-out amount of the belt is smaller than the comparison threshold value.
Control device for electric winch.

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