JP7303093B2 - winch device - Google Patents

Description

The present invention relates to a winch device for moving an object to be towed.

2. Description of the Related Art Conventionally, a loading space for loading a wheelchair (object to be towed) is provided in the cabin of a welfare vehicle and on the rear side. A slope is pulled out from the loading space toward the outside of the vehicle, and the wheelchair outside the vehicle is moved to the loading space via the slope. In addition, electric winches equipped with belts with hooks are installed on the front side of the vehicle and on the left and right sides of the mounting space. The belts are pulled out from the pair of electric winches, the hooks are hooked on the left and right frames of the wheelchair, and the pair of electric winches are driven in this state, whereby the wheelchair can be easily moved to the loading space.

Such a winch device is described, for example, in US Pat. The winch device described in Patent Document 1 includes a pair of winch devices (electric winches) on the left and right sides, and the respective motors provided in these winch devices are rotated by one control device (controller). It is supposed to be controlled. Specifically, the control device controls the motor so that it reaches a predetermined speed according to the number of pulses from the rotation sensor.

JP 2011-020831 A

However, in the winch device described in Patent Document 1, for example, when the winch device is driven to lower the wheelchair from the vehicle interior to the exterior of the vehicle, the inclination angle of the slope and the weight of the person requiring care (user) There is a risk that the operating speed of the winch device will vary greatly due to the lightness and weight of the winch device. Specifically, in the case of a heavy user, the speed of movement on the slope is faster than that of a light user, which causes a problem that the user and caregiver feel uneasy. rice field.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a winch device capable of generating a well-balanced electric braking force in a pair of motors and varying the braking force according to the moving speed of the belt.

In one aspect of the present invention, a winch device for moving an object to be pulled comprises a first motor, a first drum rotated by the first motor, a first belt wound around the first drum, and the first a first electric winch having a first sensor for detecting a first moving speed of one belt; a first drive circuit unit for driving the first motor; and a first target speed threshold for determining the first moving speed. A first controller for controlling the first electric winch, a second motor, a second drum rotated by the second motor, a second wound around the second drum a second electric winch having a belt and a second sensor for detecting a second moving speed of the second belt; a second drive circuit unit for driving the second motor; a second controller that has a second control circuit that compares with a second target speed threshold and that controls the second electric winch, wherein the first controller and the second controller can communicate with each other through a communication line; , and the first target speed threshold and the second target speed threshold are set to the same value, and the first and second control circuit units control that the first moving speed is equal to the first target speed threshold Based on the first determination result of the first determination result that it is determined that the second movement speed is equal to or more than the second target speed threshold value, braking control of the first and second drive circuit units with the same control content so as to bring the first and second moving speeds closer to the first and second target speed thresholds; , and are differentiated according to the difference between the first and second moving speeds and the first and second target speed thresholds.

In another aspect of the present invention, the first and second control circuit units may reduce the first and second movement speeds as the difference between the first and second moving speeds and the first and second target speed thresholds increases. , the control contents of the braking control are varied so as to increase the braking force generated by the second motor.

According to the present invention, the control circuit unit performs braking control on the pair of drive circuit units with the same control content so that the moving speed of the pair of belts approaches the target speed threshold value, and furthermore, the control content of the braking control is controlled by the pair of belt and the target speed threshold.

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

1 is a schematic diagram of a vehicle equipped with a winch device; FIG. It is the figure which looked at the back side of the vehicle of FIG. 1 from upper direction. (a) is a plan view of an operation panel, and (b) is a plan view of a remote controller. It is a perspective view which shows the external appearance of an electric winch. It is a cross-sectional view showing the periphery of the planetary gear speed reducer of the electric winch. It is a perspective view which shows the drum periphery of an electric winch. FIG. 4 is a schematic diagram showing the connection relationship of the members that constitute the electric winch. 3 is a block diagram showing the periphery of the controller; FIG. 3 is a circuit diagram showing a detailed structure of a drive circuit section; FIG. (a), (b), and (c) are circuit diagrams for explaining types (three types) of braking control. 4 is a flowchart for explaining the first stage of both-side speed control (feeding); FIG. 10 is a flow chart for explaining the latter stage of both-side speed control (delivery); FIG. 4 is a graph showing the control effect of braking control; 4 is a flowchart for explaining the former stage of both-side speed control (pull-in); FIG. 10 is a flow chart for explaining the latter stage of both-side speed control (pull-in); FIG. FIG. 10 is a flow chart for explaining the first stage of one-side speed control (delivery, Embodiment 2); FIG. FIG. 10 is a flowchart for explaining the latter stage of one-side speed control (pull-in, Embodiment 2); FIG. FIG. 9 is a block diagram corresponding to FIG. 8 showing Embodiment 3; FIG. 9 is a block diagram corresponding to FIG. 8 showing Embodiment 4;

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

1 is a schematic diagram of a vehicle equipped with a winch device, FIG. 2 is a view of the rear side of the vehicle of FIG. 1 viewed from above, FIG. 4 is a perspective view showing the appearance of the electric winch, FIG. 5 is a cross-sectional view showing the periphery of the planetary gear reducer of the electric winch, and FIG. 6 is a perspective view showing the periphery of the drum of the electric winch. 7 is a schematic diagram showing the connection relationship of the members constituting the electric winch, FIG. 8 is a block diagram showing the periphery of the controller, FIG. 9 is a circuit diagram showing the detailed structure of the drive circuit, and FIGS. (b) and (c) are circuit diagrams for explaining the types (three types) of braking control, FIG. 11 is a flow chart for explaining the first stage of both-side speed control (sending), and FIG. FIG. 13 is a graph showing the control effect of braking control, FIG. 14 is a flowchart explaining the former stage of both-side speed control (pull-in), and FIG. 15 shows the latter stage of both-side speed control (pull-in). Each flow chart is shown.

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

The pair of electric winches 30R and 30L have the same structure (see FIG. 8), and are provided with a belt 32 having a hook 31 on the tip side, and the belt 32 pulls the wheelchair 20. there is Then, the belts 32 are pulled out from the pair of electric winches 30R and 30L, and the respective hooks 31 are hooked to the pair of front frames 21 on the left and right sides of the wheelchair 20.例文帳に追加Thereafter, in this state, the pair of electric winches 30R and 30L are synchronously driven to pull in the pair of belts 32. As shown in FIG. The wheelchair 20 is thereby moved toward the loading space 11 .

A slope 12 is provided on the vehicle rear side of the mounting space 11 to connect the ground J and the floor surface F of the vehicle 10 at a gentle inclination angle, and the slope 12 slidably connects a total of three aluminum plates. is configured as When the vehicle 10 is running, the slope 12 is folded compactly and leaned against the inside of the closed back door 13 or the like in the vehicle rear side of the mounting space 11 .

By synchronously driving the pair of electric winches 30R and 30L and respectively retracting the pair of belts 32, the wheelchair 20 gradually ascends on the slope 12 from the state shown in FIG. reaches the floor surface F and is carried into a predetermined position in the mounting space 11 . Then, the wheelchair 20 is fixed to the vehicle 10 so as not to rattle, and the vehicle 10 becomes ready to run.

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

Further, by synchronously driving the pair of electric winches 30R and 30L and sending out the pair of belts 32, the wheelchair 20 mounted in the mounting space 11 gradually descends on the slope 12, and eventually the floor surface F moves down to the ground. Shipped to J. By providing the slope 12 in this manner, the wheelchair 20 can be easily moved between the ground surface J and the floor surface F. The pair of electric winches 30R, 30L are operated by a caregiver, and the caregiver supports the wheelchair 20 from behind while the pair of electric winches 30R, 30L are being operated.

The winch device 40 is constructed as shown in FIG. That is, the winch device 40 is composed of a pair of electric winches 30R, 30L, one controller 50, an operation panel 60 and a remote controller 70. As shown in FIG. Wire harnesses 14 are electrically connected between the pair of electric winches 30R, 30L and the controller 50 and between the operation panel 60 and the controller 50, respectively. Note that the remote control 70 is of a wireless type and can communicate with the controller 50 wirelessly. Therefore, the pair of electric winches 30R and 30L can be operated outside the vehicle by taking the remote control 70 out of the vehicle.

Further, as shown in FIG. 2, a pair of fixing belts 16 having 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 axles 22 of the wheelchair 20 in the loading space 11, respectively. As a result, the wheelchair 20 mounted in the mounting space 11 is supported by a total of four points, the hooks 31 of the belts 32 and the hooks 15 of the fixing belts 16 . Therefore, the wheelchair 20 does not move or rattle at the predetermined position of the vehicle 10 .

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. A main power switch 62 , a belt-free switch 63 , a speed changeover switch 64 and a buzzer 65 are provided on the panel body 61 .

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

The belt-free switch 63 is a switch that is operated when the pair of electric winches 30R and 30L are brought into an unlocked state. By turning on the belt-free switch 63, the pair of belts 32 can be freely drawn out or retracted (inserted and retracted) manually. That is, the belt-free switch 63 is turned on, the pair of belts 32 are pulled out, and the pair of hooks 31 are hooked on the wheelchair 20 outside the vehicle compartment. You can also adjust the length of Here, when the belt-free switch 63 is turned on, the indicator 63a lights up.

The speed changeover switch 64 changes the movement speed of the pair of belts 32, that is, the retraction speed and the delivery speed, when the wheelchair 20 is carried into the loading space 11 or out of the loading space 11. HIGH).

The buzzer 65 also emits a warning such as an electronic sound when the pair of belts 32 are retracted or sent out (during normal operation), or when the pair of electric winches 30R and 30L malfunction (when a failure occurs). It is designed to emit sound. In other words, the buzzer 65 notifies the outside of the retreat of the wheelchair 20 and the like. Here, the warning sound is not limited to an electronic sound, and may be a voice announcement.

The remote control 70 is a wireless remote control unit, and becomes usable when the main power switch 62 of the operation panel 60 is operated and the system power of the winch device 40 is turned on. The remote controller 70 has a remote controller body 71 as shown in FIG. 3(b). A remote controller main body 71 is provided with a remote controller power switch 72 , an ON switch 73 and an OUT switch 74 . The remote control 70 further includes an indicator 75, and the indicator 75 lights up when the remote control 70 is operated.

The operation of the remote control 70 should be performed by an assistant. Then, the caregiver turns on the remote control power switch 72, and then presses the ON switch 73 or the OUT switch 74, so that the pair of electric winches 30R and 30L are synchronously driven. Specifically, while the ON switch 73 is being pressed, the pair of electric winches 30R and 30L are continuously driven to assist the loading of the wheelchair 20 into the loading space 11. FIG. On the other hand, while the exit switch 74 is being pressed, the pair of electric winches 30R and 30L rotates in the opposite direction to assist the movement of the wheelchair 20 out of the loading space 11.例文帳に追加

However, while the remote control 70 is being operated, the caregiver grasps the grip GR (see FIG. 1) of the wheelchair 20 to support the wheelchair 20 and guide its movement. Thus, the winch device 40 assists the movement of the wheelchair 20 by the caregiver by driving (controlling) the pair of electric winches 30R and 30L.

The pair of electric winches 30R and 30L are formed in the same shape, respectively, and employ structures as shown in FIGS. The detailed structure of the right electric winch 30R of the pair of electric winches 30R and 30L will be described below. Here, the electric winch 30R constitutes the first electric winch in the present invention, and the electric winch 30L constitutes the second electric winch in the present invention.

The electric winch 30R includes an electric motor portion 80 and a drum portion 90. The electric motor portion 80 of the electric winch 30R constitutes the first motor of the present invention, and the electric motor 80 of the electric winch 30L constitutes the first motor of the present invention. It consists of 2 motors. The electric motor section 80 and the drum section 90 are integrated with each other by a plurality of fixing bolts S (only two are shown in FIG. 4).

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

The rotor 81b is formed in a substantially cylindrical shape by pressing a steel plate or the like. A cylindrical permanent magnet 81c magnetized with multiple poles is fixed to the outer peripheral portion of the rotor 81b in the circumferential direction of the rotor 81b. The permanent magnet 81c faces the radially inner side of the stator 81a. Thus, as shown in FIG. 8, the rotor 81b is rotated by sequentially supplying the drive current ID(R) to the coils Cu, Cv, and Cw.

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

Here, a sensor board 80b is accommodated inside the motor housing 80a, and a rotor rotation sensor 80c for detecting the rotation state of the rotor 81b is mounted on the sensor board 80b. A magnetic sensor such as a Hall sensor is adopted as the rotor rotation sensor 80c. Also, the rotor rotation sensor 80c faces the permanent magnet 81c from the axial direction of the rotor shaft 81d.

As a result, the rotor rotation sensor 80c detects changes in the magnetic poles of the permanent magnet 81c and outputs a rotor rotation signal RR (R) consisting of a rectangular wave to the controller 50 (see FIGS. 8 and 9). . The controller 50 controls the rotational state of the rotor 81b while detecting the rotational position of the rotor 81b with respect to the stator 81a based on the rotor rotation signal RR(R) that is input.

A carrier 82d forming a planetary gear speed reducer 82a is rotatably mounted to the tip portion (lower portion in the figure) of the rotor shaft 81d via a third bearing B3. A drum shaft 92a is fixed to the center of rotation of the carrier 82d so as to be rotatable therewith. Here, the planetary gear speed reducer 82a reduces the rotational speed of the rotor shaft 81d to increase torque, and outputs the torque-increased rotational force to the drum shaft 92a (drum 92). Accordingly, by rotating the motor portion 81 in the forward and reverse directions, the belt 32 is put in and taken out from the opening portion 91a (see FIG. 4).

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

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

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

In this manner, the electric winch 30R employs the planetary gear speed reducer 82a as the speed reduction mechanism and employs the three-phase brushless motor as the motor portion 81. As shown in FIG. Therefore, the overall thickness of the electric winch 30R can be reduced. Therefore, as shown in FIG. 5, even if the drum 92 is arranged coaxially with the planetary gear speed reducer 82a and the motor portion 81, the electric winch 30R does not have to be so large.

As shown in FIG. 4, the drum section 90 has a casing 91 . The casing 91 is formed in a substantially box shape, and accommodates therein a drum 92, a ratchet mechanism 93 and a slack eliminating mechanism 94 shown in FIG. Outside the casing 91, a slack removing motor 95 for removing slack in the belt 32 wound around the drum 92, a drum rotation sensor 96 for detecting the rotation state of the drum 92, an electric motor unit 80, the slack removing motor 95, etc. are supplied with drive current. A connector connecting portion 97 or the like to which an external connector (not shown) for supplying is connected is provided.

Here, the drum rotation sensor 96 faces the sensor magnet MG (see FIGS. 5 and 6) that rotates together with the drum 92 . As a result, the drum rotation sensor 96 outputs a drum rotation signal RD(R) consisting of a rectangular wave to the controller 50 as the sensor magnet MG (drum 92) rotates (see FIG. 8). Note that the drum rotation sensor 96 also employs a magnetic sensor such as a Hall sensor, like the rotor rotation sensor 80c.

An opening 91a is formed in a side portion of the casing 91, and the belt 32 can be freely moved in and out through 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 being twisted. Also, the guide member 98 does not allow passage of the hook 31 , thereby preventing the belt 32 from being pulled entirely into the casing 91 .

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

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

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

A one-way clutch 92b is provided between the drum 92 and the drum shaft 92a. The one-way clutch 92b is configured to transmit the rotation to the drum 92 as it is when the drum shaft 92a rotates in the pull-in direction of the belt 32 (counterclockwise direction in FIG. 6). For example, when only the drum 92 rotates relative to the drum shaft 92a in the pull-in direction of the belt 32, the rotation of the drum 92 is not transmitted to the drum shaft 92a, and the drum 92 rotates relative to the drum shaft 92a. idling.

The ratchet mechanism 93 engages with a latch gear 93a provided integrally with the drum 92 and the latch gear 93a to allow rotation of the drum 92 in the retracting direction of the belt 32 and rotation of the belt 32 in the sending direction (FIG. 6). and a solenoid driving member 93c for swinging the pawl 93b.

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

On the other hand, by stopping the supply of the driving current to the solenoid driving member 93c under the control of the controller 50, the driving pin 93d is protruded by the spring force of a return spring (not shown). As a result, the pawl 93b engages with the latch gear 93a to enter a locked state. In this locked state, the drum 92 is allowed to rotate in the retracting direction (one direction) of the belt 32, while the feeding direction (other direction) of the belt 32 is allowed. ) is restricted. Therefore, the wheelchair 20 is prevented from retreating on the slope 12 .

The slack eliminating mechanism 94 includes a spur gear 94 a integrally provided with the drum 92 , a small diameter gear 94 b meshing with the spur gear 94 a, and a reduction gear mechanism 94 c rotationally driven by the slack eliminating motor 95 . The slack removing 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 slack removing motor 95 is transferred to the drum through a reduction gear mechanism 94c, a torque limiter 94d, a small diameter gear 94b and a spur gear 94a. 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. It has become. As a result, the slack eliminating motor 95 is prevented from being overloaded, and the slack eliminating motor 95 is protected. In other words, the slack removing motor 95 can be a small motor that can generate low torque enough to remove the slack in the belt 32 .

As shown in FIG. 8, controller 50 includes left and right electric winches 30R, 30L, ignition switch IG, vehicle speed sensor VS, shift position sensor SP, operation panel 60, and buzzer 65. Wire harness 14 ( 2) and the like. Further, the controller 50 can receive various operation signals from the remote controller 70 by radio.

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

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

Drum rotation signals RD(R) and RD(L) indicating the rotation state (low speed rotation) of each drum 92 are input to the control circuit unit 51 from the left and right drum rotation sensors 96 . In addition, (R) at the end of the code indicates the right side, and (L) indicates the left side, respectively. Rotor rotation signals RR(R) and RR(L) indicating the rotation state (high-speed rotation) of each rotor 81b are input from the rotor rotation sensors 80c on the left and right sides. Thereby, the control circuit unit 51 grasps the drive state of the electric winches 30R, 30L based on the drum rotation signals RD(R), RD(L) and the rotor rotation signals RR(R), RR(L).

Here, the controller 50 is activated by the input of the ON signal from the ignition switch IG, whereby the electric winches 30R, 30L are put into a standby state. At this time, when the control circuit unit 51 receives the vehicle speed signal V (m/s) from the vehicle speed sensor VS and determines that the vehicle 10 is running, it prohibits the operation of the electric winches 30R and 30L. . In addition, when the signal from the shift position sensor SP is other than the parking signal (P signal), the control circuit unit 51 determines that the vehicle 10 is not in a stopped state, and operates the electric winches 30R and 30L. Prohibit the operation.

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

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

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

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

Then, the control circuit unit 51 controls the left and right drive circuit units 52R, 52L to bring the actual velocities Vo(R), Vo(L) equal to or higher than the target velocity threshold value Va closer to the target velocity threshold value Va. and output control signals H1 to H6 at predetermined timings. Specifically, the control circuit unit 51 causes the respective drive circuit units 52R and 52L to perform the same control in order to generate the same braking force (electric brake) of a predetermined magnitude in each of the left and right electric motor units 80. It outputs signals H1 to H6. As a result, the drive circuit units 52R and 52L are brake-controlled by the control circuit unit 51 with the same control details, and both the left and right electric motor units 80 generate optimum braking force substantially simultaneously.

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

Specifically, when the difference between the actual speeds Vo(R), Vo(L) and the target speed threshold value Va is small, "braking control (weak)" is executed. Further, when the difference between the actual speeds Vo(R), Vo(L) and the target speed threshold value Va is medium, "braking control (medium)" is executed. Further, when the difference between the actual speeds Vo(R), Vo(L) and the target speed threshold value Va is large, "braking control (strong)" is executed (see FIGS. 10 and 12). In other words, the control circuit section 51 changes the contents of the braking control according to the difference between the actual speeds Vo(R), Vo(L) and the target speed threshold value Va.

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

Here, in the present embodiment, the first switching elements F1, F2, F3 and the second switching elements F4, F5, F6 are provided so as to form pairs of three each, and these switching elements F1, F2, F3, F4, F5 and F6 are each composed of a MOSFET.

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

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

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

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

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

By sequentially supplying the drive current ID (R) to the respective coils Cu, Cv, and Cw in this manner, electromagnetic forces are generated sequentially in the respective coils Cu, Cv, and Cw. is rotationally driven in a predetermined direction.

Also, the motor unit 81 can generate three types of braking forces (weak, medium, and strong) with different strengths. In order to perform braking control for generating respective braking forces in the motor section 81, for example, the switching elements F1 to F6 are controlled to switch between "ON", "PWM control" and "OFF" as follows. good.

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

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

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

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

"Single-phase commutation braking (strong)"
As shown in FIG. 10(c), by setting the first switching element F1 to "ON" and the fifth switching element F5 to "PWM control", the power source Bt and the respective coils Cu, A one-phase conducting circuit is formed through Cv and Cw. Here, all of the other switching elements F2 to F4 and F6 are turned "OFF". Unlike the normal rotation driving of the electric motor unit 80, the first to sixth switching elements F1 to F6 are turned "ON", "PWM control", and "OFF" so as not to rotate the rotor 81b. Position is fixed. In other words, the positions of "ON", "PWM control", and "OFF" should not be changed according to the rotation of the motor unit 81.

However, according to the rotational position of the motor portion 81 (rotational position of the rotor 81b) at the start of the "single-phase energization braking (strong)", the switching elements to be turned "ON", "PWM control", and "OFF" are changed. to That is, the first switching element F1 is not limited to "ON" and the fifth switching element F5 is "PWM controlled" as described above.

As a result, a larger braking force than the regenerative braking (middle) shown in FIG. 10B is generated. Here, to summarize the magnitude (strength) of the braking force, closed circuit braking (weak)<regenerative braking (middle)<single-phase energized braking (strong).

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

11 and 12, the winch device 40 (see FIG. 2) is operated to carry out the wheelchair 20 mounted in the mounting space 11 of the vehicle 10 to the outside of the vehicle. 4 shows the operation contents of the controller 50 at this time.

First, in step S10, when the out switch 74 (see FIG. 3(b)) of the remote controller 70 is operated by the caregiver, the controller 50 operates based on the movement speed information of the belt 32 from the left and right sides (both sides). to start speed control (feeding) of the electric motor unit 80 (see FIG. 5).

In the subsequent step S11, the controller 50 supplies drive current to the solenoid drive members 93c (see FIG. 6) on both sides to turn on the respective solenoid drive members 93c. Then, a thrust is generated in the solenoid drive members 93c on both sides to retract the drive pin 93d (see FIG. 6). This completes the preparation for releasing the engagement between the latch gear 93a and the pawl 93b.

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

After that, in step S12, the controller 50 executes an operation of releasing the latch gears 93a on both sides (an operation of releasing). Specifically, the electric motor units 80 on both sides are once rotated slightly in the retraction direction. As a result, the engagement between the latch gear 93a and the pawl 93b is released, and the ratchet mechanisms 93 on both sides are finally released. Therefore, preparations for the feeding operation of the belts 32 on both sides are completed.

Then, in step S13, the electric motor units 80 on both sides are rotationally driven in the direction in which the respective belts 32 are sent out. As a result, the belts 32 on both sides are started to be sent out, and the wheelchair 20 gradually descends on the slope 12 . At this time, for example, when the weight of the user of the wheelchair 20 is heavy, not only does the moving speed of the belts 32 on both sides in the feed-out direction increase, but also due to the difference in weight balance between the left and right sides, the belt 32 moves in the feed-out direction. It can happen that the moving speed of Therefore, the controller 50 monitors the actual moving speeds of the left and right belts 32, that is, the actual speeds Vo(R) and Vo(L).

Specifically, in step S14, the control circuit unit 51 first determines the actual velocities Vo(R) and Vo(L) of the left and right belts 32 from the appearance intervals of the drum rotation signals RD(R) and RD(L). ) is calculated. Next, a comparison process is executed to compare the calculated actual speeds Vo(R) and Vo(L) with the target speed threshold value Va. More specifically, the control circuit unit 51 determines whether or not one of the actual velocities Vo(R) and Vo(L) on the left and right sides has reached or exceeded the target velocity threshold value Va.

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

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

On the other hand, if the determination in step S14 is yes, the process proceeds to step S17, and braking control of the electric motor units 80 on both sides is started in step S17. Note that the braking control in step S17 is not performed individually by the electric motor units 80 on both sides, but the same braking control is performed on each of the electric motor units 80 on both sides substantially simultaneously. Therefore, the load on the controller 50 is reduced as compared with the case where the electric motor units 80 on both sides are individually controlled for braking. In addition, since the timing of performing the braking control of the electric motor units 80 on both sides does not vary, the user of the wheelchair 20 and the caregiver do not feel uneasy.

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

In step S19, the control circuit unit 51 executes "braking control (weak)". Specifically, based on the fact that the difference between the actual speed Vo and the target speed threshold value Va is small (yes determination in step S18), the control circuit unit 51 causes the drive circuit units 52R and 52L on both sides to be closed. Control to generate "Circuit Braking (Weak)". As a result, both the drive circuit units 52R and 52L on both sides substantially simultaneously become circuits (closed circuits) as shown in FIG. . As a result, the electric brake (weak) is applied to the rotation of the drum 92 in the delivery direction, and the actual speed Vo approaches the target speed threshold value Va.

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

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

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

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

In step S25, the control circuit unit 51 executes "braking control (middle)". Specifically, based on the fact that the difference between the actual speed Vo and the target speed threshold value Va is medium (yes determination in step S24), the control circuit unit 51 causes the drive circuit units 52R and 52L on both sides to Control to generate "regenerative braking (medium)" respectively. As a result, both the drive circuit units 52R and 52L on both sides substantially simultaneously become circuits (regenerative circuits) as shown in FIG. produces a medium braking force greater than As a result, the electric brake (medium) is applied to the rotation of the drum 92 in the delivery direction, and the actual speed Vo approaches the target speed threshold value Va. After that, the process proceeds to step S21.

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

In step S27, the control circuit unit 51 executes "braking control (strong)". Specifically, based on the fact that the difference between the actual speed Vo and the target speed threshold value Va is large (yes determination in step S26), the control circuit unit 51 causes the drive circuit units 52R and 52L on both sides to control to generate "phase energization braking (strong)". As a result, both the drive circuit units 52R and 52L on both sides become circuits (single-phase conducting circuits) as shown in FIG. ” generates a greater braking force. As a result, the electric brake (strong) is applied to the rotation of the drum 92 in the delivery direction, and the actual speed Vo approaches the target speed threshold value Va. After that, the process proceeds to step S21.

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

On the other hand, in the present embodiment, from time t1 to time t2 (weak braking area AR1), although the moving speed of the belt 32 increases, weak electric braking (closed circuit braking) is applied. The rise can be moderated. In addition, from time t2 to time t3 (intermediate braking area AR2), although the moving speed of the belt 32 increases, moderate electric braking (regenerative braking) is applied, so the increase should be moderated. can be done. Between time t3 and time t4 (forced motion area AR3), the strongest electric brake (single-phase energization control) is applied. , and the moving speed of the belt 32 can be brought closer to the target speed threshold value Va.

In the medium braking area AR2 from time t4 to time t5 and the weak braking area AR1 from time t5 to time t6, the "regenerative braking (medium)" changes to "closed circuit braking (weak)". Then, the actual speed Vo gradually approaches the target speed threshold value Va.

As a result, the moving speed (actual speed Vo) of the belt 32 can be gently varied and brought close to the target speed threshold value Va in substantially the entire braking control range from time t1 to time t6. It is possible to reduce the feeling of uneasiness given to a caregiver or the like who accompanies this. In addition, since the above-described braking control (three types) is performed substantially simultaneously for both electric motor units 80 on both sides, it is possible to perform braking control on the left and right sides in a well-balanced manner. It is possible to reduce the feeling of uneasiness given to a caregiver or the like who accompanies this.

Next, FIG. 14 and FIG. 15 show details of the operation of the controller 50 when the winch device 40 (see FIG. 2) is operated to carry the wheelchair 20 outside the passenger compartment into the mounting space 11 of the vehicle 10. Description will be made using flowcharts (first and second stages). In order to avoid duplication of explanation, only parts that differ from the speed control (feeding) shown in the flow charts of FIGS. 11 and 12 will be explained.

In step S30 (shaded portion), when the ON switch 73 (see FIG. 3B) of the remote controller 70 is operated by the caregiver, the left and right electric motor units 80 (both sides) of the controller 50 (see FIG. 5) are operated. See) speed control (pull-in) is started. Then, in step S33 (shaded portion) subsequent to step S11, the electric motor units 80 on both sides are rotationally driven in the directions in which the respective belts 32 are retracted. As a result, the retraction of the belts 32 on both sides is started, and the wheelchair 20 gradually begins to climb up the slope 12 .

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

Further, in step S35 (shaded part) in FIG. 14 and step S41 (shaded part) in FIG. is turned off.

14 and 15 (pull-in operation), it is possible to obtain substantially the same control effect as in the flow chart (delivery operation) shown in FIGS. 11 and 12 . Here, the case where the movement speed (actual speed Vo) of the belt 32 becomes faster than the target speed threshold value Va in the pull-in operation means that the weight of the user of the wheelchair 20 is determined by the specification of the winch device 40. For example, the weight is lighter than the standard weight.

As described in detail above, according to the winch device 40 of the first embodiment, the control circuit unit 51 sets the moving speeds of the pair of belts 32, that is, the actual speeds Vo(R) and Vo(L) to the target speed threshold Va , the pair of drive circuit units 52R and 52L are brake-controlled with the same control content, and the control content of the braking control is set to the difference between the actual speeds Vo(R) and Vo(L) and the target speed threshold value Va Three types of closed circuit braking (weak), regenerative braking (medium), and one-phase energized braking (strong) are provided according to the conditions.

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

Further, according to the winch device 40 of Embodiment 1, the control circuit unit 51 controls the control circuit unit 51 as the difference between either one of the actual speeds Vo(R) and Vo(L) and the target speed threshold value Va increases. Then, the braking force generated by the pair of electric motor units 80 is increased such that closed circuit braking (weak)<regenerative braking (middle)<single-phase energization braking (strong).

Therefore, it is possible to suppress abrupt changes in the movement speed of the wheelchair 20, thereby further reducing anxiety given to the user of the wheelchair 20 and the caregiver accompanying the wheelchair 20, and further reducing the actual speed Vo(R). ), Vo(L) can approach the target speed threshold value Va as quickly as possible. Therefore, it is possible to improve the reliability of the winch device 40 .

Next, another embodiment according to the present invention will be described in detail with reference to the drawings. It should be noted that portions having functions similar to those of the first embodiment described above are denoted by the same symbols, and detailed description thereof will be omitted.

FIG. 16 is a flowchart for explaining the former stage of one-side speed control (delivery, Embodiment 2), FIG. 17 is a flowchart for explaining the latter stage of one-side speed control (retraction, Embodiment 2), and FIG. 18 is an embodiment. FIG. 19 shows a block diagram corresponding to FIG. 8 showing Embodiment 3, and FIG. 19 shows a block diagram corresponding to FIG.

[Embodiment 2]
In the first embodiment described above, in step S14 of FIG. 11 (feeding operation) and FIG. has reached or exceeded the target speed threshold value Va. That is, in the first embodiment, the control circuit unit 51 determines both the actual velocities Vo(R) and Vo(L) of the left and right belts 32 from the appearance intervals of the drum rotation signals RD(R) and RD(L). and compares both the calculated actual speeds Vo(R) and Vo(L) with the target speed threshold value Va.

On the other hand, in the second embodiment, in step S54 (shaded portion) in FIG. 16 (feeding operation) and FIG. A comparison process of calculating only the actual speed Vo(R) of the belt 32 on the right side, which is either one of the left and right sides, and comparing only the calculated actual speed Vo(R) with the target speed threshold value Va. is set to run.

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

That is, in steps S50 and S60 (shaded portions) on the upstream side of step S54 in FIGS. 50 starts speed control (advancing operation and retracting operation) of the electric motor unit 80 (see FIG. 5) based only on the movement speed information of the belt 32 from the right side (one side).

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

In the second embodiment configured as described above, substantially the same effects as those of the first embodiment can be obtained. In addition to this, in Embodiment 2, the control logic of the controller 50 can be simplified, so that braking control can be started quickly (improved response speed). Therefore, it is possible to further reduce anxiety given to the user of the wheelchair 20, the caregiver who accompanies the user, and the like.

[Embodiment 3]
As shown in FIG. 18, in the winch device 100 of the third embodiment, the controller 50 is incorporated in the electric winch 30R on the right side as compared with the winch device 40 of the first embodiment described above (see FIG. 8). and the point that the structure of the left electric winch 30L is simplified. Specifically, the electric winch 30L of the third embodiment is provided with a drum rotation sensor (second sensor) that detects the moving speed of the belt 32 on the left side of the electric winch 30L of the first embodiment. do not have.

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

Here, the contents of control performed by the controller 50 on the winch device 100 of the third embodiment are the same as those of the second embodiment. That is, the feeding operation of the belt 32 is controlled according to the flow charts of FIGS. On the other hand, the pull-in operation of the belt 32 is controlled according to the flow charts of FIGS.

In the third embodiment configured as described above, substantially the same effects as those of the first embodiment can be obtained. In addition, in the third embodiment, as in the second embodiment, the control logic of the controller 50 can be simplified to quickly start the braking control, and the structure of the left electric winch 30L can be simplified. can also be made into Therefore, the cost of the entire winch device can be reduced. Thus, it can be said that the winch device 100 of the third embodiment is a "cheap version" of the winch device 40 of the first embodiment.

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

An ignition switch IG, a vehicle speed sensor VS, a shift position sensor SP, an operation panel 60 and a buzzer 65 are electrically connected to each of the controllers 50R, 50L via wire harnesses 14, respectively. Furthermore, the controllers 50R and 50L are connected to each other via a communication line 201 so as to be able to communicate with each other. The pair of controllers 50R and 50L can receive various operation signals from the remote controller 70 by radio.

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

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

Here, the contents of control performed by the controllers 50R and 50L on the winch device 200 of the fourth embodiment are substantially the same as those of the first embodiment. That is, the feeding operation of the belt 32 is controlled according to the flow charts of FIGS. On the other hand, the pull-in operation of the belt 32 is controlled according to the flow charts of FIGS.

However, in the fourth embodiment, the following processing is executed in step S14 of FIG. 11 (sending operation) and FIG. 14 (retracting operation). That is, the right control circuit unit 51R determines whether or not the actual speed Vo(R) is equal to or greater than the target speed threshold value Va, and the left control circuit unit 51L determines whether the actual speed Vo(L) exceeds the target speed threshold value Va. It is determined whether or not the above is satisfied. The control circuit section 51R and the control circuit section 51L notify each other of the above determination result via the communication line 201. FIG. Then, the control circuit unit 51R determines that the actual speed Vo(R) has become equal to or greater than the target speed threshold value Va, or the control circuit unit 51L determines that the actual speed Vo(L) has become equal to or greater than the target speed threshold value Va. It is mutually determined which of the second determination results is determined first. Then, when both the first determination result and the second determination result are not obtained (no determination in step S14), the process proceeds to step S15.

On the other hand, for example, when it is determined that the first determination result (right side) is obtained earlier than the second determination result (left side) (in the case of yes determination in step S14), the process proceeds to step S17. Based on the fact that the first determination result is obtained, each of the control circuit units 51R and 51L controls the drive circuit unit so that the actual speeds Vo(R) and Vo(L) approach the target speed threshold value Va. 52R and 52L are brake-controlled substantially simultaneously with the same control content.

In the fourth embodiment configured as described above, substantially the same effects as those of the first embodiment can be obtained. In addition to this, in the fourth embodiment, the controllers 50R and 50L perform control other than the braking control performed in cooperation with each other, for example, the control of rotating the left and right motor units 81 normally without braking control. It is possible to make each of them perform precisely.

It goes without saying that the present invention is not limited to the above-described embodiments, and can be modified in various ways without departing from the spirit of the present invention. For example, in each of the above-described embodiments, the object to be towed is the wheelchair 20, but the present invention is not limited to this, and the object to be towed may be a stretcher with casters.

Further, in each of the above embodiments, the pair of electric winches 30R and 30L are installed under the driver's seat DR and passenger's seat AS, respectively, but the present invention is not limited to this. etc., it may be installed in other dead spaces.

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

10 vehicle 11 mounting space 12 slope 13 back door 14 wire harness 15 hook 16 fixing belt 20 wheelchair 21 front frame 22 axle 30R, 30L electric winch (first electric winch, second electric winch)
31 hook 32 belt (first belt, second belt)
40 winch device 50, 50R, 50L controller (first controller, second controller)
51, 51R, 50L control circuit unit (first control circuit unit, second control circuit unit)
52R, 52L drive circuit section (first drive circuit section, second drive circuit section)
60 Operation panel 61 Panel main body 62 Main power switch 62a Indicator 63 Belt free switch 63a Indicator 64 Speed selector switch 65 Buzzer 70 Remote control 71 Remote control main body 72 Remote control power switch 73 On switch 74 Out switch 75 Indicator 80 Electric motor section (first motor, second motor)
80a motor housing 80b sensor substrate 80c rotor rotation sensor 81 motor section 81a stator 81b rotor 81c permanent magnet 81d rotor shaft 82 gear section 82a planetary gear reducer 82b sun gear 82c planetary gear 82d carrier 82e ring gear 90 drum section 91 casing 91a opening 92 drum ( 1st drum, 2nd drum)
92a Drum shaft 92b One-way clutch 93 Ratchet mechanism 93a Latch gear 93b Pawl 93c Solenoid drive member 93d Drive pin 94 Slack removal mechanism 94a Spur gear 94b Small diameter gear 94c Reduction gear mechanism 94d Torque limiter 95 Slack removal motor 96 Drum rotation sensor (first sensor, first 2 sensors)
97 connector connection portion 98 guide member 100 winch device 200 winch device 201 communication line AR1 weak braking area AR2 medium braking area AR3 forced movement area AS passenger seat B1 to B5 first to fifth bearings Bt power supply Cu U-phase coil Cv V-phase coil Cw W-phase coil DR Driver's seat F Floor F1-F6 1st-6th switching element FT Mounting stay GR Grip H1-H6 Control signal IG Ignition switch J Ground MG Sensor magnet S Fixing bolt SP Shift position sensor ST Rear seat Th1 No. 1st speed threshold Th2 2nd speed threshold V Vehicle speed signal VS Vehicle speed sensor Va Target speed threshold (first target speed threshold, second target speed threshold)
Vo(R), Vo(L) Actual speed (first moving speed, second moving speed)

Claims (2)

A winch device for moving a towed object,
a first electric winch having a first motor, a first drum rotated by the first motor, a first belt wound around the first drum, and a first sensor for detecting a first moving speed of the first belt; ,
a first drive circuit unit for driving the first motor; and a first control circuit unit for comparing the first movement speed with a predetermined first target speed threshold, the second control circuit unit controlling the first electric winch. 1 controller;
a second electric winch having a second motor, a second drum rotated by the second motor, a second belt wound around the second drum, and a second sensor for detecting a second moving speed of the second belt; ,
a second drive circuit for driving the second motor; and a second control circuit for comparing the second movement speed with a predetermined second target speed threshold for controlling the second electric winch. 2 controllers;
with
the first controller and the second controller are communicably connected to each other by a communication line, and the first target speed threshold and the second target speed threshold are set to the same value;
The first and second control circuit units are
Of the first determination result that the first moving speed is determined to be equal to or greater than the first target speed threshold and the second determination result that the second moving speed is determined to be equal to or greater than the second target speed threshold, Based on the judgment result of the person who judged first,
performing braking control on the first and second drive circuit units with the same control content so as to bring the first and second moving speeds closer to the first and second target speed thresholds;
Furthermore, the control content of the braking control is changed according to the difference between the first and second moving speeds and the first and second target speed thresholds,
winch device. The first and second control circuit sections control the control generated by the first and second motors as the difference between the first and second movement speeds and the first and second target speed thresholds increases. Characterized by varying the control content of the braking control so as to increase the power,
A winch device according to claim 1 .

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