JPH1176309A - Wheelchair fixing controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the trouble of erroneous control to occur at a device for fixing a wheelchair. SOLUTION: When a fixing switch or cancel switch is operated, a motor is rotated forward or backward after the lapse of delay time (a). An overcurrent to flow for prescribed time (b) at the time of starting the motor is detected by a detection block and a comparator but the stop of the motor based on the detected overcurrent is blocked by a cancel signal outputted for cancel time (c) composed of delay time (a) + prescribed time (b) + α. Namely, a relay block for cutting electrification to the motor cuts the electrification to the motor only when the overcurrent is detected after the lapse of cancel time (c) from the time point of operating the fixing switch or cancel switch.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a wheelchair fixed control device which locks and fixes a wheelchair frame disposed on an apparatus main body.

[0002]

2. Description of the Related Art Conventionally, there has been no wheelchair fixing control device for automatically fixing a wheelchair using a motor or the like.

On the other hand, in some control devices such as a sliding roof, a motor stop control current value is set high when passing through a weather strip, and set low otherwise.

[0004]

However, the control device for the sliding roof or the like has a structure in which the position of the weatherstrip is detected by using a sensor or the like. It could not be applied to a wheelchair fixing control device that fixes by urging.

[0005] It is generally considered that a wheelchair is made of aluminum, an iron round bar, a pipe, or the like as a frame so as to be light and easy to handle. The wheels use pneumatic tires. For this reason, if the wheelchair is fixed with excessive force, the frame may be deformed if it is fixed with excessive force, or the tire may be pressed more than necessary. When the required fixing force is obtained, the motor (drive device) may be stopped immediately. Required.

SUMMARY OF THE INVENTION The present invention has been made in view of such conventional problems, and has as its object to provide a wheelchair fixing control device capable of preventing a trouble that may occur in a device for fixing a wheelchair. Is what you do.

[0007]

According to a first aspect of the present invention, there is provided a wheelchair fixation control device.
A wheelchair fixing mechanism block for fixing the wheelchair, and a control block for controlling the wheelchair fixing mechanism block, wherein the left and right frame components of the wheelchair are hooked by the left and right hooks, and each frame component is urged downward. Have
A drive unit that drives a motor that operates the wheelchair fixed block based on operation of an operation switch; a current detection unit that detects a motor current flowing through the motor; and a motor that is detected by the current detection unit. When the current exceeds a predetermined comparison value after a lapse of a predetermined time from the time when the operation switch is operated, a cutoff control unit that cuts off energization to the motor, and the comparison value, When the wheelchair is fixed by the hooks, the fixed comparison value is set while the wheelchair is fixed from the fixed state by the hooks to the storage state, and the storage comparison value is lower than the fixed comparison value. And comparison value setting means for setting.

That is, the control block is a motor comparison value when the left and right frame components of the wheelchair are hung by the left and right hooks of the wheelchair fixing mechanism block and urged downward to fix, that is, a motor stop detection current. And the threshold value of the motor stop detection current when the wheelchair is fixed from the fixed state to the retracted state by the hooks can be reduced. Thus, when the wheelchair is fixed, the motor is immediately stopped when the required force (current value) is reached, so that the motor can be stopped with the required force and no excessive force is applied to the left and right frame components. . Also, when the hooks are stored, they can be stopped when a small force is applied to the motor without complicating the device, increasing the weight, etc., so that there is no need for a limit switch, stopper reinforcement, etc., which is simple and lightweight. Structure.

On the other hand, when shifting from the wheelchair fixed state to the retracted state, when releasing the hooks that lock and fix the frame components, the motor must be operated at the threshold value close to the fixed state to operate the motor. It stops. However, when the motor current detected by the current detection means exceeds a predetermined comparison value after a predetermined time has elapsed since the operation switch was operated,
When the operation switch is turned on (fixed or retracted switch), the detection result of the motor current is canceled for a predetermined time, that is, the motor current when the hook is released is not detected (or the detection is not performed). Even if it cancels), the threshold value for releasing the hook of each hook that locks and fixes each frame constituent member can be stored at a high threshold value as in the case of fixing, without storing operation. Inadvertent stopping of the motor can be prevented. In addition, a large current at the moment when the operation switch is operated (when the motor is started) is not detected (canceled), and the motor can be stopped by the large current.

Further, unlike the motor that stops when the overcurrent continues for a predetermined time, the motor can be stopped immediately, so that unnecessary fixing force is not applied to the wheelchair.

According to a second aspect of the present invention, there is provided a wheelchair fixing control device, a device main body fixed to a floor, a guide rail extending along a lateral direction in a casing of the device main body, and the guide rail. A pair of left and right fixed blocks provided on the left and right portions of the, and left and right guide arms rotatably supported on each of the fixed blocks,
Left and right hooks rotatably supported at the upper end of each guide arm and having a hook-like hook at one free end, and the other free end of each hook rotated at the tip. A left and right operation transmission arm that freely supports, a left and right operation base that rotatably supports the base end of each operation transmission arm, and is provided movably along the guide rail; A support member provided on one side and rotatably supporting a lead screw extending to the other operation base side, a motor for rotating the lead screw supported by the support member, and a motor provided on the other operation base A screwing member that is screwed into the lead screw and moves the left and right operation bases in a direction of approaching each other and in a direction of separating away with the rotation of the lead screw. A wheelchair fixing mechanism block, wherein the left hook is turned in the upright direction by the left operation transmission arm when the lead screw is rotated and the left and right operation base is moved in the approach direction. The left guide arm supporting the left hook is rotated in a direction in which the left guide arm is tilted from a point in time when the rotation of the left hook is stopped when the left frame constituent member of the wheelchair positioned on the apparatus body is abutted. A left frame fixed to be moved downward while sliding the left frame component, the left hook is hooked to the left frame component, and the movement of the left operation base is stopped in a state of being urged downward. Stroke, the right hook rotated in the upright direction by the right operation transmission arm abuts a right frame component of a wheelchair positioned on the apparatus body, The right guide arm supporting the right hook is rotated in a falling direction from the time point when the rotation of the right hook is stopped, and the right hook is moved downward while sliding on the right frame constituent member. A right frame fixed stroke in which the movement of the right operation base is stopped in a state of being hung on the right frame constituent member and being urged downward, and wherein the left frame fixed stroke and the right frame are fixed. Even if one of the fixed strokes is terminated earlier, the other stroke is continued, and the control block that controls the wheelchair fixing mechanism block drives the motor based on the operation of an operation switch. A driving unit, a current detection unit for detecting a motor current flowing through the motor, and a motor current detected by the current detection unit when the operation switch is operated. After a predetermined time has elapsed, when a predetermined comparison value is exceeded, the cutoff control means for cutting off the power supply to the motor, and the comparison value, when the wheelchair is fixed by each hook. A comparison value setting means for setting a comparison value at a fixed time, while setting the wheelchair from a fixed state to a stored state by the hooks, and setting a storage comparison value lower than the fixed comparison value. The fixed comparison value was set higher than the fixed current generated by the left and right hooks.

That is, when the operation switch is operated to energize the motor, the lead screw is rotated, the left and right operation bases are moved in the approaching direction close to each other, and the wheelchair is fixed by the left and right hooks. An overcurrent flows in the motor, and the current detection means in the control block detects this, but the cutoff control means for cutting off the current supply to the motor is operated after a predetermined time has elapsed from the time when the operation switch was operated. When an overcurrent is detected in step (1), the power supply to the motor is cut off, thereby preventing erroneous control due to the overcurrent at the time of starting the motor.

Then, the left and right hooks are respectively turned in the upright direction via the left and right operation transmitting arms supported by the left and right operation bases. At this time, assuming that one of the left and right hooks, the left hook is abutted against the left frame component of the wheelchair previously positioned on the apparatus main body and its rotation is prevented, in this case, From a point in time, the left guide arm supporting the left hook is rotated in a direction to fall down, and the left hook is moved downward while sliding on the left frame component. Then, with the downward movement of the left hook, the left hook locks the left frame component and is urged downward. As a result, the wheelchair positioned on the apparatus main body is hung in a state in which the left frame component forming the frame is urged downward by the left hook.

At this time, the movement of the left operation base for operating the left hook is stopped, but the cutoff control means for cutting off the current supply to the motor based on the motor current detected by the current detection means is provided by the motor When the current exceeds a fixed comparison value set higher than the fixed current generated by the left and right hooks, the power supply to the motor is cut off. Therefore, the movement of the right operation base for operating the right hook is continued, and the operation of the right hook is continued. Thus, as described above, the right hook is rotated until it comes into contact with the right frame component of the wheelchair positioned on the apparatus main body, and is moved downward while sliding on the right frame component. The right frame component is urged downward while being hooked by the right hook. In this state, the power supply to the motor is cut off by the cut-off control means.

On the other hand, when releasing the hooks to which the frame of the wheelchair is fixed, the operation switch is operated to energize the motor, the lead screw is reversed, and the left and right operation bases are separated from each other in the separating direction. Moving. At this time, similarly to the case of the first aspect, when releasing the hook of each of the hooks that locks and fixes each frame constituent member, it is necessary to perform the storage operation with the fixed comparison value (threshold value) close to the fixed state. The motor stops. However, when the motor current detected by the current detecting means exceeds a predetermined comparison value after a predetermined time has elapsed since the operation switch was operated, the cutoff control means When the operation switch is turned on (fixed or retracted switch), the detection result of the motor current is canceled for a predetermined time, that is, the motor current at the time of releasing the hook from the hook is not detected (or detected. Cancel), so that the threshold value for releasing the hooks that lock and fix each frame component member is not set at a high threshold value as in the fixed state, and the motor does not operate. It is possible to prevent a ready stop. In addition, a large current at the moment when the operation switch is operated (when the motor is started) is not detected (canceled), and the motor can be stopped by the large current.

The left and right hooks are rotated via the left and right operation transmitting arms supported by the left and right operation bases, respectively, so that the left and right frame members of the wheelchair are released from the locked state and stored in the casing. . Eventually,
Each of the hooks is prevented from rotating while being in contact with the bottom surface of the casing, and an overcurrent flows through the motor and is detected by the current detecting means. At this time, at the time of the release, the comparison value to be compared with the motor current is set to a storage comparison value lower than the fixed comparison value when the wheelchair is fixed by the comparison value setting means, When an overcurrent that is lower than the overcurrent of the motor occurs, the power supply to the motor is cut off.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings. FIGS. 1 and 2 show a wheelchair fixing device 1 of the present invention.
Is mounted on the floor 2 of a vehicle or the floor 2 of a lift used when a wheelchair is accommodated in a vehicle.

The wheelchair fixing mechanism block of the wheelchair fixing device 1 comprises an apparatus main body 5 housed in the floor 2 through an opening formed in the floor 2 and a hooking mechanism 6 for fixing a frame of the wheelchair. As shown in FIGS. 3 to 5, the apparatus main body 5 includes a casing 7 having an open top surface for housing the hooking mechanism 6,
The casing 7 comprises a cover 8 with a wheel positioning for closing an upper opening. As shown in FIG. 6, left and right wheel mounting portions 12 and 13 which are arc-shaped concave portions for accommodating the left and right driving wheels 10 and 11 of the wheelchair 9 are provided on the left and right portions of the cover 8 with wheel positioning. Is formed.
The left and right wheel mounting portions 12 and 13 are provided with respect to the size of the wheelchair 9, that is, the left and right driving wheels 10 and
11 has a width dimension (left-right direction) capable of accommodating a large-to-small interval between the left and right driving wheels 10 and 11.
Is formed in a concave part of an arc having a diameter capable of accommodating a large diameter. Thus, the front and rear movements of the drive wheels 10 and 11 are restricted, and the front and rear positions of the wheelchair 9 with respect to the apparatus main body 5 can be positioned. Also,
A hook arm projecting / retracting slit 14 extending in the left-right direction is formed in the front of the center of the cover 8 with wheel positioning.

As shown in FIGS. 5 and 6, the hooking mechanism 6 includes a hook mechanism 22 for hooking the frame 21 of the wheelchair 9 positioned on the apparatus main body 5, and a hook mechanism 22. And a guide rail 25 extending along the left-right direction on the bottom surface 24 of the casing 7 as shown in FIGS. 3 to 5 and 7. Left and right operating bases 26 and 27 each having a ball bearing slidably provided on the guide rail 25, left and right brackets 28 and 29 screwed to the two operating bases 26 and 27, and a right bracket 29. A support member 31 rotatably supporting a lead screw 30 extending to the left bracket 28 side;
The lead screw 30 supported by the support member 31
A motor 32 serving as a rotating means for rotating the left and right brackets, which is provided on the left bracket 28 and is screwed to the lead screw 30 so that the left and right operation bases 26 and 27 are brought closer to each other with the rotation of the lead screw 30; And in the direction of separation (this is the direction away from left and right fixed blocks 42 and 43,
3 is approaching. ) And a driven nut 33 as a screwing member. Left and right L-shaped pieces 35, 36 are provided on the left and right brackets 28, 29 so as to protrude rearward (FIGS. 3 to 5). 2
When the right and left slide stoppers 37 and 38 project from the guide rail 25, the movement of the two operation bases 26 and 27 in the separating direction is restricted, and the inadvertent detachment from the guide rail 25 is prevented. It is configured to:

The latch mechanism 22 is a left and right fixed block comprising a pair of standing pieces 41, 41 standing on the left and right sides of the guide rail 25 and on the front side of the casing 7. 42, 43 (the left block 42 is shown in FIG. 7 and the right block 43 is shown in FIGS. 5 and 7), left and right guide arms 44 and 45 rotatably supported by the fixed blocks 42 and 43, respectively. Guide arms 44, 4
Left and right springs 4 that urge each 5 in the upright direction
6 (only the right spring 46 is shown in FIG. 5), left and right hooks 48 and 49 rotatably supported at the upper ends of the guide arms 44 and 45, and hooks 48 and 49, respectively.
The left and right operation transmitting arms 50 and 51 each rotatably supported by the left and right brackets 28 and 29, respectively, while rotatably supporting the other free ends at the distal ends. It consists of. The left and right hooks 48, 49 are respectively connected to the guide arms 44,
Left and right hook arms 52 and 53 supported by 45 and hook bars 56 and 57 having base portions screwed into the distal ends of the left and right hook arms 52 and 53 and having hook portions 54 and 55 formed at the distal ends. The hook bars 56,5 from the left and right hook arms 52,53.
7 is configured to be adjustable. The left and right guide arms 44 and 45 are provided with protrusions 61 and 62 projecting forward (see FIG. 5).
The left and right guide arms 44 and 45 are urged in the upright direction by the left and right springs 46 until the first and 62 abut against the rotation stoppers 65 and 65 projecting from the side wall 63 of the casing 7. Further, left and right stopper rubbers 6 are provided on side portions of the left and right hook arms 52 and 53.
The left and right stopper rubbers 66, 67 are attached to the bottom surface 24 when the hooks 48, 49 are tilted along the bottom surface 24 of the casing 7.
Abuts on each other, so that the amount of fall of both hooks 48 and 49 is regulated.

The wheelchair fixing device 1 is shown in FIG.
As shown in the figure, the fixed switch 71 and the storage switch 72
And a control box 7 provided below the control panel 73.
When the fixed switch 71 or the storage switch 72 is operated, a control device constituting a control block provided in the control box 74 corrects the motor 32 of the hooking mechanism 6. It is configured to invert or reverse.

That is, the lead screw 30 is rotated by the motor 32,
6, 27 in the approach direction (this is the
2 and 43. ), The left hook 48 is turned in the upright direction via the left operation transmitting arm 50, and the left hook 48 is moved to the left in the frame 21 of the wheelchair 9 positioned on the apparatus main body 5. The rotation of the left hook 48 is prevented by the contact with the frame member 75 and the left guide arm 44 supporting the left hook 48 is turned in the falling direction. The hook 48 is connected to the left frame component 7.
The movement of the left operation base 26 is stopped while the left hook 48 is hooked on the left frame component member 75 and urged downward while the left hook 48 is moved downward while being slid by 5. The left frame fixed stroke including the downwardly biased state can be formed.

Further, as the left and right operation bases 26 and 27 move in the approach direction, the right operation transmission arm 51
, The right hook 49 is rotated in the upright direction, and the right hook 49 is brought into contact with the right frame component 76 of the frame 21 of the wheelchair 9 positioned on the apparatus main body 5. The rotation of the right hook 49 is prevented by the abutment, and the right guide arm 45 supporting the right hook 49 is rotated in the falling direction, so that the right hook 4
9 is moved downward while being slid by the right frame member 76, and the right operation is performed in a state where the right hook 49 is hooked on the right frame member 76 and urged downward. It is configured to be able to form a right frame fixed stroke including a downwardly biased state in which the movement of the base 27 is stopped.

Then, either one of the left frame fixed stroke and the right frame fixed stroke ends in advance, and the movement of one of the left operating base 26 and the right operating base 27 stops. Even if the operation is performed, the other stroke is continued by moving the other operation base.

FIG. 8 (only the left hook 48 is shown)
Is that the left hook 48 is the left frame component 75 of the wheelchair 9
FIG. 5 is a view showing a range where the left hook arm 52 is locked.
The normal range NA in which the amount of protrusion of the hook portion 54 from the front end can be hooked in an unadjusted state is shown. Above the normal range NA, a high position range HA when the amount of projection of the hook portion 54 from the left hook arm 52 is set to be large,
A left hook arm 5 is provided below the normal range NA.
The low position range RA when the amount of protrusion of the hook portion 54 from 2 is set small is shown. As described above, by adjusting the amount of protrusion of the hook portion 54 from the left hook arm 52, the range in which the hook 48 can be hooked can be easily enlarged.

FIGS. 9 to 12 are circuit diagrams showing a control device 81 provided in the control box 74. The control device 81 is connected to a battery via a fuse 82 and a main switch 83. And a power supply block 84 for supplying power to each block in the control device 81. Further, there are provided input blocks 85 and 86 to which the fixed switch 71 and the storage switch 72 provided on the control panel 73 are connected, respectively.
3, R4, R12, R13 and capacitors C5, C1
1 and is configured to remove chattering at the switch input and output the result to the delay blocks 87 and 88. The delay blocks 87 and 88 are
A circuit for delaying the switch input is configured to delay the output to the timer block 89 for a predetermined time, thereby preventing the timer block 89 from being inadvertently operated due to an erroneous operation of the switches 71 and 72 or the like. ing. When the timer block 89 receives an input from each of the switches 71 and 72, the timer block 89 transmits the forward relay RL1B of the relay block 92 via the forward relay drive block 90 or the reverse relay drive block 91 corresponding to the switch input. Or reverse rotation relay RL1
A is a circuit for turning A on for a predetermined time to rotate the motor 32 of the wheelchair fixing device 1 forward or reverse, and is configured so as to be able to secure fail-safe by forcibly interrupting the energization of the motor 32 after the predetermined time. I have.

Further, the control device 81 detects a motor current flowing through the motor 32 and detects the motor current.
A detection block 101 for outputting to the-terminal of A is provided, and the detection block 101 includes a detection resistor R2 for detecting the motor current and an operational amplifier IC4B for amplifying the output of the detection resistor R2. The comparator IC
A comparison value generation block 102 is connected to the + terminal of 4A, and compares the motor current detected by the detection block 101 with the comparison value from the comparison value generation block 102. When the comparison value is exceeded, an “L” level indicating an overcurrent state is output to the timer block 89 as an “H” level via the gate block 103. The comparison value generating block 102 includes a voltage dividing circuit including first and second resistors R21 and R25 connected in series, and a second resistor R2.
25 and a transistor TR connected to an input of the reverse rotation relay drive block 91.
5 and a parallel resistor R22 grounded via 5
When the storage switch 72 is operated and the reverse rotation relay drive block 91 is operated, the parallel resistor R22 is connected in parallel with the second resistor R25 forming the voltage dividing circuit, and is output to the + terminal of the comparator IC4A. The comparison value to be obtained is configured to be small.

In the gate block 103, one terminal of the NOR circuit IC2C having one terminal connected to the comparator IC4A and the other terminal connected to the detection cancel block 111, and one terminal of the NOR circuit IC2C are set to "L". And a transistor TR6 for setting the transistor TR6 to a "level". The transistor TR6 is turned on and the main switch 83 is turned on until a predetermined time elapses after the main switch 83 is turned on. The power-on malfunction prevention block 112 is connected to prevent malfunction of the wheelchair fixing device 1 when the power is turned on, that is, when the power is turned on. Further, the detection cancel block 111 is connected to each of the input blocks 8.
The measurement of a predetermined time is started in response to the input from 5, 86, and an "H" level indicating a cancel signal is output to the NOR circuit IC2C until the measurement is completed. Until the predetermined time elapses, regardless of the output from the comparator IC4C,
The output from the NOR circuit IC2C is set to “L” level indicating a state in which no overcurrent is detected by the motor 32,
It is configured to output to the timer block 89.

As a result, the wheelchair fixing device 1 completes the left frame fixing process and the right frame fixing process, and the left operating base 26 and the right operating base 27
When the detection block 101 detects an overcurrent, the supply of power to the motor 32 is cut off.

In this embodiment having the above-described configuration, when the wheelchair 9 positioned on the wheelchair fixing device 1 is fixed, the fixing switch 71 is first turned ON. Then, as shown in FIG. 13, after a delay time a by the input block 85 and the delay block 87, the motor 32 is rotated forward through the timer block 89, the forward rotation relay drive block 90 and the relay block 92. Immediately after the start of the motor 32, an overcurrent at the time of the start flows through the motor 32 for a predetermined time b, and the detection block 101 and the comparator IC4A in the control device 81 detect the overcurrent. However, the comparator IC4
The output of A is transmitted to the timer block 89 via the gate block 103, and the gate block 103 starts measuring a predetermined time in response to an input from each of the input blocks 85 and 86, and ends the measurement. The detection cancellation block 111 that outputs the “H” level indicating the cancellation signal is connected until the operation is completed, that is, until the cancellation time c including the delay time a + the predetermined time b + α elapses. Therefore, the gate block 103 sets the “L” level indicating that no overcurrent occurs in the motor 32 to the timer block 8 regardless of the input from the comparator IC 4C.
9 is output. This allows the timer block 89
The relay block 92 connected to the motor 32 cuts off the power supply to the motor 32 only when an overcurrent is detected after the cancellation time c has elapsed from the time when the fixed switch 71 was operated, so that the motor 32 Erroneous control due to overcurrent at startup is prevented.

Then, with the forward rotation of the motor 32, the lead screw 30 is rotated, and the left and right operation bases 26, 27 are moved in the approaching direction to approach each other, and are supported by the operation bases 26, 27. The left and right hooks 48, 49 are turned in the upright direction via the left and right operation transmission arms 50, 51, respectively. At this time, left and right hook 4
8 or 49, if the left hook 48 abuts against the left frame component 75 of the wheelchair 9 previously positioned on the apparatus main body 5 to prevent its rotation,
At this time, the left guide arm 44 supporting the left hook 48 is rotated in a direction of falling from this point, and the left hook 48 is moved downward while sliding on the left frame constituting member 75. Then, as the left hook 48 moves downward, the left hook 48 is attached to the left frame component 7.
5 and is urged downward. This allows
The wheelchair 9 positioned on the apparatus main body 5 is locked in a state where the left frame component member 75 forming the frame 21 is urged downward by the left hook 48.

At this time, the movement of the left operation base 26 for operating the left hook 48 is stopped, but the comparator IC 4A compares the motor current detected by the detection block 101 at the fixed time. The comparison value is determined by the divided value of the first and second resistors R21 and R25 connected in series in the comparison value generation block 102, and is higher than the fixed current generated by the left and right hooks 48 and 49. Fixed comparison value is set. Therefore, the right operating base 27 for operating the right hook 49 is provided.
Is continued, and the operation of the right hook 49 is continued.

Thus, as described above, the right hook 49 is rotated until the right hook 49 comes into contact with the right frame component 76 of the wheelchair 9 positioned on the apparatus main body 5, and the right frame component 76 is removed. The right frame component 76 is moved downward while sliding.
Urged downward in the hooked state. And
In this state, the movement of the right operation base 27 that operates the right hook 49 is prevented, and the motor current flowing through the motor 32 reaches the current generated when the left and right hooks 48 and 49 are fixed. The comparator IC4A detects this overcurrent and cuts off the power supply to the motor 32 through the gate block 103, the timer block 89, the forward rotation relay drive block 90, and the relay block 92.

On the other hand, when the hooks 48, 49 hooked on the frame 21 of the wheelchair 9 are stored after being removed from the frame 21, the storage switch 72 is turned on,
The motor 32 and the lead screw 30 are rotated in the reverse direction, and the left and right operation bases 26 and 27 are moved in a direction in which they are separated from each other. At this time, each frame component 7
When releasing the hooks 48 and 49 for hooking and fixing the hooks 5 and 76, first, as shown in FIG.
The starting current of the motor 32 flows for the time indicated by b in FIG. Next, the motor 32, the gear, the lead screw 30
For example, since a large current required to reverse the motor 32 against the torque applied at the time of fixing flows for the time (100 ms) shown by d in FIG. Then, the motor 32 stops. However, the relay block 92 that cuts off the power supply to the motor 32 only detects the overcurrent after the cancellation time c (the time d is included in α) has elapsed since the operation of the storage switch 72. , The motor 32
In order to cut off the power supply to the
The comparison value (threshold value) at the time of releasing the hook of each of the hooks 48 and 49 holding and fixing 6 is stored at a high comparison value (threshold value) as when the hook is fixed. Inadvertent stopping of the motor 32 can be prevented. In addition, even if a large current at the time of a switch operation (motor startup) is detected (canceled), the motor can be stopped by the large current. Further, when an overcurrent is detected, it is determined whether or not the overcurrent continues for a predetermined time, and when the overcurrent has continued for a predetermined time, the power supply to the motor 32 is controlled to be cut off. Thus, the load on each of the hooks 48, 49 and the driving mechanism rotated by the motor 32 can be reduced without delaying the stop of the motor 32.

Then, the left and right hooks 48 and 49 are rotated via the left and right operation transmitting arms 50 and 51 supported by the left and right operation bases 26 and 27, respectively, so that the left and right frame components 75 and 76 of the wheelchair 9 are hooked. The state is released and stored in the casing 7. Eventually, each of the hooks 48, 49 will have its left and right stopper rubbers 66,
The rotation is prevented in a state where the 67 is in contact with the bottom surface 24 of the casing 7, an overcurrent flows through the motor 32, and the detection block 101 and the comparator IC
The overcurrent is detected by 4A. At this time, at the time of the cancellation, in the comparison value generation block 102, the second resistor R25 constituting the voltage dividing circuit is connected to the ON operation of the transistor TR5 that receives the input to the reverse rotation relay drive block 91. , And a parallel resistor R22 are connected in parallel. As a result, the comparator IC4A
The comparison value to be compared with the motor current detected by the detection block 101 is determined by the partial pressure of the first resistor R21 and the second resistor R25 and the parallel resistor R25 connected in parallel. 9 is set to a stored comparison value lower than the fixed comparison value when fixing 9. Therefore, when an overcurrent lower than the overcurrent of the motor 32 generated at the time of the fixation occurs, the power supply to the motor 32 can be cut off. Therefore, the comparison value at the time of the release is set to the same value as the comparison value at the time of the fixing, and each hook 4 urged to the bottom surface 24 of the casing 7
As compared with the case where the urging force of 8, 49 may become unnecessarily large, the stopper rubbers 66, 67 of the left and right hooks 48, 49 are strengthened and the limit for detecting the stop position of each hook 48, 49 is detected. There is no need to provide a switch or the like.

[0036]

As described above, in the wheelchair fixing control device according to the first aspect of the present invention, the left and right frame components of the wheelchair are hooked by the left and right hooks of the wheelchair fixing mechanism block, and are urged downward. Since the threshold value of the motor stop detection current at the time of fixing the wheelchair is large, and the threshold value of the motor stop detection current at the time of shifting the wheelchair from the fixed state to the retracted state by each hook is reduced, At the time of fixing, the motor is stopped as soon as the required force (current value) is reached, the motor is stopped by the required force, and the excessive force can be prevented from being applied to the left and right frame components. Also, when storing the hooks, the device becomes complicated,
Since the motor can be stopped when a small force is applied to the motor without increasing the weight or the like, a simple and lightweight structure can be achieved without the need for a limit switch, reinforcement of a stopper, or the like.

On the other hand, when shifting from the wheelchair fixed state to the retracted state, when the hooks that lock and fix the frame components are released, the motor must be operated at the threshold value close to the fixed state to operate the motor. It stops. However, when the motor current detected by the current detection means exceeds a predetermined comparison value after a predetermined time has elapsed since the operation switch was operated,
When the operation switch is turned on (fixed or retracted switch), the detection result of the motor current is canceled for a predetermined time, that is, the motor current when the hook is released is not detected (or the detection is not performed). Even if it cancels), the threshold value for releasing the hook of each hook that locks and fixes each frame constituent member can be stored at a high threshold value as in the case of fixing, without storing operation. Inadvertent stopping of the motor can be prevented. In addition, a large current at the moment when the operation switch is operated (when the motor is started) is not detected (canceled), and the motor can be stopped by the large current. In addition, unlike the case where the motor is stopped when the overcurrent continues for a predetermined time, the motor can be stopped immediately, so that unnecessary fixing force is not applied to the wheelchair.

Further, in the wheelchair fixed control device according to the second aspect of the present invention, the cutoff control means for cutting off the power supply to the motor includes an overcurrent after a predetermined time has elapsed from the time when the operation switch was operated. Is detected, the power supply to the motor is cut off, so that the motor is started when the wheelchair is fixed by the left and right hooks and when the hooks fixing the frame of the wheelchair are released. Even if an overcurrent is detected at the time, it is possible to prevent erroneous control of interrupting the energization of the motor. This makes it possible to set the comparison value with the motor current to a small value without any trouble after a lapse of a predetermined time from the time when the operation switch is operated. Further, if an overcurrent is detected, the device determines whether or not the overcurrent continues for a predetermined time, and if the overcurrent continues for a predetermined time, in the case of a device that controls the energization of the motor, Although a disadvantage such as a delay in stopping the motor occurs, in the present invention, a disadvantage such as a delay in stopping the motor does not occur, and the burden on the hook and the driving mechanism rotated by the motor can be reduced. .

When one of the left and right hooks, that is, the left hook is engaged with the left frame component being urged downward, the movement of the left operating base for operating the left hook is stopped. However, the cutoff control unit that cuts off the current supply to the motor based on the motor current detected by the current detection unit is configured such that the motor current exceeds a fixed comparison value set higher than the fixed current generated by the left and right hooks. At this time, the motor is configured to cut off the power supply to the motor. Therefore, the movement of the right operation base for operating the right hook is continued, and the operation of the right hook is continued. Thus, as described above, the right hook is rotated until it comes into contact with the right frame component of the wheelchair positioned on the apparatus main body, and is moved downward while sliding on the right frame component. The right frame component is urged downward while being hooked by the right hook, so that both hooks can be securely hooked to the wheelchair frame. In this state, the power supply to the motor is cut off by the cut-off control means.

On the other hand, when releasing and storing each hook to which the frame of the wheelchair is fixed, the operation switch is operated to energize the motor, the lead screw is reversed, and the left and right operation bases are separated from each other. Move in the separation direction. At this time, similarly to the case of the first aspect, when releasing the hook of each of the hooks that locks and fixes each frame constituent member, it is necessary to perform the storage operation with the fixed comparison value (threshold value) close to the fixed state. The motor stops. But,
The cutoff control means is configured to supply power to the motor when the motor current detected by the current detection means exceeds a predetermined comparison value after a predetermined time has elapsed from the time when the operation switch was operated. When the operation switch is turned on (fixed or retracted switch), the detection result of the motor current is canceled for a predetermined time, that is, the motor current when the hook is released is not detected (or the detection is canceled even if the detection is performed). ) Therefore, the threshold for releasing the hook of each hook that locks and fixes each frame constituent member is set at a high threshold as in the case of fixing, and the motor is inadvertently stored. Stoppage can be prevented. In addition, a large current at the moment when the operation switch is operated (when the motor is started) is not detected (canceled), and the motor can be stopped by the large current.

Then, the left and right hooks are rotated via the left and right operation transmission arms supported by the left and right operation bases, respectively, so that the left and right frame members of the wheelchair are released from the locked state and stored in the casing. . Eventually,
Each of the hooks is prevented from rotating while being in contact with the bottom surface of the casing, and an overcurrent flows through the motor and is detected by the current detecting means. At this time, at the time of the release, the comparison value to be compared with the motor current is set to a storage comparison value lower than the fixed comparison value when the wheelchair is fixed by the comparison value setting means, When an overcurrent lower than the overcurrent of the motor occurs, the power supply to the motor can be cut off.

Therefore, the comparison value at the time of the release is set to the same value as the comparison value at the time of the fixing, and this is compared with the case where the urging force of the hook urged to the bottom surface of the casing may become unnecessarily large. This eliminates the need to strengthen the stoppers of the left and right hooks and to provide a limit switch for detecting the stop position of the hook.

[0043]

[Brief description of the drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention.

FIG. 2 is a perspective view showing a state in which the wheelchair fixing device according to the embodiment is operated.

FIG. 3 is a perspective view showing the wheelchair fixing device according to the embodiment with a wheel positioning cover removed.

FIG. 4 is a perspective view showing a state in which the cover with wheel positioning of the wheelchair fixing device according to the first embodiment is removed and activated.

FIG. 5 is an exploded perspective view of the embodiment.

FIG. 6 is a perspective view showing a use state of the embodiment.

FIG. 7 is an operation schematic diagram showing an internal state in a state where the wheelchair fixing device according to the embodiment is operated, with a detailed structure omitted.

FIG. 8 is an explanatory diagram showing a range in which the left hook of the embodiment is hooked on a left frame component of the wheelchair.

FIG. 9 is a circuit diagram of a control device according to the embodiment.

FIG. 10 is a circuit diagram following FIG. 9;

FIG. 11 is a circuit diagram following FIG. 10;

FIG. 12 is a circuit diagram following FIG. 11;

FIG. 13A is a timing chart showing an operation state in which the embodiment shifts from storage to fixed according to the embodiment;
(B) is a timing chart showing an operating state of the embodiment, in which a transition from fixed to storage is performed.

[Explanation of symbols]

 Reference Signs List 1 wheelchair fixing device 2 floor 5 device main body 6 hooking mechanism 7 casing 9 wheelchair 21 frame 24 bottom surface 25 guide rail 26 left operating base 27 right operating base 30 lead screw 31 support member 32 motor (rotating means) 33 driven nut 42 left Fixed block 43 Right fixed block 44 Left guide arm 45 Right guide arm 46 Right spring 48 Left hook 49 Right hook 50 Left operation transmission arm 51 Right operation transmission arm 54 Hook section 55 Hook section 71 Fixed switch 72 Storage switch 75 Left frame component 76 right frame constituent member 81 control device 92 relay block 101 detection block 102 comparison value generation block IC4A comparator

Claims (2)

[Claims] 1. A wheelchair fixing mechanism block for fixing a wheelchair by locking left and right frame components of a wheelchair with left and right hooks and urging each frame component downward. A driving unit that drives a motor that operates the wheelchair fixed block based on an operation of an operation switch; a current detection unit that detects a motor current flowing through the motor; Shut-off control for cutting off the power supply to the motor when the motor current detected by the detection means exceeds a predetermined comparison value after a predetermined time has elapsed after the operation switch was operated. Means for setting the comparison value to a fixed comparison value when the wheelchair is fixed by each of the hooks; When the fixed state of the serial wheelchair storage state, the wheelchair fixed control apparatus characterized by being configured comparison value setting means for setting the fixed time of the comparison value less storage time comparison value than by. 2. An apparatus main body fixed to a floor, a guide rail extending along a left and right direction in a casing of the apparatus main body, and a pair of left and right fixings provided at left and right portions of the guide rail. A left and right guide arm rotatably supported by each of the fixed blocks; and a left and right side having a hook-like hook at one free end, rotatably supported at the upper end of each guide arm. A hook, a left and right operation transmitting arm rotatably supporting the other free end of each hook at the distal end, and a base end of each operation transmitting arm rotatably supported, A left and right operation base provided movably along the guide rail, and a lead screw provided on one of the two operation bases and extending to the other operation base side are rotatably supported. A holding member; a motor for rotating the lead screw supported by the support member; and a motor provided on the other operation base, screwed to the lead screw, and rotated by the rotation of the lead screw, the left and right operation base. A screwing member that moves in the approaching direction and the separating direction that moves closer to each other, and a wheelchair fixing mechanism block consisting of: When the lead screw is rotated and the left-right operating base is moved in the approaching direction, The left hook rotated in the upright direction by the left operation transmission arm is brought into contact with a left frame component of a wheelchair positioned on the apparatus main body, and the left hook is turned on when the rotation is stopped. The supporting left guide arm is rotated in the falling direction, and the left hook is moved downward while sliding on the left frame component, and A left frame fixed stroke in which the movement of the left operation base is stopped in a state where the lock is hooked on the left frame component member and urged downward, and the right operation transmission arm is turned in the upright direction. The right hook is brought into contact with the right frame component of the wheelchair positioned on the main body of the apparatus, and from the time when the rotation is stopped, the right guide arm supporting the right hook is turned in the direction of falling. The right hook is moved downward while sliding on the right frame component, and the right operation base is moved in a state where the right hook is hooked on the right frame component and urged downward. A right frame fixed process to be stopped, and the other frame can be formed even if either one of the left frame fixed process and the right frame fixed process ends in advance. A control block that controls the wheelchair fixing mechanism block; a driving unit that drives the motor based on an operation of an operation switch; a current detection unit that detects a motor current flowing through the motor; and the current detection unit. And a cut-off control unit that cuts off the power supply to the motor when a motor current detected at a time exceeds a predetermined comparison value after a lapse of a predetermined time from the time when the operation switch is operated. When the wheelchair is fixed by the hooks, the comparison value is set to a fixed comparison value, while when the wheelchair is fixed from the fixed state by the hooks to the storage state, the comparison value is fixed. A comparison value setting means for setting a low storage comparison value, wherein the fixed comparison value is higher than the fixed current generated by the left and right hooks. Wheelchair fixed control unit, characterized in that was boss.