JP2011229762A - Winch device for wheelchair - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a winch for eliminating the possibility that a caregiver or the like pulls down a wheelchair in a hurry by preventing a belt from being fed in the case where a drum with the belt wound around is not rotated by a prescribed amount even when an operation switch for pulling down the wheelchair is operated.SOLUTION: When the wheelchair is pulled down from the inside of a vehicle to the outside of the vehicle via a slope, reception sound is issued with a buzzer when the operation switch is operated and also a backward movement prevention solenoid is turned on so as to unlock a ratchet mechanism (step S1). The drum with the belt wound around is allowed to be rotatable, and when the wheelchair is intended to be pulled down, the belt is pulled so as to rotate the drum. When the drum is rotated before a fixed time elapses, a motor is driven. When the drum is not rotated, the stop of the motor is kept (steps S2, S3).

Description

  The present invention relates to a winch device for a wheelchair that winds a belt around a drum or pulls it out, pulls up the wheelchair locked with the belt from the ground to the vehicle interior via a slope, and lowers the wheelchair from the vehicle interior to the ground. It is.

FIG. 8 shows one operation when the wheelchair 1 in the passenger compartment is pulled down to the ground outside the passenger compartment through a slope that spans between the floor of the passenger compartment and the ground. The wheelchair 1 is moved from the passenger compartment to the ground. When pulling down, the general procedure is as follows. The hook at the tip of the belt is locked to the wheelchair 1 in the passenger compartment from the winch device, and the caregiver operates the operation switch or the remote controller in the vehicle to rotate the motor of the winch device, thereby pulling out the belt. Then, the caregiver is pulled down to the ground via the slope while assisting the wheelchair 1 in accordance with the withdrawal of the belt.
On the other hand, when the wheelchair 1 is lifted from the ground to the vehicle interior via a slope, the caregiver is lifted into the vehicle interior while assisting the wheelchair 1 by winding the belt with the winch device.

  Patent Documents 1 to 3 listed below are examples of a wheelchair that lowers the wheelchair from the vehicle interior to the vehicle interior or lifts the wheelchair from the vehicle interior to the vehicle interior.

JP 2008-307154 A JP 2008-154631 A JP 2006-280400 A

In the above-mentioned Patent Document 1, a control unit that controls the winch body, and a position in the vehicle, and a position where the caregiver is on the vehicle in a wheelchair can be confirmed from the slope side, are attached. A confirmation switch configured to input an operation signal to the control unit; and a remote control transmitter capable of operating the control unit. The control unit transmits a remote control after an operation signal is input from the confirmation switch. It is configured to be operable based on the signal of the device.
This prevents an unsafe act in which the caregiver operates the winch device without confirming the cared person on the wheelchair.

Patent Document 2 discloses that a belt winding device provided on a floor of a passenger compartment for winding a belt includes a belt winding reel, a driving motor that rotationally drives the winding reel, and a drive control that controls the driving motor. A drive control unit includes a detection unit that detects the rotation speed and drive torque of the drive motor, and a storage unit that stores a detection value from the detection unit, and the drive control unit is registered in the storage unit. The drive motor is controlled to be driven in a constant torque mode based on the torque that is present.
Thereby, when the caregiver releases his hand from the wheelchair on the slope, the downward movement of the wheelchair can be prevented.

In Patent Document 3, drive means for driving a pair of winch devices are individually provided so that the winding of the belt by each winch can be independently controlled, and the other is based on the winding amount of the belt by one winch. When the difference between the winding amount by the one winch and the winding amount by the other winch is more than a predetermined difference, the winding amount by the one winch and the winding amount by the one winch Control means is provided for varying the winding speed of the other winch so that the amount of winding by the other winch is the same.
Thereby, it is supposed that the inclination of the wheelchair at the time of raising the wheelchair can be prevented.

  By the way, when lowering the wheelchair from the passenger compartment to the outside of the passenger compartment, if the switch for lowering the wheelchair is turned on, even if the wheelchair is stopped on the spot, the motor is driven and the motor sends out the belt. In such a case, only the belt is sent out, giving anxiety to the caregiver and the cared person, and the caregiver or the like may panic and pull down the wheelchair. As a result, the wheelchair is shaken and the wheelchair is applied to the wall surface of the passenger compartment, which makes the cared person feel more anxious and dangerous.

  However, the above Patent Document 1 merely describes a winch device that feeds a belt when the wheelchair is lifted or lowered, and Patent Document 2 discloses a winch in which the wheelchair does not move backward even if the wheelchair is pulled down halfway. The device is only described. Furthermore, Patent Document 3 only describes a winch device that controls the motor speed so that the winding amount of the belt is the same on the left and right, and describes a configuration for solving the above-described problem. Not.

  The present invention has been provided in view of the above-described problems, and even if an operation switch for lowering a wheelchair is operated, if the drum around which the belt is wound does not rotate a predetermined amount, the belt is not sent out. Thus, a winch device for a wheelchair intended to eliminate the fear of a caregiver or the like rushing and pulling down a wheelchair is provided.

Therefore, in the wheelchair winch device of the present invention, the traction member 11 coupled to the wheelchair 1, the drum 32 that winds up the traction member 11, the motor 31 that rotationally drives the drum 32, and drive control of the motor 31. Control unit 21 and an operation switch 14 for outputting a drive instruction signal for the motor 31 to the control unit 21. When the wheelchair 1 is pulled out of the passenger compartment along a slope provided at the rear of the vehicle, the motor 31 A winch device for a wheelchair for driving the pulling member 11 from the drum 32 by driving
The control unit 21 receives a drive instruction signal for the motor 31 from the operation switch 14 and, after the pulling member 11 has been pulled out by a predetermined amount, drives the motor 31 to move the pulling member 11 to the drum 32. It is characterized by being sent out from.

  (1) According to the wheelchair winch device of the present invention, after a motor 31 drive instruction signal is input from the operation switch 14 and the pulling member 11 has been pulled out by a predetermined amount, the motor 31 is driven to Since the traction member 11 is sent out from the drum 32, the traction member 11 does not continue to be sent out in a state in which the wheelchair 1 is stopped as in the prior art. There is no fear and no concern is given to the cared person. In addition, there is no danger to the care recipient.

  (2) According to the wheelchair winch device of the present invention, since the predetermined pull-out amount is measured by the detection unit that detects the rotation state of the drum 32, the predetermined pull-out amount of the traction member 11 is accurately determined. It can measure and can detect reliably whether the wheelchair 1 has stopped.

It is explanatory drawing in case the wheelchair is pulled up or pulled down with the winch control apparatus in embodiment of this invention. It is a block diagram of the winch control device in an embodiment of the invention. (A) and (b) are the side view and top view of a winch apparatus in embodiment of this invention. It is an enlarged view of a ratchet mechanism in an embodiment of the invention. It is a flowchart which shows the control action in embodiment of this invention. It is explanatory drawing of the ratchet mechanism at the time of turning on the back prevention solenoid in embodiment of this invention. 6 is a timing chart roughly corresponding to the flowchart of FIG. 5 in the embodiment of the present invention. It is explanatory drawing in the case of pulling down a wheelchair via a slope.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows a winch control device 10 according to the present invention, in which hooks (not shown) provided at the front ends of belts 11L and 11R, which are left and right traction members, are locked to a wheelchair 1 and the wheelchair 1 is raised or lowered. It shows the state.
The winch control device 10 includes a pair of left and right winch devices 12L and 12R that pull out and wind the belts 11L and 11R, and a control device 20 that controls the rotation of the motors of the winch devices 12L and 12R.

FIG. 2 shows a block diagram of the winch control device 10, mainly showing a block diagram of the relevant part of the present invention. Since the left and right winch devices 12L and 12R have the same configuration, the left winch device 12L will be described. The left winch device 12L includes a motor 31L, a later-described speed reduction unit connected to the rotation shaft of the motor 31L, a drum 32L around which the belt 11L is wound, and a motor 31L provided on the drum 32L side, for example. A rotation sensor 33L that monitors the rotation of the (drum 32L), and a receding prevention solenoid 34 (34L, 34R) that locks or unlocks a ratchet mechanism, which will be described later, are provided.
Since the right winch device 12R has the same configuration as the left winch device 12L, the subscript R is added and description thereof is omitted. The mechanical configuration of the winch device 12 will be described later.

  Here, the left and right rotation sensors 33 (33L, 33R) are constituted by, for example, Hall elements (including Hall ICs), and a large number of magnets are arranged in the circumferential direction on the drum 32 (32L, 32R) side. The belt 11 (11L, 11R) is pulled out by the rotation of the motor 31 (31L, 31R), that is, the drum 32, and the winding is counted by counting pulses output from the rotation sensor 33. The amount taken is calculated.

  This pulse count amount is set to “0” when all the belt 11 is wound around the drum 32, and the amount of the belt 11 pulled out is counted up by a pulse count corresponding to the rotation amount of the drum 32 thereafter. When the belt 11 is taken up, the take-up amount of the belt 11 is calculated by counting down.

The control device 20 has a PWM circuit 23 (23L, 23R) and a motor drive circuit 24 (24L, 24R) corresponding to the left and right winch devices 12 (12L, 12R) with the control unit 21 and the storage unit 22 as the center. The counter unit 25 (25L, 25R), the solenoid drive circuit 26 (26L, 26R), and the like.
The control unit 21 configured by the CPU controls the whole in accordance with a predetermined program procedure, and the storage unit 22 stores data from the ROM storing the program and the rotation sensor 33. Is composed of a RAM or the like for temporarily storing the data.

The PWM circuit 23 outputs a signal having a predetermined duty ratio based on a signal from the control unit 21, and the motor drive circuit 24 controls the rotation of the motor 31 in the forward and reverse directions based on the output signal from the PWM circuit 23. The operation switch 14 is a switch used when the wheelchair 1 is pulled up from the passenger compartment via a slope or pulled down to the ground. A drive instruction signal of the motor 31 such as an up signal, a down signal, or a stop signal is displayed on the operation switch 14. To the control device 20.
In addition, the control unit 21 controls the ratchet mechanism to be locked or unlocked by driving the retract prevention solenoid 34 of the winch device 12 on and off via the solenoid drive circuit 26 in response to a signal from the operation switch 14. It is like that.

The counter unit 25 counts the pulses from the rotation sensor 33 in real time, and the control unit 21 determines the speed of the motor 31 at predetermined time intervals based on the pulse count amount by the counter unit 25. A signal is sent to the PWM circuit 23 every predetermined time so that the rotation speed becomes a predetermined speed.
Note that it is preferable that the determination of the speed of the motor 31 by the control unit 21 and the transmission of a signal to the PWM circuit 23 so that the rotational speed of the motor 31 becomes a predetermined speed are performed at the same time. Alternatively, it may be performed at different predetermined times such as delaying the transmission interval within a range that does not affect the performance.

  In addition, a notification unit 16 configured by a buzzer is provided, and when an operation signal from the operation switch 14 is received or when an operation signal is finished, it is sounded to notify a user or a caregiver. Yes. In addition, you may comprise the alerting | reporting part 16 with a speaker instead of a buzzer.

  3 shows the winch device 12, FIG. 3A shows a side view of the winch device 12, and FIG. 3B shows a plan view of the winch device 12. A motor 31 is disposed in the casing 30 forming the skeleton, and a spur gear reduction unit 35 is connected to an output shaft of the motor 31. Further, the output shaft of the spur gear reduction unit 35 is connected to a planetary reduction unit 36, and the drum 32 is connected to the output shaft of the planetary reduction unit 36, and the belt 11 is wound around the drum 32.

In addition, a magnet 37 is provided on the output shaft (rotary shaft) of the spur gear reduction unit 35, and the magnet 37 is rotated by rotation of the spur gear reduction unit 35, that is, rotation of the drum 32. Is detected by the Hall IC 40, and the counter unit 25 counts signals from the Hall IC 40, that is, pulses. The Hall IC 40 and the magnet 37 constitute a rotation sensor 33.
The rotation sensor 33 does not count the pulse from the rotation of the drum 32 itself, but the rotation sensor 33 counts the pulse by the rotation of the spur gear reduction unit 35 before the deceleration of the planetary reduction unit 36 that rotates the drum 32. By doing so, the detection accuracy of the rotation amount of the drum 32 is increased. Of course, the rotation of the drum 32 itself may be directly detected by the rotation sensor 33 and pulse counted.

  On the other hand, a ratchet plate 42 having the same diameter as the outer diameter of the drum 32 is disposed on the side surface of the drum 32, and rotates with the rotation of the drum 32. Ratchet teeth 43 are continuously formed on the periphery of the substantially disc-shaped ratchet plate 42, and the ratchet pawl 45 at the tip of the engagement piece 44 is detachably engaged with the ratchet teeth 43. Yes.

The ratchet plate 42, the engagement piece 44, and the receding prevention solenoid 34 for driving the engagement piece 44 constitute a ratchet mechanism, and FIG. 4 shows an enlarged view of the ratchet mechanism. As shown in FIGS. 3 and 4, the engagement piece 44 is rotatably arranged by a shaft 46, and the base portion of the engagement piece 44 is connected to the tip of the rod 50 of the receding prevention solenoid 34 via a connecting shaft 47. It is pivotally connected.
A coil-like spring 51 is interposed between the rod 50 of the reverse prevention solenoid 34 and a metal fitting 52 such as a C-ring fixed to the tip end side of the rod 50. As shown in the drawing, in the non-energized state of the retreat prevention solenoid 34, the spring 51 is restored and the metal fitting 52 is ejected, so that the rod 50 protrudes, and the protruding piece 50 causes the engaging piece 44 to revolve around the shaft 46. Energize clockwise.

When the engagement piece 44 rotates counterclockwise, the ratchet pawl 45 at the tip of the engagement piece 44 engages with the ratchet teeth 43 of the ratchet plate 42 to prevent the ratchet plate 42 from rotating in the clockwise direction. Note that the arrow 5 shown in FIG. 4 is the drawing direction of the belt 11, and the arrow 6 is the winding direction of the belt 11.
When the belt 11 is pulled out or wound up by operating the operation switch 14, the reverse prevention solenoid 34 is energized, and the rod 50 is attracted against the spring force of the spring 51 to pull the engagement piece 44 on the shaft 46. The ratchet pawl 45 of the engagement piece 44 is disengaged from the ratchet teeth 43 by rotating clockwise around the center, and the rotation of the ratchet plate 42 is made free, and the motor 31 is driven forward or reverse. Further, when stopping the drawing and winding of the belt 11, the motor 31 is stopped and the energization of the reverse prevention solenoid 34 is stopped and the engagement piece 44 is rotated counterclockwise to lock the ratchet mechanism. Put it in a state.

  Here, the state in which the reverse movement prevention solenoid 34 is in a non-energized state and the ratchet pawl 45 of the engagement piece 44 is engaged with the ratchet teeth 43 of the ratchet plate 42 is set to the locked state, and the belt 11 is unintentionally pulled out. It is preventing. Further, the state in which the retracting prevention solenoid 34 is energized and the ratchet pawl 45 of the engagement piece 44 is separated from the ratchet teeth 43 of the ratchet plate 42 is disengaged is set to the unlocked state. Can be done.

  Next, the control operation when the wheelchair 1 of the present invention is lowered from the passenger compartment to the outside of the passenger compartment will be described with reference to FIG. When the caregiver operates the lowering button of the operation switch 14 in the passenger compartment, the control unit 21 that has received the lowering signal from the operation switch 14 drives the notification unit 16 so that a predetermined value is obtained as shown in step S1. During this time, the buzzer sounds and the control unit 21 drives the solenoid drive circuit 26 to turn on the reverse prevention solenoid 34.

  The sound generated by the buzzer is a reception sound for pulling down, and when the reverse prevention solenoid 34 is turned on, the engagement piece 44 of the ratchet mechanism rotates clockwise as shown in FIG. The ratchet pawl 45 of 44 is detached from the ratchet teeth 43 of the ratchet plate 42 to be unlocked, and the ratchet plate 42, that is, the drum 32 can be rotated in the belt drawing direction.

Next, the process proceeds from step S1 to step S2, and it is determined whether or not both drums 32 rotate by a predetermined amount during a predetermined time. When the caregiver tries to move the wheelchair 1 backward, the ratchet mechanism is unlocked, so the belt 11 is pulled out, and the drum 32 rotates.
As the drum 32 rotates, the rotation sensor 33 detects the rotation of the drum 32, and the counter unit 25 counts a pulse corresponding to the rotation amount, and the control unit 21 rotates the drum 32 by a predetermined amount based on the pulse count amount. Judgment is made.

  In step S2, when both drums 32 have rotated by a predetermined amount, the control unit 21 determines that the caregiver intends to lower the wheelchair 1, and the process proceeds from step S2 to step S4. The motor 31 is operated to feed out the belt 11. Even if the belt 11 is sent out, the caregiver operates to pull down the wheelchair 1. Therefore, the belt 11 is not continuously sent out with the wheelchair 1 stopped as in the prior art. Therefore, there is no fear of pulling down the wheelchair 1 and no anxiety is given to the cared person. In addition, there is no danger to the care recipient. Then, the caregiver lowers the wheelchair 1 downward to the ground via the slope in accordance with the delivery of the belt 11.

  In step S5, the “actual speed” is the rotational speed of the motor 31 corresponding to the pulling speed of the belt 11, and the “target speed” is a preset reference speed at which the belt 11 is pulled out at a predetermined speed. Is the rotational speed of the motor 31 corresponding to. When the actual speed is faster than the target speed, the process proceeds from step S5 to step S6, and the control unit 21 drives the PWM circuit 23 so that both motors 31 are in a free state, and the motor drive circuit 24 is used. Then, energization of the motor 31 is stopped. Thereby, the resistance when pulling out the belt 11 can be reduced.

Then, the belt 11 is pulled out, and as shown in step S7, when the counter unit 25 counts the number of pulses equal to or larger than a predetermined value, the belt 11 is pulled out to the maximum position set in advance. The control unit 21 determines that the wheelchair 1 has been completely lowered onto the ground, and the process proceeds to step S12.
In step S <b> 12, the control unit 21 turns off both the retreat prevention solenoids 34 to lock the ratchet mechanism to prevent the belt 11 from being inadvertently pulled out from the drum 32.

  Next, the process proceeds from step S12 to step S13, and the control unit 21 brakes both the motors 31 via the PWM circuit 23 and the motor drive circuit 24 to completely stop the motors 31. Furthermore, it transfers to step S14 from step S13, and the control part 21 drives the alerting | reporting part 16, and sounds a stop sound with a buzzer, assuming that the wheelchair 1 stopped completely. And it transfers to step S15 and the state of the stop of the wheelchair 1 (drawing stop of the belt 11) is maintained. Steps S12 to S14 may be operated simultaneously.

  In step S2, if the drum 32 has not rotated by a predetermined amount, the process proceeds to step S3. If the predetermined time has not elapsed, the process returns to step S2, and if the predetermined time has elapsed. The process proceeds to step S12. The fact that the drum 32 does not rotate by a predetermined amount even after a lapse of a certain time means that the caregiver does not intend to lower the wheelchair 1 and tries to lower the wheelchair 1 immediately even if the operation switch 14 is operated. This is a case where the wheelchair 1 is not moved so as to lower the wheelchair 1 together.

Therefore, the control unit 21 shifts to step S12 to drive off the reverse prevention solenoid 34 to lock the ratchet mechanism and to stop the motor 31 (step S13) in order to perform control to stop the feeding of the belt 11. (See also step S14).
Thereby, it is possible to prevent the belt 11 from being sent out in a state where the wheelchair 1 is stopped, and there is no fear that the caregiver rushes and pulls down the wheelchair 1 as in the conventional case, and the caregiver may be given anxiety. Absent.

In step S7, when the pulse count amount by the counter unit 25 does not reach a certain value, the process proceeds to step S8, where the current rotational speed of the motor 31 (the belt 11 withdrawal speed) is determined. In step S8, the “speed limit” is, for example, 1.5 times the target speed, and is a speed before the cared person feels anxiety and danger at a higher speed.
If it is determined in step S8 that the actual speed is greater than or equal to the speed limit, the process proceeds to step S9 where brake control for the motor 31 is performed. For example, the PWM circuit 23 lowers the duty ratio output to the motor drive circuit 24 to lower the rotational speed of the motor 31, turns off the reverse prevention solenoid 34, and stops the motor 31 (see steps S12 and S13).

In step S8, when the actual speed is slower than the speed limit, the process proceeds to step S10. In step S10, it is determined whether the actual speed is faster or slower than the target speed. If the actual speed is faster than or equal to the target speed, the process returns to step S7, and if the actual speed is slower than the target speed, the process proceeds to step S11.
In step S11, the amount of rotation of the drum 32 is determined, which is to determine whether the wheelchair 1 is stopped or pulled down.

When the wheelchair 1 is stopped while being pulled down, the actual speed becomes almost zero and the rotation of the drum 32 stops. Therefore, if it is determined in step S11 that the drum 32 does not rotate by a predetermined amount, the process returns from step S11 to step S7 so as to continue the free state of the motor 31.
Further, when the wheelchair 1 that has been stopped is pulled down again, the drum 32 rotates, so that the motor 31 is operated to control the speed of the motor 31 in order to feed the belt 11 again, so that the process returns from step S11 to step S4. .

FIG. 7 shows a timing chart from when the button 11 for pulling down the operation switch 14 is operated to withdrawing the belt 11 until the wheelchair 1 is pulled down to the ground and the motor 31 is stopped. Is roughly corresponded to.
The operation switch 14 is operated at time t1, the drum 32 rotates within a certain time until time t2, and a pulse from the rotation sensor 33 output in accordance with the rotation of the drum 32 is monitored. If the pulse is output, it is determined that the caregiver is trying to lower the wheelchair 1. Time t1 corresponds to step S1 shown in FIG. 5, time t2 corresponds to step S4, and time t1 to t2 corresponds to step S2.

  At time t1, as shown in FIGS. 7E and 7F, the reverse prevention solenoid 34 is turned on to change the ratchet mechanism from the locked state to the unlocked state, and the buzzer sounds the reception sound for a predetermined time. From time t2, the motor 31 is rotationally driven and the speed is controlled. If the rotation direction of the motor 31 when winding the belt 11 is normal rotation, the delivery of the belt 11 is the reverse rotation of the motor 31, and the CCW shown in the drawing means this reverse rotation.

  Since the actual speed of the motor 31 becomes faster than the target speed at time t3, the motor 31 is brought into a free state from time t3. This time t3 corresponds to step S6. Then, at time t4 when the pulse count from the rotation sensor 33 is set when the belt 11 is pulled out to the maximum, the reverse prevention solenoid 34 is turned off, the motor 31 is stopped, and the brake is applied. In addition, a buzzer sounds a stop sound. Time t4 and time t4 and subsequent time correspond to steps S12 to S15.

In the present embodiment, the winch device 12 is controlled by the control device 20 provided separately from the winch device 12. However, the function of the control device 20 as a control unit for controlling the winch device 12 is controlled by the winch. The device 12 may be provided for control.
Further, although the winch device 12 is provided on the left and right, the present invention can also be applied when the wheelchair 1 is pulled down by the belt 11 with one winch device 12.

  In the above description, the case where the wheelchair 1 is pulled down from the ground to the vehicle interior via the slope has been described. However, the present invention is not applied only to the vehicle. For example, the present invention can be applied even when the door is pulled down to the entrance of a house via a staircase or a slope. In this case, the present invention can be similarly applied.

  Further, in step S2 of FIG. 5, the detection unit that measures the predetermined pull-out amount of the belt 11 that is the pulling member is constituted by the rotation sensor 33 and the counter unit 25, and accordingly, according to the rotation amount of the drum 32. The pull-out amount of the belt 11 can be accurately measured, and whether or not the wheelchair 1 is stopped can be detected with certainty, but other configurations can be adopted as long as the pull-out amount of the belt 11 can be measured.

1 Wheelchair 11 Belt (traction member)
12 winch device 14 operation switch 20 control device 21 control unit 31 motor 32 drum 33 rotation sensor

Claims (2)

A traction member (11) coupled to the wheelchair (1);
A drum (32) for winding the traction member (11);
A motor (31) for rotationally driving the drum (32);
A control unit (21) for driving and controlling the motor (31);
An operation switch (14) for outputting a drive instruction signal of the motor (31) to the control unit (21),
A wheelchair winch device that drives the motor (31) to feed the traction member (11) from the drum (32) when the wheelchair (1) is pulled down along the slope provided at the rear of the vehicle. There,
The controller (21) drives the motor (31) after a drive instruction signal for the motor (31) is input from the operation switch (14) and the pulling member (11) is pulled out by a predetermined amount. Then, the winch device for a wheelchair is characterized in that the pulling member (11) is sent out from the drum (32).   The winch device for a wheelchair according to claim 1, wherein the predetermined pull-out amount is measured by a detection unit that detects a rotation state of the drum (32).

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