JP2017061381A - Electric winch apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electric winch apparatus which suppresses a travel speed of a wheel chair which changes according to a taking-up amount of a belt.SOLUTION: An electric winch apparatus comprises: a drum member which winds a belt for traction of a wheel chair as a traction object; a motor for rotating the drum member; a detection part for detecting a taking-up amount of the belt on the drum member; and a signal control part for controlling a revolution speed of the motor on the basis of the determined taking-up state of the belt.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an electric winch device.

  2. Description of the Related Art Conventionally, there is an electric winch device for mounting a wheelchair as a towed object on a vehicle. The electric winch device includes a rotating drum around which a belt for towing a wheelchair is wound, and an electric motor that rotationally drives the rotating drum. In the electric winch device, the belt is wound around the revolving drum or rewinded from the revolving drum by driving the revolving drum forward or backward by an electric motor. Therefore, a wheelchair can be easily boarded / alighted by attaching a belt to the predetermined part of a wheelchair, and driving an electric motor with an electric winch apparatus. In addition, the electric winch device controls the rotational speed of the rotating drum to be kept constant during the getting-on / off operation of the wheelchair.

JP 2011-46513 A

  However, the winding diameter of the rotating drum varies depending on the belt winding amount (or the belt drawing amount). Therefore, even if it controls so that the rotational speed of a rotating drum may be kept constant with an electric winch device, the speed at which the belt is wound is different. For example, when the wheelchair is pulled into the vehicle by winding the belt, the winding diameter of the rotating drum increases as the belt winding amount increases, so that the belt winding speed gradually increases. That is, since the speed of the wheelchair changes depending on the position of the wheelchair, there is a risk of fear or discomfort to the care recipient.

  This invention is made | formed in view of such a situation, The objective is to provide the electric winch apparatus which suppresses the moving speed of the wheelchair which changes with the winding amount of a belt.

  One aspect of the present invention is determined as a drum member that winds a belt that pulls a wheelchair that is a towed object, a motor that rotates the drum member, and a detection unit that detects a winding state of the belt in the drum member. And a signal control unit that controls the number of revolutions of the motor based on a winding state of the belt.

  One embodiment of the present invention is the above-described electric winch device, in which the signal control unit performs a belt-free operation in which the lock of the rotation of the drum member in the direction in which the belt is rewound is released. The current winding state of the belt when towing the wheelchair is determined based on the winding state of the belt at the end.

  One embodiment of the present invention is the above-described electric winch device, in which the detection unit counts pulses generated by the rotation of the drum member in the winding state of the belt.

  One embodiment of the present invention is the above-described electric winch device, wherein the detection unit initializes the count value of the detection unit to a predetermined value at the end of the belt-free operation.

  One embodiment of the present invention is the above-described electric winch device, in which the detection unit is configured such that the belt member is rewound from the drum member when the count value is the predetermined value. Is rotated, the count value is fixed to the predetermined value.

  Moreover, one aspect of the present invention is the above-described electric winch device, including a first speed map in which the count value and a target value of the rotational speed of the drum member are associated, and the signal control unit includes: The target value is determined from the first speed map based on the count value, and the motor is controlled so that the rotational speed of the drum member becomes the target value.

  Further, one aspect of the present invention is the above-described electric winch device, which is an electric winch device provided in a vehicle having a slope for getting on and off the wheelchair at the rear, wherein the first speed map is The rotational speed of the drum member is set to decelerate at a first deceleration rate outside the vehicle, and the rotational speed of the drum member is slower than the rotational speed at the time of deceleration inside the vehicle. Is set to be

  One aspect of the present invention is the above-described electric winch device, wherein the first speed map includes a second deceleration in which the rotation speed of the drum member is greater than a first deceleration rate in the vehicle. Set to slow down at a rate.

  One embodiment of the present invention is the above-described electric winch device, including the first electric winch device and the second electric winch device which are the electric winch devices described above, and the first electric winch device. Includes the first speed map, and the second electric winch device decelerates the rotation speed of the drum member at a third deceleration rate larger than the second deceleration rate in the vehicle. A set second speed map is provided.

  ADVANTAGE OF THE INVENTION According to this invention, the electric winch apparatus which suppresses the moving speed of the wheelchair which changes with the winding amount of a belt can be provided.

It is a top view of the vehicle interior of the vehicle 200 by which the electric winch apparatus 1 in 1st Embodiment is mounted. It is a figure which shows an example of schematic structure of the electric winch 10 in 1st Embodiment. It is a figure which shows an example of schematic structure of the control apparatus 40 in 1st Embodiment. It is a figure which shows an example of the model of the 1st drum speed map in 1st Embodiment. It is a figure explaining the 1st drum speed map in a 1st embodiment. It is a figure which shows an example of schematic structure of the control part 41 in 1st Embodiment. It is a figure explaining the processing flow of operation | movement of the control apparatus 40 in 1st Embodiment. It is a top view of the vehicle interior of the vehicle 201 by which the electric winch apparatus 1A in 2nd Embodiment is mounted. It is a figure which shows an example of schematic structure of 40 A of control apparatuses in 2nd Embodiment. It is a figure which shows an example of the model of the 2nd drum speed map of 42 A of memory | storage parts in 2nd Embodiment.

  The electric winch device according to the present embodiment is an electric winch device provided in a vehicle having a slope for getting on and off a wheelchair as a towed object at a rear portion, and a belt for towing the wheelchair as a towed object is wound around the electric winch device. A rotating drum, an electric motor that rotationally drives the rotating drum, and a detection unit that detects a winding state of the belt by the rotating drum. The electric winch device determines the winding state of the belt when towing the wheelchair based on the winding state of the belt at the end of the belt-free operation, and the number of rotations of the electric motor based on the determined winding state of the belt To control. Hereinafter, details of the electric winch device of the present embodiment will be described.

(First embodiment)
Hereinafter, the electric winch apparatus 1 in 1st Embodiment is demonstrated using drawing.
FIG. 1 is a plan view of the interior of a vehicle 200 in which the electric winch device 1 according to the first embodiment is mounted. Note that the forward direction (+ X direction) of the vehicle 200 may be simply referred to as the front, and the backward direction (−X direction) may be simply referred to as the rear.

  An electric winch device 1 is mounted on the vehicle 200. For example, the vehicle 200 is a welfare vehicle. A wheelchair mounting space S in which the wheelchair 300 can be mounted is formed at the rear of the vehicle interior of the vehicle 200. Behind the wheelchair mounting space S is provided a slope 2 that connects the ground and the floor of the vehicle 200 at a gentle inclination angle. During traveling of the vehicle 200, the slope S is stored in a storage unit (not shown) formed on the floor surface of the vehicle 200.

The electric winch device 1 includes an electric winch 10, a belt 20, an operation unit 30, and a control device 40.
FIG. 2 is a diagram illustrating an example of a schematic configuration of the electric winch 10 according to the first embodiment. Each electric winch 10 includes an electromagnetic clutch 110, a rotating drum 120, an electric motor 130, and a rotation sensor 140.
The electromagnetic clutch 110 is energized based on a control signal from the control device 40. When the electromagnetic clutch 110 is energized, the rotational force of the electric motor 130 is transmitted to the rotary drum 120. On the other hand, when the energization of the electromagnetic clutch 110 is interrupted, the rotational force of the electric motor 130 is not transmitted to the rotating drum 120.

The rotating drum 120 is a drum member having a cylindrical outer peripheral surface.
The belt 20 is wound around the rotating drum 120. The rotating drum 120 winds or rewinds the belt 20 when the rotation of the electric motor 130 is transmitted through the electromagnetic clutch 110.

  The electric motor 130 is connected to the rotating drum 120 via an electromagnetic clutch. The electric motor 130 is driven to rotate based on a drive signal supplied from the control device 40. Therefore, when the electromagnetic clutch 110 is energized, the rotary drum 120 is rotationally driven in the forward direction by the rotational drive of the electric motor 130 in the forward direction. As a result, the belt 20 is wound around the rotary drum 120. On the other hand, when the electromagnetic clutch 110 is energized, the rotary drum 120 is rotationally driven in the reverse direction by the rotational drive of the electric motor 130 in the reverse direction. As a result, the belt 20 is rewound from the rotary drum 120. In addition, rotation of the electric motor 130 of each electric winch 10 shall operate | move synchronously.

  The rotation sensor 140 detects the rotation of the rotating drum 120. For example, the rotation sensor 140 is a magnetic rotary encoder provided with a Hall IC. For example, a sensor magnet (not shown) is provided on the rotating shaft of the rotating drum 120, and the rotation sensor 140 is disposed so as to be close to a position facing the sensor magnet. The rotation sensor 140 detects a change in magnetic flux density received from the sensor magnet. The rotation sensor 140 generates an alternating signal of two phases (A phase and B phase) having different phases by using the detected change in magnetic flux density as an electrical signal. The rotation sensor 140 has an output value of High and Low depending on whether the value of the alternating signal of each phase exceeds a predetermined value (that is, the strength of the magnetic field received by the rotation sensor 140 exceeds a predetermined strength). Into a binary digital signal (pulse signal) that changes to The rotation sensor 140 outputs an A-phase pulse signal and a B-phase pulse signal to the control device 40 as pulse signals for each phase.

The belt 20 has a belt-like shape having substantially the same width as the axial direction of the rotary drum 120.
The belt 20 has one end connected to the rotating drum 120 and the other end fitted with a hook. A user of the vehicle 200 pulls out each belt 20 from the rotating drum 120 of each electric winch 10 in a belt-free state, and hooks each hook on a pair of front frames in the wheelchair 300. Then, the belt-free state is released based on the operation of the user's operation unit, and the electric motor 130 is driven forward. As a result, the belt 20 is wound around the rotary drum 120 and the wheelchair 300 outside the vehicle is drawn along the slope 2 into the vehicle 200. The belt-free state is a state where the electric motor 130 and the electromagnetic clutch 110 are not energized, and is a state where the belt 20 can be freely rewound. That is, the belt-free state is a state where the lock of the rotation of the rotary drum 120 in the direction in which the belt 20 is rewound (sent out) is released. For example, an operation for bringing the electric winch 10 into a belt-free state is performed using an operation switch or a remote controller provided in the vehicle.

  The operation unit 30 is connected to the control device 40. The operation unit 30 outputs an operation signal to the control device 40 based on an operation by the user. For example, the operation unit 30 includes a take-up drive switch 311, a rewind drive switch 312, and a belt-free switch 313. By pressing these switches, the user can perform a winding operation of the belt 20, a rewinding operation of the belt 20, or an operation for setting the belt free state. The winding operation of the belt 20 around the rotating drum 120 is an operation of performing the winding operation of the belt 20 and getting the wheelchair 300 in the space S of the vehicle 200. The rewinding operation of the belt 20 is an operation of performing the rewinding operation of the belt 20 and getting the wheelchair 300 out of the vehicle 200. When any switch is pressed by the user, the operation unit 30 outputs an operation signal that is a signal corresponding to the switch to the control device 40. Note that communication between the operation unit 30 and the control device 40 may be wired or may be performed wirelessly. In the belt free state, for example, when the belt free switch 313 is pressed again by the user, the belt free state is released.

FIG. 3 is a diagram illustrating an example of a schematic configuration of the control device 40 according to the first embodiment. The control device 40 includes a control unit 41, a storage unit 42, and a drive unit 43.
The control unit 41 acquires an operation signal supplied from the operation unit 30. The control unit 41 acquires the A-phase pulse signal and the B-phase pulse signal supplied from the rotation sensor 140. The control unit 41 reads from the storage unit 42 a target value of the rotational speed of the rotating drum 120 corresponding to the count number of the A-phase pulse signal or the B-phase pulse signal (hereinafter simply referred to as “pulse signal”). Then, the control unit 41 associates the read target value of the rotation speed of the rotating drum 120 with information instructing to rotate the electric motor 130 forward or reversely and outputs it to the drive unit 43. The control unit 41 determines whether to rotate the electric motor 130 forward or backward based on the operation signal supplied from the operation unit 30.

The storage unit 42 stores in advance a target value of the rotational speed of the rotary drum 120 corresponding to the count number of the pulse signal. For example, the storage unit 42 stores in advance a target value of the rotational speed of the rotary drum 120 corresponding to the count number of the pulse signal as a first drum speed map. FIG. 4 is a diagram illustrating an example of a model of a first drum speed map in the first embodiment. As shown in FIG. 4, in the first drum speed map, the count number of the pulse signal and the target value of the rotational speed of the rotary drum 120 are associated with each other. In the first drum speed map, the target value of the rotational speed of the rotating drum 120 decreases as the pulse signal count increases. That is, when the count number of the pulse signal is a value between the count value N ₁ and the count value N ₂ (> N ₁ ), a certain slope A (= (V ₂ −V ₁ ) / (N ₂ −N ₁ )), the target value of the rotational speed of the rotary drum 120 decreases, and when the count number of the pulse signal is a value between the count value N ₂ and the count value N ₃ (> N ₂ ), The target value of the rotational speed of the rotary drum 120 decreases at a slope B (= (V ₃ −V ₂ ) / (N ₃ −N ₂ )) whose absolute value is larger than the slope A. Hereinafter, the first drum speed map of the present embodiment will be specifically described with reference to FIG.

FIG. 5 is a diagram for explaining a first drum speed map in the first embodiment. FIG. 5A shows the position of the wheelchair 300 by the winding operation of the belt 20 of the electric winch 10 mounted on the vehicle 200. FIG. 5B shows the rotation speed of the rotating drum 120 according to the position of the wheelchair 300. FIG. 5C shows the speed of the wheelchair 300 according to the position of the wheelchair 300. The position L ₁ indicates the position of the wheelchair 300 when the belt 20 attached to the front frame of the wheelchair 300 is extended from the rotating drum 120 to the limit. When the wheelchair 300 is in the position _{L 1,} the count number of the pulse signal and the count value _{N 1.} Therefore, in the case of executing the winding operation of the belt 20, the rotational speed of the rotary drum 120 becomes the target value V _1. Position _{L 2} indicates the entrance position of the vehicle passenger compartment 200. When the wheelchair 300 is in the position _{L 2,} the count number of the pulse signal is counted value _{N 2.} That is, the count value N ₂ is a value obtained by subtracting the count value N ₁ by the number of pulse signals counted when the wheelchair 300 moves from the position L ₁ to the position L ₂ . A position L ₃ indicates a stop position of the wheelchair 300 in the vehicle 200. When the wheelchair 300 is in the position _{L 3,} the count number of the pulse signal is counted value _{N 3.} That is, the count value N ₃ is a value obtained by subtracting the count value N ₂ in the count number of the pulse signals are counted when the wheelchair 300 is moved from the position L ₂ at a position L _3. Therefore, the control unit 41 detects the winding state of the belt 20 on the rotating drum 120 by counting the pulse signals.

As shown in FIG. 5 (b) and FIG. 5 (c), the time of wheelchair 300 by the winding operation of the belt 20 is moved from the position _{L 1} in the position _{L 2,} the control device 40, the rotating drum 120 with a slope A Reduce the rotation speed. Thus, between the positions _{L 1} position _{L 2,} the speed of the wheelchair 300 is constant. That is, the control device 40, by reducing the rotation speed of the rotary drum 120 with a slope A, the rotary drum 120 due to the winding diameter of the rotary drum 120 between the positions L ₁ position L ₂ becomes gradually thicker Cancels the increase (acceleration) of the winding speed. Accordingly, as described above, between the position L ₁ of the position L _2, the speed of the wheelchair 300 is constant. Hereinafter, a control to keep the speed of the wheelchair 300 between the position L ₁ position L ₂ on the constant of the constant speed control. When the wheelchair 300 moves from the position L ₂ to the position L ₃ by the winding operation of the belt 20, the control device 40 decelerates the rotation speed of the rotary drum 120 with the inclination B. Thus, between the positions _{L 3} from the position _{L 2,} the speed of the wheelchair 300 decelerates. That is, the control device 40, the rotary drum 120 to offset the increase in winding speed of the rotary drum 120 due to the winding diameter of the rotary drum 120 between the positions L ₃ from the position L ₂ becomes gradually thicker (acceleration) The rotational speed of the rotary drum 120 is decelerated with a slope B greater than the slope of the rotational speed. Accordingly, as described above, between the position _{L 3} from the position _{L 2,} the speed of the wheelchair 300 decelerates. Hereinafter referred deceleration control the control to decelerate the velocity of the wheelchair 300 between the positions L ₃ from the position L _2. People who wheelchair 300 is riding in a wheelchair 300 when it reaches the position L ₂ is the entrance to the interior of the vehicle 200, only no longer visible vehicle 200 inside, looks like the front of the seat is approaching. Accordingly, the control device 40 switches the wheelchair 300 from the constant speed control to the deceleration control at the position L ₂ , thereby fearing that the front seat appears to approach the person on the wheelchair 300. You can avoid feeling uneasy. In addition, the inclination of the rotational speed of the rotating drum indicates a reduction rate of the rotational speed. Accordingly, the first drum speed map, outside of the vehicle 200 (i.e., between the positions L ₁ and the position L ₂₎ rotational speed of the rotary drum 120 in is set to decelerate in the first deceleration rate A, the vehicle 200 car (i.e., between the position L ₂ and the position L ₃₎ are set such that the rotational speed of the rotary drum 120 at decelerates at a second deceleration rate B larger than the first deceleration rate a.

Returning to FIG. 3, the drive unit 43 includes a motor control unit 431 and a clutch control unit 432.
The motor control unit 431 controls the rotation of the electric motor 130 based on the target value of the rotation speed of the rotary drum 120 supplied from the control unit 41 and information that instructs the electric motor 130 to rotate forward or reverse. That is, the motor control unit 431 controls the electric motor 130 so that the rotation speed of the rotary drum 120 becomes a target value of the rotation speed.
The clutch control unit 432 acquires the clutch signal supplied from the control unit 41. The clutch signal is a signal that instructs to cut off the energization of the electromagnetic clutch 110. The clutch signal is supplied from the operation unit 30 to the clutch control unit 432 via the control unit 41 when the belt-free switch 313 of the operation unit 30 is pressed. When acquiring the clutch signal, the clutch control unit 432 cuts off the energization of the electromagnetic clutch 110. As a result, the electric winch 10 is in a belt-free state.

FIG. 6 is a diagram illustrating an example of a schematic configuration of the control unit 41 in the first embodiment. The control unit 41 includes a rotation direction detection unit 411, a count unit 412, and a signal processing unit 413.
The rotation direction detection unit 411 detects the rotation direction of the rotary drum 120. For example, the rotation direction detection unit 411 acquires an A phase pulse signal and a B phase pulse signal. The rotation direction detection unit 411 detects the rotation direction of the rotary drum 120 based on the phases of the A-phase pulse signal and the B-phase pulse signal. The rotation direction detection unit 411 outputs a signal indicating the detected rotation direction of the rotary drum 120 to the count unit 412.

The count unit 412 acquires a signal indicating the rotation direction of the rotary drum 120 supplied from the rotation sensor 140. The count unit 412 acquires a pulse signal supplied from the rotation sensor 140. When the rotation direction of the rotary drum 120 is the normal rotation direction (the direction in which the belt 20 is wound around the rotary drum 120), the count unit 412 decrements the count value. When the rotating direction of the rotating drum 120 is the reverse direction (the direction in which the belt 20 is rewound from the rotating drum 120), the count unit 412 increments the count value. The initial value of the count value, the count value N _1. The count unit 412 initializes the count value to N ₁ at the end of the belt free operation (when the belt free state is released). Generally, the belt-free operation is performed when the hook of the belt 20 is locked to the wheelchair 300 when the wheelchair 300 is mounted on the vehicle. That is, the counting unit 412 initializes the count value in the count value N ₁ when the wheelchair 300 is the position of the wheelchair 300 to the winding operation of the belt 20 is carried out. For example, the position of the wheelchair 300 where the winding operation of the belt 20 is performed is near the position L ₁ or the front side of the position L ₁ .

Counting unit 412, if the count value is the count value N _1, the rotating drum 120 is not incremented even if rotated in the reverse direction. That is, the count unit 412, the count value when the count value N _1, the rotating drum 120 is kept of the count value N ₁ to the count value be rotated in the reverse direction. This is because the control unit 41 sets the position of the wheelchair 300 the count value when the count value N ₁ is the winding operation of the belt 20 takes place. Accordingly, the count unit 412, each time the position of the wheelchair 300 to the winding operation of the belt 20 is made to move from the position L ₁ in the rear, and updates the count value to an initial value.

The signal processing unit 413 supplies a clutch signal to the clutch control unit 432 when the belt-free switch 313 of the operation unit 30 is pressed.
The signal processing unit 413 acquires an operation signal supplied from the operation unit 30. When acquiring the operation signal, the signal processing unit 413 reads the count value of the count unit 412. The signal processing unit 413 reads the target value of the rotational speed of the rotary drum 120 corresponding to the read count value from the first drum speed map stored in the storage unit 42. The signal processing unit 413 associates the read target value of the rotation speed of the rotating drum 120 with information instructing to rotate the electric motor 130 in the normal direction or the reverse direction, and outputs the information to the driving unit 43.

  Below, operation | movement of the control apparatus 40 in 1st Embodiment is demonstrated using FIG. FIG. 7 is a diagram for explaining the processing flow of the operation of the control device 40 in the first embodiment.

In step S101, for example, the user of the vehicle 200 places the electric winch 10 in a belt-free state by pressing the belt-free switch 313. The user pulls out each belt 20 from the rotating drum 120 of each electric winch 10 and hooks each hook to a pair of front frames on the left and right sides of the wheelchair 300. Then, the user moves the wheelchair 300 to the front side near the position L ₁ or the position L ₁ is a predetermined location. The user releases the belt-free state after moving the wheelchair 300 to a predetermined location (step S102).

Counting unit 412 detects that the belt-free state is canceled in step S102, initializes the count value in the count value _{N 1} in step S103, executes step S104.

  In step S <b> 104, the signal processing unit 413 acquires an operation signal supplied from the operation unit 30. When acquiring the operation signal, the signal processing unit 413 reads the count value of the count unit 412. The signal processing unit 413 reads the target value of the rotational speed of the rotary drum 120 corresponding to the read count value from the first drum speed map stored in the storage unit 42. The signal processing unit 413 associates the read target value of the rotation speed of the rotating drum 120 with information instructing to rotate the electric motor 130 in the normal direction or the reverse direction, and outputs the information to the driving unit 43.

  In step S <b> 105, the motor control unit 431 drives the electric motor 130 to rotate forward or backward so that the rotational speed of the rotary drum 120 becomes the target value of the rotational speed of the rotary drum 120 read from the storage unit 42. When the rotating drum 120 rotates forward by the electric motor 130 rotating forward, the belt 20 is wound around the rotating drum 120 and the wheelchair 300 outside the vehicle is drawn along the slope 2 into the vehicle 200. On the other hand, when the rotating drum 120 rotates in the reverse direction due to the reverse rotation of the electric motor 130, the belt 20 is rewound from the rotating drum 120, and the wheelchair 300 is rewound backward along the slope 2.

  In step S106, the rotation direction detection unit 411 acquires the A-phase pulse signal and the B-phase pulse signal. The rotation direction detection unit 411 detects the rotation direction of the rotary drum 120 based on the phases of the A-phase pulse signal and the B-phase pulse signal. The rotation direction detection unit 411 outputs a signal indicating the detected rotation direction of the rotary drum 120 to the count unit 412. The count unit 412 determines whether or not the rotation direction of the rotary drum is the normal rotation direction based on the signal indicating the rotation direction of the rotary drum 120 supplied from the rotation direction detection unit 411.

  In step S107, when the rotation direction of the rotary drum 120 is the normal rotation direction (the direction in which the belt 20 is wound around the rotary drum 120), the count unit 412 decrements the count value.

In step S108, if the rotation direction of the rotating drum 120 is reversed direction (the direction which the belt 20 is unwound from the rotary drum 120), the count unit 412, the count value determines whether the count value _{N 1} or more.

In step S109, if the count value is equal to the count value _{N 1} or more, the count unit 412 initializes the count value in the count value _{N 1.}

In step S110, if the count value is less than the count value _{N 1,} the count unit 412 increments the count value.

In step S111, the signal processing unit 413 determines that whether the count value is the count value N _3, whether the current value flowing through the electric motor 130 is smaller than a predetermined threshold value, a. The signal processing unit 413, when the count value is not the count value N _3, or when the current value flowing through the electric motor 130 is greater than a predetermined threshold value performs the process of step S103. On the other hand, the signal processing unit 413, if the count value is the count value N _3, or when the current value flowing through the electric motor 130 is smaller than a predetermined threshold value performs the process of step S112.
In step S <b> 112, the signal processing unit 413 determines that the belt 20 has been wound up and stops driving the electric motor 130, thereby stopping the rotational drive of the rotary drum 120.

As described above, the electric winch device 1 of the first embodiment, based on the count value N ₁ of the counting unit 412 at the time of the belt-free operation end, according to the current count value at the time of pulling the wheelchair 300 A target value for the rotational speed of the rotating drum 120 is determined based on the first drum speed map. The electric winch device 1 controls the rotation speed (or rotation speed) of the electric motor 130 so that the rotation speed of the rotary drum 120 becomes the determined target value. Thereby, the speed change of the wheelchair 300 by the winding amount of the belt 20 can be suppressed.

The first drum speed map, between the position L ₁ of the position L _2, the rotational speed of the rotary drum 120 is set to decelerate in the first deceleration rate A. Electric winch device 1, by slowing down the rotational speed of the rotary drum 120 at a first deceleration rate A, the rotation by the winding diameter of the rotary drum 120 between the positions L ₁ position L ₂ becomes gradually thicker The increase (acceleration) of the winding speed of the drum 120 is offset. Therefore, the speed of the wheelchair 300 can be controlled to be constant outside the vehicle 200.

Further, the first drum speed map is such that the rotational speed of the rotary drum 120 is decelerated at a second deceleration rate B that is larger than the first deceleration rate A between the position L ₂ and the position L _3. Is set. Therefore, the speed of the wheelchair 300 gradually decreases in the vehicle 200. Thereby, it is possible to prevent the person on the wheelchair 300 from feeling fear or anxiety due to the front seat appearing to approach. In addition, the wheelchair 300 can be easily moved even in a narrow vehicle.

(Second Embodiment)
Hereinafter, the electric winch device 1A according to the second embodiment will be described with reference to the drawings.
FIG. 8 is a plan view of the interior of the vehicle 201 in which the electric winch device 1A according to the second embodiment is mounted. In addition, the traveling direction front (+ X direction) of the vehicle 201 may be simply referred to as the front, and the traveling direction rear (−X direction) may be simply referred to as the rear. The same parts as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  An electric winch device 1 </ b> A is mounted on the vehicle 201. For example, the vehicle 201 is a welfare vehicle. A wheelchair mounting space in which a wheelchair 301 and a wheelchair 302 as towed objects can be mounted is formed in the rear of the vehicle interior of the vehicle 201. A slope 2 that connects the ground and the floor surface of the vehicle 200 at a moderate inclination angle is installed behind the wheelchair-mounted space. During traveling of the vehicle 200, the slope 2 is stored in a storage unit (not shown) formed on the floor surface of the vehicle 200. In addition, as shown in FIG. 8, the position where the wheelchair 302 stops is behind the wheelchair 301.

The electric winch device 1A includes an electric winch 10-1 (first electric winch device), an electric winch 10-2 (second electric winch device), a belt 20, an operation unit 30, and a control device 40A.
The operation unit 30 includes a changeover switch 314. The changeover switch 314 is a switch for switching between a state in which the electric winch 10-1 is operated and a state in which the electric winch 10-2 is operated, and the operation unit 30 is operated by the changeover switch 314 with the electric winch 10-1 or Any one operation of the electric winch 10-2 can be performed. Each electric winch 10-1 mounts the wheelchair 301 on the vehicle 201. Since each electric winch 10-1 has the same configuration as the electric winch 10 in the first embodiment, the details are omitted. Each electric winch 10-2 mounts the wheelchair 302 on the vehicle 201.

FIG. 9 is a diagram illustrating an example of a schematic configuration of a control device 40A according to the second embodiment. The control device 40A includes a control device 40-1 and a control device 40-2.
Since the control device 40-1 has the same configuration as the control device 40 in the first embodiment, the description thereof is omitted.
The control device 40-2 includes a control unit 41, a storage unit 42A, and a drive unit 43.
The storage unit 42A stores in advance a target value of the rotational speed of the rotating drum 120 of the electric winch 10-2 corresponding to the count number of the pulse signal. For example, the storage unit 42A stores in advance a target value of the rotational speed of the rotating drum 120 of the electric winch 10-2 according to the count number of the pulse signal as a second drum speed map. FIG. 10 is a diagram illustrating an example of a model of the second drum speed map of the storage unit 42A in the second embodiment. As shown in FIG. 10, the second drum speed map associates the count number of the pulse signal with the target value of the rotational speed of the rotary drum 120. In the second drum speed map, the target value of the rotational speed of the rotary drum 120 decreases as the pulse signal count increases. That is, when the count number of the pulse signal is a value between the count value N ₁ and the count value N ₂ (> N ₁ ), a certain slope A (= (V ₂ −V ₁ ) / (N ₂ −N ₁ )), the target value of the rotational speed of the rotary drum 120 decreases, and when the count number of the pulse signal is a value between the count value N ₂ and the count value N ₃ (> N ₂ ), The target value of the rotational speed of the rotary drum 120 decreases with an inclination (deceleration rate) C (= (V ₄ −V ₂ ) / (N ₄ −N ₂ )) having an absolute value larger than the inclination A. The speed V ₄ is a value smaller than the speed V ₃ . The count value N ₄ indicates the count number of pulse signals when the wheelchair 302 is at the stop position L ₄ in the vehicle 201. Wheelchair stopping position _{L 4} in the vehicle 201 of 302, a rear position in the vehicle longitudinal direction than the position _{L 3.} Therefore, it is set larger than the absolute value of the slope of the absolute value of the speed of the first drum speed map slope of speed of the second drum speed map from the position L ₂ to the position L _4. That is, the second drum speed map, at a position L ₄ from the position L _2, the deceleration rate is the speed reduction ratio of the wheelchair 302 is set to be larger as compared with the wheelchair 301. This is because the vehicle mounting position of the wheelchair 302 is set at a position behind the wheelchair 301.
In addition, since operation | movement of the control apparatuses 40-1 and 40-2 of 2nd Embodiment is the same as operation | movement of the control apparatus 40 in 1st Embodiment, description is abbreviate | omitted.

As described above, the electric winch device 1A of the second embodiment, based on the count value N ₁ of the counting unit 412 at the time of the belt-free operation end, according to the current count value at the time of pulling the wheelchair 300 A target value for the rotational speed of the rotating drum 120 is determined based on the first drum speed map. The electric winch device 1A controls the rotation speed (or rotation speed) of the electric motor 130 so that the rotation speed of the rotary drum 120 becomes the determined target value. Thereby, the speed change of the wheelchair 300 by the winding amount of the belt 20 can be suppressed.

Moreover, as described above, the electric winch device 1A of the second embodiment includes the electric winch 10-1 for the wheelchair 301 and the electric winch 10-2 for the wheelchair 302. The electric winch 10-1 includes a first drum speed map. Electric winch 10-2 is set such that the rotational speed of the rotary drum 120 in the interior of the vehicle 200 (the position from the position L ₂ L ₃₎ is decelerated in the third deceleration rate C is greater than the second deceleration rate B A second drum speed map. Thereby, it is possible to prevent a person on the wheelchair 302 from feeling fear or anxiety due to the front wheelchair 301 appearing to approach. Further, the movement operation of the wheelchair 302 (for example, the movement operation in the lateral direction with respect to the front) is facilitated even in a narrow vehicle.

  In the above-described embodiment, the first drum speed map or the second drum speed map stores in advance the target value of the rotational speed of the rotating drum 120 corresponding to the number of counts of the pulse signal, but is not limited to this. For example, the first drum speed map or the second drum speed map stores in advance a target value of the rotational speed of the rotary drum 120 corresponding to the count number of the pulse signal.

  In the above-described embodiment, the target value of the rotational speed of the rotating drum 120 is determined so as to decelerate the rotating drum 120 at two deceleration rates in the first drum speed map or the second drum speed map. It is not limited to this. For example, in the first drum speed map or the second drum speed map, the target value of the rotational speed of the rotating drum 120 may be determined so as to decelerate the rotating drum 120 at three or more deceleration rates.

  You may make it implement | achieve the control apparatus 40 or 40A of control apparatuses in embodiment mentioned above with a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on this recording medium may be read into a computer system and executed. Here, the “computer system” includes an OS and hardware such as peripheral devices. The “computer-readable recording medium” refers to a storage device such as a flexible medium, a magneto-optical disk, a portable medium such as a ROM and a CD-ROM, and a hard disk incorporated in a computer system. Furthermore, the “computer-readable recording medium” dynamically holds a program for a short time like a communication line when transmitting a program via a network such as the Internet or a communication line such as a telephone line. In this case, a volatile memory inside a computer system serving as a server or a client in that case may be included and a program held for a certain period of time. Further, the program may be a program for realizing a part of the above-described functions, and may be a program capable of realizing the functions described above in combination with a program already recorded in a computer system. You may implement | achieve using programmable logic devices, such as FPGA (Field Programmable Gate Array).

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes designs and the like that do not depart from the gist of the present invention.

DESCRIPTION OF SYMBOLS 1, 1A ... Electric winch apparatus, 10 ... Electric winch, 20 ... Belt, 30 ... Operation part, 40 ... Control apparatus, 41 ... Control part, 42, 42A ... Memory | storage part, 43 ... Drive part, 120 ... Rotary drum, 130 ... Electric motor, 140 ... Rotation sensor

Claims (9)

A drum member around which a belt for towing a wheelchair as a towed object is wound,
A motor for rotating the drum member;
A detection unit for detecting a winding state of the belt in the drum member;
A signal control unit for controlling the rotational speed of the motor based on the determined winding state of the belt;
An electric winch device.   The signal control unit is configured to pull the wheelchair based on the winding state of the belt at the end of the belt-free operation in which the lock of the rotation of the drum member in the direction in which the belt is rewound is released. The electric winch device according to claim 1, wherein a current winding state of the belt at a time is determined.   The electric winch device according to claim 2, wherein the detection unit counts pulses generated by the rotation of the drum member in the winding state of the belt.   The electric winch device according to claim 3, wherein the detection unit initializes a count value of the detection unit to a predetermined value at the end of the belt-free operation.   The detection unit is configured to fix the count value to the predetermined value when the drum member rotates in a direction in which the belt is rewound from the drum member when the count value is the predetermined value. 4. The electric winch device according to 4. A first speed map in which the count value and a target value of the rotational speed of the drum member are associated;
The said signal control part determines the said target value from the said 1st speed map based on the said count value, and controls the said motor so that the rotational speed of the said drum member may become the said target value. Electric winch device. An electric winch device provided in a vehicle equipped with a slope for getting on and off the wheelchair at the rear,
The first speed map is set so that the rotational speed of the drum member is decelerated at a first deceleration rate outside the vehicle of the vehicle, and the rotational speed of the drum member is set at the time of deceleration in the vehicle. The electric winch device according to claim 6 set up so that it may become a speed slower than said rotation speed.   The electric winch device according to claim 7, wherein the first speed map is set so that the rotation speed of the drum member is decelerated at a second deceleration rate larger than the first deceleration rate in the vehicle. . A first electric winch device and a second electric winch device, which are the electric winch device according to claim 8,
The first electric winch device includes the first speed map,
The second electric winch device includes a second speed map that is set so that the rotation speed of the drum member is decelerated at a third deceleration rate larger than the second deceleration rate in the vehicle. Electric winch device.

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