阅读说明：本技术 电动绞车的控制装置 (The control device of electric winch ) 是由 六本木仁 原田清敬 西山公人 于 2019-05-21 设计创作，主要内容包括：本发明提供一种电动绞车的控制装置,即便带被强力拉伸,本发明也有效地抑制损伤构成零件。控制器(50)在允许带送出的带送出允许模式的情况下,且卷筒的转速(Rn)为转速阈值(RTH)以上的情况下,进行对卷筒的旋转施加制动力的“闭合电路制动控制”,因此能够抑制带被强力拉伸(恶作剧等)。因而,可抑制卷筒高速旋转,从而有效地抑制构成电动绞车(30)的零件损伤。(The present invention provides a kind of control device of electric winch, even if the present invention also effectively inhibits damage constituent part with strongly being stretched.Controller (50) is in the case where allowing to send out permission mode with the band sent out, and in the case that the revolving speed (Rn) of reel is rotary speed threshold value (RTH) or more, " the closed circuit control for brake " that applies brake force to the rotation of reel is carried out, therefore is able to suppress band and (mischief etc.) is stretched by strength.Thus, it can inhibit reel high speed rotation, to effectively inhibit the part injury for constituting electric winch (30).)

1. a kind of control device of electric winch makes to draw object movement characterized by comprising

Electric motor, including rotary shaft；

Deceleration mechanism, including being fixed on the input part of the rotary shaft and with the speed rotation lower than the input part Output block；

Reel is fixed on the output block, is wound with the band for drawing the traction object；And

Controller controls the rotation status of the electric motor, and

The controller is in the case where the band for allowing the band to send out sends out permission mode, and the off speed of the band is fast In the case of, carry out the control for brake for applying brake force to the rotation of the reel.

2. the control device of electric winch according to claim 1, which is characterized in that

The controller is judged as the off speed of the band in the case where the revolving speed of the reel is egulation rotating speed or more Fastly.

3. the control device of electric winch according to claim 1 or 2, which is characterized in that

The electric motor is brushless motor,

The controller controls the driving circuit for driving the brushless motor for closure electricity when carrying out the control for brake Road.

4. the control device of electric winch according to claim 1 or 2, which is characterized in that

The electric motor is brushless motor,

The controller, will be in the U phase coil, V phase coil, W phase coil of the brushless motor when carrying out the control for brake At least one phased be made as energized state.

5. the control device of electric winch according to claim 1 or 2, which is characterized in that

It is provided with ratchet mechanism, the ratchet mechanism in the locked state, allows the rotation of the reel facing one direction, together When limitation towards the rotation in another direction, allow the reel facing one direction in the released state and another direction Rotation,

The controller controls the ratchet mechanism for lock state when carrying out the control for brake.

6. the control device of electric winch according to claim 1 or 2, which is characterized in that

The electric motor is brushless motor,

It is provided with ratchet mechanism, the ratchet mechanism in the locked state, allows the rotation of the reel facing one direction, together When limitation towards the rotation in another direction, allow the reel facing one direction in the released state and another direction Rotation,

The controller is when carrying out the control for brake, in the less than regulation time of number for being judged to carry out the control for brake In the case where number, the driving circuit for driving the brushless motor is controlled as closed circuit, is being judged to that the braking should be carried out In the case that the number of control is stipulated number or more, the ratchet mechanism is controlled as lock state.

7. the control device of electric winch according to claim 1 or 2, which is characterized in that

The electric motor is brushless motor,

It is provided with ratchet mechanism, the ratchet mechanism in the locked state, allows the rotation of the reel facing one direction, together When limitation towards the rotation in another direction, allow the reel facing one direction in the released state and another direction Rotation,

The controller is when carrying out the control for brake, in the less than regulation time of number for being judged to carry out the control for brake In the case where number, energized state is made as by least one in the U phase coil, V phase coil, W phase coil of the brushless motor is phased, It is lock by ratchet mechanism control in the case where being judged to carry out the number of the control for brake is stipulated number or more Determine state.

8. the control device of electric winch according to claim 1 or 2, which is characterized in that

The controller terminates the control for brake after carrying out the control for brake by the stipulated time.

9. the control device of electric winch according to claim 1 or 2, which is characterized in that

The controller terminates the control for brake in the case where the operation using operator resets operation signal to input.

Technical field

The present invention relates to a kind of control devices for making to draw the mobile electric winch (electric winch) of object.

Background technique

In the past, carrying sky of the carrying as the wheelchair of traction object was provided in the compartment of Welfare vehicle and in rear side Between.It is drawn outside from mounting space towards compartment slope (slope), and so that the wheelchair being located at outside compartment is moved to carrying through thus slope In space.In addition, the vehicle front side in mounting space is provided with the electric mincing for having the band (belt) of subsidiary hook (hook) Vehicle.From electric winch extraction band and by the frame (frame) for being hooked on wheelchair, electric winch is driven in this case, by This easily can be such that wheelchair is moved in mounting space.

Wheelchair is set to be moved to the electric winch in compartment or outside compartment, it is known that technology for example described in Patent Document 1.Patent The electric winch that document 1 is recorded has the motor with deceleration mechanism, and in the worm gear of the motor with deceleration mechanism and is externally embedded to reel Output shaft between be provided with electromagnetic clutch.From there through make electromagnetic clutch become engagement state, the power of electric motor Reel can be transferred to.On the other hand, by make electromagnetic clutch become off-state, electric motor can be made to separate with reel, from And it is easy and swimmingly draws the band for being wound in reel.

[existing technical literature]

[patent document]

[patent document 1] Japanese Patent Laid-Open 2011-046513 bulletin

Summary of the invention

[problem to be solved by the invention]

And say, Welfare vehicle is not limited to large-scale single box (one box) vehicle (large car), and there is also with small-sized light The Welfare vehicle of (base) based on type automobile (compact car).Thus, in order to increase applicable vehicle, keep electric winch smaller Type lightweight also necessitates condition.For example, in order to make electric winch miniaturization, it is necessary to which considering can will be as driving source The electric motor of brush replaces with brushless electric motor, or can save the novel structure of electromagnetic clutch.

Herein, in the case where saving electromagnetic clutch, the reel of band and the rotary shaft of electric motor are wound with via subtracting Fast mechanism directly links.Therefore, in the case where operator unnecessarily strongly stretches band, lead to reel to be carried out at high speed rotation Turn, and damages the constituent part on its periphery.

In addition, according to the difference of the state of a control of its driving circuit, making in the case where using brushless motor in driving source To be carried out at high speed rotation thus generate big generation current, this generation current is also possible to cause to make to drive the rotary shaft of brushless motor The situation of the driving circuit scaling loss of dynamic brushless motor.

Even if the purpose of the present invention is to provide one kind with strongly being stretched, damage constituent part can also be effectively inhibited The control device of electric winch.

[technical means to solve problem]

One embodiment of the invention is a kind of control device for making to draw the mobile electric winch of object comprising: electronic horse It reaches, including rotary shaft；Deceleration mechanism, including being fixed on the input part of the rotary shaft and lower than the input part The output block of speed rotation；Reel is fixed on the output block, is wound with the band for drawing the traction object；And control Device, controls the rotation status of the electric motor, and the controller is in the band submitting permission mode for allowing the band to send out In the case of, and the band off speed it is fast in the case where, carry out to the reel rotation apply brake force control for brake.

In another embodiment of the invention, the controller is in the situation that the revolving speed of the reel is egulation rotating speed or more Under, it is judged as that the off speed of the band is fast.

In another embodiment of the invention, the electric motor is brushless motor, and the controller is carrying out the system When dynamic control, the driving circuit for driving the brushless motor is controlled as closed circuit.

In another embodiment of the invention, the electric motor is brushless motor, and the controller is carrying out the system When dynamic control, energized state is made as by least one in the U phase coil, V phase coil, W phase coil of the brushless motor is phased.

In another embodiment of the invention, it is provided with ratchet mechanism, the ratchet mechanism in the locked state, allows institute The rotation of reel facing one direction is stated, while limiting the rotation towards another direction, allows the volume in the released state Facing one direction and the rotation in another direction, the controller is when carrying out the control for brake, by the ratchet machine for cylinder Structure control is lock state.

In another embodiment of the invention, the electric motor is brushless motor, is provided with ratchet mechanism, the ratchet Mechanism in the locked state, allows the rotation of the reel facing one direction, while limiting the rotation towards another direction, Allow the reel facing one direction in the released state and the rotation in another direction, the controller is carrying out the system When dynamic control, in the case where the number for being judged to carry out the control for brake less than stipulated number, it will drive described brushless The driving circuit control of motor is closed circuit, is stipulated number or more in the number for being judged to carry out the control for brake In the case of, the ratchet mechanism is controlled as lock state.

In another embodiment of the invention, the electric motor is brushless motor, is provided with ratchet mechanism, the ratchet Mechanism in the locked state, allows the rotation of the reel facing one direction, while limiting the rotation towards another direction, Allow the reel facing one direction in the released state and the rotation in another direction, the controller is carrying out the system When dynamic control, in the case where the number for being judged to carry out the control for brake less than stipulated number, by the brushless motor U phase coil, V phase coil, at least one in W phase coil it is phased be made as energized state, be judged to carry out the braking control In the case that the number of system is stipulated number or more, the ratchet mechanism is controlled as lock state.

In another embodiment of the invention, the controller is after carrying out the control for brake by the feelings of stipulated time Under condition, terminate the control for brake.

In another embodiment of the invention, the controller inputs reset operation signal in the operation using operator In the case where, terminate the control for brake.

[The effect of invention]

According to the present invention, controller is in the case where allowing to send out permission mode with the band sent out, and the off speed of band In the case where fast, the control for brake for applying brake force to the rotation of reel is carried out, therefore band can be inhibited strongly to be stretched.Therefore, Reel be can inhibit to be carried out at high speed rotation, and the part injury for constituting electric winch can be effectively inhibited.

Detailed description of the invention

Fig. 1 is the skeleton diagram for indicating the vehicle equipped with electric winch.

Fig. 2 is the explanatory diagram of the electric winch from carrying out from vehicle of the top to Fig. 1.

Fig. 3 (a) is the plan view for indicating the operation panel being set in vehicle, and Fig. 3 (b) is to indicate to grasp outside compartment The plan view of the remote controler of work.

Fig. 4 is the perspective view for indicating the detailed construction of electric winch.

Fig. 5 is the plan view for indicating the internal structure (deceleration mechanism periphery) in electric motor portion.

Fig. 6 is the perspective view for indicating the internal structure (reel periphery) of electric winch.

Fig. 7 is the schematic diagram for indicating to constitute the connection relationship of the component of electric winch.

Fig. 8 is the block diagram for indicating the periphery (electrical system) of controller.

Fig. 9 is the circuit diagram for indicating the detailed construction of drive circuit.

Figure 10 is the flow chart with the control content for sending out permission mode for indicating embodiment 1.

Figure 11 is the flow chart with the control content for sending out permission mode for indicating embodiment 2.

Figure 12 is the flow chart with the control content for sending out permission mode for indicating embodiment 3.

Figure 13 is the flow chart with the control content for sending out permission mode for indicating embodiment 4.

Figure 14 is the flow chart with the control content for sending out permission mode for indicating embodiment 5.

Figure 15 is the flow chart with the control content for sending out permission mode for indicating embodiment 6.

The explanation of symbol

10: vehicle

11: mounting space

12: slope

13: back door

14: wiring

15: hook

16: fixing belt

20: wheelchair (traction object)

21: side arm

22: wheel

23: castor

30: electric winch

31: hook

32: band

40: control device

50: controller

51: control circuit portion

52: drive circuit (driving circuit)

60: operation panel

61: panel body

62: main power switch

62a: indicator

63: band free switch

63a: indicator

64: speed switching switch

65: buzzer

70: remote controler

71: remote controler main body

72: power supply of remote controller switch

73: entering switch

74: switching out

75: indicator

80: electric motor portion (electric motor)

80a: motor shell

80b: control base board

80c: rotor rotation sensors

81: motor part

81a: stator core

81b: rotor

81c: permanent magnet

81d: armature spindle (rotary shaft)

81e: large proximal end portion

81f: path front end

81g: intermediate fixed part

82: gear part

82a: planet-gear speed reducer (deceleration mechanism)

82b: sun gear (input part)

82c: planetary gear

82d: frame body (output block)

82e: gear ring

82f: output shaft

90: reel portion

91: shell

91a: opening portion

92: reel

92a: spool shaft

92b: one-way clutch

93: ratchet mechanism

93a: ratchet

93b: pawl

93c: solenoid-activated component

93d: drive pin

94: relaxation eliminating machine

94a: spur gear

94b: small-diameter gear

94c: reduction gear

94d: torque limiter

95: motor is eliminated in relaxation

96: reel rotation sensor

97: connector connection part

98: guiding elements

AS: passenger seat

B1: first bearing

B2: second bearing

B3: 3rd bearing

Bt: power supply

Cu:U phase coil

Cv:V phase coil

Cw:W phase coil

DR: driver's seat

F: floor

FT: installation supporting plate

F1~F3: first switching element

F4~F6: second switch element

GR: handle

H1~H6: control signal

ID: driving current

IG: ignition switch

J: ground

RD: reel rotating signal

RR: rotor rotating signal

RS: operation signal is resetted

RTH: rotary speed threshold value (egulation rotating speed)

Rn: the revolving speed of reel

SP: gearshift position sensor

ST: pillion

T: stipulated time

V: speed signal

VS: vehicle speed sensor

N: stipulated number

Specific embodiment

Hereinafter, embodiments of the present invention 1 are described in detail using attached drawing.

Fig. 1 illustrates that the skeleton diagram of the vehicle equipped with electric winch, and Fig. 2 shows the vehicle progress from top to Fig. 1 The explanatory diagram of the electric winch of observation, Fig. 3 (a) illustrate that the plan view for the operation panel being set in vehicle, Fig. 3 (b) show Indicate that the plan view for the remote controler that can be operated outside compartment, Fig. 4 illustrate that the perspective view of the detailed construction of electric winch out, Fig. 5 illustrates that the plan view of the internal structure (deceleration mechanism periphery) in electric motor portion, Fig. 6 illustrate that the interior of electric winch The perspective view of portion's structure (reel periphery), Fig. 7 illustrate that the schematic diagram for constituting the connection relationship of component of electric winch, Fig. 8 Illustrate that the block diagram on the periphery (electrical system) of controller, Fig. 9 illustrate that the circuit diagram of the detailed construction of drive circuit, Figure 10 illustrates that the flow chart with the control content for sending out permission mode of embodiment 1.

Fig. 1 and vehicle shown in Fig. 2 10 are the Welfare vehicles based on light-duty vehicle (compact car).In the vehicle of vehicle 10 It is provided in compartment and in rear side (right side in figure) mounting space 11 for carrying wheelchair (traction object) 20.In the vehicle of mounting space 11 Front side (left side in figure) is provided in the vehicle width direction (up and down direction in Fig. 2) of vehicle 10 with predetermined distance configuration A pair of of electric winch 30.These electric winches 30 are separately positioned on the lower part of the driver's seat DR and passenger seat AS of vehicle 10.Again Person illustrates only the side driver's seat DR in Fig. 1.

A pair of of electric winch 30 has respectively is equipped with the band 32 of hook 31,32 traction wheel chair 20 of band in front end side.Here, it hangs Hook 31 is to have sufficiently rigid steel to be not easy to deform.Moreover, band 32 is drawn respectively from a pair of of electric winch 30, Each hook 31 is hooked on a pair of of side arm 21 of 20 left and right sides of wheelchair.Later, make a pair of of electric winch in this case 30 synchronous operations and a pair of of band 32 is pulled in, make wheelchair 20 mobile towards mounting space 11 as a result,.

It is provided with the floor F of ground J and vehicle 10 in the vehicle rear side of mounting space 11 with gentle inclination angle The slope 12 connected is spent, this slope 12 is that 3 aluminium sheets will be added up to combine and formed in a manner of sliding freely.Moreover, In Vehicle 10 compactly folds when driving, by slope 12 and in the back door 13 that the vehicle rear side of mounting space 11 leans against closing Side etc..

Moreover, make a pair of of 30 synchronous operation of electric winch to pull in a pair of of band 32, wheelchair 20 is from shown in Fig. 2 as a result, State rises and moves on slope 12, reaches on floor F as shown in Figure 1 soon, and be moved to the fixation in mounting space 11 Position.Here, so-called fixed position refers to that wheelchair 20 becomes the position of state shown in FIG. 1, is to be fixed into wheelchair 20 not Meeting be rocked relative to vehicle 10 and vehicle 10 becomes the position for the state that can be travelled.

Herein, when moving in wheelchair 20 into the mounting space 11 of vehicle 10, firstly, by pillion (the second seat (second seat)) ST is set as inclined state forwards.There is ratio at the rear of the vehicle 10 as light-duty vehicle as a result, Biggish mounting space 11.Moreover, distinguishing from driver's seat DR and passenger seat AS and forwards between inclined pillion ST Draw a pair of of band 32.

In addition, making a pair of of 30 synchronous operation of electric winch to send out a pair of of band 32, it is equipped in mounting space 11 as a result, Wheelchair 20 moved on slope 12, moved out soon from floor F to ground J.By the way that slope 12, energy are arranged in this way It is easily moved wheelchair 20 between ground J and floor F.Furthermore a pair of of electric winch 30 is by caregiver's (operation Person) it operates, in the operating process of a pair of of electric winch 30, caregiver (supports from the posterior support of wheelchair 20 (support)) this wheelchair 20.

The control device 40 for controlling a pair of of electric winch 30 is to constitute as shown in Figure 2.That is, control device 40 includes: A pair of of electric winch 30, controller 50, operation panel 60 and remote controler 70.Between a pair of of electric winch 30 and controller 50 with And it is provided with wiring 14 with being electrically connected between operation panel 60 and controller 50.Furthermore remote controler 70 is with wireless (wireless) formula is freely communicated using wireless with controller 50, can be from vehicle by taking out of remote controler 70 to outside compartment A pair of of electric winch 30 is operated outside compartment.

In addition, as shown in Fig. 2, being provided with a pair of of the fixing belt 16 for having hook 15 on the floor F of vehicle 10.These The hook 15 of fixing belt 16 is hooked on respectively on the pair of wheels 22 of the left and right sides of the wheelchair 20 in mounting space 11.By This, the wheelchair 20 being equipped in mounting space 11 is propped up at 4 in the hook 31 of band 32 and adding up to for the hook 15 of fixing belt 16 Support.Therefore, in the fixation position of vehicle 10, wheelchair 20 will not be moved or be rocked.

Furthermore as shown in Figure 1, setting exists in the state of the fixation position being fixed on wheelchair 20 in mounting space 11 The left and right sides of wheelchair 20 and a pair of of castor (caster) (trundle) 23 of front side is configured at inclined pillion forwards On ST.In other words, it efficiently uses the inner space as the vehicle 10 of light-duty vehicle (compact car) and forms bigger Mounting space 11.

As shown in Fig. 3 (a), operation panel 60 has panel body 61.Panel body 61 configures the rear side in vehicle 10, Easily operation panel 60 can be operated outside compartment.Main power switch 62, band are provided in panel body 61 certainly By switching (belt free switch) 63, speed switching switch 64 and buzzer (buzzer) 65.

Main power switch 62 is the switch operated when connecting the system power supply of control device 40.Moreover, by main electricity Source switch 62 carries out opening operation, and system power supply is connected, and indicator (indicator) 62a is lighted.Here, dress will controlled Also main power switch 62 is operated when setting 40 initialization, such as by long-pressing 3 seconds or more, so that control device 40 be initialized.

It is the switch operated when a pair of of electric winch 30 is set as release conditions with free switch 63.Moreover, by pair Band free switch 63 carries out unlatching connection operation, manually freely can draw or store (disengaging) respectively for a pair of of band 32.That is, can Opening operation is carried out to band free switch 63, a pair of of band 32 is drawn, and a pair of hook 31 is hooked on the wheel outside compartment It is aligned on chair 20 or by the length for a pair of of the band 32 drawn respectively from a pair of of electric winch 30.Here, if to band free switch 63 Opening operation is carried out, then indicator 63a is lighted.

Speed switching switch 64 is incited somebody to action when moving in wheelchair 20 into mounting space 11 or moving out from mounting space 11 The movement speed of a pair of of band 32, pull in speed or send out speed be switched to low speed (LOW) or high speed (HIGH) when operate open It closes.

In addition, buzzer 65 is when a pair of of band 32 is when pulling in running or sends out running (when normal operation) and then one When bad to the running of electric winch 30 (when failure occurs) etc., the warning tones such as ring electro-acoustic.That is, buzzer 65 is to outside Notify the retrogressing etc. of wheelchair 20.Here, warning tones are not limited to electro-acoustic, are also possible to the broadcast carried out using sound.

Remote controler 70 is wireless remote control unit (wireless remote control unit), can be to operation panel 60 main power switch 62 carries out use when operation and the system power supply connection of control device 40.As shown in Fig. 3 (b), remote controler 70 have remote controler main body 71.It is provided with power supply of remote controller switch 72 in remote controler main body 71, enter switch 73 and goes out switch 74. Remote controler 70 has indicator 75 in turn, this indicator 75 is lighted in remote controller 70 etc..

Furthermore the operation of remote controler 70 is carried out by caregiver.Moreover, by being switched by caregiver to power supply of remote controller 72 carry out opening operation, are pressed into switch 73 later or go out switch 74, thus 30 synchronous operation of a pair of of electric winch.It is specific next It says, during being pressed into switch 73, a pair of of 30 continued operation of electric winch, auxiliary moves in wheelchair 20 into mounting space 11. On the other hand, during discharge by pressing switch 74, a pair of of electric winch 30 is reversely rotated, and auxiliary is by wheelchair 20 from mounting space It is moved out in 11.

Wherein, in the operating process of remote controler 70, caregiver catches handle (grip) GR (referring to Fig.1) of wheelchair 20 to come Wheelchair 20 is supported, and guides its movement.In this way, control device 40 assists caregiver to make by controlling a pair of of electric winch 30 Wheelchair 20 is mobile.

As shown in Fig. 4 and Fig. 7, electric winch 30 has electric motor portion (electric motor) 80 and reel portion 90.The electricity The integration (blocking) using multiple joint screws (not shown) of dynamic motor part 80 and reel portion 90.

As shown in figure 5, electric motor portion 80 has motor part 81 and gear part 82.Motor part 81 is to have U phase coil The 3-phase brushless motor of Cu, V phase coil Cv, W phase coil Cw.Motor part 81, which has, is fixed on the cricoid fixed of motor shell 80a Sub- iron core (stator) 81a.Moreover, being wound with each coil using the winding method of delta connection on stator core 81a Cu, coil Cv, coil Cw (referring to Fig. 9).In addition, being situated between (empty every defined minim gap in the radially inner side of stator core 81a Gap) and rotatably freely it is provided with rotor (rotor) 81b.

Rotor 81b is shaped generally as tubular and carrying out punch process to steel plate etc..In the outer peripheral portion of rotor 81b, Circumferential magnetization towards rotor 81b is fixed with into the permanent magnet 81c of the tubular of multiple poles.Permanent magnet 81c's and stator core 81a Radially inner side is opposite.As a result, by successively supplying driving current ID (referring to Fig. 8) to each coil Cu, coil Cv, coil Cw, Rotate rotor 81b.

In the rotation center of rotor 81b, the large proximal end portion 81e of fixed rotor axis (rotary shaft) 81d, armature spindle 81d companion It is rotated with the rotation of rotor 81b.Furthermore armature spindle 81d rotates freely twelve Earthly Branches via first bearing B1, second bearing B2 It supports in motor shell 80a.

Herein, in the inside of motor shell 80a, control base board 80b is contained, on this control base board 80b, inspection is installed Survey the rotor rotation sensors 80c of the rotation status of rotor 81b.Furthermore rotor rotation sensors 80c is using Hall sensor etc. Magnetic Sensor.In addition, the axial direction and permanent magnet 81c of rotor rotation sensors 80c from armature spindle 81d are opposite.

Rotor rotation sensors 80c captures the variation of the magnetic pole of permanent magnet 81c as a result, and by rotor rotating signal RR (arteries and veins Rush signal) it exports to controller 50 (referring to Fig. 8 and Fig. 9).Moreover, controller 50 is based on the rotor rotating signal RR mono- through inputting Frontier inspection surveys rotation position of the rotor 81b relative to stator core 81a, controls the rotation status of rotor 81b on one side.

In the path front end 81f of armature spindle 81d, rotatably it is equipped with via 3rd bearing B3 and forms planet tooth Take turns the frame body 82d of speed reducer 82a.Herein, in the rotation center of frame body 82d, being provided integrally with can be with spool shaft 92a (reference Fig. 4 and Fig. 6) the output shaft 82f that integrally rotatably links.Moreover, planet-gear speed reducer 82a makes the rotation speed of armature spindle 81d Degree slows down and high torque (HT), and the rotary force through high torque (HT) is exported from output shaft 82f to spool shaft 92a (reel 92).That is, horse Make band 32 from opening portion 91a (referring to Fig. 4) disengaging up to portion 81.

As shown in figure 5, being provided with planet-gear speed reducer in the axial path front end side 81f along armature spindle 81d (deceleration mechanism) 82a.Planet-gear speed reducer 82a forms gear part 82, and includes: sun gear (input part) 82b, three A planetary gear 82c (only showing one in the accompanying drawings), frame body (output block) 82d for supporting these planetary gears 82c and Gear ring 82e.

Sun gear 82b is fixed on the intermediate fixed part 81g of armature spindle 81d, and gear ring 82e is fixed on motor shell 80a.Three A planetary gear 82c is configured between the radial sun gear 82b and gear ring 82e along planet-gear speed reducer 82a, these Planetary gear 82c is engaged with both sun gear 82b and gear ring 82e.

Frame body 82d rotatably supports three planetary gear 82c, the radial direction of frame body 82d with (120 degree of intervals) at equal intervals Inside is rotatably supported in the path front end 81f of armature spindle 81d via 3rd bearing B3.In addition, frame body 82d's Rotation center is provided integrally with the output shaft 82f that can integrally rotatably link with spool shaft 92a.That is, reel 92 can integrally revolve Turn ground and is fixed on frame body 82d.Moreover, the rotation speed of sun gear 82b is decelerated to defined rotation speed and high torque (HT), Rotary force through high torque (HT) is exported from frame body 82d.That is, frame body 82d is rotated with the speed lower than sun gear 82b.

Herein, between motor part 81 and reel 92, it is provided only with planet-gear speed reducer 82a.That is, motor part 81 with Between reel 92, the electromagnetic clutch etc. of the not set power transmitting blocked between the two.Hereby it is achieved that electric winch 30 is small Type lightweight, while seeking the simplification of the control logic of electric winch 30.

In addition, using planet-gear speed reducer 82a by deceleration mechanism, while motor part 81 is set as three-phase brushless horse It reaches, realizes the flattening (slimming) of electric winch 30.Even if as a result, relative to planet-gear speed reducer 82a and motor part 81 And reel 92 is configured on the same axis, electric winch 30 will not be made enlarged.

As shown in figure 4, reel portion 90 has shell 91.Shell 91 is shaped generally as box shape, inside it, storage just like Reel 92, ratchet mechanism 93 and relaxation eliminating machine 94 shown in fig. 6.Being provided in the outside of shell 91 will be wound on reel 92 The relaxation of relaxation removal of band 32 eliminate motor 95, the reel rotation sensor that is detected to the rotation status of reel 92 96, it is connected with the aerial lug to eliminate the supply driving current such as motor 95 to electric motor portion 80 or relaxation (connector) connector connection part 97 etc. of (not shown).

It is formed with opening portion 91a in the side of shell 91, band 32 is freely in or out from the opening portion 91a.Band 32 is by setting The guiding elements 98 near the opening portion 91a of shell 91 is set to guide disengaging, thus anti-stop-band 32 is reversed.In addition, guidance structure Part 98 does not allow to link up with 31 and passes through, and thus prevents from all pulling in band 32 to shell 91.

Herein, the symbol FT of Fig. 4 is one electric winch 30 to be fixed on to the floor F of vehicle 10 (referring to Fig. 2) To installation supporting plate, these installations supporting plate FT is firmly fixed at floor F by multiple draw bolts (not shown).As a result, Electric winch 30 is firmly fixed without rocking relative to vehicle 10.

In addition, being accommodated with reel 92, ratchet mechanism 93 and relaxation eliminating machine 94 in the inside of shell 91, and relaxation is disappeared Except motor 95, guiding elements 98 and hook 31 are configured at the outside of shell 91.

It is wound with band 32 on reel 92, is equipped in a manner of it can rotate integrally in the rotation center of the reel 92 Spool shaft 92a.The rotation of the output shaft 82f (referring to Fig. 5) in electric motor portion 80, spool shaft 92a are directly transmitted to spool shaft 92a And reel 92 is rotatably driven on both forward and reverse directions with the rotation driving towards both forward and reverse directions in electric motor portion 80.By This, can pull in band 32 in shell 91 or being sent to outside shell 91.

As shown in fig. 7, being provided with one-way clutch 92b between reel 92 and spool shaft 92a.One-way clutch 92b is The rotation is directly transferred to reel when pulling in direction (for counterclockwise in Fig. 6) rotation towards band 32 with spool shaft 92a 92 mode is constituted.In contrast, being rolled up if reel 92 is rotated compared to the direction that pulls in for spool shaft 92a first towards band 32 The rotation of cylinder 92 is not passed to spool shaft 92a, so that reel 92 can dally.

Ratchet mechanism 93 includes: ratchet 93a, can integrally rotatably be set to reel 92；Pawl 93b, with ratchet 93a card Close, allow reel 92 towards band 32 pull in direction rotate and be restrained from band 32 transport direction rotation (be side clockwise in Fig. 6 To), and swing freely；And solenoid-activated component 93c, wobble drive is carried out to pawl 93b.

Solenoid-activated component 93c has drive pin 93d, by the control of controller 50 (referring to Fig. 8) come to solenoid Drive member 93c supplies driving current, and drive pin 93d is moved and retracted along the axis direction of pin as a result,.Ratchet 93a and spine as a result, The engaging of pawl 93b releases and becomes release conditions and allow reel 92 to pull direction (one towards band 32 under the release conditions A direction) and transport direction (another direction) two-way upper rotation.In this way, by rotating freely reel 92 on two-way, it can Wheelchair 20 is unloaded from mounting space 11.

In contrast, stop the past driving current to solenoid-activated component 93c of supply by the control of controller 50, As a result, by the spring force of return spring (not shown) to which drive pin 93d is prominent.Pawl 93b is sticked in ratchet 93a as a result, And become lock state, under the lock state, reel 92 is allowed to rotate towards pull in direction (direction) of band 32, and The transport direction (another direction) for limiting reel 92 towards band 32 rotates.Thus, prevent wheelchair 20 from retreating on slope 12.

Relaxation zeroing mechanism 94 includes: spur gear (spur gear) 94a, can integrally rotatably be set to reel 92；It is small Diameter gear 94b, is engaged with spur gear 94a；And reduction gear 94c, motor 95 is eliminated by relaxation and is driven by rotation It is dynamic.The rotary force that motor 95 generates the direction for making reel 92 wind band 32 is eliminated in relaxation, and the rotary force warp of motor 95 is eliminated in relaxation Reel 92 is transferred to by reduction gear 94c, torque limiter 94d, small-diameter gear 94b and spur gear 94a.

Herein, as shown in fig. 7, between small-diameter gear 94b and reduction gear 94c, it is provided with torque limiter The transmitting of 94d, this torque limiter 94d cutting (cut) more than a certain amount of torque.It prevents from applying relaxation elimination motor 95 as a result, Add overload, so that relaxation be protected to eliminate motor 95.That is, relaxation eliminate motor 95 can be used can generate can cancellation band 32 relaxation The miniature motor of the torque (low torque) of degree.

As shown in figure 8, on controller 50 other than a pair of of electric winch 30 (only showing one of them in diagram), via Wiring 14 (referring to Fig. 2) etc. and be electrically connected with ignition switch (ignition switch) IG, vehicle speed sensor VS, drive range Sensor (shift position sensor) SP, operation panel 60 and buzzer 65.In addition, controller 50 can utilize nothing Line receives the various operation signals from remote controler 70.

Controller 50 includes: control circuit portion 51, carries out overall control to electric winch 30 based on various input signals, The disengaging of the band 32 of traction wheel chair 20 is controlled.In addition, controller 50 includes: drive circuit (driving circuit) 52, Based on from control circuit portion 51 control signal H1, control signal H2, control signal H3, control signal H4, control signal H5, The input for controlling signal H6 makes the electric motor portion 80 of electric winch 30 rotate driving.

Furthermore control circuit portion 51 is that part is distinguished to the driving other than electric motor portion 80 based on various input signals It is controlled, i.e., motor 95 is eliminated to solenoid-activated component 93c and relaxation and be respectively controlled.

The rotation status (low speed rotation) for indicating reel 92 is inputted from reel rotation sensor 96 to control circuit portion 51 Reel rotating signal RD, and turning for the rotation status (high speed rotation) for indicating rotor 81b is inputted from rotor rotation sensors 80c Sub- rotating signal RR.Control circuit portion 51 grasps electric mincing based on reel rotating signal RD and rotor rotating signal RR as a result, The driving condition of vehicle 30.

Herein, controller 50 is started by the input of unlatching (ON) signal from ignition switch IG, as a result, electric mincing Vehicle 30 becomes standby mode.At this point, there is the speed signal V (m/s) from vehicle speed sensor VS in control circuit portion 51 simultaneously in input In the case where being judged as that vehicle 10 is in driving process, forbid the running of electric winch 30.In addition, control circuit portion 51 is coming Also it is judged as vehicle 10 in the case where being other than parking (parking) signal (P signal) from the signal of gearshift position sensor SP It is not in dead ship condition, forbids the running of electric winch 30.

In this way, control circuit portion 51 is with vehicle 10 certainly stops as triggering (trigger) and allows electric winch 30 Running.Therefore, the reliability and safety of control device 40 (referring to Fig. 2) is got higher.

In addition, the extraction of 51 storage tape 32 of control circuit portion, and wheelchair 20 is grasped according to the extraction of the band 32 Relative to vehicle 10 (referring to Fig.1) be in where.Moreover, information (the wheel of extraction of the control circuit portion 51 based on band 32 The location information of chair 20) accurately control electric winch 30.Specifically, electric winch 30 is controlled in control circuit portion 51 In the control content of system, such as it can be listed below shown in (1)~(5) stated and control content.

(1) before wheelchair 20 will be moved into mounting space 11, to slow down the motor part 81 of electric winch 30 The mode of rotation speed is controlled.Thereby, it is possible to not give to bring uneasy sense by care-giver.At this point, can also be via buzzer 65 to carry out, " carrying to vehicle closes to an end." etc. broadcast.

(2) when wheelchair 20 is moved in, and before it will climb on slope 12, to slow down the motor part 81 of electric winch 30 The mode of rotation speed controlled, thereby, it is possible to not to bringing uneasy sense by care-giver.At this point, can also be via buzzing Device 65 " move on slope.It please catch handle." etc. broadcast.

(3) extraction for the band 32 drawn from a pair of of electric winch 30 is aligned respectively with equal length, such as can eliminated The unfavorable condition being bent on slope 12 etc such as the direction of travel of wheelchair 20.At this point, can also be carried out via buzzer 65 " adjusting the extraction of band.Please don't hook connect wheelchair." etc. broadcast.

(4) when wheelchair 20 is moved in and when wheelchair 20 is located on slope 12, i.e., when big to the load of electric winch 30, It can carry out increasing the control of the driving torque of motor part 81.Thereby, it is possible to move in wheelchair 20 into mounting space 11 rapidly.

(5) in wheelchair 20 towards when moving out outside compartment and when wheelchair 20 is located on slope 12, i.e. the load to electric winch 30 When big, the control for brake for making motor part 81 generate brake force can be carried out.Inhibit as a result, unexpected on slope 12 of wheelchair 20 plus Speed brings uneasy sense by care-giver to will not give.

Herein, the extraction of band 32 becomes rotates with the reel detected from the rotation to the reel 92 for being wound with band 32 The proportional value of the count value of " unlatching " of the pulse signal (reel rotating signal RD) of sensor 96.That is, the extraction of band 32 The increase and decrease of amount and the increase and decrease of count value are proportional.

Furthermore reel rotation sensor 96 is the Magnetic Sensors such as Hall sensor, opposite with reel rotation sensor 96 Reel 92 part in be provided with rotation with this reel 92 and the annular magnet (not shown) that rotates.Reel revolves as a result, Turn the pulse signal that sensor 96 generates expression " unlatching " or " closing " with the relative rotation of annular magnet.

The drive circuit 52 of controller 50 is installed on the control base board 80b (reference of receiving to the inside of motor shell 80a Fig. 5).As shown in figure 9, being electrically connected with power supply (battery) Bt being equipped in vehicle 10, and in power supply Bt in drive circuit 52 Positive side (in figure upside) be configured with multiple first switching element F1, first switching element F2, first switching element F3.In addition, Multiple second switch element F4, second switch element F5, second switch element are configured in the negative side (downside in figure) of power supply Bt F6。

Herein, in the present embodiment, first switching element F1, first switching element F2, first switching element F3 and Two switch element F4, second switch element F5, second switch element F6 are arranged in a manner of becoming three pairs respectively, the switch member Part F1, switch element F2, switch element F3, switch element F4, switch element F5, switch element F6 separately include metal oxide Semiconductor (metal oxide semiconductor, MOS) type field effect transistor (field effect transistor, FET)。

To the switch element F1~switch element F6, the control letter from control circuit portion 51 is inputted with defined timing Number H1~control signal H6.Switch element F1~switch element F6 is in turn switched on disconnection (switch) with high speed as a result,.Therefore, Driving current ID, and then turn of motor part 81 are successively supplied to U phase coil Cu, V phase coil Cv, W phase coil Cw of motor part 81 Sub- 81b is driven in rotation.

Then, the elemental motion of motor part 81 is illustrated.

For rotation drive motor portion 81, as long as successively supplying driving current ID to three coil Cu, coil Cv, coil Cw .Wherein, according to the difference of the size of the load applied to motor part 81, the rotation of rotor 81b can not be followed to three lines Enclose the supply of the driving current ID of Cu, coil Cv, coil Cw.

Therefore, control circuit portion 51 monitors rotor based on the rotor rotating signal RR from rotor rotation sensors 80c Thus the rotation status of 81b adjusts the timing to each coil Cu, coil Cv, coil Cw supply driving current ID.In other words It says, the rotation status that control circuit portion 51 makes the confession of driving current ID give rotor 81b is synchronous, to become optimal rotation status Mode control motor part 81.

For example, making first switching element F1 and second switch element F5 " on ", driving electricity thus is supplied to U phase coil Cu Stream ID.Then, make first switching element F2 and second switch element F6 " on ", driving current thus is supplied to V phase coil Cv ID.In turn, make first switching element F3 and second switch element F4 " on ", driving current ID thus is supplied to W phase coil Cw.

As a result, by successively supplying driving current ID to each coil Cu, coil Cv, coil Cw, in each coil Cu, line It is sequentially generated electromagnetic force in circle Cv, coil Cw, rotor 81b is thus made to rotate driving in the prescribed direction.

In addition, motor part 81 can also be made to generate brake force.For the control for brake for make motor part 81 to generate brake force, Specifically, make all first switching element F1, first switching element F2, first switching element F3 " on ", or make to own Second switch element F4, second switch element F5, second switch element F6 " on ".Herein, in the former case, make institute "off" makes in the latter case simultaneously by some second switch element F4, second switch element F5, second switch element F6 All first switching element F1, first switching element F2, first switching element F3 while "off".

" closed circuit " is formed in drive circuit 52 as a result, so that motor part 81 is functioned as generator (running).Thus, rotor 81b is difficult to carry out relative rotation relative to stator core 81a (referring to Fig. 5), and then in motor part 81 Middle generation brake force.Furthermore the brake force generated by forming " closed circuit " as described above is by along with permanent magnet 81c The rotation of (referring to Fig. 5) and the faradic size that generates in three coil Cu, coil Cv, coil Cw determines.That is, rotor The rotation speed of 81b is faster, and induced current becomes bigger, and brake force also becomes bigger.

In turn, it can replace in motor part 81, generate brake force by forming " closed circuit " as described above, and lead to It crosses at least phase supply " braking driving current " (not shown) in three coil Cu, coil Cv, coil Cw and becomes logical Electricity condition, generate brake force.

As a result, in rotor 81b, the driving force (magnetic attraction) for stopping this rotor 81b is generated, is become than passing through " closed circuit " is formed come the brake force of the brake force strength generated.Herein, each coil Cu, coil Cv, coil Cw are supplied The method of " braking driving current " is identical as the case where driving the rotation of motor part 81.That is, for example, being supplied to U phase coil Cu In the case where to " braking driving current ", as long as making first switching element F1 and second switch element F5 " on ".

Furthermore three coil Cu, coil Cv, coil Cw, In in the present embodiment, are wound with delta connection respectively It, can also be using winding three coil Cu, coil Cv, coil Cw and winner respectively with planetary wiring (Y wiring) in the present invention.

Moreover, in the case where winding three coil Cu, coil Cv, coil Cw using planetary wiring, can with it is described same " closed circuit " is formed in drive circuit 52 to generate brake force to sample.On the other hand, in the brake force for generating more strength In the case where, as long as example, first switching element and defined second switch element " on " as defined in making, from U phase coil to V Phase coil (across two-phase) supply " braking use driving current " can (not shown).That is, in the feelings being wound using planetary wiring Under condition, to the two-phase supply " braking driving current " in three coil Cu, coil Cv, coil Cw.

Herein, in the following description, for ease of description, the control for brake of formation " closed circuit " is known as " closure Circuit control for brake ", by the braking to the phase supply " braking driving current " in three coil Cu, coil Cv, coil Cw Control is known as " one communicates electric braking control ".

Then, the movement of controller 50 is described in detail using attached drawing.

Furthermore flow chart shown in Fig. 10 indicates that control device 40 (referring to Fig. 2) is being operated, and to band free switch The movement content of controller 50 when 63 (referring to Fig. 3 (a)) progress opening operation.

In step slo, using operator to the opening operation carried out with free switch 63, the control of controller 50 enters To " band sends out permission mode " of the submitting for allowing band 32.As a result, using manually freely from reel 92 draw band 32, and will Hook 31 is hooked to the wheelchair 20 being located at outside compartment.

In step S11 later, firstly, control circuit portion 51 rotates letter based on the reel for the rotation status for indicating reel 92 Number RD, to calculate the revolving speed Rn of current reel 92.Then, it in control circuit portion 51, executes to the revolving speed Rn of calculating and pre- The comparison processing that the rotary speed threshold value RTH first stored is compared.

Herein, rotary speed threshold value RTH constitutes the egulation rotating speed in the present invention, and is configured to bigger value (high revolving speed). Specifically, rotary speed threshold value RTH is configured to the composition zero on the periphery than being possible to damage the reel 92 for forming electric winch 30 The low revolving speed of the revolving speed of the reel 92 of part.

Moreover, control circuit portion 51 is in the situation that the revolving speed Rn for being judged as current reel 92 is rotary speed threshold value RTH or more Under, that is, it is judged as in the case that the off speed of band 32 is fast in the case where (being determined as it being (Yes)), enters step S12.With this phase Right, control circuit portion 51 (is determined as no in the case where revolving speed Rn that is judged as current reel 92 less than rotary speed threshold value RTH (no)) in the case where, S13 is entered step.

In step s 12, control circuit portion 51 is judged as that band 32 is strongly stretched, and reel 92 is rotated with being carried out at high speed, and It is possible that the constituent part on the periphery of damage reel 92, that is, be judged as and need to carry out control for brake.Specifically, control circuit portion 51 execute " the closed circuit control for brake " as control for brake." closed circuit " is formed in drive circuit 52 as a result, it is right The rotation of reel 92 applies brake force.Thus, inhibit band 32 strongly to be stretched, so that the constituent part on the periphery of reel 92 obtains Protection.

At this point, control circuit portion 51 also executes operator slowly to draw the processing of band 32 and ring buzzer 65. Herein, from buzzer 65 such as ring warning tones and broadcast playing " please slowly drawing band " is advisable.Operator can as a result, It notices and band 32 is just drawn with the dynamics for damaging the degree of electric winch 30, and can prevent the continuation acted thereafter from (sharply drawing Band 32).

On the other hand, in step s 13, control circuit portion 51 is judged as reel 92 not so that the journey that electric winch 30 damages The high speed rotation of degree remains within original open-circuit condition to form " closed circuit " not in drive circuit 52. That is, in step s 13, control circuit portion 51 makes drive circuit 52 keep original state without any control, thereafter, Return step S11.

After control circuit portion 51 executes " closed circuit control for brake " in step s 12, in step S14, judgement is executed Whether the processing of stipulated time T is passed through.Specifically, it is determined as no (no) before by stipulated time T, executes step repeatedly The processing of S14.Moreover, entering step S15 in the case where (being determined as it being (yes)) by the case where stipulated time T.

In this way, carrying out timing processing in step S14 until passing through stipulated time T, that is, executing the place as " timer " Reason.Furthermore in the present embodiment, such as stipulated time T is set as " 5 seconds ".

In step S15 later, control circuit portion 51 executes the processing for terminating " closed circuit control for brake ".That is, control Circuit portion 51 processed executes the control for making drive circuit 52 become open circuit.At this point, passing through stipulated time T in step S14 During before (=5 seconds), by " closed circuit control for brake ", to the application of band 32, the load becomes large, and buzzer 65 becomes to ring Loud state.Therefore, operator can be made to recognize slowly to draw band 32 during before by stipulated time T.Moreover, In After the processing of step S15, it is back to step S11.

As set forth in more detail above, according to the control device 40 of the electric winch 30 of embodiment 1, controller 50 is allowing band 32 Submitting band send out permission mode in the case where, and the revolving speed Rn of reel 92 be rotary speed threshold value RTH or more situation (band 32 The fast situation of off speed) under, " the closed circuit control for brake " that applies brake force to the rotation of reel 92 is carried out, therefore can Strength is inhibited to stretch (mischief etc.) band 32.Therefore, it can inhibit reel 92 to be carried out at high speed rotation, and composition can be effectively inhibited The part injury of electric winch 30.

In addition, motor part 81 is 3-phase brushless motor according to the control device 40 of the electric winch 30 of embodiment 1, control Device 50 processed controls the drive circuit 52 in drive motor portion 81 for " closure electricity at progress " closed circuit control for brake " Road ".Thus, it can be achieved that the flattening of electric winch 30, while no setting is required the isometric big mechanism of electromagnetic clutch, to reel 92 rotation applies brake force and can protect electric winch 30.

In turn, according to the control device 40 of the electric winch 30 of embodiment 1, controller 50 is in progress " closed circuit system After dynamic control " by stipulated time T in the case where, terminate " closed circuit control for brake ".It can inhibit " close on one side as a result, The time of conjunction circuit control for brake " extends, and is restored to common state of a control on one side, and then can inhibit and move in mounting space 11 The low efficiency of wheelchair 20 is inferior.

Then, multiple other embodiments of the invention are described in detail using attached drawing.Furthermore to have with it is described The part of the same function of embodiment 1 marks identical symbol, and description is omitted.

Figure 11 illustrates that the flow chart with the control content for sending out permission mode of embodiment 2, Figure 12 illustrate that The flow chart with the control content for sending out permission mode of embodiment 3, Figure 13, which illustrates that the band of embodiment 4 is sent out, to be allowed The flow chart of the control content of mode, Figure 14 illustrate that the process with the control content for sending out permission mode of embodiment 5 Figure, Figure 15 illustrate that the flow chart with the control content for sending out permission mode of embodiment 6.

[embodiment 2]