Wheelchair fixing device

Abstract

To provide a wheelchair fixing device capable of releasing a hook for fixing a wheelchair appropriately, and suppressing inconvenience that may occur by an interference between the hook and the wheelchair.SOLUTION: A wheelchair fixing device 1 for fixing a wheelchair by operating a hook 30 and causing the hook 30 to hook on the wheelchair, and releasing the fixed wheelchair by disengaging the hook 30 hooked on the wheelchair includes: a motor 20 for operating the hook 30; and a control unit for performing driving control for the motor 20. When a release operation by which the fixing of the wheelchair is released is performed, the control unit drives the motor 20 so that an average rotation speed of the motor 20 becomes a second rotation speed faster than a first rotation speed after driving the motor 20 so that the average rotation speed of the motor 20 becomes the first rotation speed.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a wheelchair securing device. [Background technology]

[0002] Various technologies have been proposed so far regarding wheelchair fixing devices for fixing a wheelchair that has entered a vehicle such as an automobile (see, for example, Patent Documents 1 and 2). The wheelchair fixing device described in Patent Document 1 rotates a rotatable hook part and hooks it onto a locked member of the wheelchair that has entered the vehicle, thereby locking the wheelchair and preventing it from moving. The wheelchair fixing device described in Patent Document 2 hooks a hook connected to a wire onto the wheelchair that has entered the vehicle, rotates a drum gear to wind up the wire, and applies tension to the wire, thereby fixing the wheelchair. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2018-102580 [Patent Document 2] Japanese Patent Application Laid-Open No. 2013-230235 Summary of the Invention [Problem to be solved by the invention]

[0004] In the wheelchair fixing devices described in Patent Documents 1 and 2, when releasing the wheelchair from its fixed position, it is necessary to release the hook that is caught on the wheelchair. When the wheelchair fixing device is fixing the wheelchair, the hook continues to pull the wheelchair. Therefore, when the hook is released and the tension on the hook is suddenly relieved, the hook and the wheelchair may interfere with each other, causing problems such as abnormal noise.

[0005] An object of the present invention is to provide a wheelchair fixing device that can preferably release a hook that fixes a wheelchair and can prevent problems that may occur due to interference between the hook and the wheelchair. [Means for solving the problem]

[0006] A wheelchair fixing device according to one aspect of the present invention comprises: A wheelchair fixing device that operates a hook to hook onto a wheelchair to fix the wheelchair, and also releases the hook from the wheelchair to release the fixation of the wheelchair, a motor for operating the hook; a control unit that controls the drive of the motor; Equipped with The control unit When the wheelchair is released, the motor is driven at a first rotation speed, and then at a second rotation speed that is faster than the first rotation speed. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide a wheelchair securing device that can preferably release a hook that secures a wheelchair and can prevent problems that may occur due to interference between the hook and the wheelchair. [Brief explanation of the drawings]

[0008] [Figure 1] FIG. 10 is a diagram showing an example of a state in which a wheelchair is fixed by a wheelchair fixing device inside a vehicle. [Figure 2] 1 is a plan view showing an example of a wheelchair fixing device. [Figure 3] FIG. 10 is a diagram illustrating a hook. [Figure 4] FIG. 2 is an example of a block diagram illustrating a configuration of a wheelchair fixing device. [Figure 5] 10 is a flowchart showing an example of a wheelchair release operation process executed by a control unit. [Figure 6] 10A and 10B are diagrams for explaining the average rotation speed of the motor in the release operation process. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. Directions described in this specification are as shown in Figures 1 to 3, and the front-rear direction shown in Figures 1 to 3 corresponds to the front-rear direction of vehicle 100.

[0010] FIG. 1 is a diagram showing an example of a state in which a wheelchair 110 is secured in a vehicle 100 by a wheelchair securing device 1. As shown in FIG.

[0011] The wheelchair 110 of this embodiment has a rod-shaped anchor bar 112 arranged below the seat 111 on which the user sits. The anchor bar 112 is provided below the seat 111, between the front wheels 113 and the rear wheels 114, in a position extending along the width direction (left-right direction) of the wheelchair 110. The wheelchair 110 is carried into the vehicle 100 by, for example, an assistant, and placed on a floor surface 101 inside the vehicle 100. A wheelchair fixing device 1, which will be described later, is provided on the floor surface 101. The wheelchair 110 placed on the floor surface 101 is fixed to the floor surface 101 by the anchor bar 112 being held by the wheelchair fixing device 1.

[0012] (Configuration of wheelchair fixing device 1) FIG. 2 is a plan view showing an example of the wheelchair fixing device 1. As shown in FIG.

[0013] The wheelchair fixing device 1 has a base member 10. The base member 10 is made of a thin plate that is rectangular in plan view, and is provided along a floor surface 101 (see FIG. 1) of a vehicle 100 (see FIG. 1). The base member 10 may also form part of the floor surface 101 of the vehicle 100.

[0014] A pair of fixing members 11 are provided on the front side in the front-rear direction of the base member 10. One of the pair of fixing members 11 is provided on the right side in the left-right direction, and the other is provided on the left side in the left-right direction. A hook 30 is provided on each of the pair of fixing members 11.

[0015] Fig. 3 is a diagram for explaining the hook 30. Fig. 3 is a diagram of the wheelchair fixing device 1 as seen from the left. Note that Fig. 3 does not show components other than those related to the hook 30. The up-down direction shown in Fig. 3 corresponds to the height direction of the vehicle 100.

[0016] The fixed member 11 has a flat surface 11A along the up-down direction, and the hook 30 is provided on the flat surface 11A. The hook 30 is a long, thin plate, and one end side in the longitudinal direction is provided on the flat surface 11A of the fixed member 11 via an axial member 31 whose longitudinal direction is the left-right direction. The hook 30 is rotatable relative to the fixed member 11 with the axial member 31 as a fulcrum, and is configured so that the position can be changed between an upright position and a lying position by rotating.

[0017] 3(A), the upright position is a state in which the hook 30 stands upright relative to the base member 10. When the hook 30 stands upright relative to the base member 10, the longitudinal direction of the hook 30 is inclined relative to the base member 10 so that the free end (the end opposite to the end where the shaft member 31 is provided) of the hook 30 moves away from the base member 10 as it moves from the front to the rear in the front-to-rear direction.

[0018] 3(B), the lying posture is a state in which the hook 30 is lying down relative to the base member 10. When the hook 30 is lying down relative to the base member 10, the longitudinal direction of the hook 30 is approximately parallel to the base member 10.

[0019] An arc-shaped opening 32 is formed in the hook 30. A guide groove 12 is formed in the front-rear direction in the flat surface 11A of the fixing member 11. A cylindrical rod 50 extending in the left-right direction is inserted into the opening 32 of the hook 30 and the guide groove 12 of the fixing member 11. When the rod 50 moves in the front-rear direction along the guide groove 12, the wall surface of the opening 32 of the hook 30 is pressed by the rod 50, causing the hook 30 to move to an upright position or a lying position. The rod 50 and the opening 32 of the hook 30 correspond to the "link mechanism" of the present invention.

[0020] A notch 33 is provided at the free end of the hook 30 (the end opposite to the end where the shaft member 31 is provided) into which an anchor bar 112 (see FIG. 1) of a wheelchair 110 (see FIG. 1) can be inserted. The notch 33 is formed so that the lower edge of the thin plate is notched upward when the hook 30 is in the lying position. As shown in FIG. 3(A), the opening of the notch 33 on the lower side of the thin plate faces downward when the hook 30 is in the lying position, and faces backward when the hook 30 is in the standing position.

[0021] When the hook 30 is in a lying position with the anchor bar 112 of the wheelchair 110 inserted into the notch 33, the wheelchair fixing device 1 is in a fixed state in which it fixes the wheelchair 110. In this lying position, the opening of the notch 33 faces downward as described above, so the anchor bar 112 cannot easily come out of the notch 33.

[0022] Although it has been described above that the state in which the longitudinal direction of the hook 30 is approximately parallel to the base member 10 is the lying-down position, the wheelchair 110 is not necessarily in a fixed state when the longitudinal direction of the hook 30 is approximately parallel to the base member 10. For example, even if the longitudinal direction of the hook 30 is not approximately parallel to the base member 10, the wheelchair 110 may be in a fixed state when the longitudinal direction of the hook 30 is in a position that is more inclined toward the base member 10 than the upright position. In other words, the lying-down position also includes a position in which the longitudinal direction of the hook 30 is inclined with respect to the base member 10.

[0023] When releasing the wheelchair 110, the wheelchair securing device 1 puts the hook 30 in an upright position. In the upright position, the opening of the notch 33 is separated from the base member 10 and faces rearward as described above. This makes it possible to pull out the anchor bar 112 inserted into the notch 33. In other words, when the hook 30 is in an upright position, the wheelchair securing device 1 is in a release state in which the wheelchair 110 is released from its fixed position.

[0024] Returning to Figure 2, the motor 20 is provided on the rear side of the base member 10 in the front-to-rear direction. The motor 20 is provided in a position where its rotation shaft is aligned, for example, along the normal direction (up-down direction) of the base member 10. The rotation shaft of the motor 20 is connected to a transmission mechanism 40, which will be described later. The wheelchair fixing device 1 rotates the motor 20 to drive the transmission mechanism 40, thereby moving the rod 50 in the front-to-rear direction and transitioning the hook 30 to an upright position or a reclined position.

[0025] A guide portion 60 is provided on the front side of the base member 10 in the front-rear direction. The guide portion 60 is provided in a state spaced apart upward from the base member 10 (floating above the base member 10). The guide portion 60 is provided with a slide groove 61 extending along the front-rear direction. The slide groove 61 is a rectangular opening extending in the front-rear direction in a plan view. The slide groove 61 is a groove for sliding a slide portion 43 of the transmission mechanism 40, which will be described later, along the front-rear direction.

[0026] The transmission mechanism 40 converts the rotation of the motor 20 into linear motion. The transmission mechanism 40 has a gear 41, a conversion unit 42, and a slide unit 43. The gear 41 rotates in response to the rotation of a rotation shaft (not shown) of the motor 20. The conversion unit 42 is a long plate member, and one end of the conversion unit 42 is provided on the gear 41 so as to be rotatable relative to the gear 41. The other end of the conversion unit 42 is provided on the slide unit 43 so as to be rotatable relative to the slide unit 43. The slide unit 43 is provided in the slide groove 61 so as to be able to slide along the slide groove 61.

[0027] With this configuration, when the gear 41 rotates in one direction (counterclockwise on the plane of FIG. 2 in this embodiment), one end of the conversion unit 42 approaches the slide groove 61 in the left-right direction. Furthermore, when the gear 41 rotates in the other direction (clockwise on the plane of FIG. 2 in this embodiment), one end of the conversion unit 42 moves away from the slide groove 61 in the left-right direction. When one end of the conversion unit 42 approaches the slide groove 61 in the left-right direction, the other end of the conversion unit 42 moves forward, and as a result, the slide unit 43 provided at the other end of the conversion unit 42 is pushed forward by the conversion unit 42. Furthermore, when one end of the conversion unit 42 moves away from the slide groove 61 in the left-right direction, the other end of the conversion unit 42 moves backward, and as a result, the slide unit 43 provided at the other end of the conversion unit 42 is pulled backward by the conversion unit 42. That is, by driving the motor 20 in the forward and reverse directions, the slide portion 43 reciprocates along the slide groove 61 in the front-rear direction.

[0028] A cylindrical rod 50 extending in the left-right direction is provided on the slide portion 43. The rod 50 is held at its center in the left-right direction by the slide portion 43 and is provided so as to protrude in both the left and right directions from the slide portion 43. As described in FIG. 3 , the tip of the rod 50 is inserted into the opening 32 of the hook 30 and the guide groove 12 of the fixing member 11. When the rod 50 moves rearward, it puts the hook 30 in a lying position. When the rod 50 moves forward, it puts the hook 30 in an upright position.

[0029] 4 is an example of a block diagram for explaining the configuration of the wheelchair fixing device 1. The wheelchair fixing device 1 includes an operation receiving unit 2, a motor load detector 3, a control unit 4, and a motor 20.

[0030] The operation receiving unit 2 receives user operations for the wheelchair securing device 1. The wheelchair securing device 1 may be provided with an operation panel through which the user inputs operations, or may be configured to receive operation signals input by the user via an external device (for example, a mobile device).

[0031] The motor load detector 3 detects the load (e.g., current value) of the motor 20. The motor load detector 3 includes a current sensor that estimates the load by detecting the current flowing through the motor 20. A Hall effect sensor can be used as the current sensor, which detects current by utilizing the Hall effect, in which the magnitude of the current is proportional to the voltage difference generated in a conductor arranged perpendicular to the magnetic field in the conductor carrying the current. Using a Hall effect sensor allows for a compact, highly accurate, and fast-responding current sensor. Alternatively, a shunt resistor, which is a low-resistance resistor connected in series to the current flow path, can be used as the current sensor. In this case, the magnitude of the current, i.e., the load of the motor 20, can be detected based on the voltage drop when the current passes through the shunt resistor and the resistance value of the shunt resistor.

[0032] The control unit 4 controls the functions of each unit provided in the wheelchair securing device 1, and executes a release operation process to release the wheelchair securing device 1. The control unit 4 includes, for example, a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), a timer, etc. (none of which are shown), and the CPU reads out a program stored in the ROM into the RAM and executes it, thereby controlling the functions of each unit provided in the wheelchair securing device 1.

[0033] The control unit 4 also executes a fixing operation process to fix the wheelchair fixing device 1. The fixing operation process refers to a process in which, with the anchor bar 112 inserted into the notch 33 of the hook 30, the control unit 4 drives the motor 20 to move the slide part 43 of the transmission mechanism 40 backward, thereby putting the hook 30 into a lying position.

[0034] (Release operation process of the wheelchair 110) The release operation process of the wheelchair 110 will be described below. The release operation process is executed when the wheelchair securing device 1 transitions from a fixed state to a released state, and is started by a user operation. In the fixed state, the anchor bar 112 of the wheelchair 110 is inserted into the notch 33 of the hook 30, and the hook 30 is in a lying position. The release operation in this embodiment refers to a series of operations from when the user performs a release operation until the hook 30 assumes an upright position.

[0035] When the hook 30 (see, for example, FIG. 2) is shifted from a lying position to an upright position during this release operation, the tension on the hook 30 is suddenly released, which may cause an abnormal noise. This abnormal noise may be generated when the anchor bar 112 (see FIG. 1) interferes with the hook 30, or when the anchor bar 112, which is sandwiched between the wall of the notch 33 (see FIG. 3) of the hook 30, comes out of the notch 33. For this reason, the wheelchair securing device 1 of this embodiment executes a release operation to release the securing of the wheelchair 110 within a predetermined time while preventing any malfunction caused by interference between the hook 30 and the anchor bar 112. Here, the predetermined time is a waiting time from when the user starts the release operation of the wheelchair 110 so that the user does not feel dissatisfied, and is set, for example, based on experience, and is not particularly limited.

[0036] Fig. 5 is a flowchart showing an example of the release operation process of the wheelchair 110 executed by the control unit. Fig. 6 is a diagram for explaining the average rotation speed of the motor 20 in the release operation process. The release operation process will be explained below with reference to Figs. 5 and 6.

[0037] First, in step S1, the control unit 4 determines whether or not it has received a user's operation to release the wheelchair securing device 1. In the processing of step S1, when the operation receiving unit 2 receives the user's operation of the wheelchair securing device 1, it is determined as YES that a release operation has been performed. The control unit 4 repeatedly executes the processing of step S1 until it is determined as YES in step S1, and when it is determined as YES in step S1, it moves the processing to step S2.

[0038] In step S2, the control unit 4 starts measuring the elapsed time. After executing the process of step S2, the control unit 4 moves the process to step S3.

[0039] In step S3, the control unit 4 starts driving the motor 20. After executing the process of step S3, the control unit 4 moves the process to step S4.

[0040] In step S4, the control unit 4 determines whether a first predetermined time has elapsed since starting to measure the elapsed time in step S2. If the first predetermined time has elapsed, the determination is YES. The control unit 4 repeatedly executes the process of step S4 until the determination is YES in step S4.

[0041] In this embodiment, in steps S3 and S4, the control unit 4 drives the motor 20 using PWM (Pulse Width Modulation) control for a first predetermined time. Specifically, as shown in FIG. 6, the control unit 4 gradually increases the duty ratio of the PWM signal for the first predetermined time. The rotation speed of the motor 20 is changed according to the duty ratio. For example, when the duty ratio is 100%, the motor 20 rotates at the maximum speed. When the duty ratio is 50%, the motor 20 rotates at 50% of the maximum speed. In steps S3 and S4, the control unit 4 gradually increases the duty ratio so that the average rotation speed of the motor 20 over the first predetermined time becomes the first rotation speed. For example, as shown in FIG. 6, the control unit 4 adds the duty ratio of the PWM signal so that the slope (the amount of duty ratio added per unit time) shown in FIG. 6 becomes a predetermined slope. As a result, the rotation speed of the motor 20 gradually accelerates. The first rotation speed is a rotation speed that is set so as to suppress noise that may be generated by interference between the hook 30 and the wheelchair 110 .

[0042] When starting to drive the motor 20, the control unit 4 drives the motor 20 at a voltage higher than the minimum operating voltage of the motor 20. If the motor 20 is started to be driven at a voltage lower than the minimum operating voltage, there will be a period of time immediately after the start of the release operation process during which the motor 20 does not actually operate, resulting in wasted time. Furthermore, it is preferable that the pulse period of the PWM signal be longer and the acceleration be gentler until the anchor bar 112 (see FIG. 1) comes out of the notch 33 (see FIG. 3) of the hook 30.

[0043] In step S5, the control unit 4 drives the motor 20 so that the average rotation speed of the motor 20 becomes the second rotation speed. After executing the process of step S5, the control unit 4 moves the process to step S6.

[0044] In step S6, the control unit 4 determines whether a second predetermined time has elapsed since the process of step S5 was executed. If the second predetermined time has elapsed, a YES determination is made. The control unit 4 repeatedly executes the process of step S6 until a YES determination is made in step S6.

[0045] In this embodiment, in steps S5 and S6, the control unit 4 drives the motor 20 using PWM control for a second predetermined time. Specifically, as shown in FIG. 6 , the control unit 4 changes the amount of duty cycle added per unit time during the second predetermined time so that the gradient is greater than the predetermined gradient during the first predetermined time. Specifically, in steps S5 and S6, the control unit 4 gradually increases the duty cycle of the PWM signal so that the average rotational speed of the motor 20 during the second predetermined time becomes the second rotational speed. As a result, the acceleration of the rotational speed of the motor 20 during the second predetermined time becomes greater than the acceleration of the rotational speed of the motor 20 during the first predetermined time. The second rotational speed, which is the average rotational speed of the motor 20 during the second predetermined time, is faster than the first rotational speed, which is the average rotational speed of the motor 20 during the first predetermined time, and is a rotational speed specified so that the release operation is completed within a predetermined time after the start of the release operation. By making the second rotational speed faster than the first rotational speed, the time until the release operation is completed can be shortened.

[0046] If the determination in step S6 is YES, the control unit 4 moves the process to step S7.

[0047] In step S7, after the drive current of the motor 20 has reached a predetermined value or more, the control unit 4 proceeds to step S8 and stops driving the motor 20. The current that is equal to or greater than the predetermined value may be, for example, a current value (locking current) that is generated when the rod 50 of the wheelchair fixing device 1 hits the end (rear end) of the guide groove 12 of the fixing member 11. Note that in step 7, it may be configured to detect whether the predetermined current value continues for a certain period of time or more. This makes it possible to reliably detect that the locking current has been reached. After executing the process of step S8, the control unit 4 ends the release operation process for the wheelchair 110.

[0048] According to this release operation process, during the first predetermined time until the anchor bar 112 is released from the notch 33 of the hook 30, the hook 30 is gradually shifted from the lying position to the standing position, thereby suppressing the generation of abnormal noise. Then, during the second predetermined time, the hook 30 is shifted to the standing position more quickly, thereby completing the release operation within a predetermined time that does not cause dissatisfaction to the user. In this way, the wheelchair securing device 1 can appropriately release the hook 30 that secures the wheelchair 110 and suppress problems that may occur due to interference between the hook 30 and the wheelchair 110. In other words, it is possible to solve the trade-off between suppressing problems such as abnormal noise and completing the release operation within a predetermined time. Furthermore, since the hook 30 is configured to shift to the lying position or the standing position by rotating the motor 20, the wheelchair securing device 1 can adjust the speed at which the hook 30 changes its position simply by changing the control of the motor 20.

[0049] (Variation) In the above-described embodiment, a pair of hooks 30 are provided in the left-right direction, but the number of hooks may be one or more. The configuration for driving the hook 30 is not limited to that of the above-described embodiment. Furthermore, the wheelchair securing device 1 may be configured, for example, to secure the wheelchair 110 by hooking the hook 30 provided at the tip of a wire onto the anchor bar 112 and winding and pulling the wire with a motor, and then to release the securement by driving the motor to loosen the tension on the wire. Even in this case, by gradually loosening the tension on the wire by driving the motor as described above, it is possible to suppress abnormal noise when the hook 30 is removed from the anchor bar 112.

[0050] Furthermore, the control unit 4 may stop driving the motor 20 when the load on the motor 20 detected by the motor load detector 3 exceeds a predetermined value. In this case, it is possible to avoid an abnormality in the release operation process, for example, where the hook 30 interferes with a part of the wheelchair 110 and the wheelchair 110 is unable to transition to an upright position.

[0051] In the above-described embodiment, the control unit 4 accelerates the rotational speed of the motor 20 so that the average rotational speed of the motor 20 becomes the first rotational speed during the first predetermined time, and further accelerates the rotational speed of the motor 20 so that the average rotational speed of the motor 20 becomes the second rotational speed during the second predetermined time. However, this is not limited to this. For example, the control unit 4 may drive the motor 20 so that the rotational speed of the motor 20 becomes a constant or nearly constant first rotational speed during the first predetermined time, and drive the motor 20 so that the rotational speed of the motor 20 becomes a constant or nearly constant second rotational speed during the second predetermined time. Alternatively, the control unit 4 may accelerate the rotational speed of the motor 20 so that the average rotational speed of the motor 20 becomes the first rotational speed during the first predetermined time, and drive the motor 20 so that the rotational speed of the motor 20 becomes a constant or nearly constant second rotational speed during the second predetermined time. Furthermore, the control unit 4 may drive the motor 20 so that the rotational speed of the motor 20 becomes a first rotational speed that is constant or nearly constant during a first predetermined time, and accelerate the rotational speed of the motor 20 so that the average rotational speed of the motor 20 becomes a second rotational speed during a second predetermined time.

[0052] That is, the average rotational speed of motor 20 during the first predetermined time period includes both the average rotational speed when motor 20 rotates at a constant or nearly constant speed, and the average rotational speed when motor 20 rotates while accelerating. Similarly, the average rotational speed of motor 20 during the second predetermined time period includes both the average rotational speed when motor 20 rotates at a constant or nearly constant speed, and the average rotational speed when motor 20 rotates while accelerating. Note that "when motor 20 rotates while accelerating" may mean that the speed of motor 20 is temporarily decelerated during the first predetermined time period or the second predetermined time period, as long as the speed is accelerated throughout the entire first predetermined time period or the second predetermined time period.

[0053] The wheelchair securing device 1 according to the embodiment of the present invention has been described above. The wheelchair securing device 1 according to the embodiment described above mainly comprises the following components.

[0054] (1) In a wheelchair fixing device 1, a hook 30 is operated to hook the hook 30 onto a wheelchair 110 to fix the wheelchair 110, and the hook 30 is removed from the wheelchair 110 to release the fixation of the wheelchair 110. a motor 20 for operating the hook 30; a control unit 4 that controls the drive of the motor 20; Equipped with The control unit 4 When performing a release operation to release the wheelchair 110, the motor 20 is driven so that the average rotation speed of the motor 20 becomes a first rotation speed, and then the motor 20 is driven so that the average rotation speed of the motor 20 becomes a second rotation speed that is faster than the first rotation speed. Wheelchair immobilization device1.

[0055] According to the wheelchair securing device 1 of (1) above, when removing the hook 30 hooked on the wheelchair 110, the release operation can be completed within a predetermined time while suppressing abnormal noise caused by interference between the wheelchair 110 and the hook 30. In other words, the wheelchair securing device 1 can suitably release the hook 30 that secures the wheelchair 110, and suppress problems that may occur due to interference between the hook 30 and the wheelchair 110.

[0056] (2) The first rotation speed, which is the average rotation speed of the motor 20, is a rotation speed that is specified so as to suppress noise that may be generated due to interference between the hook 30 and the wheelchair 110, The second rotation speed, which is the average rotation speed of the motor 20, is a rotation speed that is specified so that the motor 20 is driven so that the average rotation speed of the motor 20 becomes the first rotation speed, and then the release operation is completed within a predetermined time from the start of the release operation. The wheelchair fixing device 1 described in (1) above.

[0057] According to the wheelchair securing device 1 of (2) above, after the hook 30 has been released from the wheelchair 110, the rotation speed of the motor 20 can be increased to shorten the time until the release operation is completed.

[0058] (3) The hook 30 is in a fixed state for fixing the wheelchair 110 when the wheelchair 110 is in a lying position relative to the floor surface to which the wheelchair 110 is fixed, and is in a released state for releasing the fixation of the wheelchair 110 when the wheelchair 110 is in an upright position relative to the floor surface 101. a transmission mechanism 40 that converts the rotational force of the motor 20 into linear motion that follows a reciprocating path along the floor surface 101 and transmits the linear motion; a link mechanism (e.g., a rod 50 and an opening 32) that can change the posture of the hook between the lying down posture and the standing posture based on the linear motion; The wheelchair fixing device 1 according to (1) or (2) above further comprises:

[0059] According to the wheelchair fixing device 1 of (3) above, the hook 30 can be moved to a lying position or an upright position by rotating the motor 20, so that the speed at which the hook 30 changes position can be easily adjusted.

[0060] The wheelchair securing device 1 according to the present invention may be configured only with the configuration described in the wheelchair securing device 1 of (1) above, or may be configured as an arbitrary combination of the configuration described in (1) above with the configuration described in (2) and / or (3) above, as long as consistency can be achieved. When the configuration described in (1) above is combined with the configuration described in (2) and / or (3) above, all or part of the configuration described in (1) above can also be combined with all or part of the configuration described in (2) and / or (3) above, as long as consistency can be achieved.

[0061] As described above, within the scope of the concept of the present invention, those skilled in the art may conceive of various modifications and alterations. Therefore, it is understood that such modifications and alterations fall within the scope of the present invention. For example, even if a person skilled in the art appropriately adds or deletes components or modifies the design of the above-described embodiment, or adds or omits steps or modifies conditions, such modifications are also included within the scope of the present invention as long as they maintain the gist of the present invention. [Explanation of symbols]

[0062] 1 Wheelchair fixation device 2 Operation reception section 3 Motor Load Detector 4. Control Unit 10 Base member 11 Fixing member 11A Flat part 12 Guide groove 14 Control Unit 20 Motor 30 Hooks 31 Shaft member 32 Opening 33 Notch 40 Transmission Mechanism 41 Gear 42 Conversion unit 43 Slide section 50 rods 53 Slide member 60 Information Department 61 Slide groove 100 vehicles 101 Floor 110 Wheelchair 111 Seat section 112 Anchor bar 113 front wheel 114 rear wheel

Claims

1. A wheelchair fixing device that operates a hook to hook onto a wheelchair to fix the wheelchair, and releases the fixation of the wheelchair by detaching the hook that has been hooked onto the wheelchair, a motor for operating the hook; a control unit that controls the drive of the motor; Equipped with The control unit When performing a release operation to release the wheelchair, the motor is driven so that the average rotation speed of the motor becomes a first rotation speed, and then the motor is driven so that the average rotation speed of the motor becomes a second rotation speed that is faster than the first rotation speed. Wheelchair fixation device.

2. the first rotation speed, which is an average rotation speed of the motor, is a rotation speed that is defined so as to suppress noise that may be generated due to interference between the hook and the wheelchair; the second rotation speed, which is an average rotation speed of the motor, is a rotation speed that is specified so that the release operation is completed within a predetermined time from the start of the release operation after the motor is driven so that the average rotation speed of the motor becomes the first rotation speed.

2. The wheelchair securing device according to claim 1.

3. The hook is in a fixed state for fixing the wheelchair when in a lying position where the wheelchair is lying down on a floor surface to which the wheelchair is fixed, and in a released state for releasing the fixing of the wheelchair when in an upright position where the wheelchair is standing up on the floor surface, a transmission mechanism that converts the rotational force of the motor into linear motion that follows a reciprocating path along the floor surface and transmits the linear motion; a link mechanism that can change the posture of the hook between the lying down posture and the standing posture based on the linear motion; The wheelchair securing device according to claim 1 or 2, further comprising:

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