Vehicle ramp device

Abstract

To hold a slope plate stably at a fixed position.SOLUTION: A slope device 11 comprises a slope plate 10 which is deployed at a lower end of a door opening by moving in a deployment direction, or stored in a storage box serving as a storage part provided on a vehicle body, by moving in a storage direction. And then, the slope device 11 comprises a position holding device 70 which holds the slope plate 10 at a fixed position against external force.SELECTED DRAWING: Figure 10

Description

[Technical field]

[0001] The present invention relates to a vehicle ramp device. [Background technology]

[0002] Conventionally, there is a vehicle slope device that deploys a slope plate at the bottom end of a door opening. For example, in the vehicle described in Patent Document 1, the slope device is installed in a storage box provided under the floor. Furthermore, this conventional slope device has a drive source that moves the slope plate in the deployment and storage directions. This makes it possible to quickly form a continuous ramp at the door opening even when there is a passenger carrying a wheelchair, a stroller, or a large carry case. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-131784 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, in a vehicle, in addition to the driving force applied to the slope plate and the weight of the user, an external force may act on the slope plate, and the slope plate may move due to this external force. [Means for solving the problem]

[0005] The vehicle ramp device that solves the above problem comprises a ramp plate that is deployed at the bottom end of the door opening by moving in a deployment direction and stored in a storage section provided on the vehicle body by moving in a storage direction, and a position maintaining device that maintains the position of the ramp plate against external forces.

[0006] According to the above configuration, the position of the slope plate that is provided so as to be movable in the deployment and storage directions can be stably maintained. In a vehicle slope device that solves the above problems, it is preferable that the position maintaining device is equipped with a check mechanism that maintains the slope plate in a position where it is stored in the storage section based on the engagement force between a slope side check provided on the slope plate and a vehicle body side check provided on the vehicle body.

[0007] According to the above configuration, the slope plate stored in the storage section can be prevented from moving in the deployment direction due to an external force, thereby ensuring high reliability.

[0008] In a vehicle slope device that solves the above-mentioned problems, the vehicle body side check preferably comprises a pair of lever members rotatably arranged side by side while extending in the deployment and storage direction of the slope plate, and a biasing member that biases each of the lever members to rotate each of the lever members in a direction in which their engagement portions approach each other, and the slope side check preferably comprises an engagement protrusion that is inserted between the two engagement portions based on the movement of the slope plate toward the storage direction.

[0009] According to the above configuration, the engaging protrusion of the slope-side check is inserted between the pair of lever members constituting the vehicle-side check while pushing the gap between the engaging parts against the biasing force of the biasing member. Furthermore, the lever members pinch the engaging protrusion of the slope-side check inserted between their respective engaging parts based on the biasing force of the biasing member, generating an engaging force. This allows the slope-side check and the vehicle-side check to be engaged smoothly and stably.

[0010] Furthermore, because each lever member rotates independently, even if a misalignment occurs when the engaging protrusion of the slope-side check is inserted between the pair of lever members that constitute the vehicle-side check, this can be absorbed, thereby ensuring smooth operation.

[0011] In a vehicle slope device that solves the above problems, it is preferable that the engagement protrusion has a wedge-shaped portion that gradually becomes wider from the tip to the base end, and a waist portion that gradually becomes narrower continuing from the wedge-shaped portion, and that the engagement portions of each lever member are provided with protrusions that protrude in the direction toward each other and engage with the waist portion of the engagement protrusion.

[0012] According to the above configuration, a high engagement force can be generated by the engagement between the constricted portion and each protrusion. In particular, since the wide portion of the wedge-shaped portion is located closer to the tip of the engagement protrusion than the constricted portion with which each protrusion engages, a large force is required to move the engagement protrusion in the deployment direction against the biasing force of the biasing member. This makes it possible to more stably hold the slope plate in the position where it is stored in the storage section based on the engagement force between the slope-side check and the vehicle-side check.

[0013] A vehicle slope device that solves the above problem preferably includes a drive device that uses a motor as a drive source to move the slope plate in the storage direction, and an engagement detection device that detects, based on a change in current in the motor, that the check mechanism has transitioned to an engaged state in which the engagement force is generated.

[0014] That is, when the slope-side check and the vehicle-side check are engaged, the driving force required for the drive device changes, and this causes the current value of the motor, which is the driving source, to also change. Therefore, with the above-mentioned simple configuration, it is possible to confirm that the position of the slope plate is maintained based on the engagement force of the check mechanism.

[0015] A vehicle slope device that solves the above problems preferably includes a drive device that uses a motor as a drive source to move the slope plate in the deployment and storage directions, and the position maintaining device is configured to maintain the position of the slope plate by the drive device executing electromagnetic brake control that generates a braking force on the motor.

[0016] According to the above configuration, the position of the slope plate can be stably maintained with a simple configuration. In the vehicle ramp device that solves the above-mentioned problems, it is preferable that the drive device executes, as the electromagnetic brake control, a current supply control in which a current supply phase of the motor is fixed.

[0017] That is, by executing a current control called "fixed phase current" or "single phase current", a force is generated in the motor to maintain the electrical rotation angle corresponding to the current phase. By utilizing the braking force generated in the motor, the position of the slope plate can be stably maintained.

[0018] In the vehicle ramp device that solves the above problems, the position maintaining device is preferably configured so that the drive device executes the electromagnetic brake control when the slope plate is stored in the storage section.

[0019] According to the above configuration, it is possible to prevent the slope plate stored in the storage section from moving in the deployment direction due to an external force, thereby ensuring high reliability and safety.

[0020] In a vehicle slope device that solves the above problem, it is preferable that the position maintaining device executes the electromagnetic brake control when an external force acts in a direction that moves the slope plate stored in the storage section in the deployment direction.

[0021] According to the above-described configuration, the slope plate can be effectively held in the position where it is stored in the storage section while suppressing heat generation from the motor. In the vehicle ramp device that solves the above problems, the position maintaining device is preferably configured so that the drive device executes the electromagnetic brake control when the slope plate is in the deployed position.

[0022] According to the above configuration, the position of the slope plate deployed at the lower end of the door opening can be stably maintained. In a vehicle ramp device that solves the above problems, it is preferable that the ramp plate is deployed with the rear end of the ramp plate engaging with the vehicle body, and the position maintaining device is configured such that when the ramp plate is in the deployed position and a change in vehicle height occurs in the vehicle, the drive device executes the electromagnetic brake control.

[0023] That is, there is a possibility that the rear end of the slope plate engaged with the vehicle body may come off due to a change in vehicle height. However, with the above-mentioned configuration, the position of the slope plate deployed at the bottom end of the door opening can be stably maintained based on the braking force generated by the motor by executing the electromagnetic brake control. This ensures high reliability and safety.

[0024] A vehicle slope device that solves the above problems includes a drive device that uses a motor as a drive source to move the slope plate in the deployment and storage directions, and when the drive device drives the slope plate to deploy it to the lower end of the door opening, it is preferable that the drive device decelerates the movement speed of the slope plate before the front end of the slope plate touches the ground.

[0025] According to the above configuration, it is possible to reduce noise and vibrations generated when the slope plate touches the ground. A vehicle ramp device that solves the above problem comprises an actuator that applies a driving force to the slope plate via a drive cable, the actuator comprising a drive gear that is rotationally driven while meshed with the drive cable, and a storage section that rotatably houses the drive gear, and it is preferable that the storage section is provided with a drainage hole and a slope that directs drainage to the drainage hole.

[0026] According to the above-mentioned configuration, for example, wastewater generated in the housing of the drive gear due to water damage, condensation, etc. can be discharged to the outside through the drain hole. Furthermore, the slope allows the wastewater in the housing to be collected in the drain hole. This allows the wastewater in the housing to be effectively discharged to the outside. Effect of the Invention

[0027] According to the present invention, the position of the slope plate can be stably maintained. [Brief description of the drawings]

[0028] [Figure 1] FIG. 1 is a perspective view of a vehicle equipped with a slope device. [Diagram 2] FIG. 1 is a perspective view of a vehicle equipped with a slope device. [Diagram 3] FIG. 4 is a perspective view of a slope device provided below a door opening. [Figure 4] FIG. 4 is a perspective view of a slope device provided below a door opening. [Diagram 5] FIG. 2 is a schematic diagram of a slope device. [Figure 6] FIG. [Figure 7] FIG. [Figure 8] FIG. [Figure 9] FIG. 2 is a control block diagram of a vehicle equipped with a slope device. [Figure 10] FIG. [Figure 11] FIG. [Figure 12] FIG. [Figure 13] FIG. [Figure 14] FIG. [Figure 15] FIG. [Figure 16] FIG. [Figure 17]6 is a graph showing a change in motor current caused by the engagement operation of a check mechanism. [Figure 18] 6 is a flowchart showing a procedure for controlling engagement confirmation of a check mechanism based on a change in current of a motor. [Figure 19] 6 is a flowchart showing a processing procedure for controlling the position maintenance of a slope plate. [Figure 20] FIG. 1 is a schematic diagram of a brushless motor. [Figure 21] 10 is a flowchart showing a procedure for position holding control executed when the slope plate is in a stored state. [Figure 22] 6 is a flowchart showing the procedure of position maintaining control executed when the slope plate is in the deployed state. [Diagram 23] FIG. 13 is an explanatory diagram of deceleration control before touching down that is performed when the slope plate is deployed. [Figure 24] FIG. 4 is a plan view showing an accommodating portion for a drive gear provided in the actuator. [Diagram 25] FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] Hereinafter, an embodiment of a slope device for a vehicle will be described with reference to the drawings. 1 and 2, a vehicle 1 of this embodiment has a vehicle body 2 that is substantially rectangular and box-shaped and extends in the vehicle front-rear direction. A door opening 3 through which passengers can get in and out is provided on a side surface 2s of the vehicle body 2. A pair of sliding doors 4f, 4r that open and close in opposite directions in the vehicle front-rear direction are provided in the door opening 3.

[0030] That is, the sliding door 4f on the front side of the vehicle is opened by moving toward the front side of the vehicle, and is closed by moving toward the rear side of the vehicle. On the other hand, the sliding door 4r on the rear side of the vehicle is opened by moving toward the rear side of the vehicle, and is closed by moving toward the front side of the vehicle. Furthermore, each of these sliding doors 4f, 4r has a configuration as a power sliding door device that opens and closes based on the driving force of an actuator (not shown). And, the vehicle 1 of this embodiment is configured so that the door opening 3 is opened and closed by each of these sliding doors 4f, 4r working together.

[0031] Furthermore, the vehicle 1 of this embodiment is equipped with a slope device 11 that deploys a slope plate 10 at the lower end of the door opening 3 when the door opening 3 is in an open state. The vehicle 1 of this embodiment allows passengers to easily get on and off through the door opening 3 by using the ramp 12 formed by the slope plate 10, even if they are carrying, for example, a wheelchair, a stroller, or a carry case.

[0032] As shown in Figures 3 and 4, in the vehicle 1 of this embodiment, the slope device 11 is installed in a storage box 13 serving as a storage section provided in the vehicle body 2 below the door opening 3. Specifically, the storage box 13 has an opening 13a facing the same direction as the door opening 3. The slope device 11 of this embodiment is configured to deploy the slope plate 10 stored in the storage box 13 to the outside of the vehicle through this opening 13a, and then store the deployed slope plate 10 back into the storage box 13.

[0033] In detail, the slope device 11 of this embodiment is provided with a pair of guide rails 20, 20 which extend in the deployment and storage direction of the slope plate 10 which is deployed from the storage box 13 to the lower end of the door opening 3, that is, in the depth direction within the storage box 13.

[0034] As shown in Figs. 3 to 5, in the slope device 11 of this embodiment, the guide rails 20, 20 are arranged substantially parallel to each other in such a manner that the slope plate 10 in the storage box 13 is sandwiched from both sides in the width direction. The slope device 11 of this embodiment also includes a pair of moving bodies 21, 21 that are slidably provided along the extending direction of the guide rails 20, 20 engaged with the guide rails 20. The slope device 11 also includes a pair of support arms 22, 22 that are rotatably connected to the rear end 10r of the slope plate 10 and to the moving bodies 21. That is, in the slope device 11 of this embodiment, the support arms 22, 22 form a connecting mechanism 23 between the slope plate 10 and the moving bodies 21, 21. This allows the slope plate 10 to move in the unfolding and storage directions in conjunction with the moving bodies 21, 21.

[0035] The slope device 11 of this embodiment also includes an actuator 25 that applies a driving force to the slope plate 10 using a motor 24 as a driving source. In the slope device 11 of this embodiment, the actuator 25 is disposed in the storage box 13 on the rear side of the rear end 20r of each guide rail 20. Furthermore, the slope device 11 of this embodiment also includes a pair of drive cables 26, 26 that are routed along the extension direction of the guide rails 20, 20. In addition, in the slope device 11 of this embodiment, the drive cables 26, 26 are routed from the actuator 25 to the rear end 20r of each guide rail 20, 20 by being inserted into the casing pipes 26x, 26x. In the slope device 11 of this embodiment, the moving bodies 21, 21 move along the extension direction of each guide rail 20, 20 based on the driving force of the actuator 25 transmitted via the drive cables 26, 26.

[0036] Specifically, the actuator 25 of this embodiment has a drive gear 27 that rotates based on the drive force generated by the motor 24. The actuator 25 is configured such that the drive cables 26, 26 mesh with the drive gear 27 at two positions that sandwich the drive gear 27 in the radial direction. That is, the actuator 25 of this embodiment slides the drive cables 26, 26 along the extension direction of the guide rails 20, 20 as the drive gear 27 rotates. Furthermore, in the slope device 11 of this embodiment, the movable bodies 21, 21 are connected to the ends of the drive cables 26, 26. Thus, the slope device 11 of this embodiment is configured such that the movable bodies 21, 21 slide in the deployment and storage direction of the slope plate 10 together with the drive cables 26, 26 while being guided by the guide rails 20, 20.

[0037] 6 and 7, in the slope device 11 of this embodiment, the slope plate 10 is stored in the storage box 13 with a substantially horizontal posture maintained based on the engagement force of the movable body 21 and the support arm 22 with the guide rail 20. The slope device 11 of this embodiment is configured such that the slope plate 10 moves in the deployment and storage directions together with the movable body 21 and the support arm 22 along the extension direction of the guide rail 20 while maintaining this substantially horizontal posture.

[0038] 8, the slope device 11 of this embodiment deploys the slope plate 10 outside the vehicle in such a manner that it extends outward in the vehicle width direction from the side edge 1s of the vehicle 1 where the storage box 13 is provided. Furthermore, in this state, in the slope device 11 of this embodiment, the support arm 22 interposed between the moving body 21 and the slope plate 10 rotates, thereby lifting the rear end portion 10r of the slope plate 10. Thus, the slope device 11 of this embodiment is configured such that the slope plate 10 forms a ramp 12 in such a manner that the rear end portion 10r approaches the vehicle floor 28.

[0039] In the slope device 11 of this embodiment, a floor engagement portion 29 is provided at the rear end portion 10r of the slope plate 10. The slope device 11 of this embodiment is configured such that the load of the slope plate 10 is supported by the vehicle floor 28 as a result of the floor engagement portion 29 engaging with the edge portion 28e of the vehicle floor 28.

[0040] 9, in the vehicle 1 of this embodiment, the actuator 25 of the slope device 11 is controlled by a control device 30. The actuators 31 of the sliding doors 4f, 4r configured as a power sliding door device are also controlled by the control device 30.

[0041] Specifically, the control device 30 of this embodiment receives an operation input signal Scr for an operation input unit 32 provided in the vehicle 1, such as a driver's seat (not shown). That is, in the vehicle 1 of this embodiment, an operation request for the sliding doors 4f, 4r by the driver of the vehicle 1 and an operation request for the slope device 11 are input as the operation input signal Scr to the control device 30. The control device 30 of this embodiment includes a door control unit 33 that controls the opening and closing operations of the sliding doors 4f, 4r based on these operation requests, and a slope control unit 34 that controls the deployment and storage operations of the slope plate 10.

[0042] Incidentally, a pulse signal Sp synchronized with the operation of the actuator 25 is input to the control device 30 of this embodiment. Furthermore, the control device 30 counts this pulse signal Sp to detect the moving position P and moving speed V of the slope plate 10. Then, the slope control unit 34 of this embodiment is configured to execute drive control of the slope plate 10 by acquiring the moving position P and moving speed V.

[0043] 1, 2, and 9, the control device 30 of this embodiment receives an image Vd of the outside of the vehicle captured by a camera 35 provided in the vehicle 1. In the vehicle 1 of this embodiment, the camera 35 is provided, for example, above the door opening 3 and also in the passenger compartment 36. The control device 30 of this embodiment further includes an image analysis unit 37 that analyzes the image Vd captured by the camera 35, and an occupant detection unit 38 that detects an occupant of the vehicle 1 using the door opening 3 based on the result of the image analysis. The control device 30 of this embodiment has a function of automatically opening and closing the sliding doors 4f, 4r based on the result of the occupant detection, and of deploying and storing the slope device 11 in conjunction with the sliding doors 4f, 4r.

[0044] Furthermore, the control device 30 of this embodiment includes a vehicle height control device 40 that controls the operation of a vehicle height adjustment device 39 provided in the vehicle 1. In the vehicle 1 of this embodiment, this makes it possible to adjust the vehicle height in conjunction with the opening and closing operations of the slide doors 4f, 4r and the deployment and storage operations of the slope device 11.

[0045] (Slope plate positioning device) Next, a position retaining device for the slope plate 10 mounted on the slope device 11 of this embodiment will be described.

[0046] As shown in Figure 10, the slope device 11 of this embodiment is equipped with a check mechanism 41 that holds the slope plate 10 in a position where it is stored in a storage box 13 provided on the vehicle body 2, that is, when storage of the slope plate 10 is complete (see Figure 3).

[0047] 10 and 11, the check mechanism 41 of this embodiment includes a slope side check 43 provided on the slope plate 10 and a vehicle body side check 44 provided on the vehicle body 2. Furthermore, in the slope device 11 of this embodiment, the slope side check 43 and the vehicle body side check 44 engage with each other when the slope plate 10 is stored in the storage box 13. The check mechanism 41 of this embodiment is configured to hold the slope plate 10 in the stored position in the storage box 13 based on the engagement force between the slope side check 43 and the vehicle body side check 44.

[0048] In the slope device 11 of this embodiment, the slope side check 43 is provided at the rear end 10r of the slope plate 10. Also, the vehicle body side check 44 is provided on a connecting frame 45 that connects the guide rails 20, 20 near the rear ends 20r while extending in the width direction of the slope plate 10. That is, the slope device 11 of this embodiment is configured so that the vehicle body side check 44 is fixed immovably to the vehicle body 2 via the connecting frame 45 and each guide rail 20, 20. And, in the slope device 11 of this embodiment, the actuator 25 is also fixed to this connecting frame 45.

[0049] More specifically, as shown in Figs. 11 to 14, in the slope device 11 of this embodiment, the slope side check 43 is formed by fixing a check member 47 to a lower surface 46b of an end panel 46 constituting the rear end portion 10r of the slope plate 10. Specifically, the check member 47 of this embodiment includes a base 48 having a substantially rectangular prism-like outer shape and an engagement protrusion 50 extending in a direction perpendicular to the base 48. In addition, a fitting groove 51 is provided on the lower surface 46b of the end panel 46, extending in the width direction of the slope plate 10 (left-right direction in Fig. 11, up-down direction in Fig. 14). Furthermore, the check member 47 of this embodiment is fixed to the lower surface 46b of the end panel 46 with its base 48 fitted into the fitting groove 51. As a result, in the slope device 11 of this embodiment, a slope side check 43 is formed at the rear end 10r of the slope plate 10, which has an engaging protrusion 50 that protrudes in the storage direction (downward in Figure 11, rightward in Figures 13 and 14).

[0050] As shown in Figs. 12 to 14, in the slope device 11 of this embodiment, the vehicle body check 44 includes a pair of lever members 53, 53 rotatably arranged side by side in a state extending in the deployment and storage direction of the slope plate 10 (left and right direction in Figs. 13 and 14). Specifically, the vehicle body check 44 of this embodiment includes a base plate 54 fixed to the upper surface 45a of the connecting frame 45 having a substantially flat outer shape, and a pair of support shafts 55, 55 erected on the base plate 54. Furthermore, in the vehicle body check 44 of this embodiment, these support shafts 55, 55 are arranged side by side in the longitudinal direction of the connecting frame 45, that is, in the width direction of the slope plate 10, by fixing the base plate 54 to the connecting frame 45. And, by being supported by these support shafts 55, 55, the lever members 53, 53 are allowed to rotate independently about the support shafts 55, 55.

[0051] Furthermore, in the vehicle body side check 44 of this embodiment, the first end portions 53a, 53a of the lever members 53 are arranged in the deployment direction of the slope plate 10 (left side in Figs. 13 and 14). The vehicle body side check 44 of this embodiment is provided with a biasing member 56 that biases the lever members 53, 53 to rotate the lever members 53, 53 in a direction in which the first end portions 53a, 53a approach each other.

[0052] Specifically, the vehicle body check 44 of this embodiment includes a compression coil spring 57 interposed between the second ends 53b, 53b of the lever members 53, 53. That is, in the vehicle body check 44 of this embodiment, the compression coil spring 57 generates an elastic force in a direction that separates the second ends 53b, 53b of the lever members 53, 53 from each other. Furthermore, based on the elastic force of the compression coil spring 57, the lever members 53, 53 rotate in directions opposite to each other. Thus, the vehicle body check 44 of this embodiment is configured such that the compression coil spring 57 serves as a biasing member 56 to bias the lever members 53, 53 in a direction in which the first ends 53a, 53a approach each other.

[0053] In addition, the slope side check 43 of this embodiment is configured such that the engagement protrusion 50 of the check member 47 constituting this slope side check 43 is positioned in the width direction of the slope plate 10 at a position between each of the lever members 53, 53 constituting the vehicle body side check 44.

[0054] 10 and 11, the check member 47 of this embodiment is fixed to the end panel 46 constituting the rear end 10r at approximately the center in the width direction of the slope plate 10. The base plate 54 of the vehicle body side check 44 is also fixed to approximately the center in the longitudinal direction of the connecting frame 45 located at approximately the center in the width direction of the slope plate 10.

[0055] Furthermore, as shown in Fig. 13, in the slope device 11 of this embodiment, when the slope plate 10 is stored in the storage box 13, a gap is formed between the end panel 46 and the connecting frame 45 in the height direction (up and down direction in Fig. 13). When the storage of the slope plate 10 is complete, the slope side check 43 provided on the lower surface 46b of the end panel 46 and the vehicle body side check 44 provided on the upper surface 45a of the connecting frame 45 are disposed at substantially the same height position. The check mechanism 41 of this embodiment is configured such that the slope side check 43, which moves integrally with the slope plate 10, and the vehicle body side check 44, which is fixed to the vehicle body 2, engage with each other based on the movement of the slope plate 10 toward the storage direction.

[0056] That is, as shown in Fig. 14 to Fig. 16, in the check mechanism 41 of this embodiment, the engaging protrusion 50 of the check member 47 constituting the slope side check 43 is inserted between the first ends 53a, 53a of the lever members 53, 53 constituting the vehicle body side check 44. Furthermore, based on the biasing force of the compression coil spring 57 constituting the biasing member 56, the engaging protrusion 50 inserted between the first ends 53a, 53a is sandwiched by the lever members 53, 53. Thus, the check mechanism 41 of this embodiment is configured such that the first ends 53a, 53a serve as the engaging portions 58, 58 of the lever members 53, 53, and the engaging protrusion 50 of the check member 47 engage with each other.

[0057] More specifically, in the check mechanism 41 of this embodiment, the check member 47 constituting the slope-side check 43 has a wedge-shaped portion 59 that gradually becomes wider from the tip 50a of the engagement protrusion 50 toward the base end 50b. Furthermore, the check member 47 is provided with a constricted portion 60 that gradually becomes narrower continuous with the wedge-shaped portion 59. The check member 47 of this embodiment is fixed to the lower surface 46b of the end panel 46 with the width direction of the wedge-shaped portion 59 provided at the tip 50a of the engagement protrusion 50 coinciding with the width direction of the slope plate 10.

[0058] The vehicle body side check 44 of this embodiment also has cover members 62, 62 provided on the first ends 53a, 53a constituting the engagement portions 58, 58 of the lever members 53, 53. In the vehicle body side check 44 of this embodiment, the lever members 53, 53 are formed using metal. The cover members 62, 62 are formed using resin. These cover members 62, 62 are fixed to the lever members 53, 53 in a state in which they cover the first ends 53a, 53a.

[0059] Furthermore, each of these cover members 62, 62 forms a protrusion 63, 63 that protrudes in a direction approaching each other from the first end 53a, 53a that constitutes the engagement portion 58, 58 of each of the lever members 53, 53. Each of the lever members 53, 53 in this embodiment is configured so that the engagement protrusion 50 of the check member 47 that moves in the storage direction together with the slope plate 10 abuts against each of these protrusions 63, 63.

[0060] 15, the check member 47 of this embodiment is configured such that the wedge-shaped portion 59 of the engaging protrusion 50 inserted between the first ends 53a, 53a constituting the engaging portions 58, 58 of the lever members 53, 53 gradually widens the gap. Thus, the check mechanism 41 of this embodiment is configured such that the lever members 53, 53 pressed by the check member 47 smoothly rotate against the biasing force of the compression coil spring 57 based on the driving force that moves the slope plate 10 in the storage direction.

[0061] 16, when the check member 47 moves further in the storage direction, the protrusions 63, 63 provided on the engagement parts 58, 58 of the lever members 53, 53 engage with the constricted parts 60 provided on the base end 50b side of the engagement projection 50 rather than the wedge-shaped parts 59. In other words, the wide part of the wedge-shaped part 59 is located closer to the tip end 50a side of the engagement projection 50 rather than the constricted parts 60 with which the protrusions 63, 63 engage, so that the force required to move the engagement projection 50 in the deployment direction against the compression coil spring 57 becomes larger. The check mechanism 41 of this embodiment is configured to hold the slope plate 10 at the position where the slope plate 10 is stored in the storage box 13 based on the engagement force between the slope-side check 43 and the vehicle-body-side check 44 generated by this.

[0062] 12 and 14, in the check mechanism 41 of this embodiment, the second ends 53b, 53b of the lever members 53, 53 are provided with holding projections 64, 64 that project in opposing directions. The compression coil spring 57 constituting the urging member 56 is interposed between the second ends 53b, 53b of the lever members 53, 53 with the holding projections 64, 64 fitted into both axial ends of the compression coil spring 57.

[0063] Furthermore, the base plate 54 of this embodiment is provided with a holding piece 65 that holds the compression coil spring 57 between the connecting frame 45 and the base plate 54 when the compression coil spring 57 is interposed between the second ends 53b, 53b of the lever members 53, 53. Specifically, the holding piece 65 has a substantially U-shaped cross section that extends along the circumferential direction of the compression coil spring 57. Thus, the vehicle body side check 44 of this embodiment is configured to stably bias the lever members 53, 53 without the compression coil spring 57 coming off.

[0064] The base plate 54 of this embodiment is provided with a pair of stopper portions 66, 66 that abut against the second ends 53b, 53b of the lever members 53, 53 to restrict movement in directions away from each other based on the biasing force of the compression coil spring 57. Thus, the vehicle body side check 44 of this embodiment is configured to keep the distance between the first ends 53a, 53a of the lever members 53, 53 constant in the disengaged state.

[0065] In the vehicle body side check 44 of this embodiment, the lever members 53, 53 rotate independently around the support shafts 55, 55. As a result, even if the engaging protrusion 50 of the check member 47 is misaligned in the width direction of the slope plate 10 when it is inserted between the first ends 53a, 53a of the lever members 53, 53, this can be absorbed.

[0066] Furthermore, at this time, one of the second ends 53b, 53b of the lever members 53, 53 sandwiching the compression coil spring 57 therebetween comes into contact with a stopper portion 66 provided on the base plate 54. Thus, the check mechanism 41 of this embodiment has the function of autonomously correcting a positional deviation that occurs between the slope side check 43 and the vehicle body side check 44 based on the elastic force of the compression coil spring 57.

[0067] As shown in Fig. 9, in the vehicle 1 of this embodiment, the slope control unit 34 provided in the control device 30 controls the operation of the slope device 11 through the supply of drive power to the motor 24, which is the drive source of the actuator 25. Furthermore, the slope control unit 34 of this embodiment monitors the current change of the motor 24 during storage control of the slope plate 10. In this manner, the slope device 11 of this embodiment is configured to detect that the check mechanism 41 configured as described above has transitioned to an engaged state in which an engaging force is generated to hold the slope plate 10 in a stored position in the storage box 13.

[0068] That is, as shown in Figs. 15 to 17, when the slope plate 10 moves in the storage direction and the slope side check 43 engages with the vehicle body side check 44, the lever members 53, 53 rotate against the biasing force of the compression coil spring 57. Therefore, the actuator 25 is required to have a larger driving force than when driving the slope plate 10 in an unloaded state. This further increases the current value I of the motor 24, which is the driving source of the actuator 25. The slope control unit 34 of this embodiment is configured to detect the transition to the engaged state by detecting a change in the current of the motor 24 caused by the engaging operation of the check mechanism 41.

[0069] 18, during storage control (step 101: YES), the slope control unit 34 of this embodiment first acquires the movement position P of the slope plate 10 (step 102). Then, the slope control unit 34 determines whether the movement position P of the slope plate 10 is within the engagement operation range α of the check mechanism 41 (step 103).

[0070] Furthermore, if the movement position P is within the engagement operation range α (step 103: YES), the slope control unit 34 acquires the current value I of the motor 24 (step 104) and compares it with a predetermined first threshold value TH1 (step 105). If the current value I acquired in step 104 is equal to or less than the first threshold value TH1 (I≦TH1, step 105: NO), the slope control unit 34 of this embodiment repeats the processing of step 104 and step 105 again.

[0071] Also, when the slope control unit 34 confirms the detection of a current value I greater than the first threshold value TH1 in step 105 (I > TH1, step 105: YES), it newly acquires the current value I of the motor 24 (step 106). Further, the slope control unit 34 compares the current value I of the motor 24 acquired in this step 106 with the second threshold value TH2 (step 107). Then, when the current value I is greater than or equal to the second threshold value TH2 (I ≧ TH2, step 107: NO), the slope control unit 34 repeats the processes of step 106 and this step 107 again.

[0072] Then, when the slope control unit 34 of the present embodiment confirms the detection of a current value I smaller than the second threshold value TH2 in step 107 (I < TH2, step 105: YES), it confirms that the check mechanism 41 has shifted to the engaged state (step 108).

[0073] That is, as shown in FIGS. 15 to 17, during the engagement operation of the check mechanism 41, the driving force required for the actuator 25 is maximum at the position where the wedge-shaped portion 59 of the engagement protrusion 50 most expands the interval between the first end portions 53a, 53a of the lever members 53, 53. And in the slope control unit 34 of the present embodiment, at this time, the first threshold value TH1 is set corresponding to the increase in the current value I generated in the motor 24.

[0074] Further, thereafter, as the wedge-shaped portion 59 of the engagement protrusion 50 moving in the storage direction passes through the position where it expands the interval between the first end portions 53a, 53a of the lever members 53, 53, the driving force required for the actuator 25 decreases. And in the slope control unit 34 of the present embodiment, at this time, the second threshold value TH2 is set corresponding to the decrease in the current value I generated in the motor 24.

[0075] That is, the slope control unit 34 of this embodiment detects an increase or decrease in the current value I that is generated in the motor 24 of the actuator 25 and that is specific to the engagement operation of the check mechanism 41 based on a comparison with the first threshold value TH1 and the second threshold value TH2. Thus, the slope device 11 of this embodiment is configured to be able to accurately detect that the check mechanism 41 has transitioned to the engagement state with a simple configuration.

[0076] In this manner, in the slope device 11 of this embodiment, the position maintaining device 70 for the slope plate 10 is formed by the check mechanism 41 configured as described above. 9, in the vehicle 1 of this embodiment, the slope control unit 34 provided in the control device 30 executes electromagnetic brake control to generate a braking force in the motor 24 of the actuator 25 depending on the situation. In this way, in the slope device 11 of this embodiment, the actuator 25 and slope control unit 34 constituting the drive device 71 of the slope plate 10 also function as a position holding device 70 of the slope plate 10.

[0077] More specifically, as shown in FIG. 19, the slope control unit 34 of this embodiment judges whether the slope plate 10 is in a position stored in the storage box 13, i.e., in a stored state (step 201). The slope control unit 34 also judges whether the slope plate 10 is in a position deployed at the lower end of the door opening 3, i.e., in a deployed state (step 202). Furthermore, when the slope plate 10 is in a stored state (step 201: YES) or in a deployed state (step 202: YES), the slope control unit 34 executes a disturbance judgment (steps 203 and 204). Specifically, in the disturbance judgments of steps 203 and 204, the slope control unit 34 of this embodiment judges whether a situation occurs in which an external force that moves the position of the slope plate 10 is acting. Then, based on the results of these disturbance determinations, the slope control unit 34 of this embodiment executes electromagnetic brake control of the motor 24 (step 206) if a holding force is required to counter the external force (step 205: YES).

[0078] In detail, the slope control unit 34 of this embodiment executes, as its electromagnetic brake control, a power supply control called “fixed phase power supply” or “single-phase power supply” in which power is supplied to the motor 24 of the actuator 25 with a fixed power supply phase.

[0079] That is, as shown in Fig. 20, in the slope device 11 of this embodiment, a brushless motor having three-phase motor coils 24u, 24v, and 24w corresponding to the U, V, and W phases is used for the motor 24 of the actuator 25. The slope control unit 34 of this embodiment is configured to rotate the motor 24 by sequentially switching the current supply pattern for each of the motor coils 24u, 24v, and 24w in accordance with the electrical rotation angle to generate three-phase drive power.

[0080] Furthermore, the slope control unit 34 of this embodiment fixes the current conduction pattern when the electromagnetic brake control is executed. That is, in a brushless motor, by supplying power with a fixed current conduction phase, for example by maintaining a current conduction pattern of "U phase → W phase", a force is generated to maintain an electrical rotation angle corresponding to the current conduction pattern. The slope control unit 34 of this embodiment is configured to generate a braking force on the motor 24.

[0081] More specifically, as shown in FIG. 21, in the disturbance judgment when the slope plate 10 is in the stored state (step 301: YES), the slope control unit 34 of this embodiment first judges whether the vehicle 1 is traveling (step 302). Furthermore, when the vehicle 1 is traveling (step 302: YES), the slope control unit 34 acquires the lateral acceleration of the vehicle 1 (step 303). Next, the slope control unit 34 judges whether the slope plate 10 stored in the storage box 13 is likely to move in the unfolding direction due to the inertial force based on the lateral acceleration, that is, the centrifugal force (step 304). Then, when the slope control unit 34 of this embodiment judges in the above step 304 that the slope plate 10 is likely to move in the unfolding direction (step 304: YES), it judges that a holding force against the centrifugal force acting on the slope plate 10 is necessary. That is, it is determined that the motor 24 of the actuator 25 should generate a braking force by executing the electromagnetic brake control (step 305).

[0082] The slope control unit 34 of this embodiment determines that the vehicle is "traveling" when the vehicle speed is equal to or greater than a predetermined speed. The slope control unit 34 also determines the "possibility of the slope plate 10 stored in the storage box 13 moving in the unfolding direction" by determining the direction of the lateral acceleration and comparing the value with a predetermined threshold value. If the "possibility of the slope plate 10 moving in the unfolding direction" is denied (step 304: NO), the slope control unit 34 of this embodiment does not execute the electromagnetic brake control.

[0083] As shown in FIG. 22, in the case of disturbance judgment when the slope plate 10 is in the deployed state (step 401: YES), a change in the vehicle height of the vehicle 1 is judged (step 402). Specifically, in the vehicle 1 of this embodiment, the vehicle height control device 40 provided in the control device 30 monitors the vehicle height at a plurality of positions adjusted by the vehicle height adjustment device 39, including the balance (see FIG. 9). Then, when it is judged that the vehicle 1 is in a situation where a change in the vehicle height occurs (step 403: YES), the slope control unit 34 of this embodiment judges that a holding force against the external force acting on the slope plate 10 is necessary based on the change in the vehicle height. In other words, it is configured to determine that a braking force should be generated in the motor 24 of the actuator 25 by executing the electromagnetic brake control (step 404).

[0084] That is, in the slope device 11 of this embodiment, the slope plate 10 deployed at the lower end of the door opening 3 forms a ramp 12 with its rear end 10r engaged with the vehicle body 2. Therefore, when a change occurs in the vehicle height of the vehicle 1, there is a possibility that the rear end 10r of the slope plate 10 engaged with the vehicle body 2 may come off.

[0085] Considering this, in the slope device 11 of this embodiment, as described above, the electromagnetic brake control of the motor 24, which is the drive source of the actuator 25, is executed. Furthermore, based on the braking force of the motor 24 generated by this, the movement of the moving body 21 connected to the actuator 25 via the drive cable 26 is restricted. Furthermore, as a result, the connecting mechanism 23 interposed between the moving body 21 and the slope plate 10 holds the position of the slope plate 10 whose rear end 10r is lifted by the rotation of the support arm 22 (see FIG. 8). The slope device 11 of this embodiment is configured to stably hold the position of the slope plate 10 deployed at the lower end of the door opening 3 based on the holding force generated by the execution of this electromagnetic brake control.

[0086] (Deceleration control when deploying the slope plate) Next, the deceleration control function implemented in the slope device of this embodiment when the slope plate is deployed will be described.

[0087] As shown in Fig. 7, the slope device 11 of this embodiment is configured such that the slope plate 10 moves in the deployment and storage directions along the extension direction of the guide rails 20, 20 based on the driving force of the actuator 25 while maintaining a substantially horizontal posture. Furthermore, when the slope plate 10 is deployed, the rear end portion 10r of the slope plate 10 moving in the deployment direction is separated from the front end portions 20f, 20f of the guide rails 20, 20, thereby allowing the slope plate 10 to tilt around the first connection point X1 with the support arm 22. Thus, the slope device 11 of this embodiment is configured such that the front end portion 10f of the slope plate 10 touches the ground due to its own weight (see Fig. 4).

[0088] As shown in Fig. 8, in the slope device 11 of this embodiment, after the slope plate 10 hits the ground, the moving body 21 connected to the slope plate 10 via the support arm 22 moves in the deployment direction. Furthermore, in the slope device 11 of this embodiment, the movement of the moving body 21 toward the deployment direction causes the support arm 22 to rotate about the second connection point X2 with respect to the moving body 21 while further tilting the slope plate 10 about the first connection point X1. That is, in the slope device 11 of this embodiment, the connection mechanism 23 between the slope plate 10 and the moving body 21 functions as a lift mechanism that lifts up the rear end 10r of the slope plate 10 deployed at the lower end of the door opening 3 based on the rotation of the support arm 22. The slope device 11 of this embodiment is configured so that the rear end 10r of the slope plate 10 engages with the vehicle body 2, more specifically, with the edge 28e of the vehicle floor 28, thereby forming a ramp 12 that continues to the door opening 3.

[0089] Furthermore, when the slope plate 10 touches the ground, noise and vibrations are generated. In consideration of this, the slope control unit 34 of this embodiment reduces the moving speed V of the slope plate 10 before the front end 10f of the slope plate 10 touches the ground when the slope plate 10 is driven by the actuator 25 to deploy at the lower end of the door opening 3. Thus, the slope device 11 of this embodiment is configured to reduce the noise and vibrations generated when the slope plate 10 touches the ground.

[0090] Specifically, as shown in Figs. 9 and 23, the slope control unit 34, which constitutes the driving device 71 together with the actuator 25, controls the moving speed V of the slope plate 10, which moves in the unfolding direction together with the moving body 21, to a predetermined first speed V1 when controlling the unfolding of the slope plate 10. Furthermore, the slope control unit 34 gradually reduces the moving speed V of the slope plate 10 as the slope plate 10 reaches a predetermined deceleration start position P1 that has been set in advance. Thus, the slope device 11 of this embodiment is configured such that at the contact position P2 where the slope plate 10 contacts the ground, the moving speed V of the slope plate 10 is decelerated to a predetermined second speed V2 that is slower than the first speed V1 (V2 <V1)。

[0091] (Actuator drainage structure) Next, a drainage structure of the actuator 25 mounted on the slope device 11 of this embodiment will be described.

[0092] 24 and 25, the actuator 25 of this embodiment includes a housing portion 73 for the drive gear 27 provided inside its case 72 (see FIG. 10). Specifically, in the actuator 25 of this embodiment, the housing portion 73 for the drive gear 27 has a generally circular recessed shape that is recessed in an upper surface 74a of a housing member 74 having a generally flat plate-like outer shape and opens upward. The actuator 25 of this embodiment is configured such that the drive gear 27 arranged inside the housing portion 73 is rotationally driven by the motor 24, which is its drive source.

[0093] Furthermore, two drive cables 26, 26 introduced into the case 72 of the actuator 25 are inserted substantially in parallel into the housing portion 73 at two positions sandwiching the rotation center 27x of the drive gear 27. Thus, the actuator 25 of this embodiment is configured so that the drive gear 27 arranged in the housing portion 73 meshes with the drive cables 26, 26.

[0094] The housing portion 73 is provided with a pair of drainage holes 75, 75 penetrating the bottom surface 73b thereof. Thus, the actuator 25 of this embodiment is configured such that drainage water generated in the housing portion 73 for the drive gear 27 due to, for example, exposure to water or condensation is discharged to the outside of the case 72 via the drainage holes 75, 75.

[0095] Specifically, each of these drainage holes 75, 75 has an elongated hole shape extending in a substantially arc shape along the peripheral wall 73s of the accommodation portion 73 at two positions sandwiching the rotation center 27x of the drive gear 27. Furthermore, in the vehicle 1 of this embodiment, each of these drainage holes 75, 75 is arranged in the front-rear direction of the vehicle by the slope device 11 being made into the storage box 13. Thus, the actuator 25 of this embodiment is configured to efficiently discharge the drainage water from each of the drainage holes 75, 75 by the acceleration and deceleration of the vehicle 1.

[0096] Furthermore, the housing portion 73 of the drive gear 27 is provided with inclined surfaces 76 that guide drainage water to the drainage holes 75, 75. Specifically, in the actuator 25 of this embodiment, the bottom surface 73b of the housing portion 73 has an uneven shape in which the two positions where the drainage holes 75, 75 are provided are defined as "valleys," and two positions shifted by approximately 90° in the circumferential direction from these "valleys" are defined as "mountains." Thus, the housing portion 73 of this embodiment is configured such that the inclined surfaces 76 that guide drainage water to the drainage holes 75, 75 are provided in a manner that surrounds each of the drainage holes 75, 75.

[0097] Next, the operation of this embodiment will be described. That is, in the slope device 11, when the slope plate 10 is in a position stored in a storage box 13 serving as a storage section provided in the vehicle body 2, or in a position deployed at the lower end of the door opening 3, the position maintaining device 70 is activated. This maintains the position of the slope plate 10 against external forces acting on the slope plate 10.

[0098] Next, the effects of this embodiment will be described. (1) The slope device 11 includes a slope plate 10 that moves in the deployment direction to be deployed at the bottom end of the door opening 3 and moves in the storage direction to be stored in a storage box 13 serving as a storage section provided on the vehicle body 2. The slope device 11 also includes a position holding device 70 that holds the position of the slope plate 10 against external forces. This makes it possible to stably hold the position of the slope plate 10 that is provided so as to be movable in the deployment and storage directions.

[0099] (2) The slope device 11 has, as its position maintaining device 70, a check mechanism 41 that maintains the position of the slope plate 10 by engaging a slope side check 43 provided on the slope plate 10 with a vehicle body side check 44 provided on the vehicle body 2. The slope device 11 maintains the slope plate 10 in the position stored in the storage box 13 based on the engaging force of this check mechanism 41.

[0100] According to the above-mentioned configuration, it is possible to prevent the slope plate 10 stored in the storage box 13 from moving in the deployment direction due to an external force, thereby ensuring high reliability and safety.

[0101] (3) The vehicle body side check 44 has a pair of lever members 53, 53 rotatably arranged side by side while extending in the deployment and storage directions of the slope plate 10. The vehicle body side check 44 further has a compression coil spring 57 as a biasing member 56 that biases the lever members 53, 53 to rotate the lever members 53, 53 in a direction in which the engaging portions 58, 58 approach each other. The slope side check 43 has an engaging protrusion 50 that is inserted between the engaging portions 58, 58 of both lever members 53, 53 based on the movement of the slope plate 10 toward the storage direction.

[0102] According to the above configuration, the engaging protrusion 50 of the slope-side check 43 is inserted between the pair of lever members 53 constituting the vehicle-side check 44 while expanding the gap between the engaging portions 58 against the biasing force of the compression coil spring 57. Furthermore, these lever members 53 pinch the engaging protrusion 50 of the slope-side check 43 inserted between the engaging portions 58 based on the biasing force of the compression coil spring 57, generating an engaging force. This allows the slope-side check 43 and the vehicle-side check 44 to be engaged smoothly and stably.

[0103] Furthermore, because each lever member 53, 53 rotates independently, even if a positional deviation occurs when the engaging protrusion 50 of the slope side check 43 is inserted between the pair of lever members 53, 53 constituting the vehicle side check 44, this can be absorbed, and thus the smooth operation can be ensured.

[0104] (4) The engaging protrusion 50 has a wedge-shaped portion 59 that gradually becomes wider from the tip end 50a toward the base end 50b, and a neck portion 60 that gradually becomes narrower continuous with the wedge-shaped portion 59. The engaging portions 58, 58 of the respective lever members 53, 53 are provided with protrusions 63, 63 that protrude in the direction approaching each other and engage with the neck portion 60 of the engaging protrusion 50.

[0105] According to the above configuration, a high engagement force can be generated by the engagement between the constricted portion 60 and the protrusions 63, 63. In particular, since the wide portion of the wedge-shaped portion 59 is located closer to the tip 50a of the engagement protrusion 50 than the constricted portion 60 with which the protrusions 63, 63 engage, a larger force is required to move the engagement protrusion 50 in the deployment direction against the compression coil spring 57. This makes it possible to more stably hold the slope plate 10 at the position where it is stored in the storage box 13 based on the engagement force between the slope-side check 43 and the vehicle-body-side check 44.

[0106] (5) The slope device 11 is equipped with an actuator 25 that uses a motor 24 as a drive source to move the slope plate 10 in the unfolding and retracting directions. The operation of this actuator 25 is controlled by a slope control unit 34 provided in the control device 30. Furthermore, the slope control unit 34 monitors the current change of the motor 24 during storage control of the slope plate 10. The slope control unit 34, which serves as an engagement detection device 80, detects, based on the current change of the motor 24, that the check mechanism 41 has transitioned to an engaged state in which an engaging force is generated.

[0107] That is, when the slope-side check 43 and the vehicle-side check 44 engage with each other, the driving force required of the actuator 25 constituting the drive device 71 changes. This causes the current value I of the motor 24, which is the driving source, to also change. Therefore, with the above-mentioned simple configuration, it is possible to confirm that the position of the slope plate 10 is being maintained based on the engaging force of the check mechanism 41.

[0108] (6) The slope control unit 34, which constitutes the drive device 71 of the slope plate 10 together with the actuator 25, functions as the position holding device 70 by executing electromagnetic brake control that generates a braking force in the motor 24. This makes it possible to stably hold the position of the slope plate 10 with a simple configuration.

[0109] (7) The motor 24 is configured as a brushless motor having three-phase motor coils 24u, 24v, and 24w. The slope control unit 34 executes energization control in which the energization phase of the motor 24 is fixed as the electromagnetic brake control.

[0110] That is, by executing a current control called "fixed phase current" or "single-phase current", a force is generated in the motor 24 to maintain the electrical rotation angle corresponding to the current phase. By utilizing the braking force generated in the motor 24, the position of the slope plate 10 can be stably maintained.

[0111] (8) The slope control unit 34 executes electromagnetic brake control when the slope plate 10 is stored in the storage box 13. According to the above-mentioned configuration, it is possible to prevent the slope plate 10 stored in the storage box 13 from moving in the deployment direction due to an external force, and thus it is possible to ensure high reliability.

[0112] (9) The slope control unit 34 acquires the lateral acceleration of the vehicle 1 and judges whether there is a possibility that the slope plate 10 stored in the storage box 13 will move in the unfolding direction due to the centrifugal force based on this lateral acceleration. If it is judged that a holding force is required to counter the centrifugal force acting on the slope plate 10 as an external force, that is, if an external force acts in a direction that moves the slope plate 10 in the unfolding direction, the slope control unit 34 executes the electromagnetic brake control. This makes it possible to effectively hold the position of the slope plate 10 while suppressing heat generation by the motor 24.

[0113] (10) The slope control unit 34 executes the electromagnetic brake control when the slope plate 10 is in a position where it is deployed at the lower end of the door opening 3. This makes it possible to stably maintain the position of the slope plate 10 deployed at the lower end of the door opening 3.

[0114] (11) The slope plate 10, with its rear end 10r engaged with the vehicle body 2, more specifically with the edge 28e of the vehicle floor 28, forms a ramp 12 continuing to the door opening 3. When the slope plate 10 is in the deployed position, the slope control unit 34 executes electromagnetic brake control if a change in vehicle height occurs in the vehicle 1.

[0115] That is, there is a possibility that the rear end 10r of the slope plate 10 engaged with the vehicle body 2 may come off due to a change in the vehicle height of the vehicle 1. However, according to the above configuration, the position of the slope plate 10 deployed at the lower end of the door opening 3 can be stably maintained based on the braking force generated by the motor 24 by executing the electromagnetic brake control. This makes it possible to ensure high reliability and safety.

[0116] (12) When driving the slope plate 10 to control deployment to the lower end of the door opening 3, the slope control unit 34 decelerates the moving speed V of the slope plate 10 before the front end 10f of the slope plate 10 touches the ground. This makes it possible to reduce noise and vibrations generated when the slope plate 10 touches the ground.

[0117] (13) Actuator 25 includes drive gear 27 that is rotatably driven by motor 24 while meshing with drive cable 26, and housing portion 73 that rotatably houses drive gear 27. Housing portion 73 is provided with drainage hole 75 and slope 76 that guides drainage to drainage hole 75.

[0118] According to the above configuration, for example, wastewater generated in the housing portion 73 of the drive gear 27 due to water damage, condensation, or the like can be discharged to the outside through the drain hole 75. Furthermore, the slope 76 allows the wastewater in the housing portion 73 to be collected in the drain hole 75. This allows the wastewater in the housing portion 73 to be effectively discharged to the outside.

[0119] The above embodiment can be modified as follows: The above embodiment and the following modifications can be combined with each other to the extent that no technical contradiction occurs.

[0120] In the above embodiment, the slope device 11 is provided with the check mechanism 41, which serves as the position holding device 70 for the slope plate 10 and holds the slope plate 10 in a position stored in the storage box 13. However, this is not limiting, and the check mechanism 41 may be provided at any position, such as a position for holding the slope plate 10 deployed at the bottom end of the door opening 3.

[0121] The configuration of the check mechanism 41 may be changed as desired. For example, the shape of the engaging protrusion 50 of the check member 47 constituting the slope side check 43 may be changed as desired. Also, for example, the shape of each of the lever members 53, 53 constituting the vehicle body side check 44 may be changed as desired. Furthermore, the biasing member 56 of each of these lever members 53, 53 may also be changed as desired without being limited to the compression coil spring 57. Also, a check mechanism 41 using an engaging member other than the check member 47 having such an engaging protrusion 50 or the two lever members 53, 53 may be adopted. And, a latch mechanism may be provided as the position retaining device 70.

[0122] In the above embodiment, the current value I of the motor 24 is detected to be greater than the first threshold value TH1, and then the current value I is detected to be less than the second threshold value TH2, thereby confirming that the check mechanism 41 has transitioned to the engaged state. However, the present invention is not limited to this, and the method of detecting that the check mechanism 41 has transitioned to the engaged state based on the change in the current of the motor 24 may be changed arbitrarily. For example, a configuration may be used in which only the comparison with the first threshold value TH1 is performed. In addition, the condition for confirming the engaged state may be that the current value I of the motor 24 has decreased multiple times in succession after exceeding the first threshold value TH1, or that the current value I has decreased to a predetermined rate from the point when it first exceeded the first threshold value TH1. In addition, the condition for confirming the engaged state may be that the current value I of the motor 24 has increased multiple times in succession after the moving position P of the slope plate 10 has entered the engagement operation range α.

[0123] In the above embodiment, when the vehicle 1 is traveling, if it is determined that a holding force against the centrifugal force acting on the slope plate 10 as an external force is necessary based on the detection of the lateral acceleration, the electromagnetic brake control is executed. However, this is not limited to the above, and a configuration may be adopted in which the electromagnetic brake control is executed to hold the slope plate 10 in the position stored in the storage box 13 even when the vehicle 1 is stopped. For example, a configuration may be adopted in which the electromagnetic brake control is executed to suppress the movement of the slope plate 10 in the deployment direction due to its own weight by detecting the inclination of the vehicle 1. And, for example, when another vehicle 1 collides with the slope plate 10, the electromagnetic brake control may be executed so that the slope plate 10 does not move in the deployment direction due to the acceleration caused by the collision.

[0124] In the above embodiment, when the slope plate 10 is in the deployed position and a change in the vehicle height occurs in the vehicle 1, the electromagnetic brake control is executed. Then, by monitoring the vehicle height at a plurality of positions adjusted by the vehicle height adjustment device 39 provided in the vehicle 1, including the balance, a situation in which a change in the vehicle height occurs in the vehicle 1 is detected. However, this is not limited to this, and for example, the number of passengers using the door opening 3 provided with the slope plate 10, their moving speed, and other boarding and alighting conditions may be detected by analyzing the image Vd captured by the camera 35. Then, a configuration may be adopted in which a situation in which a change in the vehicle height occurs in the vehicle 1 is predicted and the electromagnetic brake control is executed.

[0125] In the above embodiment, when the slope plate 10 is in the stored state or in the deployed state, a disturbance determination is performed to determine whether or not a situation occurs in which an external force that would move the position of the slope plate 10 is acting. Then, when a holding force against the external force is required, the electromagnetic brake control is performed. However, the present invention is not limited to this, and the configuration may be such that the electromagnetic brake control is performed when the slope plate 10 is in the stored state or in the deployed state without performing such a disturbance determination.

[0126] In addition, a configuration may be adopted in which the electromagnetic brake control is performed when the slope plate 10 is in either the stored state or the deployed state. In a configuration in which the slope plate 10 before forming the ramp 12 at the lower end of the door opening 3 can be used as a step, a configuration may be adopted in which the electromagnetic brake control is performed to hold the position of the slope plate 10 functioning as this step.

[0127] In the above embodiment, the electromagnetic brake control is performed by performing energization control in which the energization phase of the motor 24 is fixed, which is called so-called fixed-phase energization or one-phase energization. However, the present invention is not limited to this, and the electromagnetic brake control may be configured to perform regenerative brake control. In this case, the regenerative brake control may be configured to regenerate the regenerative current generated in the motor coil to the battery, or may be so-called short brake control in which the motor coil is short-circuited and consumed internally. By employing such regenerative brake control, heat generation by the motor 24 can be suppressed.

[0128] In the above embodiment, the moving speed V of the slope plate 10 is decelerated to a predetermined second speed V2 before the front end 10f touches the ground during the deployment control of the slope plate 10. However, this is not limited to the above, and a configuration may be adopted in which the decelerated moving speed V before the front end 10f touches the ground is set according to the vehicle height during the deployment control. That is, the higher the vehicle height, the louder the sound and vibration generated when the front end 10f of the slope plate 10 touches the ground. Therefore, for example, the higher the vehicle height during the deployment control, the more the moving speed V of the slope plate 10 may be decelerated before the front end 10f touches the ground. Also, for example, the lower the vehicle height during the deployment control, the later the deceleration start timing may be. By adopting such a configuration, it is possible to achieve both improvement of the texture including the quietness and rapid deployment of the slope plate 10.

[0129] In the above embodiment, the rear end 10r of the slope plate 10 deployed at the lower end of the door opening 3 is lifted by the support arm 22 rotating around the second connection point X2 with respect to the moving body 21. As a result, the slope plate 10 forms a ramp 12 continuing to the door opening 3 with the rear end 10r engaged with the vehicle body 2. However, the present invention is not limited to this, and the configuration in which the slope plate 10 deployed at the lower end of the door opening 3 forms the ramp 12 may be changed arbitrarily. For example, the present invention may be applied to a configuration in which the front end 10f of the slope plate 10 deployed at the lower end of the door opening 3 contacts the ground due to its own weight, so that the slope plate 10 forms the ramp 12.

[0130] The configuration of the drive device 71 that uses the motor 24 as a drive source to move the slope plate 10 in the unfolding and retracting directions may be changed as desired. However, it is preferable that the position of the slope plate 10 be maintained by executing electromagnetic brake control. The check mechanism 41 that holds the slope plate 10 in the stored position in the storage box 13 may be applied to a configuration that does not use the motor 24 as a drive source, for example, a configuration in which the slope plate 10 is moved manually in the unfolding and retracting directions.

[0131] Next, the technical ideas that can be understood from the above embodiment and modified examples will be described. (A) A vehicle slope device, characterized in that the drive device performs regenerative braking control of the motor as the electromagnetic brake control, thereby making it possible to perform the electromagnetic brake control while suppressing heat generation of the motor. [Explanation of symbols]

[0132] 2. Body 3…Door opening 10...Slope board 11...Slope device 13…Storage box 70...Position holding device

Claims

1. a slope plate that moves in a deployment direction to be deployed at a lower end of a door opening and moves in a storage direction to be stored in a storage section provided on a vehicle body; a position holding device that holds the position of the slope plate against an external force; A vehicle slope device comprising: the position maintaining device includes a check mechanism that maintains the slope plate at a position where the slope plate is stored in the storage section based on an engagement force between a slope side check provided on the slope plate and a vehicle body side check provided on the vehicle body, The vehicle body side check includes a pair of lever members rotatably arranged in parallel in a state in which the lever members extend in the direction in which the slope plate is deployed and retracted, a biasing member that biases the lever members to rotate the lever members in a direction in which the engaging portions approach each other; The slope side check is a vehicle slope device having an engagement protrusion that is inserted between the two engagement portions based on the movement of the slope plate toward the storage direction.

2. 2. The vehicle ramp device according to claim 1, The engaging protrusion has a wedge-shaped portion that gradually becomes wider from the tip end toward the base end side, and a constricted portion that is continuous with the wedge-shaped portion and gradually becomes narrower, A vehicle ramp device comprising: the engaging portions of the lever members each having a protrusion that protrudes toward each other and engages with the narrowed portion of the engaging protrusion.

3. The vehicle slope device according to claim 1 or 2, a drive device that uses a motor as a drive source to move the slope plate in the storage direction; an engagement detection device that detects, based on a current change in the motor, that the check mechanism has transitioned to an engaged state in which the engaging force is generated; A vehicle ramp device comprising:

4. The vehicle slope device according to any one of claims 1 to 3, A drive device is provided that uses a motor as a drive source to move the slope plate in the deployment and storage directions, the position maintaining device is configured to maintain the position of the slope plate by the drive device executing electromagnetic brake control to generate a braking force on the motor; A vehicle ramp device comprising:

5. 5. The vehicle ramp device according to claim 4, The vehicle ramp device according to the present invention is characterized in that the drive device executes, as the electromagnetic brake control, a current control in which a current-carrying phase of the motor is fixed.

6. The vehicle slope device according to claim 4 or 5, the position maintaining device is configured so that the drive device executes the electromagnetic brake control when the slope plate is stored in the storage section; A vehicle ramp device comprising:

7. 7. The vehicle ramp device according to claim 6, the position maintaining device executes the electromagnetic brake control when the external force acts in a direction that moves the slope plate stored in the storage section in the deployment direction; A vehicle ramp device comprising:

8. The vehicle slope device according to any one of claims 4 to 7, the position maintaining device is configured so that the drive device executes the electromagnetic brake control when the slope plate is in the deployed position; A vehicle ramp device comprising:

9. 9. The vehicle slope device according to claim 8, The slope plate is deployed in a state in which a rear end portion of the slope plate is engaged with a vehicle body, A slope device for a vehicle, characterized in that the position maintaining device is configured so that when the slope plate is in the deployed position and a change in vehicle height occurs in the vehicle, the drive device executes the electromagnetic brake control.

10. The vehicle slope device according to any one of claims 1 to 9, A drive device is provided that uses a motor as a drive source to move the slope plate in the deployment and storage directions, The vehicle ramp device is characterized in that, when driving the slope plate to deploy the slope plate to the lower end of the door opening, the drive device decelerates the moving speed of the slope plate before a front end of the slope plate contacts the ground.

11. The vehicle slope device according to any one of claims 1 to 10, An actuator is provided to apply a driving force to the slope plate via a driving cable, The actuator includes a drive gear that is rotatably driven in a state of meshing with the drive cable, and a housing that rotatably houses the drive gear, The storage section is provided with a drainage hole and a slope that guides drainage to the drainage hole; A vehicle ramp device comprising:

Images