KR101619111B1 - Wheelchair storage system for vehicles using joint type manipulator - Google Patents

Abstract

The present invention relates to a trunk storage device for storing and withdrawing a wheelchair into a vehicle trunk; A manipulator provided in the roof of the vehicle for moving the wheelchair to the trunk storage device or moving the wheelchair from the trunk storage device; And a control unit for controlling the trunk storage unit to store and retrieve the wheelchair in a trunk and to control the manipulator to move the wheelchair, wherein the manipulator includes a base unit coupled to the roof of the vehicle, A link portion that is formed of links that are pivotally connected to each other and is pivotally coupled to the base portion at the tip end of the tip link positioned at the tip of the links, A driving part that is controlled by the control part and is provided at the joint part to control driving of the joint part; and a driving part coupled to the end link at the end of the link part, And an end-effector for clamping or unclamping the end effector, The joint part has a revolute or ratary joint structure in which the links are connected to each other so as to rotate relative to each other, a vertical motion joint joint structure, a joint structure in which the joints and the links are linearly moved relative to each other Wherein the end effector is formed of one or a plurality of combinations of a prismatic joint structure and a vertical motion boom joint structure, and between the horizontal joint structure at the rear end of the end link and the end effector, And a turning unit that rotates the wheelchair holding unit in a circumferential direction with respect to the wheelchair holding unit.
Therefore, by minimizing the storage space of the vehicle roof, it is possible to compensate for the disadvantages of the existing appearance by improving the appearance, minimize the air resistance and minimize fuel consumption reduction, and reduce the space required for the trunk for wheelchair storage. SUV vehicles can be widened to broaden the range of the user's choice of vehicle. In addition, the wheelchair can be transported from the driver's seat to the rear trunk position, and can be conveniently stored and withdrawn into the trunk. We can provide as much as possible.

Description

[0001] The present invention relates to a wheelchair storage system for a vehicle using an articulated manipulator,

The present invention relates to a vehicle wheelchair storage system using an articulated manipulator, and more particularly, to a vehicle wheelchair storage system using an articulated manipulator that minimizes an installation space of a vehicle roof to improve appearance and reduce air resistance, To a wheelchair storage system for a vehicle using an articulated manipulator capable of storing a wheelchair of a vehicle.

Generally, a wheelchair user uses a wheelchair as a direct means of transportation. Therefore, in case of a long distance travel, the problem of transferring a wheelchair is always accompanied. Therefore, when moving to a bus, a subway, or a taxi, In the case of self-driving, the driver relies on the passenger or others to solve the wheelchair transfer problem.

However, the above-described methods require help of others. For a wheelchair user who uses a wheelchair as a direct moving means, the problem of wheelchair transportation always occurs during a long distance travel. In order for a wheelchair user to be able to live independently, However, it is difficult to solve such a transportation problem when the wheelchair user carries out the self-driving. This is due to the fact that wheelchair users are widening their social activities through self-driving as the era of the mica era is opened, and it is urgent to find effective alternatives in light of the increasing trend of elderly self-drivers as an aging society comes along .

On the other hand, there are a top-roof hoist system and a manipulator loading hoist system as wheelchair storage systems for storing the wheelchair in a vehicle.

The top-roof hoist system is a system in which the wheelchair is lifted and lowered and the wheelchair is housed in a storage space mounted on the roof of the vehicle. In this case, the storage space of the vehicle roof is large The appearance of the vehicle is not only unnatural, but also increases the loss of energy due to an increase in air resistance when the vehicle is running. As an example of the above-described technology for the top-loop hoist system, US Patent No. 4,376,611 entitled " Car top carrier for wheelchair "and International Publication WO 2006/006145 for 'Mechanism for insertion of a wheelchair into a car' Have been disclosed.

On the other hand, a manipulator loading hoist method is a method in which a manipulator is mounted on a trunk and the wheelchair is directly housed in the trunk, which is the most natural and clean method by the user, &Quot; Mechanism for insertion of a wheelchair into a car " in U.S. Patent Application Serial No. 6,001,602, and 'Car top carrier for wheelchair' in U.S. Patent No. 4,376,611.

However, in such a case, since the trunk is configured to accommodate all of the storage devices including the wheelchair, it is necessary to secure a certain amount of trunk space, which is difficult to apply to a small sedan. In particular, in the case of the Republic of Korea, the LPG vehicle can be used for the purpose of reducing the fuel cost of the handicapped. In such an LPG vehicle, since the LPG tank is embedded in the trunk, the manipulator loading hoist system There is an impossible problem.

As described above, the conventional wheelchair storage device for a vehicle is not good in appearance because of a large space occupied in the vehicle roof, which causes a decrease in fuel consumption due to air resistance, There is a problem that a vehicle applied in consideration of a trunk space and the like is limited.

The present invention minimizes the storage space of the vehicle roof to improve the appearance, minimizes the air resistance, and improves the fuel economy. In addition, the present invention provides a joint structure capable of expanding the applicable vehicle range from a small sedan to an SUV And to provide a wheelchair storage system for a vehicle using a type manipulator.

The present invention relates to a trunk storage device for storing and withdrawing a wheelchair into a vehicle trunk; A manipulator provided in the roof of the vehicle for moving the wheelchair to the trunk storage device or moving the wheelchair from the trunk storage device; And a control unit for controlling the trunk storage unit to store and retrieve the wheelchair in a trunk and to control the manipulator to move the wheelchair, wherein the manipulator includes a base unit coupled to the roof of the vehicle, A link portion that is formed of links that are pivotally connected to each other and is pivotally coupled to the base portion at the tip end of the tip link positioned at the tip of the links, A driving part that is controlled by the control part and is provided at the joint part to control driving of the joint part; and a driving part coupled to the end link at the end of the link part, And an end-effector for clamping or unclamping the end effector, The joint part includes a horizontal motion joint structure, a vertical motion joint joint structure, and a joint joint structure. The link joint structure links the links to each other so as to make a relative rotational motion. Wherein the end effector is formed of one or a plurality of combinations of a prismatic joint structure and a vertical motion boom joint structure, and between the horizontal joint structure at the rear end of the end link and the end effector, And a turning unit that rotates the wheelchair holding unit in a circumferential direction with respect to the wheelchair holding unit.

delete

In the wheelchair storage system for a vehicle using an articulated manipulator according to the present invention, the link portion may include the end link connected to the base portion, the end link connected to the end effector, and the end link connected between the end link and the end link Wherein the joint portion includes a vertical boom rotary joint structure provided in the base portion, a front end link connected to the vertical boom rotary joint structure, A plurality of horizontal motion rotation joint structures provided at ends of each of the intermediate links, and a direct articulated joint structure provided to the end links.

The link portion may include the end link connected to the base portion, the end link connected to the end effector, and a plurality of intermediate links disposed between the end link and the end link, Wherein the joint part includes a vertical motion boom joint structure provided at a distal end of the end link connected to the base part, a distal end link connected to the vertical motion boom joint structure, an end link, And a linear motion articulated structure provided on an end link connected to the end effector, wherein the horizontal motion articulated joint structure includes a plurality of horizontal motion articulation structures including a scalar type Scara type).

The end effector may further include a wheelchair storage space for accommodating the wheelchair therein, a polygonal docking hole formed at one side thereof, and a wheelchair cabinet seated in the trunk storage device, A lug plate formed in a shape corresponding to the hole and inserted into the docking hole; and a lug plate coupled to the lug plate to rotate the lug plate so that the lug plate is inserted into the docking hole, And may include a rotating means for preventing falling out of the hole.

The vehicle wheelchair storage system using the joint type manipulator according to the present invention provides the following effects.

First, by minimizing the storage space of the vehicle roof, it is possible to improve the appearance, thereby compensating for the apparent disadvantages, and minimizing the air resistance, thereby minimizing fuel consumption reduction.

Second, since there is less room for trunk space for wheelchair storage, it is possible to extend the range of applications from small sedans to SUVs, thus widening the choice of users' vehicles.

Third, the wheelchair can be transferred from the vicinity of the driver's seat to the rear trunk position, and can be easily stored and taken out into the trunk, thereby providing maximum convenience in use.

Fourth, not only convenience of use but also safety accident can be prevented, so that the safety of the user can be guaranteed.

Fifth, without a conventional top-loop wheelchair transfer manipulator hoist device, it can be easily utilized by a woman or an elderly person and can be used as an independent semi-automatic wheelchair storage system.

1 is a perspective view illustrating a wheelchair storage system for a vehicle using an articulated manipulator according to an embodiment of the present invention.
2 is a perspective view showing a state in which a wheelchair is moved by the manipulator of FIG.
3 is a block diagram showing a control flow of a control unit of the vehicle wheelchair storage system of Fig.
4 is a perspective view showing a manipulator according to the first embodiment of FIG.
5 is a perspective view showing a manipulator according to the second embodiment of FIG.
FIG. 6 is a perspective view showing a manipulator according to the third embodiment of FIG. 1. FIG.
7 is a perspective view showing a manipulator according to the fourth embodiment of FIG.
8 is a perspective view showing a manipulator according to the fifth embodiment of FIG.
9 is a perspective view showing a driving unit for rotating the link portion in Fig.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 and 2, a wheelchair storage system 700 for a vehicle using an articulated manipulator according to an embodiment of the present invention includes a trunk storage device 100, (Not shown) including a manipulator 200 and a control unit 300 to the trunk lid 100 using the manipulator 200. [

First, the trunk storage device 100 serves to store and draw the wheelchair into the trunk of the vehicle 10. [ The above-described trunk storage device 100 includes a sliding accommodation system for slidably moving the wheelchair in an inward direction from the entrance side to the inside of the vehicle trunk by a retracted system, not shown, or a wheelchair is clamped through a hoist provided in the vehicle trunk A hoist method of housing the inside of the trunk can be applied.

Here, the sliding accommodation system may include a guide frame or the like so that a wheelchair can be slidably housed in a vehicle trunk. The hoist system may include a multi-joint structure for clamping or unclamping a wheelchair inside a vehicle trunk, And a hoist having a structure as shown in Fig. However, the sliding accommodation system and the hoist system described above are preferred embodiments of the trunk storage apparatus 100, and various embodiments are possible as long as the above objects can be achieved. Also, It goes without saying that various configurations other than one configuration may be included.

The trunk storage device 100 includes a position fixing part 310 (see FIG. 3) provided in the trunk of the vehicle for clamping the wheelchair after the wheelchair is received in the trunk, thereby fixing the position of the wheelchair .

The trunk storage device 100 further includes a sensing unit 330 for recognizing whether or not the wheelchair is stored in the trunk and a control unit 330 for receiving signals from the sensing unit 330 when the wheelchair is stored in the trunk, And a safety device 320 for fixing the position of the wheelchair.

Here, the sensing unit 330 senses whether the wheelchair is housed in the trunk or not, and may use various known structures such as a known position sensor, a touch sensor, and the like.

When the wheelchair is received, the safety device 320 maintains the position of the wheelchair by fixing the position of the wheelchair, and securely holds the wheelchair without shaking even when the vehicle is in operation. In detail, the safety device 320 has a structure for clamping or unclamping a wheelchair according to a signal received from the sensing unit 330, and various configurations such as an actuator, a motor, and a wire can be applied. The safety device 320 includes a hook structure for clamping the wheelchair and hooking the wheelchair or a wheelchair cabinet 500 to be described later according to an operation or a hook structure for clamping the wheelchair or the wheelchair cabinet 500, It is needless to say that various configurations such as a configuration for clamping or unclamping the cabinet 500 can be applied.

In the meantime, a method in which the position fixing unit 310, the sensing unit 330 and the safety device unit 320 are independently driven or the control unit 300 is connected to the control unit 300, A method of integrally controlling the control unit 310 may be applied. That is, the sensing unit 330 transmits the accommodation information of the wheelchair to the controller 300, and the controller 300 controls the operation of the safety device 320 based on the signal of the sensing unit 330 And the like.

The position fixing unit 310 and the safety device 320 clamp or unclamp the wheel chair or the wheel chair cabinet 500 according to a signal, And a clamping device that operates according to the present invention, and a detailed description thereof will be omitted.

In the present embodiment, the position fixing unit 310 and the safety device unit 320 are separately configured to be driven and controlled. However, in some cases, the position fixing unit 310, And the safety device unit 320 may be integrated into one unit.

The manipulator 200 is provided in the loop 11 of the vehicle 10 and moves the wheelchair to the trunk storage device 100 or moves the wheelchair from the trunk storage device 100 . Here, the manipulator 200 is a multi-joint system including a link arm having a plurality of joints, and a detailed description thereof will be described later.

3, the control unit 300 controls the trunk storage device 100 to store and retrieve the wheelchair in a trunk, places the wheelchair in the trunk storage device 100, And controls the driving unit 240 of the manipulator 200 to transfer the wheelchair from the robot 100.

The controller 300 drives and controls the position fixing unit 310 and senses the housed state signal of the wheelchair from the sensing unit 330 to drive and control the safety unit 320. Further, the control unit 300 may enable the integrated control of the vehicle in conjunction with the ECU of the vehicle 10. [

Furthermore, the wheelchair storage system 700 for the vehicle 10 is provided in the roof 11 of the vehicle 10 and has a storage space in which the manipulator 200 is housed, And a housing 400 (see FIG. 1) that is opened when the manipulator 200 is used and is closed when the manipulator 200 is not used when the manipulator 200 is not used. Since the housing 400 accommodates only the manipulator 200 without housing the wheelchair, it is possible to achieve a com- matic structure, which allows the user to increase the user's likelihood of use, reduces the air resistance, Can be prevented.

Meanwhile, the vehicle wheelchair storage system 700 may include a wheelchair cabinet 500 that houses the wheelchair (not shown) therein and is seated in the trunk storage device 100.

The wheelchair cabinet 500 is formed in a substantially box shape having both sides thereof opened and has a wheelchair accommodating space for accommodating the wheelchair therein. The wheelchair cabinet 500 can be seated on the trunk storage device 100. The wheelchair cabinet 500 is formed in a box shape having both sides open in consideration of the size of the wheelchair and the ease of storage, and is configured to easily clamp and unclamp the wheelchair cabinet 500 with an end effector 250 .

Meanwhile, it is preferable that a folding type wheelchair is applied to the wheelchair for compactness of a space required for storing the wheelchair.

Furthermore, the vehicle wheelchair storage system 700 may include a rainwater collecting system that can be conveniently used by a user whose behavior is poor even in a rainy day through a universal design. Here, the rainwater collecting system is constructed such that the plate-shaped plate is protruded to the upper portion of the wheelchair occupant by the actuator utilizing the roof space for supporting the storage box installed in the roof 11 of the vehicle 10 Can be configured. In another embodiment, the rainwater collecting system can be configured so that the flexible material can be expanded in a horizontal direction or a fan-like direction using a folded wrinkle material.

Hereinafter, the manipulator 200 will be described.

4, the manipulator 200 includes a base unit 210, a link unit 220, a joint unit 230, a driving unit 240, and an end effector 250.

The base portion 210 is coupled to the roof 11 of the vehicle 10 and the link portion 220 is connected to the link portion 220 so that the link portion 220 is not shaken or struck. Rotatably.

Meanwhile, it is preferable that the base portion 210 is formed in a plate shape so as to increase the surface contacting the roof 11 of the vehicle 10 to improve the binding force with the vehicle 10, but the present invention is not limited thereto. The base portion 210 may be formed of a separate fastening means such as welding or bolt, but is not limited thereto, as means for coupling to the roof 11 of the vehicle 10.

The link unit 220 includes a plurality of links 221, 222, 223 and 224 rotatably connected to each other. The link unit 220 includes a plurality of link members 221, 222, 223, and 224, L0 221 connected to the end effector 250 and the end link L3 224 connected to the end effector 250 and a plurality of And intermediate links (L2, L2) 222, 223.

Here, the links 221, 222, 223, and 224 are preferably formed of a lightweight but durable titanium material, but are not limited thereto.

The joint part 230 is provided at a position where the links 221, 222, 223 and 224 are connected to control relative movement between the links 221, 222, 223 and 224. The joint part 230 may include a revolute or ratary joint structure in which the links 221, 222, 223, and 224 are connected to each other so as to rotate relative to each other, or a revolute joint structure in which the link joints and the links are linearly moved relative to each other And a prismatic joint structure that connects the prismatic joints to each other. Here, various embodiments of the joint part 230 will be described later.

5, the driving unit 240 is driven and controlled by the control unit 300 and controls the turning operation of the links 221, 222, 223, and 224 in the joint unit 230. More specifically, the driving unit 240 includes a gear portion 241 provided at each end of the links 221, 222, 223 and 224 and including a plurality of gears meshed with each other, And a gear rotating mechanism that rotates the link 221, 222, 223, 224 through the gear portion 241 when the gear portion 241 is rotated by the motor.

The driving unit 240 includes a motor 242 rotatably mounted on the joint 230 as shown in the figure without directly rotating the gear 241, And a moving part 243 connected to one end of the frame 244 to rotate the frame 244 so as to rotate the gear part 241 . At this time, the moving unit 243 may include a single acting cylinder 2431, a piston 2432, and a hydraulic motor 242 by applying a hydraulic actuator.

As described above, the driving unit 240 can obtain a larger turning angle of the link with a simple structure through the gear unit 241. In this case, the gear unit 241 can be rotated by the driving force of the link 221, 222, 223, It is possible to vary the number and type thereof according to the rotation angle.

In addition, since the driving unit 240 uses the gear rotation mechanism as described above, static operation for accommodating the manipulator 200 can be smoothly implemented, and the wheelchair can be moved along the floor It is also applicable to the guidance method.

However, the present invention is not limited thereto. For example, an electric cylinder, an electric hydraulic cylinder, or a hydraulic cylinder may be used as the gear rotation mechanism through the gear portion 241. However, cylinder, an EHS (electric hydraulic system), and the like, as long as the links 221, 222, 223, and 224 can rotate.

The end effector 250 is rotatably coupled to the end link 224 located at the distal end of the link unit 220 and selectively clamps or unclamps the wheelchair.

Hereinafter, a detailed description of the end effector 250 will be omitted because it is similar in construction to the end device of a known manipulator system, and will not be described in detail. Hereinafter, a configuration for clamping or unclamping the wheelchair cabinet 500 .

The wheelchair cabinet 500 is formed with a polygonal docking hole on the upper side thereof. The end effector 250 includes a lug plate formed in a shape corresponding to the docking hole and inserted into the docking hole, And rotating means for rotating the lug plate so that the lug plate is inserted into the docking hole and then rotated so that the lug plate is not released from the docking hole. Here, the rotating means may be a master cylinder or a magnetic switch, but is not limited thereto.

The end effector 250 may be provided with an electromagnet at an end of the end effector 250 instead of the rotating means such as the docking hole in a configuration for clamping or unclamping the wheelchair cabinet 500, The cabinet 500 may be selectively detached to be clamped or unclamped, and various other embodiments may be applied as long as the above-described objects can be achieved.

The end effector 250 may include a gripper for gripping and transporting the folded wheelchair unlike the structure for clamping the wheelchair cabinet 500 as described above. 100 and a docking device capable of being docked.

Hereinafter, various embodiments of the joint 230 in the manipulator 200 will be described.

First, the manipulator 200 must have a certain length in order to reach the position for carrying and storing the wheelchair. At the same time, the manipulator 200 should be easily accommodated in a loop of the vehicle, which is a limited space, It is advantageous. Therefore, a multi-joint structure is preferable as a structure having a predetermined range of length and being easily accommodated in a minimum necessary space. Hereinafter, various embodiments of the joint part 230 as the multi-joint structure will be described.

In the first embodiment, as shown in FIG. 4, the joint 230 has a horizontal motion rotation joint and a vertical motion rotation joint structure, and the tip end of the end link 221 has a horizontal motion rotation Joint structures J1, J2, and J3 are formed at the ends of the other end links 221, the end links 224, and the intermediate links 222 and 223, , J4; 231, 232, 233, 234, 235). In this case, the joint part 230 is advantageous in controlling the posture of the manipulator 200 avoiding the trunk carver.

Referring to FIG. 6, the joint 230a according to the second embodiment has a portion corresponding to the root J0 of the joint 230a, as compared with the first embodiment of FIG. 5, The vertical motion boom joint structure has a horizontal motion joint and a vertical motion boom joint structure 231a in the base part 210. In addition, 233, 234, and 235a. Here, the vertical motion joint structures 232, 233, 234, and 235a are provided at ends of the end link 221, the end link 224, and the intermediate links 222 and 223, respectively. In this case, the joint part 230a is advantageous in controlling the manipulator posture avoiding the trunk carver, and it is easier to control the vertical height when taking the wheelchair grip or the docking posture.

Referring to FIG. 7, the joint 230b according to the third embodiment includes a horizontal motion rotation joint and a vertical motion J0 in the joint J2, as compared to the second embodiment in FIG. 6, And the other joints are similar to each other in applying the vertical motion rotation joints 232, 233, 234 and 235a. In addition, the end effector 2509 is connected to the end link 224b, Structure 236b. In this case, the joint part 230b is advantageous in controlling the manipulator posture avoiding the trunk carver, and the vertical height control becomes easier when the wheelchair grip or the docking posture is taken, and the range of the height control is expanded, .

8, the joint 230c is similar to the third embodiment of FIG. 7 except that the end link 224b is connected to the end effector 250 at the end thereof The escape of the vehicle trunk cover can be avoided in a low attitude including the eccentric portion 237c so that it is easy to apply when the height of the parking space is low.

In detail, the joint part 230c applies a horizontal motion rotation joint and a vertical motion boom joint 231a simultaneously to the base J0 of a joint connected to the base part 210, The end effector 250 includes a linear joint structure 236b at an end link 224b connected to the end effector 250 and a vertical joint joint structure 236b connected to the end effector 250. [ And a rotary part 237c between the end link 224b and the end effector 250. [

Here, the rotary part 237c rotates the end effector 250 in the circumferential direction with respect to the horizontal rotation joint structure 235, thereby making it possible to more effectively avoid the cover of the vehicle trunk. At this time, as shown in the drawing, the rotating unit 237c is formed of a double cylindrical structure that is coupled to be slidable in the circumferential direction, and the rotating unit 237c may be rotated by using a motor or the like, but the present invention is not limited thereto . It should be understood that the joints 230a, 230b, and 230c may be variously applied to the joint structures 230a, 230b, and 230c according to the number and position of the joint structures.

Referring to FIG. 9, in the fifth embodiment, the joint part 230d is configured such that a horizontal motion rotation joint and a vertical motion boom joint 231 are simultaneously applied to the base J0 and the other joints 232d, 233d, 234, And the end effector 250 includes a direct-acting joint 236b.

In this case, the joint part 230d can be extended to a manipulator attitude control avoiding a trunk carver, a wheelchair grip, a height control, and a height control when a docking posture is taken. Further, the joint part 230d is structurally strong against the support load, and the height of the joint part 230d when folded down is low, so that the manipulator 200d can be easily stored.

The detailed description of the horizontal motion rotation joint structure, the vertical motion rotation joint structure, the vertical motion boom joint structure, the direct rotation joint structure, and the like is well known, and a detailed description thereof will be omitted. The same reference numerals in the drawings denote the same components.

As described above, the vehicle wheelchair storage system 700 for a vehicle is provided with only the manipulators 200, 200a, 200b, 200c, and 200d in the roof 11 of the vehicle 10 to minimize the storage space of the roof 11, The resistance and the like can be reduced to provide a fuel efficiency improvement effect, and the wheelchair can be housed in the trunk so that the trunk space can be maximized to achieve optimal storage of the wheelchair. Further, since the vehicle wheelchair storage system 700 can transfer the wheelchair from the driver's seat to the trunk storage device 100 without the assistance of an assistant, it is possible to further improve the chances of independent living and vocational rehabilitation of the wheelchair user.

While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

100 ... trunk storage device 200, 200a, 200b, 200c, 200d ... Manipulator
210 ... base portion 220, 220b ... link portion
221 ... end link 222,223 ... intermediate link
224, 224b ... end links 230, 230a, 230b, 230c ... joints
231, 232, 232d, 233, 233d, 234, 234b, 235, 235c, 236b,
240 ... driving part 241 ... gear part
242 ... motor 243 ... moving part
244 ... frame 250 ... end effector
300 ... control unit 310 ... position fixing unit
320 ... safety device part 330 ... sensing part
400 ... housing 500 ... wheelchair cabinet
700 ... car wheelchair storage system

Claims (5)

A trunk storage device for storing and withdrawing a wheelchair into a vehicle trunk;
A manipulator provided in the roof of the vehicle for moving the wheelchair to the trunk storage device or moving the wheelchair from the trunk storage device; And
And a controller for controlling the trunk storage device to store and retrieve the wheelchair in a trunk and to control the manipulator to move the wheelchair,
The manipulator includes:
A base portion coupled to the roof of the vehicle,
A link portion which is composed of links that are pivotably connected to each other in a plurality of rotations, and in which a leading end portion of a leading link located at a leading end of the links is rotatably engaged with the base portion,
A joint part provided at a position to which the links are connected to connect the links so as to move relative to each other,
A driving unit that is controlled by the control unit and is provided in the joint unit and controls driving of the joint unit;
And an end-effector coupled to the end link located at the distal end of the link and selectively clamping or unclamping the wheelchair,
The joint part
A revolute or ratary joint structure for linking the links to each other so as to make relative rotation with each other, a vertical motion revolving joint structure, a rotary joint structure, and a linear joint A prismatic joint structure, and a vertical motion boom joint structure,
And a pivoting portion for rotating the end effector in the circumferential direction with respect to the horizontal rotation joint structure, between the horizontal rotation joint structure of the rear end of the end link and the end effector.
delete The method according to claim 1,
Wherein,
A distal link connected to the base, a distal link connected to the end effector, and a plurality of intermediate links disposed between the distal link and the distal link,
The joint part
A vertical boom rotary joint structure provided in the base portion, a plurality of horizontal motion rotary joint structures provided at ends of each of the end link, the end link, and the intermediate link connected to the vertical boom rotary joint structure, Wherein the end link includes a linear joint structure provided on the end link.
The method according to claim 1,
Wherein,
A distal link connected to the base, a distal link connected to the end effector, and a plurality of intermediate links disposed between the distal link and the distal link,
The joint part
A vertical motion boom joint structure provided at a distal end portion of the front link connected to the base portion, a plurality of end joints provided at ends of each of the front link, the end link, and the intermediate link connected to the vertical motion boom joint structure And an articulated joint structure provided on an end link connected to the end effector,
The horizontal motion rotation joint structure is a Scara type articulated manipulator for allowing the links to move in a horizontal direction.
The method according to claim 1,
A wheelchair cabinet in which a wheelchair accommodating space capable of accommodating the wheelchair is provided, a polygonal docking hole is formed on one side thereof, and a wheelchair cabinet which is seated on the trunk storage device,
The end-
A lug plate formed in a shape corresponding to the docking hole and inserted into the docking hole,
And a rotating means connected to the lug plate to rotate the lug plate so that the lug plate is inserted into the docking hole and then rotated so that the lug plate is not released from the docking hole. system.

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