KR101649731B1 - Wheelchair storage system for vehicles using telescopic 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 section for controlling the trunk lid receiving device to receive and draw the wheelchair into and out of the luggage compartment, and to control the manipulator to move the wheel chair, wherein the manipulator includes a base portion coupled to the roof of the vehicle, A telescopic part including a plurality of telescopic arms rotatably connected to the base part and including a plurality of telescopic arms provided to be capable of elongating and contracting in a forward and backward direction and a telescopic part connected to the telescopic part to slide and move the telescopic arm to elongate and retract, And an end-effector coupled to the terminal telescopic arm located at a terminal end of the telescopic part and selectively clamping or unclamping the telescopic arm, the driving part being driven and controlled by the control part, The first-tier telesco Stage telescopic arm slidably connected to the arm and a three-stage driving unit for moving the three-stage telescopic arm slidably connected to the two-stage telescopic arm in the forward and backward directions, Wherein the two-stage driving unit includes a driving motor provided in the one-stage telescopic arm and driven and controlled by the control unit, a driving ball screw provided in the one-stage telescopic arm and connected to the driving motor, And a two-stage moving unit which is screwed to the driving ball screw and which is coupled with the two-stage telescopic member and moves the two-stage telescopic arm in the forward and backward directions in accordance with the rotation of the driving ball screw. Thereby providing a wheelchair storage system for a vehicle.
Therefore, by minimizing the storage space of the vehicle roof, it is possible to improve the external appearance to compensate for the apparent disadvantages and to minimize the air resistance, thereby minimizing the fuel consumption reduction.

Description

[0001] The present invention relates to a telescopic type manipulator for a vehicle,

The present invention relates to a vehicle wheelchair storage system using a telescopic manipulator, and more particularly, to a vehicle wheelchair storage system using a telescopic type manipulator, To a wheelchair storage system for a vehicle using a telescopic type 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. In this case, as an example of the above-described technology for the top-loop hoist system (US Pat. No. 4,376,611 entitled "Car top carrier for wheelchair") International Publication No. WO 2006/006145 entitled "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.

It is an object of the present invention to minimize the storage space of the vehicle roof to improve the appearance and to minimize the air resistance to improve the fuel efficiency and to provide a telescopic device capable of extending the range of applications from small sedans to SUVs. 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 section for controlling the trunk lid receiving device to receive and draw the wheelchair into and out of the luggage compartment, and to control the manipulator to move the wheel chair, wherein the manipulator includes a base portion coupled to the roof of the vehicle, A telescopic part including a plurality of telescopic arms rotatably connected to the base part and including a plurality of telescopic arms provided to be capable of elongating and contracting in a forward and backward direction and a telescopic part connected to the telescopic part to slide and move the telescopic arm to elongate and retract, And an end-effector coupled to the terminal telescopic arm located at a terminal end of the telescopic part and selectively clamping or unclamping the telescopic arm, the driving part being driven and controlled by the control part, The first-tier telesco Stage telescopic arm slidably connected to the pick arm and a three-stage driving unit for moving the three-stage telescopic arm slidably connected to the two-stage telescopic arm in the forward and backward directions, Wherein the two-stage driving unit includes a driving motor provided in the one-stage telescopic arm and driven and controlled by the control unit, a driving ball screw provided in the one-stage telescopic arm and connected to the driving motor, And a two-stage moving unit which is screwed to the driving ball screw and which is coupled with the two-stage telescopic member and moves the two-stage telescopic arm in the forward and backward directions in accordance with the rotation of the driving ball screw. Thereby providing a wheelchair storage system for a vehicle.

The three-stage driving unit includes a guide ball screw provided in the one-stage telescopic arm and connected to the driving motor, a three-stage feeding ball screw provided in the two-stage telescopic arm, And a second gear coupled to the outer periphery of the three-stage feed ball screw and meshed with the first gear to transmit the rotational force of the guide ball screw to the three-stage feed ball screw, Stage moving unit for moving the three-stage telescopic arm in the forward and backward directions in accordance with the rotation of the three-stage transfer ball screw, the three-stage moving unit being engaged with the three- .

The three-stage drive unit includes a first stage rack gear provided inside the first stage telescopic arm, a first stage rack gear meshed with the rack gear and provided in the second stage telescopic arm, And a three-stage rack gear provided on the three-stage telescopic arm so as to be engaged with the pinion portion and moving the three-stage telescopic arm by rotation of the pinion portion.

In addition, the three-stage driving unit may include a three-stage feeding ball screw provided in the two-stage telescopic arm and a three-stage feeding ball screw provided in the three-stage driving ball screw, Wherein the ball screw is screwed to the three-stage feed ball screw on an inner circumferential surface thereof and is engaged with the three-stage telescopic arm, and the three-stage telescopic arm is moved in the forward and backward directions And a third-stage moving unit that moves the first-

And a folding unit provided between the end effector and the terminal telescopic arm for folding the telescopic unit by rotating the end effector, wherein the folding unit includes a frame coupled to the terminal telescopic arm, A worm that is provided on the frame and is axially coupled to a rotation axis of the folding motor, and a worm that is rotated with the worm and is axially coupled to an end of the end effector to rotate the end effector It is preferable to include a rotator fisher unit including a worm gear.

The end effector may further include a wheelchair storage space for accommodating the wheelchair therein, a polygonal docking hole formed on one side thereof, and a wheelchair cabinet mounted on 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, It is preferable to include a rotating portion that prevents the toner from falling out from the hole.

The vehicle wheelchair storage system using the telescopic 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 showing a wheelchair storage system for a vehicle using a telescopic manipulator according to an embodiment of the present invention.
Fig. 2 is a perspective view showing an operation of moving the wheelchair by the manipulator of Fig. 1; Fig.
3 is a block diagram showing a control flow of a control unit of the vehicle wheelchair storage system of Fig.
Fig. 4 is a perspective view showing the rotating means of Fig. 1;
5 is a front cross-sectional view of the lug plate for selectively coupling the end effector of FIG. 1 to a wheelchair cabinet.
6 is a bottom view showing that the end effector of Fig. 6 and the wheelchair cabinet are clamped or unclamped; Fig.
Fig. 7 is a perspective view showing a folding part for folding the telescopic part of the end effector of Fig. 1 by rotating the end effector;
Figs. 8 and 9 are perspective views showing the manipulator of Fig. 1; Fig.
10 is a front sectional view of the manipulator of Fig.
11 is a front view showing a state in which the manipulator of Fig. 8 is contracted and the end effector is folded.
12 is a perspective view showing another embodiment of the manipulator of Fig.
13 is a cross-sectional view showing the internal structure when the manipulator of FIG. 12 is contracted.
14 is a perspective view showing another embodiment of the manipulator of Fig.
15 is a front cross-sectional view of the manipulator of Fig.
Fig. 16 is a cross-sectional view showing the internal structure of the manipulator of Fig. 14 when the manipulator is retracted. Fig.

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

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

First, the trunk storage device 100 serves to store and retrieve wheelchairs into the trunk of the vehicle, and in the case of the retractable type, a sliding housing system in which the wheelchair is slidably moved from the entrance side to the inside of the vehicle trunk, A hoist system in which a wheelchair is clamped through a hoist provided in a vehicle trunk and accommodated inside the trunk can be used.

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 vehicle wheelchair storage system 700 may include a wheelchair cabinet 500 provided with a wheelchair storage space 501 capable of receiving the wheelchair therein and seated in the trunk storage device 100 have.

In detail, the wheelchair cabinet 500 includes a wheelchair storage space 501 in which a wheelchair can be received in a substantially box-like shape with both sides thereof opened, and is mounted on the trunk storage device 100 . In addition, the wheelchair cabinet 500 is formed in a box shape having both sides opened in consideration of the size of a wheelchair and the ease of storage, and is configured to be easily clamped and unclamped with an end effector 240 described later.

Further, although not shown, the trunk storage device 100 includes a position fixing unit 310 (not shown), which is provided in the trunk of the vehicle and clamps the wheelchair after the wheelchair is received in the trunk, 3).

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 a loop of the vehicle to move the wheelchair to the trunk storage device 100 or to move the wheelchair from the trunk storage device 100. Specifically, the manipulator 200 has a telescopic structure including a plurality of telescopic arms including a base portion 210, a telescopic portion 220, a driving portion 230, and an end effector 240 .

The base unit 210 is coupled to the roof of the vehicle and rotatably couples the telescopic unit 220 to the upper side to support the telescopic unit 220 so that the telescopic unit 220 is not shaken or struck do. Details of the telescopic part 220, the driving part 230, and the end effector 240 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 manipulator 200 to transfer the wheelchair from the robot 100.

In addition, the controller 300 controls the driving unit 230 of the manipulator 200 to expand or contract the wheelchair so that the wheelchair can be transferred. 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 can enable integrated control of the vehicle in connection with the ECU of the vehicle.

Further, the vehicle wheelchair storage system 700 is provided in the roof of the vehicle, and has a storage space for storing the manipulator 200 therein. The storage space is openable and closable when the manipulator 200 is used. And a housing 400 in which the manipulator 200 is housed in the storage space and closed when the manipulator 200 is not used.

Since the housing 400 accommodates only the manipulator 200 without housing the wheelchair, it is possible to realize a compact structure, so that the present invention can be applied to a generally used leisure vehicle roof box, Which can increase the likelihood of use, and also reduce the air resistance, thereby preventing the fuel consumption from rising.

Meanwhile, the wheelchair is preferably a folding type wheelchair for compactness of a necessary space.

In addition, 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 receiver system can be configured to utilize a roof lower space for supporting a storage box installed in a roof of a vehicle, so that a plate-type plate protrudes from an upper portion of the wheelchair occupant next to the driver's seat by an actuator. 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.

The manipulator 200 is provided between the base unit 210 and the telescopic unit 220 to rotate the telescopic unit 220 in the circumferential direction, (600).

4, the rotating unit 600 includes a motor base 610 provided in the base unit 210 to support various configurations, and a known rotary motor (not shown) provided in the motor base 610 620, a gear portion 630, and a thrust bearing holder 640.

Here, the gear portion 630 includes a worm provided on a rotary shaft of the rotary motor 620, a worm that is engaged with the worm and is connected to the distal telescopic arm, and rotates in accordance with rotation of the worm to rotate the distal telescopic arm .

The thrust bearing holder 640 serves to support the rotation shaft of the rotation motor 620, and a detailed description thereof will be omitted.

The telescopic part 220 includes a plurality of telescopic arms 221, 222 and 223, one end of which is rotatably connected to the base part 210 and is capable of stretching and contracting in the forward and backward directions. At this time, the telescopic arms 221, 222, and 223 are preferably made of a titanium material for improving durability and the like, but the present invention is not limited thereto.

Further, the telescopic portion 220 preferably includes a linear bearing portion 233 for reducing frictional resistance between the telescopic arms 221, 222, and 223 to be extended and retracted. The linear bearing portion 233 includes a linear bearing shaft and a linear bearing connected thereto. Here, the linear bearing shaft is provided inside the one-stage telescopic arm 221 and the two-stage telescopic arm 222.

The driving unit 230 is driven and controlled by the control unit 300 and connected to the telescopic unit 220 to slide and move the telescopic arms 221, 222 and 223 to extend and retract. Various embodiments may be applied to the driving unit 230, and a detailed description thereof will be given later.

The end effector 240 is coupled to a terminal telescopic arm located at the distal end of the telescopic part 220 and is selectively clamping or unclamping the wheelchair. At this time, the end effector 240 clamps the wheelchair in order to clamp the wheelchair more stably, rather than clamping the complicated wheelchair to clamp the wheelchair. The end effector 240 houses the wheelchair in the wheelchair cabinet 500, 240 are clamped or unclamped.

5 and 6, a clamping structure of the end effector 240 and the wheelchair cabinet 500 will be described. First, a polygonal docking hole is formed on the wheelchair cabinet 500, (240) includes a lug plate (241) and a rotating part (not shown). The lug plate is rotatably coupled to the lower side of the end effector 240 and is formed in a shape corresponding to the docking hole and inserted into the docking hole.

The rotation unit is connected to the lug plate 241 to rotate the lug plate 241. In this case, a known motor, a master cylinder or a magnetic switch may be used as a means for rotating the lug plate 241, and various configurations may be applied as long as the above objects can be achieved.

The end effector 240 inserts the lug plate 241 into the docking hole and then rotates the lug plate through the rotation unit so that the lug plate 241 rotates And is clamped to the wheelchair cabinet (500) without being caught by the docking hole. In this state, in order to unclamp the wheelchair cabinet 500, the lug plate 241 may be rotated again through the rotation portion to exit the docking hole.

The end effector 240 may include an electromagnet at an end of the end effector 240 to clamp or unclamp the wheelchair cabinet 500 to the wheelchair cabinet 500 may be selectively detached and clamped or unclamped. In addition, the present invention can be applied to various embodiments as long as the above objects can be achieved.

The end effector 250 may include a gripper for gripping and transporting the folded wheelchair, unlike the structure in which the wheelchair cabinet 500 is clamped as described above, And a docking device capable of docking with the portable terminal 100. [

7, the manipulator 200 is provided between the end effector 240 and the terminal telescopic arm to rotate the end effector 240, And a folding unit 250 for folding the telescopic unit 220 by rotating it.

The folding unit 250 includes a frame 251 coupled to the terminal telescopic arm unit, a folding motor 252 coupled to the frame 251, and a rotating machine unit 253.

Here, the folding motor 252 may be a power window motor, but is not limited thereto. The rotator unit 253 includes a worm that is provided on the frame 251 and is axially coupled to the rotation axis of the folding motor 252 and the end of the end effector 240, And a worm gear which rotates the end effector 240 according to the rotation.

8, the folding unit 250b includes a frame 251b having a rotation surface inclined at an angle of 45 ° with respect to the end of the telescopic arm, a folding motor 252b, And a rotating machine unit 253b including a bevel gear and the like. In this case, the end effector 240 is folded in the telescopic part 220 by rotating the end effector 240 in the lateral direction (side rotation) by the folding part 250b. In this case, the end effector 240 can further reduce the space occupied when the end effector 240 is folded in comparison with the conventional vertically folded end effector 240 rotation mechanism, thereby further facilitating the retractability. have.

Hereinafter, the driving unit 230 for stretching and contracting the telescopic unit 220 will be described.

9 and 10, the driving unit 230 is slidably connected to the first stage telescopic arm 221 at the first stage of the telescopic unit 220, and the second stage telescopic arm 222 is coupled to the front stage Stage driving unit 231 for moving the driving unit 231 in the second direction.

The two-stage drive unit 231 includes a drive motor 2311, a drive ball screw 2312, and a second-stage movement unit 2313. The driving motor 2311 is provided in the one-stage telescopic arm 221 and is driven and controlled by the control unit 300. At this time, a well-known motor can be used as the drive motor 2311, and a detailed description thereof will be omitted.

The driving ball screw 2312 is provided along the longitudinal direction of the one-stage telescopic arm 221 inside the one-stage telescopic arm 221, and one end thereof is connected to the axis of the driving motor 2311, And is adapted to rotate in response to the rotation of the drive motor 2311.

Stage moving unit 2313 is screwed to the driving ball screw 2312 as an inner circumferential surface and engaged with the two-stage telescopic arm 222 as an outer circumferential side to rotate the driving ball screw 2312 And moves the two-stage telescopic arm 222 in the forward and backward directions. Here, the two-stage moving part 2313 is similar to a ball nut that is screwed to the ball screw and moves in the forward and backward directions corresponding to the rotation of the ball screw, and a detailed description thereof will be omitted. Further, the illustrated three-stage drive unit 232a can be variously described, and a detailed description thereof will be given later.

11, the telescopic part 220 is contracted and folded, and the end effector 240 is rotated and rotated by the rotation device 200. [ The telescopic part 220 is folded by the telescopic part 600. When the manipulator 200 is not in use, the overall volume of the manipulator 200 can be significantly reduced, and the manipulator 200 can be easily stored in the housing 400.

As described above, the manipulator 200 includes the telescopic part 220 as the first stage telescopic arm 221 and a two-stage telescopic arm 222 slidingly moving the second stage driving part 231 However, it is preferable to include more telescopic arms in consideration of the expansion distance of the telescopic portion 220, the storage environment, and the like.

The manipulator 200 includes a one-stage telescopic arm 221, a two-stage telescopic arm 222 and a three-stage telescopic arm 223 sliding on the two-stage telescopic arm 222 . The driving unit 230 for expanding or expanding the two-stage telescopic arm 222 is the same as that of the two-stage driving unit 231 and will not be described in detail. Hereinafter, the three-stage telescopic arm 223 The three-stage driving unit 232 for expanding or contracting will be described.

Referring to FIGS. 9 and 10, the three-stage driving unit 232a includes a guide ball screw 2321a, a three-stage feeding ball screw 2322a, a gear unit 2323a, Stage moving unit 2324a.

Here, the guide ball screw 2321a is provided on the one-stage telescopic arm 221 and connected to the driving motor 2311 to rotate.

The three-stage transfer ball screw 2322a is provided along the longitudinal direction inside the two-stage telescopic arm 222, and one end thereof is connected to the gear portion 2323a and connected to the third- .

The gear portion 2323a serves to transmit the rotational force of the guide ball screw 2321a to the three-stage feed ball screw 2322a. In detail, the gear portion 2323a includes a first gear that is coupled to the outer periphery of the guide ball screw 2321a and rotates, and a second gear that is coupled to the outer periphery of the third-stage feed ball screw 2322a, And a second gear that transmits the rotational force of the guide ball screw 2321a to the three-stage feed ball screw.

Here, it is preferable that the first gear and the second gear are a combination of known spur gears. However, the present invention is not limited thereto, and it is needless to say that various combinations of gears may be used as long as they are suitable for the power transmission function and structure .

The third stage moving part 2324a is screwed to the third stage conveying ball screw 2322a on the inner circumferential surface and is engaged with the third stage telescopic arm 223 so as to rotate in accordance with the rotation of the third stage conveying ball screw 2322a And moves the three-stage telescopic arm 223 in the forward and backward directions.

Stage telescopic arm 221 and the three-stage telescopic arm 222 and the two-stage telescopic arm 222 are simultaneously driven by the driving motor 2311, which is one power source mounted on the one-stage telescopic arm 221, according to the first embodiment described above. (223) can be stretched and expanded.

The driving unit 230 includes a driving ball screw 2312 for transporting the two-stage telescopic arm 222 and another guide ball screw 2321a to the one-stage telescopic arm 221 The power of the drive ball screw 2312 is transmitted to the three-stage feed ball screw 2322a by a gear portion 2323a (spur gear mechanism) that moves together with the drive ball screw 2312 along the guide ball screw 2321a. So that the two-stage telescopic arm 222 and the three-stage telescopic arm 223 are contracted or expanded at the same time.

12 and 13, in the second embodiment, the three-stage drive unit 232b includes a rack gear and a pinion-bevel gear, unlike the case of Figs. 9 and 10, and includes a first-stage rack gear 2321b, A pinion bevel gear portion 2322b, and a three-stage rack gear 2323b.

The first stage rack gear 2321b is fixed to the inner side of the first stage telescopic arm 221 and extends in the extension or extension of the second stage telescopic arm 222 inside the first stage telescopic arm 221 The position is determined to be length.

The pinion bevel gear portion 2322b is provided on the two-stage telescopic arm 222 which is engaged with the one-stage rack gear 2321b and faces the one-stage rack gear 2321b, 222).

Here, the pinion bevel gear portion 2322b includes a first pinion bevel gear 23221 which is located at the tip end and rotates in accordance with the movement of the first stage rack gear 2321b, Stage bevel gear shaft 23222 engaged with the second stage bevel gear shaft 23222 and meshed with the third stage rack gear 2323b so as to be engaged with the third stage rack gear 2323b And a second pinion bevel gear 23223 for moving the pinion bevel gear 23223. Here, the shaft of the three-stage drive unit 232b is combined with a thrust bearing so as not to be pushed in the axial direction (operating direction), and a first Stage rack gear 2321b is rotated to rotate the first pinion bevel gear 23221 and the second pinion bevel gear 23223 so that the first pinion bevel gear 23221 and the second pinion bevel gear 23223 rotate Structure.

The three-stage rack gear 2323b meshes with the second pinion bevel gear 23223 and is provided on the three-stage telescopic arm 223 so that the three-stage rack gear 2323b is rotated by the rotation of the second pinion bevel gear 23223, And serves to move the arm 223.

The driving unit 230 is driven by the driving motor 2311, which is a power source mounted on the one-stage telescopic arm 221, as in the first embodiment, and the two-stage telescopic arm 222 and the three- Mechanism is configured so that arm 223 can be stretched and expanded.

In the driving unit 230 according to the second embodiment, when the two-stage telescopic arm 222 moves, the first pinion bevel gear rotates along the first-stage rack gear 2321b, And transmits the rotational power to the second pinion bevel gear at the end of the two-stage telescopic arm (222). Then, the second pinion bevel gear rotates while pushing the three-stage rack gear 2323b coupled to the three-stage telescopic arm 223, thereby moving the three-stage telescopic arm 223.

14 to 16 are views showing the driving unit 230 according to the third embodiment. The three-stage driving unit 232c includes a three-stage feeding ball screw 2321c, a spur gear unit 2322c, And a third-stage moving unit 2323c.

In the driving unit 230 according to the third embodiment of the present invention, the slot 23121 is formed in the driving ball screw 2312b along the longitudinal direction in the form of a groove, and the slot 23121 is guided And the spur gear unit 2322c performs the rotation and the feed operation at the same time.

The three-stage transfer ball screw 2321c is provided along the longitudinal direction inside the two-stage telescopic arm 222. One end of the three-stage transfer ball screw 2321c is connected to the spur gear unit 2322c, It is connected.

The spur gear unit 2322c is rotated and moved along a slot 23121 formed along the axial direction of the driving ball screw 2312 and is engaged with the outer periphery of the three-stage feeding ball screw 2321c, And transmits the rotational force of the ball screw 2312 to the three-stage transfer ball screw 2321ca.

The third stage moving part 2323c is screwed to the third stage conveying ball screw 2321c on the inner circumferential surface and is engaged with the third stage telescopic arm 223 so as to rotate in accordance with the rotation of the third stage conveying ball screw 2321c And moves the three-stage telescopic arm 223 in the forward and backward directions.

The driving unit 230 according to the third embodiment of the present invention is similar to the first and second embodiments in that the driving motor 2311, which is a power source mounted on the one-stage telescopic arm 221, The telescopic arm 222 and the three-stage telescopic arm 223 can be stretched or expanded at the same time.

In the driving unit 230 according to the third embodiment, a slot is formed in the driving ball screw 2312 in the longitudinal direction so that the spur gear unit 2322c rotates and moves simultaneously And the rotational power of the spur gear unit 2322c is transmitted to the spur gear fixed to the three-stage feed ball screw 2321c.

As described above, in the vehicle wheelchair storage system 700, only the manipulator 200 is mounted on the vehicle roof, the accommodation space of the roof is minimized to reduce the air resistance and the like, and the fuel economy improvement effect can be provided. By being stored in the trunk, the trunk space can be utilized to the maximum, and the optimum storage of the wheelchair can be achieved. In addition, the wheelchair storage system 700 for a vehicle can autonomously transfer the wheelchair from the driver's seat to the trunk storage device 100, without the need for an assistant, and the wheelchair can be transferred.

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, 200b, 200c ... manipulator
210 ... base portion 220 ... telescopic portion
221 ... 1st stage telescopic arm 222 ... 2nd stage telescopic arm
223 ... three-stage telescopic arm 230 ... driving part
231 ... two-stage drive unit 2311 ... drive motor
2312 ... driven ball screw 2314 ... two-stage transport guide
232a, 232b, 232c ... three-stage driving portion 2321a ... Guide ball screw
2321b ... 1st stage rack gear 2321c, 2322a ... 3rd stage feed ball screw
2322b ... pinion bevel gear portion 2322c ... spur gear unit
23221 ... 1st pinion bevel gear 23222 ... 2nd stage bevel gear shaft
23223 ... second pinion bevel gear 2323a ... gear portion
2323b ... three-stage rack gears 2323c, 2324a ... third stage moving part
233 ... linear bearing portion 240 ... end effector
241 ... lug plate 250, 250b ... folding unit
251, 251b ... frame 252, 252b .. Folding motor
253, 253b, ...,
310 ... position fixing portion 320 ... safety portion
330 ... sensing portion 400 ... housing
500 ... wheelchair cabinet 600 ... rotating means
610 ... motor base 620 ... rotation motor
630 ... gear portion 640 ... thrust bearing holder
700 ... car wheelchair system

Claims (6)

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 telescopic part including a plurality of telescopic arms, one end of which is rotatably connected to the base part and is provided so as to be able to extend and retract in the anteroposterior direction,
A driving unit connected to the telescopic unit and slidably moving the telescopic arm so as to be extended and retracted, and being driven and controlled by the control unit;
An end-effector coupled to a terminal telescopic arm located at a distal end of the telescopic part and selectively clamping or unclamping the wheelchair,
The driving unit includes a two-stage driving unit for moving a two-stage telescopic arm slidably connected to a first-stage telescopic arm of the first stage of the telescopic unit in a forward and backward direction, a three-stage telescopic arm slidably connected to the two- And a three-stage driving portion for moving the front-
Wherein the two-
Stage telescopic arm, a drive ball screw provided in the first-stage telescopic arm and driven and controlled by the control unit, a driving ball screw provided inside the first-stage telescopic arm and connected to the drive motor and rotated, And a two-stage moving unit coupled with the two-stage telescopic unit and moving the two-stage telescopic arm in the forward and backward directions in accordance with rotation of the driving ball screw.
The method according to claim 1,
The three-
A guide ball screw provided in the first-stage telescopic arm and connected to the drive motor and rotated; a third-stage transfer ball screw provided in the second-stage telescopic arm; a first gear that rotates in engagement with the outer periphery of the guide ball screw; And a second gear coupled to the outer periphery of the third-stage feed ball screw and meshing with the first gear to transmit the rotational force of the guide ball screw to the third-stage feed ball screw, And a three-stage moving unit for moving the three-stage telescopic arm in the forward and backward directions in accordance with the rotation of the three-stage transfer ball screw, in combination with the three-stage telescopic arm, Wheelchair storage system.
The method of claim 2,
The three-
A first stage rack gear provided inside the first stage telescopic arm,
A pinion portion coupled to the rack gear and provided in the two-stage telescopic arm, the pinion portion being rotated by the movement of the two-stage telescopic arm,
And a three-stage rack gear provided on the three-stage telescopic arm so as to be meshed with the pinion portion to move the three-stage telescopic arm by rotation of the pinion portion.
The method of claim 2,
The three-
A three-stage transfer ball screw provided in the two-stage telescopic arm,
A spur gear unit that rotates and moves along a slot formed along the axial direction of the driving ball screw and transmits the rotational force of the driving ball screw to the three-
Stage telescopic arm, which is screwed to the three-stage transfer ball screw on the inner circumferential surface and is engaged with the three-stage telescopic arm to move the three-stage telescopic arm in the forward and backward directions in accordance with rotation of the three- Wheelchair wheelchair storage system using manipulator.
The method according to claim 1,
And a folding unit provided between the end effector and the terminal telescopic arm for folding the telescopic unit by rotating the end effector,
The folding unit includes:
A frame coupled to said distal telescopic arm,
A folding motor coupled to the frame,
A worm gear provided on the frame and axially engaged with a rotation axis of the folding motor; and a worm gear which rotates in engagement with the worm and is axially coupled to an end of the end effector and rotates the end effector as the worm rotates A wheelchair storage system for a vehicle using a telescopic manipulator including a wheelchair.
The method according to claim 1,
Further comprising a wheelchair cabinet in which a wheelchair accommodating space capable of accommodating the wheelchair is provided therein, a polygonal docking hole formed at one side thereof, and a wheelchair cabinet seated in 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 lug plate coupled to the lug plate to rotate the lug plate, the lug plate is inserted into the docking hole, And a rotating portion for preventing the wheelchair from falling out of the docking hole.

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