Gripper apparatus for vehicle

Abstract

In a gripper apparatus for a vehicle, a wheelchair article loaded into an interior space of the vehicle may be fixed by a fixing structure of a gripper module utilizing magnetic force generated by a fixed magnet and a rotating magnet, so that a wheelchair user may fix a wheelchair without assistance of others.

Description

Technical Field

[0001] The present disclosure relates to a clamping device for a vehicle, and more particularly to a technology related to a clamping device for a vehicle that can fix an article in the interior space of the vehicle by using a fixing structure utilizing a magnet. Background Art

[0002] Generally, users who use a wheelchair due to mobility impairment use a vehicle over a long distance. In this case, the wheelchair user travels with the wheelchair loaded in the interior space of the vehicle.

[0003] In the case where the wheelchair is loaded in the interior space of the vehicle, the wheelchair can be fixed by a seat belt.

[0004] In the case of fixing the wheelchair by using a seat belt, assistance from another person is required to fasten the seat belt, and the task of fastening the seat belt is difficult and complicated. Therefore, since the seat belt loosens even after the wheelchair is fixed, there is a problem that the wheelchair moves accidentally.

[0005] The information disclosed in the background art of the present disclosure is only for enhancing the understanding of the general background of the present disclosure, and should not be regarded as an admission or presented in any form that this information constitutes the prior art known to those skilled in the art. Summary of the Invention

[0006] Aspects of the present disclosure are directed to providing a clamping device configured to fix an article (wheelchair) loaded in the interior space of a vehicle by using a fixing structure utilizing a magnet, wherein the clamping device can be conveniently used without assistance from another person, enhance the fixing force for fixing the article (wheelchair) by utilizing magnetic force, and also improve safety.

[0007] To achieve the above object, the present disclosure provides a clamping device for a vehicle, the clamping device including: a clamping module located in the interior space of the vehicle into which an article is loaded, the clamping module being configured to fix the article loaded in the interior space; and a connection module connected to the clamping module and configured to linearly move the clamping module while rotating.

[0008] The article loaded in the interior space of the vehicle and clamped by the clamping module may be a frame made of steel and forming a wheelchair.

[0009] The clamping device may further include a guiding module configured to connect the clamping module, the connection module, and the vehicle body and configured to guide the linear movement of the clamping module when the connection module operates.

[0010] The gripper device may further include a power module that is connected to the connecting member module and the vehicle body and is configured to generate power for rotating the connecting member module.

[0011] The gripper module includes: an upper jaw and a lower jaw that are spaced apart from each other in the vertical direction; a left bracket and a right bracket that couple the upper jaw and the lower jaw; an upper jaw extension that is pivotally coupled to an end portion of the upper jaw through an upper hinge portion and is configured to be rotatable upward or downward; a lower jaw extension that is pivotally coupled to an end portion of the lower jaw through a lower hinge portion and is configured to be rotatable upward or downward; a fixed magnet that is fixed by the upper jaw and the lower jaw and includes an S pole and an N pole with unchanged positions; and a rotating magnet that is rotatably mounted on one side of the fixed magnet and includes an S pole and an N pole whose positions change when the rotating magnet rotates.

[0012] The gripper module may further include: an upper retainer that is coupled to an end portion of the upper jaw extension; and a lower retainer that is coupled to an end portion of the lower jaw extension, and when the upper jaw extension and the lower jaw extension are in a closed state, the upper retainer and the lower retainer may prevent an article inserted into a space formed between the upper jaw extension and the lower jaw extension from being withdrawn.

[0013] The upper jaw, the upper jaw extension, the lower jaw, and the lower jaw extension may all be made of a magnetic material configured to transmit the magnetic force generated by the fixed magnet and the rotating magnet, and the left bracket, the right bracket, the upper retainer, the lower retainer, the upper hinge portion, the lower hinge portion, and the central hinge portion may all be made of a non-magnetic material that cannot transmit magnetic force.

[0014] The gripper module may further include: a central hinge portion having opposite first and second end portions that are coupled to the flanges of the left bracket and the right bracket; and at least one hinge spring that is mounted on the central hinge portion and includes opposite first and second end portions that bear on the upper jaw extension and the lower jaw extension, the at least one hinge spring being configured to provide a spring force to the upper jaw extension and the lower jaw extension such that the upper jaw extension and the lower jaw extension rotate in the opening direction.

[0015] The gripper module may further include a gripper motor that is fixed to one of the left bracket and the right bracket and is provided with a motor shaft that includes an end portion coupled to the rotating magnet.

[0016] The gripper module may further include: a proximity sensor fixed to a sensor bracket connected to the side bracket, the proximity sensor being configured to detect an article approaching the gripper module; and a controller operatively connected to the proximity sensor and configured to control the operation of the gripper motor by utilizing the signal of the proximity sensor.

[0017] When the gripper module is in the release state, the article may be located outside the gripper module, the S pole and the N pole of the fixed magnet may face the N pole and the S pole of the rotating magnet respectively, such that only a magnetic flux can be formed between the fixed magnet and the rotating magnet, and the upper jaw extension and the lower jaw extension may move outward away from each other by the spring force of at least one hinge spring, such that the gripper module can be maintained in the open state.

[0018] The article held by the gripper module may be configured by a magnetic material made of steel, and when the article is introduced into the space between the upper jaw extension and the lower jaw extension, the gripper motor may be operated under the control of the controller receiving the signal of the proximity sensor, the S pole and the N pole of the fixed magnet face the S pole and the N pole of the rotating magnet respectively by the operation of the gripper motor, and the magnetic flux can be extended to pass through the paths of the fixed magnet, the rotating magnet, the upper jaw extension, the lower jaw extension and the article, such that the upper jaw extension and the lower jaw extension may rotate in the direction of closing the upper jaw extension and the lower jaw extension, so that the upper jaw extension and the lower jaw extension are in the closed state, such that when the upper jaw extension and the lower jaw extension are in the closed state, the gripper module may be in the clamping state, and when the gripper module is in the clamping state, the article is fixed by the closed upper jaw extension and lower jaw extension, such that the upper holder and the lower holder may prevent the article from withdrawing to the outside thereof.

[0019] The guiding module may include: a fixed track provided in the internal space for loading articles, the fixed track being fixed to the bottom portion of the vehicle body and extending in the front-rear direction; a movable track coupled to the fixed track and configured to move along the fixed track; and a guiding rod coupled to the movable track and connected to the gripper module and the connecting member module.

[0020] The guiding module may further include a guiding shaft provided between the fixed track and the movable track and configured to support the movement of the movable track and minimize the gap between the fixed track and the movable track.

[0021] The power module may include: a base bracket fixed to the vehicle body in the internal space for loading articles; a drive motor fixed to the base bracket; a drive gear connected to the drive motor and rotatably coupled to the base bracket; and a plurality of driven gears engaged with the drive gear and the connecting member module and configured to transmit a rotational force.

[0022] The connecting member module may include: a first connecting member, each first connecting member including a first end portion coupled to a driven gear; and a second connecting member, each second connecting member including a first end portion rotatably coupled to a guide rod. The second end portion of the first connecting member and the second end portion of the second connecting member are rotatably coupled to each other. The first connecting member may be provided as two first connecting members, the second connecting member may be provided as two second connecting members, and the two first connecting members and the two second connecting members may be provided to be vertically symmetric. And when the first connecting member and the second connecting member rotate by the operation of a driving motor, the guide rod and the gripper module may linearly move in a direction toward the base bracket and in the opposite direction as the movable track moves along the fixed track.

[0023] In the gripper device for a vehicle according to an exemplary embodiment of the present disclosure, an article loaded into the interior space of the vehicle may be fixed by a fixing structure of the gripper module that utilizes the magnetic force generated by a fixed magnet and a rotating magnet. Accordingly, a wheelchair user may fix a wheelchair without assistance from others, the user may conveniently use the gripper device, the fixing force for fixing an article may be enhanced by the magnetic force, and safety may also be improved.

[0024] The methods and apparatuses of the present disclosure have other features and advantages that will be apparent from or are set forth in more detail in the accompanying drawings and the following detailed embodiments, which are together used to illustrate certain principles of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 is a view exemplarily showing a state in which a wheelchair is fixed by a gripper device according to an exemplary embodiment of the present disclosure.

[0026] Figure 2 is a view for explaining a connecting member module, a guide module, and a power module according to an exemplary embodiment of the present disclosure.

[0027] Figure 3 is Figure 2 a side view of.

[0028] Figure 4 is a view for explaining a guide shaft according to an exemplary embodiment of the present disclosure.

[0029] Figure 5 is a view for explaining a state in which a gripper module is in a released state according to an exemplary embodiment of the present disclosure.

[0030] Figure 6It is a view for explaining a central hinge portion and a hinge spring according to an exemplary embodiment of the present disclosure.

[0031] Figure 7 is Figure 5 side view of.

[0032] Figure 8 It is a view exemplarily showing a state in which a gripper module according to an exemplary embodiment of the present disclosure is in a gripping state.

[0033] Figure 9 is Figure 8 side view of.

[0034] Figure 10 It is a view for explaining a proximity sensor and a controller according to an exemplary embodiment of the present disclosure.

[0035] It will be understood that the accompanying drawings are not necessarily drawn to scale, presenting a somewhat simplified representation of the various features illustrating the basic principles of the present disclosure. The predetermined design features of the present disclosure as included herein (including, for example, specific dimensions, orientations, positions, and shapes) will be determined in part by the specific intended application and the usage environment.

[0036] In the drawings, in several of the entire drawings, the same reference numerals denote the same or equivalent parts of the present disclosure. Detailed Description of the Invention

[0037] Reference will now be made in detail to various embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings and described below. Although the present disclosure will be described in conjunction with the exemplary embodiments of the present disclosure, it should be understood that this specification is not intended to limit the present disclosure to those exemplary embodiments. On the other hand, the present disclosure is intended to cover not only the exemplary embodiments of the present disclosure but also various alternatives, modifications, equivalents, and other embodiments that may be included within the spirit and scope of the present disclosure as defined by the appended claims.

[0038] Hereinafter, various exemplary embodiments included in this specification will be described in detail with reference to the drawings. Regardless of the reference numerals, the same or similar components are assigned the same reference numerals, and their repeated description will be omitted.

[0039] In the following description, the suffixes "module", "unit", "section", and "part" used to describe components are used together or interchangeably for ease of description, but the suffixes themselves do not have distinguishable meanings or functions.

[0040] In the description of the exemplary embodiments included in this specification, when it is determined that a specific description of the known related art may obscure the subject matter of the exemplary embodiments included in this specification, the specific description will be omitted.

[0041] In addition, it should be understood that the accompanying drawings are provided only to enable those skilled in the art to easily understand the exemplary embodiments included in this specification, and the technical spirit included in this specification is not limited by the accompanying drawings and includes all changes, equivalents, and alternatives included within the spirit and scope of the present disclosure.

[0042] Ordinal terms such as "first", "second", etc. may be used to describe various constituent elements, but the constituent elements are not limited by these terms. These terms are only used to distinguish one constituent element from another.

[0043] When a constituent element is described as "coupled" or "connected" to another constituent element, it should be understood that a constituent element can be coupled or directly connected to another constituent element, and there may also be intermediate constituent elements between these constituent elements.

[0044] When a constituent element is referred to as "directly coupled to" or "directly connected to" another constituent element, it should be understood that there are no intermediate constituent elements between these constituent elements.

[0045] Unless clearly described as having a different meaning in the context, singular expressions include plural expressions.

[0046] In this specification, it should be understood that the terms "comprising", "including", "containing", "having", "covering", "possessing", "carrying", or other variants thereof are inclusive and thus denote the presence of the stated features, wholes, steps, operations, elements, components, or combinations thereof, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, or combinations thereof.

[0047] In addition, the terms "control unit" or "unit" included in the names "motor control unit (MCU)" or "hybrid control unit (HCU)" are only terms commonly used to name control devices (controllers or control units) for controlling vehicle functions, and do not imply a general functional unit.

[0048] The controller may include: a communication device configured to communicate with another control unit or sensor to control corresponding functions; a memory configured to store an operating system, logical instructions, and input / output information; and one or more processors configured to perform determinations, calculations, decisions, etc. required to control corresponding functions.

[0049] Hereinafter, a gripper device for a vehicle according to an exemplary embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0050] As Figures 1 to 10As shown in the figure, a gripper device for a vehicle according to an exemplary embodiment of the present disclosure includes: a gripper module 100 located in an interior space 20 of the vehicle where an article 10 can be loaded, the gripper module 100 being configured to fix the article 10 loaded into the interior space 20; and a connection member module 200 connected to the gripper module 100 and configured to linearly move the gripper module 100 while rotating.

[0051] The article 10 loaded into the interior space 20 of the vehicle and gripped by the gripper module 100 may be a frame made of steel and forming a wheelchair.

[0052] A vehicle in which a wheelchair user can sit includes an interior space 20 that is relatively large enough to accommodate a wheelchair. The wheelchair (article) loaded into the interior space 20 of the vehicle can be fixed by the gripper module 100 according to an exemplary embodiment of the present disclosure.

[0053] The gripper device according to an exemplary embodiment of the present disclosure may further include: a guide module 300 provided to connect the gripper module 100, the connection member module 200, and the vehicle body 30, and configured to guide the linear movement of the gripper module 100 when the connection member module 200 operates; and a power module 400 provided to connect the connection member module 200 and the vehicle body 30 and configured to generate power for rotating the connection member module 200.

[0054] The gripper module 100 according to an exemplary embodiment of the present disclosure may include: an upper jaw 111 and a lower jaw 112 spaced apart from each other in the vertical direction; a left bracket and a right bracket 113 configured to couple the upper jaw 111 and the lower jaw 112; an upper jaw extension 115 coupled to an end portion of the upper jaw 111 and configured to be rotatable upward or downward through an upper hinge portion 114; a lower jaw extension 117 coupled to an end portion of the lower jaw 112 and configured to be rotatable upward or downward through a lower hinge portion 116; a fixed magnet 118 fixed by the upper jaw 111 and the lower jaw 112 and including an S pole and an N pole with unchanged positions; and a rotating magnet 119 including a rotatable structure located on one side of the fixed magnet 118 and including an S pole and an N pole with changing positions when the rotating magnet 119 rotates.

[0055] The upper jaw 111, the lower jaw 112, the upper jaw extension 115, and the lower jaw extension 117 may each have a rectangular parallelepiped shape. The upper jaw 111 and the lower jaw 112 may have the same dimensions, and the upper jaw extension 115 and the lower jaw extension 117 may have the same dimensions.

[0056] The upper jaw extension portion 115 can be coupled to be rotatable upward or downward through the upper hinge portion 114 so as to extend forward from the upper jaw 111. The lower jaw extension portion 117 can be coupled to be rotatable upward or downward through the lower hinge portion 116 so as to extend forward from the lower jaw 112.

[0057] The left bracket and the right bracket 113 can be provided as two side brackets and are coupled to connect to the left and right surfaces of the upper jaw 111 and the lower jaw 112, respectively.

[0058] The fixed magnet 118 can be a quadrangular prism magnet fixed in the gripper module 100 through the upper jaw 111 and the lower jaw 112. One side portion and the other side portion that bisect the cross section of the quadrangular prism magnet of the fixed magnet 118 are an S pole and an N pole, respectively.

[0059] Reference Figure 7 , the S pole of the fixed magnet 118 is located above the N pole and fixed by the upper jaw 111, and the N pole of the fixed magnet 118 is located below the S pole and fixed by the lower jaw 112.

[0060] Conversely, the S pole of the fixed magnet 118 can be located below the N pole and fixed by the lower jaw 112, and the N pole can be located above the S pole and fixed by the upper jaw 111.

[0061] The fixed magnet 118 is positioned and arranged in front of the rotating magnet 119. The fixed magnet 118 and the rotating magnet 119 can be arranged to be spaced apart from each other at a minimum distance within a range where the fixed magnet 118 and the rotating magnet 119 can transfer magnetic force.

[0062] The rotating magnet 119 is spaced apart from the fixed magnet 118 at the rear and configured as a circular magnet. One side portion and the other side portion that bisect the cross section of the circular magnet of the rotating magnet 119 are an S pole and an N pole, respectively.

[0063] The positions of the S pole and the N pole of the rotating magnet 119 can vary depending on the rotation of the rotating magnet 119.

[0064] In other words, reference Figure 7 , the S pole of the rotating magnet 119 can be located below the N pole, and the N pole can be located above the S pole. Reference Figure 9 , the S pole of the rotating magnet 119 can be located above the N pole, and the N pole can be located below the S pole.

[0065] The gripper module 100 according to an exemplary embodiment of the present disclosure may further include: an upper holder 121 coupled to an end portion of the upper jaw extension portion 115; and a lower holder 122 coupled to an end portion of the lower jaw extension portion 117.

[0066] The upper holder 121 may be coupled to an end portion of the upper jaw extension 115, and a lower end portion of the upper holder 121 may protrude downward from the upper jaw extension 115. The lower holder 122 is coupled to an end portion of the lower jaw extension 117, and an upper end portion of the lower holder 122 may protrude upward from the lower jaw extension 117.

[0067] As Figure 9 shown, when the upper jaw extension 115 and the lower jaw extension 117 are in a closed state, the upper holder 121 and the lower holder 122 are configured to prevent an article 10 inserted into a space between the upper jaw extension 115 and the lower jaw extension 117 from withdrawing.

[0068] According to an exemplary embodiment of the present disclosure, the upper jaw 111, the upper jaw extension 115, the lower jaw 112, and the lower jaw extension 117 may all be made of a magnetic material configured to transmit magnetic force generated by the fixed magnet 118 and the rotating magnet 119. The magnetic material may be, but is not limited to, steel.

[0069] In addition, the left bracket, the right bracket 113, the upper holder 121, the lower holder 122, the upper hinge portion 114, the lower hinge portion 116, and the central hinge portion 124, which will be described below, may all be made of a non-magnetic material that cannot transmit magnetic force. The non-magnetic material may be, but is not limited to, aluminum.

[0070] The upper jaw extension 115 may be spaced apart from the upper jaw 111 at a minimum distance through the upper hinge portion 114, such that the upper jaw extension 115 can rotate and transmit the magnetic force generated by the fixed magnet 118 and the rotating magnet 119.

[0071] For example, the upper jaw extension 115 and the upper jaw 111 are spaced apart from each other with a minimum operating gap of 0.05 mm or less, such that the upper jaw extension 115 and the upper jaw 111 can transmit the magnetic force generated by the fixed magnet 118 and the rotating magnet 119 and minimize the loss of magnetic force.

[0072] In addition, the lower jaw extension 117 may also be spaced apart from the lower jaw 112 at a minimum distance through the lower hinge portion 116, such that the lower jaw extension 117 can rotate and transmit the magnetic force generated by the fixed magnet 118 and the rotating magnet 119.

[0073] The lower jaw extension 117 and the lower jaw 112 are also spaced apart from each other with a minimum operating gap of 0.05 mm or less, such that the lower jaw extension 117 and the lower jaw 112 can transmit the magnetic force generated by the fixed magnet 118 and the rotating magnet 119 and minimize the loss of magnetic force.

[0074] The gripper module 100 according to an exemplary embodiment of the present disclosure may further include: a central hinge portion 124 including two opposite end portions coupled to the flanges 123 of the left bracket and the right bracket 113; and a hinge spring 125 disposed on the central hinge portion 124 and including two opposite end portions supported on the upper jaw extension portion 115 and the lower jaw extension portion 117, the hinge spring 125 being configured to provide a spring force such that the upper jaw extension portion 115 and the lower jaw extension portion 117 rotate in the opening direction (the direction in which the upper jaw extension portion 115 and the lower jaw extension portion 117 move away from each other).

[0075] Flanges 123 protruding forward may be provided on the left bracket and the right bracket 113, and the two opposite end portions of the central hinge portion 124 may be respectively fixed to the two flanges 123.

[0076] The hinge spring 125 may be provided as two hinge springs and disposed at the two opposite end portions of the central hinge portion 124, with one hinge spring at each of the two opposite end portions of the central hinge portion 124. The central hinge portion 124 may pass through the central portion of the hinge spring 125 wound in a circle. The hinge spring 125 may be arranged such that the two opposite end portions of each of the hinge springs 125 can be supported on each of the upper jaw extension portion 115 and the lower jaw extension portion 117.

[0077] In an exemplary embodiment of the present disclosure, the hinge spring 125 may be a single spring such that the two opposite end portions of the hinge spring 125 can be supported on each of the upper jaw extension portion 115 and the lower jaw extension portion 117.

[0078] The assembly formed by coupling the upper jaw 111, the upper jaw extension portion 115, and the upper holder 121 and the assembly formed by coupling the lower jaw 112, the lower jaw extension portion 117, and the lower holder 122 may be horizontally symmetric with respect to the central hinge portion 124. Thus, the gripper module 100 can accurately grip the article 10.

[0079] The gripper module 100 according to an exemplary embodiment of the present disclosure may further include a gripper motor 127 fixed to the side bracket 113 and provided with a motor shaft 126 including an end portion coupled to the rotary magnet 119.

[0080] The gripper motor 127 may be, but is not limited to, a bidirectional motor configured to rotate clockwise and counterclockwise.

[0081] Reference Figure 10, the gripper module 100 according to an exemplary embodiment of the present disclosure may further include: a proximity sensor 129 fixed to a sensor bracket 128 connected to the side bracket 113, the proximity sensor 129 being configured to detect an article 10 approaching the gripper module 100; and a controller 131 configured to control the operation of the gripper motor 127 by using the signal of the proximity sensor 129.

[0082] The sensor bracket 128 may be coupled to the front surface of the side bracket 113 and protrude from one side of the side bracket 113. The proximity sensor 129 coupled to the sensor bracket 128 may be located in front of the gripper motor 127.

[0083] The proximity sensor 129 may be disposed on a block member between the upper jaw extension 115 and the lower jaw extension 117 based on the open state of the upper jaw extension 115 and the lower jaw extension 117. However, in this case, the time point at which the proximity sensor 129 detects the article 10 may be delayed.

[0084] In an exemplary embodiment of the present disclosure, when the proximity sensor 129 is disposed outside the upper jaw extension 115 and the lower jaw extension 117 by using the sensor bracket 128, the proximity sensor 129 can quickly detect the article 10 approaching the gripper module 100, which helps the gripper module 100 to operate more accurately.

[0085] An ultrasonic or infrared sensor for detecting the position of the article 10 approaching the gripper module 100 may be used as the proximity sensor 129.

[0086] The controller 131 may be a printed circuit board (PCB) disposed in the gripper module 110. As an exemplary embodiment of the present disclosure, the controller 131 may be separately disposed outside the gripper module 100.

[0087] Reference Figure 5 and Figure 7 , when the gripper module 100 is in the release state, the article 10 is located outside the gripper module 100, and the S pole and the N pole of the fixed magnet 118 face the N pole and the S pole of the rotating magnet 119 respectively, so that only a magnetic flux is formed between the fixed magnet 118 and the rotating magnet 119, and the upper jaw extension 115 and the lower jaw extension 117 move away from each other outwardly by the spring force of the hinge spring 125, so that the gripper module 100 is maintained in the open state.

[0088] When the gripper module 100 is in the released state, the gripper motor 127 rotates under the control of the controller 131. The N pole of the rotating magnet 119 faces the S pole of the fixed magnet 118, and the S pole of the rotating magnet 119 faces the N pole of the fixed magnet 118, such that a magnetic flux is formed only between the fixed magnet 118 and the rotating magnet 119.

[0089] When the magnetic force is applied only between the fixed magnet 118 and the rotating magnet 119 as described above, the magnetic force is not transmitted to the upper jaw extension 115 and the lower jaw extension 117. Accordingly, the upper jaw extension 115 and the lower jaw extension 117 move away from each other outwardly by the spring force of the hinge spring 125, such that the gripper module 100 remains in the open state.

[0090] The article 10 gripped by the gripper module 100 according to an exemplary embodiment of the present disclosure is configured of a magnetic material made of steel.

[0091] Therefore, referring Figures 8 to 9 , when the article 10 is introduced into the space between the upper jaw extension 115 and the lower jaw extension 117, the gripper motor 127 operates under the control of the controller 131 that receives a signal from the proximity sensor 129, and the rotating magnet 129 rotates by the operation of the gripper motor 127, such that the S pole and the N pole of the rotating magnet 129 face the S pole and the N pole of the fixed magnet 128, respectively. In this case, the magnetic flux expands into a path passing through the fixed magnet 128, the rotating magnet 129, the upper jaw extension 115, the lower jaw extension 117, and the article 10, such that the upper jaw extension 115 and the lower jaw extension 117 rotate in the direction in which the upper jaw extension 115 and the lower jaw extension 117 close, and thereby the upper jaw extension 115 and the lower jaw extension 117 are in the closed state. When the upper jaw extension 115 and the lower jaw extension 117 are in the closed state, the gripper module 100 closes and enters the gripping state. When the gripper module 100 is in the gripping state, the article 10 is fixed by the closed upper jaw extension 115 and lower jaw extension 117, such that the upper holder 121 and the lower holder 122 can prevent the article 10 from withdrawing to the outside thereof.

[0092] When the user (wheelchair user) operates a separate switch in the gripping state where the article 10 is fixed by the gripper module 100, the operation signal of the switch is transmitted to the controller 131, such that the controller 131 operates the gripper motor 127, and the rotating magnet 119 rotates by the operation of the gripper motor 127. Accordingly, as Figure 7As shown, the N pole of the rotating magnet 119 faces the S pole of the fixed magnet 118, and the S pole of the rotating magnet 119 faces the N pole of the fixed magnet 118. In this case, a magnetic flux is formed only between the fixed magnet 118 and the rotating magnet 119. Therefore, the upper jaw extension 115 and the lower jaw extension 117 move outward away from each other by the spring force of the hinge spring 125, so that the upper jaw extension 115 and the lower jaw extension 117 are in an open state, and thus, the gripper module 100 can be switched to the release state in which the gripper module 100 does not hold the article 10.

[0093] Reference Figure 1 、 Figure 2 、 Figure 3 and Figure 4 According to an exemplary embodiment of the present disclosure, the guide module 300 may include: a fixed track 310 disposed in the internal space 20 of the vehicle where the article 10 is loaded, the fixed track 310 being fixed to the bottom portion of the vehicle body 30 and extending in the front-rear direction; a movable track 320 coupled to the fixed track 310 and configured to move along the fixed track 310; and a guide rod 330 coupled to the movable track 320 and connected to the gripper module 100 and the connection member module 200.

[0094] There are two components, each of which includes a fixed track 310 and a movable track 320. These two components may be disposed on the bottom surface of the vehicle body 30 that defines the internal space 20 of the vehicle, and these two components may be spaced apart from each other in the left-right direction and extend in the front-rear direction.

[0095] Two opposite end portions of the guide rod 330 may be coupled to the two movable tracks 320 and configured to connect the two movable tracks 320 spaced apart from each other in the left-right direction.

[0096] According to an exemplary embodiment of the present disclosure, the guide module 300 may further include a guide shaft 340 disposed between the fixed track 310 and the movable track 320 and configured to support the movement of the movable track 320 and minimize the gap between the fixed track 310 and the movable track 320.

[0097] The guide shaft 340 is provided as two guide shafts. The guide shafts 340 may be respectively disposed between the left and right sides of the fixed track 310 and the left and right sides of the movable track 320 facing the left and right sides of the fixed track 310.

[0098] The guide shaft 340 is arranged to extend in the front-rear direction such that the movable track 320 moves forward or backward based on the guide shaft 340.

[0099] The guide shaft 340 can minimize tolerances and clearances related to the forward / backward linear movement of the gripper module 100. The guide shaft 340 can also be configured to enhance strength and stiffness to withstand external shocks to a certain extent.

[0100] According to an exemplary embodiment of the present disclosure, the power module 400 may include: a base bracket 410 disposed in the interior space 20 of the load 10 of the vehicle, the base bracket 410 being fixed to the vehicle body 30; a drive motor 420 fixed to the base bracket 410; a drive gear 430 connected to the drive motor 420 and rotatably coupled to the base bracket 410; and a plurality of driven gears 440 configured to connect the drive gear 430 and the connection module 200 and configured to transmit rotational force.

[0101] The base bracket 410 may be fixed to the vehicle body 30 and disposed above the rear side of the guide module 300.

[0102] The drive motor 420 is fixed to the base bracket 410, and the drive gear 430 and the driven gears 440 are rotatably coupled to the base bracket 410.

[0103] The drive motor 420 may be, but is not limited to, a bidirectional motor configured for clockwise and counterclockwise rotation.

[0104] The power of the drive motor 420 is transmitted to the connection module 200 through the drive gear 430 and the plurality of driven gears 440.

[0105] The drive gear 430 is directly connected to the drive motor 420, and the driven gears 440 are sequentially connected to the left and right sides of the drive gear 430, thereby enabling the transmission of rotational force.

[0106] According to an exemplary embodiment of the present disclosure, the connection module 200 may include: first connectors 210, each first connector including a first end portion coupled to the driven gear 440; and second connectors 220, each second connector including a first end portion rotatably coupled to the guide rod 330. The second end portions of the first connectors 210 and the second end portions of the second connectors 220 are rotatably coupled to each other.

[0107] The first connectors 210 may be provided as two first connectors, the second connectors 220 may be provided as two second connectors, and the two first connectors and the two second connectors may be arranged vertically symmetrically.

[0108] When the rotational force of the drive motor 420 is transmitted to the two first connectors 210 simultaneously through the drive gear 430 and the driven gear 440, either one of the two first connectors 210 rotates clockwise, while the other first connector rotates counterclockwise, such that the end portions of the two first connectors 210 connected to the second connector 220 rotate in a direction in which the end portions of the two first connectors 210 move toward or away from each other.

[0109] Accordingly, when the first connector 210 and the second connector 220 rotate by the operation of the drive motor 420, the guide rod 330 and the gripper module 100 can linearly move in a direction toward the base bracket 410 (backward direction) and the opposite direction (forward direction) as the movable rail 320 moves along the fixed rail 310.

[0110] According to the gripper device for a vehicle according to an exemplary embodiment of the present disclosure as described above, an article 10 loaded into the interior space 20 of the vehicle can be fixed by the fixing structure of the gripper module 100 that utilizes the magnetic force generated by the fixed magnet 118 and the rotating magnet 119. Accordingly, a wheelchair user can fix the wheelchair without assistance from others, the user can conveniently use the gripper device, the fixing force for fixing the article 10 can be enhanced by the magnetic force, and safety can also be improved.

[0111] In addition, terms related to a control device (such as "controller", "control device", "control unit", "control apparatus", "control module", or "server", etc.) refer to a hardware device including a memory and a processor, the processor being configured to execute one or more steps interpreted as an algorithmic structure. The memory stores the algorithmic steps, and the processor executes the algorithmic steps to perform one or more processes of the method according to various exemplary embodiments of the present disclosure. The control device according to an exemplary embodiment of the present disclosure can be implemented by a non-volatile memory and a processor, the non-volatile memory being configured to store an algorithm for controlling the operation of various components of the vehicle or data on software commands for executing the algorithm, and the processor being configured to use the data stored in the memory to perform the operations described above. The memory and the processor can be separate chips. Alternatively, the memory and the processor can be integrated in a single chip. The processor can be implemented as one or more processors. The processor can include various logic circuits and operation circuits, can be configured to process data according to a program provided by the memory, and can be configured to generate a control signal according to the processing result.

[0112] The control device can be at least one microprocessor operated by a predetermined program, and the predetermined program can include a series of commands for performing the methods included in the various exemplary embodiments of the present disclosure described above.

[0113] The foregoing invention may also be implemented as computer-readable code on a computer-readable recording medium. A computer-readable recording medium is any data storage device that can store data that can be subsequently read by a computer system and store and execute program instructions that can be subsequently read by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid state drives (SSDs), silicon disk drives (SDDs), read-only memories (ROMs), random access memories (RAMs), CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, etc., as well as embodiments as carrier waves (e.g., transmission via the Internet). Examples of program instructions include machine language code (such as machine language code generated by a compiler) and high-level language code that can be executed by a computer using an interpreter, etc.

[0114] In various exemplary embodiments of the present disclosure, each of the operations described above may be performed by a control device, and the control device may be configured as a plurality of control devices or an integrated single control device.

[0115] In various exemplary embodiments of the present disclosure, the memory and the processor may be provided as one chip or as separate chips.

[0116] In various exemplary embodiments of the present disclosure, the scope of the present disclosure includes: software or machine-executable commands (e.g., operating systems, application software, firmware, programs, etc.) for enabling the operations of the methods according to different embodiments to be performed on a device or a computer; and non-transitory computer-readable media including such software or commands stored thereon and executable on a device or a computer.

[0117] In various exemplary embodiments of the present disclosure, the control device may be implemented in the form of hardware or software, or may be implemented in a combination of hardware and software.

[0118] Furthermore, terms such as "unit" and "module" included in this specification refer to a unit for processing at least one function or operation, which may be implemented by hardware, software, or a combination thereof.

[0119] In an exemplary embodiment of the present disclosure, a vehicle may be referred to based on a concept including various transportation modes. In some cases, a vehicle may be interpreted based on a concept including not only various land transportation modes (such as cars, motorcycles, trucks, and buses traveling on roads), but also other transportation modes such as airplanes, drones, ships, etc.

[0120] For the sake of convenience in explanation and to accurately define the appended claims, the terms "upper", "lower", "inner", "outer", "above", "below", "upward", "downward", "front", "rear", "back", "interior", "exterior", "inward", "outward", "inner side", "outer side", "inside", "outside", "forward", and "backward" are used to describe such features with reference to the positions in which the features of the exemplary embodiments are shown in the drawings. It should also be understood that the term "connected" or its derivatives refers to both direct connection and indirect connection.

[0121] The term "and / or" can include combinations of multiple related listed items or any one of the multiple related listed items. For example, "A and / or B" includes all three cases, such as "A", "B", and "A and B".

[0122] In this specification, unless otherwise stated, singular expressions include plural expressions, unless the context clearly indicates otherwise.

[0123] In the exemplary embodiments of the present disclosure, "at least one of A and B" may refer to "at least one of A or B" or "at least one combination in the combination of at least one of A and B". In addition, "one or more of A and B" may refer to "one or more of A or B" or "one or more combinations in the combination of one or more of A and B".

[0124] In the exemplary embodiments of the present disclosure, it should be understood that terms such as "comprising" or "having" are intended to specify the presence of the features, quantities, steps, operations, elements, parts, or combinations thereof described in the specification, and do not exclude the possibility of adding or the presence of one or more other features, quantities, steps, operations, elements, parts, or combinations thereof.

[0125] According to the exemplary embodiments of the present disclosure, the respective components may be combined with each other to be implemented as one component, or some components may be omitted.

[0126] For purposes of illustration and description, the foregoing description of specific exemplary embodiments of the present disclosure has been presented. These descriptions are not intended to be exhaustive or to limit the present disclosure to the precise forms disclosed, and obviously, many modifications and variations are possible in light of the above teachings. To illustrate certain principles of the invention and their practical applications, these exemplary embodiments have been selected and described so that other technicians in the art can implement and utilize the various exemplary embodiments of the present disclosure, as well as their various alternatives and modifications. The scope of the present disclosure is intended to be defined by the appended claims and their equivalents.

Claims

1. A gripper device for a vehicle, the gripper device comprising: a gripper module located in an interior space of the vehicle into which an object is loaded, the gripper module being configured to secure the object loaded into the interior space; as well as A connector module is connected to the gripper module and is configured to linearly move the gripper module while rotating.

2. The gripper device according to claim 1, wherein The object loaded into the interior space of the vehicle and clamped by the clamp module is made of a magnetic material and forms a frame of a wheelchair.

3. The gripper device according to claim 1, further comprising: A guide module is provided to connect the gripper module, the connector module and a vehicle body, and the guide module is configured to guide the linear movement of the gripper module in response to the operation of the connector module.

4. The gripper device according to claim 3, further comprising: A power module connects the connector module and the vehicle body and is configured to generate power for rotating the connector module.

5. The gripper device according to claim 1, wherein: The gripper module comprises: The upper clamping jaw and the lower clamping jaw are spaced apart from each other in the up-down direction; A left bracket and a right bracket, connecting the upper clamping jaw and the lower clamping jaw; an upper jaw extension pivotally coupled to an end portion of the upper jaw via an upper hinge and configured to be rotatable upward or downward; a lower jaw extension portion pivotally coupled to an end portion of the lower jaw via a lower hinge portion and configured to be rotatable upward or downward; a fixed magnet, fixed by the upper clamping jaw and the lower clamping jaw and including an S pole and an N pole whose positions remain unchanged; and A rotating magnet is rotatably mounted on one side of the fixed magnet and includes an S pole and an N pole whose positions change in response to rotation of the rotating magnet.

6. The gripper device according to claim 5, wherein: The gripper module further comprises: an upper retainer coupled to an end portion of the upper jaw extension; and a lower retainer coupled to an end portion of the lower jaw extension, and Wherein, in response to the upper jaw extension portion and the lower jaw extension portion being in a closed state, the upper retainer and the lower retainer prevent the object inserted into the space formed between the upper jaw extension portion and the lower jaw extension portion from being withdrawn.

7. The gripper device according to claim 6, wherein: The upper jaw, the upper jaw extension, the lower jaw and the lower jaw extension are all made of magnetic materials configured to transmit the magnetic force generated by the fixed magnet and the rotating magnet, and the left bracket, the right bracket, the upper retaining member, the lower retaining member, the upper hinge part, the lower hinge part and the central hinge part are all made of non-magnetic materials that cannot transmit magnetic force.

8. The gripper device according to claim 7, wherein: The central hinge includes opposing first and second end portions coupled to the flange of the left bracket and the flange of the right bracket.

9. The gripper device according to claim 5, wherein: The gripper module further comprises: a central hinge portion including opposing first and second end portions coupled to the flange of the left bracket and the flange of the right bracket; and At least one hinge spring is mounted on the central hinge portion and includes opposite first and second end portions supported on the upper jaw extension and the lower jaw extension, and the at least one hinge spring is configured to provide a spring force to the upper jaw extension and the lower jaw extension so that the upper jaw extension and the lower jaw extension rotate in an opening direction.

10. The gripper device according to claim 6, wherein: The gripper module further includes a gripper motor fixed to one of the left bracket and the right bracket, and the gripper motor is provided with a motor shaft including an end portion coupled to the rotating magnet.

11. The gripper device according to claim 10, wherein: The gripper module further comprises: a proximity sensor fixed to a sensor bracket connected to the left bracket or the right bracket, the proximity sensor configured to detect the object approaching the gripper module; and A controller is operatively connected to the proximity sensor and configured to control the operation of the gripper motor by utilizing a signal of the proximity sensor.

12. The gripper device according to claim 9, wherein: In response to the gripper module being in a released state, the article is located outside the gripper module, and the S pole and the N pole of the fixed magnet face the N pole and the S pole of the rotating magnet respectively, so that a magnetic force flow is formed only between the fixed magnet and the rotating magnet, and the upper jaw extension part and the lower jaw extension part move outward away from each other by the spring force of the at least one hinge spring, so that the gripper module remains in an open state.

13. The gripper device according to claim 11, wherein: The object gripped by the gripper module is configured by a magnetic material made of steel, and Wherein, in response to the article being introduced into the space between the upper jaw extension and the lower jaw extension, the gripper motor is operated by being controlled by the controller receiving the signal of the proximity sensor, the S pole and the N pole of the fixed magnet are respectively faced to the S pole and the N pole of the rotating magnet by the operation of the gripper motor, and the magnetic force flow is expanded to pass through the fixed magnet, the rotating magnet, the upper jaw extension, the lower jaw extension and the path of the article, so that the upper jaw extension and the lower jaw extension rotate in the direction of closing the upper jaw extension and the lower jaw extension, so that the upper jaw extension and the lower jaw extension are in a closed state, so that in response to the upper jaw extension and the lower jaw extension being in the closed state, the gripper module is in a clamping state, and in response to the gripper module being in the clamping state, the article is fixed by the closed upper jaw extension and the lower jaw extension, so that the upper retainer and the lower retainer prevent the article from being withdrawn to the outside thereof.

14. The gripper device according to claim 4, wherein: The guide module comprises: A fixed rail, disposed in the inner space where the articles are loaded, the fixed rail being fixed to the bottom portion of the vehicle body and extending in the front-rear direction; a movable track coupled to the fixed track and configured to move along the fixed track; and A guide rod is coupled to the movable rail and connected to the gripper module and the connector module.

15. The gripper device according to claim 14, wherein The guide module further includes a guide shaft disposed between the fixed rail and the movable rail and configured to support movement of the movable rail and minimize a gap between the fixed rail and the movable rail.

16. The gripper device of claim 14, wherein: The power module comprises: a base bracket fixed to the vehicle body in the interior space where the article is loaded; a drive motor fixed to the base bracket; a drive gear connected to the drive motor and rotatably coupled to the base bracket; and A plurality of driven gears are coupled to the driving gear and the connector module and are configured to transmit a rotational force.

17. The gripper device according to claim 16, wherein: The connector module comprises: first connecting members, each of the first connecting members including a first end portion coupled to the driven gear; and second connecting members, each of which comprises a first end portion rotatably coupled to the guide rod, Wherein, the second end portion of the first connecting member and the second end portion of the second connecting member are rotatably coupled to each other.

18. The gripper device according to claim 17, in, The first connecting member is provided as two first connecting members, the second connecting member is provided as two second connecting members, and the two first connecting members and the two second connecting members are provided in vertical symmetry, and Wherein, in response to the first and second connectors rotating by operation of the drive motor, the guide rod and the clamper module move linearly in a direction toward the base bracket and in an opposite direction as the movable rail moves along the fixed rail.

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