To provide a wheelchair housing device which allows placement of the wheelchair on a floor surface for the stabilization of the wheel chair when it is housed in a vehicle, and shows excellent workability without having the wheelchair stuck on the floor surface of the vehicle or a bumper during the operation.

The path of a parallel link mechanism 2 is controlled to raise a wheelchair supporting arm 1 perpendicularly when the wheelchair supporting arm 1 is moved from a state where the wheelchair is housed in the vehicle to the outside of the vehicle. Then, a lock mechanism is activated to lock the parallel link mechanism 2 at a prescribed angle by controlling the movements of a lock member 3b. The wheelchair supporting arm 1, the parallel link mechanism 2, and a control link 3 are rotated in an incorporated manner.