JP7039366B2 - Walking support device - Google Patents

Description

The present invention relates to a walking support device that supports walking of a user.

Conventionally, there is known a walking support device in which a base frame provided with casters is provided with standing motion support means and weight unloading means (see Patent Document 1).

Japanese Unexamined Patent Publication No. 2012-125548

However, in the walking support device disclosed in Patent Document 1, the pulling arm as a connecting means for connecting the wearer worn by the user and the device main body portion can be rotated to the device main body portion with one end side as the rotation center. It is provided, and the other end of the pull-up arm cannot be moved in a direction away from the device main body. That is, the connecting tool such as the hook provided at the other end of the pulling arm is located only on the arc which is the locus of the other end of the rotating pulling arm. Therefore, when trying to connect the connecting portion of the mounting tool worn by the user and the connecting tool provided at the other end of the pulling arm, for example, the height of the seating position of the chair or the like on which the user sits is set. Due to the variety, the user may have to move the connecting part of the fitting to the position of the connecting part of the pulling arm. Therefore, there is a problem that it becomes difficult for users such as care recipients, persons with disabilities, and rehabilitation trainers who have difficulty in changing their postures to connect the pulling arm (connecting means) and the fitting.
INDUSTRIAL APPLICABILITY According to the present invention, the other end of the connecting means to be connected to the wearing tool worn by the user can be moved to the position of the connecting portion of the wearing tool to be worn by the user, and the connecting means and the wearing tool can be connected to each other. Provided is a walking support device that facilitates work.

The walking support device for supporting the walking of the user according to the present invention includes a base, a moving means provided on the base, a device main body provided on the base, and one end connected to the device main body to the other end. Is located on the outside of the device main body and is provided with a connecting means to be connected to a wearer worn by the user, and the device main body applies a tensile force in a direction in which the other end of the connecting means approaches the device main body. In addition, an elastic supporting means for supporting the connecting means so that the other end of the connecting means can be moved away from the main body of the device, and an elastic body or a weight unloading means to which one end of the connecting means is connected are provided. The elastic support means is configured to include an elastic means and a moving pulley that is connected to the elastic means and configured to be movable by the elasticity of the elastic means, and the connecting means has an elastic body at one end via a movable body. The other end side is configured to be located on the outside of the main body of the device, and the other end side is reciprocated by a predetermined distance a1 through the slide rail hole. It is movably provided, and the other end of the connecting means moves in a direction away from the main body of the device by a predetermined distance a1, so that the elastic means resists the tensile force of the elastic means and moves within the slide rail hole by a predetermined distance. It is configured to move by a1, and the other end of the connecting means is further separated from the device main body by a predetermined distance a2 against the tensile force of the elastic body from a position separated by a predetermined distance a1 from the device main body. When moving in a direction, the movement of the movable body against the tensile force of the elastic body is regulated by the restricting portion, and the movement of the other end of the connecting means in the direction away from the device main body is regulated. Was done.
The walking support device for supporting the walking of the user according to the present invention includes a base, a moving means provided on the base, a device main body provided on the base, and one end connected to the device main body to the other end. Is located on the outside of the device main body and is provided with a connecting means to be connected to a wearer worn by the user, and the device main body applies a tensile force in a direction in which the other end of the connecting means approaches the device main body. In addition, an elastic support means for supporting the connecting means so that the other end of the connecting means can be moved away from the main body of the device, and an elastic body or a weight unloading means to which one end of the connecting means is connected are provided. The elastic support means is configured to include an elastic means and a second moving pulley that is connected to the elastic means and configured to be movable by the elasticity of the elastic means, and the connecting means has one end as a weight unloading means. The other end is connected and the other end is connected to a spring provided in the main body of the device via a movable body, and the other end is connected to the main body of the device via a first moving slip and a second moving slip. The second moving pulley is configured to be located on the outside of the, and is provided so as to be able to reciprocate by a predetermined distance a1 through the second slide rail hole, and the other end of the connecting means is provided. By moving in a direction away from the main body of the device by a predetermined distance a1, it is configured to be able to move within the second slide rail hole by a predetermined distance a1 against the tensile force of the elastic means, and the first moving slipper is configured. , It is provided at a position closer to one end of the connecting means than the second moving pulley, and is provided so as to be reciprocally movable by a predetermined distance a2 through the first slide rail hole, and the other end of the connecting means is provided. When the moving body is moved away from the device main body by a predetermined distance a2 against the tensile force of the spring from a position separated from the device main body by a predetermined distance a1, the movement of the movable body is restricted by the restricting unit. Therefore, the movement of the other end of the connecting means in the direction away from the main body of the device is restricted.
Further, the movable body and the braking means of the moving means are connected, and the braking means is configured to operate when the movement of the movable body is restricted by the regulating unit.
With the above configuration, it is possible to move the other end of the connecting means to be connected to the wearing tool worn by the user to the position of the connecting portion of the wearing tool to be worn by the user, and the connecting means and the wearing tool can be moved to each other. The connection work can now be done easily.

A perspective view of the walking support device in an upright position as seen diagonally from the rear side. A perspective view of the walking support device in an upright position when viewed diagonally from the front side. A perspective view of the walking support device in a state where the columns are lying down, as viewed diagonally from the front side. An operation explanatory diagram showing the standing assist function of the walking support device. The figure which shows the structure and operation of the user fall prevention means and elastic support means. The figure which shows the structure and operation of the user fall prevention means and elastic support means. The figure which shows the structure and operation of the user fall prevention means and elastic support means. The figure which shows the structure and operation of the user fall prevention means and elastic support means. The figure which shows the structure and operation of the user fall prevention means and elastic support means.

Embodiment 1
As shown in FIG. 1, the walking support device 1 according to the first embodiment is provided on the base 2, the moving means 3 provided on the base 2, the braking means 4 provided on the moving means 3, and the base 2. The device main body 5 is provided with a connecting means 6 for connecting the device B worn by the user A, such as trousers, and the device main body 5.
The device main body 5 includes a support means 7, an actuator 8, a weight unloading means 9, an outrigger 10, a standing motion supporting means, a sitting motion supporting means, a braking means during standing motion support, and a seating motion support. It is configured to include a braking means, a user fall prevention means, and an elastic support means.
Hereinafter, the front side of the user A such as a care recipient, a handicapped person, a rehabilitation trainer, etc. who uses the walking support device 1 is "front", the left side is "left", the right side is "right", and the rear side is " It is defined as "after" and explained.

The base 2 is composed of a base frame 21 in which, for example, an iron pipe having a circular cross section is formed into a concave shape or a U shape. When viewed from above, the base frame 21 has a concave or U-shaped lower side located in front of the walking support device 1, and the left and right upper ends of the concave or U-shaped are behind the walking support device 1. It is configured to look like an inverted concave or inverted U-shaped frame located on the left and right.
Hereinafter, the left side of the base frame 21 is referred to as a base frame left portion 22, the right side of the base frame 21 is referred to as a base frame right portion 23, and the front side of the base frame 21 is referred to as a base frame front portion 24.

The moving means 3 is composed of, for example, a plurality of swivel casters (universal casters) 31, 31 ...
The turning caster 31 is attached to the fork 34 so that the wheel 32 can rotate via a central axis (shaft) 33 extending in parallel (horizontally) with the road surface R such as a floor surface, and the fork 34 is attached to the road surface. It is configured to be mounted on the base frame 21 via a mounting seat 36 so as to be rotatable via a central shaft (shaft) 35 extending perpendicular to R.
Further, the turning caster 31 includes a braking means 4 for stopping the rotation of the wheels 32.
The braking means 4 is composed of brakes such as an electromagnetic brake, a drum brake, and a caliper brake using a power source such as an electromagnet, a hydraulic cylinder, an air cylinder, and a brake wire.
For example, as the turning caster 31, a caster with a drum brake unit is used.
As shown in FIG. 1, for example, one swivel caster 31 is provided on the rear end side of the left portion 22 of the base frame, one on the rear end side of the right portion 23 of the base frame, and one on the left and right sides of the front portion 24 of the base frame. Has been done.

Outriggers 10 and 10 are attached to the rear ends of the left portion 22 of the base frame and the rear ends of the right portion 23 of the base frame, respectively.
The outrigger 10 is a device for preventing the walking support device 1 from tilting backward and falling.
The outrigger 10 is mounted so as to be swingable in the horizontal direction along the road surface R, for example, via the free hinge 11, and returns to the initial state (initial position) by the force of the spring built in the free hinge 11. It is configured.
Therefore, when a force is applied to the outriggers 10, the outriggers 10 swing, so that even if the outriggers 10 collide with an obstacle such as a wall, the walking support device 1 does not hinder the turning or movement.
Further, the outrigger 10 always returns to the initial state except when the outrigger 10 collides with an obstacle or the like and swings in the direction along the road surface R, that is, when no force is applied to the outrigger 10. Then, the device is in a state where the rearward fall prevention function can be exhibited.

The support means 7 includes, for example, left and right columns 71 and 72 formed by combining iron pipes having a circular cross section, and a support base 73 provided on the upper end side of the left and right columns 71 and 72. ..

The left and right columns 71 and 72 are configured to include a main column 74 and a sub column 75, respectively.
The left main support column 74 is connected to the front side of the left portion 22 of the base frame so that the lower end side can swing in the front-rear direction via a hinge 74a, and the upper end is a connecting pipe provided so as to protrude from the support base 73. It is formed in the opening 74b for inserting the 73a.
Similarly, the right main support column 74 is also connected to the right side of the base frame 23 via a hinge 74a so that the lower end side can swing in the front-rear direction, and the upper end is a connecting pipe provided so as to protrude from the support base 73. It is formed in the opening 74b for inserting the 73a.
The sub-support 75 is formed in an opening 75b for inserting a connecting pipe 73b provided so that the lower end side 75a is connected to a substantially intermediate position in the extension direction of the main support 74 and the upper end is projected from the support base 73. Has been done.
The main column 74 is formed with a plurality of height positioning holes (not shown) at predetermined intervals in the vertical direction, and the connecting pipe 73a is also formed with a height positioning hole (not shown). .. Therefore, after the connecting pipe 73a is inserted into the inside of the main column 74 through the opening 74b, the height positioning hole of the connecting pipe 73a and any of the height positioning holes formed in the main column 74 are matched with each other. By fitting a fixed shaft (not shown) into these height positioning holes, the height of the support base 73 can be adjusted according to the user A.
Further, on the opening 75b side of the sub-post 75, for example, a fixing means such as a fixing screw (not shown) is provided. That is, the fixing screw is screwed into a screw through hole (not shown) formed in the sub-post 75 to press the connecting pipe 73b, and the outer peripheral surface of the connecting pipe 73b is pressed against the inner peripheral surface of the sub-post 75 to connect them. The pipe 73b is configured to be fixed to the sub-post 75.
Further, the left and right main columns 74, 74 are connected by upper and lower reinforcing bars 74x, 74y formed by, for example, an iron pipe having a circular cross section.

The support base 73 includes a table surface (upper surface) 76 on which the left and right forearms of the user A can be placed. When the table surface 76 is viewed from above, the lower side of the concave character or U-shape is positioned in front of the walking support device 1, and the left and right upper ends of the concave character or U-shape are located in front of the walking support device 1. It is configured to look like an inverted concave or inverted U-shaped frame located behind the walking support device 1.
Left and right handle grips 77, 77 provided so as to project upward from the table surface 76 are provided on the left and right sides of the front side of the table surface 76.
Further, on the center side of the front side of the table surface 76, there is an adjustment dial 70A for adjusting the weight unloading amount by the weight unloading means 9, and a power supply for turning on / off the power supply to each electric component of the walking support device 1. It is provided with a power key switch 70B for turning on and off, and a changeover switch 70C for switching whether the walking support device 1 is to perform standing motion support or sitting motion support.

Further, an elevating lever 78 is provided on the front end surface of the table surface 76.
The elevating lever 78 protrudes forward from the left side of the front end surface of the table surface 76, extends upward, extends horizontally to the right side, and then further extends downward and extends rearward. It is composed of a pipe frame or the like formed so as to be connected to the right side of the front end surface of the table surface 76.
That is, the elevating lever 78 has a left connecting portion 78a projecting forward from the left side of the front end surface of the table surface 76, a left rising portion 78b extending upward to the right from the front end of the left connecting portion 78a, and a front end surface of the table surface 76. A horizontal portion that connects the right connecting portion 78c that protrudes forward from the right side, the right rising portion 78d that extends upward to the left from the front end of the right connecting portion 78c, and the right end of the left rising portion 78b and the left end of the right rising portion 78d. It is equipped with 78e.
The elevating lever 78 is formed, for example, by combining and welding an iron pipe having a circular cross section, or by bending an iron pipe having a circular cross section.

Further, on the outside of the horizontal portion 78e, as shown in FIGS. 1A and 1B, a movable cover 78f formed in a cross-sectional curved shape corresponding to the curved shape of the outer peripheral surface of the horizontal portion 78e is provided. Be done. The switch contact 78g is provided so as to project from the center side of the inner surface of the movable cover 78f in the direction along the curved surface. Further, a through hole 78h penetrating inside and outside the hollow pipe is formed in the horizontal portion 78e formed by the hollow pipe, and the actuator 8 is operated and stopped on the inner surface of the hollow pipe facing the through hole 78h. A switch 78i for making the switch 78i is provided. Then, with the switch contact 78g penetrating the through hole 78h, both ends of the inner surface of the movable cover 78f in the direction along the curved surface and the outer surface of the hollow pipe of the horizontal portion 78e are connected by springs 78j and 78j, respectively. There is.
That is, when the horizontal portion 78e and the movable cover 78f are grasped by the hand A1, the springs 78j and 78j contract and the movable cover 78f approaches the outer surface of the horizontal portion 78e, so that the tip of the switch contact 78g comes into contact with the switch 78i. The switch 78i is configured to be turned on.
Further, by releasing the hand A1 from the movable cover 78f or loosening the grip, the movable cover 78f moves in a direction away from the outer surface of the horizontal portion 78e by the force of the springs 78j and 78j, and the tip of the switch contact 78g is moved. It is configured so that the switch 78i is turned off away from the switch 78i.
That is, the elevating lever 78 is configured to have a switch mechanism for operating the actuator 8 by grasping it with the hand A1 and stopping the actuator 8 by releasing the hand A1 or loosening the grip.

Actuators 8 are provided for each of the left and right columns 71 and 72.
The actuator 8 is composed of, for example, an electric cylinder.
The electric cylinder includes, for example, a motor (not shown), a ball screw rotated by the motor, a ball screw nut screwed to the ball screw, and a case 81 containing the motor, the ball screw, and the ball screw nut. And a rod 82 having one end attached to the ball screw nut and the other end side protruding from the other end 81a of the case 81.
The left actuator 8 is connected to the left portion 22 of the base frame so that one end side of the case 81 can swing in the front-rear direction via a hinge 83, and the other end of the rod 82 is an extension of the left main column 74. It is swingably connected to a position substantially in the middle of the direction via a hinge 84.
Similarly, the right actuator 8 is connected to the right side of the base frame so that one end side of the case 81 can swing in the front-rear direction via a hinge 83, and the other end of the rod 82 is an extension of the right main support column 74. It is swingably connected to a position substantially in the middle of the direction via a hinge 84.

The left and right actuators 8 and 8 drive the support means 7 into a state in which the support means 7 is tilted from the front to the rear and a state in which the support means 7 stands up from the rear to the front.
That is, the left and right actuators that move the support means 7 and the support means 7 from the inverted state shown in FIG. 3 to the upright state shown in FIG. 2 or the support means 7 from the upright state shown in FIG. 2 to the inverted state shown in FIG. According to 8 and 8, the standing motion supporting means for supporting the motion when the user A stands up from the sitting state and the sitting motion supporting means for supporting the motion when the user A sits down from the standing state are provided. It is composed.
That is, the left and right main columns 74 and 74 of the support means 7 function as a movable frame (tilted frame) attached to the base frame 21 so as to be swingable in the front-rear direction via the hinges 83 and 83.
Although not shown, the power sources such as the motor of the actuator 8 and the rechargeable battery for driving the other electric components mounted on the walking support device 1 are, for example, the base frame 21, the columns 71, 72, and the like. It is detachably attached to any of the reinforcing bars 74x, 74y, etc.

One end of the connecting means 6 is connected to the weight unloading means 9, and a connecting tool 61 such as a hook is attached to the other end. It is composed of a member, that is, a continuous long member connecting the weight unloading means 9 and the connecting tool 61.
The connecting tool 61 provided at the other end of the connecting means 6 is connected to the connecting portion C (see FIG. 4) of the wearing tool B to be worn by the user A, so that the user A can use the weight unloading means 9 This makes it possible to walk with the weight load reduced.

The weight unloading means 9 uses the user A connected to the weight unloading means 9 via the fitting B and the connecting means 6 as a percentage of the weight of the user A so as to reduce the weight load of the user A. It is a traction device that pulls (lifts) with the force of the above, for example, a traction device that uses an actuator such as a spring or a weight, or an actuator such as a motor or a cylinder. For example, as a configuration in which one end of the connecting means 6 is connected to a constant load spring such as a spring or a weight to apply a traction force, the traction force (lifting force) is obtained by changing the spring force of the constant load spring or the weight of the weight. Alternatively, one end of the connecting means 6 may be connected to the output shaft of the motor or the piston of the cylinder to control the motor or the cylinder to apply the traction force and change the traction force.
The weight unloading means 9 is provided in the box 91, for example, and is fixed to the support base 73 so that the box 91 hangs down from the support base 73, for example.

According to the walking support device 1, as shown in FIG. 4A, when the user A wearing the fitting B stands up from a state of being seated on a seating portion D such as a bed or a chair, the actuator 8 is used. After the rod 82 is contracted and the support means 7 is tilted backward, the connecting tool 61 provided at the other end (drawing end) of the connecting means 6 is provided on the left and right sides of the mounting tool B of the user A. As shown in FIGS. 4 (b) and 4 (c), the rod 82 of the actuator 8 is gradually extended to move the support means 7 forward from the state in which the support means 7 is tilted backward. Since the user A stands up, the user A can easily stand up from the state of being seated on the seating portion D. That is, the standing motion support function by the standing motion support means allows the user A to easily stand up from the seated state.
On the contrary, when the user A sits on the bed or the like from the standing state, the rod 82 of the actuator 8 is gradually contracted from the state of FIG. 4 (c) as shown in FIGS. 4 (b) and 4 (a). As the support means 7 falls backward from the standing state, the user A can easily sit on the seating portion D from the standing state. That is, the seating motion support function by the sitting motion supporting means enables the user A to easily sit down from the standing state.

The braking means during standing motion support is a means for operating the braking means 4 of the moving means 3 to brake the wheels 32 in order to stabilize the walking support device 1 during standing motion support.
That is, the standing motion supporting braking means includes the braking means 4 for stopping the rotation of the wheels 32 and the standing motion supporting detecting means for detecting the standing motion supporting time, and the standing motion supporting detecting means stands up. The braking means 4 is configured to operate when it is detected that the operation is being supported.
According to the standing motion support braking means, the braking means 4 brakes the wheels 32 when a signal indicating that the standing motion is being supported is input from the standing motion support detecting means via wire or wirelessly. Since it is hung, it is possible to prevent the walking support device 1 from moving on the road surface R by the moving means 3 during the standing motion support, and the walking support device 1 is stable, so that when the user A performs the standing motion. You will be able to safely support standing movements.

The seating motion support braking means is a means for operating the braking means 4 of the moving means 3 to brake the wheels 32 in order to stabilize the walking support device 1 during the sitting motion support.
The seating motion supporting braking means includes a braking means 4 for stopping the rotation of the wheels 32 and a sitting motion supporting detecting means for detecting the sitting motion supporting time, and the seating motion supporting time detecting means is used to support the sitting motion. The braking means 4 is configured to operate when it is detected that the brake means is.
According to the seating motion support braking means, the braking means 4 brakes the wheels 32 when a signal indicating that the seating motion is being supported is input from the seating motion support detecting means via wire or wirelessly. Since it is hung, it is possible to prevent the walking support device 1 from moving on the road surface R by the moving means 3 during the sitting motion support, and the walking support device 1 is stable, so that when the user A performs the sitting motion. You will be able to safely support sitting movements.

The standing motion assisting detection means and the sitting motion assisting detecting means are configured by, for example, a switch 78i for operating and stopping the actuator 8 described above.
In this case, while the user A's hand A1 grips the horizontal portion 78e and the movable cover 78f and the switch 78i is turned on during the standing operation or the sitting operation of the user A, the electromagnet and the hydraulic pressure of the braking means 4 are turned on. A power source such as a cylinder, an air cylinder, or a brake wire is actuated to apply braking to the wheels 32. In this case, if the user A releases the horizontal portion 78e and the movable cover 78f after the standing operation is completed or the sitting operation is completed, the braking of the braking means 4 is released, so that the user A handles the handle grip after the standing operation is completed. You can walk by holding 77. In addition, the walking support device 1 that has been disconnected from the user A after the seating operation is completed can be moved by rolling the wheels 32.

The standing motion assisting detection means and the sitting motion assisting detecting means are provided to detect the amount of expansion and contraction of the rod 82 of the actuator 8 and the angle sensor provided for detecting the inclination angle of the table surface 76. It may be configured by an expansion / contraction sensor or the like.
For example, when the standing motion assisting detection means and the sitting motion assisting detecting means are configured by an angle sensor that detects the tilt angle of the table surface 76, the angle sensor detects the maximum tilt angle of the table surface 76. When, or except when the minimum tilt angle of the table surface 76 is detected, the power sources such as the electromagnet, the hydraulic cylinder, the air cylinder, and the brake wire of the braking means 4 operate to brake the wheels 32. It should be configured.
Further, when the standing motion support detecting means and the sitting motion supporting detecting means are configured by the expansion / contraction sensor that detects the expansion / contraction amount of the rod 82 of the actuator 8, the expansion / contraction sensor detects the maximum expansion amount of the rod 82. When, or except when the maximum amount of contraction of the rod 82 is detected, the power sources such as the electromagnet, the hydraulic cylinder, the air cylinder, and the brake wire of the braking means 4 are operated to brake the wheels 32. do it.
In these cases, the braking of the braking means 4 is released after the standing operation is completed or the sitting operation is completed, so that the user A can walk by grasping the handle grip 77 after the standing operation is completed. In addition, the walking support device 1 that has been disconnected from the user A after the seating operation is completed can be moved by rolling the wheels 32.

Further, it is detected that the power key switch 70B is on and the changeover switch 70C is located on the side where the standing operation support is performed (upper side of FIG. 1A), and the standing operation is supported. The signal indicating the above may be output to the braking means 4, and the standing operation assisting detection means configured to operate the braking means 4 may be used.
Further, it is detected that the power key switch 70B is on and the changeover switch 70C is located on the side where the seating operation support is performed (lower side in FIG. 1A), and the seating operation is supported. It may be a seating operation assisting detection means configured to output a signal indicating that to the braking means 4 and operate the braking means 4.
In these cases, the braking of the braking means 4 is released by turning off the power key switch 70B after the standing operation is completed or the sitting operation is completed. Therefore, the user A grips the handle grip 77 after the standing operation is completed. I can walk. In addition, the walking support device 1 that has been disconnected from the user A after the seating operation is completed can be moved by rolling the wheels 32.

In the user fall prevention means, when the user A walks or stands up while being connected to the device main body 5 via the fitting B and the connecting means 6, the user A loses his / her posture and the user A In order to stabilize the walking support device 1, when the other end side of the connecting means 6 connected to the fitting B is pulled out of the support base 73 of the device main body 5 by a predetermined length, the moving means This is a means for preventing the user A from tipping over by operating the braking means 4 of 3 to brake the wheels 32.
The user fall prevention means includes a braking means 4 for stopping the rotation of the wheel 32 and a pull-out amount detecting means for detecting that the other end side of the connecting means 6 is pulled out to the outside of the support base 73 by a predetermined length. The braking means 4 is configured to operate when it is detected by the pull-out amount detecting means that the other end side of the connecting means 6 is pulled out to the outside of the support base 73 by a predetermined length.
That is, the user fall prevention means includes a pull-out amount detecting means (detecting means) for detecting that the other end side of the connecting means 6 is pulled out to the outside of the device main body portion 5 by a predetermined length a, and the detecting means. Activates the braking means 4 when it is detected that the other end side of the connecting means 6 is pulled out of the device main body 5 by a predetermined length (a1 + a2).

As shown in FIG. 5, the pull-out amount detecting means includes a fixed pulley group, a first moving pulley 42, and a spring 43 such as a coil spring as an elastic means for pulling the first moving pulley 42 with a predetermined force. It is provided with a withdrawal amount detecting unit, and is configured to operate the braking means 4 based on a detection signal from the withdrawal amount detecting unit.

As shown in FIG. 5A, one end of the connecting means 6 is connected to the weight unloading means 9, and the other end of the connecting means 6 is the first fixed pulley 41a provided in the box 91 and the first fixed pulley 41a. The second fixed pulley 41b, the first moving pulley 42, which are guided to the hollow portion 73X through the inlet hole 73e to the hollow portion 73X provided on the lower side of the support base 73 and are provided in the hollow portion 73X. After passing through the third fixed pulley 41c, it is pulled out to the outside of the hollow portion 73X via the outlet hole 73f from the hollow portion 73X via the elastic support means described later, and the other end of the pulled out connecting means 6. The connector 61 is attached to the. The diameter of the outlet hole 73f is formed so that the connecting tool 61 provided at the other end of the connecting means 6 cannot pass through.
Further, the spring 43 is installed in a cylindrical spring accommodating portion 44 provided in the hollow portion 73X and extending in the front-rear direction, and can be expanded and contracted in the extending direction of the spring accommodating portion 44. That is, one end 43a of the spring 43 is fixed to the inner surface on the one end side in the extension direction of the spring accommodating portion 44, and the other end 43b side of the spring 43 can move along the extension direction of the spring accommodating portion 44.

The withdrawal amount detection unit is configured to include, for example, a movable body 45, a regulation unit 46 that regulates the movement of the movable body 45, and a detection body (not shown) provided in the regulation unit 46.
The regulating portion 46 is provided on the other end side of the spring accommodating portion 44 in the extension direction.
The movable body 45 is fixed to the other end 43b of the spring 43 and is connected to the first moving pulley 42 by a linear connecting body 47 such as a wire. The linear connecting body 47 passes through the through hole 46a formed in the regulating portion 46 and the through hole 44a formed in the other end wall in the extension direction of the spring accommodating portion 44, and one end thereof is connected to the movable body 45. The other end is connected to the first moving pulley 42.

In a state where the connecting means 6 is not connected to the user A via the attachment B, the connecting means 6 is connected until the connecting tool 61 provided at the other end of the connecting means 6 comes into contact with the peripheral edge of the outlet hole 73f. Is in the initial state shown in FIG. 5A, which is pulled by the force of the spring 43 and the elastic means 53 of the elastic support means described later. In the initial state, the distance between the movable body 45 and the regulating portion 46 is separated by a distance a2.
Then, in a state where the connecting means 6 is connected to the user A via the attachment B, as shown in FIG. 5B, the user A loses his / her posture and is connected to the attachment B of the user A. When the other end side of the connecting means 6 is pulled out of the support base 73 by a predetermined length (a1 + a2), the moving pulley 42 moves by a distance a2 in a direction of pulling the spring 43 through, for example, the slide rail hole 42a. Then, the movable body 45 comes into contact with the regulation unit 46, and the detector provided in the regulation unit 46 outputs the detection signal to the braking means 4 via a wire or radio.

The detector is, for example, an electric switch that is turned on when the movable body 45 comes into contact with the regulating portion 46 and is turned off when the movable body 45 is separated from the regulating portion 46, or the movable body 45 comes into contact with the regulating portion 46. It is composed of a sensor or the like that detects this.
In this case, as the braking means 4, a brake such as an electromagnetic brake or a drum brake using a power source such as an electromagnet, a hydraulic cylinder, or an air cylinder that can be electrically controlled is used.
Then, when the braking means 4 inputs a detection signal from the detector, the power sources such as the electromagnet, the hydraulic cylinder, and the air cylinder of the braking means 4 are operated to brake the wheels 32.

The elastic support means applies a tensile force to the other end of the connecting means 6 provided with the connecting tool 61 in a direction of approaching the device main body 5, and the other end of the connecting means 6 in a direction away from the device main body 5. It is a means for supporting the connecting means 6 so as to be movable.
The elastic support means includes an elastic means 53 and a second moving pulley 54 as a moving pulley connected to the other end (connecting end) 53x of the elastic means 53 and configured to be movable by the elasticity of the elastic means 53. ..
Then, after the other end side of the connecting means 6 via the third fixed pulley 41c passes through the second moving pulley 54, the other end of the connecting means 6 passes through the fourth fixed pulley 41d and the outlet hole 73f, and the device main body portion. The other end of the connecting means 6 configured by being pulled out to the outside of the device 5 and having the connecting tool 61 attached to the other end of the connecting means 6 pulled out to the outside of the device main body 5 is on the outside of the device main body 5. Be positioned.
Further, the second moving pulley 54 moves in a direction in which the other end of the connecting means 6 moves away from the device main body 5, thereby moving against the tensile force of the elastic means 53, for example, through the slide rail hole 54a. It is configured in.
With the above configuration, the elastic support means applies a tensile force to the other end of the connecting means 6 provided with the connecting tool 61 in a direction approaching the device main body 5, and the other end of the connecting means 6. It functions as a means for supporting the connecting means 6 so that the portion can be moved away from the device main body portion 5.

As the elastic means 53, it is preferable to use a constant load spring capable of moving the other end of the connecting means 6 in a direction away from the device main body 5 with a constant force. If a constant load spring is used, when a person pulls the other end of the connecting means 6 in a direction away from the device main body 5, this tensile force reaches the maximum return force (maximum tensile force) of the constant load spring. Can move the other end of the connecting means 6 in a direction away from the device main body 5 with a constant tensile force.
That is, a wire spring (coil spring) may be used as the elastic means 53, but in this case, the more the spring is stretched, the larger the tensile force required to stretch the spring is, so that the other end of the connecting means 6 is used. A large force is required when it is desired to move the device long in the direction away from the device main body 5 (when the other end side of the connecting means 6 is to be pulled out long), and in the case of the weak user A, the other end of the connecting means 6 is required. It can be difficult to pull out the side for a long time.
On the other hand, when the constant load spring is used as the elastic means 53, the other end of the connecting means 6 can be moved long in the direction away from the device main body 5 with a small force.
Further, when the constant load spring is used as the elastic means 53, it can be accommodated in the accommodating portion 53a of a drum or the like having a small diameter, so that the installation space can be reduced, and there is an advantage that the walking support device 1 can be miniaturized.

For example, normally, the connecting tool 61 is locked to the peripheral edge of the outlet hole 73f by the tensile force of the elastic means 53, and by pulling the connecting tool 61, the other end of the connecting means 6 is attached to the device main body portion 5. It is configured so that it can be separated from the distance a1 (for example, 30 cm). That is, when the other end of the connecting means 6 moves away from the outlet hole 73f of the device main body 5, the second moving pulley 54 resists the tensile force of the elastic means 53 and moves in the slide rail hole 54a at a distance a1. It is configured to be able to move only (for example, 30 cm). In this case, the rotation center axis of the second moving pulley 54 moving in the slide rail hole 54a collides with the hole edge of the slide rail hole 54a, so that the movement of the second moving pulley 54 is restricted. Alternatively, a separate stopper may be provided so that the movement of the second moving pulley 54 is restricted.

Therefore, the user A wearing the mounting tool B moves the other end of the connecting means 6 provided with the connecting tool 61 in a direction away from the outlet hole 73f of the device main body 5 by a distance a1 (for example, 30 cm) (for example, 30 cm). Since the connecting means 6 can be pulled out), the work of connecting the connecting tool 61 of the connecting means 6 and the connecting portion C of the mounting tool B can be easily performed. That is, when connecting the connecting tool 61 of the connecting means 6 and the connecting portion C of the mounting tool B, the other end of the connecting means 6 is easily moved in a direction away from the outlet hole 73f of the device main body portion 5 (easy). It is possible to provide a walking support device 1 that can be pulled out.
That is, even if the height of the seating position of the seating portion D of the chair or the like on which the user A is seated varies, the connecting tool 61 of the connecting means 6 is attached to the connecting portion C of the mounting tool B to be mounted by the user A. Since it can be easily moved to the position, the user A can easily perform the connecting work between the connecting means 6 and the fitting B.
Further, after the user A wearing the mounting tool B connects the connecting tool 61 provided at the other end of the connecting means 6 and the connecting portion C of the mounting tool B, the user A may lose his / her posture and fall down. When the other end side of the connecting means 6 is pulled out to the outside of the support base 73 by a predetermined length (a1 + a2), the braking means 4 inputs a detection signal from the detector of the pull-out amount detecting unit to input the detection signal to the wheel 32. Prevents the walking support device 1 from moving on the road surface R by the moving means 3 when the user A loses his / her posture and tries to fall while walking or standing up. Since the walking support device 1 is stable, it is possible to prevent the user A from falling due to the movement of the walking support device 1 in a state where the user A loses his / her posture and is about to fall. Become. That is, it is possible to provide the walking support device 1 that can prevent the user A from falling while walking or standing up.
When the user A is walking or standing and tries to fall down by losing his posture, the elastic means 53 is activated first and the other end of the connecting means 6 is separated from the device main body 5. After moving by the distance a1, the spring 43 operates and the other end 43b of the spring 43 moves by the distance a2, so that the other end of the connecting means 6 is only a distance (a1 + a2) from the outlet hole 73f of the device main body 5. When the vehicle moves away from the wheel, the braking means 4 is configured to input a detection signal from the detector of the withdrawal amount detecting unit to brake the wheel 32.

Further, when a mechanical brake such as a caliper brake that presses the brake pad against the wheel 32 to stop the rotation of the wheel 32 by pulling the brake wire is used as the braking means 4, it is used as follows. A person's fall prevention means may be configured.

In this case, as shown in FIG. 6, the user fall prevention means is when the user A is walking or standing up while being connected to the device main body 5 via the fitting B and the connecting means 6. The other end of the connecting means 6 connected to the wearer B of the user A by the user A losing his / her posture is the support base 73 of the device main body 5 by the distance (a1 + a2) from the outlet hole 73f of the device main body 5. When pulled out, the brake wire 49 of the braking means 4 is pulled to stop the rotation of the wheel 32.
That is, the user fall prevention means is the brake wire of the braking means 4 when the other end of the connecting means 6 is pulled out of the device main body 5 by a distance (a1 + a2) from the outlet hole 73f of the device main body 5. The braking means 4 is activated by pulling the 49.

That is, as shown in FIG. 6, the user fall prevention means is a long hole 44c formed in the peripheral wall on the other end side of the extension direction of the spring accommodating portion 44 so as to extend in the extension direction of the spring accommodating portion 44. A movable body 50 having a connecting portion 51 fixed to the other end 43b of the spring 43 and projecting to the outside of the spring accommodating portion 44 via the elongated hole 44c, and one end to an arm such as a caliper brake (not shown). A wire 49 and the like provided with a brake wire 49 which is connected and whose other end is connected to the connecting portion 51 of the movable body 50, and which is passed through a through hole 44a formed in the other end wall of the cylinder of the spring accommodating portion 44 in the extension direction. One end of the linear connecting body 47 and the movable body 50 are connected to each other, and the other end of the linear connecting body 47 and the moving brake 42 are connected to each other.
The other end of the brake wire 49 is guided rearward via the fixed pulley 52 and connected to the connecting portion 51 of the movable body 50.
In FIG. 6, the same parts as those in FIG. 5 are designated by the same reference numerals and the description thereof will be omitted.

In this case, after the user A wearing the mounting tool B connects the connecting tool 61 provided at the other end of the connecting means 6 and the connecting portion C of the mounting tool B, the user A loses his / her posture and uses it. The other end side of the connecting means 6 connected to the fitting B of the person A is pulled out from the outlet hole 73f of the device main body 5 to the outside of the device main body 5 by a predetermined length (a1 + a2), and the spring 43 is pulled. As a result, when the brake wire 49 is pulled and the movable body 50 and the inner surface 44x of the other end of the cylinder of the spring accommodating portion 44 in the extension direction come into contact with each other, the brake pad of the braking means 4 is pressed against the wheel 32 and the wheel 32 is pressed. It is configured to stop the rotation of.
Therefore, when the user A tries to fall, the walking support device 1 can be prevented from moving on the road surface R by the moving means 3, and the user A can be prevented from falling.

That is, in the case of the walking support device 1 of the first embodiment in which the device main body 5 includes the weight unloading means 9, the standing motion support means, the sitting motion support means, the user fall prevention means, and the elastic support means, the connecting means. One end of 6 is connected to the weight unloading means 9, and the other end of the connecting means 6 is connected to the first fixed pulley 41a provided in the box 91 and the hollow portion 73X provided under the support base 73. The second fixed pulley 41b, the first moving pulley 42, and the third fixed pulley 41c, which are guided to the hollow portion 73X through the inlet hole 73e and provided in the hollow portion 73X of the support base 73. 3 The other end of the connecting means 6 via the fixed pulley 41c passes through the second moving pulley 54, and then the other end of the connecting means 6 passes through the fourth fixed pulley 41d to the outside of the outlet hole 73f of the device main body 5. A connecting tool 61 is provided at the other end of the connecting means 6 located outside the outlet hole 73f. Then, the first moving pulley 42 and the other end 43b of the spring 43 are connected via the movable body 45 and the linear connecting body 47 to form a user fall prevention means. Further, the second moving pulley 54 and the other end (connecting end) 53x of the elastic means 53 are connected to form an elastic support means.

The wheels 32 for operating the braking means 4 by the standing motion supporting braking means, the sitting motion supporting braking means, and the user fall prevention means of the present invention are two wheels 32 provided on the rear left and right sides of the base 2. It may be only, or it may be all the wheels 32 constituting the transportation means 3.

Embodiment 2
Further, the braking means for supporting the standing motion, the braking means for supporting the sitting motion, the user's fall prevention means, and the elastic support means of the present invention can be applied to a walking support device having a configuration not provided with the weight unloading means 9.
In this case, the braking means for supporting the standing motion, the braking means for supporting the sitting motion, and the elastic support means are configured in the same manner as in the first embodiment.
Further, as shown in FIG. 7, the user fall prevention means may have a configuration in which one end of the connecting means 6 is connected to the movable body 45 fixed to the other end of the spring 43 described above, or as shown in FIG. In addition, one end of the connecting means 6 may be connected to the movable body 50 fixed to the other end side of the spring 43 described above.
In FIG. 7, the same parts as those in FIG. 5 are designated by the same reference numerals and the description thereof will be omitted.
Similarly, in FIG. 8, the same parts as those in FIG. 6 are designated by the same reference numerals and the description thereof will be omitted.
That is, even in a walking support device not provided with the weight unloading means 9, it is possible to provide a braking means for standing motion support, a braking means for sitting motion support, a user fall prevention means, and an elastic support means. ..

That is, in the case of the walking support device 1 of the second embodiment, in which the device main body 5 is provided with the standing motion support means, the sitting motion support means, the user fall prevention means, and the elastic support means, and is not provided with the weight unloading means 9, they are connected. A user fall prevention means is configured in which one end of the means 6 is connected to the other end 43b side of the spring 43. Further, the other end side of the connecting means 6 passes through the fixed pulley 41A and the moving pulley 54A provided in the hollow portion 73X, and then the other end of the connecting means 6 passes through the fixed pulley 41B and the outlet hole of the device main body portion 5. A connecting tool 61 is provided at the other end of the connecting means 6 located outside the outlet hole 73f, which is configured to be located outside the 73f. Then, the moving pulley 54A and the other end (connecting end) 53x of the elastic means 53 are connected to form the elastic support means.

Further, in the configurations shown in FIGS. 7 and 8, by using a spring that also functions as a weight unloading means as the spring 43, a walking support device having a weight unloading function can be configured.

Embodiment 3
Further, the elastic support means can also be applied to a walking support device having a configuration that does not include the user fall prevention means, the standing motion support means, the sitting motion support means, and the weight unloading means 9.
In this case, for example, the base 2 shown in FIG. 1, the moving means 3 provided on the base 2, the device main body provided on the base 2, the fitting B to be worn by the user A, and the device main body. As shown in FIG. 9, the apparatus main body includes a fixed support 74A fixed to the base 2 and a support base 73A provided on the upper end side of the fixed support 74A. For example, the walking support device may be configured such that the hollow portion 73X of the support base 73A is provided with elastic support means.
That is, as shown in FIG. 9, one end 6a of the connecting means 6 is connected to the hollow portion 73X of the device main body portion, and the other end side of the connecting means 6 is a fixed pulley 41A and a moving pulley 54A provided in the hollow portion 73X. After passing through, the other end of the connecting means 6 is configured to be located outside the outlet hole 73f of the support base 73A in the apparatus main body portion via the fixed pulley 41B, and is located outside the outlet hole 73f. A connecting tool 61 is provided at the other end of the connecting means 6. Then, the moving pulley 54A and the other end (connecting end) 53x of the elastic means 53 are connected to form the elastic support means.
In the case of the walking support device of the third embodiment, at least one fixed support column 74A may be provided. That is, the fixed columns 74A may be provided, for example, one in the center of the front side of the base, two on the left and right sides of the front side of the base, or two on the left and right sides of the front side of the base and one in the center of the front side. Further, in the case of the walking support device, the support base 73A is configured not to include an adjustment dial 70A, a power key switch 70B, a changeover switch 70C, a switch 78i, and the like, which are related to the actuator 8 and the weight unloading means 9.

Even in the walking support devices of the second and third embodiments, the attachment tool 61 to be attached to the attachment tool 61 provided at the other end of the connection means 6 to be connected to the attachment tool B to be attached by the user A. Since it can be easily moved to the position of the connecting portion C of B, the user A can easily perform the connecting work between the connecting means 6 and the fitting B.
Further, when the user A connected to the main body of the device via the attachment B worn by the user A and the connecting means 6 loses his / her posture while walking or standing up, the walking support device moves. Since it is possible to prevent the walking support device from moving on the road surface R by the means 3, and the walking support device is stabilized, the walking support device moves while the user A loses his / her posture and is about to fall down. It becomes possible to prevent A from tipping over. That is, it is possible to provide a walking support device capable of preventing the user A from falling while walking or standing.

The moving means 3 may be a means of moving other than the wheels. For example, it may be a moving means such as a caster or a caterpillar provided with a ball instead of a wheel, and may be a moving means configured to be able to apply braking.

1 walking support device, 2 base, 3 moving means, 4 braking means, 5 device body,
6 connecting means, 53 elastic means, 54 second moving pulley (moving pulley), 54A moving pulley,
A user, B wearing tool.

Claims (3)

It is a walking support device that supports the walking of the user.
The base, the transportation means provided on the base, the device main body provided on the base, one end is connected to the device main body, and the other end is located on the outside of the device main body and is worn by the user. Equipped with a connecting means to be connected to the tool,
The device main body supports the connecting means so that the other end of the connecting means can be moved toward the device main body and the other end of the connecting means can be moved away from the device main body. It is provided with an elastic supporting means and an elastic body or a weight unloading means to which one end of the connecting means is connected .
The elastic support means is configured to include an elastic means and a moving pulley connected to the elastic means and configured to be movable by the elasticity of the elastic means.
The connecting means is configured such that one end is connected to the elastic body via a movable body, the other end is via a moving pulley, and the other end is located outside the device main body.
The moving pulley is provided so as to be reciprocally movable by a predetermined distance a1 through the slide rail hole, and is elastic by moving the other end of the connecting means in a direction away from the device main body by a predetermined distance a1. It is configured to move within the slide rail hole by a predetermined distance a1 against the tensile force of the means.
When the other end of the connecting means moves in a direction away from the device main body by a predetermined distance a2 against the tensile force of the elastic body from a position separated from the device main body by a predetermined distance a1. The walking support is characterized in that the movement of the movable body against the tensile force of the is regulated by the regulating portion, and the movement of the other end of the connecting means in the direction away from the device main body is regulated. Device. It is a walking support device that supports the walking of the user.
The base, the transportation means provided on the base, the device main body provided on the base, one end is connected to the device main body, and the other end is located on the outside of the device main body and is worn by the user. Equipped with a connecting means to be connected to the tool,
The device main body supports the connecting means so that the other end of the connecting means can be moved toward the device main body and the other end of the connecting means can be moved away from the device main body. It is provided with an elastic supporting means and an elastic body or a weight unloading means to which one end of the connecting means is connected.
The elastic support means is configured to include an elastic means and a second moving pulley connected to the elastic means and configured to be movable by the elasticity of the elastic means.
The connecting means includes a first moving pulley and a second moving pulley whose one end is connected to the weight unloading means and the other end is connected to a spring provided in the main body of the device via a movable body. Via, the other end is configured to be located on the outside of the device body.
The second moving pulley is provided so as to be able to reciprocate by a predetermined distance a1 through the second slide rail hole, and the other end of the connecting means is separated from the device main body by a predetermined distance a1. By moving to, it is configured to be able to move within the second slide rail hole by a predetermined distance a1 against the tensile force of the elastic means.
The first moving pulley is provided at a position closer to one end of the connecting means than the second moving pulley, and is provided so as to be able to reciprocate by a predetermined distance a2 through the first slide rail hole.
When the other end of the connecting means moves in a direction away from the device main body by a predetermined distance a2 against the tensile force of the spring from a position separated from the device main body by a predetermined distance a1, the movable body A walking support device characterized in that movement is regulated by a regulation unit, and movement in a direction away from the device main body at the other end of the connecting means is restricted . According to claim 1 or 2 , the braking means is configured to operate when the movable body and the braking means of the moving means are connected and the movement of the movable body is regulated by the regulating unit. The described walking support device.

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