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WO2020246172A1 - Walking support machine - Google Patents

Walking support machine Download PDF

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Publication number
WO2020246172A1
WO2020246172A1 PCT/JP2020/017640 JP2020017640W WO2020246172A1 WO 2020246172 A1 WO2020246172 A1 WO 2020246172A1 JP 2020017640 W JP2020017640 W JP 2020017640W WO 2020246172 A1 WO2020246172 A1 WO 2020246172A1
Authority
WO
WIPO (PCT)
Prior art keywords
walking support
leg
support machine
thigh
walking
Prior art date
Application number
PCT/JP2020/017640
Other languages
French (fr)
Japanese (ja)
Inventor
真揮 三輪
洋 福嶋
悠子 森
Original Assignee
株式会社今仙電機製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社今仙電機製作所 filed Critical 株式会社今仙電機製作所
Publication of WO2020246172A1 publication Critical patent/WO2020246172A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for

Definitions

  • the present invention relates to a walking support machine.
  • the walking support machine includes a waist-mounted member provided in the torque generating device for the walking support machine, a transmission member provided in the torque generator for the walking support machine, and a leg-mounted member provided in the transmission member. Therefore, a walking support machine has been proposed in which the connecting portion between the transmission member and the leg mounting member is formed so as to be arranged in front of the thigh or lower leg (Patent Document 1).
  • the walking support machine is assisted so that the thigh or lower leg is pulled from the front side. Therefore, as compared with assisting from the side surface of the thigh or lower leg, it is possible to suppress slippage of the belt-shaped member that winds the thigh or lower leg, and it has an effect that the leg can be assisted efficiently.
  • the band when assisting the leg to be pulled from the front, the band should be loosely tightened due to the need to prevent the leg from hitting the leg when the leg is extended and the problem that excessive tightening of the band causes poor blood flow in the thigh. There is a need. Therefore, the protrusion in front of the leg becomes large, and it is difficult to wear it in clothes.
  • the transmission member since the transmission member is curved from the side of the waist to the front of the thigh, the transmission member arranged on the front side moves forward so as to move away from the thigh due to the movement of the legs during walking. Since it moves, there is a problem that it cannot be attached to the inside of trousers or the like. Further, when a skirt is used, the transmission member lifts the skirt from the inside, so that there is a problem that the skirt cannot be worn when the walking support machine is used.
  • an object of the present invention is to provide walking support that can be worn inside bottoms such as trousers and skirts.
  • the present invention has adopted the following means in order to achieve the above-mentioned object.
  • the walking support machine of the present invention Waist mounting member and A torque generator for a walking support machine attached to the waist side with respect to the waist mounting member,
  • the transmission member provided in the torque generator for the walking support machine and With the leg mounting member provided on the transmission member, Be prepared for The transmission member is provided along the side of the thigh from the torque generator for the walking support machine, and is formed on the leg mounting member on the back side of the thigh by a curved rod-shaped body that is curved from the middle. It is characterized by being fixed.
  • the transmission member extends downward from the outside of the thigh and is attached to the thigh so as to be curved from there to the back side of the thigh, and the back surface of the thigh is attached. It has a pushing structure. Therefore, even if the leg is swung forward during walking, the transmission member does not jump away from the leg, and the state generally along the leg is maintained. Therefore, the walking support machine can be moved even if it is placed inside the pants or the like, and even if the skirt or the like is worn, the skirt is not rolled up, so that the skirt can also be used.
  • the walking support machine it is characterized in that a hinge portion is provided between the transmission member and the torque generator for a walking support machine so that the transmission member can bend laterally with respect to the thigh portion. There may be.
  • the transmission member When the transmission member is attached to the back side of the thigh, a force is applied to the leg so as to push up the thigh.
  • the belt around the thigh can have a margin, so that the thigh can move laterally with respect to the traveling direction of the thigh.
  • the movement can be absorbed by shifting from the part.
  • the structure In the method of pressing the back side of the thigh, the structure must always stay in the center of the back of the thigh in combination with the anti-slip effect of the rear leg rest. Therefore, the lateral movement of the thigh cannot be absorbed by the rear leg rest.
  • a hinge portion is provided between the transmission member and the torque generator for the walking support device so that the transmission member can bend laterally with respect to the thigh portion.
  • the curved rod-shaped body may be characterized in that it is horizontally mounted at a mounting portion with the leg mounting member.
  • the curved rod-shaped body can be bent to keep the rear leg rest portion fitted to the back surface of the thigh part.
  • the curved rod-shaped body may be characterized in that it is formed so as to be rotatable about an axis at a mounting portion with the leg mounting member.
  • the walking support machine may be characterized in that two curved rod-shaped bodies are provided and are arranged in parallel in the vertical direction in the mounting portion with the leg mounting member.
  • two curved rod-shaped bodies should be inserted horizontally and parallel to the rear leg in the direction to transmit the generated torque and fixed. This makes it possible to absorb the angle deviation by bending the curved rod-shaped body when the angle deviation from the back surface of the thigh occurs in the leg mounting member.
  • the thickness of the thigh of the user, the angle of the back of the thigh, and the angle difference of the back of the thigh caused by the deviation between the torque generator for the walking support machine and the hip joint axis can be determined.
  • the rear leg rest can be automatically adjusted so that it touches the back of the thigh.
  • the curved rod-shaped body is provided so as to be slidable in the axial direction of the curved rod-shaped body at a mounting portion with the leg mounting member. May be good.
  • the distance between the transmission member and the thigh can be adjusted according to a person with thick or thin legs, and the rear leg rest portion can be used for the thigh regardless of the thickness of the leg. It can be placed in the center of the back of the part.
  • the walking support machine is The torque generator for the walking support machine is With the housing A cam rotatably provided in the housing and The output means provided on the cam and An urging means having a pressing portion that presses against the cam, It may be characterized in that the urging means is provided with a link means for regulating the moving direction of the urging means.
  • the walking support machine it is possible to provide a walking support machine that can be worn inside the trousers, and even in a walking support machine of the type that pushes up from the back side of the thigh, the thigh is complicated. It is possible to provide a walking support machine that can follow the movement and efficiently assist the legs.
  • FIG. 1 is a side view showing a state in which the walking support device 100 according to the embodiment is attached to the user.
  • FIG. 2 is a perspective view of the walking support device 100 according to the embodiment.
  • FIG. 3 is an exploded perspective view of the torque generator 20 for a walking support device according to the embodiment.
  • FIG. 4 is a front schematic view showing a movable state of the torque generator 20 for a walking support device according to the embodiment.
  • FIG. 5 is a front schematic view showing a movable state of the torque generator 20 for a walking support device according to the embodiment.
  • FIG. 6 is a perspective view of the hinge portion 70 used in the walking support machine 100 according to the embodiment.
  • FIG. 7 is a diagram showing a leg mounting member 90 of the walking support device 100 according to the embodiment.
  • FIG. 8 is a schematic view showing the movement of the leg mounting member 90 of the walking support device 100 according to the embodiment.
  • FIG. 9 is a schematic view showing the movement of the leg mounting member 90 of the walking support device 100 according to the embodiment.
  • FIG. 10 is a diagram showing another embodiment of the leg mounting member 90 of the walking support machine 100 according to the embodiment.
  • FIG. 11 is a diagram showing a state in which the leg mounting member 90 of another embodiment of the walking support machine 100 according to the embodiment is mounted on the leg.
  • the walking support machine 100 according to the embodiment of the present invention will be described in detail with reference to the drawings. It should be noted that the embodiments and drawings described below exemplify a part of the embodiments of the present invention, and are not used for the purpose of limiting to these configurations. The corresponding components in each figure are designated by the same or similar reference numerals. Since the right leg and the left leg are symmetrical, the walking support for the right leg will be described by explaining the walking support machine 100 for the left leg that is used by being attached to the left leg of the user. Replace with the description of the machine.
  • the walking support machine 100 mainly includes a waist-mounted member 10, a torque generator 20 for a walking support machine attached to the waist-mounted member 10 on the waist side, and walking support.
  • the waist mounting member 10 is a member for mounting the walking support device 100 on the waist of the body, and holds the walking support device torque generator 20 on the waist side.
  • the form of the waist-mounted member 10 is not particularly limited as long as the torque generator 20 for a walking support device can be attached to the waist side.
  • the waist-mounted member 10 can be attached to a waist belt or trousers. It may be something that can be attached to clothing worn on the upper body, such as a waistcoat or vest. In this embodiment, an example of attaching to a belt or trousers is shown.
  • the waist-mounted member 10 has a plastic flat plate 11 to which the torque generator 20 for a walking support machine is fixed, and a hook 12 is provided on the flat plate 11, and the hook 12 is attached to the flat plate 11.
  • the torque generator 20 for a walking support device can be attached to the side of the waist of the body by hooking it on a belt or trousers.
  • the flat plate 11 is formed to be curved so as to fit the waist of the body.
  • the torque generator 20 for the walking support device is preferably designed so as to be arranged above the greater trochanter.
  • the walking support machine torque generator 20 mainly presses the housing 21, the cam 30 arranged in the housing 21, the input / output means 40 attached to the cam 30, and the cam 30.
  • the urging means 50 and the link means 60 attached to the urging means 50 are provided.
  • the housing 21 is made to be divisible into a body-side housing 21a arranged on the body side and an outer housing 21b arranged on the opposite side of the body, and the inside thereof is a cam accommodating area mainly accommodating a cam 30. It has a housing area consisting of 23 and a biasing means housing area 24 in which the urging means 50 is mainly housed.
  • the cam accommodating area 23 has a space in which the cam 30 can rotate, and a cam shaft insertion hole 25 into which the cam rotation shaft 31 of the cam 30 can be inserted is provided at a substantially center thereof.
  • the urging means accommodating area 24 is provided with an accommodating area having a tubular shape inside so that the urging means 50 can be accommodated.
  • a notch 26 is formed in a part of the housing 21.
  • a rubber strip or a plurality of bristles may be provided on the notch 26 in order to prevent foreign matter from entering the notch 26 (not shown).
  • the cam 30 is composed of a plate cam having an outer peripheral surface 30a formed of an arc having an indefinite distance from the cam rotation shaft 31.
  • the outer peripheral surface 30a of the cam 30 is formed so that the distance from the cam rotation shaft 31 becomes longer as it approaches the input / output means 40. That is, the line segment D, the line segment E, and the line segment F are formed to be longer in this order.
  • the cam 30 has a cam rotation shaft 31 arranged in a cam shaft insertion hole 25 (see FIG. 3) of the housing 21 and is rotatably provided, and does not have a mechanism for rotating the cam 30 other than the urging means 50.
  • the input / output means 40 is directly or indirectly fixed to the cam 30, has a function of outputting the movement of the cam 30 to the outside of the housing 21, and the movement of the legs to the cam 30. Has a function to input.
  • the form of the input / output means 40 is not particularly limited as long as it is formed so as to move in conjunction with the movement of the cam 30. In the embodiment, it is formed of a plate-shaped member and is fixed to the cam 30 by a rivet 45.
  • a plurality of mounting holes 41 for attaching the hinge portion 70 (see FIG. 6), which will be described later, are provided on the side opposite to the side fixed to the cam 30.
  • the urging means 50 is a member for applying a rotational force to the cam 30 by applying a force so as to press the outer peripheral surface 30a of the cam 30.
  • the urging means 50 includes a pressing portion 51 that presses the cam 30, a spring 52 that urges the pressing portion 51 on the outer peripheral surface 30a of the cam 30, and a support member 53 that supports the upper surface side of the spring 52.
  • the strength adjusting bolt 54 may be provided so that the pressing force of the pressing portion 51 can be adjusted.
  • a rotating member 51a such as a bearing or a wheel is attached to the pressing portion 51 so that the outer peripheral surface 30a of the cam 30 can be smoothly moved.
  • the spring 52 is formed to have a peripheral diameter shorter than the inner peripheral diameter of the urging means accommodating region 24 of the housing 21, and is manufactured so as not to come into contact with the inner peripheral surface of the housing 21 when the spring 52 expands and contracts. Will be done.
  • the support member 53 fixes the positions of the spring 52 on the upper surface side in the height direction and the horizontal direction.
  • the strength adjusting bolt 54 is provided on the outermost side (upper side of FIG. 4) of the urging means accommodating area 24 of the housing 21, and rotates a bolt hole 54a provided on the top surface so as to be operable from the outside. By doing so, the height position with respect to the urging means accommodating area 24 can be changed, whereby the initial compression state of the spring 52 can be adjusted and the pressing force of the pressing portion 51 can be changed.
  • the strength adjusting bolt 54 is housed in the housing 21 and the strength is adjusted by a tool such as a hexagon wrench, but the strength can be turned by hand directly from the outside of the housing 21. A knob bolt may be used.
  • the link means 60 is provided between the pressing portion 51 of the urging means 50 and the housing 21 in the vicinity of the pressing portion 51. As shown in FIG. 3, the link means 60 is particularly in the horizontal direction so that when the pressing portion 51 moves on the outer peripheral surface 30a of the cam 30, the pressing portion 51 does not move more than a predetermined value due to the reaction force applied from the cam 30 side. It has a function to limit the position of the side to a certain range.
  • the link means 60 has a first rotation shaft 60a rotatably formed on the rotation shaft of the rotation member 51a of the pressing portion 51 and a second rotation rotatably attached to an arbitrary position of the housing 21. It is composed of a shaft 60b and a link member 61 composed of a plate member connecting them. As a result, the link means 60 can rotate about the second rotation shaft 60b.
  • the torque generator 20 for the walking support device configured in this way operates as follows.
  • the cam 30 is formed so that the distance from the cam rotation shaft 31 gradually increases from the line segment D to the line segment F, so that an external force is applied to the cam 30.
  • the urging means 50 is positioned so as to abut on the position of the short line segment D. From this state, as the input / output means 40 is moved to rotate the cam 30 in the direction of the arrow ⁇ , the spring 52 is compressed and elastic energy is stored.
  • the force applied to the input / output means 40 is released in this state, as shown in FIG. 5, the cam 30 moves in the direction of the arrow ⁇ due to the urging force of the spring 52, and the input / output means 40 moves. ..
  • the hinge portion 70 is a member arranged between the input / output means 40 and the transmission member 80, and the inclination of the transmission member 80, which will be described later, can be changed in the direction toward and away from the thigh of the leg. It is installed like this. As shown in FIG. 6, the specific configuration has a rotating shaft 73 between the first mounting piece 71 connected to the input / output means 40 and the second mounting piece 72 connected to the transmission member 80. , The first mounting piece 71 and the second mounting piece 72 are formed so as to be rotatable. A connecting member 83 for connecting the transmission member 80 is attached to the hinge portion 70 (see FIG. 2).
  • the transmission member 80 is fixed to the first rod-shaped body 81 having rigidity and the curved rod-shaped body 82 which is thinner than the first rod-shaped body 81 and weaker than the first rod-shaped body 81 and has elasticity. It includes a member 75.
  • the first rod-shaped body 81 is made of a tubular member and is fixed to the second mounting piece 72 so that the two first rod-shaped bodies 81 are parallel to each other.
  • the leg mounting member 90 is attached to the leg, the first rod-shaped body 81 is attached to the hinge portion 70 via the connecting member 83 so as to be arranged on the outer surface side of the thigh.
  • the curved rod-shaped body 82 is composed of two rod-shaped bodies, is formed to have a thickness that allows it to be inserted into the tubular portion of the first rod-shaped body 81, and has a straight portion 82a arranged in the first rod-shaped body 81, respectively. , It has a curved portion 82b that is outside the first rod-shaped body 81 and is curved in whole or in part.
  • the straight portion 82a is formed so that it can be fixed to the first rod-shaped body 81 by adjusting the insertion length, and by adjusting the insertion length, the thigh of the person who uses the walking support machine 100
  • the length of the entire transmission member 80 can be adjusted according to the length.
  • the curved portion 82b is formed so as to be curved from the outer surface on the lower side of the thigh toward the back side below the thigh, and is fixed to the transmission member fixing portion 93 of the leg mounting member 90 described later. ing.
  • the back-side curved rod-shaped body 82d arranged on the back side on the outer side of the thigh is substantially horizontal to the transmission member fixing portion 93 and attached to the upper side.
  • the front curved rod-shaped body 82e arranged on the front side is substantially horizontal to the transmission member fixing portion 93 and is attached to the lower side. Therefore, in the transmission member fixing portion 93, the two curved rod-shaped bodies 82 are arranged vertically and horizontally in parallel.
  • each of the two curved rod-shaped bodies 82 does not come off from the transmission member fixing portion 93, but as shown by the arrow ⁇ in FIG. 9, each of the two curved rod-shaped bodies 82 is rotatably provided about the axis of the curved rod-shaped body 82. Is good.
  • the leg rear contact portion 91 can be brought into surface contact with the back surface of the thigh without providing a separate rotation mechanism between the transmission member fixing portion 93 and the leg rear contact portion 91 described later. Further, as shown in FIG.
  • the curved rod-shaped body 82 and the transmission member fixing portion 93 of the leg rear contact portion 91 may be slidably provided along the axis of the curved rod-shaped body 82.
  • the slidable legs for example, when used by a user with thin legs, a gap between the transmission member 80 and the leg rear contact portion 91, that is, the thigh and transmission, as shown in the left figure of FIG. There is a possibility that a gap is generated between the member 80 and the member 80, and the structure does not follow the thigh.
  • the transmission member fixing portion 93 so as to be slidable along the axis of the curved rod-shaped body 82, the transmission member 80 can move freely in the lateral direction in combination with the bending function of the hinge portion 70. Therefore, the transmission member 80 can be arranged along the thigh as shown in the right figure of FIG. 11, and the leg rear contact portion 91 can be effectively arranged at the center of the back surface of the thigh.
  • the tip portion of the curved rod-shaped body 82 may form a pull-out prevention piece 95 made larger than the size of the hole.
  • the transmission member 80 has different rigidity between the portion ( ⁇ ) where the first rod-shaped body 81 exists and the portion ( ⁇ ) where only the curved rod-shaped body 82 exists, and the portion where the first rod-shaped body 81 exists.
  • the rigidity is high, the body does not bend or bend too much, and the function of cushioning the movement of the leg is low.
  • the range where only the elastic curved rod-shaped body 82 exists the range in which the position is changed from the outer side of the thigh to the back side
  • the body bends according to the movement of the leg. , Can bend.
  • the transmission member 80 is not particularly limited, but metal, plastic, CFRP, or the like can be used.
  • the leg mounting member 90 is a transmission member that fixes the leg rear contact portion 91, the belt-shaped member 92 attached to the leg rear contact portion 91, and the leg rear contact portion 91 and the transmission member 80. It includes a fixed portion 93.
  • the leg rear contact portion 91 is formed to be curved so as to fit the back surface side of the thigh portion, and the belt-shaped member 92 is attached to the belt hole 94 (see FIG. 7).
  • the transmission member fixing portion 93 is formed on the back surface side of the leg rear contact portion 91 so that the curved rod-shaped body 82 can be fixed so as to be parallel in the horizontal direction as described above.
  • the walking support machine 100 manufactured as described above is attached to the waist by hooking the hook 12 on a waist belt, clothes, or the like. Then, the leg mounting member 90 is attached by winding the belt-shaped member 92 around the leg.
  • the first rod-shaped body 81 of the transmission member 80 is attached to the outside of the thigh, and the curved rod-shaped body 82 is attached to the back from the outside of the thigh. It is installed so that it curves to the side.
  • the walking support machine 100 attached to the body operates as follows.
  • the leg to which the walking support device 100 is attached walks while repeating the support leg and the swing leg.
  • the transmission member 80 moves along the thigh portion and moves according to the movements of the swing leg and the support leg.
  • the transmission member 80 is urged in the forward direction by the torque generator 20 for the walking support machine. Therefore, when the leg becomes a free leg, it is promoted so that the leg is swung forward. Since the force to push the legs forward is added in this way, even when carrying heavy luggage or climbing a slope, the strong torque generated by the torque generator 20 for the walking support machine makes it more than usual.
  • the legs can be easily moved with a weak force.
  • the transmission member 80 When the leg moves forward, the elastic energy of the spring 52 is released, but when the leg lands on the ground and becomes a support leg and the opposite leg is pushed forward, the transmission member 80 generates torque for the walking support machine. It rotates and moves rearward around the device 20. Then, the spring 52 is pressed again by the cam 30, and elastic energy is stored. Then, when the swing leg is used again, the swing leg can be pushed forward. In this way, when the leg becomes a free leg during walking, the leg can always be pushed forward.
  • the walking support machine 100 Since the walking support machine 100 is not located in the front and back of the thigh from the initial state in which the user walks, the walking support machine 100, particularly the transmission member 80, is used even when wearing trousers or the like. Since the movement is not hindered by the trousers or the like, the trousers or the like can be worn while the walking support device 100 is attached. Also, even when a skirt is used, the skirt is not lifted, so it can be used while wearing the skirt.
  • the walking support machine 100 assists, the legs actually move not only in the front-back direction but also in a complicated manner.
  • the movements other than the anteroposterior direction are larger and more powerful than those having a weak walking ability.
  • the position of the leg rear contact portion 91 of the leg mounting member 90 cannot be significantly changed with respect to the thigh.
  • the hinge portion 70 causes the transmission member 80 to move.
  • the leg mounting member 90 Since it bends near the base of the waist according to the movement direction of the leg, it can flexibly follow the movement of the leg inward or outward, and it is possible to prevent an excessive force from being applied to the leg. .. Further, at this time, the leg mounting member 90 is subjected to a force in the tilting direction as shown by the arrow in FIG. 8 due to the movement by the hinge portion 70, but the curved rod-shaped body 82 having elasticity is curved to be in a horizontal state. Can be kept. Further, as shown in FIG. 9, the curved rod-shaped body 82 having elasticity also in the rotation direction in the traveling direction of the leg mounting member 90 is curved so that the leg rear contact portion 91 follows the direction of the thigh portion. It is possible to prevent excessive force from being applied to the legs.
  • two curved rod-shaped bodies are applied to the rear leg in the direction of transmitting the generated torque in order to make the rear leg contact portion at the same angle as the contact surface of the back surface of the thigh.
  • the curved rod-shaped body bends to absorb the angle deviation. It is a thing.
  • the thickness of the thigh of the user, the angle of the back of the thigh, and the angle difference of the back of the thigh caused by the deviation between the torque generator for the walking support machine and the hip joint axis can be determined.
  • the transmission member can be arranged along the thigh.
  • link Means 60a ... 1st rotating shaft, 60b ... 2nd rotating shaft, 61 ... link member, 70 ... hinge part, 71 ... 1st mounting piece, 72 ... 2nd mounting piece, 73 ... rotating shaft, 75 ... fixing member, 80 ... Transmission member, 81 ... First rod-shaped body, 82 ... Curved rod-shaped body, 82a ... Straight portion, 82b ... Curved portion, 82d ... Back-side curved rod-shaped body, 82e ... Front-side curved rod-shaped body, 83 ... Connecting member, 90 ... Leg mounting member, 91 ... Leg rear contact part, 92 ... Belt-shaped member, 93 ... Transmission member fixing part, 94 ... Belt hole, 100 ... Walking support machine

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  • Health & Medical Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Robotics (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

[Problem] To provide a walking support machine with which it is possible to provide walking support, which can be mounted inside the pants, and with which it is possible to track complex movements of the thighs and efficiently assist the legs even when the walking support machine is of a type that pushes up the thighs from the rear-surface side.　[Solution] This walking support machine 100 is characterized by: comprising a waist mounting member 10, walking-support-machine torque generation devices 20 laterally attached to the waist mounting member 10, transmission members 80 provided to the walking-support-machine torque generation devices 20, and leg mounting members 90 provided to the transmission members 80; and the transmission members 80 being provided along the sides of the thighs from the walking-support-machine torque generation devices 20, and being fixed to the leg mounting members 90 on the rear-surface side of the thighs by at least two curved rod-form bodies 82 that are curved from partway along the length thereof.　

Description

歩行支援機Walking support machine
　本発明は、歩行支援機に関する。 The present invention relates to a walking support machine.
　歩行支援機として、歩行支援機用トルク発生装置に設けられた腰装着部材と、歩行支援機用トルク発生装置に設けられた伝達部材と、伝達部材に設けられた脚部装着部材と、を備えてなり、前記伝達部材と脚部装着部材との連結部は、大腿又は下腿の正面に配置されるように形成されている歩行支援機が提案されている(特許文献１)。 The walking support machine includes a waist-mounted member provided in the torque generating device for the walking support machine, a transmission member provided in the torque generator for the walking support machine, and a leg-mounted member provided in the transmission member. Therefore, a walking support machine has been proposed in which the connecting portion between the transmission member and the leg mounting member is formed so as to be arranged in front of the thigh or lower leg (Patent Document 1).
　かかる歩行支援機は、大腿又は下腿が正面側から引っ張られるようにアシストされる。そのため、大腿又は下腿の側面からアシストするのに比べ、大腿又は下腿を巻回しているベルト状部材の滑りを抑えることができ、効率的に脚をアシストすることができるという効果を有する。 The walking support machine is assisted so that the thigh or lower leg is pulled from the front side. Therefore, as compared with assisting from the side surface of the thigh or lower leg, it is possible to suppress slippage of the belt-shaped member that winds the thigh or lower leg, and it has an effect that the leg can be assisted efficiently.
　しかしながら、脚を前方から引っ張るようにアシストする場合、脚の伸展時に脚に当たらないようにする必要性や、バンドを締め付けすぎると大腿部の血流が悪くなるといった問題から、バンドをゆるく締める必要がある。そのため、脚の前の出っ張りは大きくなり、服の中に装着することが難しい。また、伝達部材が腰の側方から大腿部の前方に湾曲して配置されるため、歩行時の脚の動きによって、前方側に配置された伝達部材が大腿部から離れるように前へ移動するため、ズボン等の内側に取り付けることができないという問題があった。また、スカートを使用した場合には、伝達部材がスカートを内側から持ち上げるようになってしまうため、歩行支援機を使用した場合にはスカートを履くことができないという問題があった。 However, when assisting the leg to be pulled from the front, the band should be loosely tightened due to the need to prevent the leg from hitting the leg when the leg is extended and the problem that excessive tightening of the band causes poor blood flow in the thigh. There is a need. Therefore, the protrusion in front of the leg becomes large, and it is difficult to wear it in clothes. In addition, since the transmission member is curved from the side of the waist to the front of the thigh, the transmission member arranged on the front side moves forward so as to move away from the thigh due to the movement of the legs during walking. Since it moves, there is a problem that it cannot be attached to the inside of trousers or the like. Further, when a skirt is used, the transmission member lifts the skirt from the inside, so that there is a problem that the skirt cannot be worn when the walking support machine is used.
特開２０１８－１２１９４３号公報JP-A-2018-121943
　そこで、本発明は、こうした課題を鑑みてなされたものであり、ズボンやスカートのようなボトムスの内部に装着可能な歩行支援を提供することを目的とする。 Therefore, the present invention has been made in view of these problems, and an object of the present invention is to provide walking support that can be worn inside bottoms such as trousers and skirts.
　本発明は、上述の目的を達成するために、以下の手段を採った。 The present invention has adopted the following means in order to achieve the above-mentioned object.
　本発明の歩行支援機は、
　腰装着部材と、
　前記腰装着部材に対して腰側方に取り付けられる歩行支援機用トルク発生装置と、
　前記歩行支援機用トルク発生装置に設けられた伝達部材と、
　前記伝達部材に設けられた脚部装着部材と、
　を備えてなり、
　前記伝達部材は、前記歩行支援機用トルク発生装置から大腿部の側方に沿って設けられ、途中から湾曲形成される湾曲棒状体によって、大腿部の背面側で前記脚部装着部材に固定されていることを特徴とする。 The walking support machine of the present invention
Waist mounting member and
A torque generator for a walking support machine attached to the waist side with respect to the waist mounting member,
The transmission member provided in the torque generator for the walking support machine and
With the leg mounting member provided on the transmission member,
Be prepared for
The transmission member is provided along the side of the thigh from the torque generator for the walking support machine, and is formed on the leg mounting member on the back side of the thigh by a curved rod-shaped body that is curved from the middle. It is characterized by being fixed.
　本発明にかかる歩行支援機は、伝達部材が大腿部の外側方から下方に延び、そこから大腿部の背面側に湾曲するようにして大腿部に取り付けられ、大腿部の背面を押す構造を有している。そのため歩行時に脚が前方に振り出されても、伝達部材が脚から離れて飛び出すことがなく、概ね脚に沿った状態を維持することになる。そのため、ズボンなどの内側に配置しても歩行支援機を可動させることができ、またスカート等を履いた場合でもスカートを捲し上げることがないので、スカートでも使用することが可能となる。 In the walking support machine according to the present invention, the transmission member extends downward from the outside of the thigh and is attached to the thigh so as to be curved from there to the back side of the thigh, and the back surface of the thigh is attached. It has a pushing structure. Therefore, even if the leg is swung forward during walking, the transmission member does not jump away from the leg, and the state generally along the leg is maintained. Therefore, the walking support machine can be moved even if it is placed inside the pants or the like, and even if the skirt or the like is worn, the skirt is not rolled up, so that the skirt can also be used.
　また、本発明にかかる歩行支援機において、
　前記伝達部材と前記歩行支援機用トルク発生装置との間に、前記伝達部材が大腿部に対して側方方向へ屈曲可能となるように蝶番部を備えていることを特徴とするものであってもよい。 Further, in the walking support machine according to the present invention,
It is characterized in that a hinge portion is provided between the transmission member and the torque generator for a walking support machine so that the transmission member can bend laterally with respect to the thigh portion. There may be.
　大腿部の背面側に伝達部材を取り付けると大腿部を押し上げるように脚に力が加わることになる。この場合、大腿部の前方側から引き上げる場合には、大腿部を巻くベルトに余裕をもたせることができるので、大腿部の進行方向に対して側方方向の動きに対しても大腿部とずれることでその動きを吸収することができる。これに対し、大腿部の背面側を押し当てる方式であると、脚後方当て部の滑り止め効果と相まって常に大腿部の裏の中央に留まる構造としなければならない。そのため、大腿部の横方向の動きを脚後方当て部によって吸収することができない。そこで、伝達部材と歩行支援機用トルク発生装置との間に、伝達部材が大腿部に対して側方方向へ屈曲可能となるように蝶番部を設けたものである。かかる構成を採用することによって、脚の前後方向の動きにアシスト力を伝えつつ大腿部の側方方向の動きに追従して脚後方当て部が移動することが可能になる。これにより、前後方向以外に脚に加わる負荷を軽減することができる。 When the transmission member is attached to the back side of the thigh, a force is applied to the leg so as to push up the thigh. In this case, when pulling up from the front side of the thigh, the belt around the thigh can have a margin, so that the thigh can move laterally with respect to the traveling direction of the thigh. The movement can be absorbed by shifting from the part. On the other hand, in the method of pressing the back side of the thigh, the structure must always stay in the center of the back of the thigh in combination with the anti-slip effect of the rear leg rest. Therefore, the lateral movement of the thigh cannot be absorbed by the rear leg rest. Therefore, a hinge portion is provided between the transmission member and the torque generator for the walking support device so that the transmission member can bend laterally with respect to the thigh portion. By adopting such a configuration, it becomes possible to move the rear leg rest portion by following the lateral movement of the thigh while transmitting the assist force to the movement of the leg in the front-rear direction. This makes it possible to reduce the load applied to the legs in directions other than the front-back direction.
　さらに、本発明にかかる歩行支援機において、
　前記湾曲棒状体は、前記脚部装着部材との取付部において水平に取り付けられてなることを特徴とするものであってもよい。 Further, in the walking support machine according to the present invention,
The curved rod-shaped body may be characterized in that it is horizontally mounted at a mounting portion with the leg mounting member.
　かかる構成を採用することによって、蝶番部によって伝達部材の傾きが変わった場合であっても、湾曲棒状体がたわむことで脚後方当て部を大腿部の背面にフィットさせ続けることができる。 By adopting such a configuration, even if the inclination of the transmission member is changed by the hinge part, the curved rod-shaped body can be bent to keep the rear leg rest portion fitted to the back surface of the thigh part.
　さらに、本発明に係る歩行支援機において、
　前記湾曲棒状体は、前記脚部装着部材との取付部において、軸を中心に回転可能に形成されていることを特徴とするものであってもよい。 Further, in the walking support machine according to the present invention,
The curved rod-shaped body may be characterized in that it is formed so as to be rotatable about an axis at a mounting portion with the leg mounting member.
　かかる構造を採用することによって、脚部装着部材との取付部において回転しやすくなるので、軽い力で角度を調整することができるようになる。 By adopting such a structure, it becomes easier to rotate at the mounting portion with the leg mounting member, so that the angle can be adjusted with a light force.
　さらに、本発明にかかる歩行支援機において、
　前記湾曲棒状体が２本設けられ、前記脚部装着部材との取付部において、上下に平行に配置されていることを特徴とするものであってもよい。 Further, in the walking support machine according to the present invention,
It may be characterized in that two curved rod-shaped bodies are provided and are arranged in parallel in the vertical direction in the mounting portion with the leg mounting member.
　脚後方当て部を大腿部背面の当たり面と同じ角度にするために発生トルクを伝達する方向に２本の湾曲棒状体を脚後方当て部に横方向から水平かつ平行に差し込んで固定することによって、脚部装着部材に大腿部背面と角度のずれが発生した場合に湾曲棒状体がたわむことによって角度のずれを吸収できるようにしたものである。かかる構成を採用することより、使用者の大腿部の太さ、大腿部背面の角度、及び歩行支援機用トルク発生装置と股関節軸とのずれにより発生する大腿部裏の角度差に合わせて脚後方当て部が大腿部背面と面当たりとなるように自動的に調整できるようにしたものである。 In order to make the rear leg rest at the same angle as the contact surface on the back of the thigh, two curved rod-shaped bodies should be inserted horizontally and parallel to the rear leg in the direction to transmit the generated torque and fixed. This makes it possible to absorb the angle deviation by bending the curved rod-shaped body when the angle deviation from the back surface of the thigh occurs in the leg mounting member. By adopting such a configuration, the thickness of the thigh of the user, the angle of the back of the thigh, and the angle difference of the back of the thigh caused by the deviation between the torque generator for the walking support machine and the hip joint axis can be determined. At the same time, the rear leg rest can be automatically adjusted so that it touches the back of the thigh.
　さらに、本発明かかる歩行支援機において、前記湾曲棒状体は、前記脚部装着部材との取付部において前記湾曲棒状体の軸方向にスライド可能に設けられていることを特徴とするものであってもよい。 Further, in the walking support machine according to the present invention, the curved rod-shaped body is provided so as to be slidable in the axial direction of the curved rod-shaped body at a mounting portion with the leg mounting member. May be good.
　かかる構成を採用することによって、脚の太い人や細い人に合わせて、伝達部材と大腿部との距離を調整することができ、脚の太さにかかわらず、脚後方当て部を大腿部の背面の中心に配置することができる。 By adopting such a configuration, the distance between the transmission member and the thigh can be adjusted according to a person with thick or thin legs, and the rear leg rest portion can be used for the thigh regardless of the thickness of the leg. It can be placed in the center of the back of the part.
　さらに、本発明にかかる歩行支援機は、
　前記歩行支援機用トルク発生装置は、
　ハウジングと、
　前記ハウジングに回転可能に設けられるカムと、
　前記カムに設けられた出力手段と、
　前記カムに対して押圧する押圧部を有する付勢手段と、
　前記付勢手段に設けられ、前記付勢手段の移動方向を規制するリンク手段と、を備えたことを特徴とするものであってもよい。 Further, the walking support machine according to the present invention is
The torque generator for the walking support machine is
With the housing
A cam rotatably provided in the housing and
The output means provided on the cam and
An urging means having a pressing portion that presses against the cam,
It may be characterized in that the urging means is provided with a link means for regulating the moving direction of the urging means.
　かかる歩行支援機用トルク発生装置を使用することによって、付勢手段の移動方向を規制するリンク手段を有しているため、カムを押圧する際の反力によって付勢手段が一定範囲以上に押圧方向以外に移動することがなく、エネルギーのロスを低減することができる。また、付勢手段の移動防止手段としてハウジング内で摺動するガイドを用いていないので、摺動による摩擦抵抗によるエネルギー損失をも防止することができる。 By using such a torque generator for a walking support machine, since the link means for regulating the moving direction of the urging means is provided, the urging means is pressed beyond a certain range by the reaction force when pressing the cam. Energy loss can be reduced without moving in any direction other than the direction. Further, since the guide that slides in the housing is not used as the movement preventing means of the urging means, energy loss due to frictional resistance due to sliding can also be prevented.
　本発明にかかる歩行支援機によれば、ズボンの内部に装着可能な歩行支援機を提供することができ、かつ大腿部の背面側から押し上げるタイプの歩行支援機においても大腿部の複雑な動きに追従して、効率よく脚をアシストできる歩行支援機を提供することができる。 According to the walking support machine according to the present invention, it is possible to provide a walking support machine that can be worn inside the trousers, and even in a walking support machine of the type that pushes up from the back side of the thigh, the thigh is complicated. It is possible to provide a walking support machine that can follow the movement and efficiently assist the legs.
図１は、実施形態にかかる歩行支援機１００を使用者に取り付けた状態を示す側面図である。FIG. 1 is a side view showing a state in which the walking support device 100 according to the embodiment is attached to the user. 図２は、実施形態にかかる歩行支援機１００の斜視図である。FIG. 2 is a perspective view of the walking support device 100 according to the embodiment. 図３は、実施形態にかかる歩行支援機用トルク発生装置２０の分解斜視図である。FIG. 3 is an exploded perspective view of the torque generator 20 for a walking support device according to the embodiment. 図４は、実施形態にかかる歩行支援機用トルク発生装置２０の可動状態を示す正面模式図である。FIG. 4 is a front schematic view showing a movable state of the torque generator 20 for a walking support device according to the embodiment. 図５は、実施形態にかかる歩行支援機用トルク発生装置２０の可動状態を示す正面模式図である。FIG. 5 is a front schematic view showing a movable state of the torque generator 20 for a walking support device according to the embodiment. 図６は、実施形態にかかる歩行支援機１００に使用される蝶番部７０の斜視図である。FIG. 6 is a perspective view of the hinge portion 70 used in the walking support machine 100 according to the embodiment. 図７は、実施形態にかかる歩行支援機１００の脚部装着部材９０を示す図である。FIG. 7 is a diagram showing a leg mounting member 90 of the walking support device 100 according to the embodiment. 図８は、実施形態にかかる歩行支援機１００の脚部装着部材９０の動きを示す模式図である。FIG. 8 is a schematic view showing the movement of the leg mounting member 90 of the walking support device 100 according to the embodiment. 図９は、実施形態にかかる歩行支援機１００の脚部装着部材９０の動きを示す模式図である。FIG. 9 is a schematic view showing the movement of the leg mounting member 90 of the walking support device 100 according to the embodiment. 図１０は、実施形態にかかる歩行支援機１００の脚部装着部材９０の別実施形態を示す図である。FIG. 10 is a diagram showing another embodiment of the leg mounting member 90 of the walking support machine 100 according to the embodiment. 図１１は、実施形態にかかる歩行支援機１００の別実施形態の脚部装着部材９０を脚に装着した状態を示す図である。FIG. 11 is a diagram showing a state in which the leg mounting member 90 of another embodiment of the walking support machine 100 according to the embodiment is mounted on the leg.
　以下、本発明の実施形態にかかる歩行支援機１００を、図面を参照しつつ詳細に説明する。なお、以下に説明する実施形態及び図面は、本発明の実施形態の一部を例示するものであり、これらの構成に限定する目的に使用されるものではない。なお、各図において対応する構成要素には同一又は類似の符号が付されている。なお、右脚用と左脚用とは、左右対称であるので、使用者の左脚に装着して使用される左脚用の歩行支援機１００を説明することにより、右脚用の歩行支援機の説明に代える。 Hereinafter, the walking support machine 100 according to the embodiment of the present invention will be described in detail with reference to the drawings. It should be noted that the embodiments and drawings described below exemplify a part of the embodiments of the present invention, and are not used for the purpose of limiting to these configurations. The corresponding components in each figure are designated by the same or similar reference numerals. Since the right leg and the left leg are symmetrical, the walking support for the right leg will be described by explaining the walking support machine 100 for the left leg that is used by being attached to the left leg of the user. Replace with the description of the machine.
　本発明にかかる歩行支援機１００は、図１に示すように、主として、腰装着部材１０と、腰装着部材１０に対して腰側方に取り付けられる歩行支援機用トルク発生装置２０と、歩行支援機用トルク発生装置２０に設けられた伝達部材８０と、歩行支援機用トルク発生装置２０と伝達部材８０との間に取り付けられ蝶番部７０と、伝達部材８０に設けられた脚部装着部材９０と、を備えている。 As shown in FIG. 1, the walking support machine 100 according to the present invention mainly includes a waist-mounted member 10, a torque generator 20 for a walking support machine attached to the waist-mounted member 10 on the waist side, and walking support. A transmission member 80 provided in the machine torque generator 20, a hinge portion 70 attached between the walking support machine torque generator 20 and the transmission member 80, and a leg mounting member 90 provided in the transmission member 80. And have.
　腰装着部材１０は、図２に示すように、歩行支援機１００を身体の腰部に装着するための部材であり、腰側方に歩行支援機用トルク発生装置２０を保持する。腰装着部材１０は、歩行支援機用トルク発生装置２０を腰側方に取付け可能であれば、その形態は特に限定するものではなく、例えば、腰ベルトに取付け可能なもの、ズボンに取付け可能なもの、チョッキやベストのような上半身に着る衣服に取付け可能なものであっても構わない。本実施形態では、ベルト又はズボンに取り付ける例を示している。 As shown in FIG. 2, the waist mounting member 10 is a member for mounting the walking support device 100 on the waist of the body, and holds the walking support device torque generator 20 on the waist side. The form of the waist-mounted member 10 is not particularly limited as long as the torque generator 20 for a walking support device can be attached to the waist side. For example, the waist-mounted member 10 can be attached to a waist belt or trousers. It may be something that can be attached to clothing worn on the upper body, such as a waistcoat or vest. In this embodiment, an example of attaching to a belt or trousers is shown.
　本実施形態にかかる腰装着部材１０は、歩行支援機用トルク発生装置２０が固定されたプラスチック製の平板１１を有しており、この平板１１にフック１２が設けられていて、このフック１２をベルト又はズボンに引っ掛けることによって歩行支援機用トルク発生装置２０を身体の腰部側方に取り付けることができる。平板１１は、身体の腰部にフィットするように湾曲して形成されている。なお、歩行支援機用トルク発生装置２０は、大転子よりも上方に配置されるように設計することが好ましい。 The waist-mounted member 10 according to the present embodiment has a plastic flat plate 11 to which the torque generator 20 for a walking support machine is fixed, and a hook 12 is provided on the flat plate 11, and the hook 12 is attached to the flat plate 11. The torque generator 20 for a walking support device can be attached to the side of the waist of the body by hooking it on a belt or trousers. The flat plate 11 is formed to be curved so as to fit the waist of the body. The torque generator 20 for the walking support device is preferably designed so as to be arranged above the greater trochanter.
　歩行支援機用トルク発生装置２０は、図３に示すように、主として、ハウジング２１と、ハウジング２１内に配置されるカム３０と、カム３０に取り付けられた入出力手段４０と、カム３０を押圧する付勢手段５０と、付勢手段５０に取り付けられるリンク手段６０とを有している。 As shown in FIG. 3, the walking support machine torque generator 20 mainly presses the housing 21, the cam 30 arranged in the housing 21, the input / output means 40 attached to the cam 30, and the cam 30. The urging means 50 and the link means 60 attached to the urging means 50 are provided.
　ハウジング２１は、身体側に配置される身体側ハウジング２１ａと身体と反対側に配置される外側ハウジング２１ｂとに分割可能に作製されており、その内側は、主としてカム３０が収容されるカム収容領域２３と、主として付勢手段５０が収容される付勢手段収容領域２４からなる収容領域を有している。カム収容領域２３は、カム３０が回動可能な空間を有しており、その略中心には、カム３０のカム回転軸３１が挿入可能なカム軸挿入孔２５が設けられている。付勢手段収容領域２４は、付勢手段５０が収容可能なように内側が筒状の収容領域が設けられている。また、カム収容領域２３と付勢手段収容領域２４とは、それぞれカム３０と付勢手段５０が略同一平面上に配置できるように形成されている。また、入出力手段４０の可動範囲を確保するために、ハウジング２１の一部に切欠部２６が形成されている。この切欠部２６には、外部からの異物の混入を防止するために、ゴムストリップや、複数の毛を設けても良い（図示しない。）。 The housing 21 is made to be divisible into a body-side housing 21a arranged on the body side and an outer housing 21b arranged on the opposite side of the body, and the inside thereof is a cam accommodating area mainly accommodating a cam 30. It has a housing area consisting of 23 and a biasing means housing area 24 in which the urging means 50 is mainly housed. The cam accommodating area 23 has a space in which the cam 30 can rotate, and a cam shaft insertion hole 25 into which the cam rotation shaft 31 of the cam 30 can be inserted is provided at a substantially center thereof. The urging means accommodating area 24 is provided with an accommodating area having a tubular shape inside so that the urging means 50 can be accommodated. Further, the cam accommodating area 23 and the urging means accommodating area 24 are formed so that the cam 30 and the urging means 50 can be arranged on substantially the same plane, respectively. Further, in order to secure the movable range of the input / output means 40, a notch 26 is formed in a part of the housing 21. A rubber strip or a plurality of bristles may be provided on the notch 26 in order to prevent foreign matter from entering the notch 26 (not shown).
　カム３０は、図４に示すように、カム回転軸３１からの距離が不定の円弧からなる外周面３０ａを有する板カムからなる。カム３０の外周面３０ａは、カム回転軸３１からの距離が入出力手段４０に近づくほど長くなるように形成されている。すなわち、線分Ｄ、線分Ｅ、線分Ｆと順に長くなるように形成されている。カム３０は、カム回転軸３１がハウジング２１のカム軸挿入孔２５（図３参照）に配置されて回転自在に設けられており、付勢手段５０以外に回動させる機構は有していない。 As shown in FIG. 4, the cam 30 is composed of a plate cam having an outer peripheral surface 30a formed of an arc having an indefinite distance from the cam rotation shaft 31. The outer peripheral surface 30a of the cam 30 is formed so that the distance from the cam rotation shaft 31 becomes longer as it approaches the input / output means 40. That is, the line segment D, the line segment E, and the line segment F are formed to be longer in this order. The cam 30 has a cam rotation shaft 31 arranged in a cam shaft insertion hole 25 (see FIG. 3) of the housing 21 and is rotatably provided, and does not have a mechanism for rotating the cam 30 other than the urging means 50.
　入出力手段４０は、図３に示すように、カム３０に対して直接又は間接的に固定されており、カム３０の動きをハウジング２１の外部に出力する機能と、脚の動きをカム３０に入力する機能を有する。入出力手段４０の形態に関しては、カム３０の動きに連動して動くように形成されていれば、その形態は特に限定するものではない。実施形態においては、板状の部材で形成され、リベット４５によってカム３０に固定されている。カム３０と固定されている側と反対側には、後述する蝶番部７０（図６参照）を取り付ける取付孔４１が複数設けられている。 As shown in FIG. 3, the input / output means 40 is directly or indirectly fixed to the cam 30, has a function of outputting the movement of the cam 30 to the outside of the housing 21, and the movement of the legs to the cam 30. Has a function to input. The form of the input / output means 40 is not particularly limited as long as it is formed so as to move in conjunction with the movement of the cam 30. In the embodiment, it is formed of a plate-shaped member and is fixed to the cam 30 by a rivet 45. A plurality of mounting holes 41 for attaching the hinge portion 70 (see FIG. 6), which will be described later, are provided on the side opposite to the side fixed to the cam 30.
　付勢手段５０は、カム３０の外周面３０ａを押圧するように力を加えることによって、カム３０に回転力を付与するための部材である。付勢手段５０は、カム３０を押圧する押圧部５１と、この押圧部５１をカム３０の外周面３０ａに付勢するスプリング５２と、このスプリング５２の上面側を支持する支持部材５３と、を備えている。任意に、押圧部５１の押圧力を調整可能とするように強度調整用ボルト５４を設けても良い。押圧部５１は、ベアリングや車輪等の回転部材５１ａが取り付けられており、カム３０の外周面３０ａをスムーズに移動可能にしてある。スプリング５２は、ハウジング２１の付勢手段収容領域２４の内周径より短い周径に形成されており、スプリング５２が伸び縮みする際に、ハウジング２１の内周面には当接しないように作製される。支持部材５３は、スプリング５２の上面側の高さ方向及び水平方向の位置を固定するものである。強度調整用ボルト５４は、ハウジング２１の付勢手段収容領域２４の最も外側（図４の上方）に設けられており、外部から操作可能となるように頂面に設けられたボルト孔５４ａを回転させることによって、付勢手段収容領域２４に対する高さ位置を変更することができ、これにより、スプリング５２の初期圧縮状態を調整して押圧部５１の押圧力を変更することができる。なお、本実施形態においては、強度調整用ボルト５４をハウジング２１内に収容して、六角レンチ等の工具によって強度を調整する形態を採用しているが、ハウジング２１の外部から直接手で回せるようなつまみボルトを採用してもよい。 The urging means 50 is a member for applying a rotational force to the cam 30 by applying a force so as to press the outer peripheral surface 30a of the cam 30. The urging means 50 includes a pressing portion 51 that presses the cam 30, a spring 52 that urges the pressing portion 51 on the outer peripheral surface 30a of the cam 30, and a support member 53 that supports the upper surface side of the spring 52. I have. Arbitrarily, the strength adjusting bolt 54 may be provided so that the pressing force of the pressing portion 51 can be adjusted. A rotating member 51a such as a bearing or a wheel is attached to the pressing portion 51 so that the outer peripheral surface 30a of the cam 30 can be smoothly moved. The spring 52 is formed to have a peripheral diameter shorter than the inner peripheral diameter of the urging means accommodating region 24 of the housing 21, and is manufactured so as not to come into contact with the inner peripheral surface of the housing 21 when the spring 52 expands and contracts. Will be done. The support member 53 fixes the positions of the spring 52 on the upper surface side in the height direction and the horizontal direction. The strength adjusting bolt 54 is provided on the outermost side (upper side of FIG. 4) of the urging means accommodating area 24 of the housing 21, and rotates a bolt hole 54a provided on the top surface so as to be operable from the outside. By doing so, the height position with respect to the urging means accommodating area 24 can be changed, whereby the initial compression state of the spring 52 can be adjusted and the pressing force of the pressing portion 51 can be changed. In the present embodiment, the strength adjusting bolt 54 is housed in the housing 21 and the strength is adjusted by a tool such as a hexagon wrench, but the strength can be turned by hand directly from the outside of the housing 21. A knob bolt may be used.
　リンク手段６０は、付勢手段５０の押圧部５１と、押圧部５１近傍のハウジング２１との間に設けられる。リンク手段６０は、図３に示すように、押圧部５１がカム３０の外周面３０ａを移動する際に、カム３０側から加わる反力によって押圧部５１が所定以上移動しないように、特に水平方向側の位置を一定の範囲に限定する機能を有する。実施形態においては、リンク手段６０は、押圧部５１の回転部材５１ａの回転軸に回動自在に形成される第１回転軸６０ａと、ハウジング２１の任意の場所に回転自在に取り付けられる第２回転軸６０ｂと、これらを連結する板部材からなるリンク部材６１からなる。これにより、リンク手段６０は、第２回転軸６０ｂを中心に回動することができる。 The link means 60 is provided between the pressing portion 51 of the urging means 50 and the housing 21 in the vicinity of the pressing portion 51. As shown in FIG. 3, the link means 60 is particularly in the horizontal direction so that when the pressing portion 51 moves on the outer peripheral surface 30a of the cam 30, the pressing portion 51 does not move more than a predetermined value due to the reaction force applied from the cam 30 side. It has a function to limit the position of the side to a certain range. In the embodiment, the link means 60 has a first rotation shaft 60a rotatably formed on the rotation shaft of the rotation member 51a of the pressing portion 51 and a second rotation rotatably attached to an arbitrary position of the housing 21. It is composed of a shaft 60b and a link member 61 composed of a plate member connecting them. As a result, the link means 60 can rotate about the second rotation shaft 60b.
　こうして構成された歩行支援機用トルク発生装置２０は、以下のように作用する。カム３０は、図４に示すように、カム回転軸３１からの距離が線分Ｄから線分Ｆに向かって徐々に長くなるように形成されていることから、カム３０に外部からの力が加わっていない場合には、短い線分Ｄの位置に付勢手段５０が当接するように位置している。この状態から、入出力手段４０を移動させて矢印αの方向にカム３０を回転移動させるにしたがって、スプリング５２は、圧縮されて弾性エネルギーが蓄勢されていく。この状態で入出力手段４０に加えた力を開放すると、図５に示すように、カム３０は、スプリング５２の付勢力によって矢印βの方向に移動し、入出力手段４０が移動することになる。 The torque generator 20 for the walking support device configured in this way operates as follows. As shown in FIG. 4, the cam 30 is formed so that the distance from the cam rotation shaft 31 gradually increases from the line segment D to the line segment F, so that an external force is applied to the cam 30. If not, the urging means 50 is positioned so as to abut on the position of the short line segment D. From this state, as the input / output means 40 is moved to rotate the cam 30 in the direction of the arrow α, the spring 52 is compressed and elastic energy is stored. When the force applied to the input / output means 40 is released in this state, as shown in FIG. 5, the cam 30 moves in the direction of the arrow β due to the urging force of the spring 52, and the input / output means 40 moves. ..
　蝶番部７０は、入出力手段４０と伝達部材８０との間に配置される部材であり、後述する伝達部材８０の傾きを脚の大腿部に対して近づく方向及び離れる方向に変更可能となるように取り付けられる。具体的な構成は、図６に示すように、入出力手段４０と連結される第１取付片７１と、伝達部材８０と連結される第２取付片７２との間に回転軸７３を有し、第１取付片７１と第２取付片７２とが回動自在となるように形成されている。蝶番部７０には、伝達部材８０を連結するための連結部材８３が取り付けられている（図２参照）。 The hinge portion 70 is a member arranged between the input / output means 40 and the transmission member 80, and the inclination of the transmission member 80, which will be described later, can be changed in the direction toward and away from the thigh of the leg. It is installed like this. As shown in FIG. 6, the specific configuration has a rotating shaft 73 between the first mounting piece 71 connected to the input / output means 40 and the second mounting piece 72 connected to the transmission member 80. , The first mounting piece 71 and the second mounting piece 72 are formed so as to be rotatable. A connecting member 83 for connecting the transmission member 80 is attached to the hinge portion 70 (see FIG. 2).
　伝達部材８０は、図２に示すように、剛性を有する第１棒状体８１と、第１棒状体８１より細くかつ第１棒状体８１より剛性が弱く、弾性を有する湾曲棒状体８２と、固定部材７５とを備えている。第１棒状体８１は、筒状部材からなり、２本の第１棒状体８１が平行となるように第２取付片７２に固定されている。この第１棒状体８１は、脚部装着部材９０が脚部に取り付けられた際に、大腿部の外側面側に配置されるように蝶番部７０に連結部材８３を介して取り付けられる。 As shown in FIG. 2, the transmission member 80 is fixed to the first rod-shaped body 81 having rigidity and the curved rod-shaped body 82 which is thinner than the first rod-shaped body 81 and weaker than the first rod-shaped body 81 and has elasticity. It includes a member 75. The first rod-shaped body 81 is made of a tubular member and is fixed to the second mounting piece 72 so that the two first rod-shaped bodies 81 are parallel to each other. When the leg mounting member 90 is attached to the leg, the first rod-shaped body 81 is attached to the hinge portion 70 via the connecting member 83 so as to be arranged on the outer surface side of the thigh.
　湾曲棒状体８２は、２本の棒状体からなり、第１棒状体８１の筒状部内に挿通可能な太さに形成されており、それぞれ第１棒状体８１内に配置される直線部８２ａと、第１棒状体８１の外側であって全体又は一部が湾曲している湾曲部８２ｂとを有している。直線部８２ａは、第１棒状体８１に対して挿入長さを調整して固定可能に形成されており、挿入長さを調整することによって、歩行支援機１００を使用する者の大腿部の長さに応じて伝達部材８０全体の長さを調整することができる。湾曲部８２ｂは、大腿部の下方側の外側面から、大腿部下方の背面側に向かうように湾曲して形成されていて後述する脚部装着部材９０の伝達部材固定部９３に固定されている。２本の湾曲棒状体８２のうち、大腿部の外側方において背面側に配置される背面側湾曲棒状体８２ｄは、伝達部材固定部９３に対して略水平であってかつ上方側に取り付けられ、前面側に配置される前面側湾曲棒状体８２ｅは、伝達部材固定部９３に対して略水平であってかつ下方側に取り付けられる。したがって、伝達部材固定部９３においては、２本の湾曲棒状体８２は上下に水平方向に平行に配置されることになる。なお、このときに２本の湾曲棒状体８２は、伝達部材固定部９３から抜けることはないが、図９の矢印γに示すように、それぞれ湾曲棒状体８２の軸を中心に回転可能に設けると良い。かかる構成を採用することによって、軽い力で矢印δの方向へ回転しやすくなる。したがって、伝達部材固定部９３と後述する脚後方当て部９１との間に別途回転機構を設けることなく、大腿部背面に脚後方当て部９１を面で接触させることができる。さらに、湾曲棒状体８２と脚後方当て部９１の伝達部材固定部９３との間は、図１０に示すように、湾曲棒状体８２の軸に沿ってスライド可能に設けるとよい。スライド可能に設けることによって、例えば、脚が細い使用者が使用した場合に、図１１の左図のように伝達部材８０と脚後方当て部９１との間に隙間、すなわち、大腿部と伝達部材８０との間に隙間が発生し、大腿部に沿った構造とならない可能性がある。しかしながら、伝達部材固定部９３に対して湾曲棒状体８２の軸に沿ってスライド可能に形成することによって、蝶番部７０の屈曲機能と相まって、伝達部材８０が側方方向に自由に動くことになるため、図１１の右図のように伝達部材８０を大腿部に沿って配置させることができ、効果的に脚後方当て部９１を大腿部の背面中心に配置させることができる。なお、湾曲棒状体８２の先端部は、湾曲棒状体８２が伝達部材固定部９３の孔から抜けることを防止するため、孔の大きさより大きく作製さえた抜け防止片９５を形成するとよい。 The curved rod-shaped body 82 is composed of two rod-shaped bodies, is formed to have a thickness that allows it to be inserted into the tubular portion of the first rod-shaped body 81, and has a straight portion 82a arranged in the first rod-shaped body 81, respectively. , It has a curved portion 82b that is outside the first rod-shaped body 81 and is curved in whole or in part. The straight portion 82a is formed so that it can be fixed to the first rod-shaped body 81 by adjusting the insertion length, and by adjusting the insertion length, the thigh of the person who uses the walking support machine 100 The length of the entire transmission member 80 can be adjusted according to the length. The curved portion 82b is formed so as to be curved from the outer surface on the lower side of the thigh toward the back side below the thigh, and is fixed to the transmission member fixing portion 93 of the leg mounting member 90 described later. ing. Of the two curved rod-shaped bodies 82, the back-side curved rod-shaped body 82d arranged on the back side on the outer side of the thigh is substantially horizontal to the transmission member fixing portion 93 and attached to the upper side. The front curved rod-shaped body 82e arranged on the front side is substantially horizontal to the transmission member fixing portion 93 and is attached to the lower side. Therefore, in the transmission member fixing portion 93, the two curved rod-shaped bodies 82 are arranged vertically and horizontally in parallel. At this time, the two curved rod-shaped bodies 82 do not come off from the transmission member fixing portion 93, but as shown by the arrow γ in FIG. 9, each of the two curved rod-shaped bodies 82 is rotatably provided about the axis of the curved rod-shaped body 82. Is good. By adopting such a configuration, it becomes easy to rotate in the direction of the arrow δ with a light force. Therefore, the leg rear contact portion 91 can be brought into surface contact with the back surface of the thigh without providing a separate rotation mechanism between the transmission member fixing portion 93 and the leg rear contact portion 91 described later. Further, as shown in FIG. 10, the curved rod-shaped body 82 and the transmission member fixing portion 93 of the leg rear contact portion 91 may be slidably provided along the axis of the curved rod-shaped body 82. By providing the slidable legs, for example, when used by a user with thin legs, a gap between the transmission member 80 and the leg rear contact portion 91, that is, the thigh and transmission, as shown in the left figure of FIG. There is a possibility that a gap is generated between the member 80 and the member 80, and the structure does not follow the thigh. However, by forming the transmission member fixing portion 93 so as to be slidable along the axis of the curved rod-shaped body 82, the transmission member 80 can move freely in the lateral direction in combination with the bending function of the hinge portion 70. Therefore, the transmission member 80 can be arranged along the thigh as shown in the right figure of FIG. 11, and the leg rear contact portion 91 can be effectively arranged at the center of the back surface of the thigh. In addition, in order to prevent the curved rod-shaped body 82 from coming off from the hole of the transmission member fixing portion 93, the tip portion of the curved rod-shaped body 82 may form a pull-out prevention piece 95 made larger than the size of the hole.
　このように、伝達部材８０は、第１棒状体８１が存在する部位（α）と、湾曲棒状体８２のみが存在する部位（β）とで剛性が異なり、第１棒状体８１が存在する部位（概ね大腿部の外側方に配置されている範囲）では、剛性が高く、あまり撓んだり、曲がったりすることがなく、脚の動きを緩衝する機能は低い。一方で、弾性を有する湾曲棒状体８２のみが存在する範囲（概ね大腿部外側方から背面側へ位置を変化させる範囲）では、図９に示すように、脚の動きに応じて撓んだり、曲がったりすることができる。なお、伝達部材８０は、特に限定するものではないが、金属、プラスチック、ＣＦＲＰ等を使用することができる。 As described above, the transmission member 80 has different rigidity between the portion (α) where the first rod-shaped body 81 exists and the portion (β) where only the curved rod-shaped body 82 exists, and the portion where the first rod-shaped body 81 exists. In the area (generally located on the outer side of the thigh), the rigidity is high, the body does not bend or bend too much, and the function of cushioning the movement of the leg is low. On the other hand, in the range where only the elastic curved rod-shaped body 82 exists (the range in which the position is changed from the outer side of the thigh to the back side), as shown in FIG. 9, the body bends according to the movement of the leg. , Can bend. The transmission member 80 is not particularly limited, but metal, plastic, CFRP, or the like can be used.
　脚部装着部材９０は、図２に示すように、脚後方当て部９１と、脚後方当て部９１に取り付けられるベルト状部材９２と、脚後方当て部９１と伝達部材８０とを固定する伝達部材固定部９３と、を備えている。脚後方当て部９１は、大腿部の背面側にフィットするように湾曲して形成されていて、ベルト用孔９４（図７参照）にベルト状部材９２が取り付けられている。好ましくは、大腿部とのズレを防止するため、脚後方当て部９１と大腿部との接触面は、滑りにくい素材を使用するとよい。伝達部材固定部９３は、脚後方当て部９１の背面側に、前述したように湾曲棒状体８２が水平方向に平行となるように固定可能となるように形成されている。 As shown in FIG. 2, the leg mounting member 90 is a transmission member that fixes the leg rear contact portion 91, the belt-shaped member 92 attached to the leg rear contact portion 91, and the leg rear contact portion 91 and the transmission member 80. It includes a fixed portion 93. The leg rear contact portion 91 is formed to be curved so as to fit the back surface side of the thigh portion, and the belt-shaped member 92 is attached to the belt hole 94 (see FIG. 7). Preferably, in order to prevent displacement from the thigh portion, it is preferable to use a non-slip material for the contact surface between the leg rear contact portion 91 and the thigh portion. The transmission member fixing portion 93 is formed on the back surface side of the leg rear contact portion 91 so that the curved rod-shaped body 82 can be fixed so as to be parallel in the horizontal direction as described above.
　以上のように作製された歩行支援機１００は、フック１２を腰ベルトや衣服等に引っ掛けて腰に取り付けられる。そして、脚部装着部材９０を、脚部にベルト状部材９２を巻回して取り付ける。こうして取り付けられた歩行支援機１００は、図１に示すように、伝達部材８０の第１棒状体８１が大腿部の外側方に取り付けられ、湾曲棒状体８２が大腿部の外側方から背面側に湾曲するように取り付けられる。 The walking support machine 100 manufactured as described above is attached to the waist by hooking the hook 12 on a waist belt, clothes, or the like. Then, the leg mounting member 90 is attached by winding the belt-shaped member 92 around the leg. In the walking support machine 100 thus attached, as shown in FIG. 1, the first rod-shaped body 81 of the transmission member 80 is attached to the outside of the thigh, and the curved rod-shaped body 82 is attached to the back from the outside of the thigh. It is installed so that it curves to the side.
　こうして、身体に取り付けられた歩行支援機１００は、以下のように作用する。使用者が歩行するとき、歩行支援機１００が取り付けられた脚は、支持脚と遊脚とを繰り返しながら歩行することになる。この際に、歩行支援機１００は、伝達部材８０が大腿部に沿って移動し、遊脚と支持脚の動きに合わせて移動する。この際に伝達部材８０は、歩行支援機用トルク発生装置２０によって前方方向へ付勢されている。そのため、脚が遊脚となった場合には、脚が前方方向へ振り出されるように促進される。このように前方へ脚を押し出す力が付加されるため、重い荷物を運搬している場合や坂道を登坂する場合であっても歩行支援機用トルク発生装置２０による強いトルクにより、普段の力よりも弱い力で脚を容易に移動させることができる。脚が前方へ移動すると、スプリング５２の弾性エネルギーが解放されるが、脚が地面に着地し支持脚となり、反対側の脚が前方に押し出されると、伝達部材８０は、歩行支援機用トルク発生装置２０を中心に後方側へ回転移動する。すると、再度、カム３０によってスプリング５２が押圧され、弾性エネルギーが蓄勢される。そして、再度遊脚となったときに遊脚を前方へ押し出すことができる。こうして、歩行時において遊脚となった場合には常に前方へ脚を押し出すことができる。 In this way, the walking support machine 100 attached to the body operates as follows. When the user walks, the leg to which the walking support device 100 is attached walks while repeating the support leg and the swing leg. At this time, in the walking support machine 100, the transmission member 80 moves along the thigh portion and moves according to the movements of the swing leg and the support leg. At this time, the transmission member 80 is urged in the forward direction by the torque generator 20 for the walking support machine. Therefore, when the leg becomes a free leg, it is promoted so that the leg is swung forward. Since the force to push the legs forward is added in this way, even when carrying heavy luggage or climbing a slope, the strong torque generated by the torque generator 20 for the walking support machine makes it more than usual. The legs can be easily moved with a weak force. When the leg moves forward, the elastic energy of the spring 52 is released, but when the leg lands on the ground and becomes a support leg and the opposite leg is pushed forward, the transmission member 80 generates torque for the walking support machine. It rotates and moves rearward around the device 20. Then, the spring 52 is pressed again by the cam 30, and elastic energy is stored. Then, when the swing leg is used again, the swing leg can be pushed forward. In this way, when the leg becomes a free leg during walking, the leg can always be pushed forward.
　歩行支援機１００は、使用者の歩行時には、取り付けた初期状態から大腿部の前後に位置することはないため、ズボン等を履いた場合であっても歩行支援機１００、特に伝達部材８０がズボン等によって動きを妨げられることがないため、歩行支援機１００を装着した状態でズボン等を履くことができる。またスカートを使用した場合であってもスカートを持ち上げることはないので、スカートを履いた状態で使用することができる。 Since the walking support machine 100 is not located in the front and back of the thigh from the initial state in which the user walks, the walking support machine 100, particularly the transmission member 80, is used even when wearing trousers or the like. Since the movement is not hindered by the trousers or the like, the trousers or the like can be worn while the walking support device 100 is attached. Also, even when a skirt is used, the skirt is not lifted, so it can be used while wearing the skirt.
　また、歩行支援機１００がアシストをする際に、実際に脚は前後方向のみの移動ではなく、複雑な移動をしている。特に健常者の場合には、自らの意思で脚を移動させるため、この前後方向以外の動きは歩行能力の弱い者と比較して大きく、かつ力強いものとなる。この際に、大腿部の背面側から押す方向でアシストする場合に、脚部装着部材９０の脚後方当て部９１は、大腿部に対して相対位置を大きく変更することができない。しかし、本実施形態にかかる歩行支援機１００によれば、脚部が内側へ移動した場合や、脚が外側へ広がった場合には、図８に示すように、蝶番部７０によって伝達部材８０が脚部の移動方向に合わせて腰の付け根近傍で屈曲するので、脚の内側又は外側への動きに対して柔軟に追従可能となり、脚に対して無理な力がかかることを防止することができる。また、この際に、蝶番部７０による動きによって脚部装着部材９０が、図８の矢印に示すように傾く方向に力がかかるが、弾性を有する湾曲棒状体８２が湾曲することによって、水平状態を保つことができる。また、図９に示すように、脚部装着部材９０の進行方向における回転方向においても弾性を有する湾曲棒状体８２が湾曲することによって、脚後方当て部９１を大腿部の向きに追従することができ、脚に対して無理な力がかかることを防止することができる。 Also, when the walking support machine 100 assists, the legs actually move not only in the front-back direction but also in a complicated manner. In particular, in the case of a healthy person, since the legs are moved by his / her own will, the movements other than the anteroposterior direction are larger and more powerful than those having a weak walking ability. At this time, when assisting in the pushing direction from the back side of the thigh, the position of the leg rear contact portion 91 of the leg mounting member 90 cannot be significantly changed with respect to the thigh. However, according to the walking support device 100 according to the present embodiment, when the legs move inward or the legs spread outward, as shown in FIG. 8, the hinge portion 70 causes the transmission member 80 to move. Since it bends near the base of the waist according to the movement direction of the leg, it can flexibly follow the movement of the leg inward or outward, and it is possible to prevent an excessive force from being applied to the leg. .. Further, at this time, the leg mounting member 90 is subjected to a force in the tilting direction as shown by the arrow in FIG. 8 due to the movement by the hinge portion 70, but the curved rod-shaped body 82 having elasticity is curved to be in a horizontal state. Can be kept. Further, as shown in FIG. 9, the curved rod-shaped body 82 having elasticity also in the rotation direction in the traveling direction of the leg mounting member 90 is curved so that the leg rear contact portion 91 follows the direction of the thigh portion. It is possible to prevent excessive force from being applied to the legs.
　このように本発明にかかる歩行支援機によれば、脚後方当て部を大腿部背面の当たり面と同じ角度にするために発生トルクを伝達する方向に２本の湾曲棒状体を脚後方当て部に横方向から水平かつ平行に差し込んで固定することによって、脚部装着部材に大腿部背面と角度のずれが発生した場合に湾曲棒状体がたわむことによって角度のズレを吸収できるようにしたものである。かかる構成を採用することより、使用者の大腿部の太さ、大腿部背面の角度、及び歩行支援機用トルク発生装置と股関節軸とのずれにより発生する大腿部裏の角度差に合わせて脚後方当て部が大腿部背面と面当たりとなるように自動的に調整できる。また、本発明にかかる歩行支援によれば、蝶番部を有する点と、湾曲棒状体と脚後方当て部の伝達部材固定部とがスライド可能に形成されているので、脚が細い人や太い人に応じて、伝達部材を大腿部に沿わせて配置することができる。 As described above, according to the walking support machine according to the present invention, two curved rod-shaped bodies are applied to the rear leg in the direction of transmitting the generated torque in order to make the rear leg contact portion at the same angle as the contact surface of the back surface of the thigh. By inserting it horizontally and parallel to the part from the side and fixing it, when the leg mounting member has an angle deviation from the back of the thigh, the curved rod-shaped body bends to absorb the angle deviation. It is a thing. By adopting such a configuration, the thickness of the thigh of the user, the angle of the back of the thigh, and the angle difference of the back of the thigh caused by the deviation between the torque generator for the walking support machine and the hip joint axis can be determined. At the same time, it can be automatically adjusted so that the rear leg rest is in contact with the back of the thigh. Further, according to the walking support according to the present invention, since the point having the hinge portion and the curved rod-shaped body and the transmission member fixing portion of the leg rear contact portion are slidably formed, a person with thin legs or a person with thick legs Depending on the situation, the transmission member can be arranged along the thigh.
　なお、本発明は上述した実施形態に何ら限定されるものではなく、本発明の技術的範囲に属する限り種々の態様で実施しうる。 The present invention is not limited to the above-described embodiment, and can be implemented in various embodiments as long as it belongs to the technical scope of the present invention.
　また、上述した実施形態においては、片方にのみ装着することを前提に説明したが、左右対象の歩行支援機１００を使用して両脚に装着してもよい。 Further, in the above-described embodiment, the description has been made on the premise that the walking support device 100 is attached to only one of the legs, but the walking support device 100 that is symmetrical to the left and right may be attached to both legs.
　さらに、上述した実施形態においては、健常者が使用することを主眼として説明したが、勿論、非健常者が使用してもよい。 Further, in the above-described embodiment, it has been described mainly for use by a healthy person, but of course, it may be used by an unhealthy person.
　上述した実施の形態で示すように、主として、健常者の肉体的負担の軽減を行なう歩行支援機として産業上利用可能である。 As shown in the above-described embodiment, it can be industrially used mainly as a walking support machine for reducing the physical burden on a healthy person.
　１０…腰装着部材、１１…平板、１２…フック、２０…歩行支援機用トルク発生装置、２１…ハウジング、２１ａ…身体側ハウジング、２１ｂ…外側ハウジング、２３…カム収容領域、２４…付勢手段収容領域、２５…カム軸挿入孔、２６…切欠部、３０…カム、３０ａ…外周面、３１…カム回転軸、３４…付勢手段収容領域、３５…カム軸挿入孔、４０…入出力手段、４１…取付孔、４５…リベット、５０…付勢手段、５１…押圧部、５１ａ…回転部材、５２…スプリング、５３…支持部材、５４…強度調整用ボルト、５４ａ…ボルト孔、６０…リンク手段、６０ａ…第１回転軸、６０ｂ…第２回転軸、６１…リンク部材、７０…蝶番部、７１…第１取付片、７２…第２取付片、７３…回転軸、７５…固定部材、８０…伝達部材、８１…第１棒状体、８２…湾曲棒状体、８２ａ…直線部、８２ｂ…湾曲部、８２ｄ…背面側湾曲棒状体、８２ｅ…前面側湾曲棒状体、８３…連結部材、９０…脚部装着部材、９１…脚後方当て部、９２…ベルト状部材、９３…伝達部材固定部、９４…ベルト用孔、１００…歩行支援機
  10 ... waist mounting member, 11 ... flat plate, 12 ... hook, 20 ... torque generator for walking support machine, 21 ... housing, 21a ... body side housing, 21b ... outer housing, 23 ... cam accommodating area, 24 ... urging means Accommodating area, 25 ... camshaft insertion hole, 26 ... notch, 30 ... cam, 30a ... outer peripheral surface, 31 ... cam rotation shaft, 34 ... urging means accommodating area, 35 ... camshaft insertion hole, 40 ... input / output means , 41 ... mounting hole, 45 ... rivet, 50 ... urging means, 51 ... pressing part, 51a ... rotating member, 52 ... spring, 53 ... support member, 54 ... strength adjusting bolt, 54a ... bolt hole, 60 ... link Means, 60a ... 1st rotating shaft, 60b ... 2nd rotating shaft, 61 ... link member, 70 ... hinge part, 71 ... 1st mounting piece, 72 ... 2nd mounting piece, 73 ... rotating shaft, 75 ... fixing member, 80 ... Transmission member, 81 ... First rod-shaped body, 82 ... Curved rod-shaped body, 82a ... Straight portion, 82b ... Curved portion, 82d ... Back-side curved rod-shaped body, 82e ... Front-side curved rod-shaped body, 83 ... Connecting member, 90 ... Leg mounting member, 91 ... Leg rear contact part, 92 ... Belt-shaped member, 93 ... Transmission member fixing part, 94 ... Belt hole, 100 ... Walking support machine

Claims (7)

  1. 　腰装着部材と、
    　前記腰装着部材に対して腰側方に取り付けられる歩行支援機用トルク発生装置と、
    　前記歩行支援機用トルク発生装置に設けられた伝達部材と、
    　前記伝達部材に設けられた脚部装着部材と、
    　を備えてなり、
    　前記伝達部材は、前記歩行支援機用トルク発生装置から大腿部の側方に沿って設けられ、途中から湾曲形成される湾曲棒状体によって、大腿部の背面側で前記脚部装着部材に固定されていることを特徴とする歩行支援機。     Waist mounting member and
    A torque generator for a walking support machine attached to the waist side with respect to the waist mounting member,
    The transmission member provided in the torque generator for the walking support machine and
    With the leg mounting member provided on the transmission member,
    Be prepared for
    The transmission member is provided along the side of the thigh from the torque generator for the walking support machine, and is formed on the leg mounting member on the back side of the thigh by a curved rod-shaped body that is curved from the middle. A walking support machine characterized by being fixed.
  2. 　前記伝達部材と前記歩行支援機用トルク発生装置との間に、前記伝達部材が大腿部に対して側方方向へ屈曲可能となるように蝶番部を備えていることを特徴とする請求項１に記載の歩行支援機。 The claim is characterized in that a hinge portion is provided between the transmission member and the torque generator for a walking support machine so that the transmission member can bend laterally with respect to the thigh portion. The walking support machine according to 1.
  3. 　前記湾曲棒状体は、前記脚部装着部材との取付部において水平に取り付けられてなることを特徴とする請求項１又は２に記載の歩行支援機。 The walking support machine according to claim 1 or 2, wherein the curved rod-shaped body is horizontally mounted at a mounting portion with the leg mounting member.
  4. 　前記湾曲棒状体は、前記脚部装着部材との取付部において、軸を中心に回転可能に形成されていることを特徴とする請求項１から３のいずれか１項に記載の歩行支援機。 The walking support machine according to any one of claims 1 to 3, wherein the curved rod-shaped body is formed so as to be rotatable about an axis at a mounting portion with the leg mounting member.
  5. 　前記湾曲棒状体が２本設けられ、前記脚部装着部材との取付部において、上下に平行に配置されていることを特徴とする請求項１から４のいずれか１項に記載の歩行支援機。 The walking support device according to any one of claims 1 to 4, wherein two curved rod-shaped bodies are provided and arranged in parallel in the vertical direction in a mounting portion with the leg mounting member. ..
  6. 　前記湾曲棒状体は、前記脚部装着部材との取付部において前記湾曲棒状体の軸方向にスライド可能に設けられていることを特徴とする請求項１から５のいずれか１項に記載の歩行支援機。 The walking according to any one of claims 1 to 5, wherein the curved rod-shaped body is provided so as to be slidable in the axial direction of the curved rod-shaped body at a mounting portion with the leg mounting member. Support machine.
  7. 　前記歩行支援機用トルク発生装置は、
    　ハウジングと、
    　前記ハウジングに回転可能に設けられるカムと、
    　前記カムに設けられた出力手段と、
    　前記カムに対して押圧する押圧部を有する付勢手段と、
    　前記付勢手段に設けられ、前記付勢手段の移動方向を規制するリンク手段と、
    　を備えたことを特徴とする請求項１から６のいずれか１項に記載の歩行支援機。     The torque generator for the walking support machine is
    With the housing
    A cam rotatably provided in the housing and
    The output means provided on the cam and
    An urging means having a pressing portion that presses against the cam,
    A link means provided in the urging means and regulating the moving direction of the urging means,
    The walking support machine according to any one of claims 1 to 6, wherein the walking support machine is provided.
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