JP2018157940A - Walking support device - Google Patents

Walking support device Download PDF

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JP2018157940A
JP2018157940A JP2017056480A JP2017056480A JP2018157940A JP 2018157940 A JP2018157940 A JP 2018157940A JP 2017056480 A JP2017056480 A JP 2017056480A JP 2017056480 A JP2017056480 A JP 2017056480A JP 2018157940 A JP2018157940 A JP 2018157940A
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connecting member
moving
user
frame
pulled
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JP6906337B2 (en
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渡辺　英彦
Hidehiko Watanabe
英彦 渡辺
裕司 岩本
Yuji Iwamoto
裕司 岩本
孝行 青野
Takayuki Aono
孝行 青野
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Kumagai Gumi Co Ltd
Kikuchi Seisakusho Co Ltd
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Kumagai Gumi Co Ltd
Kikuchi Seisakusho Co Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a walking support device equipped with a standing-up assisting function, which is excellent in stability.SOLUTION: A walking support device 1 includes a frame 2, a travel part 20 provided to the lower part of the frame, a movable body 4 provided to the upper part of the frame so as to be slidable in a direction that a user stands up, a body weight load reduction device 5 provided to the frame, a flexible connection member (a wire 8), in which one end is connected to the body weight load reduction device, and a connection part provided to the other end through the movable body is connected to the user on the other end side, and a traction device 6 for pulling the user connected to the connection part of the connection member in a direction approaching the movable body when assisting standing-up, and pulling the movable body to move it.SELECTED DRAWING: Figure 1

Description

本発明は、起立補助機能を備えた歩行支援装置に関する。   The present invention relates to a walking support device having a standing assistance function.

歩行支援装置として、キャスターを備えたフレームに起立補助装置及び体重免荷装置が取付けられて構成された歩行支援装置が知られている（特許文献１参照）。   2. Description of the Related Art As a walking support device, a walking support device is known in which a standing assistance device and a weight load device are attached to a frame provided with casters (see Patent Document 1).

特開２０１２−１２５５４８号公報JP 2012-125548 A

しかしながら、特許文献１に開示された歩行支援装置では、回転移動する回転移動体として傾動フレーム及び引き上げアームを備えた構成であるので、当該回転移動体の回転時の力が装置のフレームに伝達されるため、装置の安定性が悪くなるという課題があった。
本発明は、起立補助機能を備え、かつ、安定性に優れた歩行支援装置を提供する。 However, since the walking assist device disclosed in Patent Document 1 includes a tilting frame and a pulling arm as a rotationally movable body that rotates, the force during rotation of the rotationally movable body is transmitted to the frame of the device. Therefore, there has been a problem that the stability of the apparatus is deteriorated.
The present invention provides a walking support device having a standing assistance function and excellent in stability.

本発明に係る歩行支援装置は、フレームと、フレームの下部に設けられた走行部と、使用者が立ち上がる方向にスライド移動可能となるようにフレームの上部に設けられた移動体と、フレームに設けられた体重免荷装置と、一端が体重免荷装置に連結され他端側が移動体を経由して当該他端に設けられた連結部が使用者に連結される可撓性を有した連結部材と、起立補助時において、連結部材の連結部と連結された使用者を移動体に近付く方向に牽引し、かつ、移動体を牽引して移動体を移動させる牽引装置とを備えたので、起立補助機能を備え、かつ、安定性に優れた歩行支援装置となる。
また、体重免荷装置は、ぜんまいばねと、ぜんまいばねを収容した収容ボックスと、連結部材の一端が連結されて連結部材の巻き取り及び繰り出しを行うドラムと、連結軸とを備え、ぜんまいばねの一端と連結軸の一端側とが連結されるとともに、ぜんまいばねの他端と収容ボックスとが連結され、かつ、連結軸の他端側がドラムの回転中心に連結されており、ドラムの円板面の外周側において互いに所定角度離れた２つの位置のうちの一方には、第１のストップピンが設けられるとともに、ドラムの円板面の外周側において互いに所定角度離れた２つの位置のうちの他方には、第２のストップピンが設けられ、収容ボックスには、第１のストップピン及び第２のストップピンが係止する係止板が設けられており、第１のストップピンが係止板に係止することにより、連結部材が所定量以上にぜんまいばねの力で引張られることが防止され、かつ、第２のストップピンが係止板に係止することにより、連結部材が所定量以上に使用者に引張られることが防止されるように構成されたので、使用者は、体重免荷装置により体重の一部を免荷された状態での歩行が可能となり、さらに、第１のストップピンが係止板に係止することにより、歩行支援装置を初期状態に設定できるとともに、第２のストップピンが係止板に係止することにより、使用者の転倒時の危険回避対策を実現できるようになる。また、ぜんまいばねの力を利用した体重免荷装置としたので、使用者の歩行時におけるぜんまいばねの力の変動を小さく抑えることが可能となり、定荷重ばねに近い性能を実現できるようになるため、使用者が歩行時における体重免荷量の変動を感じ難くなる。
また、体重免荷装置は、コイルばねと、てこ部とを備え、てこ部の力点とコイルばねの一端とが連結され、コイルばねの他端がフレームに固定され、かつ、てこ部の作用点と連結部材の一端とが連結されており、てこ部の作用点側がフレームに設けられた第１のストップ部と衝突することにより、連結部材が所定量以上にコイルばねの力で引張られることが防止され、かつ、てこ部の作用点側がフレームに設けられた第２のストップ部と衝突することにより、連結部材が所定量以上に使用者に引張られることが防止されるように構成されたので、使用者は、体重免荷装置により体重の一部を免荷された状態での歩行が可能となり、さらに、てこ部の作用点側が第１のストップ部と衝突することにより、歩行支援装置を初期状態に設定できるとともに、てこ部の作用点側が第２のストップ部と衝突することにより、使用者の転倒時の危険回避対策を実現できるようになる。
また、牽引装置は、連結部材が掛け渡される固定滑車群及び動滑車群と、動滑車群を移動させるボールねじ機構とを備え、動滑車群は、ボールねじ機構のボールねじのナットに連結された第１の動滑車と第２の動滑車とを備え、固定滑車群は、連結部材の他端側を第１の動滑車に導く方向転換用の第１の固定滑車と、第１の動滑車を経由した連結部材の他端側を第２の動滑車に導く方向転換用の第２の固定滑車とを備え、ボールねじ機構のボールねじを回転させてナットを移動させることによって、動滑車群を移動させて連結部材を牽引するように構成されたので、牽引装置により連結部材を牽引することにより、起立補助動作時に可撓性を有した連結部材の他端側は使用者の体勢の変化に追従して動きやすくなるので、起立補助動作時に使用者の体の自由度が制限されにくくなる。
また、移動体は、連結部材が牽引装置で牽引された場合に連結部材の他端の連結部を係止する係止部を備え、連結部材の他端の連結部が係止部に係止された後に、連結部材が牽引装置でさらに牽引された場合に、使用者が立ち上がる方向にスライド移動するように構成されたので、従来のような回転移動体を備えた構成と比べて、安定性に優れた歩行支援装置となる。 A walking support device according to the present invention includes a frame, a traveling unit provided at a lower part of the frame, a moving body provided at an upper part of the frame so as to be slidable in a direction in which the user stands up, and a frame. And a flexible connecting member having one end connected to the weight supporting device and the other end connected to the user via a moving body at the other end. And a traction device that pulls the user connected to the connecting portion of the connecting member in a direction approaching the moving body and moves the moving body by pulling the moving body at the time of standing up assistance. The walking assist device is provided with an auxiliary function and has excellent stability.
The weight-bearing device includes a mainspring spring, a storage box that houses the mainspring spring, a drum that is connected to one end of the connecting member to wind and feed the connecting member, and a connecting shaft. One end and one end side of the connecting shaft are connected, the other end of the mainspring spring and the receiving box are connected, and the other end side of the connecting shaft is connected to the rotation center of the drum, and the disk surface of the drum A first stop pin is provided at one of the two positions separated from each other by a predetermined angle on the outer peripheral side of the drum, and the other of the two positions separated from each other by a predetermined angle on the outer peripheral side of the disk surface of the drum Is provided with a second stop pin, and the receiving box is provided with a locking plate for locking the first stop pin and the second stop pin, and the first stop pin is locked. The connecting member is prevented from being pulled by the force of the mainspring spring more than a predetermined amount, and the second stop pin is locked to the locking plate so that the connecting member is more than the predetermined amount. Therefore, the user can walk in a state in which a part of the body weight is borne by the body weight load device, and the first stop is provided. When the pin is locked to the locking plate, the walking support device can be set to the initial state, and the second stop pin is locked to the locking plate, thereby realizing risk avoidance measures when the user falls. become able to. In addition, since the weight-unloading device uses the force of the mainspring spring, it is possible to minimize fluctuations in the force of the mainspring spring when the user walks, and to achieve performance close to that of a constant-load spring. , It becomes difficult for the user to feel fluctuations in the weight-exempt amount during walking.
The weight-bearing device includes a coil spring and a lever portion, the force point of the lever portion and one end of the coil spring are connected, the other end of the coil spring is fixed to the frame, and the action point of the lever portion And one end of the connecting member are connected to each other, and when the action point side of the lever portion collides with the first stop portion provided on the frame, the connecting member may be pulled by the force of the coil spring more than a predetermined amount. Since the connecting member is prevented from being pulled more than a predetermined amount by the collision of the action point side of the lever portion with the second stop portion provided on the frame, it is prevented. The user can walk in a state in which a part of the body weight is unloaded by the weight-unloading device, and further, the action point side of the lever portion collides with the first stop unit. When it can be set to the initial state Moni, by the action point side of the lever portion collides with the second stop portion, it becomes possible to realize the danger avoidance measures when a user fall.
The traction device also includes a fixed pulley group and a moving pulley group over which a connecting member is stretched, and a ball screw mechanism that moves the moving pulley group, and the moving pulley group is connected to a ball screw nut of the ball screw mechanism. The fixed pulley group includes a first fixed pulley for changing the direction of guiding the other end of the connecting member to the first movable pulley, a first moving pulley, and a first moving pulley. A second fixed pulley for changing the direction of guiding the other end of the connecting member via the pulley to the second moving pulley, and rotating the ball screw of the ball screw mechanism to move the nut, thereby moving the pulley Since the connecting member is pulled by moving the group, the other end side of the connecting member having flexibility at the time of standing up assisting operation is pulled by the user by pulling the connecting member by the pulling device. It is easy to move following changes, so it can be used during standing up assists. The degree of freedom of the person's body is less likely to be limited.
The moving body also includes a locking portion that locks the connecting portion at the other end of the connecting member when the connecting member is pulled by the traction device, and the connecting portion at the other end of the connecting member is locked to the locking portion. When the connecting member is further pulled by the pulling device, it is configured to slide in the direction in which the user stands up, so it is more stable than the conventional configuration with a rotating moving body. It becomes an excellent walking support device.

（ａ）は歩行支援装置の初期状態を示す斜視図、（ｂ）は歩行支援装置の起立補助終了状態を示す斜視図。(A) is a perspective view which shows the initial state of a walking assistance apparatus, (b) is a perspective view which shows the standing assistance end state of a walking assistance apparatus. （ａ）は歩行支援装置の使用者に対する起立補助開始時の状態を示す図、（ｂ）は歩行支援装置の使用者に対する起立補助終了時の状態を示す図。(A) is a figure which shows the state at the time of the start of standing assistance with respect to the user of a walking assistance apparatus, (b) is a figure which shows the state at the time of the completion of standing assistance with respect to the user of a walking assistance apparatus. 体重免荷装置の構成及び動作を説明するための図であり、（ａ）は体重免荷装置の初期状態を示す図、（ｂ）は体重免荷装置の緊急停止状態を示す図、（ｃ）は体重免荷装置を（ｂ）のＡ方向から見た図。It is a figure for demonstrating the structure and operation | movement of a weight loader, (a) is a figure which shows the initial state of a weight loader, (b) is a figure which shows the emergency stop state of a weight loader, (c) () Is the figure which looked at the weight loader from the A direction of (b). 歩行支援装置の初期状態を示す図。The figure which shows the initial state of a walk assistance apparatus. 歩行支援装置の動作説明図。Operation | movement explanatory drawing of a walk assistance apparatus. 歩行支援装置の動作説明図。Operation | movement explanatory drawing of a walk assistance apparatus. 歩行支援装置の動作説明図。Operation | movement explanatory drawing of a walk assistance apparatus. 歩行支援装置の動作説明図。Operation | movement explanatory drawing of a walk assistance apparatus. 歩行支援装置の動作説明図。Operation | movement explanatory drawing of a walk assistance apparatus. 歩行支援装置の初期状態を示す図。The figure which shows the initial state of a walk assistance apparatus.

実施形態１
実施形態１に係る歩行支援装置１は、図１に示すように、フレーム２と、フレーム２に設けられた走行部２０と、体重免荷起立補助機構３とを備えて構成される。 Embodiment 1
As shown in FIG. 1, the walking support device 1 according to the first embodiment includes a frame 2, a traveling unit 20 provided in the frame 2, and a weight-free standing assist mechanism 3.

体重免荷起立補助機構３は、歩行支援装置１の前後上下方向に移動可能なようにフレーム２の上部に設けられた左右の移動手摺部４１，４１を備えた移動体４と、フレーム２に設けられた装置収容ボックス３０内に設けられた左右の体重免荷装置５，５及び左右の牽引装置６，６と、左右の移動手摺部４１，４１内にそれぞれ設けられた左右の初期状態設定装置７，７と、左右の可撓性を有した連結部材としての左右のワイヤー８，８とを備えて構成される。
尚、歩行支援装置１の前後方向、左右方向、上下方向は、図１に図示した方向を言う。 The weight-unloading standing assist mechanism 3 includes a moving body 4 having left and right moving handrail portions 41, 41 provided on the upper part of the frame 2 so as to be movable in the front-rear and up-down directions of the walking support device 1, and the frame 2. Left and right weight-bearing devices 5 and 5 and left and right traction devices 6 and 6 provided in the provided device storage box 30 and left and right initial state settings provided in the left and right moving handrail portions 41 and 41, respectively. It comprises the devices 7 and 7 and left and right wires 8 and 8 as connecting members having left and right flexibility.
In addition, the front-back direction, the left-right direction, and the up-down direction of the walking support device 1 refer to the directions illustrated in FIG.

図４に示すように、ワイヤー８は、一端８１が体重免荷装置５に連結されて、他端８２側が牽引装置６及び初期状態設定装置７を経由して移動手摺部４１の外側に引き出され、当該左右のワイヤー８，８の他端８２，８２に設けられた連結部としての引掛部（フック）８３，８３が、歩行支援装置１の使用者Ａが着用する例えばパンツ型の装着具Ｂの左右に設けられた吊部Ｃ，Ｃに連結される（図２参照）。   As shown in FIG. 4, one end 81 of the wire 8 is connected to the weight loader 5, and the other end 82 side is pulled out to the outside of the moving handrail part 41 via the traction device 6 and the initial state setting device 7. The hooks 83, 83 as connecting portions provided at the other ends 82, 82 of the left and right wires 8, 8 are, for example, pants-type wearing tools B worn by the user A of the walking support device 1. Are connected to suspension portions C, C provided on the left and right sides of the frame (see FIG. 2).

即ち、歩行支援装置１は、フレーム２と、フレーム２の下部に設けられた走行部２０と、使用者Ａが立ち上がる方向にスライド移動可能となるようにフレーム２の上部に設けられた移動体４と、フレーム２に設けられた体重免荷装置５と、一端８１が体重免荷装置５に連結され他端８２側が移動体４を経由して当該他端８２に設けられた引掛部８３が使用者Ａに連結されるワイヤー８と、起立補助時において、ワイヤー８の他端８２側の引掛部８３に連結された使用者Ａを移動体４に近付く方向に牽引し、かつ、移動体４を牽引して移動体４を移動させる牽引装置６とを備えている。   That is, the walking support apparatus 1 includes a frame 2, a traveling unit 20 provided at the lower part of the frame 2, and a moving body 4 provided at the upper part of the frame 2 so as to be slidable in the direction in which the user A stands up. And a weight-bearing device 5 provided on the frame 2 and a hooking portion 83 provided at the other end 82 on the other end 82 side through the moving body 4 with one end 81 connected to the weight-bearing device 5 used. The user A connected to the wire 8 connected to the person A and the hooking portion 83 on the other end 82 side of the wire 8 at the time of standing up assistance, and pulling the mobile object 4 in the direction approaching the mobile object 4 And a traction device 6 that pulls and moves the moving body 4.

図１に示すように、フレーム２は、ベース部２１と、左右の固定手摺部２２，２２と、ベース部２１と左右の固定手摺部２２，２２とを連結する連結部２３，２３とを備えた構成である。
ベース部２１は、所定の間隔を隔てて左右に配置されてぞれぞれ前後方向に延長する左右のベースフレーム２４，２４と左右のベースフレーム２４，２４の前端側同士を連結する前側連結フレーム２５とを備えた構成であり、例えば、中空パイプを折り曲げることで左右のベースフレーム２４，２４と前側連結フレーム２５とが一体に形成された構成である。
そして、走行方向を自在に変更できるように構成された車輪（キャスター）２０Ａがベース部２１に複数取付けられていることによって、歩行支援装置１の走行部２０が形成されている。 As shown in FIG. 1, the frame 2 includes a base portion 21, left and right fixed handrail portions 22, 22, and connecting portions 23, 23 that connect the base portion 21 and the left and right fixed handrail portions 22, 22. It is a configuration.
The base portion 21 is arranged on the left and right sides with a predetermined interval, and the left and right base frames 24 and 24 that extend in the front-rear direction and the front connection frame that connects the front end sides of the left and right base frames 24 and 24 to each other. 25. For example, the left and right base frames 24, 24 and the front connection frame 25 are integrally formed by bending a hollow pipe.
And the traveling part 20 of the walking assistance device 1 is formed by attaching a plurality of wheels (casters) 20 </ b> A configured to freely change the traveling direction to the base part 21.

移動体４は、左右の移動手摺部４１，４１と、左右の移動手摺部４１，４１の前端部側同士を連結する前側連結部４２と、左右の掴み部４３，４３とを備える。
移動体４は、例えば、中空パイプを折り曲げることで左右の移動手摺部４１，４１と前側連結部４２とが一体に形成され、かつ、左右の掴み部４３，４３が前側連結部４２の左右側からそれぞれ上方に突出するように設けられた構成である。
左右の移動手摺部４１，４１は、左右の固定手摺部２２，２２に沿って前後方向に移動可能なように、左右の固定手摺部２２，２２に連結されている。例えば、左右の固定手摺部２２，２２の上面において前後方向に延長するように設けられた図外のレール溝に、左右の移動手摺部４１，４１に設けられた図外の係合体が係合するように取付けられたことによって、左右の移動手摺部４１，４１が左右の固定手摺部２２，２２上を前後方向に移動可能なように設けられている。即ち、左右の移動手摺部４１，４１が左右の固定手摺部２２，２２上を前後方向に移動することによって、移動体４が前後方向に移動可能に設けられている。
尚、図１及び図２に示すように、左右の固定手摺部２２，２２の上面と当該左右の固定手摺部２２，２２の上面を摺動する左右の移動手摺部４１，４１の下面とが、例えば、上方に膨らむような湾曲形状に形成されている。 The moving body 4 includes left and right moving handrail portions 41, 41, a front connection portion 42 that connects the front end portions of the left and right moving handrail portions 41, 41, and left and right grip portions 43, 43.
For example, the movable body 4 is formed by integrally bending the left and right movable handrail portions 41 and 41 and the front connection portion 42 by bending a hollow pipe, and the left and right grip portions 43 and 43 are formed on the left and right sides of the front connection portion 42. It is the structure provided so that it might each protrude upwards.
The left and right movable handrail portions 41 and 41 are connected to the left and right fixed handrail portions 22 and 22 so as to be movable in the front-rear direction along the left and right fixed handrail portions 22 and 22. For example, an unillustrated engaging body provided in the left and right movable handrail portions 41 and 41 is engaged with a rail groove not shown in the drawing so as to extend in the front-rear direction on the upper surfaces of the left and right fixed handrail portions 22 and 22. Accordingly, the left and right movable handrail portions 41 and 41 are provided so as to be movable in the front-rear direction on the left and right fixed handrail portions 22 and 22. That is, the movable body 4 is provided to be movable in the front-rear direction by moving the left and right movable handrail portions 41, 41 on the left and right fixed handrail portions 22, 22 in the front-rear direction.
As shown in FIGS. 1 and 2, the upper surfaces of the left and right fixed handrail portions 22 and 22 and the lower surfaces of the left and right movable handrail portions 41 and 41 that slide on the upper surfaces of the left and right fixed handrail portions 22 and 22 are provided. For example, it is formed in a curved shape that swells upward.

図３に示すように、体重免荷装置５は、ぜんまいばね５１と、ぜんまいばね５１を収容した収容ボックス５２と、ワイヤー８の一端８１が連結されてワイヤー８の巻き取り及び繰り出しを行うドラム（回転円盤）５３と、連結軸５４とを備えた構成である。
ぜんまいばね５１は、例えば細幅の長尺な連続金属板を渦巻状に巻いて、巻かれた渦巻きが、元に戻ろうとする力を用いてワイヤー８をドラム５３で巻き取るように構成されていることにより、ワイヤー８に連結された使用者Ａの体重の一部を負担するものである。
そして、ぜんまいばね５１の一端（渦巻の中心側端（巻出し始端））５５と連結軸５４の一端側とが連結されるとともに、ぜんまいばね５１の他端（渦巻の外周側端（終端））５６と収容ボックス５２とが連結され、かつ、連結軸５４の他端側がドラム５３の回転中心に連結されている。即ち、連結軸５４がドラム５３の回転中心とぜんまいばね５１の一端（巻出し始端）５５とに連結されている。そして、ワイヤー８の一端８１がドラム５３の外周溝５７に連結される。
また、収容ボックス５２は、固定ブラケット５８を介して装置収容ボックス３０に固定されている。
従って、ぜんまいばね５１の力が連結軸５４及びドラム５３に伝達され、ドラム５３に連結されたワイヤー８がぜんまいばね５１の力によって引張られた状態となっていることにより、ワイヤー８の他端８２に連結された使用者Ａは体重の一部が免荷された状態での歩行が可能となる。 As shown in FIG. 3, the weight loader 5 includes a mainspring 51, a storage box 52 that houses the mainspring 51, and a drum 8 that winds and unwinds the wire 8 by connecting one end 81 of the wire 8. This is a configuration provided with a rotating disk 53 and a connecting shaft 54.
The mainspring spring 51 is configured such that, for example, a long continuous metal plate having a narrow width is wound in a spiral shape, and the wound spiral is wound around the drum 8 using a force for returning to the original state. Therefore, a part of the weight of the user A connected to the wire 8 is borne.
Then, one end (the center side end (unwinding start end)) 55 of the spiral spring 51 is connected to one end side of the connecting shaft 54 and the other end (the outer peripheral side end (termination) of the spiral) of the mainspring spring 51. 56 and the storage box 52 are connected, and the other end side of the connecting shaft 54 is connected to the rotation center of the drum 53. That is, the connecting shaft 54 is connected to the rotation center of the drum 53 and one end (unwinding start end) 55 of the mainspring spring 51. Then, one end 81 of the wire 8 is connected to the outer peripheral groove 57 of the drum 53.
Further, the storage box 52 is fixed to the device storage box 30 via a fixing bracket 58.
Therefore, the force of the mainspring spring 51 is transmitted to the connecting shaft 54 and the drum 53, and the wire 8 connected to the drum 53 is pulled by the force of the mainspring spring 51. The user A connected to can walk in a state where a part of the weight is released.

ドラム５３の円板面の外周側において互いに所定角度離れた２つの位置のうちの一方には、第１のストップピン９０が設けられるとともに、ドラム５３の円板面の外周側において互いに所定角度離れた２つの位置のうちの他方には、第２のストップピン９１が設けられ、収容ボックス５２には、第１のストップピン９０及び第２のストップピン９１が係止する係止板９２が設けられている。
例えば、ドラム５３の円板面の外周側において互いに中心角度１２０°程度離れた２つの位置に、それぞれ第１のストップピン９０及び第２のストップピン９１が円板面と直交して延長するように設けられている。
即ち、図３（ａ）に示すように、第１のストップピン９０が係止板９２に係止して、ドラム５３の回転が阻止されることで、ワイヤー８が所定量以上にぜんまいばね５１の力で引張られることが防止され、かつ、図３（ｂ）に示すように、第２のストップピン９１が係止板９２に係止して、ドラム５３の回転が阻止されることで、ワイヤー８が所定量以上に使用者Ａに引張られることが防止されるように構成されている。尚、図３（ｂ）では、ぜんまいばね５１の図示を省略している。 A first stop pin 90 is provided at one of two positions that are separated from each other by a predetermined angle on the outer peripheral side of the disk surface of the drum 53, and separated from each other by a predetermined angle on the outer peripheral side of the disk surface of the drum 53. In the other of the two positions, a second stop pin 91 is provided, and the receiving box 52 is provided with a locking plate 92 on which the first stop pin 90 and the second stop pin 91 are locked. It has been.
For example, the first stop pin 90 and the second stop pin 91 extend at right angles to the disk surface at two positions separated from each other by a central angle of about 120 ° on the outer peripheral side of the disk surface of the drum 53. Is provided.
That is, as shown in FIG. 3A, the first stop pin 90 is locked to the locking plate 92 and the rotation of the drum 53 is prevented, so that the wire 8 is more than a predetermined amount by the mainspring 51. As shown in FIG. 3B, the second stop pin 91 is locked to the locking plate 92 and the rotation of the drum 53 is prevented, as shown in FIG. The wire 8 is configured to be prevented from being pulled by the user A more than a predetermined amount. In addition, illustration of the mainspring spring 51 is abbreviate | omitted in FIG.3 (b).

また、連結軸５４の一端にはハンドル９３が取付けられ、連結軸５４を回転させることでぜんまいばね５１による体重免荷量を調整できるように構成されている。尚、例えば第１のストップピン９０及び第２のストップピン９１は、ドラム５３に対して着脱可能に取付けられる構成となっており、連結軸５４を回転させる場合には、第１のストップピン９０及び第２のストップピン９１を取り外した状態としてから連結軸５４を回転させてぜんまいばね５１の渦巻を密にしたり粗くするとともにドラム５３を回転させることで、ぜんまいばね５１による体重免荷量を調整する。   Further, a handle 93 is attached to one end of the connecting shaft 54, and the weight unloading amount by the mainspring spring 51 can be adjusted by rotating the connecting shaft 54. For example, the first stop pin 90 and the second stop pin 91 are configured to be detachably attached to the drum 53. When the connecting shaft 54 is rotated, the first stop pin 90 is rotated. Then, after the second stop pin 91 is removed, the connecting shaft 54 is rotated to make the spiral of the mainspring spring 51 dense and rough, and the drum 53 is rotated, so that the weight load amount by the mainspring spring 51 is adjusted. To do.

図４に示すように、牽引装置６は、固定滑車群６０と、動滑車群６１と、動滑車群６１を移動させる動滑車群制御機構６３とを備えて構成される。
動滑車群制御機構６３は、例えば、ボールねじ機構により動滑車群６１を移動させる機構である。具体的には、ボールねじ６４のナット６５に動滑車群６１を連結し、モータ６６でボールねじ６４を回転させてナット６５を移動させることで当該ナット６５に連結されている動滑車群６１を移動させる機構である。
動滑車群６１は、例えば、ボールねじ機構のナット６５に連結された第１の動滑車６１Ａと第２の動滑車６１Ｂとを備える。
固定滑車群６０は、例えば、ワイヤー８の他端８２側を第１の動滑車６１Ａに導く方向転換用の第１の固定滑車６０Ａと、第１の動滑車６１Ａを経由したワイヤー８の他端８２側を第２の動滑車６１Ｂに導く方向転換用の第２の固定滑車６０Ｂと、第２の動滑車６１Ｂを経由したワイヤー８の他端８２側を移動手摺部４１側に導く方向転換用の第３の固定滑車６０Ｃと備える。尚、第３の固定滑車６０Ｃは、牽引装置６と初期状態設定装置７との位置関係によって必要でなくなる場合がある。
即ち、牽引装置６は、ワイヤー８が掛け渡される固定滑車群６０及び動滑車群６１と、動滑車群６１を移動させる動滑車群制御機構６３としてのボールねじ機構とを備え、動滑車群６１は、ボールねじ機構のボールねじ６４のナット６５に連結された第１の動滑車６１Ａと第２の動滑車６１Ｂとを備え、固定滑車群６０は、少なくとも、ワイヤー８の他端８２側を第１の動滑車６１Ａに導く方向転換用の第１の固定滑車６０Ａと、第１の動滑車６１Ａを経由したワイヤー８の他端８２側を第２の動滑車６１Ｂに導く方向転換用の第２の固定滑車６０Ｂとを備え、ボールねじ機構のボールねじ６４を回転させてナット６５を移動させることによって、動滑車群６１を移動させてワイヤー８を牽引するように構成されている。 As shown in FIG. 4, the traction device 6 includes a fixed pulley group 60, a moving pulley group 61, and a moving pulley group control mechanism 63 that moves the moving pulley group 61.
The moving pulley group control mechanism 63 is a mechanism for moving the moving pulley group 61 by, for example, a ball screw mechanism. Specifically, the moving pulley group 61 is connected to the nut 65 of the ball screw 64, and the ball screw 64 is rotated by the motor 66 to move the nut 65, thereby moving the moving pulley group 61 connected to the nut 65. It is a mechanism to move.
The moving pulley group 61 includes, for example, a first moving pulley 61A and a second moving pulley 61B connected to a nut 65 of a ball screw mechanism.
The fixed pulley group 60 includes, for example, a first fixed pulley 60A for changing the direction in which the other end 82 side of the wire 8 is guided to the first moving pulley 61A, and the other end of the wire 8 via the first moving pulley 61A. A second fixed pulley 60B for direction change leading the 82 side to the second movable pulley 61B, and a direction change leading the other end 82 side of the wire 8 via the second movable pulley 61B to the moving handrail 41 side. And a third fixed pulley 60C. The third fixed pulley 60 </ b> C may not be necessary depending on the positional relationship between the traction device 6 and the initial state setting device 7.
That is, the traction device 6 includes a fixed pulley group 60 and a moving pulley group 61 over which the wire 8 is stretched, and a ball screw mechanism as a moving pulley group control mechanism 63 that moves the moving pulley group 61. Includes a first moving pulley 61A and a second moving pulley 61B connected to the nut 65 of the ball screw 64 of the ball screw mechanism, and the fixed pulley group 60 has at least the other end 82 side of the wire 8 at the second end 82 side. A first fixed pulley 60A for direction change leading to one moving pulley 61A, and a second direction change second guiding the other end 82 side of the wire 8 via the first moving pulley 61A to the second moving pulley 61B. The fixed pulley 60 </ b> B is configured to rotate the ball screw 64 of the ball screw mechanism and move the nut 65, thereby moving the movable pulley group 61 and pulling the wire 8.

図４に示すように、初期状態設定装置７は、移動手摺部４１内に設けられる。
初期状態設定装置７は、固定滑車群７０と、動滑車７１と、動滑車７１に定荷重を付与する定荷重付与手段７２とを備えて構成される。
動滑車７１は、回転中心軸７１ａが移動手摺部４１内又は移動手摺部４１を形成するパイプに設けられたレール溝７３内を移動可能なように構成されている。
定荷重付与手段７２は、例えば、定荷重ばねにより構成され、連結ワイヤー７４の一端が定荷重付与手段７２に連結されるとともに連結ワイヤー７４の他端が動滑車７１の連結部７５に連結されていることにより、動滑車７１に当該動滑車７１を一方方向Ａに引き寄せる引張力を付与するものである。
固定滑車群７０は、例えば、第３の動滑車６１Ｃを経由したワイヤー８の他端８２側を動滑車７１に導く方向転換用の第４の固定滑車７０Ａと、動滑車７１を経由したワイヤー８の他端８２側を移動手摺部４１の外側に導く方向転換用の第５の固定滑車７０Ｂと備える。 As shown in FIG. 4, the initial state setting device 7 is provided in the moving handrail portion 41.
The initial state setting device 7 includes a fixed pulley group 70, a moving pulley 71, and a constant load applying means 72 that applies a constant load to the moving pulley 71.
The movable pulley 71 is configured such that the rotation center shaft 71a can move in the moving handrail portion 41 or in a rail groove 73 provided in a pipe forming the moving handrail portion 41.
The constant load applying means 72 is constituted by a constant load spring, for example, and one end of the connecting wire 74 is connected to the constant load applying means 72 and the other end of the connecting wire 74 is connected to the connecting portion 75 of the movable pulley 71. Therefore, a tensile force that draws the moving pulley 71 in one direction A is applied to the moving pulley 71.
The fixed pulley group 70 includes, for example, a fourth fixed pulley 70A for changing the direction of guiding the other end 82 of the wire 8 via the third moving pulley 61C to the moving pulley 71, and the wire 8 via the moving pulley 71. And a fifth fixed pulley 70B for changing the direction of guiding the other end 82 side to the outside of the moving handrail 41.

移動手摺部４１に形成されてワイヤー８の他端８２を移動手摺部４１の外に引き出すための引出孔８９の径は、ワイヤー８の他端８２に取付けられる引掛部８３の大きさよりも小さい径に形成され、ワイヤー８の他端８２側が牽引装置６あるいは初期状態設定装置７で引っ張られた場合に、引掛部８３が引出孔８９の周りの壁に衝突して引掛部８３が移動手摺部４１内に引き込まれないように構成されている。即ち、引出孔８９の周囲が、引掛部８３を初期位置に維持する係止部８４となっており、当該引掛部８３が係止部８４に係止して初期位置に維持された状態が初期状態である（図４参照）。
即ち、移動手摺部４１は、ワイヤー８が牽引装置６で牽引された場合にワイヤー８の他端８２に設けられた引掛部８３を係止する係止部８４を備え、ワイヤー８は、引掛部８３を使用者Ａが装着する装着具Ｂの吊部Ｃに連結する場合に当該引掛部８３が設けられた他端８２側を移動手摺部４１内から引き出し可能に構成され、かつ、引掛部８３が使用者Ａに連結された後、使用者Ａが立ち上がろうとする際には、ワイヤー８の他端８２が、牽引装置６により係止部８４に近付く方向に牽引され、引掛部８３が係止部８４が係止した後は、引掛部８３が移動手摺部４１に固定された状態となるので、引掛部８３が係止部８４に係止した後、ワイヤー８が牽引装置６によりさらに牽引された場合に、移動手摺部４１は、固定手摺部２２に沿って使用者Ａが立ち上がる方向（歩行支援装置１の前方上方向）にスライド移動するように構成されている。 The diameter of the pull-out hole 89 formed in the moving handrail portion 41 for drawing the other end 82 of the wire 8 out of the moving handrail portion 41 is smaller than the size of the hook portion 83 attached to the other end 82 of the wire 8. When the other end 82 side of the wire 8 is pulled by the pulling device 6 or the initial state setting device 7, the hooking portion 83 collides with the wall around the drawing hole 89, and the hooking portion 83 is moved to the moving handrail portion 41. It is configured not to be pulled in. That is, the periphery of the drawing hole 89 is a locking portion 84 that maintains the hooking portion 83 at the initial position, and the state where the hooking portion 83 is locked to the locking portion 84 and maintained at the initial position is the initial state. State (see FIG. 4).
That is, the moving handrail portion 41 includes a locking portion 84 that locks a hooking portion 83 provided at the other end 82 of the wire 8 when the wire 8 is pulled by the pulling device 6. 83 is connected to the hanging portion C of the wearing tool B worn by the user A, the other end 82 side where the hooking portion 83 is provided can be pulled out from the movable handrail portion 41, and the hooking portion 83 is configured. When the user A tries to stand up after being connected to the user A, the other end 82 of the wire 8 is pulled in a direction approaching the locking portion 84 by the pulling device 6 and the hooking portion 83 is locked. Since the hook part 83 is fixed to the movable handrail part 41 after the part 84 is locked, the wire 8 is further pulled by the pulling device 6 after the hook part 83 is locked to the lock part 84. The moving handrail portion 41 is used along the fixed handrail portion 22. And it is configured to slide in the direction (forward upward direction of the walking assistance device 1) that is person A rises.

また、移動手摺部４１が前方上側に最大限移動した場合、即ち、歩行支援装置１による起立補助動作が終了して移動手摺部４１が最前方上側位置に到達した場合に、当該移動手摺部４１はロック機構により当該最前方上側位置にロックされるように構成されている。当該ロック機構は、図４に示すように、互いに係脱可能に構成された移動手摺部側ロック部８８Ａと固定手摺部側ロック部８８Ｂとで構成される。   In addition, when the moving handrail portion 41 has moved to the upper front maximum, that is, when the standing assistance operation by the walking support device 1 has been completed and the moving handrail portion 41 has reached the foremost upper position, the moving handrail portion 41 is concerned. Is configured to be locked at the foremost upper position by a lock mechanism. As shown in FIG. 4, the lock mechanism includes a movable handrail portion side lock portion 88 </ b> A and a fixed handrail portion side lock portion 88 </ b> B that are configured to be detachable from each other.

実施形態１に係る歩行支援装置１の動作について、図４及び図９を参照して説明する。
尚、図４及び図９においては、体重免荷起立補助機構３を構成する、左右の移動手摺部４１，４１、左右の体重免荷装置５，５、左右の牽引装置６，６、左右の初期状態設定装置７，７、左右のワイヤー８，８のうち、左右いずれか一方の、移動手摺部４１、体重免荷装置５、牽引装置６、初期状態設定装置７、ワイヤー８を図示して動作を説明する。また、図４及び図９においては、簡略化して移動手摺部４１が水平移動するように図示している。
図４に示すように、歩行支援装置１の使用前は、牽引装置６の動滑車群６１が初期位置に位置されて、移動手摺部４１が最後方下側位置に位置され、かつ、初期状態設定装置７の動滑車７１が定荷重付与手段７２で矢示Ａの方向に引張られていることにより、引掛部８３が係止部８４に係止した初期状態となっている。
そして、図５に示すように、引掛部８３を持ってワイヤー８の他端８２側を移動手摺部４１内から引き出すと、初期状態設定装置７の動滑車７１が定荷重付与手段７２の引張力に抗して後方に移動する。即ち、ワイヤー８の他端８２側を移動手摺部４１内から引き出す際に動滑車７１が定荷重付与手段７２の引張力に抗して矢示Ｂのように後方に移動するため、ワイヤー８の他端８２側を移動手摺部４１内から容易に引き出すことができる。
そして、引き出したワイヤー８の他端８２に設けられている引掛部８３を、ベッドＤや椅子に座っている使用者Ａが装着している装着具Ｂの吊部Ｃに連結する（図２（ａ）参照）。
その後、使用者Ａが立ち上がろうとする場合、例えば介助者が図外のスイッチを投入して牽引装置６のモータ６６を駆動させることで、図６に示すように、ワイヤー８の他端８２側を移動手摺部４１側に牽引する方向、即ち、動滑車群６１を矢示Ｃの方向に移動させてワイヤー８の他端８２に設けられた引掛部８３が係止部８４に係止するまでワイヤー８が牽引された後、図７に示すように、動滑車群６１をさらに矢示Ｄの方向に移動させることで、移動手摺部４１が前方上側に移動する。そして、図８に示すように、動滑車群６１をさらに矢示Ｅの方向に移動させて、移動手摺部４１を前方上側に最大限移動させることで、移動手摺部側ロック部８８Ａと固定手摺部側ロック部８８Ｂとが係合して、移動手摺部４１が最前方上側位置に到達した状態でロックされる。以上により、起立補助動作が終了する。
この起立補助動作においては、使用者Ａが立ち上がろうとする場合、使用者Ａには牽引装置６による牽引力が加わるため、使用者Ａは容易に立ち上がることができるようになる。
使用者Ａが立ち上がった後は、移動手摺部４１がロックされた状態で、使用者Ａは体重免荷装置５により体重の一部が免荷された状態で歩行することが可能となる（図２（ｂ）参照）。 The operation of the walking support device 1 according to the first embodiment will be described with reference to FIGS. 4 and 9.
4 and 9, the left and right movable handrail portions 41, 41, the left and right weight unloading devices 5, 5, the left and right traction devices 6, 6, Of the initial state setting devices 7 and 7 and the left and right wires 8 and 8, the left and right moving handrail portions 41, the weight loader device 5, the traction device 6, the initial state setting device 7, and the wires 8 are illustrated. The operation will be described. In FIGS. 4 and 9, the moving handrail portion 41 is illustrated so as to move horizontally in a simplified manner.
As shown in FIG. 4, before use of the walking support device 1, the movable pulley group 61 of the traction device 6 is positioned at the initial position, the moving handrail portion 41 is positioned at the rearmost lower position, and the initial state The moving pulley 71 of the setting device 7 is pulled in the direction of arrow A by the constant load applying means 72, so that the hook 83 is locked to the locking portion 84.
Then, as shown in FIG. 5, when the other end 82 side of the wire 8 is pulled out from the moving handrail portion 41 with the hook portion 83, the moving pulley 71 of the initial state setting device 7 pulls the tensile force of the constant load applying means 72. Move backwards against That is, when the other end 82 side of the wire 8 is pulled out from the inside of the moving handrail portion 41, the moving pulley 71 moves backward as indicated by an arrow B against the tensile force of the constant load applying means 72. The other end 82 side can be easily pulled out from the moving handrail portion 41.
And the hook part 83 provided in the other end 82 of the pulled-out wire 8 is connected with the hanging part C of the mounting tool B with which the user A sitting on the bed D or a chair is mounted | worn (FIG. 2 ( a)).
Thereafter, when the user A tries to stand up, for example, an assistant turns on a switch (not shown) and drives the motor 66 of the traction device 6, so that the other end 82 side of the wire 8 is moved as shown in FIG. 6. The wire is pulled until the hooking portion 83 provided at the other end 82 of the wire 8 is locked to the locking portion 84 by moving the movable pulley group 61 in the direction indicated by the arrow C by pulling it toward the moving handrail portion 41 side. After the 8 is pulled, as shown in FIG. 7, the moving handrail portion 41 moves to the upper front side by further moving the movable pulley group 61 in the direction of the arrow D. Then, as shown in FIG. 8, the movable pulley group 61 is further moved in the direction of the arrow E, and the movable handrail portion 41 is moved to the maximum at the front upper side, so that the movable handrail portion side lock portion 88A and the fixed handrail are moved. The movable handrail portion 41 is locked in a state where it has engaged with the portion side lock portion 88B and has reached the forefront upper position. Thus, the standing assistance operation is completed.
In this stand-up assisting operation, when the user A is going to stand up, the user A can easily stand up because the user A is given a traction force by the traction device 6.
After the user A stands up, the user A can walk in a state in which a part of the body weight is unloaded by the weight-unloading device 5 in a state where the moving handrail portion 41 is locked (FIG. 2 (b)).

また、歩行中に使用者Ａが転倒し、図９に示すように、ワイヤー８が所定長さ以上繰り出され、第２のストップピン９１が係止板９２に設けられた図外の緊急停止スイッチに衝突して当該緊急停止スイッチが投入されることにより、例えば、車輪（キャスター）２０Ａのブレーキワイヤを操作する信号が車輪２０Ａのブレーキ機構に出力されて車輪２０Ａがロック状態に設定される。これにより、歩行中に使用者Ａが転倒した際の歩行支援装置１の暴走や転倒等が抑制され、使用者Ａの転倒時の危険回避対策を実現できるようになる。   Further, as shown in FIG. 9, the user A falls while walking, and the wire 8 is drawn out by a predetermined length or more, and the second stop pin 91 is provided on the locking plate 92 and the emergency stop switch (not shown). When the emergency stop switch is turned on in a collision, a signal for operating the brake wire of the wheel (caster) 20A is output to the brake mechanism of the wheel 20A, and the wheel 20A is set to the locked state. As a result, the runaway apparatus 1 or the fall of the walking support apparatus 1 when the user A falls during walking is suppressed, and a risk avoidance measure when the user A falls can be realized.

また、使用者ＡがベッドＤや椅子に座る場合には、例えば介助者が移動手摺部側ロック部８８Ａと固定手摺部側ロック部８８Ｂとの係合を解除して、牽引装置６のモータ６６を駆動させることにより、動滑車群６１を初期位置まで戻した後、装着具Ｂから引掛部８３を取り外すと、初期状態設定装置７の引張力によって引掛部８３が係止部８４に係止した初期状態となる。   Further, when the user A sits on the bed D or a chair, for example, an assistant releases the engagement between the movable handrail portion side lock portion 88A and the fixed handrail portion side lock portion 88B, and the motor 66 of the traction device 6 is released. After the movable pulley group 61 is returned to the initial position by driving, the hook portion 83 is locked to the lock portion 84 by the tensile force of the initial state setting device 7 when the hook portion 83 is removed from the mounting tool B. It will be in the initial state.

尚、図５に示すワイヤー８の引き出し可能長さＸ１は、例えば、４００ｍｍ〜６００ｍｍに設定され、図６に示す移動手摺部４１の移動可能長さＸ２は、例えば１５０ｍｍ〜３００ｍｍに設定され、緊急停止スイッチが投入される図９に示すワイヤー８の引張長さＸ３は、例えば２００ｍｍ程度に設定されている。   5 is set to 400 mm to 600 mm, for example, and the movable length X2 of the moving handrail portion 41 shown in FIG. 6 is set to 150 mm to 300 mm, for example. The tensile length X3 of the wire 8 shown in FIG. 9 where the stop switch is turned on is set to about 200 mm, for example.

従来のように、装着具に取付けられた回転移動体が回転する構成の場合、当該回転移動体の回転時の力がフレームに伝達されて装置の安定性が損なわれる可能性が高いが、実施形態１の歩行支援装置１によれば、起立補助時に、使用者Ａが装着する装着具Ｂに連結されたワイヤー８の他端８２側が牽引装置６により引っ張られる構成であり、フレーム２に力が伝達されにくい構造としたので、安定性に優れた歩行支援装置１となる。即ち、起立補助機能を備え、かつ、安定性に優れた歩行支援装置となる。   In the case of a configuration in which the rotary moving body attached to the mounting tool rotates as in the conventional case, it is highly possible that the rotational force of the rotary moving body is transmitted to the frame and the stability of the device is impaired. According to the walking support device 1 of the form 1, the other end 82 side of the wire 8 connected to the wearing tool B worn by the user A is pulled by the traction device 6 at the time of standing assistance, and the force is applied to the frame 2. Since the structure is difficult to transmit, the walking support device 1 is excellent in stability. That is, the walking assist device is provided with a standing assistance function and has excellent stability.

実施形態１の歩行支援装置１によれば、ワイヤー８の他端８２に設けられた連結部としての引掛部８３が移動手摺部４１の係止部８４に係止された後に、ワイヤー８が牽引装置６でさらに牽引された場合に、移動手摺部４１が固定手摺部２２に沿って使用者Ａが立ち上がる方向にスライド移動するように構成されたので、従来のような回転移動体を備えた構成と比べて、安定性に優れた歩行支援装置となる。   According to the walking assist device 1 of the first embodiment, the wire 8 is pulled after the hooking portion 83 as the connecting portion provided at the other end 82 of the wire 8 is locked to the locking portion 84 of the moving handrail portion 41. Since the moving handrail portion 41 is configured to slide in the direction in which the user A stands up along the fixed handrail portion 22 when the device 6 is further pulled, the configuration including the conventional rotary moving body Compared to, the walking support device is excellent in stability.

また、実施形態１の歩行支援装置１によれば、起立補助動作時において装着具Ｂに取付けられた可撓性を有した連結部材としてのワイヤー８の他端８２側が移動手摺部４１側に引っ張られるため、起立補助動作時においてワイヤー８の他端８２側は使用者Ａの体勢の変化に追従して動きやすくなるので、起立補助動作時に使用者Ａの体の自由度が制限されにくくなる。一方、従来のように、装着具に取付けられた回転移動体が回転する構成の場合、起立補助動作時に使用者が回転移動体で強制的に引っ張られることになるので、使用者の体の自由度が制限されてしまうという問題があった。   Further, according to the walking assist device 1 of the first embodiment, the other end 82 side of the wire 8 as a flexible connecting member attached to the mounting tool B is pulled toward the moving handrail portion 41 side during the standing assist operation. Therefore, since the other end 82 side of the wire 8 easily moves following the change in the posture of the user A during the standing assist operation, the degree of freedom of the body of the user A is hardly limited during the standing assist operation. On the other hand, in the case of a configuration in which the rotary moving body attached to the wearing tool rotates as in the prior art, the user is forcibly pulled by the rotary moving body during the standing-up assisting operation. There was a problem that the degree was limited.

実施形態１の歩行支援装置１によれば、移動体４に使用者Ａが掴まる掴み部４３，４３を設けたので、使用者Ａが安定に立ち上がることができるようになる。   According to the walking support device 1 of the first embodiment, the gripping portions 43 and 43 that the user A grips are provided on the moving body 4, so that the user A can stand up stably.

実施形態１の歩行支援装置１によれば、ワイヤー８の他端８２側を移動手摺部４１内から引き出して引掛部８３を座っている使用者Ａの装着具Ｂに取付けるので、歩行支援装置１のフレーム２を動かす必要が無く、引掛部８３を座っている使用者Ａの装着具Ｂに取付ける作業を容易に行えるようになる。   According to the walking support device 1 of the first embodiment, the other end 82 side of the wire 8 is pulled out from the moving handrail portion 41 and the hook portion 83 is attached to the wearing tool B of the user A who is sitting. It is not necessary to move the frame 2 and the work of attaching the hook 83 to the wearing tool B of the user A who is sitting can be easily performed.

実施形態の歩行支援装置１によれば、左右の固定手摺部２２，２２の上面と当該左右の固定手摺部２２，２２の上面を摺動する左右の移動手摺部４１，４１の下面とを、上方に膨らむような湾曲（カーブ）形状に形成しているので、初期状態の引掛部８３を、座っている使用者Ａの装着具Ｂに極力近付けることが可能となり、引掛部８３を座っている使用者Ａの装着具Ｂに取付ける作業を容易に行えるようになる。即ち、係止部８４に係止される引掛部８３の位置と座っている使用者Ａの装着具Ｂの吊部Ｃの位置との上下差を小さくできるので、引掛部８３を座っている使用者Ａの装着具Ｂに取付ける作業を容易に行えるようになる。
また、移動手摺部４１が固定手摺部２２の上方に膨らむような湾曲形状に沿って上側前方にスライド移動するため、使用者Ａを上方に立ち上がらせながら前方に移動させることができるので、使用者Ａに自然な起立動作を行わせることが可能となる。 According to the walking support device 1 of the embodiment, the upper surfaces of the left and right fixed handrail portions 22 and 22 and the lower surfaces of the left and right movable handrail portions 41 and 41 that slide on the upper surfaces of the left and right fixed handrail portions 22 and 22, Since it is formed in a curved shape that bulges upward, the hook part 83 in the initial state can be brought as close as possible to the wearing tool B of the user A who is sitting, and the hook part 83 is sitting. The operation of attaching to the wearing tool B of the user A can be easily performed. That is, since the vertical difference between the position of the hooking portion 83 locked to the locking portion 84 and the position of the hanging portion C of the wearing tool B of the user A who is sitting can be reduced, the use of sitting the hooking portion 83 The work of attaching to the wearing tool B of the person A can be easily performed.
Further, since the moving handrail portion 41 slides upward along the curved shape that swells above the fixed handrail portion 22, the user A can be moved forward while being raised upward. It becomes possible for A to perform a natural standing motion.

実施形態の歩行支援装置１によれば、体重免荷装置５として、ぜんまいばね５１の力を利用した装置を用いたため、使用者Ａの歩行時におけるぜんまいばね５１の力の変動を小さく抑えることが可能となり、定荷重ばねに近い性能を実現できるようになるため、使用者Ａが歩行時における体重免荷量の変動を感じ難くなる。   According to the walking support device 1 of the embodiment, since the device using the force of the mainspring spring 51 is used as the weight-unloading device 5, it is possible to suppress fluctuations in the force of the mainspring spring 51 when the user A is walking. Since it becomes possible and performance close to that of a constant load spring can be realized, it becomes difficult for the user A to perceive fluctuations in the weight-unloading amount during walking.

実施形態２
実施形態１では、ぜんまいばね５１の復元力を利用した体重免荷装置５を例示したが、以下のようなコイルばねの復元力を利用した体重免荷装置を用いてもよい。
即ち、実施形態２での体重免荷装置５は、コイルばね３１と、てこ部３２とを備え、てこ部３２は、てこ棒３３が装置収容ボックス３０に固定された支点３４を介して揺動可能に構成されている。そして、てこ部３２の力点３５とコイルばね３１の一端３１ａとが連結され、コイルばね３１の他端３１ｂが固定手段３９により装置収容ボックス３０に固定され、てこ部３２の作用点３６とワイヤー８の一端８１とが連結されている。
即ち、コイルばね３１及びてこ部３２は、フレーム２に取付けられた装置収容ボックス３０内に設けられることでフレーム２に取付けられている。
尚、コイルばね３１の他端３１ｂが固定された固定手段３９を、装置収容ボックス３０に設けられた図外の複数の固定部に選択的に固定することにより、コイルばね３１による体重免荷量を調整できるようになっている。
また、装置収容ボックス３０には、第１のストップ部３７及び第２のストップ部３８が設けられ、てこ部３２の作用点３６側が第１のストップ部３７と衝突することで、ワイヤー８が所定量以上にコイルばね３１の力で引張られることが防止され、かつ、てこ部３２の作用点側がフレームに設けられた第２のストップ部３８と衝突することにより、ワイヤー８が所定量以上に使用者Ａに引張られることが防止されるように構成されている。
実施形態２の体重免荷装置５を備えた歩行支援装置１によれば、実施形態１の歩行支援装置１と同様な動作及効果を奏するものとなる。即ち、使用者Ａは、体重免荷装置５により体重の一部を免荷された状態での歩行が可能となり、さらに、てこ部３２の作用点３６側が第１のストップ部３７と衝突することにより、歩行支援装置１を初期状態に設定できるとともに、てこ部３２の作用点３６側が第２のストップ部３８と衝突することにより、使用者Ａの転倒時の危険回避対策を実現できるようになる。 Embodiment 2
In the first embodiment, the weight unloading device 5 using the restoring force of the mainspring spring 51 is illustrated, but a weight unloading device using the restoring force of the coil spring as described below may be used.
That is, the weight unloading device 5 according to the second embodiment includes a coil spring 31 and a lever portion 32, and the lever portion 32 swings through a fulcrum 34 in which a lever bar 33 is fixed to the device housing box 30. It is configured to be possible. Then, the force point 35 of the lever portion 32 and one end 31a of the coil spring 31 are connected, and the other end 31b of the coil spring 31 is fixed to the device housing box 30 by the fixing means 39, and the action point 36 of the lever portion 32 and the wire 8 Are connected to one end 81.
That is, the coil spring 31 and the lever portion 32 are attached to the frame 2 by being provided in the device housing box 30 attached to the frame 2.
In addition, by selectively fixing the fixing means 39, to which the other end 31b of the coil spring 31 is fixed, to a plurality of fixing portions (not shown) provided in the device housing box 30, the weight unloading amount by the coil spring 31 is increased. Can be adjusted.
Further, the device housing box 30 is provided with a first stop portion 37 and a second stop portion 38, and the action point 36 side of the lever portion 32 collides with the first stop portion 37, so that the wire 8 is placed. It is prevented from being pulled by the force of the coil spring 31 beyond a certain amount, and the working point side of the lever portion 32 collides with the second stop portion 38 provided on the frame, so that the wire 8 is used more than a predetermined amount. It is configured to be prevented from being pulled by the person A.
According to the walking support device 1 provided with the weight-bearing device 5 of the second embodiment, the same operation and effect as the walking support device 1 of the first embodiment are exhibited. That is, the user A can walk in a state in which a part of his / her weight is unloaded by the weight-unloading device 5, and the action point 36 side of the lever portion 32 collides with the first stop portion 37. As a result, the walking support device 1 can be set to the initial state, and the action point 36 side of the lever portion 32 collides with the second stop portion 38, so that it is possible to realize a risk avoidance measure when the user A falls. .

尚、引掛部８３を係止部８４に係止させた初期状態とするために、初期状態設定装置７を設けることが好ましいが、当該初期状態設定装置７は設けなくともよい。
可撓性を有した連結部材としてロープ、紐等を用いてもよい。
体重免荷装置５及び牽引装置６をフレーム２に直接取り付けるようにしてもよい。
初期状態設定装置７を移動手摺部４１の外側に取付けるようにしてもよい。
固定手摺部２２の上面と当該固定手摺部２２の上面を摺動する移動手摺部４１の下面とが、歩行支援装置１の後方側から前方側に向けて直線状に立ち上がるように傾斜する形状に形成されていてもよい。 Note that the initial state setting device 7 is preferably provided in order to obtain the initial state in which the hook 83 is locked to the locking portion 84, but the initial state setting device 7 may not be provided.
A rope, string, or the like may be used as the flexible connecting member.
The weight load device 5 and the traction device 6 may be directly attached to the frame 2.
You may make it attach the initial state setting apparatus 7 to the outer side of the moving handrail part 41. FIG.
A shape in which the upper surface of the fixed handrail portion 22 and the lower surface of the moving handrail portion 41 sliding on the upper surface of the fixed handrail portion 22 are inclined so as to rise linearly from the rear side to the front side of the walking support device 1. It may be formed.

１ 歩行支援装置、２ フレーム、４ 移動体、５ 体重免荷装置、６ 牽引装置、
８ ワイヤー（連結部材）、２０ 走行部、３１ コイルばね、３２ てこ部、
３５ 力点、３６ 作用点、３７ 第１のストップ部、３８ 第２のストップ部、
５１ ぜんまいばね、５２ 収容ボックス、５３ ドラム、５４ 連結軸、
５５ ぜんまいばねの一端、５６ ぜんまいばねの他端、
６３ 動滑車群制御機構（ボールねじ機構）、８１ ワイヤーの一端、
８２ ワイヤーの他端、８３ 引掛部、８４ 係止部、９０ 第１のストップピン、
９１ 第２のストップピン、９２ 係止板、Ａ 使用者。 1 walking support device, 2 frame, 4 moving body, 5 weight load device, 6 towing device,
8 wire (connecting member), 20 running part, 31 coil spring, 32 lever part,
35 force points, 36 action points, 37 first stop, 38 second stop,
51 Mainspring spring, 52 housing box, 53 drum, 54 connecting shaft,
55 One end of the mainspring, 56 The other end of the mainspring,
63 movable pulley group control mechanism (ball screw mechanism), 81 one end of the wire,
82 the other end of the wire, 83 hooking portion, 84 locking portion, 90 first stop pin,
91 Second stop pin, 92 Locking plate, A User.

Claims (5)

フレームと、
フレームの下部に設けられた走行部と、
使用者が立ち上がる方向にスライド移動可能となるようにフレームの上部に設けられた移動体と、
フレームに設けられた体重免荷装置と、
一端が体重免荷装置に連結され他端側が移動体を経由して当該他端に設けられた連結部が使用者に連結される可撓性を有した連結部材と、
起立補助時において、連結部材の連結部と連結された使用者を移動体に近付く方向に牽引し、かつ、移動体を牽引して移動体を移動させる牽引装置とを備えたことを特徴とする歩行支援装置。 Frame,
A traveling part provided at the bottom of the frame;
A moving body provided on the upper part of the frame so that the user can slide in the direction of rising;
A weight-bearing device provided on the frame;
A flexible connecting member having one end connected to the weight-bearing device and the other end connected to the user via a moving body, and a connecting portion provided to the other end;
And a towing device that pulls the user connected to the connecting portion of the connecting member in a direction approaching the moving body and pulls the moving body to move the moving body at the time of standing assistance. Walking support device. 体重免荷装置は、ぜんまいばねと、ぜんまいばねを収容した収容ボックスと、連結部材の一端が連結されて連結部材の巻き取り及び繰り出しを行うドラムと、連結軸とを備え、
ぜんまいばねの一端と連結軸の一端側とが連結されるとともに、ぜんまいばねの他端と収容ボックスとが連結され、かつ、連結軸の他端側がドラムの回転中心に連結されており、
ドラムの円板面の外周側において互いに所定角度離れた２つの位置のうちの一方には、第１のストップピンが設けられるとともに、ドラムの円板面の外周側において互いに所定角度離れた２つの位置のうちの他方には、第２のストップピンが設けられ、
収容ボックスには、第１のストップピン及び第２のストップピンが係止する係止板が設けられており、
第１のストップピンが係止板に係止することにより、連結部材が所定量以上にぜんまいばねの力で引張られることが防止され、かつ、第２のストップピンが係止板に係止することにより、連結部材が所定量以上に使用者に引張られることが防止されるように構成されたことを特徴とする請求項１に記載の歩行支援装置。 The weight-bearing device includes a mainspring, a housing box that houses the mainspring, a drum that is connected to one end of the connecting member to wind and unwind the connecting member, and a connecting shaft.
One end of the mainspring spring and one end side of the connecting shaft are connected, the other end of the mainspring spring and the receiving box are connected, and the other end side of the connecting shaft is connected to the rotation center of the drum,
A first stop pin is provided at one of two positions separated from each other by a predetermined angle on the outer peripheral side of the disk surface of the drum, and two positions separated from each other by a predetermined angle on the outer peripheral side of the disk surface of the drum. The other of the positions is provided with a second stop pin,
The storage box is provided with a locking plate for locking the first stop pin and the second stop pin,
When the first stop pin is locked to the locking plate, the connecting member is prevented from being pulled by the force of the mainspring spring beyond a predetermined amount, and the second stop pin is locked to the locking plate. Accordingly, the walking support device according to claim 1, wherein the connecting member is configured to be prevented from being pulled by the user more than a predetermined amount. 体重免荷装置は、コイルばねと、てこ部とを備え、
てこ部の力点とコイルばねの一端とが連結され、コイルばねの他端がフレームに固定され、かつ、てこ部の作用点と連結部材の一端とが連結されており、
てこ部の作用点側がフレームに設けられた第１のストップ部と衝突することにより、連結部材が所定量以上にコイルばねの力で引張られることが防止され、かつ、てこ部の作用点側がフレームに設けられた第２のストップ部と衝突することにより、連結部材が所定量以上に使用者に引張られることが防止されるように構成されたことを特徴とする請求項１に記載の歩行支援装置。 The weight-bearing device includes a coil spring and a lever part,
The force point of the lever part and one end of the coil spring are connected, the other end of the coil spring is fixed to the frame, and the action point of the lever part and one end of the connecting member are connected,
When the action point side of the lever collides with the first stop portion provided on the frame, the connecting member is prevented from being pulled by the force of the coil spring more than a predetermined amount, and the action point side of the lever part is the frame. 2. The walking support according to claim 1, wherein a collision with a second stop portion provided on the connecting member prevents the connecting member from being pulled by a user more than a predetermined amount. apparatus. 牽引装置は、
連結部材が掛け渡される固定滑車群及び動滑車群と、
動滑車群を移動させるボールねじ機構とを備え、
動滑車群は、ボールねじ機構のボールねじのナットに連結された第１の動滑車と第２の動滑車とを備え、
固定滑車群は、連結部材の他端側を第１の動滑車に導く方向転換用の第１の固定滑車と、第１の動滑車を経由した連結部材の他端側を第２の動滑車に導く方向転換用の第２の固定滑車とを備え、
ボールねじ機構のボールねじを回転させてナットを移動させることによって、動滑車群を移動させて連結部材を牽引するように構成されたことを特徴とする請求項１乃至請求項３のいずれか一項に記載の歩行支援装置。 The traction device
A fixed pulley group and a movable pulley group over which the connecting member is stretched;
A ball screw mechanism for moving the movable pulley group,
The moving pulley group includes a first moving pulley and a second moving pulley connected to a ball screw nut of a ball screw mechanism,
The fixed pulley group includes a first fixed pulley for changing the direction in which the other end side of the connecting member is guided to the first moving pulley, and a second moving pulley on the other end side of the connecting member via the first moving pulley. And a second fixed pulley for direction change leading to
4. The structure according to claim 1, wherein the nut is moved by rotating the ball screw of the ball screw mechanism to move the group of movable pulleys and pull the connecting member. 5. The walking support device according to Item. 移動体は、連結部材が牽引装置で牽引された場合に連結部材の他端の連結部を係止する係止部を備え、連結部材の他端の連結部が係止部に係止された後に、連結部材が牽引装置でさらに牽引された場合に、使用者が立ち上がる方向にスライド移動するように構成されたことを特徴とする請求項１乃至請求項４のいずれか一項に記載の歩行支援装置。   The movable body includes a locking portion that locks the connecting portion at the other end of the connecting member when the connecting member is pulled by the traction device, and the connecting portion at the other end of the connecting member is locked by the locking portion. The walking according to any one of claims 1 to 4, wherein when the connecting member is further pulled by a towing device, the user slides in a direction to stand up. Support device.
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112237529A (en) * 2019-07-19 2021-01-19 广西科学院 Old person prevents falling hook system
JP2021097756A (en) * 2019-12-20 2021-07-01 武彦 國枝 Kick-out assist device, walking assist system, and running assist system
JP2021097755A (en) * 2019-12-20 2021-07-01 武彦 國枝 Walking assist device, walking assist system, and running assist system

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JPH1147207A (en) * 1997-08-08 1999-02-23 Sakai Medical Co Ltd Walk supporting apparatus
JPH11188068A (en) * 1997-12-25 1999-07-13 Hitachi Chem Co Ltd Belt rewinding lock mechanism and aid for self-walking equipped with it
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JP2013529498A (en) * 2010-06-23 2013-07-22 ゲート リハブ ディベロプメント エービー Standing support built into the walker

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JPH09285497A (en) * 1996-04-25 1997-11-04 Hitachi Ltd Method and device for engaging body supporter for walking supporting machine
JPH1147207A (en) * 1997-08-08 1999-02-23 Sakai Medical Co Ltd Walk supporting apparatus
JPH11188068A (en) * 1997-12-25 1999-07-13 Hitachi Chem Co Ltd Belt rewinding lock mechanism and aid for self-walking equipped with it
JP2011072506A (en) * 2009-09-30 2011-04-14 Japan Health Science Foundation Walking assistance device
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Publication number Priority date Publication date Assignee Title
CN112237529A (en) * 2019-07-19 2021-01-19 广西科学院 Old person prevents falling hook system
JP2021097756A (en) * 2019-12-20 2021-07-01 武彦 國枝 Kick-out assist device, walking assist system, and running assist system
JP2021097755A (en) * 2019-12-20 2021-07-01 武彦 國枝 Walking assist device, walking assist system, and running assist system

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