JP2011110301A - Walking training device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walking training device capable of preventing a user from falling during a standing-up action. <P>SOLUTION: A first slider 13 has a pulley 25 and is arranged to be reciprocatively movable with respect to a support frame 12 in the vertical direction of the rotating axial line of the pulley 25. One end of a wire 16 is attached to a suspension tool 15 and the other end is to a support frame 12 via the pulley 25. A relief cylinder 14 is elastically connected to the support frame 12 and the first slider 13, and energizes the first slider 13 in a direction to pull up the suspension tool 15. A second slider 17 is reciprocatively movable in the same direction as the first slider and arranged to be moved within a prescribed range of interval with respect to the first slider 13. A ratchet mechanism 18 restricts the second slider 17 to move only in the energizing direction of the first slider 13 by the relief cylinder 14. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a walking training apparatus having an unloading function of lifting a trainee upward by a lifting mechanism.

  When muscle strength weakens due to rest and aging due to fighting illness, the ability to maintain your body posture and support your weight declines. Postural maintenance and ability to perform movements are also impaired by motor dysfunction and sensory impairment resulting from stroke, spinal cord injury, and orthopedic disease. As a result, it is difficult to get up from the sitting position or to perform a safe sitting operation from the standing position, or to break the balance by breaking the knee when standing, or to fall without maintaining the sitting position on the chair (Western style toilet seat, etc.) Problems arise. In order to avoid such problems, training to maintain and recover muscular strength and motor functions that are going to decline is performed, but even those who have already lost their function so much that they can not support the whole weight by themselves A gait training device with an unloading function is used. The load-carrying device is a lifting mechanism that uses a motor, air cylinder, spring, weight, etc. as a drive source to reduce the weight load on the trainee. It is a device that pulls up.

  During gait training, the fall of the trainee is directly linked to a serious accident, so the caregiver is forced to be strained so that the trainee can assist whenever the trainee falls. When falling down, physical strength is required to hold and support the trainee. For this reason, conventionally, there is a walking training device in which a fall prevention function is added to the load-carrying device in order to completely avoid the accident of the trainee and to release the mental and physical burden of the assistant (for example, Patent Document 1 or 2).

JP 2005-342306 A JP 2007-229430 A

  The walking training devices described in Patent Documents 1 and 2 are effective in preventing a fall in a standing position by adjusting the fall preventing mechanism to an optimal height in a standing position according to the physical characteristics of the trainee. Is. However, the risk of falling when wearing a body holder such as a sling for a trainee in a standing position cannot be sufficiently avoided, and also during a standing posture or a standing motion However, there is a risk of falling, and the walking training apparatus described in Patent Documents 1 and 2 cannot prevent falling in a series of processes from standing posture holding to standing motion and further to standing posture holding. There was a problem.

  The present invention has been made paying attention to such a problem, and provides a walking training apparatus that can prevent a falling position during a series of actions related to sitting and standing up and standing and holding and walking. It is an object.

  In order to achieve the above object, a walking training apparatus according to the present invention is a walking training apparatus having an unloading function for lifting a trainee upward by a lifting mechanism, the suspension tool for supporting the trainee, It has an unloading cylinder which urges in the direction which pulls up a hanger, and a movement restriction means which restricts the downward movement of the hanger.

  The walking training apparatus according to the present invention is used by attaching a lifting tool to a trainee who performs walking training. If a hanger is attached to the trainee, the load-carrying force that the hanger supports the trainee can be adjusted by adjusting the pressure applied to the load-carrying cylinder according to the muscle strength and motor function of the trainee. adjust. When the trainee stands up from a sitting position or the like, the trainee can stand up on his own because the weight load of the trainee is reduced by the load-carrying force of the load-carrying cylinder.

  If the trainee falls over due to a knee break or the like when standing up, the entire weight of the trainee is applied to the suspension, and the suspension becomes unsupported by the load-carrying cylinder and tries to descend. At this time, since the movement limiting means limits the downward movement of the hanger, the descent of the hanger can be stopped. Thus, the walking training apparatus according to the present invention can prevent a fall during the standing-up motion. For this reason, the training to stand up by oneself can be performed without the assistance of a helper.

  In the walking training apparatus according to the present invention, when the trainee stands up, the movement restricting means restricts the downward movement of the suspension, so that the suspension is maintained at the optimum height of the trainee. The For this reason, the fall at the time of walking training after standing up can also be prevented. As described above, the walking training apparatus according to the present invention can easily and safely perform position adjustment for preventing overturning during walking training without the assistance of an assistant. Further, since it is not necessary to use expensive sensors and control devices, it is possible to reduce capital investment and maintenance costs.

  In addition, it is preferable that the walking training apparatus according to the present invention includes a releasing unit that releases the exercise limiting unit in order to return from a standing position to a sitting position after walking training. The release means is preferably composed of a wireless device that can be easily operated even when the assistant supports the trainee. The movement limiting means can be constituted by a one-way clutch or the like in addition to the ratchet mechanism.

  The walking training apparatus according to the present invention includes a support frame, a first slider, a wire, and a second slider, the first slider includes a pulley, and is perpendicular to the rotation axis of the pulley with respect to the support frame. One end of the wire is attached to the suspension through the pulley to suspend the suspension, the other end is attached to the support frame, and the load-carrying cylinder is extendable. The first slider is connected to the support frame and the first slider and biases the first slider in a direction in which the lifting tool is pulled up, and the second slider is configured to bias the first slider with respect to the support frame. Reciprocating in the same direction as the first slider, and is provided to be movable within a predetermined range with respect to the first slider. Preferably comprises a ratchet mechanism to limit only the movement in the direction for urging the first slider.

  In the case of a configuration having this support frame or the like, since the support force by the load-carrying cylinder is applied from the wire to the suspension device via the pulley of the first slider to reduce the weight load on the trainee, You can stand up or walk on your own without the assistance of an assistant. Further, the ratchet mechanism restricts the second slider to only the movement in the direction in which the load-carrying cylinder biases the first slider, that is, the direction in which the lifting tool is lifted upward, and the movement amount of the first slider is the second amount. Since it is limited within a predetermined interval with respect to the slider, the sliding range of the first slider with respect to the support frame when the hanger moves downward can be limited. For this reason, when the trainee falls over due to a knee break or the like when standing up or walking, the entire weight of the trainee is applied to the suspension, and the suspension is lowered by being unable to be supported by the load-carrying cylinder. The first slider slides by being pulled. At this time, since the slide range of the first slider is limited within a predetermined interval, the first slider can stop within the slide range, and the descent of the hanger can be stopped. For this reason, the predetermined interval between the first slider and the second slider should be set in advance within a range where the trainee does not fall to the floor, or within a range where a large impact is not applied to the body when the fall is stopped. Thus, it is possible to safely prevent the trainee from falling.

  The configuration having the support frame or the like can be used as a training device for standing up from a chair when combined with a chair, and can also be used as a walking training device when combined with a treadmill. As a walking training apparatus, a rail may be provided in the path | route which a to-be-trained person walks, and the support frame may be provided so that a movement along the rail is possible. In this case, the trainee can be trained to walk along the rail. Moreover, it is preferable that the 2nd slider is connected to the 1st slider via buffer members, such as a spring, so that predetermined spacing may be maintained with respect to the 1st slider. In this case, when the trainee is about to fall, the trainee is given a restoring force to assist in avoiding the fall, or soften the impact applied during the fall and prevent the trainee from being injured. . In the present invention, “wire” refers to a wire that can be hung on a pulley and can support a hanging tool, and includes, for example, a rope and a belt.

  In the walking training apparatus according to the present invention, the ratchet mechanism includes a rack, a pinion, a rotating disk, an eccentric cam, and a release means, and the rack is provided on the support frame along a moving direction of the second slider. The pinion is rotatably fixed to the second slider so that the pinion meshes with the rack as the second slider moves and rotates along the rack. The rotating disk is coaxial with the pinion. The eccentric cam is rotatably provided with the pinion, and the eccentric cam is fixed to the second slider along with the rotating disk so as to rotate in contact with the rotating disk, and the load-carrying cylinder supports the first slider. When the second slider moves in a direction opposite to the biasing direction, rotation of the rotating disk rotates in a direction of pushing the rotating disk to fix the rotation of the rotating disk. Cormorant is configured, the releasing means may be releasably structure contact between the rotating disk and the eccentric cam.

  In the case of the configuration having the eccentric cam or the like, the ratchet mechanism can be configured with a relatively simple configuration, and the cost of capital investment and maintenance can be reduced. Since the eccentric cam is used for the ratchet mechanism, the second slider can be fixed to the optimal position steplessly with respect to the support frame. Further, since there is no meshing between the ratchet gear and the pawl, mechanical noise caused by the ratchet mechanism when the second slider is moved can be suppressed, and the trainee can be prevented from becoming uneasy due to the noise. .

  ADVANTAGE OF THE INVENTION According to this invention, the walk training apparatus which can prevent the fall in a series of operation | movement regarding a standing position, standing up from a sitting position, standing position holding, and walking can be provided.

It is a perspective view which shows the walking training apparatus of embodiment of this invention. It is a perspective view which shows the whole picture of the support frame of the walking training apparatus shown in FIG. It is the perspective view which expanded a part of the load-carrying mechanism and fall prevention mechanism of the walking training apparatus shown in FIG. It is a perspective view which shows the ratchet mechanism of the walking training apparatus shown in FIG. It is a perspective view which shows the eccentric cam of the ratchet mechanism of the walking training apparatus shown in FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
1 to 5 show a walking training apparatus according to an embodiment of the present invention.
As shown in FIGS. 1 to 5, the walking training apparatus 10 includes a gantry 11, a support frame 12, a first slider 13, an unloading cylinder 14, a lifting tool 15, a wire 16, a second slider 17, and a ratchet mechanism 18. Have. In the walking training apparatus 10, the first slider 13, the load-carrying cylinder 14, the lifting tool 15, and the wire 16 form a load-carrying mechanism, and the second slider 17 and the ratchet mechanism 18 form a fall prevention mechanism.

As shown in FIG. 1, the gantry 11 is formed in a gate shape in which a plurality of scaffolding pipes are assembled in a frame shape and a support frame is mounted on the upper part.
As shown in FIGS. 1 to 3, the support frame 12 is formed in a rectangular frame shape, and is arranged in parallel with fixing plates 21 a and 21 b provided at both ends so as to be fixed to the gantry 11 and fixing plates 21 a and 21 b at both ends. It has a pair of beam members 22a and 22b that are bridged. The support frame 12 has the slide guide rail 23 provided along the beam material 22a on one beam material 22a. The support frame 12 has a pulley 24 provided on one fixed plate 21a so as to be rotatable about a horizontal axis perpendicular to the beam members 22a and 22b.

  As shown in FIGS. 1 to 3, the first slider 13 is provided so as to reciprocate on the slide guide rail 23 by being urged by the load-carrying cylinder 14. The first slider 13 has a pulley 25 provided so as to be rotatable about a vertical axis. The first slider 13 can reciprocate in the direction perpendicular to the rotation axis of the pulley 25 with respect to the support frame 12.

  As shown in FIGS. 1 to 3, the load-carrying cylinder 14 is composed of a low-friction air cylinder configured such that the expansion / contraction force can be adjusted by a pressure regulating valve or the like, and the distance between both ends can be expanded and contracted. The load-carrying cylinder 14 has one end fixed to the first slider 13 and the other end fixed to one fixing plate 21a of the support frame 12 to connect them. The load-carrying cylinder 14 is configured to urge the first slider 13 in a direction away from the one fixed plate 21 a of the support frame 12. The load-carrying cylinder 14 may be configured to be able to adjust the load by controlling a pressure reducing valve, a precision pressure reducing valve, or an electropneumatic converter by operating a remote control such as an infrared type.

  As shown in FIGS. 1 and 2, the hanger 15 has an elongated cylindrical shape, and has a hanger 26 at the center in the length direction. Moreover, the hanger 15 has the ring-shaped mounting part 27 for passing the sling attached to a trainee at both ends.

  As shown in FIGS. 2 and 3, one end of the wire 16 is attached to the hanging portion 26 of the hanger 15 via the pulleys 24 and 25, and the other end is attached to one fixing plate 21 a of the support frame 12. ing. The wire 16 suspends the suspending tool 15, and is attached so as to reach the support frame 12 by being wound in order of the pulley 24 and the pulley 25 from the suspending tool 15.

  As a result, the load-carrying cylinder 14 is urged in the direction in which the first slider 13 is separated from the one fixed plate 21a of the support frame 12, that is, in the direction in which the hanger 15 is pulled up. In addition, the walking training apparatus 10 is configured to attach a sling attached to the trainee to the mounting portion 27 of the hanger 15 and lift the trainee upward by the hanger 15 to support it. The load-carrying cylinder 14 can adjust the force with which the lifting tool 15 supports the trainee.

  As shown in FIGS. 1 to 3, the second slider 17 has a rectangular frame shape, is supported by the beam members 22 a and 22 b of the support frame 12, and reciprocates along the slide guide rail 23. Is provided. Thus, the second slider 17 can reciprocate in the same direction as the first slider 13 with respect to the support frame 12. The second slider 17 has the first slider 13 disposed inside the rectangular frame, and supports the first slider 13 at a predetermined position by a coil spring 28. The second slider 17 is connected to the first slider 13 by a coil spring 28 so as to be movable within a rectangular frame relative to the first slider 13. The second slider 17 has a rubber stopper 29 on the frame on the side of the one fixed plate 21 a of the support frame 12 in order to reduce the impact caused by the collision with the first slider 13.

  As shown in FIGS. 3 and 4, the ratchet mechanism 18 includes a rack 30, a pinion 31, a rotating disk 32, an eccentric cam 33, and a release means 34. The rack 30 is provided on the other beam member 22 b of the support frame 12 along the beam member 22 b, that is, along the moving direction of the second slider 17. The pinion 31 is rotatably fixed to the second slider 17. The pinion 31 is provided so as to rotate on the rack 30 along the rack 30 while being engaged with the rack 30 in accordance with the movement of the second slider 17. The rotating disk 32 is fixed on the same axis as the pinion 31 and is provided on the second slider 17 so as to be rotatable together with the pinion 31.

  The eccentric cam 33 is fixed to the second slider 17 alongside the rotating disk 32 so as to be rotatable about an axis parallel to the rotating axis of the rotating disk 32. As shown in FIG. 5, the eccentric cam 33 has an arc-shaped peripheral edge, and one end 35 a of the peripheral edge is formed at a longer distance from the rotation center than the other end 35 b of the peripheral edge. From 35a to the other end 35b, a smooth curved shape is formed so that the distance from the rotation center is gradually shortened. As shown in FIG. 3, the eccentric cam 33 is provided such that one end 35 a of the peripheral portion is upward and the other end 35 b of the peripheral portion is downward. The eccentric cam 33 is pulled by the spring 36 in a direction in which the other end 35b of the peripheral edge moves downward so as to always rotate in contact with the rotary disk 32.

  When the second slider 17 moves in a direction opposite to the direction in which the load-carrying cylinder 14 urges the first slider 13, that is, in the direction of the one fixed plate 21 a of the support frame 12, the eccentric cam 33 The rotation of the rotating disk 32 is locked by rotating downward by friction due to rotation and pressing the rotating disk 32 on the one end 35a side of the peripheral edge. Further, the eccentric cam 33 rotates the rotating disk 32 when the second slider 17 moves in the direction in which the load-carrying cylinder 14 biases the first slider 13, that is, in the direction of the other fixed plate 21 b of the support frame 12. And the other end 35b side of the peripheral edge is in contact with the rotating disk 32, so that the rotating disk 32 rotates smoothly.

  Thereby, the ratchet mechanism 18 is configured to limit the second slider 17 only to movement in the direction in which the load-carrying cylinder 14 urges the first slider 13, that is, in the direction in which the lifting tool 15 is pulled up. Thereby, the ratchet mechanism 18 restricts the downward movement of the hanger 15. Note that a one-way clutch may be used instead of the ratchet mechanism 18.

  The release means 34 is composed of a pneumatic cylinder operated wirelessly, and is fixed to the second slider 17. The release means 34 rotates the eccentric cam 33 upwardly against the bias of the spring 36 due to contraction of the cylinder and pulls it away from the rotating disk 32. Further, the cylinder extends to contact the tip of the cylinder with the eccentric cam 33. And only the tension of the spring 36 is configured to press the eccentric cam 33 against the rotating disc 32. The release means 34 is configured to be able to release the contact between the eccentric cam 33 and the rotating disc 32 by rotating the eccentric cam 33 upward on the side opposite to the biasing force of the spring 36 when receiving the release signal wirelessly. ing.

Next, the operation will be described.
The walking training apparatus 10 is used by attaching a lifting tool 15 to a trainee who performs toilet operation or walking training. If the hanger 15 is attached to the trainee, the hanger 15 supports the trainee by adjusting the pressure applied to the load-carrying cylinder 14 according to the muscular strength and exercise function of the trainee. Adjust the load. When the trainee stands up from a sitting position or the like because the support force by the load-carrying cylinder 14 is applied from the wire 16 to the suspension 15 via the pulley 25 of the first slider 13 to reduce the weight load on the trainee. The trainee can stand up by himself. Further, since the load on the trainee is reduced by the load-carrying cylinder 14 during walking, the trainee can walk on his own.

  In the walking training apparatus 10, the ratchet mechanism 18 restricts the second slider 17 to movement only in the direction in which the load-carrying cylinder 14 biases the first slider 13, that is, in the direction in which the lifting tool 15 is lifted upward. Since the movement amount of the first slider 13 is limited within a predetermined interval with respect to the second slider 17, the sliding range of the first slider 13 relative to the support frame 12 when the hanger 15 moves downward may be limited. it can. For this reason, when the trainee starts to fall due to a knee break or the like when standing up or walking, the entire weight of the trainee is applied to the suspension tool 15 and cannot be supported by the load-carrying cylinder 14, and the suspension tool 15 is lowered. The first slider 13 is slid by being pulled by the hanger 15. At this time, since the slide range of the first slider 13 is limited within a predetermined interval, the first slider 13 stops within the slide range, and the descent of the hanger 15 can be stopped. For this reason, the predetermined interval between the first slider 13 and the second slider 17 is set in advance so that the trainee does not fall down to the floor, or in a range where a large impact is not applied to the body when the fall is stopped. By setting it, it is possible to safely prevent the trainee from falling. As described above, the walking training apparatus 10 can prevent a falling from a standing posture or standing while standing or standing or standing. For this reason, the trainee can perform training to stand up or walk on his own without the assistance of an assistant. In addition, the caregiver is free from mental tension in preparation for the unexpected fall of the trainee.

  The walking training apparatus 10 can reduce the impact caused by the collision between the second slider 17 and the first slider 13 when the trainee falls by the rubber stopper 29, and the trainee can be injured. Can be prevented. In addition, since the eccentric cam 33 is used for the ratchet mechanism, the second slider 17 can be fixed to the support frame 12 at the optimum position in a stepless manner. In addition, since there is no meshing between the ratchet gear and the pawl, mechanical noise caused by the ratchet mechanism 18 when the second slider 17 is moved can be suppressed, and the trainee can be prevented from becoming uneasy due to the noise. Can do. Since the first slider 13 can move within a predetermined interval with respect to the second slider 17, even if the trainee descends slightly during walking, the fall prevention function does not work. For this reason, the trainee can be allowed to move up and down somewhat by walking, and training can be performed with a natural walking sensation.

  The gait training device 10 is a ratchet mechanism mounted on the second slider 17, when the trainee stands up, the second slider 17, which is a fall prevention mechanism, follows and slides according to the standing height of the trainee. Since the downward movement of the hanger 15 is restricted by 18, the hanger 15 can always be maintained at the optimum height of the trainee. For this reason, position adjustment for prevention of falling during walking training can be easily and safely performed without the intervention of an assistant. Since the ratchet mechanism 18 has a relatively simple configuration and does not use expensive sensors and control devices, it is possible to reduce capital investment and maintenance costs.

  The gait training device 10 can release the ratchet mechanism 18 by sending a release signal to the release means 34 using an infrared wireless switch or the like. After the walking training, the assistance person releases the ratchet mechanism 18 while supporting the trainee, and returns to the sitting position from the standing position. At this time, even when the assistant is supporting the trainee, the assistant can easily release the ratchet mechanism 18 by operating a wireless switch or the like with one hand. Thus, the walking training apparatus 10 has high safety when returning the trainee to a sitting position or the like after walking training. The walking training apparatus 10 may be configured to lock the ratchet mechanism 18 again by operating a wireless switch as necessary.

  The gait training device 10 selects the spring constant of the coil spring 28 and controls the load-carrying cylinder 14 to increase the load-carrying load according to the amount of descent when the hanger 15 is lowered, thereby helping to recover from the falling tendency. It may be configured such that when the tool 15 is raised, the unloading load is reduced and the trainee's force can be further extracted.

DESCRIPTION OF SYMBOLS 10 Walking training apparatus 11 Base 12 Support frame 13 1st slider 14 Unloading cylinder 15 Lifting tool 16 Wire 17 2nd slider 18 Ratchet mechanism 21a, 21b Fixing plate 22a, 22b Beam material 23 Slide guide rail 24, 25 Pulley 26 Hanging lower part 27 Mounting portion 28 Coil spring 29 Stopper 30 Rack 31 Pinion 32 Rotating disk 33 Eccentric cam 34 Release means 35a One end of the peripheral edge 35b The other end 36 of the peripheral edge 36 Spring

Claims (3)

A walking training device having an unloading function of lifting a trainee upward by a lifting mechanism,
A suspension that supports the trainee,
An unloading cylinder that urges the lifting tool in the direction of pulling up;
Movement limiting means for limiting the downward movement of the hanger;
A walking training device characterized by comprising: A support frame, a first slider, a wire, and a second slider;
The first slider has a pulley, and is provided so as to be capable of reciprocating in a direction perpendicular to the rotation axis of the pulley with respect to the support frame,
One end of the wire is attached to the suspension tool via the pulley and the suspension tool is suspended, and the other end is attached to the support frame,
The load-carrying cylinder is extendable and connected to the support frame and the first slider, and has a configuration for urging the first slider in a direction in which the lifting tool is pulled up.
The second slider is reciprocally movable in the same direction as the first slider with respect to the support frame, and is provided to be movable within a predetermined range with respect to the first slider.
The movement limiting means comprises a ratchet mechanism that limits the second slider to only movement in a direction in which the load-carrying cylinder biases the first slider.
The walking training apparatus according to claim 1, wherein The ratchet mechanism has a rack, a pinion, a rotating disk, an eccentric cam, and a release means,
The rack is provided on the support frame along a moving direction of the second slider;
The pinion is rotatably fixed to the second slider so that the pinion meshes with the rack as the second slider moves and rotates along the rack.
The rotating disk is provided coaxially with the pinion and rotatably with the pinion,
The eccentric cam is fixed to the second slider along with the rotating disk so as to rotate in contact with the rotating disk, and the load-carrying cylinder is in a direction opposite to the direction in which the first slider is urged. When the second slider moves, it is configured to fix the rotation of the rotating disk by rotating in the direction of pushing the rotating disk by the rotation of the rotating disk,
The release means is configured to be able to release contact between the eccentric cam and the rotating disk,
The walking training apparatus according to claim 2, wherein

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