JP2011144909A - Guide mechanism and walk assisting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a guide mechanism or a walk assisting device using the guide mechanism adapted to improve the durability of a rolling surface of a rotation body in a guide groove hardly increasing weight. <P>SOLUTION: The guide mechanism includes a guide rail (a guide body) 32 formed with the guide groove 320 inside, and a slider (a movable body) movably engaged with the guide groove through a roller (the rotation body). The guide rail is manufactured from a light metal material (e.g., an aluminum alloy material), and a plate 70 made of a metal material (e.g., stainless steel material) higher in hardness than the light metal material is bonded to the guide groove. The walk assisting device includes a support member that can support a user, and a leg link having a first link and a second link connected through a joint part. In the walk assisting device, an actuator is operated to relatively displace the first link and the second link to thereby generate an assist force for supporting the user's load, and the guide mechanism is used for the joint part for connecting the support member to the leg link. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a guide mechanism and a walking assist device using the guide mechanism.

  In recent years, for example, a technique described in Patent Document 1 below is known as the walking assist device.

  In the walking assist device described in Patent Document 1, a support member capable of supporting a user and transmitting a user's load, a shoe part capable of accommodating a user's foot, and a first guide mechanism are provided. A first link (thigh link) connected to the support member via the joint portion so as to be swingable about a swing fulcrum, and a second joint portion connected to the shoe portion and corresponding to the knee joint. A leg link having a second link (lower leg link) connected to the first link; and an actuator connected to the first link and the second link; and when the user is supported by the support member, The first link and the second link are operated to move relative to each other to generate an assist force that supports at least a part of the user's load, thereby assisting the user's walking.

  The guide mechanism has a circular arc shape when viewed from the side, a guide body in which a substantially C-shaped guide groove is formed inside, and a movable body that is movably engaged with the guide groove via a rotating body. The guide body is fixed to the support member, while the movable body is fixed to one end of the leg link, whereby the leg link is connected to the support member.

JP 2007-20909 A

  The walking assist device described in Patent Document 1 is preferably manufactured from a light metal material such as an aluminum alloy including a guide mechanism for weight reduction. However, since the movable body engaged with the guide groove frequently moves while rolling the rotating body, the durability of the rolling surface of the rotating body of the guide groove is sufficiently ensured with a light metal material such as an aluminum alloy. It becomes difficult. On the other hand, if the guide mechanism or the like is made of a high hardness iron material in consideration of durability, the weight increases.

  Accordingly, the object of the present invention is to solve the above-mentioned problems and to improve the durability of the rolling surface of the rotating body of the guide groove without substantially increasing the weight, or a walking assist device using the same. Is to provide.

  In order to solve the above-described problems, the present invention includes a guide body in which a guide groove is formed and a movable body that is movably engaged with the guide groove via a rotating body. In the guide mechanism, the guide body is manufactured from a light metal material, and a plate made of a metal material having higher hardness than the light metal material is bonded to the guide groove.

  In the guide mechanism according to claim 2, the guide body has an arc shape in a side view, the guide groove has a substantially C-shape in a cross-sectional view, and the plate has substantially the same shape as the guide groove. Configured.

  In the guide mechanism according to a third aspect of the present invention, the plate is configured such that it can be divided in the width direction.

  In the guide mechanism according to a fourth aspect of the present invention, the plate is bonded to the guide groove via an adhesive.

  6. The guide mechanism according to claim 5, wherein the plate is disposed in the guide groove via the adhesive, and then heated at a predetermined temperature for a predetermined time to melt the adhesive, thereby the guide groove. It was comprised so that it might adhere to.

  In the walking assist device according to claim 6, the support member that supports the user and can transmit the user's load, the shoe portion that can accommodate the user's foot, and the first guide mechanism. A first link coupled to the support member via a joint portion so as to be pivotable about a pivot fulcrum and a shoe portion via a second joint portion, while being coupled to the shoe portion via a third joint portion. A leg link having a second link coupled to the first link; and an actuator coupled to the first link and the second link, wherein the actuator is operated when supported by the support member. Thus, the first link and the second link are relatively displaced, thereby generating an assist force that supports at least a part of the user's load to assist the user's walking, and the guide mechanism is fixed to the support member. Guide body and one end of the leg link In the walking assist device comprising a movable body fixed, the guide mechanism is constructed as consisting of the guide mechanism according to any of claims 1 to 5.

  According to a first aspect of the present invention, there is provided a guide mechanism comprising a guide body having a guide groove formed therein and a movable body movably engaged with the guide groove via a rotating body. The guide body is made of a light metal material. Since it is constructed, the guide groove, more specifically, the surface (rolling surface of the rotating body) has a higher hardness than the light metal material, in other words, a plate made of a highly durable metal material is adhered. By adhering a plate made of a metal material having a hardness higher than that of a light metal material, the material of the surface of the guide groove can be changed, so that the durability of the surface of the guide groove can be improved without substantially increasing the weight. it can.

  In the guide mechanism according to claim 2, since the guide body has an arc shape in side view, the guide groove has a substantially C shape in cross section, and the plate has substantially the same shape as the guide groove, In other words, the guide body has an arc shape that makes it difficult to mount the plate (compared to a straight rod shape, etc.), and the guide groove also has a completely open shape (such as a U-shape in cross section). Even when a difficult C-shape is present, the plate is configured to have substantially the same shape as the guide groove, and more specifically, after applying, for example, an adhesive material to the guide groove. It is sufficient that the plate is inserted and bonded from the end, and the plate is easily bonded.

  In the guide mechanism according to claim 3, since the plate is configured such that it can be divided in the width direction, in addition to the above-described effects, for example, among the shapes of the plate exhibiting a substantially C shape like the guide groove, It is also possible to divide and insert the both side surfaces and the bottom surface side separately, and since it is sufficient if the shape is substantially the same as the shape of the guide groove, strict dimensional control of the shape of the plate becomes unnecessary.

  In the guide mechanism according to the fourth aspect, since the plate is configured to be bonded to the guide groove via an adhesive, the plate can be securely fixed to the guide body, and the adhesive can be used as an adhesive rather than the guide body or the plate. By using a material having excellent elasticity, for example, an epoxy-based adhesive, it is possible to reduce stress acting on the guide body from the movable body.

  Furthermore, compared with the case where normal surface treatment is performed without using a plate, the thickness of the plate can be made larger than the film thickness of the surface treatment. That is, when the adhesive is more elastic than the plate, the plate is required to have a strength higher than a predetermined level, but the required strength can be ensured by increasing the thickness of the plate.

  In the guide mechanism according to claim 5, the plate is disposed in the guide groove via the adhesive, more specifically, on the rolling surface of the rotating body, and then the plate is heated at a predetermined temperature for a predetermined time. Since it is configured to be bonded to the guide groove by being melted, in addition to the above-described effects, it becomes easier to bond the plates.

  In the walking assist device according to claim 6, the support member that supports the user and can transmit the user's load, the shoe portion that can accommodate the user's foot, and the first guide mechanism. The first link is connected to the support member via the joint portion so as to be swingable about the swing fulcrum, and is connected to the shoe portion via the second joint portion, while the first link is connected via the third joint portion. A leg link having a second link coupled to the first link and an actuator coupled to the first link and the second link, and when the user is supported by the support member, the actuator is operated to The second link is relatively displaced, thereby generating an assist force that supports at least a part of the user's load to assist the user's walking, and one end of the guide body and the leg link in which the guide mechanism is fixed to the support member Walking assist device comprising a movable body fixed to the body In this case, since the guide mechanism is constituted by the guide mechanism according to any one of claims 1 to 5, the durability of the rolling surface of the rotating body of the guide groove can be improved without substantially increasing the weight. At the same time, the user's walking can be effectively assisted.

It is a perspective view of the walk auxiliary device using the guide mechanism concerning the example of this invention. It is a side view of the walking assistance apparatus shown in FIG. It is a front view of the walking assistance apparatus shown in FIG. It is a perspective view of the guide rail shown in FIG. FIG. 2 is a perspective view of a guide body in a state where a plate is bonded in the guide mechanism shown in FIG. 1 and the like. FIG. 6 is a perspective view of a plate when the guide body is seen through in the guide mechanism shown in FIG. 5. It is an expanded sectional view of the guide body shown in FIG. It is sectional drawing of the guide body similar to FIG. 7 which shows the modification of a plate.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS A mode for carrying out a guide mechanism according to the invention and a walking assist device using the same will be described below with reference to the accompanying drawings.

  1 is a perspective view of a walking assist device using a guide mechanism according to an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a front view thereof, and FIG. 4 is a perspective view of a guide rail shown in FIG. .

  Referring to FIG. 1 to FIG. 4, the symbol D indicates a walking assistance device, and the walking assistance device D supports the user by sitting (stretching) so that the user (person) P straddles it. Provided between a support member (load transmission member) 10 capable of transmitting a load, a pair of left and right shoe portions 12 to be attached to the left and right foot portions of a user, and the support member 10 and a pair of left and right shoe portions 12. A pair of left and right leg links 14 and a drive mechanism 16 are provided, and are attached to the lower half of the user P via a belt (not shown) provided on the support member 10 to assist walking.

  The left and right leg links 14 include a first link (thigh link) 22 connected to the support member 10 via a first joint portion 20 including a guide mechanism G (corresponding to a hip joint in human terms), and a shoe portion. 12 is connected to the second link (crus link) 26 connected via the second joint portion 24 (corresponding to an ankle joint in humans), the first link 22 and the second link 26 (human A third joint 30 corresponding to a knee joint).

  The first link 22 and the second link 26 of the leg link 14 are connected to the drive mechanism 16, and the first link 22 and the second link 26 are more accurately centered around the third joint portion 30 by the drive mechanism 16. The three joint portions 30 are relatively displaced (driven) around the joint shaft 30a.

  The support member 10 includes a saddle-shaped seat portion 10a on which the user P can freely straddle, a support frame 10b that is disposed adjacent to the seat portion 10a and supports the seat portion 10a, and a support frame 10b of the seat portion 10a. A waist rest 10c that rises beyond the rear end (as viewed from the user P) and can contact the waist of the user P is provided. A gripping portion (grip) 10d is attached to the waist pad portion 10c so that the user P can grip it.

  The seat portion 10a is manufactured from a cushion material, and the support frame 10b and the waistrest portion 10c are manufactured from a material having higher rigidity than the seat portion 10a.

  The guide mechanism G provided in the first joint portion 20 that connects each leg link 14 and the support member 10 is related to a guide rail (guide body) 32 having an arc shape in a side view fixed to the support member 10, and the guide rail 32. And a slider (movable body) 34 fixed to one end of each leg link 14.

  Although only the left guide rail 32 is shown in FIG. 2, the guide rail 32 and the slider 34 are also provided on the right side as shown in FIG. The guide rail 32 and the slider 34 are manufactured from an aluminum alloy material (light metal material).

  As shown in FIG. 4, a plurality (four) of rollers (rotating bodies) 36 are connected to the slider 34 by being connected by a connecting body 36a. The roller 36 is rotatably accommodated in a guide groove 320 formed in the guide rail 32 (opening toward the leg link 14). That is, the slider 34 is movably engaged with the guide rail 32 as indicated by an arrow in FIG. 2 when the roller 36 is in contact with the surface (rolling surface) of the guide groove 320 and rolls (rotates). .

  As a result, the leg link 14 is configured to be swingable in the longitudinal direction of the support member 10 around the center of curvature 32a of the guide rail 32 (as a swing fulcrum). Further, the guide rail 32 is pivotally supported on the waist pad 10 c of the support member 10 by a support shaft 38 disposed in the longitudinal direction of the support member 10, and swings in the lateral (left and right) direction of the support member 10 around the support shaft 38. It is configured to move freely.

  As described above, the leg link 14 is configured to be swingable in the front-rear direction (in the progress of the user P) with the center of curvature 32a of the guide rail 32 as a swing fulcrum. When the action point of the upper body load (weight) is shifted forward of the swinging fulcrum 32a and the support member 10 is tilted forward and downward, the swinging fulcrum 32a is positioned upward in the gravity direction of the support member 10, so The action point is displaced rearward below the swing fulcrum 32a, the distance in the front-rear direction between the swing fulcrum 32a and the load action point is reduced, and the rotational moment with respect to the support member 10 is also reduced.

  Next, when the load application point is displaced to just below the swing fulcrum 32a, the rotational moment acting on the support member 10 becomes zero, and the support member 10 is stabilized. Thus, since the support member 10 automatically converges to a stable state, the support member 10 does not shift in the front-rear direction at the crotch position of the user P.

  Further, since the guide rail 32 is configured to be swingable in the lateral direction (in the progress of the user P) via a swinging fulcrum (support shaft) 38, the leg link 14 can be swung in the lateral direction. The user P can freely rotate the leg.

  The shoe part 12 has a shoe 12a in which the foot part of the user P can be accommodated, and an L-shape (seen from the traveling direction of the user P) that is placed inside the shoe 12a and can be placed on the foot of the user P. A connecting member 12b made of a carbon material, and an insole 12c made of a rubber-like elastic material such as urethane rubber disposed on the bottom surface of the connecting member 12b. The second link 26 of each leg link 14 is connected to the connecting member 12b via the second joint portion 24 having a triaxial structure.

  The drive mechanism 16 includes an actuator (electric motor) 40 disposed near the tip of the first link 22, an output shaft 40b that decelerates and outputs the rotation of the actuator 40 with a speed reducer 40a (shown in FIG. 3), A rocker arm (drive crank arm) 42 fixed to the output shaft 40b, a driven crank arm 44 fixed to the second link 26 concentrically with the joint shaft 30a of the third joint portion 30, a rocker arm 42 and a driven crank arm 44 are provided. The connecting rod 46 is connected.

  That is, the first link 22 has a hollow structure, and the connecting rod 46 is accommodated therein. One end of the connecting rod 46 is pivotally connected to the rocker arm 42 at the pivot portion 46a, and the other end is pivotally coupled to the driven crank arm 44 at the pivot portion 46b.

  As described above, the first link 22 is specifically composed of a four-joint mechanism including the first link 22, the rocker arm 42, the driven crank arm 44, and the connecting rod 46. A battery case 22 a is attached to the first link 22, and a battery 50 is housed inside the first link 22 to supply operating power to the actuator 40 and the like.

  Next, walking assist control for assisting the walking of the user P will be described.

  As shown in FIG. 2, a pair of front and rear uniaxial force sensors 60 are provided on the lower surface of the insole 12 c in the shoe portion 12, and a middle phalangeal joint (MP joint) portion and a heel portion of the foot of the user P Output corresponding to the load (pressure) acting on the second joint portion 24, and a biaxial force sensor 62 is incorporated in the second joint portion 24, and the force acting on the second joint portion 24 (the support member 10 and each leg link 14). Output corresponding to the force due to the weight of the weight.

  The outputs of the above-described sensors 60 and 62 are sent to a controller 64 housed in the support frame 10b of the support member 10. The controller 64 includes a microcomputer having a CPU, ROM, RAM, and input / output I / O, and executes assist control for generating an assist force that assists the user P in walking.

  That is, the controller 64 multiplies the preset assist force setting value by the ratio of the load of each foot to the total load acting on both feet of the user P calculated from the output of the force sensor 60, and thus The obtained product is set as a target value of the assist force to be generated at each leg link 14. For example, the set value of the assist force is 90 [N] when the load (weight) of the device D is 60 [N] and the assist force is 30 [N].

  In FIG. 2, the assist force is a line (hereinafter referred to as “reference line”) connecting a swing support point 32 a in the front-rear direction of the leg link 14 in the first joint portion 20 and a swing support point in the front-rear direction of the leg link 14 in the second joint portion 24. Therefore, the controller 64 detects the actual assisting force acting on the reference line L1 based on the output of the force sensor 62, and the detected actual assisting force. The operation of the drive mechanism 16 is controlled so that becomes a target value.

  More specifically, the controller 64 drives the actuator 40 of the drive mechanism 16 when the user P is seated and supported on the seat portion 10 a of the support member 10, so that the first link of the leg link 14 is connected via the connecting rod 46. The first link 22 and the second link 26 are displaced relative to each other about the joint axis 30a of the third joint portion 30 to generate a support force that supports at least a part of the load of the user P, that is, an assist force. Assist P walking.

  The assist force generated by the leg link 14 is transmitted to the trunk of the user P through the support member 10, and the load acting on the leg of the user P is reduced to assist walking. As the user P, a worker standing in a factory or the like is also scheduled.

  5 is a perspective view of the guide rail 32 in a state where the plate 70 is adhered in the guide mechanism G of the first joint unit 20 shown in FIG. 1 and the like, and FIG. 6 is a perspective view of the plate 70 when the guide rail 32 is seen through. 7 is an enlarged sectional view of the guide rail 32 of FIG.

  What is characteristic in this embodiment is that the guide rail 32 is manufactured from an aluminum alloy material (light metal material) in the guide mechanism G, and an SUS material (stainless steel material) having a higher hardness than the aluminum alloy material (light metal material) in the guide groove 320. This is configured such that the plate 70 made of a metal material is bonded.

  To explain this, since the surface of the guide groove 320 on which the roller 36 rolls is the inner surface of the guide rail 32, the surface treatment is also limited, and the film is processed to have a thickness sufficient to obtain sufficient hardness, in other words, durability. It is difficult to do. Furthermore, after the surface is treated, it is necessary to finish it, which is also difficult.

  On the other hand, if the guide rail 32 or the like is made of a material having high hardness such as iron, the weight increases. Accordingly, the present invention provides a guide mechanism G or a walking assist device D using the guide mechanism G that improves the durability of the surface of the guide groove 320 (the rolling surface of the roller 36) 320a without substantially increasing the weight. Provided.

  As shown in FIG. 5, the guide rail 32 has an arc shape when viewed from the side. The guide rail 32 has a length of about 300 mm, and has a width of 20 mm, a height of 20 mm, and a thickness of 3 mm, as shown in FIG. A fitting hole 32 b that fits with the support shaft 38 of the support member 10 is formed at the upper end of the guide rail 32.

  The guide groove 320 of the guide rail 32 has a substantially C shape in cross section, more precisely a rectangular shape. The plate 70 has substantially the same shape as the guide groove 320 and has a thickness of 0.5 mm or less.

  The mounting of the plate 70 will be described. First, as shown in FIG. 7, a sheet-like epoxy-based adhesive (made of a material having higher elasticity than the guide rail (guide body) 32 and the plate 70) is formed on the surface 320a of the guide groove 320. 72 is pasted (in other words, the adhesive 72 is applied). Next, the plate 70 is inserted from one end of the guide rail 32 and pushed into a predetermined position. 7 and the like, the thickness of the adhesive material 72 is exaggerated.

  Next, while pressing the plate 70 against the surface 320a of the guide groove 320, the plate 70 is heated at a predetermined temperature (for example, 120 ° C.) for a predetermined time (for example, 90 minutes). Thereby, the adhesive 72 is melted and the plate 70 is bonded and fixed to the surface 320a.

  As shown in FIG. 8, the plate 70 may be divided in the width direction. Specifically, the plate 70 may be divided into a side surface 70a and a bottom surface 70b. In that case, after the side surface 70a is inserted first and pushed to a predetermined position, the bottom surface side 70b is inserted.

  As described above, in this embodiment, the guide rail (guide body) 32 in which the guide groove 320 is formed, and the guide groove 320 are movably engaged with the guide groove 320 via the roller (rotary body) 36. In the guide mechanism G including the slider (movable body) 34, the guide rail (guide body) 32 is manufactured from a light metal material (for example, aluminum alloy material), and the guide groove 320, more specifically, the surface (roller). Since the plate 70 made of a metal material (for example, SUS material) having a higher hardness than the light metal material is bonded to the (rolling surface) (rotating body) 36a 320a, the hardness is higher than the light metal material, in other words, durability. By adhering the plate 70 made of a metal material having a high thickness, the material of the surface of the guide groove 320 (the rolling surface of the roller 36) 320a can be changed, and thus the weight is almost increased. And no, it is possible to improve the durability of the surface 320a of the guide groove 320.

  Further, the guide rail (guide body) 32 has a circular arc shape when viewed from the side, the guide groove 320 has a substantially C-shape when viewed in cross section, and the plate 70 has substantially the same shape as the guide groove 320. Therefore, in other words, the guide rail 32 has an arc shape that is difficult to mount the plate 70 (compared to a straight rod shape or the like), and the guide groove 320 is also completely mounted (such as a U-shape in a cross-sectional view). Even when it has a difficult C-shape (compared to the opened shape), since the plate 70 is configured to have substantially the same shape as the guide groove 320, an adhesive 72, for example, is formed on the surface 320a of the guide groove 320. After coating, it is sufficient that the plate 70 is inserted and bonded from the end, and the plate 70 can be easily bonded.

  Further, since the plate 70 is configured so as to be divided in the width direction, for example, in the shape of a plate having a substantially C shape like the guide groove 320, both the side surface side and the bottom surface side are divided separately. Insertion is also possible, and it is sufficient if the shape is substantially the same as the shape of the guide groove 320, so that strict dimension management of the shape of the plate is not necessary.

  Further, since the plate 70 is configured to be bonded to the guide groove 320 via the adhesive 72, the plate 70 can be securely fixed to the guide rail (guide body) 32, and the guide rail 32 or the like can be used as the adhesive 72. By using a material that is more elastic than the plate 70, for example, an epoxy-based adhesive, the stress acting on the guide rail 32 from the slider (movable body) 34 can be reduced.

  Furthermore, the thickness of the plate 70 can be made larger than the thickness of the surface treatment as compared with the case where the normal surface treatment is performed without using the plate 70. That is, when the adhesive 72 is more elastic than the plate 72, the plate 70 is required to have a strength higher than a predetermined level, but the necessary strength can be ensured by increasing the thickness of the plate.

  Further, after the plate 70 is disposed in the guide groove 320 via the adhesive material 72, the plate 70 is heated at a predetermined temperature (for example, 120 ° C.) for a predetermined time (for example, 90 minutes) to melt the adhesive material 72. Since it is configured to be bonded to the guide groove 320, in addition to the effects described above, the plate 70 can be more easily bonded.

  In addition, the support member 10 supports the user P and transmits the load, the shoe portion 12 that can accommodate the foot of the user P, and the first joint portion 20 including the guide mechanism G. It is connected to the shoe part 12 through a first link 22 and a second joint part 24 which are connected to a swinging fulcrum (curvature center 32 a) so as to be swingable, and via a third joint part 30. A leg link 14 having a second link 26 connected to the first link 22; and an actuator 40 connected to the first link 22 and the second link 26. When supported, the actuator 40 is operated to relatively displace the first link 22 and the second link 26, thereby generating an assist force that supports at least a part of the load of the user P to cause the user to walk. Assisting and guiding In the walking assist device D including a guide rail (guide body) 32 fixed to the support member 10 and a slider (movable body) 34 fixed to one end of the leg link 14, the guide mechanism G is claimed. Since the guide mechanism according to any one of Items 1 to 5 is configured, the durability of the surface 320a of the guide groove 320 can be improved with little increase in weight, and the user can walk effectively. Can assist.

  Although the guide mechanism according to the present invention has been described by taking the guide mechanism of the walking assist device as an example, the present invention is not limited to this, and can be applied to, for example, a vehicle or a training device having a structure like a unicycle.

  Moreover, although the aluminum material was shown as an example of a light metal material, magnesium, beryllium, etc. may be sufficient. Further, the walking assist device is not limited to the illustrated structure.

  D walking assist device, G guide mechanism, 10 support member, 10a seat portion, 10b support frame, 10c waist rest portion, 10d gripping portion, 12 shoe portion, 12a shoe, 12b connecting member, 12c insole, 14 leg link, 16 Drive mechanism, 20 1st joint part, 22 1st link, 24 2nd joint part, 26 2nd link, 30 3rd joint part, 32 guide rail (guide body), 320 guide groove, 320a surface (roller rolling surface) ), 32a Center of curvature (oscillation fulcrum), 34 Slider (movable body), 36 Roller (rotating body), 40 Actuator (electric motor), 40a Reducer, 40b Output shaft, 42 Rocker arm (drive crank arm), 44 Followed Crank arm, 46 connecting rod, 50 battery, 60 pressure sensor, 62 force sensor, 64 controller, 70 pcs 70a side surface, 70b bottom side, 72 adhesive

Claims (6)

  In a guide mechanism comprising a guide body in which a guide groove is formed and a movable body movably engaged with the guide groove via a rotating body, the guide body is manufactured from a light metal material, and the guide A guide mechanism characterized in that a plate made of a metal material having a hardness higher than that of the light metal material is bonded to the groove.   2. The guide mechanism according to claim 1, wherein the guide body has an arc shape in a side view, the guide groove has a substantially C shape in a sectional view, and the plate has a shape substantially the same as the guide groove.   The guide mechanism according to claim 2, wherein the plate is separable in the width direction.   The guide mechanism according to any one of claims 1 to 3, wherein the plate is bonded to the guide groove via an adhesive.   5. The plate is disposed in the guide groove through the adhesive, and then heated at a predetermined temperature for a predetermined time to melt the adhesive and adhere to the guide groove. The described guide mechanism.   A supporting member capable of supporting the user and transmitting the user's load, a shoe part capable of accommodating the user's foot, and a swing fulcrum on the supporting member via a first joint part comprising a guide mechanism. A first link that is swingably connected to the center, and a second link that is connected to the shoe part via a second joint part, and is connected to the first link via a third joint part. A leg link and an actuator connected to the first link and the second link are provided, and when the user is supported by the support member, the actuator is operated to relatively displace the first link and the second link. Therefore, an assist force that supports at least a part of the user's load is generated to assist the user's walking, and the guide mechanism is fixed to the guide body fixed to the support member and one end of the leg link. Walking aid consisting of a movable body In the walking assist device, characterized in that the guide mechanism consists of guide mechanism according to any of claims 1 to 5.

Images