JP2017035334A - Walking vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a walking vehicle capable of smoothly walking with a user.SOLUTION: A walking vehicle 10 walking with a user on the basis of an input from the user, includes: a pair of right leg part 30R and left leg part 30L; a lumbar part 20 including a right leg support part 22R that swingably supports the right leg part 30R, a left leg support part 22L that swingably supports the left leg part 30L, and a right frame 23R, a left frame 23L and a first connecting member 24 that connect the right leg support part 22R and the left leg support part 22L in the horizontal direction in front of the right leg support part 22R and the left leg support part 22L; and an input reception part 50 for receiving an input from the user.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a walker that walks with a user.

  2. Description of the Related Art Conventionally, a walking machine that does not require a driving source such as a motor and can move passively by alternately moving a pair of legs is known. 2. Description of the Related Art In recent years, a walking machine has been developed that uses the walking principle of such a walking machine to input a user's input such as pushing or tilting the walking machine (for example, Patent Document 1). And it has been proposed to use such a walking machine to assist the walking user and to rehabilitate the leg of the user.

International Publication No. 2014/196017

By the way, in the walking machine as described above, there is still room for improvement in that the user walks smoothly with the walking machine.
The present invention has been made in view of the above circumstances. The purpose is to provide a walking machine that can smoothly walk with the user.

Hereinafter, means for solving the above-described problems and the effects thereof will be described.
A walker that solves the above problems is a walker that walks with a user based on input from the user, and supports a pair of right and left legs and a swingable support for the right leg. A right leg support, a left leg support that swingably supports the left leg, and the right leg support in at least one of the front and rear of the right leg support and the left leg support. And a waist part having a connecting part for connecting the left leg support part in the left-right direction, and an input receiving part for receiving input from a user.

  According to the said structure, a walker can be made to walk by rocking | fluctuating a right leg part and a left leg part alternately by the input from a user. Here, in the above configuration, the connecting part connects the right leg supporting part and the left leg supporting part in front of or behind the right leg supporting part and the left leg supporting part. The user's body can be stored in the space formed between them. For this reason, when the user walks forward with the walker, the distance between the swing center of the leg with respect to the user's waist and the swing center of the leg with respect to the waist of the walker is shortened. The difference between the walking mode of the person and the walking mode of the walker is reduced. As a result, the user can smoothly walk with the walker.

  In the walker, the input receiving unit includes an arm support unit that supports a user's arm unit on at least one of the right side and the left side of the waist, and the arm support unit includes the right leg support unit and the right leg support unit. It is desirable to be provided at a position overlapping the left leg support portion in the front-rear direction.

  According to the above configuration, since the arm support portion is provided on at least one of the right side and the left side of the waist portion, the user deposits the weight of the user in the walker with one arm or both arms via the arm support portion. Thereby, the burden concerning a user's leg part can be reduced. In addition, when the arm support part is provided in front of the right leg support part and the left leg support part, the walking machine easily tilts forward when the user deposits his / her weight in the arm support part. On the other hand, when the arm support part is provided behind the right leg support part and the left leg support part, when the user deposits his / her weight in the arm support part, the walker easily tilts backward. In this regard, in the above configuration, since the arm support portion is provided at a position overlapping the right leg support portion and the left leg support portion in the front-rear direction, when the user deposits weight on the arm support portion, the walker is It is difficult to tilt back and forth, and the stability when the user walks with the walker can be increased.

It is desirable that the walking machine further includes auxiliary legs that are provided at the distal end with wheels contacting the rear side of the right leg and the left leg, and whose base end is non-rotatably connected to the waist. .
According to the said structure, since the wheel of an auxiliary | assistant leg part grounds back rather than a right leg part and a left leg part, when a user walks with a walker, it can suppress that a walker leans back. it can. In addition, by providing a wheel at the tip of the auxiliary leg, when the user walks with the walker, compared to when no wheel is provided at the tip of the auxiliary leg, the tip of the auxiliary leg. An increase in load due to friction between the road and the road surface can be suppressed.

  In the above walker, when the wheel rotates when walking forward, the first rotation direction is the first rotation direction, and when the rotation direction opposite to the first rotation direction is the second rotation direction, the wheel is It is desirable that the rotation in the first rotation direction is allowed, while the rotation in the second rotation direction is restricted.

  According to the above configuration, when the user walks forward with the walker, the wheel is allowed to rotate in the first rotation direction, and thus the user can walk with the walker. On the other hand, when a force that tilts the walker backward due to an input from the user is applied, the rotation of the wheel in the second rotation direction is restricted, so that the walker is tilted backward. The Therefore, the stability when the user walks with the walker can be further enhanced.

In the walker, it is preferable that the input receiving unit includes a seating unit on which a user can sit at a position overlapping the right leg support unit and the left leg support unit in the front-rear direction.
According to the said structure, the burden concerning a user's leg part at the time of a walk can be reduced by seating a user on a seating part. Further, since the seating part is provided at a position overlapping the right leg support part and the left leg support part in the front-rear direction, when the user walks with the walker while sitting on the seating part, the waist part of the user It is possible to prevent the swing center of the leg relative to the disengagement from the swing center of the leg relative to the waist of the walker.

The perspective view of a walker. The fragmentary sectional side view of the walking machine. The top view of the walking machine. The partial side view of the leg part of the walking machine. The side view of the walking machine in a walk with a user. The side view of a walking machine when a walk is interrupted with a user.

Hereinafter, an embodiment of a walking machine will be described with reference to the drawings.
As shown in FIG. 1, the walking machine 10 includes a waist 20, a pair of legs 30 (a right leg 30R and a left leg 30L), an auxiliary leg 40, and an input receiving unit 50. Yes.

  As shown in FIGS. 1 and 2, the lumbar part 20 swings the left leg part 30 </ b> L via the waist axis 21 and the right leg support part 22 </ b> R that supports the right leg part 30 </ b> R so as to be swingable via the waist axis 21. And a left leg support portion 22L that is movably supported. As shown in FIG. 1, the waist 20 includes a right frame 23R extending leftward from the right leg support 22R, a left frame 23L extending rightward from the left leg support 22L, a right frame 23R, and a left frame 23L. And a first connecting member 24 for connecting the two.

  As shown in FIG. 1, the right leg support 22R is provided on the right side of the waist 20 in the left-right direction, and the left leg support 22L is provided on the left side of the waist 20 in the left-right direction. Further, as shown in FIG. 2, the right leg support portion 22R is formed with an insertion hole 25 penetrating in the left-right direction into which the waist shaft 21 for supporting the right leg portion 30R is inserted. Similarly, although not shown, the left leg support portion 22L is formed with an insertion hole 25 penetrating in the left-right direction, into which the waist shaft 21 for supporting the left leg portion 30L is inserted.

  Further, as shown in FIGS. 2 and 3, the right leg support portion 22R and the left leg support portion 22L are provided with pins 26, 27 on the front lower side and the rear lower side of the insertion hole 25 and on the inner side in the left-right direction. Projectingly formed. The pins 26 and 27 limit the angular range in which the leg 30 can swing by contacting the leg 30 when the leg 30 swings.

  As shown in FIG. 1, the right frame 23 </ b> R is provided to make a pair in the vertical direction. The right frame 23R has one end connected to the right leg support 22R and the other end connected to the first connecting member 24. Further, the right frame 23R is curved forward right so as to go forward as it goes toward the center of the walking machine 10 in the left-right direction. For this reason, in the front-rear direction, the first connecting member 24 is disposed in front of the right leg support portion 22R (the center of the insertion hole 25 of the right leg support portion 22R).

  Similarly, the left frame 23L is provided so as to make a pair in the vertical direction. The left frame 23L has one end connected to the left leg support 22L and the other end connected to the first connecting member 24. Further, the left frame 23L is curved forward left so as to go forward as it goes toward the center of the walking machine 10 in the left-right direction. Therefore, in the front-rear direction, the first connecting member 24 is disposed in front of the left leg support portion 22L (the center of the insertion hole 25 of the left leg support portion 22L).

  Thus, the right frame 23R, the left frame 23L, and the first connecting member 24 connect the right leg support portion 22R and the left leg support portion 22L in the left-right direction in front of the right leg support portion 22R and the left leg support portion 22L. doing. In other words, the right frame 23R, the left frame 23L, and the first connecting member 24 are located in front of the center of the insertion hole 25 (= the swing center of the leg 30) of the right leg support 22R and the left leg support 22L. The right leg support 22R and the left leg support 22L are connected in the left-right direction. For this reason, the right frame 23R, the left frame 23L, and the first connecting member 24 are not arranged in the region between the right leg support portion 22R and the left leg support portion 22L. In this respect, in the present embodiment, the right frame 23R, the left frame 23L, and the first connecting member 24 correspond to an example of a “connecting portion”.

Next, the leg 30 (the right leg 30R and the left leg 30L) will be described with reference to FIG. 1, FIG. 2, and FIG.
As shown in FIG. 1, the leg 30 includes a thigh 31 that forms a base end portion of the leg 30, a crus 32 that forms a distal end of the leg 30, a thigh 31, and a crus And a knee joint portion 33 for connecting the portion 32 so as to bend and extend.

  As shown in FIG. 2, the upper end of the thigh 31 is provided with an insertion hole 311 penetrating in the left-right direction. The thigh 31 of the right leg 30R swings the axis of the lumbar 21 by inserting the lumbar shaft 21 inserted into the insertion hole 25 of the right leg support 22R into the insertion hole 311. The shaft can swing with respect to the right leg support portion 22R. Similarly, the thigh 31 of the left leg 30L is configured to swing the axis of the lumbar 21 by inserting the lumbar shaft 21 inserted into the insertion hole 25 of the left leg support 22L into the insertion hole 311. It can be swung with respect to the left leg support portion 22L as a moving shaft.

  Therefore, the center of the insertion hole 25 of the right leg support portion 22R is the center of the insertion hole 311 of the right leg portion 30R and the center CP of the waist shaft 21 to be inserted into the insertion holes 25 and 311. This is the swing center of the portion 30R. The center of the insertion hole 25 of the left leg support portion 22L is the center of the insertion hole 311 of the left leg portion 30L and the center CP of the waist shaft 21 that is inserted into the insertion holes 25 and 311. This is the rocking center of the portion 30L.

  As shown in FIG. 4, the lower end portion of the thigh 31 has a through hole 312 penetrating in the left-right direction and a contact portion having a contact surface 313 intersecting the longitudinal direction of the thigh 31. 314 and a contact portion 316 having a contact surface 315 are provided. The contact portion 314 is provided so as to protrude forward from the thigh 31 in a state where the contact surface 313 faces the crus 32, and the contact portion 316 has the contact surface 315 disposed on the crus. It is provided so as to protrude rearward from the thigh 31 in a state facing the portion 32.

  As shown in FIG. 4, the upper end of the crus 32 has a contact portion 323 having a through hole 321 penetrating and formed in the left-right direction and a contact surface 322 intersecting the longitudinal direction of the crus 32. A contact portion 325 having a contact surface 324. The contact portion 323 is provided so as to protrude forward from the crus 32 in a state where the contact surface 322 faces the thigh 31, and the contact portion 325 It is provided so as to protrude rearward from the crus 32 in a state facing the portion 31.

  Further, as shown in FIG. 1, a landing portion 326 that lands on a road surface (hereinafter also referred to as “road surface R”) is provided at the lower end portion of the crus 32. Here, the road surface R is a surface on which the leg 30 is landed (grounded) when the walking machine 10 walks, and may be a smooth road surface or a road surface having unevenness, It may be an uphill road surface or a downhill road surface.

  As shown in FIG. 4, the knee joint portion 33 includes a through hole 312 in the thigh 31, a through hole 321 in the crus 32, and a connecting shaft 331 inserted through both through holes 312 and 321. It consists of That is, as shown in FIG. 1, the knee joint portion 33 connects the lower end portion of the thigh portion 31 having a substantially I shape in front view with the upper end portion of the crus portion 32 having a substantially U shape in front view. The connecting shaft 331 is inserted through the through hole 312 of the thigh 31 and the through hole 321 of the crus 32 in a state of being sandwiched from both sides in the axial direction of the shaft 331. Thereby, the knee joint part 33 makes the thigh 31 and the crus 32 relatively rotatable with the axis of the connecting shaft 331 as the rotation axis.

  In the knee joint portion 33, the angle (flexion angle) at which the thigh 31 and the crus 32 can be rotated relative to each other is limited to a certain angle range as in the case of a human knee joint. Specifically, the abutment surface 313 of the thigh 31 and the abutment surface 322 of the crus 32 contact each other, so that the crus 32 is moved relative to the thigh 31 from the stretched state of the knee joint 33. It is restricted to rotate forward. Further, the abutment surface 315 of the thigh 31 and the abutment surface 324 of the crus 32 abut, so that the crus 32 is rearward with respect to the thigh 31 from the state where the knee joint portion 33 is extended. The rotation angle is limited to a certain angle (for example, 30 degrees).

Next, the auxiliary leg portion 40 will be described with reference to FIGS.
As shown in FIGS. 1 to 3, the auxiliary leg 40 includes an auxiliary frame 41 extending toward the lower rear side of the walking machine 10, a second connecting member 42 connected to the base end of the auxiliary frame 41, and A vertical frame 43 that connects the first connecting member 24 and the second connecting member 42 and a wheel 44 that is rotatably supported at the tip of the auxiliary frame 41 are provided.

  As shown in FIGS. 1 and 2, the auxiliary frame 41 is configured to include a straight portion 411 extending rearward and a bent portion 412 extending downward toward the rear. The second connecting member 42 and the vertical frame 43 connect the waist 20 and the auxiliary frame 41 so as not to be relatively displaced. Further, as shown in FIG. 1, the connecting position of the second connecting member 42 and the vertical frame 43 is a position below the first connecting member 24 in the vertical direction, and the knee joint portion of the leg portion 30. The position is higher than 33. For this reason, as shown in FIG. 2, the linear portion 411 of the auxiliary frame 41 connected to the second connecting member 42 is positioned below the center CP of the waist shaft 21 of the waist portion 20.

  As shown in FIG. 1, the wheel 44 is supported so as to be rotatable about the left-right direction as a rotation axis, and contacts the road surface R behind the right leg portion 30R and the left leg portion 30L. The wheel 44 is allowed to rotate in the first rotation direction R1, but is restricted from rotating in the second rotation direction R2, which is opposite to the first rotation direction R1. In addition, 1st rotation direction R1 is a rotation direction of the wheel 44 which rolls in the state which contacted the road surface R, when the walking machine 10 walks ahead. Such a wheel 44 may be realized by providing the wheel 44 with a ratchet that can rotate integrally with the wheel 44.

Next, the input reception unit 50 will be described with reference to FIGS.
As shown in FIG. 1, when the user uses the walking machine 10, the input receiving unit 50 includes a grip 51 that can be gripped by the user, a seat 52 that can be seated by the user, and a user's seat. A waist support portion 53 capable of supporting the waist portion.

  As shown in FIG. 1, the grip 51 is fixed to the right leg support 22R and the left leg support 22L on both outer sides of the right leg support 22R and the left leg support 22L. That is, in the present embodiment, the gripping part 51 is provided on the right side and the left side of the waist part 20, that is, on both sides of the waist part 20. In this respect, in the present embodiment, the grip portion 51 corresponds to an example of an “arm support portion”.

  In addition, the grip portion 51 has a rod shape whose longitudinal direction is the front-rear direction, and is disposed so as to overlap the right leg support portion 22R and the left leg support portion 22L (the center CP of the waist shaft 21) in the front-rear direction. The grip 51 is preferably formed of a material that is difficult for the hand to slip when gripped by the user.

  As shown in FIGS. 2 and 3, the seating portion 52 is provided on the straight portion 411 of the auxiliary leg portion 40 (auxiliary frame 41). As shown in FIG. 3, the seating portion 52 has a substantially rectangular shape in which the front-rear direction is a longitudinal direction and the left-right direction is a short direction in a plan view, so that a user can straddle. Yes. As shown in FIGS. 2 and 3, the seat portion 52 is arranged so as to overlap the right leg support portion 22R and the left leg support portion 22L (center CP of the waist shaft 21) in the front-rear direction, and in the vertical direction. The lower leg support part 22R and the left leg support part 22L (center CP of the waist axis 21) are disposed below and above the knee joint part 33 of the leg part 30.

  As shown in FIGS. 2 and 3, the waist contact portion 53 is attached to the rear side of the first connecting member 24. As shown in FIG. 3, the waist portion 53 is curved forward along the right frame 23 </ b> R and the left frame 23 </ b> L. In addition, the seating portion 52 and the waist support portion 53 are formed of a buffering material (for example, urethane or the like) so that a large pressure does not act locally on the user's body when contacting the user's body. It is desirable that

  In this way, the input reception unit 50 transmits the force for walking the walking machine 10 to the walking machine 10 by receiving an input such as pushing or tilting accompanying the walking of the user. In addition, the input receiving unit 50 increases the adhesion between the user and the walking machine 10 by touching the user's body, and also supports the user's body so that the burden on the user's leg (weight). Reduce. From the point of having the latter function, it can be said that the input reception part 50 is a body support part which supports a user's body.

  Further, in the walking machine 10, the length in each direction of the waist 20, the leg 30, the auxiliary leg 40, and the input receiving unit 50, the relative positions of the waist 20, the leg 30, the auxiliary leg 40, and the input receiving unit 50, and The relative angle is appropriately adjusted according to the size of the user's body. For example, the length of the leg 30 of the walking machine 10 is adjusted to match the length of the user's leg, or the height of the user's waist is the waist 20 of the walking machine 10 when the user is seated. It is desirable to adjust the position of the seating portion 52 so as to match the height of the seat.

  Next, with reference to FIG.5 and FIG.6, the effect | action of the walking machine 10 of this embodiment is demonstrated. In the following description, when the user and the walker 10 walk, the legs that land on the road surface R are also referred to as “support legs”, and the legs that are separated from the road surface R are also referred to as “free legs”. .

First, with reference to FIG. 5, the effect | action of the walking machine 10 when a user walks with the walking machine 10 is demonstrated.
Now, in this embodiment, when a user walks with the walker 10, the user is in a state where his / her waist (lower abdomen) is applied to the waist abutment portion 53, and his / her leg knee. The user sits on the seat 52 with the joint extended. Here, since the seating portion 52 is provided on the auxiliary leg portion 40 so as to overlap the right leg support portion 22R and the left leg support portion 22L (center CP of the waist shaft 21) in the front-rear direction, the seating portion 52 The user's lower back seated on 52 is located between the right leg support portion 22R and the left leg support portion 22L. In addition, the user holds the grips 51 provided on the left and right sides of the walking machine 10 with both hands while sitting on the seat 52. Thus, the user reduces the load (weight) applied to his / her leg by depositing his / her weight in the walking machine 10 via the grip 51 and the seat 52.

  Subsequently, the user steps on one of the legs 30 (for example, the right leg 30 </ b> R) while keeping his / her weight in the grip 51 and the seat 52. That is, the user uses one leg 30 (right leg 30R) as a free leg and the other leg 30 (left leg 30L) as a support leg. Then, the movement of the waist of the user and the movement of the center of gravity associated with the separation of the one leg 30 (the right leg 30R) from the road surface R cause the walking machine 10 to move through the grip 51, the seat 52 and the waist abutment 53. Is input. Specifically, the center of gravity movement of the user is mainly transmitted to the walking machine 10 by the gripping part 51 and the seating part 52, and the movement of the waist of the user (the inclination of the waist and the rotation of the waist) are mainly transmitted by the waist abutment part 53. Is transmitted to the walker 10.

  Then, in the walker 10, the load applied to the other leg 30 (left leg 30 </ b> L) is larger than the load applied to the one leg 30 (right leg 30 </ b> R), whereby the other leg 30. One leg 30 (right leg 30R) is separated from the road surface R in a state where the (left leg 30L) is in contact with the road surface R. That is, the leg 30 of the walking machine 10 corresponding to the user's support leg (left leg) becomes the support leg (left leg 30L), and the walking machine 10 corresponding to the user's free leg (right leg). As leg 30 (right leg 30R) becomes a free leg, one leg 30 (right leg 30R) of walker 10 is stepped on. Thus, the corresponding leg 30 (right leg 30R) is swung out at the same timing between the user and the walking machine 10.

  And when one leg part (right leg part) of the user who was a free leg lands on the road surface R and becomes a support leg, one leg part (right leg part) of the user becomes a support leg. The movement of the user's lower back and the movement of the center of gravity accompanying the user are input to the walking machine 10 via the grip 51, the seat 52 and the waist 53. Then, in the walking machine 10, the load applied to one leg 30 (right leg 30R) gradually increases, so that one leg 30 (right leg 30R) lands on the road surface R. Thus, the corresponding leg 30 (right leg 30R) is landed on the road surface R at the same timing by the user and the walking machine 10. And the user walks with the walking machine 10 by moving the leg part 30 alternately while the leg part 30 which makes a pair switches a free leg and a support leg alternately.

  Further, as shown in FIG. 5, in the present embodiment, when the user walks with the walker 10, the user's waist is disposed between the right leg support portion 22R and the left leg support portion 22L. The deviation in the front-rear direction between the swing center of the leg with respect to the user's waist and the swing center of the leg 30 with respect to the waist 20 of the walker 10 (center CP of the waist shaft 21) is reduced. Further, by adjusting the height of the seating portion 52 to the height of the user's waist, the swing center of the leg 30 with respect to the user's waist and the swing center of the leg 30 with respect to the waist 20 of the walker 10 ( The vertical deviation from the center CP) of the waist axis 21 is reduced.

  For this reason, for example, when the user walks with the walker 10, the right leg support unit is used when the user's waist is arranged behind the right leg support unit 22R and the left leg support unit 22L in the front-rear direction. Compared with the case where the user's waist is not disposed between the 22R and the left leg support portion 22L, the sense of unity between the user and the walker 10 is enhanced, and smooth walking is realized.

  Furthermore, when the user walks with the walking machine 10, the wheel 44 provided at the tip of the auxiliary leg portion 40 rotates (rolls) in the first rotation direction R <b> 1 while being in contact with the road surface R. For this reason, even if one leg 30 of the right leg 30R and the left leg 30L is a free leg, the other leg 30 and the auxiliary leg 40 are in contact with the road surface R, thereby walking. The stability of the walking machine 10 at the time increases.

Then, with reference to FIG. 6, the effect | action of the walking machine 10 when a user interrupts walking with the walking machine 10 is demonstrated.
Now, as shown in FIG. 6, when the user stops walking, the input accompanying the user's walking is not input to the walking machine 10 via the gripping part 51, the seating part 52 and the waist contacting part 53, and the walking machine 10 interrupts walking. Then, when the user increases his / her body weight by slightly bending his / her knee joint, the walker 10 may be tilted backward via the auxiliary leg portion 40 provided with the seating portion 52. Is input to the walking machine 10.

  However, in this embodiment, since the wheel 44 that is restricted from rotating in the second rotation direction R2 is provided at the tip of the auxiliary leg 40, the wheel 44 is suppressed from rolling backward, The walker 10 is prevented from tilting backward.

  In the present embodiment, the thigh 31 of the leg 30 is moved forward with respect to the right leg support 22R and the left leg support 22L by the pins 26 provided on the right leg support 22R and the left leg support 22L. The rotation angle is limited. Further, the lower leg 32 of the leg 30 is moved from the stretched state of the thigh 31 and the lower leg 32 to the thigh 31 by the contact parts 314 and 323 of the thigh 31 and the lower leg 32. Thus, the rotation of the lower leg 32 is restricted. Thus, in the state shown in FIG. 6, the leg 30 is further prevented from rotating forward, and the walker 10 is also prevented from tilting forward.

  In the state shown in FIG. 6, in the plan view of the walking machine 10, the right leg 30 </ b> R, the left leg 30 </ b> L, the auxiliary leg 40, and the road surface R are within a region (substantially triangular region). Since the center of gravity of the user and the walking machine 10 is located, the walking machine 10 can easily stand on its own. For this reason, even if a user interrupts walking, he / she can make the walker 10 stand on its own without requiring the support of another person (assistant), and can continue the state of sitting on the walker 10. it can.

According to the above embodiment, the following effects can be obtained.
(1) According to the embodiment described above, the walking machine 10 can be walked by alternately swinging the right leg portion 30R and the left leg portion 30L in accordance with an input accompanying the user's walking. Here, since the right leg support portion 22R and the left leg support portion 22L are connected in front of the right leg support portion 22R and the left leg support portion 22L (center CP of the waist shaft 21), the right leg support portion 22R and The user's body (waist) can be stored in the space formed between the left leg support portions 22L. For this reason, when the user walks forward together with the walker 10, the distance between the swing center of the leg with respect to the waist of the user and the swing center of the leg 30 with respect to the waist 20 of the walker 10 is It becomes shorter and the deviation of the walking mode between the user and the walking machine 10 becomes smaller. As a result, the user can walk smoothly with the walking machine 10. The walking mode referred to here includes a walking cycle, a stride, and the like.

  (2) By providing the grip portions 51 as an example of the arm support portion on both sides of the waist portion 20, the user can use the user by putting the weight of the user in the walking machine 10 through the grip portions 51 with both hands. The burden on the leg of the person can be reduced. Further, when the grip 51 is provided in front of the right leg support 22R and the left leg support 22L (center CP of the waist axis 21), the walking machine 10 is used when the user deposits his / her weight in the grip 51. Tends to tilt forward. On the other hand, when the grip portion 51 is provided behind the right leg support portion 22R and the left leg support portion 22L, when the user deposits his / her weight in the grip portion 51, the walking machine 10 tends to tilt backward. In this regard, in this embodiment, since the grip 51 is provided so as to overlap the right leg support 22R and the left leg support 22L in the front-rear direction, the user can put his / her weight on the walking machine 10 via the grip 51. When the walker is deposited, the walker 10 is not easily tilted back and forth, and the stability when the user walks with the walker 10 can be improved.

  (3) When the user walks with the walker 10 by providing the auxiliary leg portion 40 having the wheel 44 that contacts the rear side of the right leg portion 30R and the left leg portion 30L at the tip, the walker 10 Can be prevented from tilting backward. Further, as compared with the case where the wheel 44 is not provided at the distal end portion of the auxiliary leg portion 40, it is possible to suppress an increase in load due to friction between the distal end portion of the auxiliary leg portion 40 and the road surface R.

  (4) The wheel 44 provided at the tip of the auxiliary leg 40 is allowed to rotate in the first rotation direction R1, while restricting rotation in the second rotation direction R2. For this reason, when the user walks forward together with the walker 10, the wheel 44 is allowed to rotate in the first rotation direction R <b> 1, so that the user can walk with the walker 10. On the other hand, when a force that tilts the walker 10 backward acts by an input from the user, the wheel 44 is restricted from rotating in the second rotation direction R2, and thus the wheel 44 walks by rolling. The machine 10 is prevented from tilting backward. Therefore, the stability when the user walks with the walker 10 can be further increased.

  (5) By causing the user to sit on the seating portion 52, it is possible to reduce the burden on the leg portion of the user during walking. Moreover, since the seating part 52 is provided in the position which overlaps with the right leg support part 22R and the left leg support part 22L in the front-rear direction, when the user walks with the walking machine 10 while sitting on the seating part 52, The swing center of the leg with respect to the user's waist can be prevented from dissociating from the swing center of the leg 30 with respect to the waist 20 of the walker 10.

  (6) By providing the waist contact portion 53 against which the user's waist hits, the movement of the waist due to the user's walking (tilt of the waist and rotation of the waist) is easily transmitted to the walking machine 10. On the other hand, according to the walking machine 10 of the present embodiment, the user's body (waist) can be accommodated in the space formed between the right leg support portion 22R and the left leg support portion 22L. The discrepancy between the center of rotation of the lower back and the center of rotation of the lower back 20 of the walking machine 10 can also be suppressed. Thus, while making it easy to transmit the movement of the user's waist to the walking machine 10 and suppressing the divergence between the movement of the user's waist and the movement of the waist of the walking machine 10, the user can move more smoothly with the walking machine 10. Can walk to.

  (7) While restricting the forward rotation angle of the leg 30 with respect to the waist 20, the auxiliary leg 40 is connected to the waist 20 in a non-rotatable manner. For this reason, when the user interrupts walking with the walker 10, the leg 30 rotates forward indefinitely relative to the waist 20 of the walker 10 even if the user increases the weight that the user deposits in the seat 52. And the auxiliary leg 40 is prevented from rotating backward. As a result, the walking machine 10 can be prevented from tilting forward or backward, so that the user can interrupt walking without obtaining the help of another person (assistant).

  Moreover, when a user performs walking training using the walking machine 10 of the present embodiment, when the walking training is interrupted, the seating part 52 of the walking machine 10 is bent by slightly bending its knee joint. Just sit down. And when resuming walking training, it is only necessary to reduce the weight deposited in the sitting portion 52 of the walking machine by extending its knee joint. For this reason, compared with the case where walking training is performed using a walking machine that completely leaves the walking machine and the user when the walking training is interrupted, the burden on the user for switching the suspension and restart of walking training is reduced. Can be reduced.

In addition, you may change the said embodiment as shown below.
In the above embodiment, the right leg support portion 22R and the left leg support portion 22L are connected in the left-right direction with a plurality of members (the right frame 23R, the left frame 23L, and the first connecting member 24). The right leg support portion 22R and the left leg support portion 22L may be connected in the left-right direction by one member.

  In the above embodiment, the right leg support portion 22R and the left leg support portion 22L are moved in front of the right leg support portion 22R and the left leg support portion 22L by the right frame 23R, the left frame 23L, and the first connecting member 24. However, the right leg support 22R and the left leg support 22L may be connected behind the right leg support 22R and the left leg support 22L. In this case, the waist contact portion 53 may not be provided.

  The right leg support portion 22R and the left leg support portion 22L may be coupled in front and rear of the right leg support portion 22R and the left leg support portion 22L. In this case, the user is located between the “connecting portion” that connects the right leg support portion 22R and the left leg support portion 22L in front of and behind the right leg support portion 22R and the left leg support portion 22L. It will walk with the walking machine 10 in the state arrange | positioned.

  -When one leg part of the right leg part 30R and the left leg part 30L becomes a support leg, it suppresses that the knee joint part 33 buckles (bends) by applying a compressive load to the support leg. A mechanism may be provided.

  The rotation of the wheel 44 in the first rotation direction R1 and the second rotation direction R2 may be allowed. In this case, it is desirable to provide a braking mechanism (brake) that allows or restricts the rotation of the wheels 44. As an example, an operation member that operates the braking mechanism may be provided in the grip portion 51.

-At the front-end | tip part of the auxiliary leg part 40, you may provide two or more wheels side by side in the left-right direction.
The length of the auxiliary leg 40 is such that the tip (wheel 44) of the auxiliary leg 40 does not contact the road surface R during walking, and the tip (wheel 44) of the auxiliary leg 40 is interrupted when walking is interrupted. The length may be in contact with the road surface R. According to this, when the user walks with the walker 10, the auxiliary leg portion 40 is restrained from contacting the road surface R, while the user suspends walking with the walker 10, the auxiliary leg portion. When 40 contacts the road surface R, it can be used as a support for making the walker 10 stand by itself. That is, in this case, the wheel 44 does not have to be provided at the tip of the auxiliary leg 40.

  -The auxiliary leg part 40 and the seating part 52 do not need to be provided. Even in this case, the user can leave his / her body weight to the walking device 10 via the grip portion 51 and can give input to the walking device 10 via the grip portion 51 and the waist contact portion 53. The effects (1) and (2) of the above embodiment can be obtained.

-The seating part 52 may be provided without providing the auxiliary leg part 40. In this case, it is desirable to newly provide a structure for connecting the waist 20 and the seat.
-As a structure replaced with the holding | grip part 51, you may provide the structure corresponded to the abutting part of a crutch. According to this, even a user who cannot grip the grip portion 51 can put his / her weight in the walking machine 10 and can give an input to the walking machine 10 by sandwiching the armpit side. . The armpit portion corresponds to an example of an “arm support portion”. In addition to the grip portion 51, the above-mentioned abutting portion may be provided.

-As a structure which replaces the holding part 51, you may provide the structure which supports a user's forearm and elbow.
The grip 51 may be provided only on one side in the left-right direction.

A belt or a hook-and-loop fastener may be provided as a configuration for bringing the user's waist into close contact with the waist contact portion 53.
-The waist support part 53 does not need to be provided. Even in this case, the effect of the above embodiment can be obtained.

  -When a user walks with the walker 10, when an assistant assists the said user's walk, the structure for an assistant to support the walker 10 may be provided. According to this, even when it is difficult for the user to walk with the walker 10 alone, the user can walk with the walker 10 with the assistance of the assistant.

  DESCRIPTION OF SYMBOLS 10 ... Walking machine, 20 ... Lumbar part, 21 ... Lumbar axis, 22R ... Right leg support part, 22L ... Left leg support part, 23R ... Right frame (an example of a connection part), 23L ... Left frame (an example of a connection part), 24: First connecting member (an example of a connecting part), 30: Leg part, 30R: Right leg part, 30L ... Left leg part, 40 ... Auxiliary leg part, 44 ... Wheel, 50 ... Input receiving part, 51 ... Grip Part (an example of an arm support part), 52 ... a seating part, 53 ... a waist contact part, R1 ... a first rotation direction, R2 ... a second rotation direction.

Claims (5)

A walker that walks with a user based on input from the user,
A pair of right and left legs,
A right leg support part that swingably supports the right leg part, a left leg support part that swingably supports the left leg part, and a front side and a rear side of the right leg support part and the left leg support part. In at least one of them, a waist part having a connecting part for connecting the right leg support part and the left leg support part in the left-right direction, and
An input reception unit that receives input from a user. The input reception unit includes an arm support unit that supports a user's arm unit on at least one side of the right side and the left side of the waist,
The walker according to claim 1, wherein the arm support portion is provided at a position overlapping the right leg support portion and the left leg support portion in the front-rear direction. The wheel which grounds behind the said right leg part and the said left leg part at the front-end | tip part is provided, and the base end part is further equipped with the auxiliary | assistant leg part connected with the said waist part so that rotation is not possible. The described walking machine. When the direction of rotation of the wheel when walking forward is the first rotation direction, and the rotation direction opposite to the first rotation direction is the second rotation direction,
The walker according to claim 3, wherein the wheel is allowed to rotate in the first rotation direction, but is restricted from rotating in the second rotation direction. The said input reception part has a seating part which a user can seat in the position which overlaps with the said right leg support part and the said left leg support part in the front-back direction. Walker.