JP2017184853A - Balance training device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress cancelling support of an inverted movable body by a support part before starting inversion control of the inverted movable body is instructed.SOLUTION: A balance training device 1 according to one embodiment of the present invention includes an operation part 5 having a movable part 53 arranged at a position operable by one hand of a care-giver together with an auxiliary handle 3 and capable of being moved continuously by the one hand of care-giver. When a care-giver performs operation moving the movable part 53 in a first movement amount, the operation part 5 outputs a first instruction signal to a control unit 26 and the control unit 26 starts inversion control of the inverted movable body 2. When the care-giver performs operation moving the movable part 53 in a second movement amount larger than the first movement amount, the operation part 5 outputs a second instruction signal to the control unit 26 and the control unit 26 cancels support of the inverted movable body 2 by a support part 4.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a balance training apparatus.

  In recent years, a balance training apparatus using an inverted moving body has been put to practical use in order to carry out balance training for a person being assisted. For example, as shown in FIG. 15, the balance training apparatus 101 of Patent Document 1 is provided on the upper part of the support unit 103 and the handle 104 that support the inverted moving body 102 by touching the traveling surface, and the assistant moves in an inverted manner. An auxiliary handle 105 for supporting the body 102 is provided.

  Then, the inversion control of the inverted moving body 102 is started by the operation of the first instruction unit 106 disposed in the vicinity of the auxiliary handle 105, and the release of the support of the inverted moving body 102 by the support unit 103 is the height of the handle 104. This is realized by operating the second instruction unit 107 provided in the approximate center of the direction.

  When performing the balance training of the person being assisted using such a balance training apparatus 101, the person who is in the state of being on the balance training apparatus 101 holds the auxiliary handle 105 with one hand and balances. While supporting the training apparatus 101, the first instruction unit 106 is operated with one hand to start the inverted control of the inverted moving body 102, and then the second instruction unit 107 is operated with the other hand to support the training unit 101. The support of the inverted moving body 102 by 103 is released.

JP-A-2015-123858

  When the person being assisted starts balance training, the person being assisted on the balance training device may lose balance. Therefore, it is desirable for the assistant to support the person being assisted with the other hand while holding the auxiliary handle with one hand to support the balance training apparatus.

  However, in the balance training device of Patent Document 1, the second instruction unit is disposed at a position away from the auxiliary handle. As described above, the assistant holds the auxiliary handle with one hand and performs balance training. The second instruction unit is operated with the other hand while supporting the apparatus.

  Therefore, in the balance training device of Patent Document 1, it is difficult for the assistant to support the person being assisted when the person being assisted on the balance training device loses balance in order to start the balance training.

  Therefore, when not only the first instruction unit but also the second instruction unit is arranged in the vicinity of the auxiliary handle, the assistant operates the first instruction unit and the second instruction unit while holding the auxiliary handle with one hand. Although it is possible, there is a possibility that the operation of the first instruction unit and the second instruction unit may be mistaken. Therefore, there is a possibility that the support of the inverted moving body by the support portion may be released before instructing the start of the inverted control of the inverted moving body.

  This invention is made in view of the above, Comprising: Before instruct | indicating the start of the inversion control of an inverted moving body, the balance training apparatus which can suppress that the support of an inverted moving body by a support part is cancelled | released is implement | achieved. .

A balance training apparatus according to an aspect of the present invention is provided.
An inverted moving body on which a person being assisted boarded to perform balance training and drives a wheel to realize inverted control;
An auxiliary handle provided on the inverted moving body for an assistant to support the inverted moving body;
When the inverted moving body is grounded, the inverted moving body can be supported. When the inverted moving body is supported and separated from the traveling surface, the support of the inverted moving body can be released. A support part,
A first instruction signal for starting the inverted control of the inverted moving body and a second instruction signal for releasing the support of the inverted moving body by the support section are output and operated to the assistant An operation unit to be operated;
A control unit for controlling the inverted moving body and the support unit;
With
The operation unit is disposed at a position operable with one hand of the assistant along with the auxiliary handle, and has a movable portion that can be continuously moved with one hand of the assistant,
When the assistant performs an operation of moving the movable portion by the first movement amount, the operation portion outputs the first instruction signal to the control portion, and the control portion is configured to move the inverted moving body. Inverted control of
When the assistant performs an operation of moving the movable part by a second movement amount larger than the first movement amount, the operation unit outputs the second instruction signal to the control unit, and The control unit releases the support of the inverted moving body by the support unit.

  ADVANTAGE OF THE INVENTION According to this invention, before instruct | indicating the inverted control of an inverted moving body, it can suppress that the support of the inverted moving body by a support part is cancelled | released.

It is a side view which shows typically the balance training apparatus of Embodiment 1. FIG. FIG. 3 is a block diagram illustrating a control system of the balance training apparatus according to the first embodiment. It is a figure which expands and shows the auxiliary handle periphery in the balance training apparatus of Embodiment 1. FIG. It is a figure which expands and shows the support part periphery in the balance training apparatus of Embodiment 1. FIG. FIG. 4 is an enlarged view of a portion V in FIG. 3. It is a figure which shows the main-body part of a contact part typically. It is a figure which shows typically a mode at the time of a person to be boarded boarding the balance training apparatus of Embodiment 1, and starting balance training. It is a figure which shows typically the state which grasped the movable part of the operation part and the 1st contact pressed down the 1st instruction | indication part. It is a figure which expands and shows the IX part of FIG. It is a figure which shows typically the state which grasped the movable part of the operation part and the 2nd contact pressed down the 2nd instruction | indication part. It is a figure which expands and shows the XI part of FIG. It is sectional drawing which expands and shows the auxiliary | assistant handle periphery in the balance training apparatus of Embodiment 1. FIG. It is a figure which expands and shows the XIII part of FIG. It is a figure which expands and shows the auxiliary handle periphery in the balance training apparatus of Embodiment 2. FIG. It is a figure which shows typically a mode at the time of a caregiver boarding a general balance training apparatus, and starting balance training.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
A balance training apparatus according to the present embodiment will be described. FIG. 1 is a side view schematically showing the balance training apparatus of the present embodiment. FIG. 2 is a block diagram showing a control system of the balance training apparatus of the present embodiment. FIG. 3 is an enlarged view of the periphery of the auxiliary handle in the balance training apparatus of the present embodiment. FIG. 4 is an enlarged view showing the periphery of the support portion in the balance training apparatus of the present embodiment. FIG. 5 is an enlarged view of a portion V in FIG. FIG. 6 is a diagram schematically illustrating a main body portion of the contact portion. In FIG. 4, a part is a perspective view so that the structure around the pulley is clear.

  As shown in FIG. 1, the balance training apparatus 1 includes an inverted moving body 2, an auxiliary handle 3, a support unit 4, and an operation unit 5.

  As shown in FIGS. 1 and 2, the inverted moving body 2 includes a riding part 21, a handle 22, left and right drive wheels 23, a posture detection part 24, an angle detection part 25, and a control part 26.

  The boarding unit 21 is a base on which the person being assisted gets on, for example, the person being assisted boarded in a standing posture on both legs. In the present embodiment, the backward moving operation of the inverted moving body 2 is performed by rotating the riding section 21 in the front-rear direction of the inverted moving body 2.

  The handle 22 includes a handle bar 22a, an operation panel 22b, and a grip portion 22c. The handle bar 22a is provided in the front part of the riding part 21 so that rotation in the left-right direction of the inverted moving body 2 is possible. The operation panel 22b is provided on the upper part of the handle bar 22a. The grip portion 22c is grasped with both hands by the person being assisted. And the grip part 22c is arrange | positioned with respect to the operation panel 22b at the back side of the inverted moving body 2, and is provided in the upper part of the handle bar 22a. In the present embodiment, the person being assisted rotates the handle 22 in the left-right direction of the inverted moving body 2, thereby turning the inverted moving body 2 in the left-right direction.

  The left and right drive wheels 23 include wheels 23a, a speed reducer (not shown), and a motor 23b, and a turn command signal input from the control unit 26 so that the angular velocity of the motor 23b becomes a desired angular velocity, and The motor 23b operates based on the attitude command signal. The left and right drive wheels 23 are supported by the riding section 21.

  The posture detection unit 24 detects the rotation angle of the inverted moving body 2 and consequently the riding unit 21 in the front-rear direction, and outputs a detection signal to the control unit 26. As the posture detection unit 24, a general posture detection device can be used, and for example, a gyro sensor or an acceleration sensor can be used.

  The angle detection unit 25 detects the rotation angle of the inverted moving body 2 in the left-right direction at the handle 22 and outputs a detection signal to the control unit 26. As the angle detection unit 25, a general angle detection device can be used, and for example, an encoder or the like can be used.

  The control unit 26 generates a posture command signal based on the detection signal input from the posture detection unit 24, and realizes forward / backward movement while maintaining the inverted state of the inverted moving body 2 based on the generated posture command signal. Thus, the motor 23b of the left and right drive wheels 23 is controlled.

  Further, the control unit 26 generates a turning command signal based on the detection signal input from the angle detection unit 25, and realizes turning of the inverted mobile body 2 in the left-right direction based on the generated turning command signal. In addition, the motors 23b of the left and right drive wheels 23 are controlled.

  Furthermore, the control unit 26 starts the inverted control of the inverted moving body 2 based on the first instruction signal input from the operation unit 5 or ends the inverted control of the inverted moving body 2. Further, the control unit 26 controls the support unit 4 in order to support the inverted moving body 2 by the support unit 4 based on the second instruction signal input from the operation unit 5, or inverts the support unit 4. In order to release the support of the moving body 2, the support portion 4 is controlled.

  However, the configuration of the inverted moving body 2 is not limited to the above. For example, the number of the drive wheels 23 may be one or a plurality of wheels. Further, the turning of the inverted moving body 2 may be based on the load operation of the left and right feet of the person being assisted.

  As shown in FIG. 3, the auxiliary handle 3 is provided on an upper portion of the handle bar 22a in the handle 22, and is disposed on the front side of the inverted moving body 2 with respect to the handle bar 22a.

  The auxiliary handle 3 of the present embodiment is a cylindrical member. The upper end of the auxiliary handle 3 is fixed to the lower surface of the operation panel 22b of the handle 22, and the auxiliary handle 3 is on the front side of the inverted moving body 2 with respect to the handle bar 22a and below the inverted moving body 2. It extends to.

  Such an auxiliary handle 3 is gripped with one hand of an assistant to support the balance training device 1. However, the auxiliary | assistant handle 3 should just be a shape and arrangement | positioning which can support the balance training apparatus 1 with one hand of a caregiver.

  The support unit 4 can support the inverted moving body 2 when grounded on the traveling surface of the inverted moving body 2, and when the supporting portion 4 is separated from the traveling surface from the state in which the inverted moving body 2 is supported, The support can be released.

  The support part 4 of this Embodiment is provided in the front lower end part of the inverted moving body 2, and rotates with rotation of the pulley 41, as shown in FIG. The support portion 4 is formed in a substantially inverted T shape and includes an assist bar 42 and a connecting portion 43.

  Specifically, the pulley 41 is fixed to a rotating shaft 44 extending in the left-right direction of the inverted moving body 2, and the inverted moving body 2 is boarded via a fixing jig 45 that rotatably supports the rotating shaft 44. It is provided in the front part of the part 21. The pulley 41 has one end portion of the first wire 8 for rotating the support portion 4 in the arrow A direction and one end of the second wire 9 for rotating the support portion 4 in the arrow B direction. The ends are connected.

  The assist bar 42 extends in the left-right direction of the inverted moving body 2 and includes a grounding surface 42a that contacts the traveling surface. The connecting portion 43 rises from the approximate center in the left-right direction of the inverted moving body 2 on the surface opposite to the ground contact surface 42 a of the assist bar 42, and the tip portion is connected to the pulley 41.

  Such a support part 4 rotates by the motor 10, for example. The motor 10 rotates the support portion 4 by drawing the other end portion of the first wire 8 or the other end portion of the second wire 9 through a pulley (not shown).

  However, the support part 4 should just be the structure which can be retracted | saved to the position which can support the inverted moving body 2, and when a care receiver performs balance training when the said balance training is not inhibited. Moreover, the support part 4 may be operated using a sonoid or the like, and the drive source is not limited.

  The operation unit 5 outputs a first instruction signal to start the inverted control of the inverted moving body 2 and a second instruction signal to release the support of the inverted moving body 2 by the support unit 4. The operation unit 5 according to the present embodiment includes a first instruction unit 51, a second instruction unit 52, and a movable unit 53.

  The first instruction unit 51 is operated to instruct the start of the inverted control of the inverted moving body 2. The first instruction unit 51 includes, for example, a limit switch, and is provided on the upper surface of the operation panel 22b of the handle 22 as shown in FIG.

  In the pressed state, the first instruction unit 51 of the present embodiment outputs an instruction signal to start the inverted control of the inverted moving body 2 to the control unit 26, and the pressed state is released. Thus, an instruction signal to end the inverted control of the inverted moving body 2 is output to the control unit 26.

  The second instruction unit 52 is operated to instruct the support unit 4 to release the support of the inverted moving body 2. The second instruction unit 52 includes, for example, a limit switch, and is provided on the upper surface of the operation panel 22b of the handle 22 as shown in FIG.

  In the pressed state, the second instruction unit 52 of the present embodiment outputs an instruction signal to the control unit 26 to release the support of the inverted moving body 2 by the support unit 4, and the pressed state is released. In this state, an instruction signal indicating that the inverted moving body 2 is supported by the support unit 4 is output to the control unit 26.

  The first instruction unit 51 and the second instruction unit 52 are arranged in the front-rear direction of the inverted moving body 2, and the first instruction unit 51 is inverted with respect to the second instruction unit 52. 2 is arranged on the rear side. In addition, the 1st instruction | indication part 51 and the 2nd instruction | indication part 52 should just be a switch of the structure from which the signal input into the control part 26 changes with the state pressed and the state released.

  As shown in FIG. 3, the movable portion 53 is disposed in the vicinity of the auxiliary handle 3 (that is, a position that can be operated with one hand of the assistant together with the auxiliary handle 3). The assistant is operated to operate the instruction unit 52.

  The movable portion 53 of the present embodiment is an operating lever, and the upper end portion of the movable portion 53 is the root portion of the auxiliary handle 3 so that the movable portion 53 can rotate around a rotating shaft 53a extending in the left-right direction of the inverted moving body 2. It is connected to. Then, the movable portion 53 is inverted relative to the auxiliary handle 3 so that the assistant can grasp the movable portion 53 with another finger while hooking the thumb on the auxiliary handle 3 in front of the inverted movable body 2. 2 and disposed between the auxiliary handle 3 and the handle bar 22a when viewed from the left-right direction of the inverted moving body 2. However, the movable part 53 should just be the structure and arrangement | positioning which can be operated, supporting the balance training apparatus 1 via the auxiliary | assistant handle 3 with one hand of a caregiver.

  Such a movable part 53 operates the first instruction part 51 and the second instruction part 52 via the connection part 54 and the contact part 55. The connecting portion 54 is configured by an elastic body such as a coil spring or a wire, and one end thereof is coupled to the movable portion 53.

  As shown in FIG. 5, the contact part 55 includes a main body part 55 a, a first contact 55 b that contacts the first instruction part 51, and a second contact 55 c that contacts the second instruction part 52. The main body 55 a is, for example, a leaf spring, and the other end of the connection portion 54 is connected to one end (tip), and the other end (root) is connected to the operation panel 22 b of the handle 22. It is connected.

  Such a main body 55a is inclined with respect to the upper surface of the operation panel 22b so as to move away from the upper surface of the operation panel 22b of the handle 22 as it goes forward of the inverted moving body 2 without being elastically deformed. Yes. The main body 55a rotates (elastically deforms) around the base when the movable portion 53 is gripped and the tip is pulled in by the connecting portion 54, and the first contact 55b causes the first indicating portion 51 to move. The second contact point 55c presses the second instruction unit 52.

  That is, when viewed from the direction orthogonal to the upper surface of the operation panel 22b of the handle 22, the main body 55a in a state in which the movable portion 53 is grasped and the distal end is drawn by the connecting portion 54 and rotated around the root portion. And the first instruction unit 51 and the second instruction unit 52 are arranged so as to overlap each other, and the first instruction unit 51 is arranged on the base part side of the main body 55a with respect to the second instruction unit 52. ing.

  However, the base portion of the main body portion 55a may be connected to the operation panel 22b of the handle 22 so as to be rotatable about a rotation shaft extending in the left-right direction of the inverted moving body 2. In this case, An elastic body such as a compression spring is disposed between the operation panel 22b.

  Here, as shown in FIG. 6, the contact portion 55 may be configured to bend around a rotation shaft 55 d extending in the left-right direction of the inverted moving body 2. At this time, the first contact 55b is provided on the lower surface of the first portion 55e on the base portion side with the rotation shaft 55d in the main body portion 55a interposed therebetween, and the second portion on the distal end portion side with respect to the rotation shaft 55d in the main body portion 55a. The second contact 55c is provided on the lower surface of the portion 55f. In order to prevent the second contact point 55c from depressing the second instruction unit 52 before the first instruction unit 51 is depressed by the first contact point 55b, for example, an elastic member is used for the first portion 55e. The rotation of the second portion 55f is limited.

  The main body 55a may be provided with a stopper 55g so as not to warp around the rotation shaft 55d. For example, the stopper 55g protrudes from the second portion 55f toward the first portion 55e, and the upper surface of the first portion 55e is in a state where the first portion 55e and the second portion 55f are aligned straight. To touch. Incidentally, the main body portion 55a has the first portion 55e and the second portion by the elastic member that restricts the rotation of the second portion 55f with respect to the first portion 55e from the state where the main body portion 55a is bent around the rotation shaft 55d. 55f may be restored to a state in which the lines 55f are arranged in a straight line.

  However, the stopper 55g protrudes from the first portion 55e toward the second portion 55f, and the upper surface of the second portion 55f is in a state where the first portion 55e and the second portion 55f are aligned straight. In short, the main body portion 55a may be configured so as not to warp around the rotation shaft 55d.

  Next, a flow until the care receiver starts balance training using the balance training device 1 of the present embodiment will be described. FIG. 7 is a diagram schematically illustrating a state where a person being assisted board the balance training apparatus according to the present embodiment and starts balance training. FIG. 8 is a diagram schematically illustrating a state in which the movable portion of the operation unit is grasped and the first contact point presses the first instruction unit. FIG. 9 is an enlarged view showing the IX portion of FIG. FIG. 10 is a diagram schematically illustrating a state in which the movable portion of the operation unit is grasped and the second contact point presses the second instruction unit. FIG. 11 is an enlarged view showing a portion XI in FIG.

  First, in the state where the ground contact surface 42a of the support unit 4 in the balance training device 1 is in contact with the running surface and the balance training device 1 is supported by the support unit 4, the assistant uses the auxiliary handle 3 in the balance training device 1. Hold the balance training device 1 with one hand. The person being assisted gets on the riding part 21 of the inverted moving body 2 in the balance training device 1 supported by the assistant.

  Next, as shown in FIG. 7, the assistant supports the assistant with the other hand and hooks the thumb of one hand on the auxiliary handle 3 while holding the movable portion 53 with the other finger of the inverted moving body 2. Gripping forward and reaching the first travel distance.

  Thereby, the front-end | tip part of the main-body part 55a in the contact part 55 is drawn in via the connection part 54, the said main-body part 55a rotates centering on a root part, and as shown in FIG.8 and FIG.9, as shown in FIG.8 and FIG. 55b presses down the first instruction unit 51. The first instruction unit 51 outputs an instruction signal for starting the inversion control of the inverted moving body 2 to the control unit 26. Then, the control unit 26 controls the motor 23b in order to start the inverted control of the inverted moving body 2 based on the input instruction signal.

  Next, the assistant supports the assistant with the other hand, and grips the movable portion 53 with the other finger in one hand further to the front side of the inverted moving body 2 to reach the second movement amount. As a result, the distal end portion of the main body portion 55a in the contact portion 55 is pulled in via the connection portion 54, and the main body portion 55a further rotates about the root portion as a center. As shown in FIGS. The contact point 55c presses the second instruction unit 52. The second instruction unit 52 outputs to the control unit 26 an instruction signal for releasing the support of the inverted moving body 2 by the support unit 4. And the control part 26 controls the motor 10 based on the input instruction | indication signal, and rotates the said support part 4 so that the grounding surface 42a of the support part 4 may leave | separate from a running surface. As a result, the support of the inverted moving body 2 by the support unit 4 is released, and the person being assisted can perform balance training using the balance training apparatus 1.

  At this time, as shown in FIGS. 10 and 11, the second portion 55 f of the main body portion 55 a rotates around the rotation shaft 55 d so as to approach the second instruction portion 52. Can be reliably pressed by the second contact 55c.

  In such a balance training apparatus 1, when the assistant operates the movable portion 53 with the first movement amount when continuously operating the movable portion 53, the inverted control of the inverted moving body 2 is started, and the assistance is started. When a person operates the movable portion 53 with a second movement amount larger than the first movement amount, the support of the inverted moving body 2 by the support portion 4 is released. Therefore, it is possible to prevent the support of the inverted moving body 2 by the support portion 4 from being released before instructing the start of the inverted control of the inverted moving body 2. Therefore, an operation error between the start of the inverted control of the inverted moving body 2 and the release of the support of the inverted moving body 2 by the support portion 4 can be suppressed, and the burden on the assistant can be reduced.

  Here, while the person being assisted is performing balance training, the state where the movable part 53 is grasped and the first instruction part 51 and the second instruction part 52 are pressed is maintained, and the person being assisted is in balance training. When ending the operation, it is preferable that the gripping of the movable unit 53 is released and the pressed state of the first instruction unit 51 and the second instruction unit 52 is released.

  For example, the operation unit 5 includes an elastic member 56 and a ratchet mechanism 57 as shown in FIG. The elastic member 56 is disposed in a compressed state between the auxiliary handle 3 and the movable portion 53, and is, for example, a return spring.

  As shown in FIG. 13, the ratchet mechanism 57 includes a ratchet 57a, a claw 57b, and an elastic member 57c. The ratchet 57 a includes a plurality of teeth that allow the claw 57 b to move in the direction in which the movable portion 53 is gripped and restrict the movement of the claw 57 b in the reverse direction, and is provided on the rotating shaft 53 a of the movable portion 53. ing. The claw 57b is connected to the movable portion 53 so as to be rotatable about a rotation axis extending in the left-right direction of the inverted moving body 2. The elastic member 57c biases the claw 57b in a direction in which it engages with the ratchet 57a. 12 and 13 omit the connection portion 54 and the like so that the structure of the ratchet mechanism 57 is clear.

  In such a ratchet mechanism 57, the claw 57b engages with the ratchet 57a and grips the movable portion 53 until the movable portion 53 exceeds the second movement amount and reaches a predetermined movement amount. When the movement of the claw 57b to the opposite side is restricted and the predetermined amount of movement is exceeded, the claw 57b exceeds one end of the ratchet 57a and is disengaged from the ratchet 57a.

  Thereby, the movable part 53 returns to the state before being gripped by the restoring force of the elastic member 56. At this time, in order to return to the state before the main body portion 55a of the contact portion 55 is elastically deformed, first, the pressing of the second instruction portion 52 by the second contact point 55c is released. The second instruction unit 52 outputs an instruction signal indicating that the inverted mobile body 2 is supported by the support unit 4 to the control unit 26. The control unit 26 controls the motor 10 based on the input instruction signal to rotate the support unit 4 so that the ground contact surface 42a of the support unit 4 approaches the traveling surface.

  Further, when the main body portion 55a of the contact portion 55 approaches the state before elastic deformation, the pressing of the first instruction portion 51 by the first contact point 55b is released. The first instruction unit 51 outputs an instruction signal to the control unit 26 to end the inversion control of the inverted moving body 2. The control unit 26 ends the inverted control of the inverted moving body 2 based on the input instruction signal.

  When the movable portion 53 returns to the state before being gripped, the claw 57b exceeds the other end of the ratchet 57a in a state where the engagement with the ratchet 57a is released. Then, when the assistant grasps the movable portion 53 in order to operate the first instruction portion 51 and the second instruction portion 52, the claw 57b is again engaged with the tooth on the other end side of the ratchet 57a. .

  With such a ratchet mechanism 57, the assistant can easily control the inverted moving body 2 and the support portion 4 by operating the movable portion 53. Moreover, after the inverted moving body 2 is supported by the support portion 4, the inverted control of the inverted moving body 2 can be terminated. However, the ratchet mechanism 57 is not limited to the above-described configuration, and a general configuration can be adopted.

<Embodiment 2>
Although the movable part 53 of Embodiment 1 was comprised as an operation lever, it is not this limitation. FIG. 14 is an enlarged view of the periphery of the auxiliary handle in the balance training apparatus of the present embodiment.

  As illustrated in FIG. 14, the operation unit 6 according to the present embodiment includes, for example, a two-stage switch as the movable unit 61. The operation unit 6 is provided, for example, on the upper surface of the operation panel 22b of the handle 22, and is disposed at a position where the auxiliary handle 3 can be pressed with the thumb of one hand while holding the auxiliary handle 3 with one hand of the assistant. .

  When the movable unit 61 of the operation unit 6 is pushed down to the first stage (that is, the first movement amount), the operation unit 6 sends an instruction signal to the control unit 26 to start the inverted control of the inverted moving body. When the movable portion 61 is pushed to the second stage (ie, the second movement amount), an instruction signal for releasing the support of the inverted moving body by the support portion 4 is output to the control portion 26.

  With such a configuration, as in the first embodiment, when the assistant operates the movable part 61 with the first movement amount when continuously operating the movable part 61, the inverted control of the inverted moving body is performed. When the assistant starts operating the movable unit 61 with a second movement amount larger than the first movement amount, the support of the inverted moving body by the support unit 4 is released. Therefore, it is possible to prevent the support of the inverted moving body by the support unit 4 from being released before instructing the start of the inverted control of the inverted moving body. Therefore, an operation error between the start of the inverted control of the inverted moving body and the release of the support of the inverted moving body by the support portion 4 can be suppressed, and the burden on the assistant can be reduced.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 Balance training apparatus 2 Inverted moving body, 21 Boarding part, 22 Handle, 22a Handle bar, 22b Operation panel, 22c Grip part, 23 Driving wheel, 23a Wheel, 23b Motor, 24 Posture detection part, 25 Angle detection part, 26 Control Part 3 Auxiliary handle 4 Support part, 41 Pulley, 42 Assist bar, 42a Grounding surface, 43 Connecting part, 44 Rotating shaft, 45 Fixing jig 5 Operation part, 51 First indication part, 52 Second indication part, 53 Movable Part, 53a rotating shaft, 54 connecting part, 55 contact part, 55a main body part, 55b first contact, 55c second contact, 55d rotating shaft, 55e first part, 55f second part, 55g stopper, 56 Elastic member, 57 ratchet mechanism, 57a ratchet, 57b claw, 57c elastic member 6 operation part, 61 movable part 8 first wire 9 second wire 10 Over capacitor 101 balance exercise device 102 inverted moving body 103 supporting unit 104 handle 105 auxiliary handle 106 first indication portion 107 second indication portion

Claims (1)

An inverted moving body on which a person being assisted boarded to perform balance training and drives a wheel to realize inverted control;
An auxiliary handle provided on the inverted moving body for an assistant to support the inverted moving body;
When the inverted moving body is grounded, the inverted moving body can be supported. When the inverted moving body is supported and separated from the traveling surface, the support of the inverted moving body can be released. A support part,
A first instruction signal for starting the inverted control of the inverted moving body and a second instruction signal for releasing the support of the inverted moving body by the support section are output and operated to the assistant An operation unit to be operated;
A control unit for controlling the inverted moving body and the support unit;
With
The operation unit is disposed at a position operable with one hand of the assistant along with the auxiliary handle, and has a movable portion that can be continuously moved with one hand of the assistant,
When the assistant performs an operation of moving the movable portion by the first movement amount, the operation portion outputs the first instruction signal to the control portion, and the control portion is configured to move the inverted moving body. Inverted control of
When the assistant performs an operation of moving the movable part by a second movement amount larger than the first movement amount, the operation unit outputs the second instruction signal to the control unit, and The control unit is a balance training device that releases the support of the inverted moving body by the support unit.

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