JP5457849B2 - Walking assist device - Google Patents

Description

  The present invention relates to a walking assistance device, and more particularly, to a device that reduces the amount of a knee joint of a walking assistance device that is attached to the lower body of a user and assists the walking to protrude forward.

  2. Description of the Related Art In recent years, for example, a technique described in Patent Document 1 below is known as a walking assistance device that assists a user's walking.

  In the walking assist device described in Patent Literature 1, a support member that can support a user and transmit a load, a shoe portion that can accommodate a user's foot, and a joint corresponding to a hip joint are provided. A first link (thigh link) connected to the support member so as to be swingable about a swing fulcrum, and a shoe part, and is connected to the first link via a joint part corresponding to a knee joint. A leg link having a second link (lower leg link), and an actuator connected 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 to generate an assist force that supports at least a part of the user's load, thereby assisting the user's walking.

JP 2007-20909 A

  The walking assist device described in Patent Document 1 has the advantage of being configured as described above so that a difference in height of the user can be absorbed by adjusting the angle of the joint corresponding to the knee joint. Since the joint portion protrudes forward from the trunk of the user, there is an inconvenience that the inertial force around the vertical axis is increased and the appearance is uncomfortable.

  Accordingly, an object of the present invention is to solve the above-described problems and to provide a walking assist device that reduces the amount of a joint portion corresponding to a knee joint jumping forward from a user's trunk.

In order to solve the above-described problem, in claim 1, the support member can support the user and transmit the user's load, and the support member via a first joint portion including a swing mechanism. A leg link having a first link, a second link connected to the first link via a second joint portion, and an actuator. In the walking assistance device for assisting a user's walking by generating an assist force that drives an actuator to relatively displace the first link and the second link to support at least a part of the load of the user. as the angle formed by second joint portion of the first link and the second link about a decrease, with the distance reduction mechanism for reducing the distance from the second joint portion to the swing fulcrum, the first joint portion The support member The leg link is oscillated around the center of curvature of the guide rail. The guide rail is formed of an arcuate guide rail having the center of curvature as the center of curvature and a slider movably engaged with the guide rail. The actuator is freely connected to the support member, and the actuator is connected to a connecting rod that connects the first joint and the second link in the first link, and the distance reduction mechanism is fixed to the slider. A slider-side gear, a link-side gear meshing with the slider-side gear and connected to the actuator, one end fixed to the link-side gear and the other end rotatably connected to the connecting rod. A rocker arm, and the link side gear is driven by the actuator to rotate the rocker arm to retract the connecting rod. Thus it was constructed as Ru reduce the distance to the swing fulcrum of the second joint.

The walking assist device according to claim 2 is configured such that the number of teeth of the slider side gear is larger than the number of teeth of the link side gear.

In the walking assistance device according to claim 3 , the supporting member capable of supporting the user and transmitting the user's load and the swinging fulcrum on the supporting member via the first joint portion including the swinging mechanism. A leg link having a first link, a second link connected to the first link via a second joint, and an actuator, and driving the actuator. In the walking assistance device for assisting the user's walking by causing the first link and the second link to be relatively displaced to generate an assist force for supporting at least a part of the user's load, the second joint portion is As the angle formed by the first link and the second link as a center decreases, a distance decreasing mechanism that decreases the distance from the second joint portion to the swing fulcrum is provided, and the first joint portion includes the support member. Fixed to before An arcuate guide rail whose center of curvature is a swinging fulcrum and a slider that is movably engaged with the guide rail, and the leg link is swingably supported about the center of curvature of the guide rail. The actuator is connected to a connecting rod connecting the first joint and the second link in the first link, and the distance reducing mechanism includes a worm and a gear fixed to the slider. one of a worm gear mechanism comprising the once fixed to the connecting rod is connected before Symbol actuator co consists the other of said worm gear mechanism, retracting the connecting rod to drive the other by the actuator, Accordingly, the distance from the second joint portion to the swing fulcrum is reduced.

In the walking assistance device according to claim 4 , the support member capable of supporting the user and transmitting the user's load and the swinging fulcrum on the support member via the first joint portion including the swinging mechanism. A leg link having a first link, a second link connected to the first link via a second joint, and an actuator, and driving the actuator. In the walking assistance device for assisting the user's walking by causing the first link and the second link to be relatively displaced to generate an assist force for supporting at least a part of the user's load, the second joint portion is As the angle formed by the first link and the second link as a center decreases, a distance decreasing mechanism that decreases the distance from the second joint portion to the swing fulcrum is provided, and the first joint portion includes the support member. Fixed to before An arcuate guide rail whose center of curvature is a swinging fulcrum and a slider that is movably engaged with the guide rail, and the leg link is swingably supported about the center of curvature of the guide rail. The actuator is connected to a member, and the actuator is connected to a connecting rod that connects the first joint portion and the second link in the first link, and the distance reduction mechanism includes a guide formed on the slider; wherein when the mobile is engaged freely engaged with the guide consists of a second slider which is fixed to the front Symbol connecting rod co retract the connecting rod by driving the second slider in the actuator, thus the The distance from the second joint portion to the swing fulcrum is reduced.

In the walking assist device according to claim 5 , the supporting member capable of supporting the user and transmitting the user's load and the swinging fulcrum on the supporting member via the first joint portion including the swinging mechanism. A leg link having a first link, a second link connected to the first link via a second joint, and an actuator, and driving the actuator. In the walking assistance device for assisting the user's walking by causing the first link and the second link to be relatively displaced to generate an assist force for supporting at least a part of the user's load, the second joint portion is As the angle formed by the first link and the second link as a center decreases, a distance decreasing mechanism that decreases the distance from the second joint portion to the swing fulcrum is provided, and the first joint portion includes the support member. Fixed to before An arcuate guide rail whose center of curvature is a swinging fulcrum and a slider that is movably engaged with the guide rail, and the leg link is swingably supported about the center of curvature of the guide rail. The actuator is connected to a member, and the actuator is connected to a connecting rod that connects the first joint portion and the second link in the first link, and the distance reducing mechanism is capable of moving the slider and the connecting rod. And the link mechanism is driven by the actuator to retract the connecting rod, thereby reducing the distance from the second joint to the swing fulcrum.

According to the first aspect of the present invention, the support member can support the user and transmit the user's load, and the support member swings around the swing support point via the first joint portion including the swing mechanism. A first link, a leg link having a second link connected to the first link via a second joint portion, and an actuator, and an actuator, the actuator driving the actuator and the first link And the second link relative to each other to generate an assist force that supports at least a part of the user's load to assist the user's walking, in which the first link is centered on the second joint portion, As the angle formed by the second link decreases, a distance reduction mechanism is provided for reducing the distance from the second joint to the swing fulcrum , and the first joint is fixed to the support member and has the swing fulcrum as the center of curvature. Arc guide rail The slider is movably engaged with the guide rail, the leg link is connected to the support member so as to be swingable about the center of curvature of the guide rail, and the actuator is connected to the first joint portion and the second joint in the first link. The distance reduction mechanism is connected to a connecting rod that connects the links, and the distance reduction mechanism includes a slider-side gear fixed to the slider, a link-side gear that meshes with the link-side gear, and one end fixed to the link-side gear. And a rocker arm whose other end is pivotally connected to the connecting rod. The link side gear is driven by an actuator to rotate the rocker arm to move the connecting rod backward, so that the second joint portion to the swing fulcrum. since it is configured as a distance Ru decrease, forward second joint when the knee joint corresponding joints, from the joint portion by the user of the trunk Pop amount can be reduced, it is possible to reduce the inertial force around the vertical axis, also discomfort in appearance can be reduced.

Further, an arcuate guide rail first joint portion to the center of curvature of the rocking fulcrum is fixed to the support member consists of a slider is engaged movably engaged with the guide rail, the curvature of the leg link guide rail The actuator is connected to the support member so as to be swingable around the center, and the actuator is configured to be connected to a connecting rod that connects the first joint portion and the second link in the first link, and thus corresponds to a knee joint. By adjusting the angle of the second joint part, it is possible to effectively absorb the difference in the height of the user.

The distance reduction mechanism also includes a slider-side gear fixed to the slider, a link-side gear meshing with the slider-side gear, one end fixed to the link-side gear, and the other end rotating to the connecting rod. It is composed of a rocker arm that is movably connected, and is constructed such that the link side gear is driven by an actuator to rotate the rocker arm to retract the connecting rod, thereby reducing the distance from the second joint to the swing fulcrum. so, it is possible to make the structure easily.

In the walking assist device according to claim 2 , since the number of teeth of the slider-side gear is configured to be larger than the number of teeth of the link-side gear, in addition to the above effect, the torque can be increased by decelerating, The actuator can be reduced in size accordingly.

In the walking assistance device according to claim 3 , the supporting member capable of supporting the user and transmitting the user's load and the swinging fulcrum on the supporting member via the first joint portion including the swinging mechanism. A leg link having a first link, a second link connected to the first link via a second joint, and an actuator, and driving the actuator. In the walking assist device for assisting the user's walking by causing the first link and the second link to be displaced relative to each other to generate an assist force that supports at least a part of the user's load, As the angle between the first link and the second link decreases, a distance reduction mechanism that decreases the distance from the second joint portion to the swing fulcrum is provided, and the first joint portion is fixed to the support member and swings. Circle with fulcrum as the center of curvature A guide rail and a slider movably engaged with the guide rail. The leg link is coupled to the support member so as to be swingable about the center of curvature of the guide rail. The actuator has a first link at the first link. is connected to a connecting rod for connecting the joint and a second link, a distance reduction mechanism, one of a worm gear mechanism including a worm and a gear fixed to the slider, the actuators co Once fixed to the connecting rod Since the other is connected, and the other is driven by an actuator to retract the connecting rod, thereby reducing the distance from the second joint to the swing fulcrum, in addition to the above effect, the second joint The amount by which the part jumps forward from the trunk of the user can be reduced more smoothly.

In the walking assistance device according to claim 4 , the support member capable of supporting the user and transmitting the user's load and the swinging fulcrum on the support member via the first joint portion including the swinging mechanism. A leg link having a first link, a second link connected to the first link via a second joint, and an actuator, and driving the actuator. In the walking assist device for assisting the user's walking by causing the first link and the second link to be displaced relative to each other to generate an assist force that supports at least a part of the user's load, As the angle between the first link and the second link decreases, a distance reduction mechanism that decreases the distance from the second joint portion to the swing fulcrum is provided, and the first joint portion is fixed to the support member and swings. Circle with fulcrum as the center of curvature A guide rail and a slider movably engaged with the guide rail. The leg link is coupled to the support member so as to be swingable about the center of curvature of the guide rail. The actuator has a first link at the first link. is connected to the connecting rods connecting the joints and the second link, the distance reduction mechanism, the guide being formed on a slider and secured to a consolidated rod in co the mobile is engaged freely engaged with the guide Since the second slider is driven by an actuator to retract the connecting rod, thereby reducing the distance from the second joint to the swing fulcrum, in addition to the effects described above, the gear Friction can be reduced by not using.

In the walking assist device according to claim 5 , the supporting member capable of supporting the user and transmitting the user's load and the swinging fulcrum on the supporting member via the first joint portion including the swinging mechanism. A leg link having a first link, a second link connected to the first link via a second joint, and an actuator, and driving the actuator. In the walking assist device for assisting the user's walking by causing the first link and the second link to be displaced relative to each other to generate an assist force that supports at least a part of the user's load, As the angle between the first link and the second link decreases, a distance reduction mechanism that decreases the distance from the second joint portion to the swing fulcrum is provided, and the first joint portion is fixed to the support member and swings. Circle with fulcrum as the center of curvature A guide rail and a slider movably engaged with the guide rail. The leg link is coupled to the support member so as to be swingable about the center of curvature of the guide rail. The actuator has a first link at the first link. The distance reducing mechanism is connected to a connecting rod that connects the joint and the second link, and the distance reducing mechanism is a link mechanism that movably connects the slider and the connecting rod. The link mechanism is driven by an actuator to retract the connecting rod. Therefore, since the distance from the second joint portion to the swing fulcrum is reduced, in addition to the above effect, similarly, friction can be reduced by not using a gear.

1 is a perspective view of a walking assistance device according to a first embodiment of the present 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 side surface sectional drawing of a drive mechanism and a 1st link etc. which are shown in FIG. FIG. 2 is a side view of a walking assist device (shown with a photograph) including the distance reduction mechanism shown in FIG. 1 and the like. FIG. 7 is an enlarged side view showing the operation of the distance reduction mechanism when the third joint portion shown in FIG. 1 and the like is bent (when the knee joint angle is decreased) and extended (when the knee joint angle is increased). It is a rear view of the distance reduction mechanism shown in FIG. FIG. 7 is a side view of a walking assistance device (shown with a photograph) including the distance reduction mechanism shown in FIG. 6. It is a graph which shows the length of the 1st link with respect to a knee angle in the walking assistance apparatus shown in FIG. It is a graph which shows the amount which the 3rd joint part jumps ahead with respect to the length of a leg link in the walk auxiliary device when the distance reduction mechanism shown in Drawing 6 is used. It is an enlarged side view which shows the state at the time of bending (at the time of a knee joint angle reduction) and extension (at the time of an increase of a knee joint angle) of the 3rd joint part of the distance reduction mechanism which concerns on 2nd Example of this invention. It is sectional drawing of the 1st joint part vicinity shown in FIG. It is the XIII-XIII sectional view taken on the line of FIG. It is an enlarged side view which shows the state at the time of bending (at the time of a knee joint angle reduction) and extension (at the time of an increase of a knee joint angle) of the 3rd joint part of the distance reduction mechanism which concerns on 3rd Example of this invention. It is an enlarged side view which shows the state at the time of bending (at the time of a knee joint angle reduction) and extension (at the time of an increase of a knee joint angle) of the 3rd joint part of the distance reduction mechanism which concerns on 4th Example of this invention.

  DESCRIPTION OF EMBODIMENTS Hereinafter, embodiments for carrying out a walking assist device according to the present invention will be described with reference to the accompanying drawings.

  1 is a perspective view of a walking assist device according to a first embodiment of the present invention, FIG. 2 is a side view thereof, and FIG. 3 is a front view thereof.

  Referring to FIGS. 1 to 3, the walking assist device D is a support member (load transmission member) 10 that can support a user by sitting (stretching) so that the user (person) P straddles it. A pair of left and right shoe portions 12 to be mounted on the left and right foot portions of the user, a pair of left and right leg links 14 provided between the support member 10 and the pair of left and right shoe portions 12, and a drive mechanism 16. And is attached to the lower half of the user P via a belt (not shown) provided on the support member 10 to assist the walking.

  The left and right leg links 14 are made of an aluminum material, and each includes a first link (thigh link) 22 connected to the support member 10 via a first joint portion 20 (corresponding to a hip joint in human terms), and a shoe portion 12. The second link (lower leg link) 26 connected via the second joint portion 24 (corresponding to an ankle joint in humans), and the first link 22 and the second link 26 are connected (speaking of humans). 3rd joint part 30 equivalent 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 hip rest 10c that rises beyond the rear end (as viewed from the user P) and that can freely 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 swing mechanism of the first joint portion 20 that connects each leg link 14 and the support member 10 is engaged with the arcuate guide rail 32 fixed to the support member 10, the guide rail 32, and each leg link. 14 and a slider 34 fixed to one end of the slider 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 also made of an aluminum material.

  A plurality of rollers 36 are attached to the slider 34. The roller 36 is slidably accommodated in a groove formed in the guide rail 32, so that the slider 34 is movably engaged with the guide rail 32 as shown by an arrow in FIG.

  That is, the leg link 14 is configured to be swingable in the longitudinal direction of the support member 10 about 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 portion 10 c of the support member 10 by a support shaft 38 disposed in the longitudinal direction of the support member 10, and can swing freely in the lateral direction of the support member 10 around the support shaft 38. Composed.

  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 weight of the upper body (load) is shifted to the front 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 action point of the body weight is reduced, and the rotational moment with respect to the support member 10 is also reduced.

  Next, when the weight 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.

  FIG. 4 is a side sectional view of the drive mechanism 16 and the first link 22.

  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 to the actuator 40, in other words, connected to the actuator 40 and connected to the first link 20 and the second link 26. 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.

  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 shown in FIG. 4, in the first link 22, a line connecting the pivot 46 a to the drive crank arm 42 of the connecting rod 46 and the pivot 46 b to the driven crank arm 44 is connected to the output shaft 40 b of the actuator 40 and the first link 22. The three joint portions 30 are arranged so as to cross obliquely to a line connecting the joint shaft 30a. 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.

  A characteristic feature of the walking assist device D according to this embodiment is that the angle formed by the first link 22 and the second link 26 (hereinafter referred to as “knee angle”) with the third joint portion 30 as the center decreases. It is configured to include a distance reduction mechanism 70 that reduces the distance from the two joint parts (third joint part 30; more precisely, the joint axis 30a of the third joint part 30) to the swing fulcrum (curvature center 32a). is there. For simplification of illustration, the distance reduction mechanism 70 is not shown in FIG.

  This will be described below.

  FIG. 5 is a side view of the device D (shown in the photograph) including the distance reducing mechanism 70, and FIG. 6 is a diagram illustrating when the third joint portion 30 shown in FIG. FIG. 7 is an enlarged side view showing the operation of the distance reducing mechanism 70 when the angle is increased, and FIG.

  As shown in the figure, the distance reduction mechanism 70 includes a slider-side gear 70a fixed to the slider 34, a link-side gear 70b that meshes with the slider-side gear 70a, and is connected to the actuator 40, and the rocker arm 42 described above. . One end of the rocker arm 42 is fixed to the link side gear 70 b and the other end is rotatably connected to the connecting rod 46.

  The slider-side gear 70a is a sector gear, is attached to two triangular plates 70a1 bolted to the slider 34, and is fixed to the slider 34 via the two plates 70a1. As shown in FIG. 7, the link side gear 70b is fixed (connected) to the actuator 40, more specifically to the output shaft 40b. The number of teeth of the slider-side gear 70a is larger than the number of teeth of the link-side gear 70b, and is set to, for example, slider side 2: link side 1 or the like.

  The operation and action of the distance reducing mechanism 70 will be described with reference to FIGS.

  8 is a side view of the walking assist device D including the distance reduction mechanism 70, FIG. 9 is a graph showing the length of the first (thigh) link 22 with respect to the knee angle, and FIG. 10 is a third joint with respect to the length of the leg link 14. It is a graph which shows the quantity which the part (knee joint) 30 jumps ahead.

  As described above, the walking assist device D is configured such that the third joint unit 30 protrudes forward from the trunk of the user P to absorb the difference in the height of the user P. As a result, the inertial force increases, and the appearance is uncomfortable.

  Therefore, in this embodiment, as shown in FIG. 6, the distance reduction mechanism 70 for reducing the distance from the third joint portion 30 to the swing fulcrum (curvature center 32a) is provided, and the link side gear 70b is driven by the actuator 40. Then, the connecting rod 46 is moved backward by rotating the rocker arm 42.

  As a result, as shown in FIG. 8, as the knee angle decreases, in other words, as the third joint portion 30 bends, it swings from the third joint portion 30 (more precisely, the joint shaft 30a of the third joint portion 30). The distance d to the fulcrum (curvature center 32a) is decreased, more specifically, the longest, long, medium, and short are decreased.

  That is, the link side gear 70b is driven by the actuator 40 to rotate the rocker arm 42 to retract the connecting rod 46, thereby retracting the first joint portion 20 backward in the direction of travel of the user, in other words, FIG. As shown in FIG. 5, the length of the first link 22 is substantially reduced as the knee angle decreases.

  As a result, as shown in FIG. 10, as the length of the leg link 14 decreases, that is, the knee angle decreases, the amount by which the knee joint jumps forward (the third joint portion 30 jumps forward in the direction of travel of the user P). As compared with the case where the distance reduction mechanism 70 is not provided, the amount can be reduced by the amount indicated by the arrow.

As described above, in this embodiment, the support member 10 that supports the user P and can transmit the user's load and the support member 10 via the first joint portion 20 formed of a swing mechanism. The second link is connected to the first link 22 and the first link 22 via the second joint portion (third joint portion 30) while being swingably connected around the swing fulcrum (curvature center 32a). The leg link 14 having the link 26 and the actuator 40 are provided, and the actuator 40 is driven to relatively displace the first link 22 and the second link 26 to support at least a part of the load of the user P. In the walking assist device D that generates a force and assists the user P in walking, the angle formed by the first link 22 and the second link 26 decreases with the second joint portion (third joint portion 30) as a center. The second joint (More precisely third joint portion 30. As a joint shaft 30a) with a reduced distance mechanism 70 to reduce the distance d from to the swing fulcrum (center of curvature 32a), the first joint portion 20, the support The guide link 32 is fixed to the member 10 and has an arcuate guide rail 32 having the pivot point 32a as the center of curvature. The slider 34 is movably engaged with the guide rail 32. The actuator 40 is connected to the connecting rod 46 that connects the first joint portion 20 and the second link 26 in the first link 22 so as to be swingable about a curvature center 32 a of 32. The distance reducing mechanism 70 is connected to a slider side gear 70a fixed to the slider 34, and meshes with the slider side gear 70a. The link side gear 70b connected to the actuator 40 and the rocker arm 42 having one end fixed to the link side gear 70b and the other end rotatably connected to the connecting rod 46, the link side gear 70b. Is driven by the actuator 40 to rotate the rocker arm 42 to retract the connecting rod 46 (substantially reducing the length of the first link 22), and thus the second joint portion (third joint portion). since it is configured as Ru reduce the distance d to the swing fulcrum 30), when the second joint portion (third joint portion 30) and the knee joint corresponding joints, the second joint portion (third joint The amount by which the portion 30) jumps forward from the trunk of the user P can be reduced by that amount, the inertial force around the vertical axis can be reduced, and the discomfort in appearance can also be reduced.

The first joint portion 20 is fixed to the support member 10 and has an arcuate guide rail 32 having the center of curvature 32a as the swing fulcrum, and a slider 34 movably engaged with the guide rail 32. The leg link 14 is connected to the support member 10 so as to be swingable about the center of curvature 32 a of the guide rail 32, and the actuator 40 is connected to the first joint portion 20 at the first link 22. And the connecting rod 46 for connecting the second link 26, the height of the user P can be adjusted by adjusting the angle of the second joint portion (third joint portion 30) corresponding to the knee joint. Differences can be absorbed effectively.

The distance reducing mechanism 70 includes a slider-side gear 70a fixed to the slider 34, a link-side gear 70b meshed with the slider-side gear 70a, and one end connected to the actuator 40. The rocker arm 42 is fixed to the gear 70b and the other end is rotatably connected to the connecting rod 46. The link side gear 70b is driven by the actuator 40 to rotate the rocker arm 42. The connecting rod 46 is retracted (the length of the first link 22 is substantially reduced), and thus the distance d from the second joint part (third joint part 30) to the swing fulcrum is reduced. since the, it is possible to make the structure easily.

  Further, since the number of teeth of the slider-side gear 70a is larger than the number of teeth of the link-side gear 70b, in addition to the above effects, the torque can be increased by decelerating, and the actuator 40 can be made smaller by that amount. Can be.

  FIG. 11 is an enlarged side view showing a state of the third joint portion 30 of the distance reducing mechanism 70 according to the second embodiment when bent (when the knee joint angle is decreased) and when extended (when the knee joint angle is increased). 12 is a cross-sectional view of the vicinity of the first joint portion 20 shown in FIG. 11A, and FIG. 13 is a cross-sectional view taken along the line XIII-XIII of FIG.

  As shown in the figure, in the second embodiment, the output shaft 40 b of the actuator 40 of the drive mechanism 16 is arranged in parallel with the axial direction of the connecting rod 46. The actuator 40 is composed of an electric motor as in the first embodiment.

  Referring to FIGS. 12 and 13, in the second embodiment, the drive mechanism 16 directly applies the rotational drive force transmitted from the output shaft 40b of the actuator (electric motor) 40 via the belt pulley mechanism (described later). A housing 76 that houses a ball screw mechanism 74 that converts the translational force of the moving shaft 72 in the axial direction is provided. The housing 76 is constituted by a substantially box-shaped main housing 76a and a hollow sub-housing 76b fixed to one end thereof, and a linear motion shaft 72 is inserted into the inside.

  As shown in FIGS. 11A and 11B, a support shaft 80 having an axis parallel to the joint shaft 30a of the third joint portion 30 is passed through the first link 22 from the lateral direction, and the housing 76 is supported. The first link 22 is supported so as to be swingable about the axis of the shaft 80. The main part of the ball screw mechanism 74 is accommodated in the main housing 76a. The linear movement shaft 72 is used as a screw shaft of the ball screw mechanism 74, and a helical screw groove 72a is formed on the outer surface thereof.

  The ball screw mechanism 74 includes a cylindrical nut member 74a that is coaxially fitted to the linear motion shaft 72, and a plurality of balls 74b that are held on the inner periphery of the nut member 74a so as to engage with the screw groove 72a. By rotating the nut member 74a around the axis of the linear motion shaft 72, the linear motion shaft 72 moves in the axial direction with respect to the nut member 74a while the ball 74b moves along the screw groove 72a. The

  At one end of the nut member 74a, a cylindrical member 82 fitted to the linear motion shaft 72 is fixed coaxially with the nut member 74a. The cylindrical member 82 is accommodated in the housing 76 while having a gap with the linear motion shaft 72. The nut member 74 a and the cylindrical member 82 are supported by the casing 76 so as to rotate integrally around the axis of the linear motion shaft 72.

  The drive pulley 84a of the belt pulley mechanism 84 described above is fixed to the output shaft 40b of the actuator 40, and the driven pulley 84b is fixed to the cylindrical member 82, both of which are notched formed in the sub-housing 76b. The belts 84c extending through the sections are connected.

  As a result, the rotational driving force output from the actuator 40 from the output shaft 40b is transmitted to the cylindrical member 82 via the belt pulley mechanism 84, and the cylindrical member 82 and the nut member 74a are rotationally driven integrally. The moving shaft 72 is moved in the axial direction.

  That is, the rotational driving force of the actuator 40 is converted into the translational force in the axial direction of the linear motion shaft 72 via the belt pulley mechanism 84 and the ball screw mechanism 74, and the connecting rod 46 is moved in the axial direction by the linear motion shaft 72. Configured as follows.

  Returning to FIG. 11 on the assumption of the above, the distance reduction mechanism 70 of the second embodiment includes a worm gear mechanism 86 including a worm 86a and a gear 86b. One of the worm gear mechanisms 86, specifically, the gear 86b is fixed to the slider 34 via a bolt 86b1.

  On the other hand, the output shaft 40b of the actuator 40 is extended on the front end side of the drive pulley 84a of the belt pulley mechanism 84, and the worm 86a, that is, the other of the worm gear mechanism 86 is engraved on the outer surface and meshes with the gear 86b. The worm 86a is attached to the main casing 76a, in other words, the base end of the connecting rod 46 via the stay 86a1. The remaining configuration is not different from the first embodiment.

  In such a configuration, when the actuator 40 is driven and its output shaft 40b is rotated via the speed reducer 40a, the worm 86a advances and retreats, whereby the base end of the connecting rod 46 retreats as shown in FIG.

  That is, as shown in FIGS. 11A and 11B, when the third joint portion 30 is bent, the worm 86a is retracted to retract the connecting rod 46 (the length of the first link 22 is substantially reduced). Thus, the distance d from the third joint part 30 to the swing fulcrum (curvature center 32a) can be reduced by a, and thereby the amount by which the knee joint protrudes forward (the third joint part 30 is the user P's The amount that jumps forward in the direction of travel) can be reduced accordingly.

As described above, in the second embodiment, the distance reducing mechanism 70 is fixed to one of the worm gear mechanism 86 including the worm 86a and the gear 86b fixed to the slider 34 and the connecting rod 46. It is connected before Symbol actuator 40 co consists the other of the worm gear mechanism 86, by driving the other by the actuator 40 to retract the coupling rod 46, thus the second joint portion (third joint portion 30 ) To the swing fulcrum is reduced so that when the third joint portion 30 is a joint equivalent to a knee joint, the second joint portion (third joint portion 30) is the body of the user P. The amount of jumping forward from the trunk can be reduced by that amount, the inertial force around the vertical axis can be reduced, and the uncomfortable appearance can be reduced. Further, the amount of the second joint part (third joint part 30) protruding forward from the trunk of the user can be reduced more smoothly.

  FIG. 14 is a partial cross section showing a state of the third joint portion 30 of the distance reducing mechanism 70 according to the third embodiment of the present invention when bent (when the knee joint angle is decreased) and extended (when the knee joint angle is increased). On the side.

  The walking assist device D according to the third embodiment is a modification of the second embodiment, and includes a guide and a second slider instead of the worm gear mechanism. That is, as shown in FIG. 14 (a), in the distance reducing mechanism 70 according to the third embodiment, the tip end side of the slider 34 is laterally enlarged and formed wide, and there is a guide 90, more specifically there. Specifically, 90a and 90b are formed. The guide 90 a is a slot formed at the tip of the slider 34, and the guide 90 b is a pin protruding from the slider 34.

  The second slider 92 is movably engaged with the guide 90, and includes a triangular second slider 92a and a plate-like second slider 92b.

  A pin 92a1 protrudes from one end 92a of the second slider, and a slot 92b1 is formed in the other 92b. One of the second sliders 92a causes the pin 92a1 to be inserted into the slot 90a, and the other 92b engages the guides 90a and 90b movably by inserting the pin of the guide 90b into the slot 92b1.

  One of the second sliders 92 a is attached to the main casing 76 a, in other words, the proximal end of the connecting rod 46, and the other 92 b is fixed to the middle of the connecting rod 46. The remaining configuration is not different from the first embodiment.

  In such a configuration, when the actuator 40 is driven and its output shaft 40b is rotated, one of the second sliders 92a advances and retreats. 14A and 14B, when the third joint portion 30 is bent, the second slider 92a is retracted to retract the connecting rod 46 (the length of the first link). The distance d from the third joint part 30 to the swing fulcrum (curvature center 32a) is reduced by b, and the amount by which the knee joint protrudes forward (used by the third joint part 30) The amount of the person P jumping forward in the direction of travel) can be reduced accordingly.

  The other 92b of the second slider is provided to guide the movement of the one 92a in the lateral direction with respect to the guide 90a, and does not advance or retract even when the actuator 40 is driven.

As described above, in the third embodiment, the distance reduction mechanism 70, the slider guide 90 is formed in 34, the movably previous SL coupled to the engaged by the co-in guide 90 rod 46 And the second sliders 92a and 92b are driven by the actuator 40 to move the connecting rod 46 backward, thereby the second joint portion (third joint portion). 30. More precisely, since the distance d from the joint axis 30a) to the swing fulcrum (curvature center 32a) is reduced, the second joint part (third joint part 30) is a joint equivalent to the knee joint. When this is done, the amount of the second joint portion (third joint portion 30) protruding forward from the trunk of the user P can be reduced by that amount, the inertial force around the vertical axis can be reduced, and the appearance can be reduced. Discomfort is also reduced Rukoto can. Friction can be reduced by not using a gear.

  FIG. 15 is a partial cross section showing a state of the third joint 30 of the distance reducing mechanism 70 according to the fourth embodiment of the present invention when bent (when the knee joint angle is decreased) and when extended (when the knee joint angle is increased). On the side.

  The walking assist device D according to the fourth embodiment is a modification of the third embodiment and includes a link mechanism instead of the second slider. That is, as shown in FIG. 15A, in the distance reducing mechanism 70, as in the third embodiment, the tip end side of the slider 34 is expanded in the lateral direction to be wide, and the link mechanism 94 is provided there. More specifically, one ends of the third link 94a and the fourth link 94b are connected.

  The other end of the third link 94 a is attached to the main housing 76 a, in other words, the base end of the connecting rod 46, and the fourth link 94 b is fixed in the middle of the connecting rod 46. The remaining configuration is not different from the first embodiment.

  In such a configuration, the link mechanism 94 movably connects the slider 34 and the connecting rod 46, so that when the actuator 40 is driven and its output shaft 40 b is rotated, the connecting rod 46 is moved to the slider via the link mechanism 94. Move forward and backward with respect to 34.

  That is, as shown in FIGS. 15A and 15B, when the third joint portion 30 is bent, the connecting rod 46 is retracted via the link mechanism 94 (the length of the first link is substantially reduced). Thus, the distance d from the third joint portion 30 to the swing fulcrum is decreased by c, and the amount by which the knee joint jumps forward (the amount by which the third joint portion 30 jumps forward in the direction of travel of the user P) is increased by that amount. Can be reduced.

  As described above, in the fourth embodiment, the distance reducing mechanism 70 includes the link mechanism 94 that movably connects the slider 34 and the connecting rod 46, and the link mechanism 94 is driven by the actuator 40. Thus, the connecting rod 46 is retracted, and thus the distance d from the second joint part (third joint part 30, more precisely the joint shaft 30a) to the swing fulcrum (curvature center 32a) is reduced. Therefore, when the second joint part (third joint part 30) is a joint equivalent to a knee joint, the amount of the joint part 30 protruding forward from the trunk of the user P can be reduced accordingly. The inertial force around the vertical axis can be reduced, and the appearance discomfort can be reduced. Similarly, friction can be reduced by not using a gear.

  In addition, although this invention was demonstrated from the Example, this invention is not limited to an Example, A various deformation | transformation is possible. For example, although an electric motor is illustrated as a drive mechanism, it does not stop there.

  D Walking assist device, 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 (2nd joint part), 32 guide rail, 32a curvature center (oscillation fulcrum), 34 slider, 36 Roller, 40 Actuator (electric motor), 40a Reducer, 40b Output shaft, 42 Rocker arm (drive crank arm), 44 Driven crank arm, 46 Connecting rod, 50 Battery, 60 Pressure sensor, 62 Force sensor, 64 Controller, 70 Distance Reduction mechanism, 70a Slider side gear, 70b Link side gear, 72 Linear motion shaft, 72a Thread groove, 74 ball screw mechanism, 74a nut member, 76 housing, 76a main housing, 76b sub housing, 80 spindle, 82 cylindrical member, 84 belt pulley mechanism, 84a driving pulley, 84b driven pulley, 84c belt, 86 Worm gear mechanism, 86a Worm, 86b gear, 90 guide, 92 2nd slider, 94 link mechanism, 94a 3rd link, 94b 4th link

Claims (5)

A support member capable of supporting a user and transmitting a user's load and a first joint portion including a swing mechanism are connected to the support member so as to be swingable about a swing fulcrum. A leg link having a first link and a second link connected to the first link via a second joint, and an actuator, and driving the actuator to relatively displace the first link and the second link An angle formed by the first link and the second link with the second joint portion as a center in a walking assist device that assists the user's walking by generating an assist force that supports at least a part of the user's load. A distance reducing mechanism for reducing the distance from the second joint portion to the swing fulcrum as the angle decreases , wherein the first joint is fixed to the support member and has the swing fulcrum as the center of curvature. Arc-shaped guy The leg link is connected to the support member so as to be swingable about the center of curvature of the guide rail, and the actuator includes the first link. The link is connected to a connecting rod that connects the first joint part and the second link, and the distance reducing mechanism meshes with the slider-side gear fixed to the slider and the slider-side gear and the actuator. A link side gear connected to the link side gear, and a rocker arm having one end fixed to the link side gear and the other end rotatably connected to the connection rod. The link side gear is driven by the actuator. The rocker arm is rotated to retract the connecting rod, so that the distance from the second joint to the swing fulcrum is increased. Walking assist apparatus characterized by causing little of. Walking assistance device of claim 1, wherein the number of teeth of the slider-side gear being greater than the number of teeth of the link-side gear. A support member capable of supporting a user and transmitting a user's load and a first joint portion including a swing mechanism are connected to the support member so as to be swingable about a swing fulcrum. A leg link having a first link and a second link connected to the first link via a second joint, and an actuator, and driving the actuator to relatively displace the first link and the second link An angle formed by the first link and the second link with the second joint portion as a center in a walking assist device that assists the user's walking by generating an assist force that supports at least a part of the user's load. A distance reducing mechanism for reducing the distance from the second joint portion to the swing fulcrum as the angle decreases, wherein the first joint is fixed to the support member and has the swing fulcrum as the center of curvature. Arc-shaped guy The leg link is connected to the support member so as to be swingable about the center of curvature of the guide rail, and the actuator includes the first link. The link is connected to a connecting rod that connects the first joint portion and the second link, and the distance reducing mechanism includes one of a worm gear mechanism including a worm and a gear fixed to the slider, and the connecting rod. Once fixed is coupled prior Symbol actuator co consists the other of said worm gear mechanism, by driving the other by the actuator retracting the connecting rod, thus to said swing fulcrum from the second joint portion walking assist device you and decreases the distance. A support member capable of supporting a user and transmitting a user's load and a first joint portion including a swing mechanism are connected to the support member so as to be swingable about a swing fulcrum. A leg link having a first link and a second link connected to the first link via a second joint, and an actuator, and driving the actuator to relatively displace the first link and the second link An angle formed by the first link and the second link with the second joint portion as a center in a walking assist device that assists the user's walking by generating an assist force that supports at least a part of the user's load. A distance reducing mechanism for reducing the distance from the second joint portion to the swing fulcrum as the angle decreases, wherein the first joint is fixed to the support member and has the swing fulcrum as the center of curvature. Arc-shaped guy The leg link is connected to the support member so as to be swingable about the center of curvature of the guide rail, and the actuator includes the first link. The link is connected to a connecting rod that connects the first joint and the second link, and the distance reduction mechanism is coupled to a guide formed on the slider and to be movably engaged with the guide. consists of a second slider which is fixed to the front Symbol connecting rod, the distance of the second slider is retracted the connecting rod is driven by the actuator, thus from the second joint portion to the swing fulcrum walking assist device you and decreases the. A support member capable of supporting a user and transmitting a user's load and a first joint portion including a swing mechanism are connected to the support member so as to be swingable about a swing fulcrum. A leg link having a first link and a second link connected to the first link via a second joint, and an actuator, and driving the actuator to relatively displace the first link and the second link An angle formed by the first link and the second link with the second joint portion as a center in a walking assist device that assists the user's walking by generating an assist force that supports at least a part of the user's load. A distance reducing mechanism for reducing the distance from the second joint portion to the swing fulcrum as the angle decreases, wherein the first joint is fixed to the support member and has the swing fulcrum as the center of curvature. Arc-shaped guy The leg link is connected to the support member so as to be swingable about the center of curvature of the guide rail, and the actuator includes the first link. The link is connected to a connecting rod that connects the first joint portion and the second link, and the distance reduction mechanism includes a link mechanism that movably connects the slider and the connecting rod. It said driven by the actuator retracting the connecting rod, thus walking assist device you and decreases the distance from the second joint portion to the swing fulcrum.