JP6953349B2 - Walking support device - Google Patents

Walking support device Download PDF

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JP6953349B2
JP6953349B2 JP2018070278A JP2018070278A JP6953349B2 JP 6953349 B2 JP6953349 B2 JP 6953349B2 JP 2018070278 A JP2018070278 A JP 2018070278A JP 2018070278 A JP2018070278 A JP 2018070278A JP 6953349 B2 JP6953349 B2 JP 6953349B2
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support
base
column
user
walking
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JP2019177111A (en
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渡辺 英彦
英彦 渡辺
裕司 岩本
裕司 岩本
孝行 青野
孝行 青野
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Kumagai Gumi Co Ltd
Fatech Co Ltd
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Kumagai Gumi Co Ltd
Fatech Co Ltd
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Description

本発明は、起立動作支援手段を備えた歩行支援装置に関する。 The present invention relates to a walking support device provided with standing motion support means.

従来、キャスターを備えたベースフレームに起立動作支援手段及び体重免荷手段を備えて構成された歩行支援装置が知られている(特許文献1参照)。 Conventionally, there is known a walking support device in which a base frame provided with casters is provided with a standing motion support means and a weight unloading means (see Patent Document 1).

特開2012−125548号公報Japanese Unexamined Patent Publication No. 2012-125548

特許文献1に開示された歩行支援装置は、一端部がベースの立部に設けられたヒンジ(回転中心軸)を介して揺動可能に取付けられて他端側が前後方向に起伏可能に設けられた傾動フレームを有した支持手段と、傾動フレームを揺動させることで傾動フレームの他端側を起伏させる電動伸縮アクチュエータとを備える。そして、電動伸縮アクチュエータは、ケース(シリンダ)側の端部(一端部)が傾動フレームの一端部取付位置(ヒンジの回転中心)よりも前方に位置するベースの前側に連結され、かつ、傾動フレームの一端側下端が、電動伸縮アクチュエータのロッド(ピストン)側の端部(他端部)にヒンジを介して揺動可能に取付けられた構成となっている。
即ち、傾動フレームの一端部取付位置(ヒンジの回転中心)よりも前側に、電動伸縮アクチュエータの一端部を連結するためのベースの連結部を設ける必要があるため、ベースの前後方向長さが長くなってしまう。従って、前後に長い装置となってしまい、装置を旋回させたりする際等に小回りの利かない取扱い性の悪い歩行支援装置となってしまうという課題があった。
本発明は、装置の前後長さを短くでき、装置を旋回させたりする際等の取扱い性に優れた歩行支援装置を提供する。
In the walking support device disclosed in Patent Document 1, one end is swingably attached via a hinge (rotation center axis) provided on a vertical portion of the base, and the other end is provided so as to be undulating in the front-rear direction. A support means having a tilting frame and an electric telescopic actuator that undulates the other end side of the tilting frame by swinging the tilting frame are provided. Then, in the electric telescopic actuator, the end portion (one end portion) on the case (cylinder) side is connected to the front side of the base located in front of the one end portion mounting position (rotation center of the hinge) of the tilting frame, and the tilting frame. The lower end on one end side of the motor is swayably attached to the end (other end) on the rod (piston) side of the electric telescopic actuator via a hinge.
That is, since it is necessary to provide a connecting portion of the base for connecting one end of the electric telescopic actuator on the front side of the one end mounting position (rotation center of the hinge) of the tilting frame, the length of the base in the front-rear direction is long. turn into. Therefore, there is a problem that the device becomes long in the front-rear direction, and the walking support device becomes inconvenient to handle when the device is turned.
The present invention provides a walking support device capable of shortening the front-rear length of the device and having excellent handleability when turning the device.

本発明に係る使用者の歩行を支援する歩行支援装置は、ベースと、ベースに設けられた移動手段と、ベースに設けられた装置本体部と、使用者が装着する装着具と装置本体部とを連結する連結手段とを備え、装置本体部は、使用者が着座した状態から起立する際の動作を支援する起立動作支援手段、及び、使用者が起立した状態から着座する際の動作を支援する着座動作支援手段を備え、起立動作支援手段及び着座動作支援手段は、一端部がベースの前側に揺動可能に取付けられて他端側に使用者を支持するための支持部を備えた支持手段と、アクチュエータとを備え、アクチュエータは、一端部が支持手段の一端部取付位置よりも歩行支援装置の後側に位置されるベースの後側に揺動可能に取付けられて他端部が支持手段に揺動可能に取付けられた伸縮手段により構成され、伸縮手段が縮むことで支持手段の他端側が歩行支援装置の前側から後側に倒れ込み、かつ、伸縮手段が伸びることで支持手段の他端側が歩行支援装置の後側から前側に起立するように構成されたので、装置の前後長さを短くでき、装置を旋回させたりする際等の取扱い性に優れた歩行支援装置となるとともに、支持手段は、下端がベースの前側に揺動可能に取付けられた支柱と、支柱の上端に設けられた支持部と、連結機構とを備え、支柱は、下側支柱と上側支柱とを備えて構成され、上側支柱は、上端が支持部に連結されて下端が開口する中空柱により構成され、下側支柱は、下端がベースの前側に揺動可能に取付けられて、上端側が上側支柱を構成する中空柱の下端開口より中空柱内に挿入された柱により構成され、上側支柱は、下側支柱の延長方向に沿って移動可能で、かつ、上端に取付けられた支持部の高さを変更可能なように下側支柱に取付けられ、連結機構は、管と、管の他端開口を介して当該管内に挿入されたスライド部材とを備え、一端部がベースに揺動可能に取付けられるとともに、他端部が上側支柱の下端部に揺動可能に取付けられて伸縮可能に構成され、起立動作支援時、及び、着座動作支援時において、伸縮手段の伸縮に伴って連結機構も伸縮するように構成されたので、上側支柱を上下方向に容易に移動させることができるようになり、支持部の高さ調整作業が容易な歩行支援装置となる。
また、ベースの後側には、上方に延長するように設けられた取付支柱を備え、伸縮手段の一端部が取付支柱の上端側に揺動可能に取付けられるとともに、連結機構の管の一端部が取付支柱の上端側における伸縮手段の一端部取付位置よりも上方側に揺動可能に取付けられたので、当該伸縮手段の中心軸の延長方向が水平方向に近づく状態に当該伸縮手段を設置できるようになって、伸縮手段を駆動させる駆動力を小さくできるようになり、駆動出力の小さい小型で安価な伸縮手段を使用することが可能となるため、歩行支援装置の低コスト化が図れるようになる。
また、支柱は、一端部がベースの前左側に揺動可能に設けられた左支柱と、一端部がベースの前右側に揺動可能に設けられた右支柱とを備え、当該左支柱及び右支柱の他端側に支持部が設けられ、伸縮手段は、一端部がベースの後左側に揺動可能に取付けられて他端部が左支柱に揺動可能に取付けられた左伸縮手段と、一端部がベースの後右側に揺動可能に取付けられて他端部が右支柱に揺動可能に取付けられた右伸縮手段とを備えたので、起立動作支援手段及び着座動作支援手段の動作確実性の高い歩行支援装置を提供できる。
The walking support device for supporting the walking of the user according to the present invention includes a base, a moving means provided on the base, a device main body provided on the base, and a fitting and a device main body worn by the user. The device main body is provided with a connecting means for connecting the two, and the device main body supports the standing motion supporting means for supporting the motion when the user stands up from the seated state and the motion when the user sits down from the standing state. The standing motion support means and the seat motion support means are supported with one end swingably attached to the front side of the base and a support portion for supporting the user on the other end side. A means and an actuator are provided, and the actuator is swingably attached to the rear side of a base whose one end is located behind the walking support device with respect to the attachment position of one end of the support means, and the other end is supported. It is composed of telescopic means that are swingably attached to the means, and when the telescopic means contracts, the other end side of the support means collapses from the front side to the rear side of the walking support device, and the telescopic means extends to other than the support means. Since the end side is configured to stand up from the rear side to the front side of the walking support device, the front-back length of the device can be shortened, and the walking support device has excellent handleability when turning the device . The support means includes a strut whose lower end is swingably attached to the front side of the base, a support portion provided at the upper end of the strut, and a connecting mechanism, and the strut includes a lower strut and an upper strut. The upper strut is composed of a hollow column whose upper end is connected to a support portion and whose lower end is open, and the lower strut is swingably attached to the front side of the base at the lower end, and the upper end side constitutes the upper strut. It is composed of columns inserted into the hollow column from the lower end opening of the hollow column, the upper column can move along the extension direction of the lower column, and the height of the support part attached to the upper end is changed. Attached to the lower column as possible, the connecting mechanism comprises a tube and a slide member inserted into the tube through the other end opening of the tube, with one end swingably attached to the base. , The other end is swingably attached to the lower end of the upper support column so that it can be expanded and contracted, and the connecting mechanism also expands and contracts as the expansion and contraction means expands and contracts during standing operation support and seating operation support. Since the upper support column can be easily moved in the vertical direction, the walking support device can easily adjust the height of the support portion.
Further, the rear side of the base is provided with a mounting column provided so as to extend upward, and one end of the telescopic means is swingably attached to the upper end side of the mounting column, and one end of the pipe of the connecting mechanism is provided. Is swingably mounted above the one end mounting position of the telescopic means on the upper end side of the mounting column, so that the telescopic means can be installed in a state where the extension direction of the central axis of the telescopic means approaches the horizontal direction. As a result, the driving force for driving the telescopic means can be reduced, and a small and inexpensive telescopic means with a small drive output can be used, so that the cost of the walking support device can be reduced. Become.
Further, the support column includes a left support column having one end swingably provided on the front left side of the base and a right support column having one end swingably provided on the front right side of the base. A support portion is provided on the other end side of the strut, and the telescopic means are the left telescopic means, one end of which is swingably attached to the rear left side of the base and the other end of which is swingably attached to the left strut. Since one end is swingably attached to the rear right side of the base and the other end is swingably attached to the right strut, the right telescopic means is provided, so that the operation of the standing motion support means and the seating motion support means is assured. It is possible to provide a highly sexual walking support device.

支柱起立状態の歩行支援装置を斜め後側から見た斜視図。A perspective view of the walking support device in an upright position as seen diagonally from the rear side. 支柱起立状態の歩行支援装置を斜め前側から見た斜視図。A perspective view of the walking support device in an upright position when viewed diagonally from the front side. 支柱倒伏状態の歩行支援装置を斜め前側から見た斜視図。A perspective view of the walking support device in a state where the columns are laid down, as viewed diagonally from the front side. 歩行支援装置の起立補助機能を示す動作説明図。An operation explanatory view which shows the standing assist function of a walking support device. 使用者転倒防止手段及び弾性支持手段の構成及び動作を示す図。The figure which shows the structure and operation of the user fall prevention means and elastic support means. 使用者転倒防止手段及び弾性支持手段の構成及び動作を示す図。The figure which shows the structure and operation of the user fall prevention means and elastic support means. 使用者転倒防止手段及び弾性支持手段の構成及び動作を示す図。The figure which shows the structure and operation of the user fall prevention means and elastic support means. 使用者転倒防止手段及び弾性支持手段の構成及び動作を示す図。The figure which shows the structure and operation of the user fall prevention means and elastic support means. 歩行支援装置の構成を示す側面図。The side view which shows the structure of the walking support device. 歩行支援装置の動作説明図。The operation explanatory diagram of the walking support device.

実施形態1
実施形態1に係る歩行支援装置1は、図1に示すように、ベース2と、ベース2に設けられた移動手段3と、移動手段3に設けられた制動手段4と、ベース2に設けられた装置本体部5と、使用者Aが装着する例えばズボン等の装着具Bと装置本体部5とを連結する連結手段6とを備えて構成される。
装置本体部5は、支持手段7と、アクチュエータとなる伸縮手段としての例えばシリンダ8と、体重免荷手段9と、アウトリガー10と、起立動作支援手段と、着座動作支援手段と、起立動作支援時制動手段と、着座動作支援時制動手段と、使用者転倒防止手段と、弾性支持手段とを備えて構成される。
尚、以下、当該歩行支援装置1を使用する要介護者、障害者、リハビリ訓練者等の使用者Aの前側を「前」、左側を「左」、右側を「右」、後側を「後」と定義して説明する。
Embodiment 1
As shown in FIG. 1, the walking support device 1 according to the first embodiment is provided on the base 2, the moving means 3 provided on the base 2, the braking means 4 provided on the moving means 3, and the base 2. The device main body 5 is provided with a connecting means 6 for connecting the device B worn by the user A, such as trousers, and the device main body 5.
The device main body 5 includes a support means 7, a cylinder 8 as an expansion / contraction means that serves as an actuator, a weight unloading means 9, an outrigger 10, a standing motion supporting means, a sitting motion supporting means, and a standing motion support. It is configured to include a braking means, a braking means for supporting a sitting motion, a user fall prevention means, and an elastic support means.
Hereinafter, the front side of the user A such as a care recipient, a handicapped person, a rehabilitation trainer, etc. who uses the walking support device 1 is "front", the left side is "left", the right side is "right", and the rear side is " It will be explained by defining it as "after".

ベース2は、例えば断面円形状の鉄パイプ等を凹字やU字のような形状に形成したベースフレーム21により構成される。ベースフレーム21は、上方側から見た場合には、凹字やU字の下側が歩行支援装置1の前方に位置されて、凹字やU字の左右の上端が歩行支援装置1の後方の左右に位置された逆凹字状や逆U字状のフレームに見えるように構成されている。
以下、ベースフレーム21の左側をベースフレーム左部22、ベースフレーム21の右側をベースフレーム右部23、ベースフレーム21の前側をベースフレーム前部24という。
The base 2 is composed of a base frame 21 in which, for example, an iron pipe having a circular cross section is formed into a concave or U-shaped shape. When viewed from above, the base frame 21 has a concave or U-shaped lower side located in front of the walking support device 1, and the left and right upper ends of the concave or U-shaped are behind the walking support device 1. It is configured to look like an inverted concave or inverted U-shaped frame located on the left and right.
Hereinafter, the left side of the base frame 21 is referred to as a base frame left portion 22, the right side of the base frame 21 is referred to as a base frame right portion 23, and the front side of the base frame 21 is referred to as a base frame front portion 24.

移動手段3は、例えば複数の旋回キャスター(自在キャスター)31,31…により構成される。
当該旋回キャスター31は、例えば車輪32が床面等の路面Rと平行(水平)に延長する中心軸(シャフト)33を介して回転可能なようにフォーク34に取付けられ、かつ、フォーク34が路面Rと垂直に延長する中心軸(シャフト)35を介して回転可能なように取付座36を介してベースフレーム21に取付けられた構成である。
また、旋回キャスター31は、車輪32の回転を停止させる制動手段4を備える。
当該制動手段4は、例えば、電磁石、油圧シリンダー、エアシリンダー、ブレーキワイヤー等の動力源を利用した、電磁ブレーキ、ドラムブレーキ、キャリパーブレーキ等のブレーキにより構成される。
例えば、旋回キャスター31として、ドラムブレーキユニット付きのキャスターが使用されている。
旋回キャスター31は、例えば図1に示すように、ベースフレーム左部22の後端側、ベースフレーム右部23の後端側、及び、ベースフレーム前部24の左右側に、それぞれ1つずつ設けられている。
The moving means 3 is composed of, for example, a plurality of swivel casters (universal casters) 31, 31 ...
The swivel caster 31 is attached to the fork 34 so that the wheels 32 can rotate via a central axis (shaft) 33 extending parallel (horizontally) with the road surface R such as the floor surface, and the fork 34 is mounted on the road surface. It is configured to be mounted on the base frame 21 via a mounting seat 36 so that it can rotate via a central shaft (shaft) 35 extending perpendicularly to R.
Further, the turning caster 31 includes a braking means 4 for stopping the rotation of the wheels 32.
The braking means 4 is composed of, for example, brakes such as an electromagnetic brake, a drum brake, and a caliper brake using a power source such as an electromagnet, a hydraulic cylinder, an air cylinder, and a brake wire.
For example, as the turning caster 31, a caster with a drum brake unit is used.
As shown in FIG. 1, for example, one swivel caster 31 is provided on the rear end side of the left portion 22 of the base frame, one on the rear end side of the right portion 23 of the base frame, and one on the left and right sides of the front portion 24 of the base frame. Has been done.

ベースフレーム左部22の後端、及び、ベースフレーム右部23の後端には、それぞれアウトリガー10,10が取付けられている。
アウトリガー10は、歩行支援装置1が後方に傾いて転倒してしまうことを防止するための装置である。
アウトリガー10は、例えば自由蝶番11を介して、路面Rに沿った水平方向に揺動可能に取付けられ、かつ、自由蝶番11に内蔵されたばねの力によって初期状態(初期位置)に復帰するように構成されている。
従って、アウトリガー10に力が加わった場合に、アウトリガー10が揺動するので、アウトリガー10が壁等の障害物等に衝突したとしても歩行支援装置1の旋回や移動の妨げにならないようになる。
また、アウトリガー10が障害物等に衝突して路面Rに沿った方向に揺動している時以外、即ち、アウトリガー10に力が加わわらなくなった場合には、アウトリガー10は常に初期状態に復帰して、装置後方転倒防止機能を発揮できる状態となる。
Outriggers 10 and 10 are attached to the rear end of the left portion 22 of the base frame and the rear end of the right portion 23 of the base frame, respectively.
The outrigger 10 is a device for preventing the walking support device 1 from tilting backward and falling.
The outrigger 10 is attached so as to be swingable in the horizontal direction along the road surface R, for example, via the free hinge 11, and returns to the initial state (initial position) by the force of the spring built in the free hinge 11. It is configured.
Therefore, when a force is applied to the outriggers 10, the outriggers 10 swing, so that even if the outriggers 10 collide with an obstacle such as a wall, the walking support device 1 does not hinder the turning or movement.
Further, the outrigger 10 always returns to the initial state except when the outrigger 10 collides with an obstacle or the like and swings in the direction along the road surface R, that is, when no force is applied to the outrigger 10. Then, the device is in a state where the rearward fall prevention function can be exhibited.

支持手段7は、例えば断面円形状の鉄パイプ等を組み合わせて形成された左右の支柱71,72と、左右の支柱71,72の上端側に設けられた支持台73とを備えて構成される。当該支持台73と、当該支持台73に設けられた後述のハンドルグリップ77及び昇降レバー78とによって、使用者Aを支持するための支持部が構成される。つまり、後述する起立動作時や着座動作時において、使用者Aが昇降レバー78を握ることにより、使用者Aが支持手段7に支持されたり、歩行時において、使用者Aがハンドルグリップ77を握って前腕を支持台73のテーブル面76に載せることにより、使用者Aが支持手段7に支持されることになる。即ち、支持手段7は、下端部(一端部)がベース2の前側に揺動可能に取付けられて上端側(他端側)に使用者Aを支持するための支持部を備えた構成である。 The support means 7 includes, for example, left and right columns 71 and 72 formed by combining iron pipes having a circular cross section, and a support base 73 provided on the upper end side of the left and right columns 71 and 72. .. The support base 73 and the handle grip 77 and the elevating lever 78 provided on the support base 73, which will be described later, form a support portion for supporting the user A. That is, when the user A grips the elevating lever 78 during the standing operation or the sitting operation, which will be described later, the user A is supported by the support means 7, or when walking, the user A grips the handle grip 77. By placing the forearm on the table surface 76 of the support base 73, the user A is supported by the support means 7. That is, the support means 7 has a configuration in which a lower end portion (one end portion) is swingably attached to the front side of the base 2 and a support portion for supporting the user A is provided on the upper end side (other end side). ..

左右の支柱71,72(左支柱71,右支柱72)は、それぞれ、下側支柱74と上側支柱73aとを備えて構成される。
左支柱71の下側支柱74は、下端(一端)がベースフレーム左部22の前側にヒンジ74aを介して前後方向に揺動可能となるように連結され、上端(他端)は支持台73から突出するように設けられた上側支柱73aを挿入するための開口74bに形成されている。
右支柱72の下側支柱74も同様に、下端(一端)がベースフレーム右部23にヒンジ74aを介して前後方向に揺動可能となるように連結され、上端(他端)は支持台73から突出するように設けられた上側支柱73aを挿入するための開口74bに形成されている。
また、下側補助支柱75と上側補助支柱73bとを備えて構成された補助支柱を備え、当該下側補助支柱75の下端側75aが下側支柱74の延長方向のほぼ中間位置に連結され、当該下側補助支柱75の上端は支持台73から突出するように設けられた上側補助支柱73bを挿入するための開口75bに形成されている。
尚、下側支柱74には、上下方向に所定の間隔を隔てて図外の複数の高さ位置決め孔が形成されているとともに、上側支柱73aにも図外の高さ位置決め孔が形成されている。従って、上側支柱73aを開口74bを介して下側支柱74の内側に挿入した後、上側支柱73aの高さ位置決め孔と下側支柱74に形成されたいずれかの高さ位置決め孔とを一致させた状態でこれら高さ位置決め孔に図外の固定ねじ等の固定手段を嵌め込むことにより、支持台73の高さを使用者Aの身長に合わせて調整できるように構成されている。即ち、上側支柱73aは、下側支柱74の延長方向に沿って移動可能に構成され、上端に取付けられた支持台73の高さを変更可能なように下側支柱74に取付けられた構成となっている。
また、下側補助支柱75の開口75b側には、例えば図外の固定ねじ等の固定手段が設けられている。即ち、当該固定ねじを下側補助支柱75に形成された図外のねじ貫通孔にねじ込んで上側補助支柱73bを押圧して当該上側補助支柱73bの外周面を下側補助支柱75の内周面に押し付けることによって、上側補助支柱73bを下側補助支柱75に固定できるように構成されている。
つまり、支持手段7は、支持台73の高さを使用者Aの身長に合わせて調整できる支持台高さ調整機構を備えている。
また、左右の下側支柱74,74は、例えば断面円形状の鉄パイプ等により形成された上下の補強桟74x,74yにより連結されている。
The left and right columns 71 and 72 (left column 71, right column 72) are configured to include a lower column 74 and an upper column 73a, respectively.
The lower strut 74 of the left strut 71 is connected to the front side of the left portion 22 of the base frame so that the lower end (one end) can swing in the front-rear direction via a hinge 74a, and the upper end (the other end) is the support base 73. It is formed in the opening 74b for inserting the upper support column 73a provided so as to protrude from the.
Similarly, the lower end (one end) of the lower support 74 of the right support 72 is connected to the right portion 23 of the base frame via a hinge 74a so that the lower end (one end) can swing in the front-rear direction, and the upper end (the other end) is the support base 73. It is formed in the opening 74b for inserting the upper support column 73a provided so as to protrude from the.
Further, an auxiliary strut configured to include the lower auxiliary strut 75 and the upper auxiliary strut 73b is provided, and the lower end side 75a of the lower auxiliary strut 75 is connected to a substantially intermediate position in the extension direction of the lower strut 74. The upper end of the lower auxiliary strut 75 is formed in an opening 75b for inserting the upper auxiliary strut 73b provided so as to protrude from the support base 73.
The lower support column 74 is formed with a plurality of height positioning holes (not shown) at predetermined intervals in the vertical direction, and the upper support column 73a is also formed with a height positioning hole (not shown). There is. Therefore, after inserting the upper support column 73a into the inside of the lower support column 74 through the opening 74b, the height positioning hole of the upper support column 73a and any of the height positioning holes formed in the lower support column 74 are made to match. By fitting a fixing means such as a fixing screw (not shown) into these height positioning holes in this state, the height of the support base 73 can be adjusted according to the height of the user A. That is, the upper support column 73a is configured to be movable along the extension direction of the lower support column 74, and is attached to the lower support column 74 so that the height of the support base 73 attached to the upper end can be changed. It has become.
Further, on the opening 75b side of the lower auxiliary support column 75, for example, a fixing means such as a fixing screw (not shown) is provided. That is, the fixing screw is screwed into a screw through hole (not shown) formed in the lower auxiliary strut 75 to press the upper auxiliary strut 73b so that the outer peripheral surface of the upper auxiliary strut 73b is the inner peripheral surface of the lower auxiliary strut 75. The upper auxiliary strut 73b can be fixed to the lower auxiliary strut 75 by pressing against.
That is, the support means 7 includes a support base height adjusting mechanism that can adjust the height of the support base 73 according to the height of the user A.
Further, the left and right lower columns 74 and 74 are connected by upper and lower reinforcing bars 74x and 74y formed of, for example, an iron pipe having a circular cross section.

支持台73は、使用者Aの左右の前腕を載せることが可能なテーブル面(上面)76を備える。当該テーブル面76は、上方側から見た場合に、ベースフレーム21と同様に、凹字やU字の下側が歩行支援装置1の前方に位置されて、凹字やU字の左右の上端が歩行支援装置1の後方に位置された逆凹字状や逆U字状のフレームに見えるように構成されている。
テーブル面76の前側の左右には、当該テーブル面76より上方に突出するように設けられた左右のハンドルグリップ77,77が設けられている。
また、テーブル面76の前側の中央側には、体重免荷手段9による体重免荷量を調整するための調整ダイヤル70A、歩行支援装置1の各電気部品への電源供給をオンオフするための電源オンオフ用の電源キースイッチ70B、歩行支援装置1に起立動作支援を行わせるか着座動作支援を行わせるかを切替えるための切替スイッチ70Cを備える。
The support base 73 includes a table surface (upper surface) 76 on which the left and right forearms of the user A can be placed. When the table surface 76 is viewed from above, the lower side of the concave character or U-shape is positioned in front of the walking support device 1, and the left and right upper ends of the concave character or U-shape are located in front of the walking support device 1. It is configured to look like an inverted concave or inverted U-shaped frame located behind the walking support device 1.
Left and right handle grips 77, 77 provided so as to project upward from the table surface 76 are provided on the left and right sides of the front side of the table surface 76.
Further, on the center side of the front side of the table surface 76, there is an adjustment dial 70A for adjusting the weight unloading amount by the weight unloading means 9, and a power supply for turning on / off the power supply to each electric component of the walking support device 1. It is provided with a power key switch 70B for turning on and off, and a changeover switch 70C for switching whether the walking support device 1 is to support the standing motion or the sitting motion.

また、テーブル面76の前側端面には、昇降レバー78が設けられる。
当該昇降レバー78は、テーブル面76の前側端面の左側より前方に突出した後、上方に延長して、かつ、右側方向に水平に延長した後、さらに、下方に延長し、かつ後方に延長してテーブル面76の前側端面の右側に繋がるように形成されたパイプフレーム等により構成されている。
即ち、昇降レバー78は、テーブル面76の前側端面の左側より前方に突出する左連結部78aと、左連結部78aの前端より右側上方に延長する左立上がり部78bと、テーブル面76の前側端面の右側より前方に突出する右連結部78cと、右連結部78cの前端より左側上方に延長する右立上がり部78dと、左立上がり部78bの右端と右立上がり部78dの左端とを連結する水平部78eとを備える。
昇降レバー78は、例えば断面円形状の鉄パイプ等を組み合わせて溶接したり、断面円形状の鉄パイプ等を折曲する等して形成される。
Further, an elevating lever 78 is provided on the front end surface of the table surface 76.
The elevating lever 78 protrudes forward from the left side of the front end surface of the table surface 76, extends upward, extends horizontally to the right side, and then further extends downward and extends rearward. It is composed of a pipe frame or the like formed so as to be connected to the right side of the front end surface of the table surface 76.
That is, the elevating lever 78 includes a left connecting portion 78a projecting forward from the left side of the front end surface of the table surface 76, a left rising portion 78b extending upward to the right from the front end of the left connecting portion 78a, and a front end surface of the table surface 76. A horizontal portion that connects the right connecting portion 78c that protrudes forward from the right side, the right rising portion 78d that extends upward to the left from the front end of the right connecting portion 78c, and the right end of the left rising portion 78b and the left end of the right rising portion 78d. It is equipped with 78e.
The elevating lever 78 is formed, for example, by combining and welding an iron pipe having a circular cross section or the like, or by bending an iron pipe or the like having a circular cross section.

また、水平部78eの外側には、図1(a),図1(b)に示すように、水平部78eの外周面の湾曲形状に対応した断面湾曲形状に形成された可動カバー78fが設けられる。この可動カバー78fの内面における湾曲面に沿った方向の中央側にはスイッチ接触子78gが突出するように設けられている。また、中空パイプにより形成された水平部78eには当該中空パイプの内外に貫通する貫通孔78hが形成されており、この貫通孔78hと対向する中空パイプの内面には、シリンダ8を作動及び停止させるためのスイッチ78iが設けられている。そして、スイッチ接触子78gが貫通孔78hを貫通した状態で可動カバー78fの内面における湾曲面に沿った方向の両端側と水平部78eの中空パイプの外面とがそれぞればね78j,78jで連結されている。
即ち、手A1で水平部78e及び可動カバー78fを握ると、ばね78j,78jが縮んで可動カバー78fが水平部78eの外面に近付くことで、スイッチ接触子78gの先端がスイッチ78iに接触してスイッチ78iがオンとなるように構成されている。
また、可動カバー78fから手A1を離したり、握りを緩めたりすることによって、可動カバー78fがばね78j,78jの力で水平部78eの外面から離れる方向に移動し、スイッチ接触子78gの先端がスイッチ78iから離れてスイッチ78iがオフとなるように構成されている。
つまり、昇降レバー78は、手A1で握ることでシリンダ8を作動させ、手A1を離したり、握りを緩めたりすることによって、シリンダ8を停止させるスイッチ機構を備えた構成となっている。
Further, as shown in FIGS. 1A and 1B, a movable cover 78f formed in a curved cross-sectional shape corresponding to the curved shape of the outer peripheral surface of the horizontal portion 78e is provided on the outside of the horizontal portion 78e. Be done. A switch contact 78g is provided so as to project on the central side of the inner surface of the movable cover 78f in the direction along the curved surface. Further, a through hole 78h penetrating inside and outside the hollow pipe is formed in the horizontal portion 78e formed by the hollow pipe, and the cylinder 8 is operated and stopped on the inner surface of the hollow pipe facing the through hole 78h. A switch 78i for making the switch 78i is provided. Then, with the switch contact 78g penetrating the through hole 78h, both ends of the inner surface of the movable cover 78f in the direction along the curved surface and the outer surface of the hollow pipe of the horizontal portion 78e are connected by springs 78j and 78j, respectively. There is.
That is, when the horizontal portion 78e and the movable cover 78f are grasped by the hand A1, the springs 78j and 78j contract and the movable cover 78f approaches the outer surface of the horizontal portion 78e, so that the tip of the switch contact 78g comes into contact with the switch 78i. The switch 78i is configured to be turned on.
Further, by releasing the hand A1 from the movable cover 78f or loosening the grip, the movable cover 78f moves in the direction away from the outer surface of the horizontal portion 78e by the force of the springs 78j and 78j, and the tip of the switch contact 78g is moved. It is configured so that the switch 78i is turned off apart from the switch 78i.
That is, the elevating lever 78 is configured to include a switch mechanism for operating the cylinder 8 by grasping it with the hand A1 and stopping the cylinder 8 by releasing the hand A1 or loosening the grip.

左右の支柱71,72毎に対応してそれぞれシリンダ8が設けられている。
シリンダ8としては、例えば、電動シリンダが用いられる。
当該電動シリンダは、例えば図外のモータと、モータにより回転するボールねじと、当該ボールねじに螺着されたボールねじナットと、これらモータ、ボールねじ、及び、ボールねじナットが収容されたケース(シリンダケース)81と、一端がボールねじナットに取付けられて他端側がケース81の他端81aから突出するように設けられたロッド(ピストンロッド)82とを備えた構成である。尚、シリンダ8として、油圧シリンダやエアシリンダ等を用いてもよい。
そして、左伸縮手段としてのシリンダ8は、ケース81の一端がベースフレーム左部22にヒンジ83を介して前後方向に揺動可能となるように連結され、ロッド82の他端が左の下側支柱74の延長方向のほぼ中間位置にヒンジ84を介して揺動可能に連結されている。
同様に、右伸縮手段としてのシリンダ8は、ケース81の一端がベースフレーム右部23にヒンジ83を介して前後方向に揺動可能となるように連結され、ロッド82の他端が右の下側支柱74の延長方向のほぼ中間位置にヒンジ84を介して揺動可能に連結されている。
即ち、左右のシリンダ8,8は、図1,図2に示す支持手段7の起立状態において、シリンダ8の中心軸が、歩行支援装置1の後側から前側に向けて傾斜して延長するように配置されて、ケース81の一端部が、支持手段7の一端部取付位置よりも歩行支援装置1の後側に位置されるベース2の後側に揺動可能に取付けられ、かつ、ロッド82の他端部が、支持手段7の下側支柱74の延長方向(上下方向)のほぼ中間位置に揺動可能に取付けられている。
このように、左右のシリンダ8,8、左右の支柱71,72よりも歩行支援装置1の後側に配置されたので、左右の支柱71,72よりも歩行支援装置1の前側にシリンダ8の取付部を設ける必要が無くなるため、ベース2の前後方向長さを短くできるようになる。従って、装置の前後長さを短くでき、装置を旋回させたりする際等に小回りの利く取扱い性に優れた歩行支援装置1を提供できるようになる。
Cylinders 8 are provided for each of the left and right columns 71 and 72.
As the cylinder 8, for example, an electric cylinder is used.
The electric cylinder includes, for example, a motor (not shown), a ball screw rotated by the motor, a ball screw nut screwed onto the ball screw, a motor, a ball screw, and a case (ball screw nut). The configuration includes a cylinder case) 81 and a rod (piston rod) 82 having one end attached to a ball screw nut and the other end protruding from the other end 81a of the case 81. As the cylinder 8, a hydraulic cylinder, an air cylinder, or the like may be used.
The cylinder 8 as the left telescopic means is connected to the left portion 22 of the base frame so that one end of the case 81 can swing in the front-rear direction via the hinge 83, and the other end of the rod 82 is the lower left side. It is swingably connected to the support column 74 at a position substantially intermediate in the extension direction via a hinge 84.
Similarly, in the cylinder 8 as the right telescopic means, one end of the case 81 is connected to the right portion 23 of the base frame via a hinge 83 so that the cylinder 8 can swing in the front-rear direction, and the other end of the rod 82 is the lower right. It is swingably connected to the side column 74 at a position substantially intermediate in the extension direction via a hinge 84.
That is, in the left and right cylinders 8 and 8, in the upright state of the support means 7 shown in FIGS. 1 and 2, the central axis of the cylinder 8 is inclined and extended from the rear side to the front side of the walking support device 1. One end of the case 81 is swingably attached to the rear side of the base 2 located on the rear side of the walking support device 1 with respect to the attachment position of one end of the support means 7, and the rod 82. The other end of the support means 7 is swingably attached to a position substantially intermediate in the extension direction (vertical direction) of the lower support column 74 of the support means 7.
In this way, since the left and right cylinders 8 and 8 and the left and right columns 71 and 72 are arranged on the rear side of the walking support device 1, the cylinder 8 is located on the front side of the walking support device 1 on the left and right columns 71 and 72. Since it is not necessary to provide a mounting portion, the length of the base 2 in the front-rear direction can be shortened. Therefore, the front-rear length of the device can be shortened, and it becomes possible to provide the walking support device 1 which is easy to turn and has excellent handleability when the device is turned.

左右のシリンダ8,8によって、支持手段7が前方から後方に倒れる状態と後方から前方に起立する状態とに駆動される。
即ち、支持手段7と、支持手段7を図3に示す倒伏状態から図2に示す起立状態、または、支持手段7を図2に示す起立状態から図3に示す倒伏状態に移動させる左右のシリンダ8,8とによって、使用者Aが着座した状態から起立する際の動作を支援する起立動作支援手段、及び、使用者Aが起立した状態から着座する際の動作を支援する着座動作支援手段が構成される。
つまり、支持手段7の左右の支柱71,72が、ベースフレーム21にヒンジ83,83を介して前後方向に揺動可能となるように取付けられた可動フレーム(傾動フレーム)として機能する。
言い換えれば、起立動作支援手段及び着座動作支援手段は、一端部がベース2の前側に揺動可能に取付けられた左右の支柱71,72と、左右の支柱71,72の他端側に設けられた支持部とを備えた支持手段7と、伸縮手段としての左右のシリンダ8,8とを備える。そして、左右のシリンダ8,8は、一端部がベース2の後側に揺動可能に取付けられて他端部が支持手段7の左右の支柱71,72に揺動可能に取付けられる。即ち、左右のシリンダ8,8が縮むことで支持手段7の上端側(他端側)が歩行支援装置1の前側から後側に倒れ込み、かつ、左右のシリンダ8,8が伸びることで支持手段7の上端側(他端側)が歩行支援装置1の後側から前側に起立するように構成されているので、装置の前後長さを短くでき、装置を旋回させたりする際等に小回りの利く取扱い性に優れた歩行支援装置1を提供できる。
尚、図示を省略しているが、シリンダ8のモータ、歩行支援装置1に装備されたその他の電気部品を駆動させるための充電式電池等の電源が、例えばベースフレーム21、支柱71,72、補強桟74x,74y等のいずれかに着脱可能に取付けられている。
The left and right cylinders 8 and 8 drive the support means 7 into a state in which the support means 7 falls from the front to the rear and a state in which the support means 7 stands up from the rear to the front.
That is, the left and right cylinders that move the support means 7 and the support means 7 from the inverted state shown in FIG. 3 to the upright state shown in FIG. According to 8 and 8, the standing motion supporting means for supporting the motion when the user A stands up from the seated state and the sitting motion supporting means for supporting the motion when the user A sits down from the standing state are provided. It is composed.
That is, the left and right columns 71 and 72 of the support means 7 function as a movable frame (tilting frame) attached to the base frame 21 so as to be swingable in the front-rear direction via the hinges 83 and 83.
In other words, the standing motion supporting means and the sitting motion supporting means are provided on the left and right columns 71 and 72 whose one end is swingably attached to the front side of the base 2 and on the other end side of the left and right columns 71 and 72. A support means 7 having a support portion and left and right cylinders 8 and 8 as expansion / contraction means are provided. One end of the left and right cylinders 8 and 8 is swingably attached to the rear side of the base 2, and the other end is swingably attached to the left and right columns 71 and 72 of the support means 7. That is, when the left and right cylinders 8 and 8 contract, the upper end side (the other end side) of the support means 7 collapses from the front side to the rear side of the walking support device 1, and the left and right cylinders 8 and 8 extend to support means. Since the upper end side (the other end side) of the walking support device 1 is configured to stand up from the rear side to the front side of the walking support device 1, the front-rear length of the device can be shortened, and a small turn can be made when turning the device. It is possible to provide a walking support device 1 that is easy to handle and has excellent handleability.
Although not shown, the power sources such as the motor of the cylinder 8 and the rechargeable battery for driving the other electric components mounted on the walking support device 1 are, for example, the base frame 21, the columns 71, 72, and the like. It is detachably attached to any of the reinforcing bars 74x, 74y, etc.

連結手段6は、一端が体重免荷手段9に連結されて他端にフック等の連結具61が取付けられた、例えばロープ、紐、帯材、鎖等のように曲げることが可能な長尺部材、即ち、体重免荷手段9と連結具61とを繋ぐ連続した長尺部材により構成される。
支持手段7の上端側(他端側)より歩行支援装置1の後側に突出する連結手段6の他端に設けられた連結具61が、使用者Aの装着する装着具Bの連結部C(図4参照)に連結されることにより、使用者Aは、体重免荷手段9により体重負荷が軽減された状態で歩行可能となるとともに、起立動作支援手段及び着座動作支援手段によって、起立動作及び着座動作が支援されることになる。
One end of the connecting means 6 is connected to the weight unloading means 9 and a connecting tool 61 such as a hook is attached to the other end. It is composed of a member, that is, a continuous long member connecting the weight unloading means 9 and the connecting tool 61.
The connecting tool 61 provided at the other end of the connecting means 6 projecting from the upper end side (the other end side) of the supporting means 7 to the rear side of the walking support device 1 is the connecting portion C of the wearing tool B worn by the user A. By being connected to (see FIG. 4), the user A can walk in a state where the weight load is reduced by the weight unloading means 9, and the user A can stand up by the standing motion supporting means and the sitting motion supporting means. And the sitting motion will be supported.

体重免荷手段9は、使用者Aの体重負荷を軽減するよう、装着具B、連結手段6を介して当該体重免荷手段9に連結された使用者Aを使用者Aの体重の何割かの力で牽引する(吊り上げる)装置であり、例えば、ばねや重錘等、あるいは、モーターやシリンダー等のアクチュエータを用いた牽引装置である。例えば、連結手段6の一端を、ぜんまいばね等の定荷重ばねや重錘に繋いで牽引力を付与する構成として、定荷重ばねのばね力や重錘の重さを変えることで牽引力(吊上げ力)を変更できる構成としたり、あるいは、連結手段6の一端をモータの出力軸やシリンダーのピストンに繋いで、モータやシリンダーを制御して牽引力を付与するとともに牽引力を変更できる構成とすればよい。
体重免荷手段9は、例えば、ボックス91内に設けられ、当該ボックス91が例えば支持台73から垂れ下がるように当該支持台73に固定されている。
The weight unloading means 9 uses the user A connected to the weight unloading means 9 via the fitting B and the connecting means 6 as a percentage of the weight of the user A so as to reduce the weight load of the user A. It is a traction device that pulls (lifts) with the force of the above, for example, a traction device that uses an actuator such as a spring or a weight, or an actuator such as a motor or a cylinder. For example, as a configuration in which one end of the connecting means 6 is connected to a constant load spring such as a Zenmai spring or a weight to apply a traction force, the traction force (lifting force) is obtained by changing the spring force of the constant load spring or the weight of the weight. Alternatively, one end of the connecting means 6 may be connected to the output shaft of the motor or the piston of the cylinder to control the motor or cylinder to apply a traction force and change the traction force.
The weight unloading means 9 is provided in the box 91, for example, and is fixed to the support base 73 so that the box 91 hangs down from the support base 73, for example.

歩行支援装置1によれば、図4(a)に示すように、装着具Bを装着した使用者Aがベッドや椅子等の着座部Dに着座した状態から起立する際においては、シリンダ8のロッド82を縮めて支持手段7を後方に倒した状態としてから連結手段6の他端(引出端)に設けられた連結具61を使用者Aの装着具Bの左右側に設けられた止輪等の連結部Cに連結した後、図4(b),(c)に示すように、シリンダ8のロッド82を徐々に伸ばしていくことにより、支持手段7が後方に倒れた状態から前方に起立するので、使用者Aが着座部Dに着座した状態から容易に起立できるようになる。即ち、起立動作支援手段による起立動作支援機能によって、使用者Aが着座状態から容易に立ち上がれるようになる。
逆に、使用者Aが起立した状態からベッド等に着座する際においては、図4(c)の状態から図4(b),(a)のように、シリンダ8のロッド82を徐々に縮めていくことにより、支持手段7が起立した状態から後方に倒れるので、使用者Aが起立した状態から容易に着座部Dに着座できるようになる。即ち、着座動作支援手段による着座動作支援機能によって、使用者Aが起立状態から容易に着座できるようになる。
According to the walking support device 1, as shown in FIG. 4A, when the user A wearing the fitting B stands up from the state of being seated on the seating portion D such as a bed or a chair, the cylinder 8 After the rod 82 is contracted and the support means 7 is tilted backward, the connecting tool 61 provided at the other end (drawing end) of the connecting means 6 is provided on the left and right sides of the mounting tool B of the user A. By gradually extending the rod 82 of the cylinder 8 as shown in FIGS. 4 (b) and 4 (c) after connecting to the connecting portion C such as Since the user A stands up, the user A can easily stand up from the state of being seated on the seating portion D. That is, the standing motion support function by the standing motion support means allows the user A to easily stand up from the seated state.
On the contrary, when the user A sits on the bed or the like from the standing state, the rod 82 of the cylinder 8 is gradually contracted from the state of FIG. 4 (c) as shown in FIGS. 4 (b) and 4 (a). As the support means 7 falls backward from the standing state, the user A can easily sit on the seating portion D from the standing state. That is, the seating motion support function by the seating motion support means enables the user A to easily sit down from the standing state.

起立動作支援時制動手段は、起立動作支援時において歩行支援装置1の安定を図るために移動手段3の制動手段4を作動させて車輪32に制動をかける手段である。
即ち、起立動作支援時制動手段は、車輪32の回転を停止させる制動手段4と、起立動作支援時を検出するための起立動作支援時検出手段とを備え、当該起立動作支援時検出手段によって起立動作支援時であることが検出されている場合に制動手段4が作動するように構成されている。
起立動作支援時制動手段によれば、制動手段4は、起立動作支援時検出手段から起立動作支援時であることを示す信号を有線又は無線を介して入力している場合に車輪32に制動を掛けるので、起立動作支援時において、歩行支援装置1が移動手段3により路面R上を移動してしまうことを防止でき、歩行支援装置1が安定するので、使用者Aが起立動作を行う際の起立動作支援を安全に行なえるようになる。
The braking means at the time of supporting the standing motion is a means for braking the wheels 32 by operating the braking means 4 of the moving means 3 in order to stabilize the walking support device 1 at the time of supporting the standing motion.
That is, the standing motion supporting braking means includes a braking means 4 for stopping the rotation of the wheels 32 and a standing motion supporting detecting means for detecting the standing motion supporting time, and the standing motion supporting detecting means stands up. The braking means 4 is configured to operate when it is detected that the operation is being supported.
According to the standing motion support braking means, the braking means 4 brakes the wheels 32 when a signal indicating that the standing motion is being supported is input from the standing motion support detecting means via a wire or wirelessly. Since it is hung, it is possible to prevent the walking support device 1 from moving on the road surface R by the moving means 3 during the standing motion support, and the walking support device 1 is stable, so that when the user A performs the standing motion. You will be able to safely support standing movements.

着座動作支援時制動手段は、着座動作支援時において歩行支援装置1の安定を図るために移動手段3の制動手段4を作動させて車輪32に制動をかける手段である。
着座動作支援時制動手段は、車輪32の回転を停止させる制動手段4と、着座動作支援時を検出するための着座動作支援時検出手段とを備え、着座動作支援時検出手段によって着座動作支援時であることが検出されている場合に制動手段4が作動するように構成されている。
着座動作支援時制動手段によれば、制動手段4は、着座動作支援時検出手段から着座動作支援時であることを示す信号を有線又は無線を介して入力している場合に車輪32に制動を掛けるので、着座動作支援時において、歩行支援装置1が移動手段3により路面R上を移動してしまうことを防止でき、歩行支援装置1が安定するので、使用者Aが着座動作を行う際の着座動作支援を安全に行なえるようになる。
The seating motion support braking means is a means for operating the braking means 4 of the moving means 3 to brake the wheels 32 in order to stabilize the walking support device 1 during the sitting motion support.
The seating motion assisting braking means includes a braking means 4 for stopping the rotation of the wheels 32 and a seating motion assisting detecting means for detecting the seating motion assisting, and the seating motion assisting detecting means is used to support the seating motion. The braking means 4 is configured to operate when it is detected that the brake means is.
According to the seating motion support braking means, the braking means 4 brakes the wheels 32 when a signal indicating that the seating motion is being supported is input from the seating motion support detecting means via a wire or wirelessly. Since it is hung, it is possible to prevent the walking support device 1 from moving on the road surface R by the moving means 3 during the sitting motion support, and the walking support device 1 is stable, so that when the user A performs the sitting motion. You will be able to safely support sitting movements.

起立動作支援時検出手段、着座動作支援時検出手段は、例えば上述したシリンダ8を作動及び停止させるためのスイッチ78iにより構成される。
この場合、使用者Aの起立動作時や着座動作時において、使用者Aの手A1が水平部78e及び可動カバー78fを握ってスイッチ78iがオンとなっている間、制動手段4の電磁石、油圧シリンダー、エアシリンダー、ブレーキワイヤ等の動力源が作動して車輪32に制動をかけるように構成されている。この場合、使用者Aが起立動作終了後や着座動作終了後に水平部78e及び可動カバー78fから手を離せば、制動手段4の制動が解除されるので、使用者Aは起立動作終了後にハンドルグリップ77を握って歩行できる。また、着座動作終了後に使用者Aとの連結を解除した歩行支援装置1を車輪32を転がして移動させることが可能となる。
The standing motion assisting detection means and the sitting motion assisting detecting means are composed of, for example, a switch 78i for operating and stopping the cylinder 8 described above.
In this case, during the standing operation or the sitting operation of the user A, while the hand A1 of the user A holds the horizontal portion 78e and the movable cover 78f and the switch 78i is turned on, the electromagnet and the hydraulic pressure of the braking means 4 are turned on. Power sources such as cylinders, air cylinders, and brake wires are activated to brake the wheels 32. In this case, if the user A releases the horizontal portion 78e and the movable cover 78f after the standing operation is completed or the sitting operation is completed, the braking of the braking means 4 is released, so that the user A handles the handle grip after the standing operation is completed. You can walk while holding 77. In addition, the walking support device 1 that has been disconnected from the user A after the seating operation is completed can be moved by rolling the wheels 32.

尚、起立動作支援時検出手段、着座動作支援時検出手段は、テーブル面76の傾斜角度を検出するために設けられた角度センサ、シリンダ8のロッド82の伸縮量を検出するために設けられた伸縮センサ等により構成してもよい。
例えば、起立動作支援時検出手段、着座動作支援時検出手段を、テーブル面76の傾斜角度を検出する角度センサにより構成した場合は、角度センサが、テーブル面76の最大傾斜角度を検出しているとき、又は、テーブル面76の最小傾斜角度を検出しているとき以外は、制動手段4の電磁石、油圧シリンダー、エアシリンダー、ブレーキワイヤ等の動力源が作動して車輪32に制動をかけるように構成すればよい。
また、起立動作支援時検出手段、着座動作支援時検出手段をシリンダ8のロッド82の伸縮量を検出する伸縮センサにより構成した場合は、伸縮センサが、ロッド82の最大伸長量を検出しているとき、又は、ロッド82の最大縮退量を検出しているとき以外は、制動手段4の電磁石、油圧シリンダー、エアシリンダー、ブレーキワイヤ等の動力源が作動して車輪32に制動をかけるように構成すればよい。
これらの場合、起立動作終了後や着座動作終了後に、制動手段4の制動が解除されるので、使用者Aは起立動作終了後にハンドルグリップ77を握って歩行できる。また、着座動作終了後に使用者Aとの連結を解除した歩行支援装置1を車輪32を転がして移動させることが可能となる。
The standing motion assisting detection means and the sitting motion assisting detecting means are provided to detect the amount of expansion and contraction of the rod 82 of the cylinder 8 and the angle sensor provided for detecting the inclination angle of the table surface 76. It may be configured by an expansion / contraction sensor or the like.
For example, when the standing motion assisting detection means and the sitting motion assisting detecting means are configured by an angle sensor that detects the tilt angle of the table surface 76, the angle sensor detects the maximum tilt angle of the table surface 76. When, or when the minimum tilt angle of the table surface 76 is detected, the power sources such as the electromagnet, the hydraulic cylinder, the air cylinder, and the brake wire of the braking means 4 operate to brake the wheels 32. It may be configured.
Further, when the standing motion assisting detection means and the sitting motion assisting detecting means are configured by the expansion / contraction sensor that detects the expansion / contraction amount of the rod 82 of the cylinder 8, the expansion / contraction sensor detects the maximum extension amount of the rod 82. When, or when the maximum amount of contraction of the rod 82 is detected, the power sources such as the electromagnet, the hydraulic cylinder, the air cylinder, and the brake wire of the braking means 4 operate to brake the wheels 32. do it.
In these cases, the braking of the braking means 4 is released after the standing operation is completed or the sitting operation is completed, so that the user A can walk by grasping the handle grip 77 after the standing operation is completed. In addition, the walking support device 1 that has been disconnected from the user A after the seating operation is completed can be moved by rolling the wheels 32.

また、電源キースイッチ70Bがオンで、かつ、切替スイッチ70Cが起立動作支援を行わせる側(図1(a)の上側)に位置されていることを検出して、起立動作支援時であることを示す信号を制動手段4に出力し、制動手段4を作動させるように構成された起立動作支援時検出手段であってもよい。
また、電源キースイッチ70Bがオンで、かつ、切替スイッチ70Cが着座動作支援を行わせる側(図1(a)の下側)に位置されていることを検出して、着座動作支援時であることを示す信号を制動手段4に出力し、制動手段4を作動させるように構成された着座動作支援時検出手段であってもよい。
これらの場合、起立動作終了後や着座動作終了後に、電源キースイッチ70Bをオフとすることにより、制動手段4の制動が解除されるので、使用者Aは起立動作終了後にハンドルグリップ77を握って歩行できる。また、着座動作終了後に使用者Aとの連結を解除した歩行支援装置1を車輪32を転がして移動させることが可能となる。
Further, it is detected that the power key switch 70B is on and the changeover switch 70C is located on the side (upper side of FIG. 1A) for supporting the standing operation, and the standing operation is supported. A signal indicating the above may be output to the braking means 4, and the standing operation assisting detection means configured to operate the braking means 4 may be used.
Further, it is detected that the power key switch 70B is on and the changeover switch 70C is located on the side where the seating operation is supported (lower side in FIG. 1A), and the seating operation is supported. It may be a seating operation assisting detection means configured to output a signal indicating that to the braking means 4 and operate the braking means 4.
In these cases, the braking of the braking means 4 is released by turning off the power key switch 70B after the standing operation is completed or the sitting operation is completed. Therefore, the user A holds the handle grip 77 after the standing operation is completed. I can walk. In addition, the walking support device 1 that has been disconnected from the user A after the seating operation is completed can be moved by rolling the wheels 32.

使用者転倒防止手段は、使用者Aが装着具B及び連結手段6を介して装置本体部5に連結された状態で歩行又は起立している時に、使用者Aが体勢を崩して使用者Aの装着具Bに連結された連結手段6の他端側が所定の長さだけ装置本体部5の支持台73の外側に引き出された場合に、歩行支援装置1の安定を図るために、移動手段3の制動手段4を作動させて車輪32に制動をかけて、使用者Aの転倒を防止する手段である。
使用者転倒防止手段は、車輪32の回転を停止させる制動手段4と、連結手段6の他端側が支持台73の外側に所定の長さだけ引き出されたことを検出する引き出し量検出手段とを備え、当該引き出し量検出手段によって連結手段6の他端側が支持台73の外側に所定の長さだけ引き出されたことが検出されている場合に制動手段4が作動するように構成されている。
即ち、使用者転倒防止手段は、連結手段6の他端側が所定の長さaだけ装置本体部5の外側に引き出されたことを検出する引き出し量検出手段(検出手段)を備え,当該検出手段は、連結手段6の他端側が所定の長さ(a1+a2)だけ装置本体部5の外側に引き出されたことが検出されている場合に、制動手段4を作動させる。
In the user fall prevention means, when the user A is walking or standing while being connected to the device main body 5 via the fitting B and the connecting means 6, the user A loses his / her posture and the user A When the other end side of the connecting means 6 connected to the fitting B is pulled out of the support base 73 of the device main body 5 by a predetermined length, the moving means is used to stabilize the walking support device 1. This is a means for preventing the user A from tipping over by operating the braking means 4 of 3 to brake the wheels 32.
The user fall prevention means includes a braking means 4 for stopping the rotation of the wheel 32 and a pull-out amount detecting means for detecting that the other end side of the connecting means 6 is pulled out of the support base 73 by a predetermined length. The braking means 4 is configured to operate when it is detected by the pull-out amount detecting means that the other end side of the connecting means 6 is pulled out to the outside of the support base 73 by a predetermined length.
That is, the user fall prevention means includes a pull-out amount detecting means (detecting means) for detecting that the other end side of the connecting means 6 is pulled out of the device main body 5 by a predetermined length a, and the detecting means. Activates the braking means 4 when it is detected that the other end side of the connecting means 6 is pulled out of the device main body 5 by a predetermined length (a1 + a2).

図5に示すように、引き出し量検出手段は、固定滑車群と、第1動滑車42と、第1動滑車42を所定の力で引っ張る弾性手段としてのコイルばね等のようなばね43と、引き出し量検出部とを備え、当該引き出し量検出部からの検出信号に基づいて制動手段4が作動するように構成されている。 As shown in FIG. 5, the pull-out amount detecting means includes a fixed pulley group, a first moving pulley 42, a spring 43 such as a coil spring as an elastic means for pulling the first moving pulley 42 with a predetermined force, and a spring 43. It is provided with a pull-out amount detection unit, and is configured to operate the braking means 4 based on a detection signal from the pull-out amount detection unit.

尚、図5(a)に示すように、連結手段6の一端が体重免荷手段9に連結され、連結手段6の他端が、ボックス91内に設けられた第1固定滑車41a、及び、支持台73の下側に設けられた中空部73Xへの入口孔73eを介して当該中空部73Xに導かれ、かつ、中空部73Xに設けられた第2固定滑車41b、第1動滑車42、第3固定滑車41cを経由した後、後述する弾性支持手段を経由して、中空部73Xからの出口孔73fを介して中空部73Xの外側に引き出され、この引き出された連結手段6の他端に連結具61が取付けられている。当該出口孔73fの径は、連結手段6の他端に設けられた連結具61が通過し得ない大きさに形成されている。
また、ばね43は、中空部73Xに設けられた前後方向に延長する筒状のばね収容部44に設置され、ばね収容部44の延長方向に伸縮可能となっている。即ち、ばね43の一端43aがばね収容部44の延長方向一端側内面に固定され、ばね43の他端43b側がばね収容部44の延長方向に沿って移動可能となっている。
As shown in FIG. 5A, one end of the connecting means 6 is connected to the weight unloading means 9, and the other end of the connecting means 6 is the first fixed pulley 41a provided in the box 91, and The second fixed pulley 41b, the first moving pulley 42, which are guided to the hollow portion 73X through the inlet hole 73e to the hollow portion 73X provided on the lower side of the support base 73 and are provided in the hollow portion 73X. After passing through the third fixed pulley 41c, it is pulled out to the outside of the hollow portion 73X via the outlet hole 73f from the hollow portion 73X via the elastic support means described later, and the other end of the pulled out connecting means 6. The connector 61 is attached to the. The diameter of the outlet hole 73f is formed so that the connecting tool 61 provided at the other end of the connecting means 6 cannot pass through.
Further, the spring 43 is installed in a cylindrical spring accommodating portion 44 provided in the hollow portion 73X and extending in the front-rear direction, and can be expanded and contracted in the extending direction of the spring accommodating portion 44. That is, one end 43a of the spring 43 is fixed to the inner surface on the one end side in the extension direction of the spring accommodating portion 44, and the other end 43b side of the spring 43 can move along the extension direction of the spring accommodating portion 44.

引き出し量検出部は、例えば、可動体45と、可動体45の移動を規制する規制部46と、規制部46に設けられた図外の検出体とを備えて構成される。
規制部46は、ばね収容部44の延長方向他端側に設けられている。
可動体45は、ばね43の他端43bに固定されるとともに、ワイヤ等の線状連結体47によって第1動滑車42と連結されている。尚、線状連結体47は、規制部46に形成された貫通孔46a及びばね収容部44の延長方向他端壁に形成された貫通孔44aを通過して、一端が可動体45に連結され、他端が第1動滑車42に連結されている。
The withdrawal amount detection unit is configured to include, for example, a movable body 45, a regulation unit 46 that regulates the movement of the movable body 45, and a detection body (not shown) provided in the regulation unit 46.
The regulating portion 46 is provided on the other end side of the spring accommodating portion 44 in the extension direction.
The movable body 45 is fixed to the other end 43b of the spring 43 and is connected to the first moving pulley 42 by a linear connecting body 47 such as a wire. The linear connecting body 47 passes through the through hole 46a formed in the regulating portion 46 and the through hole 44a formed in the other end wall in the extension direction of the spring accommodating portion 44, and one end thereof is connected to the movable body 45. The other end is connected to the first moving pulley 42.

尚、連結手段6が装着具Bを介して使用者Aに連結されていない状態においては、連結手段6の他端に設けられた連結具61が出口孔73fの周縁に接触するまで連結手段6がばね43及び後述する弾性支持手段の弾性手段53の力で引張られた図5(a)に示す初期状態となっている。当該初期状態においては、可動体45と規制部46との間隔が距離a2だけ離れている。
そして、連結手段6が装着具Bを介して使用者Aに連結された状態において、図5(b)に示すように、使用者Aが体勢を崩して使用者Aの装着具Bに連結された連結手段6の他端側が所定の長さ(a1+a2)だけ支持台73の外側に引き出された場合に、動滑車42が例えばスライドレール孔42aを介してばね43を引っ張る方向に距離a2だけ移動して、可動体45が規制部46に接触するとともに、規制部46に設けられた検出体が検出信号を有線又は無線を介して制動手段4に出力する。
When the connecting means 6 is not connected to the user A via the fitting B, the connecting means 6 is connected until the connecting tool 61 provided at the other end of the connecting means 6 comes into contact with the peripheral edge of the outlet hole 73f. Is in the initial state shown in FIG. 5A, which is pulled by the force of the spring 43 and the elastic means 53 of the elastic supporting means described later. In the initial state, the distance between the movable body 45 and the regulating portion 46 is separated by a distance a2.
Then, in a state where the connecting means 6 is connected to the user A via the fitting B, as shown in FIG. 5B, the user A loses his / her posture and is connected to the wearing tool B of the user A. When the other end side of the connecting means 6 is pulled out of the support base 73 by a predetermined length (a1 + a2), the moving pulley 42 moves by a distance a2 in the direction of pulling the spring 43 through, for example, the slide rail hole 42a. Then, the movable body 45 comes into contact with the regulation unit 46, and the detector provided in the regulation unit 46 outputs the detection signal to the braking means 4 via a wired or wireless connection.

検出体は、例えば、可動体45が規制部46に接触することによりオンとなり、可動体45が規制部46から離れることによりオフとなる電気スイッチ、または、可動体45が規制部46に接触したことを検出するセンサ等により構成される。
この場合、制動手段4としては、電気制御が可能な電磁石、油圧シリンダー、エアシリンダー等の動力源を利用した、電磁ブレーキ、ドラムブレーキ等のブレーキを用いる。
そして、制動手段4が検出体から検出信号を入力することにより、制動手段4の電磁石、油圧シリンダー、エアシリンダー等の動力源が作動して車輪32に制動をかけるように構成されている。
The detector is, for example, an electric switch that is turned on when the movable body 45 comes into contact with the regulating portion 46 and is turned off when the movable body 45 is separated from the regulating portion 46, or the movable body 45 comes into contact with the regulating portion 46. It is composed of a sensor or the like that detects this.
In this case, as the braking means 4, a brake such as an electromagnetic brake or a drum brake using a power source such as an electromagnet, a hydraulic cylinder, or an air cylinder that can be electrically controlled is used.
Then, when the braking means 4 inputs a detection signal from the detector, the power sources such as the electromagnet, the hydraulic cylinder, and the air cylinder of the braking means 4 operate to brake the wheels 32.

弾性支持手段は、連結手段6の連結具61を備えた他端部を装置本体部5に近付く方向に引張力を付与するとともに、連結手段6の他端部を装置本体部5から離れる方向に移動可能なように連結手段6を支持する手段である。
この弾性支持手段は、弾性手段53と、弾性手段53の他端(連結端)53xに連結されて弾性手段53の弾性により移動可能に構成された動滑車としての第2動滑車54とを備える。
そして、第3固定滑車41cを経由した連結手段6の他端側が第2動滑車54を経由した後、連結手段6の他端が第4固定滑車41d及び出口孔73fを経由して装置本体部5の外側に引き出され、この装置本体部5の外側に引き出された連結手段6の他端に連結具61が取付けられて構成された連結手段6の他端部が装置本体部5の外側に位置される。
また、第2動滑車54は、連結手段6の他端部が装置本体部5から離れる方向に移動することによって弾性手段53の引張力に抗して例えばスライドレール孔54aを介して移動するように構成されている。
以上のように構成されることにより、弾性支持手段は、連結手段6の連結具61を備えた他端部を装置本体部5に近付く方向に引張力を付与するとともに、連結手段6の他端部を装置本体部5から離れる方向に移動可能なように連結手段6を支持する手段として機能する。
The elastic support means applies a tensile force to the other end of the connecting means 6 provided with the connecting tool 61 in the direction of approaching the device main body 5, and the other end of the connecting means 6 in the direction away from the device main body 5. It is a means for supporting the connecting means 6 so as to be movable.
The elastic support means includes an elastic means 53 and a second moving pulley 54 as a moving pulley that is connected to the other end (connecting end) 53x of the elastic means 53 and is configured to be movable by the elasticity of the elastic means 53. ..
Then, after the other end side of the connecting means 6 via the third fixed pulley 41c has passed through the second moving pulley 54, the other end of the connecting means 6 has passed through the fourth fixed pulley 41d and the outlet hole 73f to form the device main body. The other end of the connecting means 6 which is pulled out to the outside of the device 5 and is configured by attaching the connecting tool 61 to the other end of the connecting means 6 pulled out to the outside of the device main body 5 is outside the device main body 5. Be positioned.
Further, in the second moving pulley 54, the other end of the connecting means 6 moves in a direction away from the device main body 5, so that the second moving pulley 54 moves against the tensile force of the elastic means 53, for example, through the slide rail hole 54a. It is configured in.
With the above configuration, the elastic support means applies a tensile force to the other end of the connecting means 6 provided with the connecting tool 61 in a direction approaching the device main body 5, and the other end of the connecting means 6. It functions as a means for supporting the connecting means 6 so that the portion can be moved away from the device main body portion 5.

弾性手段53は、一定の力で連結手段6の他端部を装置本体部5から離れる方向に移動させることが可能な定荷重ばねを用いることが好ましい。定荷重ばねを用いれば、人が装置本体部5から離れる方向に連結手段6の他端部を引っ張った場合に、この引張力が定荷重ばねの最大戻り力(最大引張力)に達した後は、一定の引張力で連結手段6の他端部を装置本体部5から離れる方向に移動させることができる。
即ち、弾性手段53として線ばね(コイルばね)を用いても良いが、この場合、ばねが伸びれば伸びる程、ばねを伸ばすために必要な引張力が大きくなるため、連結手段6の他端部を装置本体部5から離れる方向に長く移動させたい場合(連結手段6の他端側を長く引き出したい場合)に、大きな力が必要となり、非力な使用者Aの場合、連結手段6の他端側を長く引き出すことが困難になる可能性がある。
一方、弾性手段53として定荷重ばねを用いた場合は、小さな力で、連結手段6の他端部を装置本体部5から離れる方向に長く移動させることが可能となる。
また、弾性手段53として定荷重ばねを用いた場合は、小径のドラム等の収容部53aに収まるため、設置スペースを小さくできるので、歩行支援装置1の小型化が図れるという利点もある。
As the elastic means 53, it is preferable to use a constant load spring capable of moving the other end of the connecting means 6 in a direction away from the device main body 5 with a constant force. If a constant load spring is used, when a person pulls the other end of the connecting means 6 in a direction away from the device main body 5, this tensile force reaches the maximum return force (maximum tensile force) of the constant load spring. Can move the other end of the connecting means 6 in a direction away from the device main body 5 with a constant tensile force.
That is, a wire spring (coil spring) may be used as the elastic means 53, but in this case, the more the spring is stretched, the larger the tensile force required to stretch the spring is, so that the other end of the connecting means 6 is used. Is required to be moved long in the direction away from the device main body 5 (when the other end side of the connecting means 6 is to be pulled out long), and in the case of the weak user A, the other end of the connecting means 6 is required. It can be difficult to pull out the side for a long time.
On the other hand, when a constant load spring is used as the elastic means 53, the other end of the connecting means 6 can be moved long in the direction away from the device main body 5 with a small force.
Further, when the constant load spring is used as the elastic means 53, it fits in the accommodating portion 53a of a drum or the like having a small diameter, so that the installation space can be reduced, and there is an advantage that the walking support device 1 can be miniaturized.

尚、例えば、通常は、弾性手段53の引張力で連結具61が出口孔73fの周縁に係止する状態となり、連結具61を引っ張ることにより、連結手段6の他端部を装置本体部5から距離a1(例えば30cm)だけ離すことができるように構成されている。即ち、連結手段6の他端部が装置本体部5の出口孔73fから離れる方向に移動することによって第2動滑車54が弾性手段53の引張力に抗してスライドレール孔54a内を距離a1(例えば30cm)だけ移動できるように構成されている。この場合、スライドレール孔54a内を移動する第2動滑車54の回転中心軸がスライドレール孔54aの孔縁に衝突することにより、第2動滑車54の移動が規制されるように構成したり、あるいは、別途ストッパを設けて第2動滑車54の移動が規制されるように構成すればよい。 For example, normally, the connecting tool 61 is locked to the peripheral edge of the outlet hole 73f by the tensile force of the elastic means 53, and by pulling the connecting tool 61, the other end of the connecting means 6 is attached to the device main body portion 5. It is configured so that it can be separated from the distance a1 (for example, 30 cm). That is, the other end of the connecting means 6 moves away from the outlet hole 73f of the device main body 5, so that the second moving pulley 54 moves in the slide rail hole 54a against the tensile force of the elastic means 53 at a distance a1. It is configured so that it can move only (for example, 30 cm). In this case, the rotation center axis of the second moving pulley 54 moving in the slide rail hole 54a collides with the hole edge of the slide rail hole 54a, so that the movement of the second moving pulley 54 is restricted. Alternatively, a separate stopper may be provided so that the movement of the second moving pulley 54 is restricted.

従って、装着具Bを装着した使用者Aが、連結手段6の連結具61が設けられた他端部を装置本体部5の出口孔73fから距離a1(例えば30cm)だけ離れる方向に移動させる(連結手段6を引き出す)ことができるので、連結手段6の連結具61と装着具Bの連結部Cとを連結する作業を容易にできるようになる。つまり、連結手段6の連結具61と装着具Bの連結部Cとを連結する際に、連結手段6の他端部を装置本体部5の出口孔73fから離れる方向に容易に移動させる(容易に引き出せる)ことができる歩行支援装置1を提供できる。
即ち、使用者Aが着座する椅子等の着座部Dの着座位置の高さは様々であったとしても、連結手段6の連結具61を使用者Aの装着する装着具Bの連結部Cの位置に容易に移動させることが可能となるので、使用者Aは、連結手段6と装着具Bとの連結作業を容易に行えるようになる。
また、装着具Bを装着した使用者Aが、連結手段6の他端に設けられた連結具61と装着具Bの連結部Cとを連結した後、使用者Aが姿勢を崩して倒れようとして、連結手段6の他端側が所定の長さ(a1+a2)だけ支持台73の外側に引き出された場合に、制動手段4は引き出し量検出部の検出体からの検出信号を入力して車輪32に制動をかけるので、使用者Aが歩行又は起立している際において、姿勢を崩して倒れようとした場合に、歩行支援装置1が移動手段3により路面R上を移動してしまうことを防止でき、歩行支援装置1が安定するので、使用者Aが姿勢を崩して倒れかけた状態で歩行支援装置1が動いてしまうことに伴って使用者Aが転倒してしまうことを防止できるようになる。つまり、歩行中又は起立中において使用者Aの転倒を防止できる歩行支援装置1を提供できる。
尚、使用者Aが歩行又は起立している際において、姿勢を崩して倒れようとした場合、最初に弾性手段53が作動して連結手段6の他端部が装置本体部5から離れる方向に距離a1だけ移動した後に、ばね43が作動してばね43の他端43bが距離a2だけ移動することによって、連結手段6の他端部が装置本体部5の出口孔73fから距離(a1+a2)だけ離れる方向に移動した場合に、制動手段4が引き出し量検出部の検出体からの検出信号を入力して車輪32に制動をかけるように構成されている。
Therefore, the user A wearing the fitting B moves the other end of the connecting means 6 provided with the connecting tool 61 in a direction away from the outlet hole 73f of the device main body 5 by a distance a1 (for example, 30 cm) (for example, 30 cm). Since the connecting means 6 can be pulled out), the work of connecting the connecting tool 61 of the connecting means 6 and the connecting portion C of the mounting tool B can be easily performed. That is, when connecting the connecting tool 61 of the connecting means 6 and the connecting portion C of the mounting tool B, the other end of the connecting means 6 is easily moved in a direction away from the outlet hole 73f of the device main body 5 (easy). It is possible to provide a walking support device 1 that can be pulled out.
That is, even if the height of the seating position of the seating portion D of the chair or the like on which the user A is seated varies, the connecting portion 61 of the connecting means 6 is attached to the connecting portion C of the fitting B to which the user A is attached. Since it can be easily moved to the position, the user A can easily perform the connecting work between the connecting means 6 and the fitting B.
Further, after the user A wearing the fitting B connects the connecting tool 61 provided at the other end of the connecting means 6 and the connecting portion C of the mounting tool B, the user A may lose his / her posture and fall down. When the other end side of the connecting means 6 is pulled out of the support base 73 by a predetermined length (a1 + a2), the braking means 4 inputs a detection signal from the detector of the pull-out amount detecting unit to input the detection signal to the wheel 32. Prevents the walking support device 1 from moving on the road surface R by the moving means 3 when the user A loses his / her posture and tries to fall while walking or standing up. Since the walking support device 1 is stable, it is possible to prevent the user A from falling due to the walking support device 1 moving in a state where the user A loses his / her posture and is about to fall. Become. That is, it is possible to provide the walking support device 1 capable of preventing the user A from falling while walking or standing up.
When the user A is walking or standing and tries to fall down by losing his posture, the elastic means 53 is activated first and the other end of the connecting means 6 is separated from the device main body 5. After moving by the distance a1, the spring 43 operates and the other end 43b of the spring 43 moves by the distance a2, so that the other end of the connecting means 6 is only a distance (a1 + a2) from the outlet hole 73f of the device main body 5. When the wheel 32 moves away from the wheel, the braking means 4 is configured to input a detection signal from the detector of the pull-out amount detecting unit to brake the wheel 32.

また、制動手段4として、ブレーキワイヤを引っ張ることでブレーキパットを車輪32に押し付けて車輪32の回転を停止させるキャリパーブレーキ等のような機械的なブレーキを用いる場合には、以下のように、使用者転倒防止手段を構成すればよい。 Further, when a mechanical brake such as a caliper brake that pushes the brake pad against the wheel 32 to stop the rotation of the wheel 32 by pulling the brake wire is used as the braking means 4, it is used as follows. A person's fall prevention means may be configured.

この場合、使用者転倒防止手段は、図6に示すように、使用者Aが装着具B及び連結手段6を介して装置本体部5に連結された状態で歩行又は起立している時において、使用者Aが体勢を崩して使用者Aの装着具Bに連結された連結手段6の他端部が装置本体部5の出口孔73fから距離(a1+a2)だけ装置本体部5の支持台73の外側に引き出された場合に、制動手段4のブレーキワイヤ49を引っ張ることで車輪32の回転を停止させるように構成される。
即ち、使用者転倒防止手段は、連結手段6の他端部が装置本体部5の出口孔73fから距離(a1+a2)だけ装置本体部5の外側に引き出された場合に、制動手段4のブレーキワイヤ49を引っ張ることで制動手段4を作動させる。
In this case, as shown in FIG. 6, the user fall prevention means is when the user A is walking or standing up while being connected to the device main body 5 via the fitting B and the connecting means 6. The other end of the connecting means 6 connected to the fitting B of the user A when the user A loses his / her posture is the support base 73 of the device main body 5 by the distance (a1 + a2) from the outlet hole 73f of the device main body 5. When pulled out, the brake wire 49 of the braking means 4 is pulled to stop the rotation of the wheel 32.
That is, the user fall prevention means is the brake wire of the braking means 4 when the other end of the connecting means 6 is pulled out of the device main body 5 by a distance (a1 + a2) from the outlet hole 73f of the device main body 5. The braking means 4 is operated by pulling the 49.

即ち、使用者転倒防止手段は、図6に示すように、上述したばね収容部44の延長方向他端側の周壁に、ばね収容部44の延長方向に延長するように形成された長孔44cと、ばね43の他端43bに固定されるとともに長孔44cを介してばね収容部44の外側に突出する連結部51を有した可動体50と、一端が図外のキャリパーブレーキ等のアームに連結されるともに他端が可動体50の連結部51に連結されたブレーキワイヤ49とを備え、ばね収容部44の筒の延長方向他端壁に形成された貫通孔44aに通されたワイヤ等の線状連結体47の一端と可動体50とが連結されるとともに、線状連結体47の他端と動滑車42とが連結された構成である。
ブレーキワイヤ49の他端は、固定滑車52を経由して後方に導かれて可動体50の連結部51に連結されている。
尚、図6において、図5と同一部分については、同一符号を付して説明を省略する。
That is, as shown in FIG. 6, the user fall prevention means is a long hole 44c formed on the peripheral wall on the other end side of the extension direction of the spring accommodating portion 44 so as to extend in the extension direction of the spring accommodating portion 44. A movable body 50 having a connecting portion 51 fixed to the other end 43b of the spring 43 and projecting to the outside of the spring accommodating portion 44 via the elongated hole 44c, and one end to an arm such as a caliper brake (not shown). A wire 49 or the like which is connected and has a brake wire 49 whose other end is connected to the connecting portion 51 of the movable body 50 and is passed through a through hole 44a formed in the other end wall of the cylinder of the spring accommodating portion 44 in the extension direction. One end of the linear connecting body 47 and the movable body 50 are connected, and the other end of the linear connecting body 47 and the moving pulley 42 are connected.
The other end of the brake wire 49 is guided rearward via the fixed pulley 52 and connected to the connecting portion 51 of the movable body 50.
In FIG. 6, the same parts as those in FIG. 5 are designated by the same reference numerals and the description thereof will be omitted.

この場合、装着具Bを装着した使用者Aが、連結手段6の他端に設けられた連結具61と装着具Bの連結部Cとを連結した後、使用者Aが体勢を崩して使用者Aの装着具Bに連結された連結手段6の他端側が装置本体部5の出口孔73fから所定の長さ(a1+a2)だけ装置本体部5の外側に引き出されて、ばね43が引っ張られことにより、ブレーキワイヤ49が引っ張られ、可動体50とばね収容部44の筒の延長方向他端の内面44xとが接触した場合に、制動手段4のブレーキパットが車輪32に押し付けられて車輪32の回転を停止させるように構成される。
従って、使用者Aが倒れようとした場合に、歩行支援装置1が移動手段3により路面R上を移動してしまうことを防止でき、使用者Aが転倒してしまうことを防止できる。
In this case, after the user A wearing the fitting B connects the connecting tool 61 provided at the other end of the connecting means 6 and the connecting portion C of the fitting B, the user A loses his / her posture and uses it. The other end side of the connecting means 6 connected to the fitting B of the person A is pulled out from the outlet hole 73f of the device main body 5 by a predetermined length (a1 + a2) to the outside of the device main body 5, and the spring 43 is pulled. As a result, when the brake wire 49 is pulled and the movable body 50 and the inner surface 44x of the other end of the cylinder of the spring accommodating portion 44 in the extension direction come into contact with each other, the brake pad of the braking means 4 is pressed against the wheel 32 and the wheel 32 is pressed. Is configured to stop the rotation of.
Therefore, when the user A tries to fall, the walking support device 1 can be prevented from moving on the road surface R by the moving means 3, and the user A can be prevented from falling.

即ち、装置本体部5が、体重免荷手段9、起立動作支援手段、着座動作支援手段、使用者転倒防止手段、弾性支持手段を備える構成の実施形態1の歩行支援装置1の場合、連結手段6の一端が体重免荷手段9に連結され、連結手段6の他端側が、ボックス91内に設けられた第1固定滑車41a、及び、支持台73の下側に設けられた中空部73Xへの入口孔73eを介して当該中空部73Xに導かれ、かつ、支持台73の中空部73Xに設けられた第2固定滑車41b、第1動滑車42、第3固定滑車41cを経由し、第3固定滑車41cを経由した連結手段6の他端側が第2動滑車54を経由した後、連結手段6の他端が第4固定滑車41dを経由して装置本体部5の出口孔73fの外側に位置されるように構成され、この出口孔73fの外側に位置された連結手段6の他端に連結具61が設けられる。そして、第1動滑車42とばね43の他端43bとが可動体45及び線状連結体47を介して連結されて使用者転倒防止手段が構成される。また、第2動滑車54と弾性手段53の他端(連結端)53xとが連結されて弾性支持手段が構成される。 That is, in the case of the walking support device 1 of the first embodiment in which the device main body 5 includes the weight unloading means 9, the standing motion support means, the seating motion support means, the user fall prevention means, and the elastic support means, the connecting means. One end of 6 is connected to the weight unloading means 9, and the other end of the connecting means 6 is connected to the first fixed pulley 41a provided in the box 91 and the hollow portion 73X provided under the support base 73. The second fixed pulley 41b, the first moving pulley 42, and the third fixed pulley 41c are guided to the hollow portion 73X through the inlet hole 73e of the above and provided in the hollow portion 73X of the support base 73. 3 The other end of the connecting means 6 via the fixed pulley 41c passes through the second moving pulley 54, and then the other end of the connecting means 6 passes through the fourth fixed pulley 41d and is outside the outlet hole 73f of the device main body 5. A connecting tool 61 is provided at the other end of the connecting means 6 located outside the outlet hole 73f. Then, the first moving pulley 42 and the other end 43b of the spring 43 are connected via the movable body 45 and the linear connecting body 47 to form the user fall prevention means. Further, the second moving pulley 54 and the other end (connecting end) 53x of the elastic means 53 are connected to form the elastic supporting means.

尚、本発明の起立動作支援時制動手段、着座動作支援時制動手段、使用者転倒防止手段により制動手段4を作動させる車輪32は、ベース2の後側左右に設けられた2個の車輪32だけであっても良いし、移動手段3を構成するすべての車輪32であってもよい。 The wheels 32 that operate the braking means 4 by the standing motion supporting braking means, the sitting motion supporting braking means, and the user fall prevention means of the present invention are two wheels 32 provided on the left and right rear sides of the base 2. It may be only, or it may be all the wheels 32 constituting the transportation means 3.

実施形態2
また、本発明の起立動作支援時制動手段、着座動作支援時制動手段、使用者転倒防止手段、弾性支持手段は、体重免荷手段9を備えない構成の歩行支援装置にも適用可能である。
この場合、起立動作支援時制動手段、着座動作支援時制動手段、弾性支持手段は、実施形態1と同様に構成される。
また、使用者転倒防止手段は、図7に示すように、連結手段6の一端が、上述したばね43の他端に固定された可動体45に連結された構成としたり、図8に示すように、連結手段6の一端が、上述したばね43の他端側に固定された可動体50に連結された構成とすればよい。
尚、図7において、図5と同一部分については、同一符号を付して説明を省略する。
同様に、図8において、図6と同一部分については、同一符号を付して説明を省略する。
即ち、体重免荷手段9を備えない構成の歩行支援装置であっても、起立動作支援時制動手段、着座動作支援時制動手段、使用者転倒防止手段、弾性支持手段を設けることが可能である。
Embodiment 2
Further, the braking means for supporting the standing motion, the braking means for supporting the sitting motion, the user fall prevention means, and the elastic support means of the present invention can be applied to a walking support device having a configuration not provided with the weight unloading means 9.
In this case, the braking means for supporting the standing motion, the braking means for supporting the sitting motion, and the elastic support means are configured in the same manner as in the first embodiment.
Further, as shown in FIG. 7, the user fall prevention means has a configuration in which one end of the connecting means 6 is connected to the movable body 45 fixed to the other end of the spring 43 described above, or as shown in FIG. In addition, one end of the connecting means 6 may be connected to the movable body 50 fixed to the other end side of the spring 43 described above.
In FIG. 7, the same parts as those in FIG. 5 are designated by the same reference numerals and the description thereof will be omitted.
Similarly, in FIG. 8, the same parts as those in FIG. 6 are designated by the same reference numerals and the description thereof will be omitted.
That is, even in a walking support device not provided with the weight unloading means 9, it is possible to provide a braking means for standing motion support, a braking means for seating motion support, a user fall prevention means, and an elastic support means. ..

即ち、装置本体部5が、起立動作支援手段、着座動作支援手段、使用者転倒防止手段、弾性支持手段を備え、体重免荷手段9を備えない実施形態2の歩行支援装置1の場合、連結手段6の一端がばね43の他端43b側と連結された使用者転倒防止手段が構成される。また、連結手段6の他端側が、中空部73Xに設けられた固定滑車41A、動滑車54Aを経由した後、連結手段6の他端が固定滑車41Bを経由して装置本体部5の出口孔73fの外側に位置されるように構成され、この出口孔73fの外側に位置された連結手段6の他端に連結具61が設けられる。そして、動滑車54Aと弾性手段53の他端(連結端)53xとが連結されて弾性支持手段が構成される。 That is, in the case of the walking support device 1 of the second embodiment, in which the device main body 5 includes the standing motion support means, the seating motion support means, the user fall prevention means, and the elastic support means, and does not include the weight unloading means 9, they are connected. A user fall prevention means is configured in which one end of the means 6 is connected to the other end 43b side of the spring 43. Further, the other end of the connecting means 6 passes through the fixed pulley 41A and the moving pulley 54A provided in the hollow portion 73X, and then the other end of the connecting means 6 passes through the fixed pulley 41B and exits the device main body 5. A connecting tool 61 is provided at the other end of the connecting means 6 located outside the outlet hole 73f and is configured to be located outside the 73f. Then, the moving pulley 54A and the other end (connecting end) 53x of the elastic means 53 are connected to form the elastic supporting means.

また、図7,図8に示した構成において、ばね43として、体重免荷手段としても機能するばねを用いることにより、体重免荷機能を備えた歩行支援装置を構成することもできる。 Further, in the configurations shown in FIGS. 7 and 8, a walking support device having a weight unloading function can be configured by using a spring that also functions as a weight unloading means as the spring 43.

実施形態3
実施形態1,2では、下側補助支柱75と上側補助支柱73bとを有して構成された補助支柱を備えた構成としたが、当該補助支柱を備えた構成の場合、下側補助支柱75と下側支柱74とがV字となるように連結されているため、下側補助支柱75に挿入された上側補助支柱73bと下側支柱74に挿入された上側支柱73aとを上下方向に移動させることが困難となる可能性がある。
実施形態1,2においては、例えば、上側支柱73aの外径寸法が下側支柱74の内径寸法よりも極端に小さくて、かつ、上側補助支柱73bの外径寸法が下側補助支柱75の内径寸法よりも極端に小さい場合、上側支柱73a、上側補助支柱73bがガタついてしまう。そこで、実施形態1,2においては、上側支柱73aの外径寸法が下側支柱74の内径寸法より若干小さく、かつ、上側補助支柱73bの外径寸法が下側補助支柱75の内径寸法よりも若干小さくなるようにして、上側支柱73aが下側支柱74内に嵌め込まれるとともに、上側補助支柱73bが下側補助支柱75内に嵌め込まれるように構成している。つまり、上側支柱73aを下側支柱74内で摺動させるとともに、上側補助支柱73bを下側補助支柱75内で摺動させるようにして、上下方向に移動させる構成とすることで、上側支柱73a、上側補助支柱73bにガタつきが発生しないように構成されている。
しかしながら、このように、上側支柱73a及び上側補助支柱73bを摺動させるようにして上下方向に移動させる構成とした場合、支持台の高さ調整を行うために上側支柱73a及び上側補助支柱73bを上下方向に移動させる際に、上側支柱73a及び上側補助支柱73bが少しでも傾いていると、上側支柱73aの外面と下側支柱74の内面との摩擦抵抗、及び、上側補助支柱73bの外面と下側補助支柱75の内面との摩擦抵抗が増大してしまって、支持台の高さ調整を行うために上側支柱73a及び上側補助支柱73bを上下方向に移動させる作業が困難となってしまう。
そこで、補助支柱を備えない構成として、下側支柱74に対して上側支柱73aを上下方向に移動させることで、支持台73の高さを使用者Aの身長に合わせて調整できる支持台高さ調整機構を備えた構成とすれば、下側支柱74に対して上側支柱73aを上下方向に移動させることが容易となる。
即ち、左支柱71及び右支柱72は、それぞれ、下側支柱74と上側支柱73aとを備えて構成され、下側支柱74は、下端部(一端部)がベース2の前側にヒンジ74aを介して揺動可能に取付けられ、上側支柱73aは、下側支柱74の延長方向に沿って移動可能に構成され、上端側(他端側)に取付けられた支持部の高さを変更可能なように下側支柱74に取付けられた構成とした。
しかしながら、実施形態3の構成であっても、上側支柱73aが傾いている状態で上側支柱73aを上下方向に移動させると、上側支柱73aの外面と下側支柱74の内面との摩擦抵抗が大きくなり、支持台73の高さ調整を行うために上側支柱73aを上下方向に移動させる作業が困難となってしまう可能性がある。
そこで、次に説明する実施形態4のような構成とすることで、支持台73の高さ調整作業を容易にできるようにした。
Embodiment 3
In the first and second embodiments, the configuration is provided with an auxiliary support column having the lower auxiliary support column 75 and the upper auxiliary support column 73b, but in the case of the configuration provided with the auxiliary support column, the lower auxiliary support column 75 And the lower support column 74 are connected so as to form a V shape, so that the upper auxiliary support column 73b inserted in the lower auxiliary support column 75 and the upper support column 73a inserted in the lower support column 74 are moved in the vertical direction. It can be difficult to get it done.
In the first and second embodiments, for example, the outer diameter dimension of the upper support column 73a is extremely smaller than the inner diameter dimension of the lower support column 74, and the outer diameter dimension of the upper auxiliary column 73b is the inner diameter dimension of the lower auxiliary column 75. If it is extremely smaller than the dimensions, the upper support column 73a and the upper auxiliary support column 73b will rattle. Therefore, in the first and second embodiments, the outer diameter dimension of the upper support column 73a is slightly smaller than the inner diameter dimension of the lower support column 74, and the outer diameter dimension of the upper auxiliary column 73b is larger than the inner diameter dimension of the lower auxiliary column 75. The upper support column 73a is fitted into the lower support column 74, and the upper auxiliary support column 73b is fitted into the lower auxiliary support column 75 so as to be slightly smaller. That is, the upper support column 73a is slid in the lower support column 74, and the upper auxiliary support column 73b is slid in the lower auxiliary support column 75 so as to move in the vertical direction. , The upper auxiliary support column 73b is configured so as not to cause rattling.
However, in the case where the upper support column 73a and the upper auxiliary support column 73b are slidably moved in the vertical direction in this way, the upper support column 73a and the upper auxiliary support column 73b are moved in order to adjust the height of the support base. If the upper support column 73a and the upper auxiliary support column 73b are tilted even a little when moving in the vertical direction, the frictional resistance between the outer surface of the upper support column 73a and the inner surface of the lower support column 74 and the outer surface of the upper auxiliary support column 73b The frictional resistance with the inner surface of the lower auxiliary strut 75 increases, and it becomes difficult to move the upper strut 73a and the upper auxiliary strut 73b in the vertical direction in order to adjust the height of the support base.
Therefore, as a configuration without an auxiliary support, the height of the support base 73 can be adjusted according to the height of the user A by moving the upper support support 73a in the vertical direction with respect to the lower support support 74. If the configuration is provided with an adjusting mechanism, it becomes easy to move the upper support column 73a in the vertical direction with respect to the lower support column 74.
That is, the left strut 71 and the right strut 72 are configured to include a lower strut 74 and an upper strut 73a, respectively, and the lower strut 74 has a lower end (one end) via a hinge 74a on the front side of the base 2. The upper support column 73a is configured to be movable along the extension direction of the lower support column 74 so that the height of the support portion attached to the upper end side (the other end side) can be changed. It was configured to be attached to the lower support column 74.
However, even in the configuration of the third embodiment, if the upper support column 73a is moved in the vertical direction while the upper support column 73a is tilted, the frictional resistance between the outer surface of the upper support column 73a and the inner surface of the lower support column 74 becomes large. Therefore, it may be difficult to move the upper support column 73a in the vertical direction in order to adjust the height of the support base 73.
Therefore, the height adjustment work of the support base 73 can be easily performed by adopting the configuration as in the fourth embodiment described below.

実施形態4
実施形態4の歩行支援装置1を図9,図10に基づいて説明する。尚、図9,図10において、連結手段6、弾性支持手段、使用者転倒防止手段、体重免荷手段9、ハンドルグリップ77、昇降レバー78、アウトリガー10等の図示は省略している。また、図9,図10において、図1と同一部分については、同一符号を付し、説明を省略する。
実施形態3の歩行支援装置1は、左右の支柱71A;72Aが、それぞれ上側支柱93と下側支柱94とを備える。
上側支柱93は、上端側(他端側)が支持部の支持台73の下面に連結されて下端が開口するパイプなどの中空柱により構成される。
下側支柱94は、下端部(一端部)がベース2の前側にヒンジ74aを介して揺動可能に取付けられて、上端側(他端側)が上側支柱93を構成する中空柱の下端開口より中空柱内に挿入された柱で構成される。
つまり、上側支柱93は、下側支柱94の延長方向に沿って移動可能で、かつ、上端側に取付けられた支持台73の高さを変更可能なように下側支柱94に取付けられた構成とした。
即ち、下側支柱94に中心軸94Cに沿って所定の間隔を隔てて設けられた図外の複数の高さ位置決め孔のうちのいずれかの高さ位置決め孔と上側支柱93に設けられた図外の高さ位置決め孔とを一致させた状態でこれら高さ位置決め孔に図外の固定ねじ等の固定手段を嵌め込むことにより、支持台73の高さを使用者Aに身長に合わせて調整できるように構成された支持台高さ調整機構を備えている。
Embodiment 4
The walking support device 1 of the fourth embodiment will be described with reference to FIGS. 9 and 10. In FIGS. 9 and 10, the connecting means 6, the elastic supporting means, the user's fall prevention means, the weight unloading means 9, the handle grip 77, the elevating lever 78, the outrigger 10 and the like are not shown. Further, in FIGS. 9 and 10, the same parts as those in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted.
In the walking support device 1 of the third embodiment, the left and right columns 71A; 72A are provided with an upper column 93 and a lower column 94, respectively.
The upper column 93 is composed of a hollow column such as a pipe whose upper end side (other end side) is connected to the lower surface of the support base 73 of the support portion and whose lower end opens.
The lower end (one end) of the lower column 94 is swingably attached to the front side of the base 2 via a hinge 74a, and the upper end side (the other end) is the lower end opening of the hollow column constituting the upper column 93. It consists of columns inserted into more hollow columns.
That is, the upper support column 93 is attached to the lower support column 94 so that it can move along the extension direction of the lower support column 94 and the height of the support base 73 attached to the upper end side can be changed. And said.
That is, a view provided on the height positioning hole of any one of a plurality of height positioning holes (not shown) provided on the lower support column 94 along the central axis 94C at predetermined intervals and on the upper support column 93. The height of the support base 73 is adjusted according to the height of the user A by fitting a fixing means such as a fixing screw (not shown) into these height positioning holes in a state where the height positioning holes are matched with the outside height positioning holes. It is equipped with a support base height adjustment mechanism that is configured so that it can be used.

さらに、実施形態3の歩行支援装置1は、ベース2の後側には、上方に延長するように設けられた左右の取付支柱95,95を備える。即ち、ベースフレーム左部22の後端側、ベースフレーム右部23の後端側に、それぞれ上方に延長するように設けられた左右の取付支柱95,95を備える。
そして、アクチュエータとなる伸縮手段としての左右のシリンダ8,8の中心軸8Cの延長方向が水平方向に近づく状態に当該シリンダ8を設置できるように、当該シリンダ8の一端部、即ち、ケース81の一端部が取付支柱95の上端側にヒンジ8aを介して揺動可能に取付けられ、かつ、当該シリンダ8の他端部、即ち、ロッド82の他端部が下側支柱94の延長方向のほぼ中間位置にヒンジ8bを介して揺動可能に取付けられた構成とした。
このように、当該シリンダ8の一端部が取付けられる取付支柱95をベース2から立ち上がるように設けたので、シリンダ8の中心軸8Cの延長方向が水平方向に近づく状態に当該シリンダ8を設置できるようになって、シリンダ8のロッド82を駆動させる駆動力を小さくできるようになり、駆動出力の小さい小型で安価なシリンダ8を使用することが可能となるので、歩行支援装置1の低コスト化が図れるようになる。
つまり、シリンダ8の中心軸8Cの延長方向が垂直方向に近づくほど、ロッド82を上方に移動させる際に重力に反して移動させるための大きな駆動力が必要となり、駆動出力の大きい大型で高価なシリンダを使用しなければならなくなるが、シリンダ8の中心軸8Cの延長方向が水平方向に近づく状態に当該シリンダ8を設置した場合、ロッド82を移動させる際に重力の影響が小さくなるため、シリンダ8のロッド82を駆動させる駆動力を小さくできるようになり、駆動出力の小さい小型で安価なシリンダ8を使用することが可能となる。
Further, the walking support device 1 of the third embodiment includes left and right mounting columns 95, 95 provided so as to extend upward on the rear side of the base 2. That is, left and right mounting columns 95 and 95 provided so as to extend upward are provided on the rear end side of the left portion 22 of the base frame and the rear end side of the right portion 23 of the base frame, respectively.
Then, one end of the cylinder 8, that is, the case 81, so that the cylinder 8 can be installed so that the extension direction of the central axes 8C of the left and right cylinders 8 and 8 as the telescopic means serving as the actuator approaches the horizontal direction. One end is swingably attached to the upper end side of the mounting column 95 via a hinge 8a, and the other end of the cylinder 8, that is, the other end of the rod 82 is substantially in the extension direction of the lower column 94. It was configured to be swingably attached to an intermediate position via a hinge 8b.
In this way, since the mounting column 95 to which one end of the cylinder 8 is attached is provided so as to rise from the base 2, the cylinder 8 can be installed so that the extension direction of the central axis 8C of the cylinder 8 approaches the horizontal direction. As a result, the driving force for driving the rod 82 of the cylinder 8 can be reduced, and a small and inexpensive cylinder 8 having a small driving output can be used. Therefore, the cost of the walking support device 1 can be reduced. You will be able to plan.
That is, as the extension direction of the central axis 8C of the cylinder 8 approaches the vertical direction, a large driving force for moving the rod 82 against gravity is required when moving the rod 82 upward, which is large and expensive with a large drive output. It is necessary to use a cylinder, but if the cylinder 8 is installed in a state where the extension direction of the central axis 8C of the cylinder 8 approaches the horizontal direction, the influence of gravity becomes small when the rod 82 is moved, so that the cylinder The driving force for driving the rod 82 of 8 can be reduced, and a small and inexpensive cylinder 8 having a small driving output can be used.

また、実施形態3の歩行支援装置1は、取付支柱95の上端部と上側支柱93の下端部とを連結する左右の連結機構96,96を備える。
当該連結機構96は、例えば、一端部が取付支柱95におけるシリンダ8の一端部取付位置(ヒンジ8a)よりも上方側にヒンジ97aを介して揺動可能に取付けられた管97と、一端部が上側支柱93の下端部にヒンジ98aを介して揺動可能に取付けられて他端側が管97の他端開口97bを介して当該管97内に挿入されたスライド部材98とを備えて伸縮可能に構成されている。
Further, the walking support device 1 of the third embodiment includes left and right connecting mechanisms 96 and 96 for connecting the upper end portion of the mounting column 95 and the lower end portion of the upper column 93.
The connecting mechanism 96 includes, for example, a pipe 97 having one end swayably mounted above the one end mounting position (hinge 8a) of the cylinder 8 on the mounting column 95 via a hinge 97a, and one end. It is swingably attached to the lower end of the upper support column 93 via a hinge 98a, and the other end side is provided with a slide member 98 inserted into the pipe 97 via the other end opening 97b of the pipe 97 so as to be expandable and contractible. It is configured.

即ち、実施形態3の歩行支援装置1においては、上側支柱93と下側支柱94とで構成された左右の支柱71A;72Aと、取付支柱95の上端部と上側支柱93の下端部とを揺動可能に連結する左右の連結機構96,96とを有した支持台高さ調整機構を備えている。
当該支持台高さ調整機構を備えていることにより、上側支柱93を上下方向に移動させると、連結機構96のスライド部材98の一端部、及び、管97の一端が揺動するため、上側支柱93の中心軸93Cと下側支柱94の中心軸94Cとが一致するようになって、上側支柱93の内面と下側支柱94の外面との摩擦抵抗が小さくなり、図10の矢示Hで示すように、上側支柱93を上下方向に容易に移動させることができるようになるため、支持台高さ調整作業が容易となる。
また、図10の矢示Rで示すように、起立動作支援時、着座動作支援時において、シリンダ8の伸縮に伴ってスライド部材98が管97内を管97の中心軸97Cに沿った方向に移動して連結機構96も伸縮する。
That is, in the walking support device 1 of the third embodiment, the left and right columns 71A; 72A composed of the upper column 93 and the lower column 94, and the upper end of the mounting column 95 and the lower end of the upper column 93 are shaken. It is provided with a support base height adjusting mechanism having left and right connecting mechanisms 96 and 96 that are movably connected.
By providing the support base height adjusting mechanism, when the upper support column 93 is moved in the vertical direction, one end of the slide member 98 of the connecting mechanism 96 and one end of the pipe 97 swing, so that the upper support column The central axis 93C of 93 and the central axis 94C of the lower support column 94 come to coincide with each other, and the frictional resistance between the inner surface of the upper support column 93 and the outer surface of the lower support column 94 becomes smaller. As shown, since the upper support column 93 can be easily moved in the vertical direction, the support base height adjustment work becomes easy.
Further, as shown by arrow R in FIG. 10, during the standing motion support and the sitting motion support, the slide member 98 moves in the pipe 97 in the direction along the central axis 97C of the pipe 97 as the cylinder 8 expands and contracts. As it moves, the connecting mechanism 96 also expands and contracts.

つまり、実施形態3の歩行支援装置1によれば、連結機構96を備えているために、上側支柱93を上下方向に移動させる際、上側支柱93の中心軸93Cと下側支柱94の中心軸94Cとが常に一致した状態に設定される。従って、上側支柱93の外面と下側支柱94の内面との摩擦抵抗が小さくなって、上側支柱93を上下方向にスムーズに摺動させることができるようになるので、支持台高さ調整作業が容易となる。 That is, according to the walking support device 1 of the third embodiment, since the connecting mechanism 96 is provided, when the upper support column 93 is moved in the vertical direction, the central axis 93C of the upper support column 93 and the central axis of the lower support column 94 It is set in a state where it always matches with 94C. Therefore, the frictional resistance between the outer surface of the upper support column 93 and the inner surface of the lower support column 94 is reduced, and the upper support column 93 can be smoothly slid in the vertical direction. It will be easy.

尚、図9に示した歩行支援装置1の連結機構96を備えない構成の歩行支援装置としても良いが、この場合、実施形態1乃至実施形態3に示した構成の歩行支援装置1と同じように、上側支柱が傾いている状態で上側支柱を上下方向に移動させると、上側支柱の内面面と下側支柱の外面との摩擦抵抗が大きくなり、支持台73の高さ調整を行うために上側支柱を上下方向に移動させる作業が困難となってしまう可能性がある。
従って、実施形態4によれば、支持台73の高さ調整作業を容易にできるようになるという面で大きな意義のある歩行支援装置1を提供できるようになる。
A walking support device having a configuration that does not include the connecting mechanism 96 of the walking support device 1 shown in FIG. 9 may be used, but in this case, it is the same as the walking support device 1 having the configuration shown in the first to third embodiments. In addition, if the upper column is moved in the vertical direction while the upper column is tilted, the frictional resistance between the inner surface of the upper column and the outer surface of the lower column increases, and the height of the support base 73 is adjusted. The work of moving the upper support column in the vertical direction may become difficult.
Therefore, according to the fourth embodiment, it is possible to provide the walking support device 1 which is of great significance in that the height adjusting work of the support base 73 can be easily performed.

また、連結機構96のスライド部材98の一端部を取付支柱95の上端側に揺動可能に取付けて、連結機構96の管97の一端部を上側支柱93の下端部に揺動可能に取付けた構成としてもよい。
即ち、連結機構96は、管97と、管97の他端開口97bを介して当該管97内に挿入されたスライド部材98とを備え、一端部がベース2に揺動可能に取付けられるとともに、他端部が上側支柱93の下端部に揺動可能に取付けられて伸縮可能に構成され、起立動作支援時、及び、着座動作支援時において、シリンダ8の伸縮に伴って連結機構96も伸縮するように構成されていればよい。
Further, one end of the slide member 98 of the connecting mechanism 96 is swingably attached to the upper end side of the mounting column 95, and one end of the pipe 97 of the connecting mechanism 96 is swingably attached to the lower end of the upper column 93. It may be configured.
That is, the connecting mechanism 96 includes a pipe 97 and a slide member 98 inserted into the pipe 97 via the other end opening 97b of the pipe 97, and one end thereof is swingably attached to the base 2. The other end is swingably attached to the lower end of the upper support column 93 so that it can be expanded and contracted, and the connecting mechanism 96 also expands and contracts as the cylinder 8 expands and contracts during standing operation support and seating operation support. It suffices if it is configured as follows.

また、本発明の歩行支援装置1によれば、一端部がベースの前左側に揺動可能に設けられた左支柱と、一端部がベースの前右側に揺動可能に設けられた右支柱とを備え、当該左支柱及び右支柱の他端側に支持部が設けられており、また、一端部がベースの後左側に揺動可能に取付けられて他端部が左支柱に揺動可能に取付けられた左シリンダと、一端部がベースの後右側に揺動可能に取付けられて他端部が右支柱に揺動可能に取付けられた右シリンダとを備えたので、起立動作支援手段及び着座動作支援手段の動作確実性の高い歩行支援装置1を提供できる。 Further, according to the walking support device 1 of the present invention, a left strut having one end swingably provided on the front left side of the base and a right strut having one end swingably provided on the front right side of the base. A support portion is provided on the other end side of the left strut and the right strut, and one end is swingably attached to the rear left side of the base so that the other end can swing to the left strut. Since it is equipped with an attached left cylinder and a right cylinder having one end swingably mounted on the rear right side of the base and the other end swingably mounted on the right strut, the standing motion support means and seating It is possible to provide a walking support device 1 having high motion certainty of the motion support means.

また、移動手段3は、車輪以外の移動手段であっても良い。例えば、車輪の代わりに球を備えたキャスター、キャタピラー等の移動手段であっても良く、制動をかけられるように構成された移動手段であればよい。 Further, the moving means 3 may be a moving means other than the wheels. For example, it may be a means of transportation such as a caster or a caterpillar provided with a ball instead of a wheel, and it may be a means of transportation configured so that braking can be applied.

1 歩行支援装置、2 ベース、3 移動手段、5 装置本体部、6 連結手段、
7 支持手段、8 シリンダ(伸縮手段)、71,71A 左支柱、
72,72A 右支柱、93 上側支柱、94 下側支柱、95 取付支柱、
96 連結機構、97 管、98 スライド部材、A 使用者、B 装着具。
1 walking support device, 2 base, 3 transportation means, 5 device body, 6 connecting means,
7 Support means, 8 cylinders (expansion and contraction means), 71, 71A left strut,
72, 72A Right strut, 93 Upper strut, 94 Lower strut, 95 Mounting strut,
96 connecting mechanism, 97 pipes, 98 slide members, A user, B attachment.

Claims (3)

使用者の歩行を支援する歩行支援装置であって、
ベースと、ベースに設けられた移動手段と、ベースに設けられた装置本体部と、使用者が装着する装着具と装置本体部とを連結する連結手段とを備え、
装置本体部は、使用者が着座した状態から起立する際の動作を支援する起立動作支援手段、及び、使用者が起立した状態から着座する際の動作を支援する着座動作支援手段を備え、
起立動作支援手段及び着座動作支援手段は、一端部がベースの前側に揺動可能に取付けられて他端側に使用者を支持するための支持部を備えた支持手段と、アクチュエータとを備え、
アクチュエータは、一端部が支持手段の一端部取付位置よりも歩行支援装置の後側に位置されるベースの後側に揺動可能に取付けられて他端部が支持手段に揺動可能に取付けられた伸縮手段により構成され、
伸縮手段が縮むことで支持手段の他端側が歩行支援装置の前側から後側に倒れ込み、かつ、伸縮手段が伸びることで支持手段の他端側が歩行支援装置の後側から前側に起立するように構成され
支持手段は、下端がベースの前側に揺動可能に取付けられた支柱と、支柱の上端に設けられた支持部と、連結機構とを備え、
支柱は、下側支柱と上側支柱とを備えて構成され、
上側支柱は、上端が支持部に連結されて下端が開口する中空柱により構成され、
下側支柱は、下端がベースの前側に揺動可能に取付けられて、上端側が上側支柱を構成する中空柱の下端開口より中空柱内に挿入された柱により構成され、
上側支柱は、下側支柱の延長方向に沿って移動可能で、かつ、上端に取付けられた支持部の高さを変更可能なように下側支柱に取付けられ、
連結機構は、管と、管の他端開口を介して当該管内に挿入されたスライド部材とを備え、一端部がベースに揺動可能に取付けられるとともに、他端部が上側支柱の下端部に揺動可能に取付けられて伸縮可能に構成され、
起立動作支援時、及び、着座動作支援時において、伸縮手段の伸縮に伴って連結機構も伸縮するように構成されたことを特徴とする歩行支援装置。
It is a walking support device that supports the walking of the user.
It is provided with a base, a moving means provided on the base, a device main body provided on the base, and a connecting means for connecting a mounting tool worn by the user and the device main body.
The main body of the device includes a standing motion supporting means for supporting the motion when the user stands up from the seated state, and a sitting motion supporting means for assisting the motion when the user sits down from the standing state.
The standing motion supporting means and the sitting motion supporting means include a support means having one end swingably attached to the front side of the base and a support portion for supporting the user on the other end side, and an actuator.
One end of the actuator is swingably mounted on the rear side of the base, which is located behind the walking support device from the one end mounting position of the support means, and the other end is swingably mounted on the support means. Consists of telescopic means
When the telescopic means contracts, the other end side of the support means collapses from the front side to the rear side of the walking support device, and when the telescopic means expands, the other end side of the support means stands up from the rear side to the front side of the walking support device. Configured ,
The support means includes a strut whose lower end is swingably attached to the front side of the base, a support portion provided at the upper end of the strut, and a connecting mechanism.
The stanchion is composed of a lower stanchion and an upper stanchion.
The upper column is composed of a hollow column whose upper end is connected to the support and whose lower end is open.
The lower column is composed of columns whose lower end is swingably attached to the front side of the base and whose upper end is inserted into the hollow column from the lower end opening of the hollow column constituting the upper column.
The upper strut is attached to the lower strut so that it can be moved along the extension direction of the lower strut and the height of the support attached to the upper end can be changed.
The connecting mechanism includes a pipe and a slide member inserted into the pipe through the other end opening of the pipe, one end of which is swingably attached to the base, and the other end of which is attached to the lower end of the upper column. It is swayably mounted and configured to expand and contract,
A walking support device characterized in that the connecting mechanism is configured to expand and contract as the expansion and contraction means expands and contracts during standing motion support and sitting motion support.
ベースの後側には、上方に延長するように設けられた取付支柱を備え、
伸縮手段の一端部が取付支柱の上端側に揺動可能に取付けられるとともに、連結機構の管の一端部が取付支柱の上端側における伸縮手段の一端部取付位置よりも上方側に揺動可能に取付けられたことを特徴とする請求項1に記載の歩行支援装置。
On the rear side of the base, there is a mounting column provided so as to extend upward.
One end of the telescopic means can be swingably attached to the upper end side of the mounting column, and one end of the pipe of the connecting mechanism can swing upward from the mounting position of one end of the telescopic means on the upper end side of the mounting column. The walking support device according to claim 1, wherein the walking support device is attached.
支柱は、一端部がベースの前左側に揺動可能に設けられた左支柱と、一端部がベースの前右側に揺動可能に設けられた右支柱とを備え、当該左支柱及び右支柱の他端側に支持部が設けられ、
伸縮手段は、一端部がベースの後左側に揺動可能に取付けられて他端部が左支柱に揺動可能に取付けられた左伸縮手段と、一端部がベースの後右側に揺動可能に取付けられて他端部が右支柱に揺動可能に取付けられた右伸縮手段とを備えたことを特徴とする請求項又は請求項に記載の歩行支援装置。
The stanchion includes a left stanchion having one end swingably provided on the front left side of the base and a right stanchion having one end swingably provided on the front right side of the base. A support is provided on the other end side,
The telescopic means are the left telescopic means with one end swingably attached to the rear left side of the base and the other end swingably attached to the left strut, and one end swingable to the rear right side of the base. The walking support device according to claim 1 or 2 , further comprising a right telescopic means that is attached and the other end thereof is swingably attached to the right strut.
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