JP7387145B2 - Support mechanism and cane - Google Patents

Description

Application of Article 30, Paragraph 2 of the Patent Law International conference held at Sorbonne University on January 14, 2019 (Paris local time) / January 14-15, 2019 (Japan time): 2019 IEEE/SICE International Symposium on Presented at System Integration (abbreviation: SII2019)

BACKGROUND OF THE INVENTION The present invention relates to support mechanisms and canes.

Canes are widely used as walking aids for many people, including the elderly. In recent years, canes have been developed that can provide stable support not only on level ground, but also on uneven ground such as steps, slopes, and gravel roads. For example, Patent Document 1 discloses a cane that includes a main shaft and three link mechanisms connected to the main shaft. A plate-shaped elastic body is provided above the link mechanism. The link mechanism includes a fixing link shaft connected to the lower part of the main body of the cane, and a distal link shaft located on the distal end side of the link mechanism (on the side of the buffer member forming the ground surface). The elastic body is a rectangular leaf spring body having a length that covers the entire length from the tip link shaft to the fixing link shaft.

JP2017-217478A

By the way, depending on the magnitude of the load applied to the cane, the elastic force (restoring force) of the elastic body alone may not be able to support the main body of the cane, and the cane may fall down.

In view of the above circumstances, an object of the present invention is to provide a support mechanism that can provide stable and firm support on any ground, and a cane equipped with the same.

As a means for solving the above problems, aspects of the present invention have the following configurations.
(1) The support mechanism according to one aspect of the present invention includes a plurality of independently elastically deformable leg parts, a displacement part that displaces according to a load, and a plurality of support mechanisms corresponding to the plurality of leg parts, a braking unit that suppresses deformation of the leg according to the displacement of the displacement unit, the braking unit including a disk fixed to the leg, and a pair of shoes capable of sandwiching the disk; A brake link mechanism is provided that causes the disc to be sandwiched between the pair of shoes in accordance with the displacement of the displacement portion .

(2) In the support mechanism described in (1) above, at least one of the leg portion and the braking portion may include a link mechanism.

(3) In the support mechanism according to (1) or (2) above, the leg portion is rotatable between a pair of link members forming opposite sides of a parallelogram and each end of the pair of link members. The device may include four supporting shafts, and a coil spring whose both ends are supported by two of the four supporting shafts located diagonally to the parallelogram.

(4) In the support mechanism described in (3) above, the pair of link members may cover at least a portion of the coil spring.

( 5 ) In the support mechanism according to any one of (1) to (4) above, the braking link mechanism includes a pair of first arms rotatably connected at one end to the displacement portion, and a pair of first arms rotatably connected to the displacement portion. A pair of second arms may be provided, one end of which is rotatably connected to the other end of the first arm, and the other end of which is fixed to the pair of shoes.

( 6 ) In the support mechanism according to any one of (1) to (5) above, the braking link mechanism includes a pair of rotating bodies rotatably provided in the displacement portion, and a pair of rotating bodies that slide together. The device may include a pair of arms movably sandwiching the pair of rotating bodies at one end side and having the other end fixed to the pair of shoes.

( 7 ) In the support mechanism according to any one of (1) to (6) above, the disk may be made of an aluminum alloy.

( 8 ) In the support mechanism according to any one of (1) to (7) above, the plurality of legs are three legs, and the three legs are provided so as to face in different directions. It may be.

( 9 ) A cane according to one aspect of the present invention includes the support mechanism according to any one of (1) to (8) above, and a grip part that can be gripped by a user, and is supported by the displacement part. A main body.

( 10 ) A cane according to one aspect of the present invention includes a cane main body having a grip part that can be gripped by a user, a plurality of legs that can be elastically deformed independently, and a cane provided in the grip part, and a cane body that has a grip part that can be gripped by a user, and a plurality of braking parts that are provided corresponding to the plurality of leg parts and suppress deformation of the leg parts in accordance with the displacement of the displacement parts , the braking part being configured to displace the leg parts. A disc fixed to the disc, a pair of shoes capable of sandwiching the disc, and a braking link mechanism configured to sandwich the disc between the pair of shoes in response to displacement of the displacement portion.

According to the support mechanism described in the above (1) of the present invention, by providing a plurality of independently elastically deformable legs, each leg can touch the ground, so that it can not only flatten the ground but also level the ground. It can provide stable support even on uneven terrain such as steps, slopes, and gravel roads. In addition, by including a displacement part that displaces according to the load and a plurality of braking parts that are provided corresponding to the plurality of legs and suppress deformation of the legs according to the displacement of the displacement part, the displacement part can be The leg can be stopped by the braking force of the braking unit according to the displacement. Therefore, it can provide stable and firm support no matter what kind of ground it is on.

According to the support mechanism described in the above (2) of the present invention, at least one of the leg portion and the braking portion includes a link mechanism, thereby achieving the following effects.
Compared to a configuration that includes a telescopic mechanism using a pneumatic cylinder and an electric valve or a configuration that includes a MR fluid (Magneto Rheological Fluid) brake, it does not require electrical energy such as an actuator or a battery. Therefore, it can be used safely without any restrictions on usage time (without the hassle of charging).

According to the support mechanism described in the above (3) of the present invention, the leg portion includes a pair of link members forming opposite sides of a parallelogram, and four link members rotatably supporting each end of the pair of link members. By including a support shaft and a coil spring whose both ends are supported by two of the four support shafts located at diagonal corners of a parallelogram, the following effects are achieved.
Since the two support shafts serve as the support part for the end of the link member and the support part for both ends of the coil spring, the number of parts is reduced compared to the case where pins for supporting both ends of the coil spring are provided separately from the support shaft. Weight reduction can be achieved.

According to the support mechanism described in the above (4) of the present invention, since the pair of link members cover at least a portion of the coil spring, the following effects are achieved.
Compared to a case where the entire coil spring is exposed between the pair of link members, it is possible to make it difficult for foreign matter to enter between the pair of link members. In addition, at least a portion of the coil spring is not visible from the outside, contributing to improved appearance.

According to the support mechanism described in (1) and (10) above of the present invention, the braking section includes a disk fixed to the leg, a pair of shoes capable of sandwiching the disk, and By providing a braking link mechanism for sandwiching a disc between a pair of shoes accordingly, the following effects can be achieved.
The braking unit functions as a so-called disc brake, in which a disc that moves together with the legs is sandwiched between a pair of shoes, and a braking force is generated by the frictional force generated at that time. Therefore, compared to the case of drum brakes, it is possible to obtain stable braking force, and it is also easier to maintain.

According to the support mechanism described in the above ( 5 ) of the present invention, the braking link mechanism includes a pair of first arms rotatably connected at one end to the displacement portion, and one end connected to the other end of the pair of first arms. and a pair of second arms which are rotatably connected and whose other ends are fixed to the pair of shoes, the following effects are achieved.
With a simple configuration including a pair of first arms and a pair of second arms, it can be used safely without any restrictions on usage time.

According to the support mechanism described in the above ( 6 ) of the present invention, the braking link mechanism includes a pair of rotating bodies rotatably provided in the displacement portion, and a pair of rotating bodies slidably attached to the pair of rotating bodies. By providing a pair of arms which are sandwiched at one end side and whose other ends are fixed to a pair of shoes, the following effects are achieved.
Compared to a configuration including a pair of first arms and a pair of second arms, the number of parts of the arms can be reduced and the weight can be reduced.

According to the support mechanism described in item ( 7 ) of the present invention, since the disk is made of aluminum alloy, it is possible to reduce the weight compared to the case of iron.

According to the support mechanism described in the above ( 8 ) of the present invention, the plurality of legs are three legs, and the three legs are provided so as to face in different directions, so that the following can be achieved. It has the effect of
Compared to the case of four legs, the number of parts can be reduced and the weight can be reduced. In addition, it is easier to provide stable support compared to a case where the three legs each face the same direction.

According to the cane described in the above ( 9 ) of the present invention, by including the above-mentioned support mechanism and the cane body having a grip portion that can be gripped by the user and supported by the displacement portion, the following effects can be achieved. play.
Provides stable and firm support no matter what the ground.

According to the cane according to the above ( 10 ) of the present invention, by including a plurality of legs that can be elastically deformed independently, each leg can touch the ground, so that it can not only level the ground but also level the ground. It can provide stable support even on uneven terrain such as slopes, gravel roads, etc. In addition, by including a displacement part that displaces according to the load and a plurality of braking parts that are provided corresponding to the plurality of legs and suppress deformation of the legs according to the displacement of the displacement part, the displacement part can be The leg can be stopped by the braking force of the braking unit according to the displacement. Therefore, it can provide stable and firm support no matter what kind of ground it is on. In addition, since the displacement part is provided in the grip part, the user can brake the leg part at any timing by manual operation.

FIG. 1 is a perspective view of a cane according to an embodiment. FIG. 3 is a front view of the support mechanism according to the embodiment. A view taken along arrow III in FIG. 2. FIG. 3 is an explanatory diagram of a link mechanism of a leg according to an embodiment. FIG. 2 is an explanatory diagram of a brake link mechanism according to an embodiment. FIG. 6 is an explanatory diagram of the brake link mechanism according to the embodiment following FIG. 5 . FIG. 7 is a perspective view of a cane according to a modification of the embodiment. FIG. 7 is a front view of a support mechanism according to a modification of the embodiment. FIG. 4 is an explanatory diagram of evaluation of the independence of the cane according to the example. Figure 9(a) is a map of contacting the step. Figure 9(b) is a map of contacting the slope. Figure 9(c) is a grounding map to the gravel road. FIG. 2 is an explanatory diagram of a load measuring cane according to an embodiment. FIG. 4 is an explanatory diagram for evaluating the grounding properties of the cane according to the example. FIG. 11(a) is a grounding map on a flat surface. Figure 11(b) is a map of contacting the step. Figure 11(c) is a map of contacting the slope. Figure 11(d) shows the approach map to the gravel road. The figure which shows the load, roll angle, and pitch angle when the cane based on an Example is grounded on the flat surface. The figure which shows the load, roll angle, and pitch angle when the cane based on an Example is grounded on a step. The figure which shows the load, roll angle, and pitch angle when the cane based on an Example touches the ground on a slope. FIG. 3 is a diagram showing the load, roll angle, and pitch angle when the cane according to the example touches the ground on a gravel road. FIG. 3 is a diagram showing the average roll angle and pitch angle when the cane according to the example touches the ground at various locations. FIG. 6 is an explanatory diagram for evaluating the grounding properties of a cane according to a comparative example. FIG. 17(a) is a grounding map on a flat surface. Figure 17(b) is a map of contacting the step. Figure 17(c) is a map of contacting the slope. Figure 17(d) is a grounding map to the gravel road. The figure which shows the load, roll angle, and pitch angle when the cane based on a comparative example is grounded on a flat surface. The figure which shows the load, roll angle, and pitch angle when the cane based on a comparative example touches the ground on a step. FIG. 7 is a diagram showing the load, roll angle, and pitch angle when a cane according to a comparative example is grounded on a slope. FIG. 7 is a diagram showing the load, roll angle, and pitch angle when a cane according to a comparative example touches the ground on a gravel road. FIG. 7 is a diagram showing average roll angles and pitch angles when a cane according to a comparative example touches the ground at various locations.

Embodiments of the present invention will be described below with reference to the drawings. In each figure, the same components are given the same reference numerals. In the embodiment, a cane equipped with a link mechanism will be described as an example of a cane.

<Cane>
As shown in FIG. 1, the cane 1 includes a cane body 2 and a support mechanism 3.
The cane main body 2 includes a grip portion 10, a shaft portion 11, and a connecting portion 12.
The grip part 10 has a cylindrical shape that can be gripped by a user. The grip portion 10 is provided on the side of the cane body 2 opposite to the support mechanism 3 (on the upper side of the drawing).
The shaft portion 11 extends linearly (in the vertical direction of the paper surface of the figure). One end side of the shaft portion 11 is supported by the support mechanism 3.
The connecting portion 12 connects the other end of the shaft portion 11 and the gripping portion 10 . The connecting portion 12 extends from the other end of the shaft portion 11 so as to diagonally cross the shaft portion 11 and is curved toward the grip portion 10 .

<Support mechanism>
FIG. 2 shows the support mechanism 3 in its initial state. In FIG. 2, a part of the shaft portion 11 of the cane body 2 is shown.
As shown in FIG. 2, the support mechanism 3 includes a trunk section 20, a leg section 30, a displacement section 40, and a brake section 50.
The body 20 covers one end of the shaft 11. The body portion 20 has a through hole 21 (see FIG. 1) that opens in the direction in which the shaft portion 11 extends (hereinafter referred to as the “axial direction”). The cane main body 2 is movable along the axial direction through the through hole 21 of the body 20.

<Legs>
The legs 30 are connected to the body 20. A plurality of leg portions 30 are provided, each of which can be elastically deformed independently. Three leg sections 30 are provided. The three legs 30 are a first leg 30A, a second leg 30B, and a third leg 30C.

The three legs 30 are connected at the same height position on the trunk 20. The three leg parts 30 are provided so as to face different directions. When viewed from the axial direction, the three leg sections 30 are arranged radially around the shaft section 11 at intervals of 120 degrees. Hereinafter, the first leg portion 30A among the three leg portions 30 will be explained. The second leg portion 30B and the third leg portion 30C have the same configuration as the first leg portion 30A, so a detailed description thereof will be omitted.

As shown in FIG. 3, the first leg portion 30A (hereinafter also simply referred to as “leg portion 30”) includes a link mechanism 31. As shown in FIG. The leg portion 30 includes link members 32 and 33, support shafts 34 to 37, a coil spring 38, and a buffer member 39. In the initial state, the tip of the leg 30 (lower end of the leg 30) is located below the lower end of the shaft 11 (see FIG. 2) of the cane body 2. That is, when the cane is lowered, the tip of the leg 30 touches the ground before the lower end of the shaft 11.

A pair of link members 32 and 33 are provided so as to form opposite sides of a parallelogram. The pair of link members 32 and 33 are a first link member 32 and a second link member 33. The first link member 32 is arranged below the second link member 33 at a distance. The pair of link members 32 and 33 cover a portion of the coil spring 38.

The support shafts 34 to 37 rotatably support each end of the pair of link members 32 and 33. Four support shafts 34 to 37 are provided. The four support shafts 34 to 37 are a first support shaft 34, a second support shaft 35, a third support shaft 36, and a fourth support shaft 37.

The first support shaft 34 and the second support shaft 35 are provided at the lower part of the trunk section 20 . The first support shaft 34 rotatably supports one end of the first link member 32.
The second support shaft 35 is provided at a lower portion of the trunk 20 at a higher position than the first support shaft 34 . The second support shaft 35 rotatably supports one end of the second link member 33.
The third support shaft 36 and the fourth support shaft 37 are provided at the base of the buffer member 39. The third support shaft 36 rotatably supports the other end of the first link member 32.
The fourth support shaft 37 is provided at a location higher than the third support shaft 36 at the base of the buffer member 39. The fourth support shaft 37 rotatably supports the other end of the second link member 33.

Both ends of the coil spring 38 are supported by two of the four support shafts 34 to 37 located at diagonal corners of a parallelogram. One end of the coil spring 38 is supported by the first support shaft 34. The other end of the coil spring 38 is supported by a fourth support shaft 37. The coil spring 38 constantly biases the first support shaft 34 and the fourth support shaft 37 so that the pair of link members 32 and 33 are in the initial state.

The buffer member 39 has an outer shape that tapers toward the distal end side (the side opposite to the side where the support shafts 36 and 37 are provided). The pair of link members 32 and 33, the four support shafts 34 to 37, and the buffer member 39 constitute a link mechanism 31 of the leg portion 30. In the initial state, the tip of the buffer member 39 is located below the lower end of the shaft portion 11 of the cane body 2. For example, the buffer member 39 is made of rubber.

<Displacement part>
As shown in FIG. 2, the displacement section 40 is arranged above the trunk section 20. The displacement part 40 is attached to the middle of the shaft part 11 of the cane body 2. The displacement portion 40 is displaced between the body portion 20 and the body portion 20 depending on the load. The displacement part 40 is movable along the axial direction together with the cane main body 2 according to the load applied by the user to the grip part 10 (see FIG. 1). For example, when the user applies a load to the grip part 10 from above, the displacement part 40 moves downward along the axial direction together with the cane main body 2 and approaches the body part 20. The displacement portion 40 has a circular outer shape (outer peripheral surface) when viewed from the axial direction.

<Brake part>
The brake section 50 is connected to the displacement section 40. A plurality of brake parts 50 are provided corresponding to the plurality of leg parts 30. The braking section 50 suppresses deformation of the leg section 30 in accordance with the displacement of the displacement section 40. The braking unit 50 exerts a braking force after being further pushed from a position where the elastic force of the coil spring 38 and the load applied to the gripping unit 10 are balanced. Three braking units 50 are provided. The three brake parts 50 are a first brake part 50A, a second brake part 50B, and a third brake part 50C (see FIG. 1; only the first brake part 50A is shown in FIG. 2).

The three brake parts 50 are connected at the same height position in the displacement part 40. The three brake parts 50 are provided so as to face different directions. When viewed from the axial direction, the three brake parts 50 are arranged at 120° intervals around the shaft part 11. Seen from the axial direction, the first brake part 50A, the second brake part 50B, and the third brake part 50C overlap with the first leg part 30A, the second leg part 30B, and the third leg part 30C, respectively. The first braking section 50A suppresses deformation of the first leg section 30A. The second braking section 50B suppresses deformation of the second leg section 30B. The third braking section 50C suppresses deformation of the third leg section 30C. Hereinafter, the first braking section 50A among the three braking sections 50 will be explained. The second braking section 50B and the third braking section 50C have the same configuration as the first braking section 50A, so a detailed explanation will be omitted.

As shown in FIG. 2, the first brake section 50A (hereinafter also simply referred to as "brake section 50") includes a disk 51, a shoe 52, and a brake link mechanism 53 (link mechanism).
The disk 51 is fixed to the second link member 33 of the leg 30. The disk 51 has a fan shape centered on the second support shaft 35 (see FIG. 3). For example, the disk 51 is made of aluminum alloy.

A pair of shoes 52 are provided so as to be able to sandwich the disk 51 therebetween. The pair of shoes 52 are located apart from the second support shaft 35 (see FIG. 3).

The brake link mechanism 53 causes the disc 51 to be sandwiched between the pair of shoes 52 in accordance with the displacement of the displacement portion 40. The brake link mechanism 53 has a line-symmetrical (left-right symmetrical) outer shape with the axis of the shaft portion 11 as an axis of symmetry. The brake link mechanism 53 includes a pair of first arms 54 and a pair of second arms 55.

The pair of first arms 54 are connected at one end so as to be rotatable about an axis along the normal line of the outer circumferential surface of the displacement section 40 . The pair of first arms 54 have an inverted V shape with an open bottom.
One end of the pair of second arms 55 is rotatably connected to the other end of the pair of first arms 54 . The pair of second arms 55 have their other ends fixed to the pair of shoes 52. The pair of second arms 55 have a shape in which their middle portions are bent inward. The pair of second arms 55 are connected at bent portions 56 (midway portions) so as to be rotatable around the upper axis of the body portion 20 (around an axis parallel to the normal to the outer circumferential surface of the displacement portion 40).

<Design of leg link mechanism>
FIG. 4 is a schematic diagram of the link mechanism 31 of the leg portion 30 in an initial state. In FIG. 4, a part (lower part) of the lower part of the body 20 and the disk 51 are also shown.
As shown in FIG. 4, a parallelogram link mechanism 31 is used for the leg portion 30. In FIG. 4, points P1, P2, P3, and P4 respectively correspond to the first support shaft 34, the second support shaft 35, the third support shaft 36, and the fourth support shaft 37 (see FIG. 3). Point G corresponds to the tip of the buffer member 39 (the tip of the leg portion 30). The link P1P3 corresponds to the first link member 32 (see FIG. 3). Link P2P4 corresponds to the second link member 33 (see FIG. 3). Symbol l _L1 indicates the length of link P1P3 (link P2P4), and symbol l _L2 indicates the length between point P1 and point P2 (between point P3 and point P4). The symbol s indicates the distance from the point P2 to the placement position of the shoe 52 (see FIG. 3).

<Design of brake link mechanism>
FIG. 5 is a schematic diagram of the brake linkage mechanism 53 in an initial state. FIG. 6 is a schematic diagram of the brake linkage mechanism 53 in a braking state. In both FIGS. 5 and 6, only the right half of the brake link mechanism 53 is shown (because of left-right symmetry).
The brake link mechanism 53 generates a braking force by deforming when a load is applied. In FIG. 5, points A, B, C, and D are respectively axes along the normal line of the outer peripheral surface of the displacement part 40, rotation axes of the other end of the first arm 54 and one end of the second arm 55, This corresponds to the rotation axis of the bent portion 56 of the second arm 55 and the other end of the second arm 55 (see FIG. 2). Link AB corresponds to the first arm 54 (see FIG. 2). The link BC corresponds to the upper part of the second arm 55 (the part between one end of the second arm 55 and the bent part 56) (see FIG. 2). The link CD corresponds to the lower part of the second arm 55 (the portion between the other end of the second arm 55 and the bent portion 56) (see FIG. 2). Symbol l ₁ represents the length of link AB, symbol l ₂ represents the length of link BC, and symbol r represents the length of link CD. The symbol e indicates the distance from the y-axis to point C. The symbol β indicates the angle of the bent portion 56.

As shown in FIG. 6, point A moves downward by applying a load to the cane. Then, link CD rotates around point C. A shoe 52 (see FIG. 2) is attached to the link CD. The shoe 52 is pressed against a disk 51 (see FIG. 2) fixed to the leg 30. Thereby, a braking force (braking force) that maintains the posture of the leg portion 30 is obtained.

Based on the principle of virtual work, find the relationship between the load on the cane and the braking force. Consider an x-y coordinate system as shown in Figure 5. At this time, the disk 51 (see FIG. 2) moves on the y-axis. The y-coordinate of point A, which is the connection position with the cane body 2 (displacement portion 40), is expressed by the following equation (1).

In the above equation (1), θ is the angle of the link CD that presses the shoe 52 against the disk 51. When the above equation (1) is differentiated with respect to time, the following equations (2) and (3) are obtained.

As shown in FIG. 6, it is assumed that when a load f is applied to point A, a minute displacement _δyA occurs. At this time, it is assumed that the link CD rotates by a minute angle δθ and a torque τ is applied. Then, according to the principle of virtual work, the following equation (4) is obtained.

If the minute displacement is replaced with velocity in the above equation (4), the following equation (5) holds true.

In order for the above equation (3) to be substituted and the above equation (5) to always hold, the following equation (6) must be satisfied.

In this embodiment, each of the three legs 30 has a brake part 50. Therefore, if the load applied to the entire cane is F, the load f applied to one side of one braking part 50 is expressed by the following equation (7).

Assuming that the shoe 52 is attached at point D at the tip of the link CD, the brake pressing force _fD is expressed by the following equation (8).

In order to stop the movement of the tip of the leg 30 (rotation of the disk 51), the rotational moment exerted by the brake around the disk 51 needs to be larger than the rotational moment exerted by the force F/3 applied to the tip of the leg 30. The rotational moment exerted by the force F/3 applied to the tip of the leg portion 30 changes depending on the posture φ (the angle φ shown in FIG. 4). Therefore, to find a condition where the braking force exceeds at cosφ=1, where the rotational moment exerted by the force F/3 applied to the tip of the leg 30 is maximum, the following equation (9 ).

From the above equations (1) to (9), it is preferable to perform a design that satisfies the following equation (10) using numerical simulation software (for example, MATLAB).

In the above equation (10), the magnitude of the friction coefficient μ changes depending on the surface roughness of the disk 51, rubber adhesion friction, deformation loss friction, digging friction, etc., so it is difficult to obtain an accurate value. It is. For example, for the friction coefficient μ, it is preferable to refer to the friction coefficient μ=0.82 between iron and aluminum.

<Effect>
As explained above, the support mechanism 3 according to the above embodiment has a plurality of legs 30 that can be elastically deformed independently, a displacement section 40 that is displaced according to a load, and a plurality of legs 30 that correspond to the plurality of legs 30. A plurality of braking parts 50 are provided to suppress deformation of the leg part 30 according to the displacement of the displacement part 40.

According to this configuration, by providing a plurality of legs 30 that can be elastically deformed independently, each leg 30 can touch the ground, so it can be used not only on flat ground but also on steps, slopes, gravel roads, etc. Stable support is possible even on uneven ground. In addition, it includes a displacement part 40 that is displaced according to a load, and a plurality of braking parts 50 that are provided corresponding to the plurality of legs 30 and suppress deformation of the legs 30 according to the displacement of the displacement part 40. The leg portion 30 can be stopped by the braking force of the braking portion 50 according to the displacement of the displacement portion 40. Therefore, it can provide stable and firm support no matter what kind of ground it is on.

According to the above embodiment, each of the leg portion 30 and the brake portion 50 includes the link mechanisms 31 and 53, thereby achieving the following effects.
Compared to a configuration that includes a telescopic mechanism using a pneumatic cylinder and an electric valve or a configuration that includes a MR fluid (Magneto Rheological Fluid) brake, it does not require electrical energy such as an actuator or a battery. Therefore, it can be used safely without any restrictions on usage time (without the hassle of charging).

According to the above embodiment, the leg portion 30 includes a pair of link members 32 and 33 forming opposite sides of a parallelogram, and four support shafts that rotatably support each end of the pair of link members 32 and 33. 34 to 37, and a coil spring 38 whose both ends are supported by two of the four support shafts 34 to 37 located on diagonal corners of the parallelogram, the following effects are achieved. .
Since the two support shafts 34 and 37 serve as support parts for the ends of the link members 32 and 33 and support parts for both ends of the coil spring 38, when a pin for supporting both ends of the coil spring 38 is provided separately from the support shafts 34 and 37. The number of parts can be reduced and the weight can be reduced compared to the previous model.

According to the embodiment described above, since the pair of link members 32 and 33 partially cover the coil spring 38, the following effects are achieved.
Compared to the case where the entire coil spring 38 is exposed between the pair of link members 32 and 33, it is possible to make it difficult for foreign matter to enter between the pair of link members 32 and 33. In addition, a portion of the coil spring 38 is not visible from the outside, contributing to improved appearance.

According to the embodiment described above, the braking unit 50 includes a disc 51 fixed to the leg unit 30, a pair of shoes 52 that can sandwich the disc 51, and a pair of shoes 52 that can sandwich the disc 51 in accordance with the displacement of the displacement unit 40. By providing the brake link mechanism 53 that sandwiches the disk 51, the following effects are achieved.
The braking unit 50 functions as a so-called disc brake, in which a disc 51 that moves together with the leg part 30 is sandwiched between a pair of shoes 52, and a braking force is generated by the frictional force generated at that time. Therefore, compared to the case of drum brakes, it is possible to obtain stable braking force, and it is also easier to maintain.

According to the embodiment described above, the brake linkage mechanism 53 includes a pair of first arms 54, one end of which is rotatably connected to the displacement portion 40, and one end of which is rotatably connected to the other end of the pair of first arms 54. By providing a pair of second arms 55 that are connected and have the other ends fixed to the pair of shoes 52, the following effects are achieved.
With a simple configuration including a pair of first arms 54 and a pair of second arms 55, it can be used safely without any restrictions on usage time.

According to the above embodiment, since the disk 51 is made of aluminum alloy, it can be made lighter than when made of iron.

According to the above embodiment, the plurality of legs 30 are three legs 30, and the three legs 30 are provided so as to face in different directions, thereby achieving the following effects.
Compared to the case of four legs 30, the number of parts can be reduced and the weight can be reduced. In addition, stable support is easier to achieve than when the three legs 30 face in the same direction.

The cane 1 according to the above embodiment has the following effects by including the support mechanism 3 described above and the cane main body 2 having a grip part 10 that can be held by the user and supported by a displacement part 40. .
Provides stable and firm support no matter what the ground.

<Modified example>
In addition, although the said embodiment gave and demonstrated the example in which the displacement part 40 was supported by the shaft part 11 of the cane main body 2, it is not limited to this. For example, as shown in FIG. 7, the displacement part 40 may be provided in the grip part 10 of the cane main body 2. For example, the displacement part 140 may be a lever. For example, a plurality of wires 153 are provided corresponding to the plurality of legs 30. One end of the wire 153 is attached to the lever 140 side. The other end of the wire 153 is attached to the shoe 52 via a bracket (not shown). For example, a mechanism may be adopted in which the wire 153 is pulled when the user grips the lever 140, and the brake is applied by pinching and pressing the disc 51 between the shoes 52.
According to this configuration, since the displacement part 40 is provided on the grip part 10, the user can brake the leg part 30 at any timing by manual operation.

In the embodiment described above, the brake linkage mechanism 53 includes a pair of first arms 54, one end of which is rotatably connected to the displacement portion 40, and one end of which is rotatably connected to the other end of the pair of first arms 54. , and a pair of second arms 55 whose other ends are fixed to a pair of shoes 52, but the present invention is not limited thereto. For example, as shown in FIG. 8, the brake link mechanism 253 includes a pair of rotating bodies 254 rotatably provided in the displacement part 40, and a pair of rotating bodies 254 slidably attached to one end side. A pair of arms 255 may be provided, which are sandwiched between the arms 255 and the other ends of which are fixed to the pair of shoes 52.
According to this configuration, compared to a configuration including a pair of first arms 54 and a pair of second arms 55, the number of parts of the arm 255 can be reduced and the weight can be reduced.

Although the above embodiment has been described using an example in which each of the leg portion 30 and the brake portion 50 includes the link mechanisms 31 and 53, the present invention is not limited to this. For example, either the leg portion 30 or the brake portion 50 may include a link mechanism. For example, at least one of the leg portion 30 and the brake portion 50 may include a link mechanism. Alternatively, neither the leg portion 30 nor the brake portion 50 may have a link mechanism.

In the above embodiment, an example has been described in which the two support shafts 34 and 37 serve as support parts for the ends of the link members 32 and 33 and support parts for both ends of the coil spring 38, but the present invention is not limited to this. For example, pins for supporting both ends of the coil spring 38 may be provided separately from the support shafts 34 and 37.

Although the above embodiment has been described using an example in which the pair of link members 32 and 33 cover a part of the coil spring 38, the present invention is not limited to this. For example, the pair of link members 32 and 33 may cover the entire coil spring 38. For example, the pair of link members 32 and 33 may cover at least a portion of the coil spring 38. Alternatively, the entire coil spring 38 may be exposed between the pair of link members 32 and 33.

Although the above embodiment has been described using an example in which the disk 51 is made of aluminum alloy, the present invention is not limited thereto. For example, the disk 51 may be made of metal other than aluminum alloy, such as iron.

Although the above embodiment has been described using an example in which three leg sections 30 are provided, the present invention is not limited to this. For example, two or four or more legs 30 may be provided.

Although the above embodiment has been described using an example in which the leg portion 30 includes the coil spring 38, the present invention is not limited to this. For example, the leg portion 30 may include an elastic member other than the coil spring 38, such as a leaf spring.

Although the above embodiment has been described using an example in which the support mechanism 3 is applied to a cane, the present invention is not limited to this. For example, the support mechanism 3 may be applied to a camera tripod, a hospital drip table, a golf club stand, a prosthetic leg, a television stand, and the like. For example, the support mechanism 3 may be applied to fixtures, moving devices such as robots for photographing or measuring, and the like.

Note that the technical scope of the present invention is not limited to the embodiments described above, and various changes can be made without departing from the spirit of the present invention.

EXAMPLES Hereinafter, the present invention will be explained in more detail with reference to Examples, but the present invention is not limited to the following Examples.

<Evaluation of cane independence>
The inventors of the present application have established the conditions (8% slope, 20 mm step) specified in the "Standards for Steps and Gradient Etc. on Sidewalks" (hereinafter also referred to as "Standards established by the Ministry of Land, Infrastructure, Transport and Tourism") established by the Ministry of Land, Infrastructure, Transport and Tourism. It was confirmed through the following evaluation that the shaft of the cane was held vertically.

(Example)
In the example, a cane in which a support mechanism is supported by the shaft of the cane body (the cane shown in FIG. 1) was used. The legs use a parallelogram-shaped link mechanism, and by connecting the diagonals of the parallelogram with coil springs, the leg link mechanism returns to its initial position when no load is applied. Three legs were arranged radially at 120° intervals around the shaft of the cane body. An aluminum alloy disc is integrated into the second link member of the leg. The braking unit uses a link mechanism, and when a load is applied, the link mechanism deforms, pressing the shoes against the disc and applying the brakes.

(Evaluation target)
As the ground to be evaluated, we prepared a step, a plate imitating a slope (hereinafter simply referred to as a ``slope''), and a floor covered with pebbles (hereinafter also referred to as a ``gravel road''). According to the standards set by the Ministry of Land, Infrastructure, Transport and Tourism, the height of the steps was 20 mm, the slope was 8% (approximately 4.6 degrees), and the size of the pebbles was approximately 10 mm in diameter.

(Evaluation results)
FIGS. 9(a) to 9(c) show the state of the experiment when the cane of the example was placed perpendicularly on the ground, respectively, on a step, a slope, and a gravel road. As shown in Figures 9(a) to 9(c), the legs deform so that the shaft of the cane becomes vertical on any ground, such as a step, a slope, or a gravel road, while maintaining the posture of the cane. I was able to confirm that it was independent. As a result, it was found that the cane of the example maintains the axis of the cane vertically according to the standards set by the Ministry of Land, Infrastructure, Transport and Tourism.

<Evaluation of the grounding ability of the cane>
The inventors of the present application have confirmed through the following evaluation that the cane can be used on steps, slopes, and gravel roads within the same range of inclination as on flat surfaces.

(Example)
In the example, a load measuring cane (see FIG. 10) for data measurement was used separately from the cane body. By using a load cell in the load measuring cane, we have made it possible to measure the load applied in the axial direction of the cane. In addition, the load measuring cane is equipped with a gyro and acceleration sensor, making it possible to grasp the condition of the cane. The gyro/acceleration sensor can detect the inclination parallel to the cane handle as a roll angle, and the inclination in a direction intersecting the cane handle as a pitch angle. The support mechanism was the same as that used in <Evaluation of cane independence> above. That is, in the example, a load measuring cane in which a support mechanism (see FIG. 2) was supported by the shaft portion was used.

(Comparative example)
In the comparative example, a commercially available four-point cane whose tip was attached to a load measuring cane was used. The tip of the commercially available four-point cane was modified so that it could be attached to the load measuring cane.

(Evaluation target)
Flat surfaces, steps, slopes, and gravel roads were prepared as the ground for evaluation. According to the standards set by the Ministry of Land, Infrastructure, Transport and Tourism, the height of the steps was 20 mm, the slope was 8% (approximately 4.6 degrees), and the size of the pebbles was approximately 10 mm in diameter.

(Evaluation results)
FIGS. 11(a) to 11(d) show the state of the experiment when the cane of the example was brought into contact with the ground perpendicularly on a flat surface, a step, a slope, and a gravel road. In FIGS. 11(a) to 11(d), the roll angle is around the axis in the depth direction, and the pitch angle is around the axis in the left-right direction.
12 to 15 are diagrams showing the load, roll angle, and pitch angle when the cane according to the example touches the ground. FIG. 12 shows ground contact on a flat surface, FIG. 13 shows ground contact on a step, FIG. 14 shows ground contact on a slope, and FIG. 15 shows ground contact on a gravel road. In FIGS. 12 to 15, the left vertical axis represents the load applied to the cane, the right vertical axis represents the roll angle and pitch angle when the vertical direction of the cane is set to 0°, and the horizontal axis represents time.
FIG. 16 is a diagram showing average roll angles and pitch angles when the cane according to the example touches the ground at various locations.

In the example, focusing on the difference in the inclination of the cane, the roll angle was largest at 3.5° on a gravel road. On the other hand, there was almost no difference in pitch angle.
It is thought that the inclination of the roll angle on steps and slopes is due to the inclination of the direction in which force is applied during ground contact, and is not due to the condition of the ground. The slope of the roll angle on a gravel road is thought to be due to the position of the gravel on the ground changing due to the pushing after the legs are locked. In addition, on gravel roads, the roll angle and pitch angle appear to be unstable in some areas, which is thought to be due to the gravel shifting when a load is applied.
As a result, it was found that there was no significant difference in the inclination of the cane of the example when it touched the ground on a flat surface, a step, a slope, and a gravel road.

FIGS. 17(a) to 17(d) show the state of the experiment when the cane of the comparative example was placed perpendicularly on a flat surface, a step, a slope, and a gravel road. In FIGS. 17(a) to 17(d), the roll angle is around the axis in the depth direction, and the pitch angle is around the axis in the left-right direction.
18 to 21 are diagrams showing the load, roll angle, and pitch angle when the cane according to the comparative example touches the ground. FIG. 18 shows grounding on a flat surface, FIG. 19 shows grounding on a step, FIG. 20 shows grounding on a slope, and FIG. 21 shows grounding on a gravel road. In FIGS. 18 to 21, the left vertical axis represents the load applied to the cane, the right vertical axis represents the roll angle and pitch angle when the vertical direction of the cane is set to 0°, and the horizontal axis represents time.
FIG. 22 is a diagram showing average roll angles and pitch angles when the cane according to the comparative example touches the ground at various locations.

In the comparative example, focusing on the difference in the inclination of the cane, the roll angle was largest at 1.8° when on a gravel road, the pitch angle was about 7° when on a step, and about 6° when on a slope. .
Also, when touching the ground on a gravel road, there was a large amount of wobbling in the hand of the cane.
As a result, it was found that the cane of the comparative example tilted significantly on each of steps, slopes, and gravel roads.

From the above, it was found that the cane of the example can be used on steps, slopes, and gravel roads within the same range of inclination as on flat surfaces.

DESCRIPTION OF SYMBOLS 1... Cane, 2... Cane main body, 3... Support mechanism, 10... Grasping part, 30... Leg part, 30A... First leg part (leg part), 30B... Second leg part (leg part), 30C... Third Leg portion (leg portion), 31... Link mechanism, 32... First link member (link member), 33... Second link member (link member), 34... First support shaft (support shaft), 35... Second support Shaft (support shaft), 36...Third support shaft (support shaft), 37...Fourth support shaft (support shaft), 38...Coil spring, 40...Displacement part, 50...Brake part, 50A...First brake part (brake) ), 50B...second braking part (braking part), 50C...third braking part (braking part), 51...disc, 52...shoe, 53...braking link mechanism, 54...first arm, 55...second arm , 140... Displacement part, 253... Braking link mechanism, 254... Rotating body, 255... Arm

Claims (10)

multiple legs that can be elastically deformed independently;
a displacement part that displaces according to the load;
A plurality of braking parts are provided corresponding to the plurality of leg parts and suppress deformation of the leg parts in accordance with displacement of the displacement part ,
The braking unit includes:
a disk fixed to the leg;
a pair of shoes capable of sandwiching the disc;
a braking link mechanism that causes the disc to be sandwiched between the pair of shoes in accordance with the displacement of the displacement portion.
Support mechanism. The support mechanism according to claim 1, wherein at least one of the leg portion and the brake portion includes a link mechanism. The leg portion is
a pair of link members forming opposite sides of a parallelogram;
four support shafts rotatably supporting each end of the pair of link members;
The support mechanism according to claim 1 or 2, further comprising: a coil spring whose both ends are supported by two of the four support shafts located at diagonal corners of the parallelogram. The support mechanism according to claim 3, wherein the pair of link members cover at least a portion of the coil spring. The braking link mechanism is
a pair of first arms, one end of which is rotatably connected to the displacement portion;
5. A pair of second arms, one end of which is rotatably connected to the other end of the pair of first arms, and the other end of which is fixed to the pair of shoes. Support mechanism as described. The braking link mechanism is
a pair of rotating bodies rotatably provided in the displacement section;
Any one of claims 1 to 5, comprising: a pair of arms, the pair of rotating bodies slidably sandwiching the pair of rotating bodies at one end side, and the other end of which is fixed to the pair of shoes. The support mechanism described in . The support mechanism according to any one of claims 1 to 6 , wherein the disk is made of an aluminum alloy. The plurality of legs are three legs,
The support mechanism according to any one of claims 1 to 7 , wherein the three legs are provided to face in different directions. The support mechanism according to any one of claims 1 to 8 ,
A cane comprising: a cane main body having a grip part that can be gripped by a user and supported by the displacement part. a cane body having a grip that can be gripped by a user;
multiple legs that can be elastically deformed independently;
a displacement part provided in the grip part and displaced according to a load;
A plurality of braking parts are provided corresponding to the plurality of leg parts and suppress deformation of the leg parts in accordance with displacement of the displacement part ,
The braking unit includes:
a disk fixed to the leg;
a pair of shoes capable of sandwiching the disc;
a braking link mechanism that causes the disc to be sandwiched between the pair of shoes in accordance with the displacement of the displacement portion.
Cane.

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