JPH066823Y2 - Heavy goods movement guide device - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to a heavy-weight movement guide device, and more particularly to a heavy-weight movement guide device optimal for gait training during rehabilitation.

[Conventional technology]

FIG. 8, FIG. 9 and FIG. 10 are mechanical views of a generally used moving guide device for heavy objects, in which 1'is a vertical arm, 2'is a parallel arm, and 3'is a horizontal arm. Arm 4 '
Is a horizontal movement guide, 5'is a vertical movement guide, 6'is a loading cylinder, 7'is a fixed fulcrum, 8'is a base plate, 9 is a double link, 10 'and 10 "are connecting arms. In each case, the vertical arm 1 ', the horizontal arm 2', the parallel arm 3'and the connecting arm 10 'constitute a pantograph mechanism having a predetermined arm ratio, and the load cylinder 6'is operated to operate the load. It is possible to move and guide a heavy object, which is balanced by an unillustrated counter weight when there is no load. As shown in the figure, a vertical arm 1 ″ having a fixed fulcrum 7 ′, a parallel arm 2 ″ parallel to the vertical arm 1 ″, a horizontal arm h ″ receiving a load at its tip, and a connecting arm. A pantograph mechanism having a predetermined arm ratio is constituted by the frames 10 ', and a counterweight 11 for balancing when there is no load is provided on the operation end side of the vertical arm 1 ", and the operation end part of the parallel arm 2" is provided. On the side, a vertically operating load cylinder 6'for balancing the load is provided, and the load cylinder 6'is
There has been proposed a heavy load movement guide device which is guided by the horizontal movement guide 4 so that it can follow itself in the horizontal direction by the thrust acting on itself.

[Problems to be solved by the device]

However, in each of the mechanisms shown in FIGS. 8, 9 and 10, the horizontal guide 4'is used to guide the movement of the arm.
Since the vertical movement guide 5'and the vertical movement guide 5'are required, the guide mechanism is complicated. Further, the mechanism shown in FIG. 8 has a drawback that the rigidity is weak because the arm has no fixed fulcrum. In addition, the mechanism shown in FIG. 9 requires a separate connecting arm 10 ″ to mount the double link 9 ′, and it is necessary to move the vertical movement guide 5 ′ through a bearing, so that the double link against an overhang load is required. There is a drawback that the rigidity of 9'cannot be made sufficiently strong.Furthermore, in the mechanism shown in Fig. 10, the fixed fulcrum 7'is fixed to the arm.
However, since the base plate 8 ′ itself needs to be lifted by the loading cylinder 6 ′, there is a drawback that the mechanism becomes more complicated.

On the other hand, the heavy-weight movement guide device shown in FIG. 7 has been proposed in view of the above-mentioned conventional drawbacks, and has high rigidity and can obtain a stable balance in each of vertical, front-rear, and turning directions. Although it is an extremely effective heavy object movement guide device, this heavy object movement guide device guides the load cylinder by the horizontal movement guide so that the load cylinder self-follows in the horizontal direction by the thrust acting on itself. However, there is a problem that it is complicated, the assembly and adjustment are troublesome, and the manufacturing cost is high.

The present invention is a further improvement of the heavy object movement guide device proposed as Japanese Patent Application No. 61-191742, which has high rigidity and can obtain stable balance with an extremely simple mechanism. An object of the present invention is to provide an optimal movement guide device for heavy goods for movement guidance, especially for gait training during rebabilitation.

[Means for Solving the Problems]

According to the present invention, a vertical arm having a fixed fulcrum, a parallel arm parallel to the fixed fulcrum, a horizontal arm that receives a load at the tip, and a connecting arm that connects the vertical arm and the end of the parallel arm have a predetermined arm ratio. And a counterweight for balancing is provided on the operating end side of the vertical arm, and a vertically operating load cylinder for balancing the load is provided on the operating end side of the parallel arm. The object is to solve the above-mentioned problems by pivotally supporting the lower end of a working cylinder on a base plate to form a heavy-weight moving guide device.

[Action]

Since the heavy object movement guide device of the present invention is configured as described above, the arm weight is balanced by the counter weight provided on the operation end side of the vertical arm when no load is applied, and the load is applied to the tip of the horizontal arm. In operation, the load will be balanced by actuating a loading cylinder on the operating end side of the parallel arm. At this time, since a horizontal component force acts on the load cylinder, the load cylinder swings around the lower end pivotally supported by the base plate as an axis to balance the load.

With this mechanism, the change in horizontal operation force is
Although it is slightly larger than the one proposed as No. 191742, there is almost no change in operating force in the up and down direction, and the use area is limited due to the large change in operating force in the horizontal direction.
When used for walking training during rehabilitation, contact between the user and the body can be avoided, which is rather effective in terms of safety measures.

〔Example〕

Hereinafter, the present invention will be specifically described with reference to the embodiments shown in the drawings.

FIG. 1 is a front view of a heavy object movement guide device according to an embodiment of the present invention, and FIG. 2 is a side view thereof. In the figure, reference numeral 1 denotes a vertical arm, which is pivotally supported by a base plate 8 via a fixed fulcrum 7. A parallel arm 2 has the same length as the vertical arm 1 and is arranged in parallel with the vertical arm 1. Reference numeral 3 denotes a horizontal arm that receives a load at its tip. The upper ends of the vertical arm 1 and the parallel arm 2 are pivotally supported by the horizontal arm 3, and the vertical arm 1
The operation side end of the parallel arm 2 is pivotally supported by the end of the connecting arm 10 to form a Pandagraph mechanism having a predetermined arm ratio. Reference numeral 11 denotes a counterweight provided at the end of the vertical arm 1 on the operation side, which is provided on both outer sides of the base plate 8 so that the arm weight is just balanced when there is no load.

Next, 6 is a load cylinder provided on the operating end side of the parallel arm 2, which operates vertically to balance the load, and the rod side is pivotally supported on the lower end of the parallel arm 2. Reference numeral 13 is a shaft supporting portion for swingably supporting the load cylinder 6 on the base boot 8, 15 is a carriage, and 16 is a post.

In the above embodiment, the shaft support 13 is fixed and its position cannot be changed. However, as in the embodiment shown in FIG. If the shaft support position can be changed and fixed to an appropriate position of the elongated hole 14 by bolting or the like, it is convenient to freely change the horizontal operation force change characteristic according to the load.

Next, the operation of this embodiment will be described. FIG. 4 is an arm configuration diagram schematically illustrating the present embodiment, and the members corresponding to the members shown in FIGS. 1 and 2 are denoted by the same reference numerals.

Q: Tilt angle of load-like cylinder 6 F _Z : Vertical force F _X : Horizontal force, F _Z = F ₀ cos θ F _X = F ₀ sin θ, and operation when arm ratio is i Force change Becomes

FIG. 5 (a) is a use area 18 (a) of the heavy load movement guide device proposed as Japanese Patent Application No. 61-191742, FIG.
(b) is the usage area 1 of the heavy goods movement guide device according to the present invention.
8 (b) is a plan view showing the use area 18 of the present invention because the change in horizontal operating force is relatively large in the present invention.
(b) is a ring, but if the application is limited to walking training, etc.,
Since the user cannot get close to the main body, contact accidents can be avoided, which is rather effective in terms of safety measures.

When used for walking training during rehabilitation, a suspension device 12 for suspending and holding the user's body is attached to the end of the horizontal arm as shown in FIG.

[Effect of device]

The present invention has the above-mentioned configuration, has a small number of parts, is easy to process, assemble, and adjust, and can provide a heavy object movement guide device that is particularly effective for training during rehabilitation at a low cost. Is to have.

[Brief description of drawings]

FIG. 1 is a front view of an embodiment of the present invention, FIG. 2 is a side view thereof, FIG. 3 is a partial front view of another embodiment, and FIG. 4 is a schematic view for explaining the operation of the present invention. Arm configuration diagram drawn in
FIGS. 5 (a) and 5 (b) are plan views depicting the operation areas of the conventional example and the present invention, and FIG. 6 is a front view of the suspension device portion when the present invention is used for walking training, 7、8、9
FIG. 10 and FIG. 10 are front views of a conventional example. 1 ... Vertical arm, 2 ... Parallel arm, 3 ... Horizontal arm, 4 '... Horizontal movement guide, 5' ... Vertical movement guide, 6 ... Load cylinder, 7 ... Fixed fulcrum, 8 ...
Base plate, 9 ... Double link, 10 ... Connecting arm, 11 ... Counterweight, 12 ... Suspension device, 13 ... Shaft support, 14 ... Oblong hole, 15 ... Cart, 1
6 ... Post, 17a ... use area, 17b ... use area

Claims (1)

[Scope of utility model registration request] 1. A vertical arm having a fixed fulcrum, a parallel arm parallel to the vertical fulcrum, and a horizontal arm receiving a load at its tip,
A pandagraph mechanism having a predetermined arm ratio is configured by the vertical arm and a connecting arm that connects the ends of the parallel arms, and a counterweight for balancing is provided on the operation end side of the vertical arms, and A heavy-weight moving guide device characterized in that a load cylinder that operates in a vertical direction to balance the load is provided on the operation end side, and the lower end of the load cylinder is pivotally supported by a base plate.