WO2014175707A1 - Variable seating unit, auxiliary walking unit, and wheelchair comprising same - Google Patents

Abstract

The present invention relates to a variable seating unit, an auxiliary walking unit, and a wheelchair comprising the same. Representatively, the wheelchair comprises: a frame; a moving unit provided in the frame to be movable; a variable seating unit provided in the frame to be varied from a standing state to a tilted state, and having a seat on which a body of a user is seated in the tilted state; and an auxiliary walking unit provided such that a user can perform walking training while riding on the wheelchair in a state in which the variable seating unit is in the standing state.

Description

Variable seat units, walking aid units, and wheelchairs comprising them

The present invention provides a tiltable variable seat unit, a walk assistance unit configured to be driven without a separate power source or selectively seated and walkable according to a user's posture, and a wheelchair including the variable seat unit and the walk assistance unit. It is about.

Wheelchairs are widely used as a means of assisting the movement of a subject whose walking function is reduced or lost, such as the elderly and the disabled. Such a wheelchair includes a seat on which a user's body is seated, and has a structure that can be moved manually or electrically.

In addition, in recent years, as well as such a wheelchair, a walking aid unit capable of performing rehabilitation training for a target whose walking function is deteriorated is also widely used and used. Here, the walking assistance unit implements a walking movement by driving the device by electric drive in a state where the user lifts the lower limbs on the device, and the user refers to various tools for practicing the walking motion according to the movement of the device.

However, in the case of a conventional wheelchair or walking assistance unit, since the lower limb movement of the user is reproduced by using a driving device such as a motor, the price is greatly increased and the overall weight is greatly increased, so it is difficult to move from the installed place. There is a problem that is difficult.

Accordingly, the present invention has been devised to solve such problems, and the present invention is directed to Korean Patent Application Nos. 10-2013-0046018, 10-2014-0037979, and 10-2014-0037989, which are subject to priority claims. The inventions described in this section are summarized.

The technical problem of the present invention is to solve the problems mentioned in the background as described above, and to provide a variable seat unit, a walking assistance unit, and a wheelchair including them which can improve the convenience of a user who is uncomfortable. .

In addition, by eliminating a separate transmission device to reduce the overall weight to improve mobility as well as to reduce the price to provide a variable seat unit, a walking aid unit, and a wheelchair comprising the same.

In addition, the object of the present invention is not limited to the above-mentioned object, another object that is not mentioned will be clearly understood by those skilled in the art from the following description.

Variable seat unit according to the present invention for achieving the above object is provided in the frame constituting the wheelchair as a unit to form a seat on which the user's body is seated; A hinge portion coupled to the backrest portion and configured to seat a user's body; And a connecting part for movably connecting the backrest part and the seating part to the frame, the variable part being tilted in a standing state by a relative movement of the backrest part and the seating part on the basis of the connecting part, but in a tilted state. When the seat can be formed so that the user's body is seated.

Here, the connecting portion, one end is connected to the frame axially rotatable, the other end is connected to the seating portion axially rotatable first connection bar; A second connection bar having one end axially rotatable to the frame and the other end rotatably connected to the backrest part; And a third connecting bar having one end pivotably connected to the frame and the other end pivotally connected to a hinge between the backrest part and the seating part.

In this case, the backrest further includes an extension extending rearward, the other end of the second connecting bar may be connected to the extension.

In addition, the variable seat unit according to the present invention may be further provided with a support portion provided in the frame to support the variable seat unit when the variable seat unit is in a tilted state.

In addition, the variable seat unit according to the present invention may further include a handle provided at the rear of the variable seat unit.

At this time, the handle portion may be formed to be height adjustable.

On the other hand, with the above-mentioned variable seat unit, the walking aid unit according to the present invention for achieving the above object, the operation unit is provided to be operable by the user; A thigh counter corresponding to the thigh of the user, provided below the manipulation unit; A lower thigh corresponding part provided at a lower portion of the thigh counter, corresponding to a lower thigh of the user, and having a foot of the user seated thereon; A first gear module provided between the operation unit and the thigh counter to drive the thigh counter according to an operation of the operation unit; And a second gear module provided between the thigh counter and the lower thigh, and interlocked with the first gear module to drive the thigh counter according to an operation of the manipulation unit.

Here, the operation unit is provided to be rotatable about the rotation axis, the first gear module, the first gear connected to the rotation axis and rotated in a direction corresponding to the rotation of the operation unit, one end of the thigh support And a second gear interlocked with the first gear to rotate the thigh counter according to the rotation of the first gear, wherein the second gear module is provided at the other end of the thigh counter. A third gear rotated in response to the rotation of the second gear and the lower gear corresponding to the second gear; and the lower gear is rotated in response to the rotation of the third gear in conjunction with the third gear. It may include a fourth gear.

In addition, the walking aid unit according to the present invention may further include an interlocking member for interlocking the second gear and the third gear.

At this time, the interlocking member, one end may be provided in the eccentric position of the second gear, the other end may be provided in the eccentric position of the third gear.

In addition, one end of the interlocking member, the second gear, the other end of the interlocking member and the third gear may be formed in the form of a bevel gear to interlock.

In addition, the first gear module may further include one or more fifth gears provided between the first gear and the second gear.

The second gear module may further include one or more sixth gears provided between the third gear and the fourth gear.

Further, any one or more of the thigh counter and the lower thigh can be formed to be adjustable in length.

On the other hand, the walking aid unit according to the present invention for achieving the above object can be modified as follows.

That is, the walking aid unit according to the present invention, the base unit including a receiving unit for fixing the upper body of the user and at least a portion of the support selectively supports the buttocks of the user; A walking training device coupled to the base unit and configured to be seated on a user's leg to drive in response to a user's leg movement; And a lifting unit coupled to the base unit to support the base unit at a predetermined height from the ground, and selectively raising and lowering the base unit to adjust the height of the upper body of the user.

Here, the base unit, the back support for supporting the back of the user; And a support frame connected to a lower part of the backrest part, the part protruding forward from the left and right of the user, and including a sliding guide for sliding the part of the receiving part without being separated.

In this case, the receiving part has a plate shape and includes a first protrusion protruding from the front to the left and a second protrusion protruding from the rear to the left and right, and the sliding guide is disposed in the vertical direction, and the second protrusion is inserted and separated. It may include a second guide to be slidable, and a first guide spaced apart from the second guide to the front and rear and the first guide to be slidable without departing.

In addition, the receiving portion is formed of a flexible material is elongated, and includes a length adjusting means for elastically and selectively adjusting the length of the first protrusion and the other side protruding left and right at one end, the sliding guide is disposed in front and rear The first protrusion may include a first guide to be slidable without departing.

In addition, the receiving portion is rotatably coupled to each other a plurality of blocks are arranged in a long continuous, the first protrusion provided in the block located in the front and left and the second protruding left and right in the block located in the rear And a protruding portion, wherein the sliding guide is disposed in the vertical direction and is spaced forward and backward while being spaced apart from the second guide and the second guide so as to be slidable without insertion and detachment of the second protrusion. It may include a first guide to enable sliding without.

In addition, the elevating unit, the main frame is formed long and disposed inclined from the left and right of the user, one side is rotatably coupled to the base unit and provided with a separate first rotating means on the other side; And an auxiliary frame having an elongated shape, one end of which is rotatably coupled to an intermediate portion of the main frame, and an additional second rotation means provided on the other side of the main frame to contact the bottom.

At this time, the lifting unit, the first rotation means and the second rotation means can be raised and lowered the base unit as the separation distance between each other while maintaining the contact state with the floor.

The elevating unit may further include a separate driving motor coupled to at least one of the first rotating means and the second rotating means and selectively driving the elevating unit to move forward and backward.

In addition, the main frame may be configured in pairs and disposed on the left and right sides of the base unit, respectively.

Further, the walking training device, the fourth joint portion is the user's feet are seated; A third joint part axially connected to the fourth joint part to reciprocally rotate the fourth joint part by a predetermined angle; A second joint part axially connected to the third joint part to reciprocally rotate the third joint part by a predetermined angle; And a first joint part connected to the base unit and axially connected to the second joint part to reciprocally rotate the second joint part by a predetermined angle.

In this case, the walking training device may further include fixing means for selectively fixing the third joint part and the second joint part so as not to rotate.

In addition, the fourth joint portion may further include elastic support means for elastically supporting the user's foot and absorbing shock when walking.

On the other hand, with the above-mentioned variable seat unit and walking aid unit, the wheelchair according to the present invention for achieving the above object, the frame; A mobile unit provided to be movable in the frame; A variable seat unit provided in the frame and variably provided in a tilted state, the variable seat unit forming a seat in which the user's body is seated in the tilted state; And a walking assistance unit connected to the variable seat unit and provided to allow the user to carry out walking training in a state where the variable seat unit is standing.

Here, the walking aid unit may be formed detachably to the variable seat unit.

In addition, the variable seat unit may be any one of the variable seat units according to the present invention described above.

In addition, the walking aid unit may be any one of the walking aid unit according to the present invention described above.

According to the present invention, the variable seat unit, the walking assistance unit, and the wheelchair including the same can improve the convenience of the user who is inconvenient to the body, and also reduce the total weight by eliminating a separate electric device to improve mobility. This has the beneficial effect of lowering the price.

In addition, in the variable seat unit, the walking aid unit, and the wheelchair including the same according to the present invention, since the walking aid unit is configured to be used separately, it is advantageous that the user can perform rehabilitation training regardless of time and place. It works.

In addition, the advantageous effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the description of the claims.

1 is a perspective view showing an overall view of a wheelchair according to a first embodiment of the present invention;

2 is a perspective view showing a state of a variable seat unit in a wheelchair according to a first embodiment of the present invention;

3 is a perspective view showing a state in which the variable seat unit is tilted in the wheelchair according to the first embodiment of the present invention;

4 is a perspective view of a wheelchair according to a first embodiment of the present invention, in which a variable seat unit is completely tilted and deformed into a wheelchair type;

5 is a perspective view showing a rear view of a state in which a variable seat unit is completely tilted and transformed into a wheelchair type in a wheelchair according to a first embodiment of the present invention;

6 is a perspective view showing a state of a walking assistance unit in a wheelchair according to a first embodiment of the present invention;

7 is a perspective view showing the first gear module provided in the walking assistance unit in the wheelchair according to the first embodiment of the present invention;

8 is a perspective view showing a state of a second gear module provided in the walking assistance unit in the wheelchair according to the first embodiment of the present invention;

Figure 9 is a perspective view of the lower leg corresponding to the walking aid unit in the wheelchair according to the first embodiment of the present invention;

10 is a perspective view showing a driving state of a state in which the operation unit of the walking aid unit is operated in one direction in the wheelchair according to the first embodiment of the present invention;

FIG. 11 is a perspective view illustrating a driving state of a state in which a control unit of a walking assistance unit is operated in a different direction in a wheelchair according to a first embodiment of the present invention; FIG.

12 is a perspective view showing a state of a walking assistance unit in a wheelchair according to a second embodiment of the present invention;

13 is a perspective view showing a state of a first gear module provided in a walking assistance unit in a wheelchair according to a second embodiment of the present invention;

14 is a perspective view showing a state of a second gear module provided in the walking assistance unit in the wheelchair according to the second embodiment of the present invention;

15 is a perspective view illustrating a driving state of a state in which the operation unit of the walking assistance unit is operated in one direction in the wheelchair according to the second embodiment of the present invention;

FIG. 16 is a perspective view illustrating a driving state of a state in which a control unit of a walking assistance unit is operated in a different direction in a wheelchair according to a second embodiment of the present invention; FIG.

17 is a diagram schematically showing a configuration of a modification of the walking assistance unit;

18 and 19 are views showing a state in which the receiving unit is operating in a modification of the walking aid unit;

20 is a view showing a standing state by the operation of the lifting unit in the walking aid unit of FIG.

21 is a view showing a seated state by the operation of the lifting unit in the walking aid unit of FIG.

22 and 23 are views showing a state in which the elastic support means for cushioning the impact of the user load in the walking aid unit of Figure 17 is provided;

24 and 25 is a view showing a modified form of the receiving portion and the sliding guide in the walking aid unit of Figure 17; And

26 and 27 are views showing another modified form of the receiving portion and the sliding guide in the walking aid unit of FIG.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of this embodiment, the same name and the same reference numerals are used for the same configuration and additional description thereof will be omitted.

1 is a perspective view showing the overall appearance of the wheelchair 100 according to the first embodiment of the present invention.

As shown in FIG. 1, the wheelchair 100 according to the first embodiment of the present invention includes a frame 102, a mobile unit 110, a variable seat unit 120, and a walking assistance unit 140. It includes.

The frame 102 forms a base of the overall structure, and may be formed in various forms in which each part may be installed.

In addition, the moving unit 110 is provided to be movable in the frame 102, and in this embodiment, is formed in a form including a pair of front wheels 112b and a pair of rear wheels 112a. However, the mobile unit 110 may be formed of various structures that may have mobility as well as the wheel shape as described above.

The variable seat unit 120 is provided in the frame 102 and is variably provided in a tilted state. In detail, the user may form a seat in which the user's body is seated in the tilted state, and may have a form that assists the use of the walking assistance unit 140 in the standing state.

The walking assistance unit 140 is connected to the variable seat unit 120, and the user is provided to perform a walking training while the variable seat unit 120 is standing.

In the present embodiment, when the variable seat unit 120 is tilted, the walking aid unit 140 may be folded together to serve to support the user's body, and when the variable seat unit 120 stands up. It is transformed into a shape corresponding to the lower limb of the user so as to perform walking aid training. However, unlike this, the walking assistance unit 140 may be provided in a form that can be detached from the variable seat unit 120 so as to be detachable according to circumstances.

Thus, in the present invention, due to the deformation of the variable seat unit 120, the function of the wheelchair and the walking aid can be combined.

2 is a perspective view showing a state of the variable seat unit 120 in the wheelchair according to the first embodiment of the present invention, Figure 3 is a variable seat unit 120 in the wheelchair according to the first embodiment of the present invention ) Is a perspective view showing a tilting state. And Figure 4 is a perspective view of the wheelchair according to the first embodiment of the present invention, the variable seat unit 120 is completely tilted and transformed into a wheelchair type.

2 to 4, in the present embodiment, the variable seat unit 120 is hinged to the backrest part 122 and the backrest part 122, and a seating part on which a user's body is seated ( 124, and a connecting portion 130 for movably connecting the backrest portion 122 and the seating portion 124 to the frame 102.

That is, the backrest portion 122 and the seating portion 124 have a form extending in the vertical direction long in the state in which the variable seat unit 120 is standing, vertical in the state in which the variable seat unit 120 is tilted. Deformed to form a seat form.

In addition, in the present embodiment, the connection part 130 includes a first connection bar 130c, a second connection bar 130b, and a third connection bar 130a.

One end of the first connection bar 130c is axially rotatable to the frame 102, and the other end is rotatably connected to the seating portion 124.

One end of the second connection bar 130b is axially rotatable to the frame 102, and the other end of the second connection bar 130b is rotatably connected to the backrest 122. In detail, the backrest part 122 further includes an extension part 123 extending rearward, and the other end of the second connection bar 130b has a shape connected to the extension part 123.

One end of the third connection bar 130a is rotatably connected to the frame 102, and the other end of the third connection bar 130a is rotatably connected to the hinge between the backrest part 122 and the seating part 124.

That is, the first connection bar 130c, the second connection bar 130b, and the third connection bar 130a are axially rotated so that the variable seat unit 120 can be moved and deformed so as to tilt or stand. have.

Meanwhile, in the present exemplary embodiment, the frame 102 further includes a support part 104 provided on the frame 102 to support the variable seat unit 120 while the variable seat unit 120 is tilted. That is, the support part 104 is provided at the bottom to support the seating part 124 in the tilted state of the variable seat unit 120, so as to withstand the weight of the user.

5 is a perspective view showing a rear view of a state in which the variable seat unit 120 is completely tilted and deformed into a wheelchair type in the wheelchair according to the first embodiment of the present invention.

As shown in FIG. 5, in the state in which the variable seat unit 120 is tilted, the seating part 124 is supported by the support part 104, and at the rear of the variable seat unit 120, a handle part ( 103 is provided.

The handle part 103 is provided so that when the moving part 110 is not electrically driven, a user such as a guardian grips the wheelchair while the user is sitting on the variable seat unit 120.

At this time, the handle portion 103 may be formed to be adjustable in height, thereby adjusting the height of the handle portion 103 to correspond to the elongation of the protector. In the present embodiment, the handle 103 is formed to be slidable up and down, it may have a state fixed to a predetermined height by the fixing part 132.

The frame 102 may further include a loading unit 106. The stacking unit 106 is provided between the rear wheels 112a of the moving unit 110 to support the rear wheels 112a. The stacking unit 106 is stacked on the upper portion of the stacking unit 106 so as to load a load such as a driving motor. Space is formed. That is, the driving motor provided in the loading space may drive the moving unit 110 by electric. Of course, the loading space may be equipped with a variety of auxiliary components other than the drive motor.

The variable seat unit 120 and its detailed configuration have been described above. Hereinafter, the walk assistance unit 140 will be described in detail.

6 is a perspective view showing the appearance of the walking assistance unit 140 in the wheelchair according to the first embodiment of the present invention.

As shown in FIG. 6, the walking assistance unit 140 includes an operation unit 150, a thigh counterpart 152, a lower thigh counterpart 154, a first gear module 160, and a second gear module. And 170. In this embodiment, the walking assistance unit 130 is connected to the backrest portion 122 of the variable seat unit 120 described above.

In addition, the operation unit 150, the thigh counter 152, the lower thigh 154, the first gear module 160, and the second gear module 170 may correspond to both lower extremities of the user. Each pair may be provided.

The operation unit 150 is provided to be operable by the user, and in this embodiment is provided in a position corresponding to the user's hand is formed in a form that the user can hold by hand.

And the thigh support 152 is provided in the lower portion of the operation unit 150, and has a shape corresponding to the thigh of the user.

In addition, the lower thigh 154 is provided at the lower portion of the thigh counter 152, and has a shape corresponding to the lower thigh of the user. In addition, the foot of the user is formed to be seated.

Therefore, the user may ride in the auxiliary walking unit 140 in a state in which the operation unit 150 is gripped in a state where the foot is seated on the lower responsive part 154.

The first gear module 160 is provided between the operation unit 150 and the femoral counterpart 152 and is provided to drive the femoral counterpart 152 according to an operation of the operation unit 150.

In addition, the second gear module 170 is provided between the femoral counterpart 152 and the lower thigh counterpart 154, and interlocked with the first gear module 160 according to an operation of the manipulation unit 150. It is provided to drive the lower responsive part 154.

That is, in the case of the present invention, since the movement of the femoral counterpart 152 and the lower thigh counterpart 154 may be implemented in a gear manner according to the manipulation of the manipulation unit 150, there is no need for a separate transmission device to be provided. There is an advantage.

7 is a perspective view showing a state of the first gear module 160 provided in the walking assistance unit in the wheelchair according to the first embodiment of the present invention.

As shown in FIG. 7, in the present embodiment, the operation unit 150 is provided to be rotatable about an axis of rotation.

The first gear module 160 includes a first gear 162, a second gear 166, and a fifth gear 164.

The first gear 162 is connected to the rotation axis of the operation unit 150 is rotated in a corresponding direction according to the rotation of the operation unit 150.

The second gear is provided at one end of the femoral counterpart 152, and interlocked with the first gear 162 to rotate the femoral counterpart 152 according to the rotation of the first gear 162. It is provided to.

In this case, the fifth gear 164 is provided to be engaged with the first gear 162 and the second gear 166, respectively, one is used in this embodiment. However, the fifth gear 164 may be omitted depending on the design, of course, two or more may be provided. That is, the fifth gear 164 changes the rotation direction of the second gear 166 between the first gear 162 and the second gear 166 or adjusts the rotation angle according to the gear ratio. Can play a role.

In accordance with the driving of the first gear module 160 as described above, the operation unit 150 is operated to rotate the femoral counterpart 152. For example, when the operation unit 150 is rotated counterclockwise, the first gear 162 is also rotated counterclockwise, and the fifth gear 164 is rotated clockwise. Accordingly, the second gear 166 rotates in the counterclockwise direction, and the thigh counterpart 152 also rotates in the counterclockwise direction.

And when operating the operation unit 150 to the contrary, the thigh support unit 152 will be rotated in the clockwise direction. In this case, the direction of rotation of the thigh counterpart 152 may vary depending on the presence or absence of the fifth gear 164.

8 is a perspective view showing a state of the second gear module 170 provided in the walking assistance unit in the wheelchair according to the first embodiment of the present invention.

As shown in FIG. 8, in the present embodiment, the second gear module 170 includes a third gear 172 and a fourth gear 176.

The third gear 172 is provided at the other end of the femoral counterpart 152 and rotates in accordance with the rotation of the second gear 166 in conjunction with the aforementioned second gear 166. The third gear 172 and the second gear 166 may be interlocked in various ways, in the present embodiment is interlocked by the interlocking member 168.

In this embodiment, the interlocking member 168 is formed in a link shape, one end of which is provided at an eccentric position of the second gear 166, and the other end of the interlocking member 168 is provided at an eccentric position of the third gear 172. . Accordingly, when the second gear 166 rotates, the third gear 172 may also rotate.

In particular, in this embodiment, one end of the interlocking member 168 is connected to one side direction of the second gear 166 and the other end is connected to the side opposite to the third gear 172. 166 and the rotation direction of the third gear 172 is opposite to each other.

On the contrary, when one end of the interlocking member 168 is connected to one side of the second gear 166 and the other end is connected to the same side of the third gear 172, the second gear 166 and the first The rotation direction of the three gears 172 will be formed to be the same.

The fourth gear 174 is provided at one end of the lower leg counterpart 154, and interlocked with the third gear 172 to move the lower leg counterpart 154 according to the rotation of the third gear 172. Rotate

According to the driving of the second gear module 170 as described above, the manipulator 150 is operated to rotate the lower leg counterpart 154. For example, when the operation unit 150 is rotated in the counterclockwise direction, the second gear 166 is rotated in the counterclockwise direction, so that the third gear 172 is rotated in the clockwise direction, and the fourth gear is rotated in the counterclockwise direction. 174 is rotated counterclockwise. Therefore, the lower leg counterpart 154 is also rotated counterclockwise.

Although not shown, the second gear module 170 is provided between the third gear 172 and the fourth gear 176 to provide the third gear 172 and the fourth gear 176. And a sixth gear engaged with each other. The sixth gear may play the same role as the fifth gear 164 of the first gear module 160 described above. One or more sixth gears may also be provided, but the sixth gear is omitted in this embodiment.

9 is a perspective view showing a state in which the lower leg corresponding to the walking aid unit 154 in the wheelchair according to the first embodiment of the present invention.

As shown in FIG. 9, in the present embodiment, the lower leg counterpart 154 includes a foot seat 156 on which a foot of a user is seated, and is formed to be adjustable in length.

Specifically, in the present embodiment, the lower leg counterpart 154 includes a fixing part 154a and a sliding part 154b, and the plurality of fixing parts 154a and the sliding part 154b are arranged in the longitudinal direction. The through hole 155 is formed. That is, as the sliding part 154b is slid and the predetermined through hole 155 is fixed to each other, the length of the lower leg counterpart 154 may be adjusted.

In the present embodiment, the length of the lower thigh counter 154 is to be adjusted, but it can be applied to the thigh counter 152 described above as well.

10 is a perspective view illustrating a driving state in a state in which the operation unit 150 of the walking assistance unit 140 is operated in one direction in the wheelchair according to the first embodiment of the present invention, and FIG. 11 is a first view of the present invention. In the wheelchair according to the embodiment, it is a perspective view showing the driving state of the operation unit 150 of the walking aid unit 140 in a different direction.

As shown in FIGS. 10 and 11, by operating the first gear module 160, the interlocking member, and the second gear module 170 as described above, the manipulation unit 150 is operated to operate the femoral response unit 152. And the movement of the lower leg counterpart 154.

In the present embodiment, when the user operates in the direction pushing the operation unit 150, the thigh response unit 152 and the lower thigh response unit 154 is moved to the rear, the first gear module 160 and the second gear According to the gear ratio of the module 170 will be rotated by a predetermined angle.

When the user manipulates the operation unit 150 in the direction of pulling, the thigh counterpart 152 and the lower thigh counterpart 154 move forward, and likewise, the first gear module 160 and the second gear module 170. Will be rotated by a predetermined angle depending on the gear ratio.

The first embodiment of the present invention has been described above. Hereinafter, the second embodiment of the present invention will be described.

12 is a perspective view showing a state of the walking assistance unit 240 in the wheelchair according to the second embodiment of the present invention, and FIG. 13 is provided in the walking assistance unit in the wheelchair according to the second embodiment of the present invention. Is a perspective view showing a state of the first gear module 260. And Figure 14 is a perspective view showing a state of the second gear module 270 provided in the walking aid unit in the wheelchair according to the second embodiment of the present invention.

12 to 14, in the second embodiment of the present invention, the walking assistance unit 240 is formed in a different form from the first embodiment described above.

Specifically, the first gear 262, the fourth gear 274 and the fifth gear 264 is formed in the same manner as the first embodiment described above, but the second gear 266 and the third gear 272, and the interlocking member 268 is formed in a different shape.

That is, in the first embodiment, the interlocking member is formed in the form of a link, whereas in the present embodiment, one end of the interlocking member 268 and the other end of the second gear 266 and the interlocking member 268 and the third gear in this embodiment. 272 is formed in the form of bevel gears are interlocked. Therefore, when the second gear 266 is rotated, the interlocking member 268 is also rotated about an up and down axis, and the rotational force of the interlocking member 268 is transmitted to the third gear 272 to the third gear. Gear 272 can be rotated. In this case, the rotation directions of the second gear 266 and the third gear 272 will be opposite to each other.

Since other matters are the same as those of the first embodiment, detailed description thereof will be omitted.

15 is a perspective view illustrating a driving state in a state in which the operation unit 250 of the walking assistance unit 240 is operated in one direction in the wheelchair according to the second embodiment of the present invention, and FIG. 16 is a second embodiment of the present invention. In the wheelchair according to the embodiment, it is a perspective view showing a state of driving the operation unit 250 of the walking assistance unit 240 in a different direction.

As shown in FIGS. 15 and 16, the present embodiment also operates the operation unit 250 by mutual driving of the first gear module 260, the interlocking member, and the second gear module 270 so that the femoral counterpart ( 252 and the lower leg counter 254 may be implemented.

In the present embodiment, when the user operates in the direction pushing the operation unit 250, the thigh response unit 252 and the lower thigh response unit 254 is moved to the rear, the first gear module 260 and the second gear Depending on the gear ratio of the module 270 will be rotated by a predetermined angle.

When the user manipulates the operation unit 250 in the pulling direction, the thigh counter 152 and the thigh counter 154 are moved forward, and the first gear module 260 and the second gear module 270 are similarly moved. Will be rotated by a predetermined angle depending on the gear ratio.

On the other hand, in the present embodiment as described above, the above-described walking aid unit 240 may be modified as shown in Figs.

The modified walking aid unit is configured to be selectively seated and walked according to the user's posture, and may be referred to as a walking aid device combined walking aid unit capable of effective walking training, which will be described in detail below. Shall be.

The modified walking assistance unit is configured to include a base unit 300, the walking training device 400 and the lifting unit 500.

Here, the base unit 300 is the upper body of the user is seated as a configuration for supporting the user with the walking training device 400 to be described later. In the present embodiment, the base unit 300 includes a back support 310, a support frame 320 and a support 330.

The backrest part 310 is formed similarly to the backrest provided in a general chair and supports a user's back. The backrest part 310 is formed in a shape in which a user's back is seated and wraps a part of a body to support the user.

In addition, the user may be variously fixed to the backrest 310 by a belt or the like. Here, the modified walking aid unit can be used stably as the user is fixed to the backrest portion 310 as it is invented against the user who can not cover the lower body itself.

The support frame 320 is connected to the lower part of the backrest 310 and is configured to protrude forward from the left and right of the user, and is configured so that a part of the receiving part 330 to be described later slides and is not separated.

More specifically, the support frame 320 is positioned in the hip portion of the user and is formed in a form surrounding the user's both sides and the rear, and the support portion 330 is supported so as to slide to the part protruding to the left and right of the user without being separated. Sliding guides 322 are respectively provided.

The receiving part 330 is provided on the base unit 300 to at least partially slide and optionally support the buttocks of the user. In detail, the receiving part 330 forms a bottom at least partially sliding on the support frame 320 and optionally supporting the buttocks of the user.

In addition, the receiving part 330 has a plate shape and slides back and forth along the sliding guide 322 to allow the user to sit selectively.

Specifically, looking at the configuration of the receiving portion 330, the receiving portion 330 includes a first protrusion 332 and a second protrusion 334 protruding from side to side in front and rear, respectively. In addition, the sliding guide 322 provided in the support frame 320 has a second guide slidably supporting the first guide 322a and the second protrusion 334 to slidably support the first protrusion 332 ( 322b).

Here, the first guide 322a is disposed in front and rear to support the first protrusion 332 so as to be slidably moved forward and backward without being separated, and the second guide 322b is disposed in the vertical direction so that the second protrusion 322a is disposed in the vertical direction. 334 supports the sliding movement in the vertical direction without departing.

In this case, the first guide 322a may be disposed in a convex form in the lower portion so that the sliding portion 330 slides stably without interference when the receiving portion 330 slides.

That is, the first protrusions 332 protruding to both sides from the receiving part 330 slide along the first guide 322a and the second protrusions 334 slide along the first guide 322a. .

More specifically, the state in which the receiving part 330 slides will be described with reference to FIGS. 18 and 19 as follows. First, referring to FIG. 18, the receiving part 330 is disposed in the vertical direction and does not support the buttocks of the user.

Here, the first protrusion 332 is located in the rear on the first guide 322a and the second protrusion 334 is in the upper position on the second guide 322b. In this state, the receiving part 330 is located behind the user and does not interfere with the user's standing because it does not support the buttocks.

19, the receiving part 330 is disposed in the front-rear direction to support the buttocks of the user. The first protrusion 332 slides forward along the first guide 322a and the second protrusion ( 334 slides downward along the first guide 322a.

That is, the first protrusion 332 and the second protrusion 334 slide, and the entire supporting part 330 rotates counterclockwise to protrude forward. Accordingly, the receiving part 330 is located below the buttocks of the user and supports it.

As such, the receiving part 330 may selectively slide along the sliding guide 322 and support the buttocks of the user.

In this way, the base unit 300 is provided with a receiving unit 330 for the user to sit, so that the user may be sitting and resting when the user is physically burdened during the walking training. In addition, since the receiving part 330 is configured to be slidable along the sliding guide 322, it is folded to the back of the user during training, and is exposed to the front only when necessary.

Here, the receiving portion 330 is connected to the buttocks or thighs of the user is fixed, and the position can be adjusted by selectively sliding according to the position of the buttocks or thighs.

On the other hand, the base unit 300 may further include a handrail portion 340 that the user can grip as shown. Specifically, the handrail part 340 is fixedly coupled to the backrest part 310 or the support frame 320 and is disposed to protrude forward from the left and right of the user.

Thus, as the handrail 340 is provided, the user can be stably seated on the base unit 300 and the user can hold the hand and perform walking training.

The walking training device 400 is rotatably coupled to the base unit 300, and specifically, rotatably coupled to the support frame 320. Such a walking training device 400 is seated on the user's leg, it can be driven in response to the user's leg movement.

That is, when the user moves the leg may be driven correspondingly, or may guide the user's leg movement for the posture correction or gait training of the user may present a guide.

In addition, the walking training device 400 is rotated based on the base unit 300 according to the posture of the user walking. Eventually, even in the case of difficult walking alone can be walking training in accordance with the assistance of the walking training device 400 according to the posture.

Specifically, the walking training device 400 is connected to the base unit 300, the first joint portion 410 (see Fig. 20), the second joint portion 420, the third joint portion 430 and the first lower body of the user is fixed Four joints 440 is included.

The fourth joint part 440 is mounted on the foot of the user, is located at the bottom of the walking training device 400, and includes a seating surface on which the sole of the user is seated.

The third joint part 430 is connected to the fourth joint part 440 based on the axis in the left and right direction, and accordingly, the fourth joint part 440 may be reciprocally rotated in the front and rear direction by a predetermined angle. That is, it corresponds to the calf portion of the user.

The second joint part 420 is connected to the third joint part 430 based on the rotation axis in the left and right directions, and thus, the third joint part 430 may be reciprocally rotated in the front and rear direction by a predetermined angle. That is, it corresponds to the thigh portion of the user.

The first joint part 410 is connected to the second joint part 420 on the basis of the rotation axis in the left and right directions, and thus the second joint part 420 may be reciprocally rotated in the front and rear direction by a predetermined angle. That is, it corresponds to the buttocks of the user. The first joint 410 is connected to the support frame 320.

As described above, the walking training apparatus 400 as a whole has a detailed configuration corresponding to each joint of the user's leg, thereby implementing a natural movement in conjunction with the user's movement.

The elevating unit 500 is coupled to the base unit 300 to support the base unit 300 at a certain height from the ground, and selectively raise and lower the base unit 300 to adjust the height of the user's upper body.

Lifting unit 500 is a configuration in which a plurality of frames are rotatably coupled to each other the height of the base unit 300 according to the operating state of the frame is adjusted.

Specifically, as shown, the lifting unit 500 is configured to include a main frame 510 and the auxiliary frame 520. The main frame 510 is formed long and is inclined from the left and right of the user, and one side thereof is rotatably coupled to the base unit 300, and the first rotating means 512 is provided on the other side thereof to contact the floor.

More specifically, the main frame 510 is composed of a pair is provided symmetrically with each other on the support frame 320 and disposed inclined downward forward. Accordingly, the first rotating means 512 provided at the other end portion contacts the bottom and supports the base unit 300.

The auxiliary frame 520 is formed to be similar to the main frame 510, but has a relatively short length and has one end rotatably coupled to an intermediate portion of the main frame 510 and a separate second rotating means 522 on the other side. It is provided in contact with the floor.

Specifically, the auxiliary frame 520 is configured in a pair similar to the main frame 510, each of which is rotatably coupled to the main frame 510 to selectively adjust the rotation angle.

The lifting unit 500 adjusts the height of the base unit 300 according to the rotation state of the main frame 510 and the auxiliary frame 520 including the main frame 510 and the auxiliary frame 520. In addition, since the lifting unit 500 itself serves as a support for supporting the base unit 300 and the walking training device 400, there is no need to further provide a separate support configuration.

That is, the elevating unit 500 supports the user seated in the base unit 300 and the walking training device 400 as a wheelchair, while the user is moved by the first rotating means 512 and the second rotating means 522. Make it easy to move backwards and forwards.

As the modified walking assistance unit is configured as described above, the user can selectively walk training.

Specifically, the base unit 300 supports the user and the walking training device 400 helps the user in the standing state to walk training. And the lifting unit 500 is configured to move forward and backwards while supporting the whole, and at the same time selectively raise and lower the height of the base unit 300 to allow walking training according to the user's convenience.

Next, the state in which the lifting unit 500 operates in the modified walking assistance unit will be described with reference to FIGS. 20 and 21 as follows.

First, referring to FIG. 20, a standing state of the walking assistance unit is a state for the user to walk training.

Here, the main frame 510 is rotated in a clockwise direction with respect to one side rotatably coupled with the support frame 320, and accordingly, the inclination angle of the main frame 510 is inclined downward downward. It is a state.

In addition, the auxiliary frame 520 is rotated in a counterclockwise direction with respect to one side rotatably coupled with the main frame 510, and accordingly, the inclination angle of the auxiliary frame 520 disposed to be inclined downward backwards. It becomes large.

That is, as shown, when the walking assistance unit is in a standing state, the inclination angle of each of the main frame 510 and the auxiliary frame 520 is increased, and each of the first and second rotation means 512 and the second rotation means ( The separation distance L1 of 522 becomes close.

As the inclination angle of the main frame 510 increases as described above, one side of the main frame 510 moves up and down, and the base unit 300 also moves up and down. Specifically, the height of the base unit 300 can be adjusted according to the length of the user's leg, and after the base unit 300 is elevated, the walking training device 400 is operated so that the user's leg is standing.

Here, the base unit 300 supporting the waist and the buttocks of the user is lifted so that the user's posture is in a standing state, and the user is lifted together with the upper body because it is fixed to the base unit 300.

On the other hand, when the user moves up and down the base unit 300 by the operation of the lifting unit 500 in this way, the receiving portion 330 supporting the buttocks of the user along the sliding guide 322 By sliding, the state is arranged in the vertical direction from the rear of the user.

In this way, the upper body of the user is fixed to the base unit 300, and because the load is supported by the lifting unit 500, the load is not applied to the lower body of the user. Accordingly, the walking assistance unit according to the present invention can walk training by the user in the standing state, the load by the first rotating means 512 and the second rotating means 522 when moving back and forth according to the user's walking At the same time, it can move forward and backward.

On the other hand, looking at the drawing shown in Figure 21 shows the seating state of the walking aid unit is a state that the user does not walk training.

Here, the main frame 510 is rotated in a counterclockwise direction with respect to one side rotatably coupled with the support frame 320, and thus the inclination angle of the main frame 510 is inclined downward downward. It is a small state.

In addition, the auxiliary frame 520 is rotated in a clockwise direction with respect to one side rotatably coupled with the main frame 510. Accordingly, the inclination angle of the auxiliary frame 520 disposed to be inclined downward backward is small. You are in a lost state.

That is, as shown, when the walking assistance unit is in a seated state, the inclination angle of each of the main frame 510 and the auxiliary frame 520 is reduced, and the first and second rotation means 512 and the second rotation means (each provided) The separation distance L2 of 522 is relatively far from the standing state.

As the inclination angle of the main frame 510 decreases as described above, one side of the main frame 510 descends and the base unit 300 also descends. Specifically, the height of the base unit 300 is lowered can be adjusted according to the length of the user's leg, and generally can be the height of the upper body is located when the user is sitting on the chair.

Here, the base unit 300 supporting the waist and the buttocks of the user is lowered so that the user's posture is seated, and the user is lowered together because the user is fixed to the base unit 300.

On the other hand, when the user descends the base unit 300 by the operation of the elevating unit 500 in this way, since the user should be seated, the receiving portion 330 supporting the hip of the user supports the hip of the user at the bottom. It becomes the state arrange | positioned forward and backward so that it may be done.

As such, when the lifting unit 500 operates and the base unit 300 is lowered, the walking training device 400 rotates the first joint 410 to the third joint 430, respectively. It is arranged to correspond to the company.

Although not shown in the drawings, the walking training device 400 may further include fixing means (not shown) for selectively fixing the second joint portion 420 and the third joint portion 430 so as not to rotate with each other. .

In general, the user using the walking aid unit is difficult to cover the lower body, so it is necessary to stably support the lower body of the user in a seated state. Thus, the fixing means is further provided so that the rotation state of the second joint portion 420 and the third joint portion 430 is fixed, so that the lower body of the user can be stably supported in the seated state.

On the other hand, when the base unit 300 is lowered by the lifting unit 500, the walking assistance unit may function similar to a wheelchair. In addition, it is further coupled to at least one of the first rotating means 512 or the second rotating means 522 and further provided with a separate drive motor (not shown) for selectively driving to move the lifting unit 500 forward and backward Can be.

Accordingly, the user can easily move in the seated state.

As described above, the distance between the first and second rotating means 512 and the second rotating means 522 in contact with the floor is adjusted according to the operation of the main frame 510 and the auxiliary frame 520. The base unit 300 is raised and lowered. In addition, the support unit 330 may be configured to slide selectively to support the buttocks of the user in association with the lifting and lowering of the base unit 300.

As the lifting unit 500 is provided in this way, the user may perform self-training, or the assistant may use and assist the walking assistance unit as a wheelchair.

Next, referring to FIGS. 22 and 23, the gait training device 400 will be described with reference to a state in which a separate elastic support means 442 is further provided.

As shown, the fourth joint 440 supporting the user's foot is further provided with elastic support means 442 for elastically supporting the user's load at the bottom.

In detail, referring to FIG. 22, the user has stepped on the floor while wearing the walking training device 400, and the elastic support means 442 is compressed in the downward direction.

Referring to FIG. 23, the user is holding the leg without stepping on the floor, and the elastic support means 442 is not compressed.

That is, the elastic support means 442 is compressed when the user steps on the floor to cushion the impact, the load on the user's leg is reduced. In particular, the user's weak muscle strength in the lower body to cushion the shock acting when walking to ensure stable walking training.

The elastic support means 442 is configured to include a plate-shaped leaf spring 442a that can be bent and elastically in contact with the sole of the user and the auxiliary spring 442b for supporting it, and be configured in other forms It may be.

Next, referring to FIGS. 24 and 25, a form in which the supporting part 330 is modified in the walking assistance unit according to the present invention will be described.

Looking at the figure shown, unlike the above-described receiving portion 330 is formed of a flexible material is configured to be bent. And the receiving portion 330 is adjustable in length along the front and rear can selectively support the buttocks of the user.

Specifically, the receiving part 330 is provided with a first protrusion 332 protruding from side to side at one end in the longitudinal direction, and is provided with a length adjusting means 336 having elasticity on the other side and selectively adjusting the length.

That is, the receiving part 330 is provided with a first protrusion 332 moving forward and backward on the support frame 320 and is located behind the user's buttocks length adjustment means for selectively adjusting the length of the receiving part 330 336 is provided. Here, the length adjusting means 336 may be formed in a roll shape having elasticity and adjusting the length by winding the receiving part 330. At this time, the length adjusting means 336 is provided to be rotatably fixed on the support frame 320 to selectively rotate and adjust the length of the receiving portion 330.

In addition, as described above, the sliding guide 322 may include only the first guide 322a without including the first guide 322a and the second guide 322b. The first guide 322a is formed long in the front and rear on the support frame 320 to support the first protrusion 332 so that the first protrusion 332 can slide without being separated.

As the receiving part 330 and the support frame 320 are configured as described above, the buttocks of the user may be selectively supported according to the posture of the user.

Referring to the state in which the receiving unit 330 operates, as shown in FIG. 24, when the first protrusion 332 is located behind the first guide 322a, the user stands up.

At this time, the first protrusion 332 is located in the rear of the buttocks of the intestine, in this case, the length adjusting means 336 is in a state of winding a portion of the receiving portion 330 along the longitudinal direction. Here, since the first protrusion 332 is located at the front end of the receiving part 330, if the receiving part 330 is located behind the user's buttocks, the interference does not occur even when the user stands and walks.

When the user is in a seated state as shown in FIG. 25, the first protrusion 332 moves forward along the first guide 322a. As such, when the first protrusion 332 moves forward, the length adjusting means 336 rotates together and the length of the receiving part 330 becomes long.

That is, since the length adjusting means 336 does not move and the length of the receiving part 330 is lengthened, the distance between the length adjusting means 336 and the first protrusion 332 is farther away, and the receiving part (between) is provided. 330 is positioned to support the hip of the user. Accordingly. When the first protrusion 332 is located in front of the first guide 322a, since the receiving part 330 is located below the buttocks of the user, the buttocks of the user can be stably supported.

Next, referring to Figures 26 and 27 look at another modified form of the receiving portion 330 in the walking aid unit according to the present invention.

Looking at the figure shown, unlike the above-mentioned, the receiving portion 330 is configured not to be a member but a plurality of blocks are rotatably coupled to each other is arranged in a long shape in front and rear. In detail, the receiving part 330 is provided with a first protrusion 332 protruding from side to side in a block located in front of the plurality of blocks moving forward and backward on the support frame 320 and protruding from side to side in a block located at the rear. It includes two projections 334.

Along with this, the sliding guide 322 includes a first guide 322a and a second guide 322b as described above, and the first guide 322a is formed to be extended forward and backward on the support frame 320 and thus, firstly. The protrusion 332 is supported to allow sliding movement without being separated and the second guide 322b is elongated in the vertical direction to support the second protrusion 334 to be slid without moving.

As the receiving part 330 and the support frame 320 are configured as described above, the buttocks of the user may be selectively supported according to the posture of the user.

Referring to the state in which the receiving unit 330 operates, as shown in FIG. 26, when the first protrusion 332 is located behind the first guide 322a, the user stands up.

At this time, the first protrusion 332 is positioned behind the user's buttocks and the second protrusion 334 is moved upward along the second guide 322b. Here, since the first protrusion 332 is located at the front end of the receiving part 330, if the receiving part 330 is located behind the user's buttocks, the interference does not occur even when the user stands and walks.

When the user is in a seated state as shown in FIG. 27, the first protrusion 332 moves forward along the first guide 322a. In addition, the second protrusion 334 moves downward along the second guide 322b. As such, when the first protrusion 332 moves forward, the second protrusion 334 connected by a plurality of blocks is also lowered so that the receiving part 330, which has been disposed in the vertical direction from the rear of the user's buttock, to the lower part of the user's buttock. It moves and supports the hip of the user.

At this time, since the receiving part 330 is provided so that a plurality of blocks are connected to each other in a long direction and rotatable with each other, the moving parts are slidably moved along the first guide 322a and the second guide 322b without interference from each other. can do.

As described above, the preferred embodiments of the present invention have been described. In addition to the above-described embodiments, the present invention may be embodied in other forms without departing from the spirit or scope of the present invention. Therefore, the present embodiments are to be considered as illustrative and not restrictive, and the invention is not to be limited to the foregoing description, and may be modified within the scope of the appended claims and their equivalents.

Claims (30)

1. The unit is provided in the frame constituting the wheelchair to form a seat on which the user's body is seated,

   Backrest portion; A hinge portion coupled to the backrest portion and configured to seat a user's body; And a connection part to movably connect the backrest part and the seating part to the frame,

   A variable seat unit that is variable in a tilted state in a standing state by the relative movement of the back portion and the seating portion based on the connection portion, and forms a seat so that the user's body is seated when the tilted state.
2. The method of claim 1,

   The connecting portion,

   A first connection bar having one end axially rotatable to the frame and the other end rotatably connected to the seating part; A second connection bar having one end axially rotatable to the frame and the other end rotatably connected to the backrest part; And a third connecting bar having one end pivotably connected to the frame and the other end pivotably connected to a hinge between the backrest part and the seating part.
3. The method of claim 2,

   The backrest further includes an extension extending rearward, the other end of the second connecting bar is a variable seat unit connected to the extension.
4. The method of claim 1,

   The variable seat unit is provided in the frame further comprises a support for supporting the variable seat unit when the variable seat unit is in a tilted state.
5. The method of claim 1,

   Variable seat unit further comprising a handle portion provided on the rear of the variable seat unit.
6. The method of claim 5,

   The variable seat unit is formed to adjust the height of the handle portion.
7. An operation unit provided to be operated by a user;

   A thigh counter corresponding to the thigh of the user, provided below the manipulation unit;

   A lower thigh corresponding part provided at a lower portion of the thigh counter, corresponding to a lower thigh of the user, and having a foot of the user seated thereon;

   A first gear module provided between the operation unit and the thigh counter to drive the thigh counter according to an operation of the operation unit; And

   And a second gear module provided between the thigh counter and the thigh counter, the second gear module being interlocked with the first gear module to drive the thigh counter according to an operation of the manipulation unit.
8. The method of claim 7, wherein

   The operation unit is provided to be rotated about the axis of rotation,

   The first gear module,

   A first gear connected to the rotation shaft and rotated in a corresponding direction according to the rotation of the operation unit, and provided at one end of the thigh counterpart, and interlocked with the first gear, the thigh counter according to the rotation of the first gear. A second gear for rotating;

   The second gear module,

   A third gear provided at the other end of the femoral counterpart, and interlocked with the second gear and rotated according to the rotation of the second gear, and provided at one end of the lower thigh counterpart, and interlocked with the third gear; A walking aid unit comprising a fourth gear for rotating the lower leg corresponding to the rotation of the gear.
9. The method of claim 8,

   Walking assistance unit further comprises an interlocking member for interlocking the second gear and the third gear.
10. The method of claim 9,

    The interlocking member,

    One end is provided in the eccentric position of the second gear, the other end is walking assistance unit provided in the eccentric position of the third gear.
11. The method of claim 9,

    One end of the interlocking member and the second gear, the other end of the interlocking member and the third gear is formed in the form of a bevel gear walking aid unit interlocked.
12. The method of claim 8,

    The first gear module,

    Walking assistance unit further comprises at least one fifth gear provided between the first gear and the second gear.
13. The method of claim 8,

    The second gear module,

    Walking assistance unit further comprises at least one sixth gear provided between the third gear and the fourth gear.
14. The method of claim 7, wherein

    At least one of the thigh response portion and the lower thigh support walking aid unit is formed to be adjustable in length.
15. A base unit which fixes a torso of a user and includes a receiving unit which at least partially slides to support the buttocks of the user;

    A walking training device coupled to the base unit and configured to be seated on a user's leg to drive in response to a user's leg movement; And

    And a lifting unit coupled to the base unit to support the base unit at a predetermined height from the ground and selectively raise and lower the base unit to adjust the height of the user's upper body.
16. The method of claim 15,

    The base unit,

    A backrest for supporting a user's back; And

    A walking aid unit including a support frame connected to a lower part of the backrest part, the part protruding forward from the left and right of the user, and including a sliding guide to allow the part of the receiving part to slide without being separated
17. The method of claim 16,

    The receiving part has a plate shape and includes a first protrusion protruding from the front to the left and right and a second protrusion protruding from the rear to the left and right.

    The sliding guide is disposed in the up and down direction and is inserted into the second guide and the front and rear spaced apart from the second guide and the second guide is inserted so that the second protrusion is not detachable and the first protrusion is capable of sliding without leaving. Walking assistance unit comprising a first guide.
18. The method of claim 16,

    The receiving part is elongated and formed of a flexible material, and includes a first protrusion protruding from side to side at one end and a length adjusting means for elastically adjusting the other side and selectively adjusting the length.

    The sliding guide is a walking aid unit including a first guide disposed in front and rear and to allow the first projection to slide without leaving.
19. The method of claim 16,

    The receiving part includes a plurality of blocks rotatably coupled to each other and disposed continuously in a long manner, and include a first protrusion protruding from side to side and protruding from side to side and a second protrusion protruding from side to side. and,

    The sliding guide is disposed in the up and down direction and is inserted into the second guide and the front and rear spaced apart from the second guide and the second guide is inserted so that the second protrusion is not detachable and the first protrusion is capable of sliding without leaving. Walking assistance unit comprising a first guide.
20. The method of claim 15,

    The lifting unit,

    A main frame which is formed to be inclined at a left and right side of the user and is rotatably coupled to one side of the base unit and provided with a separate first rotating means at the other side thereof and abuts on the floor; And

    Walking assistance unit including a; is formed long and the one end is rotatably coupled to the middle portion of the main frame and a second second rotation means is provided on the other side in contact with the bottom.
21. The method of claim 20,

    The lifting unit,

    Walking assistance unit for lifting up and down the base unit as the first rotation means and the second rotation means is maintained in contact with the floor and the separation distance between each other is adjusted.
22. The method of claim 20,

    The lifting unit,

    Walking assistance unit further comprises a separate drive motor coupled to at least one of the first rotation means or the second rotation means for selectively driving to move the lifting unit forward and backward.
23. The method of claim 20,

    The mainframe,

    A walking aid unit which is composed of a pair and disposed on the left and right sides of the base unit, respectively.
24. The method of claim 15,

    The walking training device,

    A fourth joint part on which a foot of the user is seated;

    A third joint part axially connected to the fourth joint part to reciprocally rotate the fourth joint part by a predetermined angle;

    A second joint part axially connected to the third joint part to reciprocally rotate the third joint part by a predetermined angle; And

    A first joint part connected to the base unit and axially connected to the second joint part to reciprocally rotate the second joint part by a predetermined angle;

    Walking aid unit comprising a.
25. The method of claim 24,

    The walking training device,

    Walking assistance unit further comprises a fixing means for selectively fixing the third joint and the second joint so as not to rotate
26. The method of claim 24,

    The fourth joint portion,

    Walking aid unit further comprising an elastic support means for elastically supporting the user's feet and absorbs shock when walking.
27. frame;

    A mobile unit provided to be movable in the frame;

    A variable seat unit provided in the frame and variably provided in a tilted state, the variable seat unit forming a seat in which the user's body is seated in the tilted state; And

    And a walking assistance unit connected to the variable seat unit, the walking assistance unit being provided to allow the user to carry out a walking training while the variable seat unit is standing.
28. The method of claim 27,

    The walking aid unit is a wheelchair that is formed detachably to the variable seat unit.
29. The method of claim 28,

    The variable seat unit,

    A wheelchair, characterized in that the variable seat unit according to any one of claims 1 to 6.
30. The method of claim 28,

    The walking aid unit,

    A wheelchair comprising a walking assistance unit according to any one of claims 7 to 27.

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