JP2019177108A - Walking support device - Google Patents

Abstract

To provide a walking support device that makes it possible to move the other end of connection means to be connected to a fitting tool fitted to a user to a position of a connection part of the fitting tool fitted to the user to facilitate work of connecting the connection means and the fitting tool.SOLUTION: A walking support device for supporting a user's walking comprises: a base; movement means provided on the base; a device body provided on the base; and connection means having one end connected to the device body and the other end positioned outside the device body to be connected to a fitting tool fitted to a user. The device body applies tractive force in a direction of making the other end of the connection means be closer to the device body and comprises elastic support means for supporting the connection means so as to be capable of moving the other end of the connection means in a direction of separating the other end of the connection means from the device body.SELECTED DRAWING: Figure 9

Description

  The present invention relates to a walking support device that supports a user's walking.

  2. Description of the Related Art Conventionally, a walking assist device is known that is configured to include a standing motion assisting means and a weight loader means on a base frame that includes a caster (see Patent Document 1).

JP 2012-125548 A

However, in the walking support device disclosed in Patent Document 1, the lifting arm as a connecting means for connecting the wearing tool worn by the user and the device main body is rotatable to the device main body around the one end side as a rotation center. The other end of the lifting arm cannot be moved away from the apparatus main body. In other words, a hook or other coupling tool provided at the other end of the lifting arm is located only on an arc that is a locus of the other end of the rotating lifting arm. For this reason, when trying to connect the connecting part of the mounting tool worn by the user and the connecting tool provided at the other end of the lifting arm, for example, the height of the seating position of the chair or the like on which the user is seated is Due to the variety, there are cases where the user has to move the connecting portion of the wearing tool to the position of the connecting device of the lifting arm. Therefore, there is a problem that it is difficult for a user who needs care, a person with a disability, a rehabilitation trainer, or the like who is difficult to change the posture to connect the lifting arm (connecting means) and the wearing tool.
The present invention makes it possible to move the other end portion of the connecting means connected to the wearing tool worn by the user to the position of the connecting portion of the wearing tool worn by the user, and to connect the connecting means and the wearing tool. Provided is a walking support device that can perform work easily.

A walking support apparatus for supporting walking of a user according to the present invention includes a base, a moving means provided on the base, an apparatus main body provided on the base, and one end connected to the apparatus main body. Is provided on the outside of the apparatus main body, and includes a connecting means connected to a wearing tool worn by the user,
The apparatus main body applies a tensile force in a direction in which the other end of the connecting means approaches the apparatus main body, and supports the connecting means so that the other end of the connecting means can move in a direction away from the apparatus main body. It was set as the structure provided with the elastic support means.
The elastic support means includes an elastic means and a moving pulley connected to the elastic means and configured to be movable by the elasticity of the elastic means. The connecting means has a second end via the moving pulley. The other end portion is located outside the apparatus main body, and the movable pulley moves against the tensile force of the elastic means by moving the other end of the connecting means away from the apparatus main body. Configured to move.
With the above configuration, it is possible to move the other end portion of the connecting means connected to the wearing tool worn by the user to the position of the connecting portion of the wearing tool worn by the user. Connection work can now be performed easily.
In addition, since the elastic means uses a constant load spring that can move the other end of the connecting means away from the apparatus main body with a constant force, the other end of the connecting means is fixed with a constant tensile force. It can be moved in a direction away from the apparatus main body.
Further, the apparatus main body has a predetermined other end side of the connecting means connected to the user's mounting tool by the user connected to the apparatus main body via the mounting tool and connecting means worn by the user. Since it is provided with a user fall prevention means for operating the braking means of the moving means when pulled out to the outside of the apparatus main body by the length of the apparatus main body, the apparatus main body via the mounting tool and the connecting means worn by the user When the user who is connected to and collapses while standing or standing, the walking support device can be prevented from moving on the road surface by the moving means, and the walking support device is stable, It can prevent that a user falls down in connection with a walk assistance apparatus moving in the state which the user collapsed and fell down. That is, it is possible to provide a walking support device that can prevent the user from falling while walking or standing.

The perspective view which looked at the walk support device of the support | pillar standing state from the diagonal rear side. The perspective view which looked at the walk support device of the standing-up state from the diagonal front side. The perspective view which looked at the walk support device in the state where the column was lying down from an oblique front side. Operation | movement explanatory drawing which shows the standing assistance function of a walk assistance device. The figure which shows a structure and operation | movement of a user fall prevention means and an elastic support means. The figure which shows a structure and operation | movement of a user fall prevention means and an elastic support means. The figure which shows a structure and operation | movement of a user fall prevention means and an elastic support means. The figure which shows a structure and operation | movement of a user fall prevention means and an elastic support means. The figure which shows a structure and operation | movement of a user fall prevention means and an elastic support means.

Embodiment 1
As shown in FIG. 1, the walking assist device 1 according to the first embodiment is provided on a base 2, a moving means 3 provided on the base 2, a braking means 4 provided on the moving means 3, and the base 2. The apparatus main body 5 and a connecting means 6 that connects the apparatus main body 5 with a mounting tool B such as trousers worn by the user A are configured.
The apparatus body 5 includes a support means 7, an actuator 8, a weight load means 9, an outrigger 10, a standing motion support means, a sitting motion support means, a standing motion support braking means, and a sitting motion support time. A braking means, a user fall prevention means, and an elastic support means are comprised.
Hereinafter, the front side of the user A who uses the walking support device 1, such as a care recipient, a disabled person, and a rehabilitation trainer, is “front”, the left side is “left”, the right side is “right”, and the rear side is “ It is defined as “after”.

The base 2 is constituted by a base frame 21 in which, for example, an iron pipe having a circular cross section is formed in a shape such as a concave shape or a U shape. When viewed from above, the base frame 21 has the lower side of the concave shape or U-shape positioned in front of the walking support device 1, and the upper left and right sides of the concave shape or U-shape are located behind the walking support device 1. It is configured to look like an inverted concave or U-shaped frame positioned on the left and right.
Hereinafter, the left side of the base frame 21 is referred to as a base frame left part 22, the right side of the base frame 21 is referred to as a base frame right part 23, and the front side of the base frame 21 is referred to as a base frame front part 24.

The moving means 3 is composed of, for example, a plurality of turning casters (universal casters) 31, 31.
The swivel caster 31 is attached to the fork 34 so that the wheel 32 can rotate via a central shaft (shaft) 33 that extends parallel (horizontally) to a road surface R such as a floor surface, and the fork 34 is mounted on the road surface. In this configuration, it is attached to the base frame 21 via a mounting seat 36 so as to be rotatable via a central axis (shaft) 35 extending perpendicularly to R.
Further, the turning caster 31 includes a braking unit 4 that stops the rotation of the wheel 32.
The braking means 4 is constituted by a brake such as an electromagnetic brake, a drum brake, and a caliper brake using a power source such as an electromagnet, a hydraulic cylinder, an air cylinder, and a brake wire.
For example, as the turning caster 31, a caster with a drum brake unit is used.
For example, as shown in FIG. 1, one turning caster 31 is provided on each of the rear end side of the base frame left portion 22, the rear end side of the base frame right portion 23, and the left and right sides of the base frame front portion 24. It has been.

Outriggers 10 and 10 are attached to the rear end of the base frame left portion 22 and the rear end of the base frame right portion 23, respectively.
The outrigger 10 is a device for preventing the walking support device 1 from tilting backward and falling over.
The outrigger 10 is attached so as to be swingable in the horizontal direction along the road surface R via, for example, a free hinge 11, and is returned to an initial state (initial position) by the force of a spring built in the free hinge 11. It is configured.
Accordingly, when a force is applied to the outrigger 10, the outrigger 10 swings, so that even if the outrigger 10 collides with an obstacle such as a wall, the walking support apparatus 1 is not hindered from turning or moving.
Further, when the outrigger 10 collides with an obstacle or the like and swings in the direction along the road surface R, that is, when no force is applied to the outrigger 10, the outrigger 10 always returns to the initial state. And it will be in the state which can exhibit an apparatus back fall prevention function.

  The support means 7 includes, for example, left and right support columns 71 and 72 formed by combining iron pipes having a circular cross section, and a support base 73 provided on the upper end side of the left and right support columns 71 and 72. .

The left and right struts 71 and 72 are each configured to include a main strut 74 and a sub strut 75.
The left main column 74 is connected to the front side of the left side of the base frame 22 so that the lower side of the main column 74 can swing in the front-rear direction, and the upper end is a connecting pipe provided so as to protrude from the support base 73. It is formed in an opening 74b for inserting 73a.
Similarly, the right main strut 74 is connected to the right side of the base frame 23 so as to be swingable in the front-rear direction via the hinge 74 a, and the connection pipe provided so that the upper end protrudes from the support base 73. It is formed in an opening 74b for inserting 73a.
The sub column 75 has a lower end 75a connected to a substantially intermediate position in the extending direction of the main column 74, and an upper end formed in an opening 75b for inserting a connection pipe 73b provided so as to protrude from the support base 73. Has been.
A plurality of height positioning holes (not shown) are formed in the main column 74 at predetermined intervals in the vertical direction, and height positioning holes (not shown) are also formed in the connecting pipe 73a. . Therefore, after the connecting pipe 73a is inserted into the main column 74 through the opening 74b, the height positioning hole of the connecting pipe 73a and any height positioning hole formed in the main column 74 are made to coincide with each other. Thus, the height of the support base 73 can be adjusted according to the user A by fitting a fixed shaft (not shown) into these height positioning holes.
Further, a fixing means such as a fixing screw (not shown) is provided on the opening 75b side of the sub column 75, for example. That is, the fixing screw is screwed into a screw through hole (not shown) formed in the sub-post 75 to press the connecting pipe 73 b and press the outer peripheral surface of the connecting pipe 73 b against the inner peripheral surface of the sub-post 75. The pipe 73b is configured to be fixed to the sub column 75.
The left and right main columns 74 and 74 are connected by upper and lower reinforcing bars 74x and 74y formed by, for example, iron pipes having a circular cross section.

The support base 73 includes a table surface (upper surface) 76 on which the left and right forearms of the user A can be placed. When the table surface 76 is viewed from above, the lower side of the concave shape or U-shape is positioned in front of the walking support device 1 and the upper left and right ends of the concave shape or U-shape are the same as the base frame 21. It is comprised so that it may look like the frame of reverse concave shape or reverse U shape located behind the walk assistance apparatus 1. FIG.
Left and right handle grips 77, 77 provided so as to protrude above the table surface 76 are provided on the left and right sides of the front side of the table surface 76.
In addition, on the center side of the front side of the table surface 76, there is an adjustment dial 70A for adjusting the weight unloading amount by the weight unloading means 9, and a power source for turning on / off the power supply to each electrical component of the walking support device 1 An on / off power key switch 70B and a change-over switch 70C for switching whether the walking support apparatus 1 performs support for standing motion or support for sitting motion are provided.

A lift lever 78 is provided on the front end surface of the table surface 76.
The lift lever 78 protrudes forward from the left side of the front end surface of the table surface 76, then extends upward, extends horizontally in the right direction, further extends downward, and extends rearward. And a pipe frame formed so as to be connected to the right side of the front end surface of the table surface 76.
That is, the elevating lever 78 includes a left connecting portion 78a that projects forward from the left side of the front end surface of the table surface 76, a left rising portion 78b that extends to the upper right side from the front end of the left connecting portion 78a, and a front end surface of the table surface 76. A right connecting portion 78c projecting forward from the right side, a right rising portion 78d extending upward from the front end of the right connecting portion 78c, and a horizontal portion connecting the right end of the left rising portion 78b and the left end of the right rising portion 78d. 78e.
The elevating lever 78 is formed by, for example, combining and welding iron pipes having a circular cross section or bending a steel pipe having a circular cross section.

Further, as shown in FIGS. 1A and 1B, a movable cover 78f formed in a cross-sectional curved shape corresponding to the curved shape of the outer peripheral surface of the horizontal portion 78e is provided outside the horizontal portion 78e. It is done. A switch contact 78g is provided so as to protrude from the center side in the direction along the curved surface of the inner surface of the movable cover 78f. Further, the horizontal portion 78e formed by the hollow pipe is formed with a through hole 78h penetrating into and out of the hollow pipe, and the actuator 8 is operated and stopped on the inner surface of the hollow pipe facing the through hole 78h. A switch 78i is provided. Then, with the switch contact 78g passing through the through hole 78h, both end sides of the inner surface of the movable cover 78f along the curved surface and the outer surface of the hollow pipe of the horizontal portion 78e are connected by springs 78j and 78j, respectively. Yes.
That is, when the horizontal portion 78e and the movable cover 78f are gripped with the hand A1, the springs 78j and 78j are contracted and the movable cover 78f approaches the outer surface of the horizontal portion 78e, so that the tip of the switch contact 78g contacts the switch 78i. The switch 78i is configured to be turned on.
Further, by releasing the hand A1 from the movable cover 78f or loosening the grip, the movable cover 78f is moved away from the outer surface of the horizontal portion 78e by the force of the springs 78j and 78j, and the tip of the switch contact 78g is moved. The switch 78i is configured to be off from the switch 78i.
That is, the lift lever 78 is configured to include a switch mechanism that operates the actuator 8 by grasping with the hand A1 and stops the actuator 8 by releasing the hand A1 or loosening the grasp.

An actuator 8 is provided for each of the left and right support columns 71 and 72.
The actuator 8 is constituted by an electric cylinder, for example.
The electric cylinder includes, for example, a motor (not shown), a ball screw rotated by the motor, a ball screw nut screwed to the ball screw, and a case 81 in which the motor, the ball screw, and the ball screw nut are accommodated. And a rod 82 provided with one end attached to the ball screw nut and the other end protruding from the other end 81a of the case 81.
The left actuator 8 is connected so that one end side of the case 81 can swing in the front-rear direction via the hinge 83 to the base frame left portion 22, and the other end of the rod 82 is an extension of the left main column 74. A hinge 84 is pivotally connected to a substantially intermediate position in the direction.
Similarly, the right actuator 8 is connected to the right side of the case 81 so that one end of the case 81 can swing in the front-rear direction via a hinge 83, and the other end of the rod 82 is an extension of the right main column 74. A hinge 84 is pivotally connected to a substantially intermediate position in the direction.

The support means 7 is driven by the left and right actuators 8 and 8 into a state in which the support unit 7 falls from the front to the rear and a state in which the support means 7 stands from the rear to the front.
That is, the support means 7 and the left and right actuators that move the support means 7 from the lying state shown in FIG. 3 to the standing state shown in FIG. 2 or the supporting means 7 from the standing state shown in FIG. 2 to the lying state shown in FIG. 8 and 8, standing operation support means for supporting the operation when the user A stands up from the seated state, and sitting operation support means for supporting the operation when the user A sits from the standing state. Composed.
That is, the left and right main columns 74, 74 of the support means 7 function as a movable frame (tilting frame) attached to the base frame 21 so as to be swingable in the front-rear direction via the hinges 83, 83.
Although not shown, a power source such as a rechargeable battery for driving the motor of the actuator 8 and other electrical components equipped in the walking support device 1 includes, for example, the base frame 21, the columns 71 and 72, It is detachably attached to any one of the reinforcing bars 74x and 74y.

The connecting means 6 has one end connected to the weight-bearing means 9 and a connecting tool 61 such as a hook attached to the other end. The connecting means 6 can be bent like a rope, string, band, chain, etc. It is comprised by the continuous elongate member which connects the member, ie, the weight load means 9, and the connection tool 61. FIG.
The connection tool 61 provided at the other end of the connection means 6 is connected to the connection portion C (see FIG. 4) of the wearing tool B worn by the user A, so that the user A can receive the weight-relieving means 9. This makes it possible to walk in a state where the weight load is reduced.

The weight-relieving means 9 divides the user A connected to the weight-relieving means 9 through the wearing tool B and the connecting means 6 so as to reduce the weight load of the user A. For example, it is a traction device using a spring, a weight, or an actuator such as a motor or a cylinder. For example, one end of the connecting means 6 is connected to a constant load spring such as a mainspring spring or a weight to apply a traction force, and a traction force (lifting force) is obtained by changing the spring force of the constant load spring or the weight of the weight. Or one end of the connecting means 6 may be connected to the output shaft of the motor or the piston of the cylinder to control the motor or the cylinder to apply the traction force and change the traction force.
The weight relief means 9 is provided in the box 91, for example, and is fixed to the support base 73 so that the box 91 hangs down from the support base 73, for example.

According to the walking support device 1, as shown in FIG. 4A, when the user A wearing the wearing tool B stands up from the seated portion D such as a bed or a chair, the actuator 8 Retaining rings provided on the left and right sides of the wearing tool B of the user A after the rod 82 is contracted and the support means 7 is tilted backward, and the connecting tool 61 provided at the other end (drawing end) of the connecting means 6 is used. 4 (b) and 4 (c), the rod 82 of the actuator 8 is gradually extended so that the support means 7 is moved backward from the state where the support means 7 is tilted backward. Since it stands up, it becomes possible for the user A to stand up easily from the state of being seated on the seating portion D. That is, the user A can easily stand up from the sitting state by the standing motion support function by the standing motion support means.
On the contrary, when the user A sits on the bed or the like from the standing state, the rod 82 of the actuator 8 is gradually contracted from the state of FIG. 4C as shown in FIGS. 4B and 4A. Since the support means 7 falls backward from the standing state, the user A can easily sit on the seating portion D from the standing state. That is, the seating motion support function by the seating motion support means enables the user A to easily sit from the standing state.

The standing motion support braking means is means for braking the wheels 32 by operating the braking means 4 of the moving means 3 in order to stabilize the walking assist device 1 during the standing motion support.
That is, the standing motion support braking means includes the braking device 4 for stopping the rotation of the wheel 32, and the standing motion support time detecting means for detecting the standing motion support time. The brake means 4 is configured to operate when it is detected that the operation is being supported.
According to the standing motion support braking means, the braking device 4 brakes the wheels 32 when a signal indicating that the standing motion support time is input from the standing motion support time detection means via wired or wireless. Therefore, the walking support device 1 can be prevented from moving on the road surface R by the moving means 3 at the time of standing motion support, and the walking support device 1 is stabilized. Therefore, when the user A performs the standing motion, Standing motion support can be performed safely.

The braking means at the time of sitting operation support is means for braking the wheel 32 by operating the braking means 4 of the moving means 3 in order to stabilize the walking support device 1 at the time of sitting operation support.
The braking operation support time braking means includes the braking means 4 for stopping the rotation of the wheel 32, and the sitting operation support time detection means for detecting the sitting operation support time. When it is detected that the braking means 4 is detected, the braking means 4 is configured to operate.
According to the sitting operation support time braking means, the braking means 4 brakes the wheel 32 when a signal indicating that the sitting operation support time is input from the sitting operation support time detection means via a wired or wireless connection. Therefore, the walking support device 1 can be prevented from moving on the road surface R by the moving means 3 and the walking support device 1 is stabilized at the time of sitting motion support, so that when the user A performs the seating motion, It will be possible to safely support the sitting movement.

The standing motion support detection means and the sitting motion support detection means are constituted by, for example, a switch 78i for operating and stopping the actuator 8 described above.
In this case, when the user A is standing or sitting, the user A's hand A1 holds the horizontal portion 78e and the movable cover 78f, and the switch 78i is on. A power source such as a cylinder, an air cylinder, or a brake wire is operated to brake the wheel 32. In this case, if the user A releases his hands from the horizontal portion 78e and the movable cover 78f after the end of the standing operation or after the sitting operation, the braking of the braking means 4 is released. You can walk with 77. In addition, the walking support device 1 that has been disconnected from the user A after the seating operation is finished can be moved by rolling the wheels 32.

Note that the standing motion support detection means and the sitting motion support detection means are provided to detect the tilting angle of the table surface 76 and the expansion / contraction amount of the rod 82 of the actuator 8. You may comprise an expansion-contraction sensor etc.
For example, when the standing motion support detection means and the sitting motion support detection means are configured by an angle sensor that detects the tilt angle of the table surface 76, the angle sensor detects the maximum tilt angle of the table surface 76. Or when the power source such as the electromagnet, the hydraulic cylinder, the air cylinder, and the brake wire of the braking means 4 is operated to brake the wheel 32 except when the minimum inclination angle of the table surface 76 is detected. What is necessary is just to comprise.
Further, when the standing motion support detection means and the sitting motion support detection means are configured by an expansion / contraction sensor that detects the expansion / contraction amount of the rod 82 of the actuator 8, the expansion / contraction sensor detects the maximum expansion amount of the rod 82. Or when the maximum degeneration amount of the rod 82 is detected, a power source such as an electromagnet, a hydraulic cylinder, an air cylinder, or a brake wire of the braking means 4 is activated to brake the wheel 32. do it.
In these cases, since the braking of the braking means 4 is released after the standing motion or the seating motion is completed, the user A can walk while holding the handle grip 77 after the standing motion is completed. In addition, the walking support device 1 that has been disconnected from the user A after the seating operation is finished can be moved by rolling the wheels 32.

Further, it is during the standing-up operation support by detecting that the power key switch 70B is ON and the changeover switch 70C is positioned on the side (upper side in FIG. 1A) that supports the standing-up operation. May be output to the braking means 4 and may be a standing-up motion support detection means configured to operate the braking means 4.
In addition, it is detected that the power key switch 70B is turned on and the changeover switch 70C is positioned on the side (lower side in FIG. 1A) on which the sitting operation is supported, and the sitting operation is supported. A signal indicating that this may be output to the braking means 4 and the detecting means for detecting a seating movement may be configured to operate the braking means 4.
In these cases, the braking of the braking means 4 is released by turning off the power key switch 70B after the standing operation or the seating operation is completed. Therefore, the user A holds the handle grip 77 after the standing operation is completed. I can walk. In addition, the walking support device 1 that has been disconnected from the user A after the seating operation is finished can be moved by rolling the wheels 32.

When the user A is walking or standing in a state where the user A is connected to the apparatus main body 5 via the wearing tool B and the connecting means 6, the user A loses his / her posture and the user A In order to stabilize the walking support apparatus 1 when the other end side of the connecting means 6 connected to the mounting tool B is pulled out to the outside of the support base 73 of the apparatus main body 5 by a predetermined length, the moving means 3 is a means for actuating the braking means 4 to brake the wheel 32 to prevent the user A from falling.
The user fall prevention means includes a braking means 4 for stopping the rotation of the wheel 32, and a pull-out amount detection means for detecting that the other end side of the connecting means 6 is pulled out to the outside of the support base 73 by a predetermined length. The brake means 4 is configured to operate when it is detected by the pull-out amount detection means that the other end side of the connecting means 6 has been pulled out to the outside of the support base 73 by a predetermined length.
That is, the user fall prevention means includes a pull-out amount detection means (detection means) for detecting that the other end side of the connection means 6 has been pulled out of the apparatus main body 5 by a predetermined length a. Operates the braking means 4 when it is detected that the other end side of the connecting means 6 has been pulled out of the apparatus body 5 by a predetermined length (a1 + a2).

  As shown in FIG. 5, the pull-out amount detection means includes a fixed pulley group, a first moving pulley 42, a spring 43 such as a coil spring as an elastic means for pulling the first moving pulley 42 with a predetermined force, And a pulling amount detection unit. The braking means 4 is configured to operate based on a detection signal from the pulling amount detection unit.

As shown in FIG. 5 (a), one end of the connecting means 6 is connected to the weight-bearing means 9, and the other end of the connecting means 6 is a first fixed pulley 41a provided in the box 91, and A second fixed pulley 41b, a first movable pulley 42, which are guided to the hollow portion 73X through the inlet hole 73e to the hollow portion 73X provided on the lower side of the support base 73 and provided in the hollow portion 73X; After passing through the third fixed pulley 41c, it is pulled out to the outside of the hollow portion 73X through an outlet hole 73f from the hollow portion 73X via an elastic support means described later, and the other end of the drawn connecting means 6 A connecting device 61 is attached to the. The diameter of the outlet hole 73f is formed such that the connecting tool 61 provided at the other end of the connecting means 6 cannot pass through.
The spring 43 is installed in a cylindrical spring accommodating portion 44 provided in the hollow portion 73 </ b> X and extending in the front-rear direction, and can be expanded and contracted in the extending direction of the spring accommodating portion 44. That is, one end 43 a of the spring 43 is fixed to the inner surface of one end side in the extension direction of the spring accommodating portion 44, and the other end 43 b side of the spring 43 is movable along the extension direction of the spring accommodating portion 44.

The pull-out amount detection unit includes, for example, a movable body 45, a regulation unit 46 that regulates the movement of the movable body 45, and a detection body (not shown) provided in the regulation unit 46.
The restricting portion 46 is provided on the other end side of the spring accommodating portion 44 in the extending direction.
The movable body 45 is fixed to the other end 43b of the spring 43 and is connected to the first movable pulley 42 by a linear connecting body 47 such as a wire. The linear connecting body 47 passes through a through hole 46 a formed in the restricting portion 46 and a through hole 44 a formed in the other end wall in the extending direction of the spring accommodating portion 44, and one end is connected to the movable body 45. The other end is connected to the first movable pulley 42.

In the state where the connecting means 6 is not connected to the user A via the mounting tool B, the connecting means 6 is provided until the connecting tool 61 provided at the other end of the connecting means 6 contacts the peripheral edge of the outlet hole 73f. Is in the initial state shown in FIG. 5A when pulled by the force of the spring 43 and the elastic means 53 of the elastic support means described later. In the initial state, the distance between the movable body 45 and the restricting portion 46 is separated by a distance a2.
Then, in a state where the connecting means 6 is connected to the user A via the wearing tool B, as shown in FIG. 5 (b), the user A loses his posture and is connected to the wearing tool B of the user A. When the other end side of the connecting means 6 is pulled out of the support base 73 by a predetermined length (a1 + a2), the movable pulley 42 moves by a distance a2 in the direction of pulling the spring 43 through the slide rail hole 42a, for example. Then, the movable body 45 comes into contact with the restricting portion 46, and the detection body provided in the restricting portion 46 outputs a detection signal to the braking means 4 via a wire or wirelessly.

For example, the detection body is turned on when the movable body 45 comes into contact with the restricting portion 46 and turned off when the movable body 45 moves away from the restricting portion 46, or the movable body 45 comes into contact with the restricting portion 46. It is comprised by the sensor etc. which detect this.
In this case, as the braking means 4, a brake such as an electromagnetic brake or a drum brake using a power source such as an electromagnet capable of electrical control, a hydraulic cylinder, or an air cylinder is used.
When the braking means 4 inputs a detection signal from the detection body, a power source such as an electromagnet, a hydraulic cylinder, an air cylinder or the like of the braking means 4 is activated to brake the wheel 32.

The elastic support means applies a tensile force in a direction in which the other end portion of the connecting means 6 provided with the connection tool 61 approaches the apparatus main body 5, and also separates the other end of the connecting means 6 in a direction away from the apparatus main body 5. It is a means which supports the connection means 6 so that it can move.
This elastic support means includes an elastic means 53 and a second moving pulley 54 as a moving pulley connected to the other end (connecting end) 53x of the elastic means 53 and configured to be movable by the elasticity of the elastic means 53. .
Then, after the other end side of the connecting means 6 passing through the third fixed pulley 41c passes through the second movable pulley 54, the other end of the connecting means 6 passes through the fourth fixed pulley 41d and the outlet hole 73f to the main body of the apparatus. The other end of the connecting means 6 is configured to be connected to the other end of the connecting means 6 that is pulled out to the outside of the apparatus main body 5 and to the outside of the apparatus main body 5. Be positioned.
The second movable pulley 54 moves, for example, through the slide rail hole 54 a against the tensile force of the elastic means 53 by moving the other end of the connecting means 6 away from the apparatus main body 5. It is configured.
By being configured as described above, the elastic support means applies a tensile force in the direction in which the other end portion of the connection means 6 provided with the connection tool 61 approaches the apparatus main body 5 and the other end of the connection means 6. It functions as means for supporting the connecting means 6 so that the part can be moved away from the apparatus main body part 5.

The elastic means 53 is preferably a constant load spring that can move the other end of the connecting means 6 away from the apparatus main body 5 with a constant force. If a constant load spring is used, when a person pulls the other end of the connecting means 6 in a direction away from the apparatus body 5, the tensile force reaches the maximum return force (maximum tensile force) of the constant load spring. Can move the other end of the connecting means 6 away from the apparatus main body 5 with a constant tensile force.
That is, a wire spring (coil spring) may be used as the elastic means 53. In this case, the tensile force necessary to extend the spring increases as the spring extends. Is required to move long in the direction away from the apparatus body 5 (when the other end side of the connecting means 6 is to be pulled out long), a large force is required. In the case of a non-powerful user A, the other end of the connecting means 6 It may be difficult to pull out the side for a long time.
On the other hand, when a constant load spring is used as the elastic means 53, the other end of the connecting means 6 can be moved long in the direction away from the apparatus main body 5 with a small force.
In addition, when a constant load spring is used as the elastic means 53, it can be accommodated in the accommodating portion 53a such as a small-diameter drum, so that the installation space can be reduced.

  For example, normally, the connecting tool 61 is locked to the periphery of the outlet hole 73f by the tensile force of the elastic means 53, and by pulling the connecting tool 61, the other end of the connecting means 6 is connected to the apparatus main body 5. The distance a1 (for example, 30 cm) can be separated from the distance. That is, the other end of the connecting means 6 moves in a direction away from the outlet hole 73f of the apparatus main body 5 so that the second movable pulley 54 resists the tensile force of the elastic means 53 and moves within the slide rail hole 54a by a distance a1. It is configured to be movable only (for example, 30 cm). In this case, the rotation center axis of the second moving pulley 54 moving in the slide rail hole 54a collides with the hole edge of the slide rail hole 54a so that the movement of the second moving pulley 54 is restricted. Alternatively, a separate stopper may be provided so that the movement of the second movable pulley 54 is restricted.

Accordingly, the user A wearing the wearing tool B moves the other end of the connecting means 6 provided with the connecting device 61 in a direction away from the outlet hole 73f of the apparatus main body 5 by a distance a1 (for example, 30 cm) ( The connecting means 6 can be pulled out), so that the work of connecting the connecting tool 61 of the connecting means 6 and the connecting portion C of the mounting tool B can be facilitated. That is, when connecting the connecting tool 61 of the connecting means 6 and the connecting portion C of the mounting tool B, the other end of the connecting means 6 is easily moved in the direction away from the outlet hole 73f of the apparatus main body 5 (easily The walking support device 1 can be provided.
That is, even if the seating position D of the seating part D such as a chair on which the user A sits varies, the connecting tool 61 of the connecting means 6 is connected to the connecting part C of the mounting tool B on which the user A is to be mounted. Since it can be easily moved to the position, the user A can easily connect the connecting means 6 and the mounting tool B.
In addition, after the user A wearing the wearing tool B connects the connecting tool 61 provided at the other end of the connecting means 6 and the connecting part C of the wearing tool B, the user A collapses in a posture. When the other end side of the connecting means 6 is pulled out to the outside of the support base 73 by a predetermined length (a1 + a2), the braking means 4 inputs a detection signal from the detection body of the pull-out amount detection unit to input the wheel 32. When the user A is walking or standing, the walking support device 1 is prevented from moving on the road surface R by the moving means 3 when the user A tries to fall down while the user A is walking or standing. Since the walking support device 1 is stable, it is possible to prevent the user A from falling down as the walking support device 1 moves while the user A collapses in a posture. Become. That is, the walking support apparatus 1 that can prevent the user A from falling while walking or standing can be provided.
In addition, when the user A is walking or standing up and tries to fall down with his posture, the elastic means 53 is actuated first and the other end of the connecting means 6 moves away from the apparatus main body 5. After the movement by the distance a1, the spring 43 is actuated and the other end 43b of the spring 43 is moved by the distance a2, so that the other end of the connecting means 6 is only a distance (a1 + a2) from the outlet hole 73f of the apparatus body 5. The brake means 4 is configured to apply a detection signal from the detection body of the pull-out amount detection unit to brake the wheel 32 when moving in the direction of leaving.

  In addition, when a mechanical brake such as a caliper brake that stops the rotation of the wheel 32 by pressing the brake pad against the wheel 32 by pulling the brake wire is used as the braking means 4, it is used as follows. What is necessary is just to comprise a person fall prevention means.

In this case, as shown in FIG. 6, when the user A is walking or standing in a state where the user A is connected to the apparatus main body 5 via the mounting tool B and the connecting means 6, as shown in FIG. The other end of the connecting means 6 connected to the user's A wearing tool B by the user A breaking his / her posture is a distance (a1 + a2) from the outlet hole 73f of the device main body 5 and the support base 73 of the device main body 5. When pulled out to the outside, the rotation of the wheel 32 is stopped by pulling the brake wire 49 of the braking means 4.
That is, the user fall prevention means is configured such that when the other end of the connecting means 6 is pulled out of the apparatus body 5 by a distance (a1 + a2) from the outlet hole 73f of the apparatus body 5, the brake wire of the braking means 4 is used. The braking means 4 is operated by pulling 49.

That is, as shown in FIG. 6, the user fall prevention means has a long hole 44c formed in the peripheral wall on the other end side in the extension direction of the spring accommodating portion 44 described above so as to extend in the extending direction of the spring accommodating portion 44. And a movable body 50 having a connecting portion 51 which is fixed to the other end 43b of the spring 43 and protrudes to the outside of the spring accommodating portion 44 through the elongated hole 44c, and an end such as a caliper brake not shown in the figure. A brake wire 49 having both ends connected to the connecting portion 51 of the movable body 50 and a wire passed through a through hole 44a formed in the other end wall of the spring accommodating portion 44 in the extending direction of the cylinder. One end of the linear connecting body 47 and the movable body 50 are connected, and the other end of the linear connecting body 47 and the movable pulley 42 are connected.
The other end of the brake wire 49 is guided backward via the fixed pulley 52 and connected to the connecting portion 51 of the movable body 50.
In FIG. 6, the same parts as those in FIG.

In this case, after the user A wearing the wearing tool B connects the connecting tool 61 provided at the other end of the connecting means 6 and the connecting portion C of the wearing tool B, the user A uses the posture after breaking down. The other end side of the connecting means 6 connected to the wearing tool B of the person A is pulled out from the outlet hole 73f of the apparatus main body part 5 by a predetermined length (a1 + a2) to the outside of the apparatus main body part 5, and the spring 43 is pulled. As a result, when the brake wire 49 is pulled and the movable body 50 and the inner surface 44x at the other end in the cylinder extending direction of the spring accommodating portion 44 come into contact with each other, the brake pad of the braking means 4 is pressed against the wheel 32 and It is comprised so that rotation of may be stopped.
Therefore, when the user A tries to fall down, the walking support device 1 can be prevented from moving on the road surface R by the moving means 3, and the user A can be prevented from falling down.

  That is, in the case where the apparatus main body 5 is the walking support device 1 according to the first embodiment having the structure including the weight-relieving means 9, the standing motion support means, the sitting motion support means, the user fall prevention means, and the elastic support means, the connection means 6 is connected to the weight-loading means 9, and the other end side of the connecting means 6 is connected to the first fixed pulley 41 a provided in the box 91 and the hollow portion 73 </ b> X provided below the support base 73. Through the second fixed pulley 41b, the first movable pulley 42, and the third fixed pulley 41c, which are guided to the hollow portion 73X through the inlet hole 73e and provided in the hollow portion 73X of the support base 73. After the other end side of the connecting means 6 passing through the third fixed pulley 41c passes through the second movable pulley 54, the other end of the connecting means 6 goes outside the outlet hole 73f of the apparatus main body 5 via the fourth fixed pulley 41d. This outlet hole 73f is configured to be positioned at Connector 61 is provided on the other end of the connecting means 6, which is located outside. And the 1st movable pulley 42 and the other end 43b of the spring 43 are connected via the movable body 45 and the linear connection body 47, and a user fall prevention means is comprised. The second movable pulley 54 and the other end (connection end) 53x of the elastic means 53 are connected to constitute an elastic support means.

  It should be noted that the wheels 32 for operating the braking means 4 by the standing operation support braking means, the seating operation support braking means, and the user fall prevention means of the present invention are two wheels 32 provided on the left and right sides of the rear side of the base 2. Or all the wheels 32 constituting the moving means 3 may be used.

Embodiment 2
Further, the standing motion support braking means, the sitting motion support braking means, the user fall prevention means, and the elastic support means of the present invention can also be applied to a walking support device that does not include the weight relief means 9.
In this case, the standing motion support braking means, the sitting motion support braking means, and the elastic support means are configured in the same manner as in the first embodiment.
Further, as shown in FIG. 7, the user fall prevention means has a structure in which one end of the connecting means 6 is connected to the movable body 45 fixed to the other end of the spring 43 described above, or as shown in FIG. In addition, one end of the connecting means 6 may be connected to the movable body 50 fixed to the other end side of the spring 43 described above.
In FIG. 7, the same parts as those in FIG.
Similarly, in FIG. 8, the same parts as those in FIG.
That is, even if the walking support device is configured not to include the weight relief means 9, it is possible to provide the standing motion support braking means, the sitting motion support braking means, the user fall prevention means, and the elastic support means. .

  That is, in the case of the walking support device 1 according to the second embodiment in which the device main body 5 includes the standing motion support means, the sitting motion support means, the user fall prevention means, and the elastic support means, and does not include the body weight load means 9, A user fall prevention means in which one end of the means 6 is connected to the other end 43 b side of the spring 43 is configured. Further, after the other end side of the connecting means 6 passes through the fixed pulley 41A and the movable pulley 54A provided in the hollow portion 73X, the other end of the connecting means 6 passes through the fixed pulley 41B and the outlet hole of the apparatus main body 5 The connector 61 is provided at the other end of the connecting means 6 that is configured to be positioned outside the 73 f and is positioned outside the outlet hole 73 f. The movable pulley 54A and the other end (connecting end) 53x of the elastic means 53 are connected to constitute an elastic support means.

  Moreover, in the structure shown in FIG.7, FIG.8, the walk assistance apparatus provided with the weight relief function can also be comprised by using the spring which functions also as a weight relief means as the spring 43. FIG.

Embodiment 3
The elastic support means can also be applied to a walking support device that does not include a user fall prevention means, a standing motion support means, a seating motion support means, and a body weight relief means 9.
In this case, for example, as shown in FIG. 1, the base 2, the moving means 3 provided on the base 2, the device main body provided on the base 2, the mounting tool B worn by the user A and the device main body. As shown in FIG. 9, the apparatus main body includes a fixed column 74A fixed to the base 2 and a support base 73A provided on the upper end side of the fixed column 74A. For example, what is necessary is just to set it as the walk assistance apparatus of the structure provided with the elastic support means in the hollow part 73X of the said support stand 73A.
That is, as shown in FIG. 9, one end 6a of the connecting means 6 is connected to the hollow portion 73X of the apparatus main body, and the other end of the connecting means 6 is connected to the fixed pulley 41A and the movable pulley 54A provided in the hollow portion 73X. After passing, the other end of the connecting means 6 is configured to be positioned outside the outlet hole 73f of the support base 73A in the apparatus main body via the fixed pulley 41B, and is positioned outside the outlet hole 73f. A connector 61 is provided at the other end of the connecting means 6. The movable pulley 54A and the other end (connecting end) 53x of the elastic means 53 are connected to constitute an elastic support means.
In addition, in the case of the walking assistance apparatus of Embodiment 3, it is sufficient that at least one fixed column 74A is provided. That is, for example, one fixed support 74A may be provided at the front center of the base, two at the front left and right of the base, or two at the front left and right of the base and one at the front center. Further, in the case of the walking support device, the support base 73A does not include the adjustment dial 70A, the power key switch 70B, the changeover switch 70C, the switch 78i, and the like, which are related to the actuator 8 and the weight load means 9.

Even in the walking support devices of the second and third embodiments, the wearing tool for wearing the user A by the connecting tool 61 provided at the other end of the connecting means 6 connected to the wearing tool B worn by the user A. Since it can be easily moved to the position of the connecting portion C of B, the user A can easily connect the connecting means 6 and the mounting tool B.
In addition, when the user A connected to the apparatus main body via the wearing tool B and the connecting means 6 worn by the user A collapses while standing or standing, the walking support device moves. Since it can prevent moving on the road surface R by the means 3 and the walking support device is stabilized, the user A moves along with the walking support device moving in a state where the user A collapses its posture. It becomes possible to prevent A from falling. That is, it is possible to provide a walking support device that can prevent the user A from falling while walking or standing.

  The moving means 3 may be moving means other than wheels. For example, a moving means such as a caster or a caterpillar provided with a ball instead of a wheel may be used, and any moving means configured to be braked may be used.

1 walking support device, 2 base, 3 moving means, 4 braking means, 5 device body,
6 connecting means, 53 elastic means, 54 second moving pulley (moving pulley), 54A moving pulley,
A user, B wearing tool.

Claims (4)

A walking support device for supporting a user's walking,
A base, a moving means provided on the base, an apparatus main body provided on the base, and an attachment that one end is connected to the apparatus main body and the other end is located outside the apparatus main body to be worn by the user Connecting means connected to the tool,
The apparatus main body applies a tensile force in a direction in which the other end of the connecting means approaches the apparatus main body, and supports the connecting means so that the other end of the connecting means can move in a direction away from the apparatus main body. A walking support device comprising elastic support means. The elastic support means includes an elastic means, and a movable pulley connected to the elastic means and configured to be movable by the elasticity of the elastic means.
The connecting means is configured such that the other end side is located on the outside of the apparatus main body portion via the moving pulley,
2. The walking according to claim 1, wherein the movable pulley is configured to move against the tensile force of the elastic means by moving the other end of the connecting means away from the apparatus main body. Support device.   The walking support apparatus according to claim 2, wherein the elastic means is a constant load spring capable of moving the other end of the connecting means in a direction away from the apparatus main body with a constant force.   The apparatus main body has a predetermined length on the other end side of the connecting means connected to the user's wearing tool by the user connected to the apparatus main body via the wearing tool and connecting means worn by the user. 4. The apparatus according to claim 1, further comprising a user fall prevention unit that activates a braking unit of the moving unit when the unit is pulled out to the outside of the apparatus main body. 5. Walking support device.

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