JP5429938B2

JP5429938B2 - Self-compensation type walking assist device

Info

Publication number: JP5429938B2
Application number: JP2010013721A
Authority: JP
Inventors: 泰之山田; 寿郎森田
Original assignee: Keio University
Current assignee: Keio University
Priority date: 2010-01-26
Filing date: 2010-01-26
Publication date: 2014-02-26
Anticipated expiration: 2030-01-26
Also published as: JP2011152176A

Description

本発明は、事故による怪我や病気、高齢等のために、歩行が困難な者を補助したり、リハビリテーションを行うために用いる歩行補助装置に関し、特に、モータ等の動力を使用することなく、歩行者の体重を補償してその歩行動作を補助する自重補償型歩行補助装置に関する。 The present invention relates to a walking assistance device used for assisting a person who has difficulty walking due to injury, illness, elderly age, etc., or for performing rehabilitation, and in particular, walking without using the power of a motor or the like. The present invention relates to a self-weight-compensated walking assist device that compensates for a person's weight and assists the walking motion.

従来、事故等によって脚部に障害を有していたり、高齢のために歩行が困難な者の歩行動作を補助するために様々な歩行補助装置が提案されており、例えば、特許文献１に記載されている「炊事作業補助装置」においては、キャスター車輪で移動可能なフレームにサドルを設け、使用者がこのサドル上に跨って座ることによって、立った姿勢に近い体位で身体を支えて膝、脚等への体重の負担を軽減し、車椅子では困難な普通の流し台等を使用して前後左右に移動しながら炊事作業等を行えるようにしている。 Conventionally, various walking assistance devices have been proposed in order to assist a walking operation of a person who has a disorder in a leg due to an accident or the like or who is difficult to walk due to aging, for example, described in Patent Document 1 In the `` cooking work assisting device '', a saddle is provided on a frame movable with caster wheels, and the user sits on this saddle to support the body in a posture close to a standing posture, It reduces the burden of weight on the legs, etc., so that cooking work and the like can be performed while moving back and forth and left and right using an ordinary sink that is difficult with a wheelchair.

また、特許文献２に記載されている「歩行補助装置」においては、使用者が跨って座る着座部材（サドル）に駆動源を備えた脚リンクを連結し、前記駆動源によって脚リンクを押し上げるように駆動して使用者の体重の少なくとも一部を支えることにより、使用者の歩行動作を補助するようにしている。 In addition, in the “walking assist device” described in Patent Document 2, a leg link provided with a drive source is connected to a seating member (saddle) on which a user sits, and the leg link is pushed up by the drive source. To support at least a part of the weight of the user so as to assist the user's walking motion.

特開２００１−８９８８号公報JP 2001-8988 A 特開２００９−１９５号公報JP 2009-195 A

前述した特許文献１に記載されている「炊事作業補助装置」においては、脚にキャスター車輪を取り付けたフレームにサドルが固定されているため、歩行動作は安定して行えるが、サドルに座ったまま膝を曲げて姿勢を低くする動作ができず、上下方向の作業可能な範囲が、固定されたサドルに座った位置から手の届く狭い範囲に限定されてしまう問題があった。 In the “cooking work assisting device” described in Patent Document 1 described above, since the saddle is fixed to the frame in which the caster wheels are attached to the legs, the walking motion can be stably performed, but the seat remains on the saddle. There has been a problem that the range in which the work in the vertical direction can be performed is limited to a narrow range that can be reached from the position sitting on the fixed saddle, because the movement of lowering the posture by bending the knee cannot be performed.

また、特許文献２に記載されている「歩行補助装置」においては、脚リンクを駆動するための駆動源や、この駆動源の制御を行う制御手段やセンサ等を用いているため、構造が複雑で高価になる問題があるとともに、電動モータのような一般的な駆動源では電源が確保できる場所でしか使用できない問題があった。 In addition, the “walking assistance device” described in Patent Document 2 uses a drive source for driving the leg link, a control means for controlling the drive source, a sensor, and the like, and thus has a complicated structure. In addition, there is a problem that it can be used only in a place where a power source can be secured with a general drive source such as an electric motor.

また、使用者の体重の少なくとも一部を脚リンクのみで支える構造であるため、使用者の重心が脚リンクの外側にずれると、バランスを崩して転倒してしまう虞があり、運動機能や平衡感覚が衰えた高齢者等が使用する際には、安全性にも問題があった。 Also, since the structure is such that at least a part of the user's weight is supported only by the leg link, if the user's center of gravity shifts to the outside of the leg link, there is a risk that the balance will be lost and the vehicle may fall over. There was also a problem with safety when used by elderly people with weak sensations.

そこで、本発明は、前述したような従来技術における問題点を解消し、電動モータのような駆動源や制御手段等を必要とせずに、使用者の体重を支えながら膝の屈伸動作に合わせてサドルを自動的に追従させることができ、且つ、安全で安定した歩行動作を行うことができる自重補償型歩行補助装置を提供することを目的とする。 Therefore, the present invention eliminates the problems in the prior art as described above, and does not require a drive source or control means such as an electric motor, and adapts to the knee bending and stretching operation while supporting the weight of the user. An object of the present invention is to provide a self-weight-compensated walking assist device that can automatically follow a saddle and can perform a safe and stable walking motion.

前記目的のために提供される本発明の自重補償型歩行補助装置は、複数のキャスタ車輪を有し、これらのキャスタ車輪により所望の方向に移動可能な台枠と、前記台枠に設けられた支持部に、一方の端部が鉛直面内で回動自在に枢着された第１のリンク部材と、第１のリンク部材の上方に平行に配置され、前記支持部に一方の端部が鉛直面内で回動自在に枢着された第２のリンク部材と、第１のリンク部材の他方の端部と第２のリンク部材の他方の端部にそれぞれ回動自在に枢着されて、台枠に対して鉛直面内で並進運動可能に設けられた中継リンク部材と、前記中継リンク部材に一方の端部が鉛直面内で回動自在に枢着された第３のリンク部材と、第３のリンク部材の上方に平行に配置され、当該中継リンク部材に一方の端部が鉛直面内で回動自在に枢着された第４のリンク部材と、第３のリンク部材の他方の端部と第４のリンク部材の他方の端部にそれぞれ回動自在に枢着されて、前記中継リンク部材に対して鉛直面内で並進運動可能に設けられ、上端にサドルが固定されたサドルリンク部材と、前記支持部と第１のリンク部材との枢着位置から鉛直上方に離間して設けられた第１の支承部と、第１のリンク部材の長手方向途中位置に設けられた第２の支承部との間、もしくは、当該支持部と第２のリンク部材との枢着位置から鉛直上方に離間して設けられた第１の支承部と、第２のリンク部材の長手方向途中位置に設けられた第２の支承部との間に掛け渡され、一方の端部がこれらの支承部の一方に回動自在に連結されているとともに、長手方向途中位置が他方の支承部に方向変換自在且つスライド自在に案内支持されている第１の連結体と、自然長から第１の支承部と第２の支承部間の距離に略等しい長さだけ弾性変位した状態で、第１連結体の他方の端部と、当該連結体端部のスライド方向に対する定位置との間に設けられ、その弾性復元力によって第１連結体を牽引付勢する第１の自重補償ばね要素と、前記サドルリンク部材と第４のリンク部材との枢着位置から鉛直下方に離間して設けられた第３の支承部と、第４のリンク部材の長手方向途中位置に設けられた第４の支承部との間、もしくは、当該サドルリンク部材と第３のリンク部材との枢着位置から鉛直下方に離間して設けられた第３の支承部と、第３のリンク部材の長手方向途中位置に設けられた第４の支承部との間に掛け渡され、一方の端部がこれらの支承部の一方に回動自在に連結されているとともに、長手方向途中位置が他方の支承部に方向変換自在且つスライド自在に案内支持されている第２の連結体と、自然長から第３の支承部と第４の支承部間の距離に略等しい長さだけ弾性変位した状態で、第２の連結体の他方の端部と、当該連結体端部のスライド方向に対する定位置との間に設けられ、その弾性復元力によって第２の連結体を牽引付勢する第２の自重補償ばね要素とを備えたものである。 The self-weight-compensated walking assist device of the present invention provided for the above purpose has a plurality of caster wheels, a base frame that can be moved in a desired direction by these caster wheels, and provided on the base frame A first link member, one end of which is pivotally mounted in a vertical plane, is disposed in parallel with the support portion, and is disposed in parallel above the first link member. The second link member pivotally mounted in the vertical plane, the other end of the first link member, and the other end of the second link member are pivotally mounted respectively. A relay link member provided so as to be capable of translational movement in a vertical plane with respect to the frame; and a third link member having one end pivotally attached to the relay link member so as to be rotatable in the vertical plane; , Arranged in parallel above the third link member, and one end of the relay link member is in a vertical plane. The relay link member pivotally attached to the fourth link member pivotally attached to the other end of the third link member and the other end of the fourth link member, respectively. The saddle link member is provided so as to be capable of translational movement in the vertical plane, and the saddle link member having a saddle fixed to the upper end, and the support portion and the first link member are spaced vertically upward from each other. Between the first support part and the second support part provided in the midway in the longitudinal direction of the first link member, or vertically upward from the pivot position between the support part and the second link member It spans between the 1st support part provided in the space | interval, and the 2nd support part provided in the longitudinal direction middle position of the 2nd link member, and one edge part is these support parts. It is pivotally connected to one side, and its midway in the longitudinal direction is closer to the other bearing A first connection body that is guided and supported so as to be convertible and slidable, and the first connection in a state in which it is elastically displaced from the natural length by a length substantially equal to the distance between the first support part and the second support part. A first self-weight compensating spring element provided between the other end of the body and a fixed position with respect to the sliding direction of the end of the connecting body and pulling and biasing the first connecting body by its elastic restoring force; A third support portion provided vertically downward from the pivot position of the saddle link member and the fourth link member, and a fourth support portion provided at a midway position in the longitudinal direction of the fourth link member. Or a third support portion provided vertically downward from the pivotally attached position of the saddle link member and the third link member, and provided at a position in the longitudinal direction of the third link member. Between one end and the other end. A second connecting body that is pivotally connected to one of the support portions and has a midway in the longitudinal direction guided and supported by the other support portion so as to be freely changeable in direction and slidable. The other end of the second connecting body and a fixed position with respect to the sliding direction of the end of the connecting body in a state of being elastically displaced by a length substantially equal to the distance between the third supporting section and the fourth supporting section. And a second self-weight compensating spring element that pulls and biases the second coupling body by the elastic restoring force.

また、本発明の自重補償型歩行補助装置は、複数のキャスタ車輪を有し、これらのキャスタ車輪により所望の方向に移動可能な台枠と、前記台枠に設けられた支持部に、一方の端部が鉛直面内で回動自在に枢着された第１のリンク部材と、第１のリンク部材の上方に平行に配置され、前記支持部に一方の端部が鉛直面内で回動自在に枢着された第２のリンク部材と、第１のリンク部材の他方の端部と第２のリンク部材の他方の端部にそれぞれ回動自在に枢着されて、台枠に対して鉛直面内で並進運動可能に設けられた中継リンク部材と、前記中継リンク部材に一方の端部が鉛直面内で回動自在に枢着された第３のリンク部材と、第３のリンク部材の上方に平行に配置され、当該中継リンク部材に一方の端部が鉛直面内で回動自在に枢着された第４のリンク部材と、第３のリンク部材の他方の端部と第４のリンク部材の他方の端部にそれぞれ回動自在に枢着されて、前記中継リンク部材に対して鉛直面内で並進運動可能に設けられ、上端にサドルが固定されたサドルリンク部材と、
前記中継リンク部材と第１のリンク部材との枢軸に第１のリンク部材と一体に回動するように組み込まれた第１の歯車部材と、前記中継リンク部材と第４のリンク部材との枢軸に第４のリンク部材と一体に回動するとともに、第１の歯車部材と噛み合い、第１のリンク部材及び第２のリンク部材の水平方向に対する傾斜角と、第３のリンク部材及び第４のリンク部材の水平方向に対する傾斜角とを常に等しくなるように連動させる第２の歯車部材と、前記支持部と第１のリンク部材との枢着位置から鉛直上方に離間して設けられた第１の支承部と、第１のリンク部材の長手方向途中位置に設けられた第２の支承部との間、もしくは、当該支持部と第２のリンク部材との枢着位置から鉛直上方に離間して設けられた第１の支承部と、第２のリンク部材の長手方向途中位置に設けられた第２の支承部との間に掛け渡され、一方の端部がこれらの支承部の一方に回動自在に連結されているとともに、長手方向途中位置が他方の支承部に方向変換自在且つスライド自在に案内支持されている連結体と、自然長から第１の支承部と第２の支承部間の距離に略等しい長さだけ弾性変位した状態で、前記連結体の他方の端部と、当該連結体端部のスライド方向に対する定位置との間に設けられ、その弾性復元力によって前記連結体を牽引付勢する自重補償ばね要素とを備えたものである。 In addition, the self-weight-compensated walking assist device of the present invention has a plurality of caster wheels, and a support frame provided on the support frame and one of the support frames provided on the support frame. The first link member pivotally attached to the end in a vertical plane and the first link member are arranged in parallel above the first link member, and one end of the support portion rotates in the vertical plane. A second link member pivotally attached to the other end of the first link member and the other end of the second link member, and pivotally attached to the other end of the second link member. A relay link member provided in a vertical plane so as to be capable of translational movement; a third link member having one end pivotally attached to the relay link member in a vertical plane; and a third link member The one end of the relay link member is pivotally mounted in a vertical plane so as to be rotatable. The four link members, the other end of the third link member, and the other end of the fourth link member are pivotally attached to each other, and translate in a vertical plane with respect to the relay link member. A saddle link member provided movably and having a saddle fixed to the upper end;
A first gear member incorporated in a pivot of the relay link member and the first link member so as to rotate integrally with the first link member; and a pivot of the relay link member and the fourth link member The first link member and the fourth link member are rotated together with the first gear member, and the first link member and the second link member are inclined with respect to the horizontal direction, and the third link member and the fourth link member are engaged with each other. A second gear member that is interlocked so that the inclination angle of the link member with respect to the horizontal direction is always equal to each other, and a first gear that is vertically spaced from the pivot position between the support portion and the first link member. Between the support portion and the second support portion provided in the middle of the first link member in the longitudinal direction, or vertically apart from the pivot position between the support portion and the second link member. A first support section provided with a second phosphorus It spans between a second support part provided at a midway position in the longitudinal direction of the member, and one end is rotatably connected to one of these support parts, and the midway position in the longitudinal direction is In a state where the other support part is elastically displaced by a length substantially equal to the distance between the first support part and the second support part from a natural length and a connected body that is guided and supported so as to be slidable and changeable in direction. A self-compensation spring element provided between the other end of the connecting body and a fixed position in the sliding direction of the connecting body end and pulling and biasing the connecting body by its elastic restoring force It is.

本発明の自重補償型歩行装置においては、自重補償ばね要素が、自重補償マスタばねに連結されたピストンロッドを有する自重補償シリンダユニットのシリンダ本体と管路で連結されたシリンダ本体を有するとともに、前記自重補償マスタばねの弾性復元力が前記管路を通る作動流体を介して伝達されるピストンロッドを有する作動シリンダユニットで構成され、前記作動シリンダユニットは、そのシリンダ本体が一方の支承部を兼ねているとともに、そのピストンロッドが連結体を兼ねていることが望ましい。 In the self-weight compensation walking device of the present invention, the self-weight compensation spring element has a cylinder main body connected by a pipe line to a cylinder main body of a self-weight compensation cylinder unit having a piston rod connected to the self-weight compensation master spring, and It is composed of a working cylinder unit having a piston rod to which the elastic restoring force of the self-weight compensation master spring is transmitted through the working fluid passing through the pipe line, and the cylinder body of the working cylinder unit also serves as one support part. In addition, it is desirable that the piston rod also serves as a coupling body.

また、本発明の自重補償型歩行装置においては、リンク部材の長手方向途中位置に設けられている支承部の位置を、当該リンク部材の長手方向に沿って調整可能とすることが望ましく、また、サドルに乗り降りする際に、サドルを下降位置に保持しておくための固定手段を備えていることも望ましい。さらに、台枠を歩行動作に追随させるために、台枠前端部に手押しハンドルを設けたり、サドルに腰部を固定するための固定ベルトを設けることも望ましい。 Further, in the self-weight-compensated walking device of the present invention, it is desirable that the position of the support portion provided at the midway position in the longitudinal direction of the link member can be adjusted along the longitudinal direction of the link member. It is also desirable to have fixing means for holding the saddle in the lowered position when getting on and off the saddle. Further, in order to follow the walking movement of the underframe, it is desirable to provide a hand handle at the front end of the underframe or a fixing belt for fixing the waist to the saddle.

請求項１及び２に記載された発明に係る自重補償型歩行補助装置によれば、使用者の体重の大半がサドルに支えられるため、ひざ等に負担がかかることが無く、事故や病気によって歩行が困難な患者や、足腰の弱った高齢者であっても、足先で床面や路面を後方に軽く蹴り出すことにより、安定した姿勢で安全且つ容易に歩行動作を行うことができる。 According to the self-weight-compensated walking assist device according to the first and second aspects of the present invention, most of the weight of the user is supported by the saddle, so that there is no burden on the knee or the like, and walking due to an accident or illness. Even a patient who has difficulty in walking or an elderly person who has weak legs and legs, can gently and easily walk in a stable posture by gently kicking the floor or road surface backward with his toes.

また、体重を補償した状態でサドルが上下動可能であるため、歩行の途中で膝の屈伸動作を必要とする作業等も膝に負担をかけずに容易に行うことができる。さらに、怪我や病気等による歩行障害のリハビリテーション用具として使用することもできる。 In addition, since the saddle can move up and down in a state where the weight is compensated, an operation that requires a knee bending and stretching operation during walking can be easily performed without placing a burden on the knee. Furthermore, it can also be used as a rehabilitation tool for gait disturbance due to injury or illness.

さらに、請求項２に記載された発明に係る自重補償型歩行補助装置によれば、一組の連結体とこれを牽引付勢する自重補償ばね要素のみによって使用者の体重とサドルや各リンク部材の重量を補償することが可能であるため、可動部品の数を減らして構造を簡略化することができる。 Further, according to the self-weight-compensated walking assist device according to the second aspect of the present invention, the user's weight, saddle, and each link member can be obtained only by a set of connected bodies and a self-weight-compensating spring element that pulls and biases the connected body. Therefore, the structure can be simplified by reducing the number of moving parts.

請求項３に記載された発明に係る自重補償型歩行補助装置によれば、自重補償ばね要素のばね定数を、作動シリンダユニットのピストンロッドと自重補償シリンダユニットのピストンロッドの受圧面積比を選択することによって、幅広い範囲で選択することができ、設計の自由度を高めることができる。 According to the self-weight-compensated walking assist device according to the third aspect of the present invention, the spring constant of the self-weight compensating spring element is selected as the pressure receiving area ratio between the piston rod of the working cylinder unit and the piston rod of the self-weight compensating cylinder unit. Thus, a wide range can be selected, and the degree of design freedom can be increased.

また、作動シリンダユニットのシリンダ本体と自重補償シリンダユニット本体とを連結する管路の途中に開閉弁や絞りを組み込んでサドルの上下移動を拘束したり、移動速度を制限する機能を簡単に付加することができる。 In addition, an on-off valve or throttle is incorporated in the middle of the pipe connecting the cylinder body of the operating cylinder unit and the self-weight compensation cylinder unit body, and functions such as restricting the vertical movement of the saddle or limiting the movement speed can be easily added. be able to.

請求項４に記載された発明に係る自重補償型歩行補助装置によれば、自重補償ばね要素の弾性復元力によって体重が作用していない場合にサドルが上昇してしまうことを防止し、サドルへの乗り降りを容易に行うことができる。 According to the self-weight-compensated walking assist device according to the fourth aspect of the present invention, the saddle is prevented from rising when the body weight is not acting due to the elastic restoring force of the self-weight-compensating spring element. You can easily get on and off.

請求項５に記載された発明に係る自重補償型歩行補助装置によれば、使用者に適合した補償力が得られるように容易に調整することができる。特に、本装置を歩行障害のリハビリテーション用具として用いる場合は、リハビリテーションの進捗の程度に応じて補償力を弱めていくことが可能であり、リハビリテーションの効果をより高めることができる。 According to the self-weight-compensated walking assist device according to the fifth aspect of the present invention, it can be easily adjusted so that a compensation force suitable for the user can be obtained. In particular, when this device is used as a rehabilitation tool for walking disorders, the compensation force can be weakened according to the progress of rehabilitation, and the rehabilitation effect can be further enhanced.

請求項６に記載された発明に係る自重補償型歩行補助装置によれば、使用者が手押しハンドルにつかまって台枠とともに移動できるため、怪我や病気、あるいは高齢により、歩行が著しく困難な場合でもより安全で安定した歩行動作を行うことができる。 According to the self-compensation type walking assist device according to the invention described in claim 6, since the user can move with the frame by holding the hand handle, even if walking is extremely difficult due to injury, illness, or age. A safer and more stable walking motion can be performed.

請求項７に記載された発明に係る自重補償型歩行補助装置によれば、使用者は、腰部を固定ベルトでサドルに固定することで両手を自由に使うことができ、サドルに跨った状態で様々な作業を安全且つ容易に行うことができる。 According to the self-weight-compensated walking assist device according to the invention described in claim 7, the user can freely use both hands by fixing the waist portion to the saddle with the fixing belt, and in a state straddling the saddle Various operations can be performed safely and easily.

本発明に係る自重補償型歩行補助装置の１実施形態を示す斜視図である。1 is a perspective view showing an embodiment of a self-weight-compensated walking assist device according to the present invention. 図１に示す自重補償型歩行補助装置の概略構造を示す側面図である。It is a side view which shows schematic structure of the self-weight-compensation type walking assistance apparatus shown in FIG. 図１に示す自重補償型歩行補助装置に用いられている自重補償機構の基本構造を説明する図である。It is a figure explaining the basic structure of the self-weight compensation mechanism used for the self-weight-compensation type walking assistance apparatus shown in FIG. 図３に示す自重補償機構の動作原理を説明する図である。It is a figure explaining the principle of operation of the self-weight compensation mechanism shown in FIG. 本発明の自重補償型歩行補助装置に適用される補償力調整機構の１例を示す概略側面図である。It is a schematic side view which shows an example of the compensation force adjustment mechanism applied to the self-weight compensation type walking assistance apparatus of this invention. 本発明の自重補償型歩行補助装置に適用される補償力調整機構の別の例を示す概略側面図である。It is a schematic side view which shows another example of the compensation force adjustment mechanism applied to the self-weight compensation type walking assist device of this invention. 本発明に係る自重補償型歩行補助装置の別の実施形態を示す斜視図である。It is a perspective view which shows another embodiment of the self-weight-compensated walking assist device according to the present invention. 図７に示す自重補償型歩行補助装置の概略構造を示す側面図である。It is a side view which shows schematic structure of the self-weight compensation type | mold walk assistance apparatus shown in FIG. 本発明に係る自重補償型歩行補助装置のさらに別の実施形態における概略構造を示す側面図である。It is a side view which shows the schematic structure in another embodiment of the self-weight-compensation type walking assistance apparatus which concerns on this invention. 本発明に係る自重補償型歩行補助装置のさらに別の実施形態における概略構造を示す側面図である。It is a side view which shows the schematic structure in another embodiment of the self-weight-compensation type walking assistance apparatus which concerns on this invention.

以下、本発明の実施形態について図面を参照して説明する。図１は、本発明に係る自重補償型歩行補助装置（以下、簡略に歩行補助装置という。）の１実施形態を示す斜視図であって、同図に示す歩行補助装置１は、複数のキャスタ車輪２で床面や路面の上を移動可能に支持された台枠３を有している。 Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view showing an embodiment of a self-weight-compensated walking assist device (hereinafter simply referred to as a walking assist device) according to the present invention. The walking assist device 1 shown in FIG. 1 includes a plurality of casters. It has a frame 3 supported by wheels 2 so as to be movable on the floor or road surface.

前記台枠３の前端部には、上端の水平部分に使用者が両手で掴まって当該台枠３を手押し移動させるための略逆Ｕ字形の手押しハンドル４が設けられている。また、図２は、歩行補助装置１の概略構造を示す側面図であって、同図においては、構造を分かり易くするため、台枠３の幅方向中央位置における垂直面に視点を置いた図として描いてある。 A substantially inverted U-shaped push handle 4 is provided at the front end of the frame 3 so that the user can hold the frame 3 with both hands by holding it in the horizontal portion at the upper end. FIG. 2 is a side view showing a schematic structure of the walking assist device 1. In FIG. 2, in order to make the structure easy to understand, the viewpoint is placed on the vertical plane at the center position in the width direction of the frame 3. It is drawn as.

図２に示すように、台枠３は、その前方中央部に左右一対の柱状の支持部５を有していて、その下方部分には、第１のリンク部材６の一方の端部が枢軸７回りに回動自在に連結されている。また、支持部５には、枢軸７の鉛直上方に離間した枢軸８回りに第２のリンク部材９の一方の端部が回動自在に連結されている。 As shown in FIG. 2, the underframe 3 has a pair of left and right columnar support portions 5 at the front center portion thereof, and one end portion of the first link member 6 is pivoted at a lower portion thereof. It is connected so as to be able to rotate around 7 turns. In addition, one end portion of the second link member 9 is rotatably connected to the support portion 5 around a pivot 8 that is spaced vertically above the pivot 7.

第１のリンク部材６と第２のリンク部材９は、長さが等しく略同一形状であり、それぞれ左右一対の支持部５（図２では片方の支持部５のみ図示）間において、左右で軸線を一致して一対ずつ設けられた枢軸７と枢軸８によって両側から枢支されている。 The first link member 6 and the second link member 9 are equal in length and have substantially the same shape, and each has an axial line between the pair of left and right support portions 5 (only one support portion 5 is shown in FIG. 2). Are pivotally supported from both sides by a pivot 7 and a pivot 8 provided in pairs.

また、図２では省略してあるが、これらのリンク部材６、９はそれぞれ、図１に示すように両端付近は左右に二股に分かれているが、長手方向中央部付近は連結部６Ａ、９Ａによって一体に連結された構造となっている。 Although not shown in FIG. 2, these link members 6 and 9 are divided into bifurcated left and right portions at both ends as shown in FIG. 1, but the connecting portions 6A and 9A are located near the center in the longitudinal direction. It is the structure connected by one.

また、図２に示すように、第１のリンク部材６の他方の端部は、中継リンク部材１０の下端部に対して枢軸１１で回動自在に連結されているとともに、第２のリンク部材９の他方の端部は、この中継リンク部材１０の上端部に対して枢軸１２で回動自在に連結されている。 Further, as shown in FIG. 2, the other end of the first link member 6 is pivotally connected to the lower end of the relay link member 10 by a pivot 11, and the second link member. The other end portion of 9 is connected to the upper end portion of the relay link member 10 so as to be rotatable by a pivot 12.

台枠３に設けられた支持部５、第１のリンク部材６、第２のリンク部材９、及び、中継リンク部材１０は、支持部５を固定リンクとして鉛直面内で運動可能な第１の平行リンク機構ＰＬ１を構成している。 The support portion 5, the first link member 6, the second link member 9, and the relay link member 10 provided on the frame 3 are the first movable in the vertical plane using the support portion 5 as a fixed link. The parallel link mechanism PL1 is configured.

また、中継リンク部材１０の下端部には、第３のリンク部材１３の一方の端部が前記枢軸１１によって回動自在に連結されている。また、中継リンク部材１０の上端部には、第４のリンク部材１４の一方の端部が枢軸１２によって回動自在に連結されている。 In addition, one end portion of the third link member 13 is rotatably connected to the lower end portion of the relay link member 10 by the pivot 11. In addition, one end of the fourth link member 14 is rotatably connected to the upper end of the relay link member 10 by the pivot 12.

さらに、第３のリンク部材１３の他方の端部は、上端に使用者が跨るサドル１５が固定されているサドルリンク部材１６の下端部と、枢軸１７で回動自在に連結されているとともに、第４のリンク部材１４の他方の端部は、前記サドルリンク部材１６に枢軸１８で回動自在に連結されている。 Further, the other end portion of the third link member 13 is rotatably connected to the lower end portion of the saddle link member 16 to which the saddle 15 straddling the user is fixed at the upper end by the pivot shaft 17. The other end of the fourth link member 14 is rotatably connected to the saddle link member 16 by a pivot 18.

第３のリンク部材１３と第４のリンク部材１４は、長さが等しく略同一形状であり、中継リンク部材１０、第３のリンク部材１３、第４のリンク部材１４、及び、サドルリンク部材１６の４つのリンク部材は、鉛直面内で運動可能な第２の平行リンク機構ＰＬ２を構成している。 The third link member 13 and the fourth link member 14 have the same length and substantially the same shape, and the relay link member 10, the third link member 13, the fourth link member 14, and the saddle link member 16. The four link members constitute a second parallel link mechanism PL2 that can move in a vertical plane.

前述したように、第１の平行リンク機構ＰＬ１と第２の平行リンク機構ＰＬ２は、中継リンク部材１０を共通のリンク部材として連結されているため、サドル１５は、台枠３に対して常に一定の姿勢を保って、上下方向と前後方向を含む鉛直面内で並進移動が可能となっている。 As described above, since the first parallel link mechanism PL1 and the second parallel link mechanism PL2 are connected with the relay link member 10 as a common link member, the saddle 15 is always constant with respect to the frame 3. Thus, translational movement is possible in a vertical plane including the vertical direction and the front-rear direction.

本実施形態の歩行補助装置１においては、その使用者が図１に示すようにサドル１５に載った状態で、サドル１５の前後・上下位置に関係なく使用者の体重を補償するために、
これらの平行リンク機構ＰＬ１、ＰＬ２にはそれぞれ第１自重補償機構ＧＣ１と第２自重補償機構ＧＣ２が連結されている。 In the walking assistance device 1 of the present embodiment, in order to compensate the weight of the user regardless of the front / rear / vertical position of the saddle 15 in a state where the user is placed on the saddle 15 as shown in FIG.
A first self-weight compensation mechanism GC1 and a second self-weight compensation mechanism GC2 are connected to the parallel link mechanisms PL1 and PL2, respectively.

第１自重補償機構ＧＣ１は、図３に示すように、作動シリンダユニット１９と自重補償シリンダユニット２０、及び、両者を連結する屈曲自在な管路２１から構成されている。第１作動シリンダユニット１９は、ロッド側端部近傍を枢軸７の鉛直上方に位置する枢軸８に回動自在に支持されているシリンダ本体１９Ａと、そのロッド側端部から進退自在に突出して先端部が第１のリンク部材６の長手方向途中位置に枢軸２２で回動自在に連結されているピストンロッド１９Ｂを備えている。 As shown in FIG. 3, the first self-weight compensation mechanism GC1 includes an operating cylinder unit 19, a self-weight compensation cylinder unit 20, and a bendable pipe line 21 that connects the two. The first working cylinder unit 19 has a cylinder main body 19A that is rotatably supported by a pivot 8 positioned vertically above the pivot 7 in the vicinity of the rod side end, and protrudes forward and backward from the rod side end. The portion includes a piston rod 19 B that is pivotally connected to the middle position in the longitudinal direction of the first link member 6 by a pivot 22.

前記ピストンロッド１９Ｂは、シリンダ本体１９Ａ内に嵌挿されている図示しないピストンと一体に連結されている。また、シリンダ本体１９Ａのロッド側ポートＰ１は、図１及び図２に示すように、台枠３の前端に固定されている自重補償シリンダユニット２０（図３では、説明の都合上、台枠３と別に図示してある。）のシリンダ本体２０Ａのロッド側ポートＰ１と管路２１で連結されている。 The piston rod 19B is integrally connected to a piston (not shown) fitted in the cylinder body 19A. Further, as shown in FIGS. 1 and 2, the rod side port P1 of the cylinder body 19A has a self-weight compensation cylinder unit 20 fixed to the front end of the frame 3 (in FIG. 3, for the convenience of description, the frame 3 And is connected to the rod side port P1 of the cylinder main body 20A by a pipe line 21).

シリンダ本体２０Ａ内にはピストン２０Ｂが嵌挿されており、これに一体に連結されたピストンロッド２０Ｃが、シリンダ本体２０Ａのロッド側端部からその外部上方に進退自在に突出している。 A piston 20B is fitted in the cylinder body 20A, and a piston rod 20C integrally connected thereto projects from the rod side end of the cylinder body 20A so as to freely advance and retreat.

前記ピストンロッド２０Ｃの上端には鍔状のばね受部２０Ｄが形成されていて、当該ピストンロッド２０Ｃには、シリンダ本体２０Ａの上端面と前記ばね受部２０Ｄとの間に圧縮コイルばねからなる自重補償マスタばね２０Ｅが所定量圧縮変形された状態で組み込まれている。 A flange-shaped spring receiving portion 20D is formed at the upper end of the piston rod 20C, and the piston rod 20C has its own weight consisting of a compression coil spring between the upper end surface of the cylinder body 20A and the spring receiving portion 20D. The compensation master spring 20E is incorporated in a state of being compressed and deformed by a predetermined amount.

作動シリンダユニット１９のシリンダ本体１９Ａのロッド側の内部空間と自重補償シリンダユニット２０のシリンダ本体２０Ａのロッド側の内部空間、ならびに、これらの間を連通している管路２１内には作動流体として、油等の非圧縮性流体が満たされており、一方、シリンダ本体１９のヘッド側の内部空間とシリンダ本体２０Ａのヘッド側の内部空間は、それぞれヘッド側ポート（図示せず）を通じて大気中に開放されている。 As a working fluid, an internal space on the rod side of the cylinder main body 19A of the working cylinder unit 19 and an internal space on the rod side of the cylinder main body 20A of the self-weight compensation cylinder unit 20 and the pipe line 21 communicating between them are provided. On the other hand, the inner space on the head side of the cylinder body 19 and the inner space on the head side of the cylinder body 20A are each in the atmosphere through a head side port (not shown). It is open.

ここで、作動シリンダユニット１９のシリンダ本体１９Ａ内に嵌挿されている図示しないピストンのロッド側受圧面積をＳ１、自重補償シリンダユニット２０のシリンダ本体２０Ａ内に嵌挿されているピストン２０Ｂのロッド側受圧面積をＳ２とすると、作動シリンダユニット１９のピストンロッド１９Ｂの伸長方向の変位は、管路２１を流れる油等の非圧縮性流体を介して自重補償シリンダユニット２０のピストンロッド２０ＣにそのＳ１／Ｓ２倍の収縮方向の変位として伝達される。 Here, the rod-side pressure receiving area of a piston (not shown) fitted in the cylinder body 19A of the working cylinder unit 19 is S1, and the rod side of the piston 20B fitted in the cylinder body 20A of the self-weight compensation cylinder unit 20 is S1. Assuming that the pressure receiving area is S2, the displacement of the piston rod 19B of the working cylinder unit 19 in the extension direction is applied to the piston rod 20C of the self-weight compensating cylinder unit 20 via the incompressible fluid such as oil flowing through the pipe 21. It is transmitted as a displacement in the contraction direction of S2 times.

そこで、自重補償マスタばね２０Ｅを、その自然長より枢軸８と枢軸２２の中心位置間の距離ＬｓのＳ１／Ｓ２倍の長さだけあらかじめ圧縮変形させて、シリンダ本体２０Ａの上端面と前記ばね受部２０Ｄとの間に組み込んでおくことで、作動シリンダユニット１９は、自重補償マスタばね２０Ｅのばね定数をＫとすると、ｋ＝（Ｓ１／Ｓ２）^２Ｋのばねと等価な自重補償ばね要素として、前記距離Ｌｓに比例した反発力を発生させることができる。 Therefore, the self-weight compensating master spring 20E is preliminarily compressed and deformed by a length that is S1 / S2 times the distance Ls between the center positions of the pivot 8 and the pivot 22 from its natural length, and the upper end surface of the cylinder body 20A and the spring receiver are compressed. As a result of being incorporated in between the part 20D and the cylinder unit 19 as a self-weight compensation spring element equivalent to a spring of k = (S1 / S2) ² K, where K is the spring constant of the self-weight compensation master spring 20E. A repulsive force proportional to the distance Ls can be generated.

図４は、図３に示す自重補償機構ＧＣ１の動作原理を説明する図であって、前記自重補償機構ＧＣ１は、図４において、連結体Ｃとこれを牽引付勢する自重補償ばね要素ＳＰによって模式的に表現してある。 FIG. 4 is a diagram for explaining the operation principle of the self-weight compensation mechanism GC1 shown in FIG. 3, and the self-weight compensation mechanism GC1 is shown in FIG. 4 by the connecting body C and the self-weight compensation spring element SP that pulls and biases the connector C. It is schematically represented.

前記連結体Ｃは、その長手方向途中位置を支承部Ｊ１でＡ点回りに方向変換自在、且つスライド自在に案内支持されており、且つ一方の端部をＢ点に設けられたもう一つの支承部Ｊ２で第１のリンク部材の長手方向途中位置Ｂ点に設けられた支承部Ｊ２に回動自在に連結されている。 The connecting body C is supported by a support portion J1 so that its direction can be changed around the point A and slidably supported by the support portion J1, and one end portion is provided at the B point. The part J2 is rotatably connected to a support part J2 provided at a point B in the longitudinal direction of the first link member.

また、図４において、Ｏ点は、第１のリンク部材６の枢軸７の中心位置を表しており、角度θは、第１のリンク部材６の水平方向Ｘに対する傾斜角を表している。また、Ａ点は、支持部５に対するシリンダ本体１９Ａの揺動支点となっている枢軸８の中心位置を表しており、Ｏ点から鉛直方向Ｙ上方に距離ｈだけ離間している。さらに、Ｂ点は、ピストンロッド１９Ｂ先端と第１のリンク部材６とを連結している枢軸２２の中心位置であって、Ｌｓは、Ａ点とＢ点間の距離である。 In FIG. 4, the point O represents the center position of the pivot 7 of the first link member 6, and the angle θ represents the inclination angle of the first link member 6 with respect to the horizontal direction X. Point A represents the center position of the pivot 8 that is the pivot point of the cylinder body 19 A relative to the support portion 5, and is separated from the point O by a distance h above the vertical direction Y. Further, point B is the center position of the pivot 22 connecting the tip of the piston rod 19B and the first link member 6, and Ls is the distance between the points A and B.

また、図４において、Ｇ点は、第１のリンク部材６の上端に枢軸１１を介して作用する中継リンク１０や第３のリンク部材１３から受ける荷重（サドル１５に着座した使用者の体重も含まれる。）と、第１のリンク部材６の自重を合わせた合計荷重Ｗが作用する仮想的な点であり、また、Ｌは、Ｏ点とＧ点間の距離である。 Further, in FIG. 4, point G indicates a load received from the relay link 10 or the third link member 13 acting on the upper end of the first link member 6 via the pivot 11 (the weight of the user seated on the saddle 15 is also the weight). ) And a virtual point where the total load W including the weight of the first link member 6 is applied, and L is a distance between the O point and the G point.

ここで、連結体Ｃ（本発明における第１の連結体）は、作動シリンダユニット１９のピストンロッド１９Ｂがその機能を兼ねており、また、支承部Ｊ１は、シリンダ本体１９Ａがその機能を兼ねている。さらに、支承部Ｊ２は、枢軸２２がその機能を有している。 Here, in the connecting body C (first connecting body in the present invention), the piston rod 19B of the working cylinder unit 19 also serves as its function, and in the support portion J1, the cylinder body 19A serves as its function. Yes. Further, in the support portion J2, the pivot 22 has its function.

また、作動シリンダユニット１９は、自然長より長さＬｓだけ圧縮変形されて前記連結体Ｃの他方の端部と支承部Ｊ１との間に組み込まれている、ばね定数ｋの自重補償ばね要素ＳＰの機能を有している。 Further, the working cylinder unit 19 is compressed and deformed by a length Ls from the natural length and incorporated between the other end of the coupling body C and the support portion J1, and the self-weight compensating spring element SP having a spring constant k. It has the function of

ここで、第１のリンク部材６に前記合計荷重Ｗによって作用するＯ点回りの負荷トルクτ_Ｗは下記のようになる。
τ_Ｗ＝ＷＬｃｏｓθ （１） Here, the load torque τ _W around the point O acting on the first link member 6 by the total load W is as follows.
τ _W = WL cos θ (1)

一方、前記自重補償ばね要素ＳＰは、その自然長よりＡ点とＢ点間の距離Ｌ_Ｓに等しい距離だけ弾性変位されているため、そのばね定数をｋとすると、連結体Ｃには自重補償ばね要素ＳＰの復元力ｋＬ_Ｓが引っ張り力Ｔとして作用している。 On the other hand, the self-weight compensating spring element SP is elastically displaced by a distance equal to the distance L _S between the point A and the point B due to its natural length. restoring force kL _S of the spring element SP is acting as a tensile force T.

その結果、前記引っ張り力Ｔによって、第１のリンク部材６にはＯ点回りに次の（２）式で示す補償トルクτ_Ｓが発生している。
τ_Ｓ＝ｈＴｓｉｎφ＝ｈｋＬ_Ｓｓｉｎφ （２） As a result, due to the pulling force T, the first link member 6 generates a compensation torque τ _S represented by the following equation (2) around the point O.
τ _S = hTsinφ = hkL _S sinφ (2)

また、図４から明らかなように、φとθとの間にはＯ点とＢ点間の距離をｐとすると、下記の関係が成立する。
Ｌ_Ｓｓｉｎφ＝ｐｃｏｓθ （３）
そこで、前記（２）と（３）の式からφを消去すると、
τ_Ｓ＝ｋｐｈｃｏｓθ （４） As is clear from FIG. 4, the following relationship is established between φ and θ, where the distance between point O and point B is p.
L _S sinφ = pcosθ (3)
Therefore, if φ is eliminated from the equations (2) and (3),
τ _S = kph cos θ (4)

ここで、補償トルクτ_Ｓは負荷トルクτ_Ｗと向きが反対であり、（１）式と（４）式の関係から、ばね定数ｋを（５）式のように選択すれば、第１のリンク部材６の角度θに関係なく、第１のリンク部材６に作用するＯ点回りに作用するトルクを０とする荷重補償が可能となる。
ｋ＝ＷＬ／ｐｈ（５） Here, the direction of the compensation torque τ _S is opposite to that of the load torque τ _{W. From} the relationship between the equations (1) and (4), if the spring constant k is selected as in the equation (5), the first Regardless of the angle θ of the link member 6, it is possible to perform load compensation in which the torque acting around the point O acting on the first link member 6 is zero.
k = WL / ph (5)

ここで、（５）式から明らかなように、ｐやｈを変化させることによって、様々な大きさの荷重Ｗに対応させることができる。図５及び図６は、それぞれ上式のｐの値を変化させる調整機構を例示したもので、図５に示すものは、図４におけるＢ点の位置をリンク部材の長手方向に形成した長孔ＬＨに沿って移動可能とし、ターンバックルＴＢによって位置調整を行えるようにしたものである。また、図６に示すものは、Ｂ点の位置をリンク部材の長手方向に沿って設けた複数の孔Ｈに差し替えることによって、段階的な位置調整を可能としたものである。 Here, as apparent from the equation (5), it is possible to deal with loads W of various magnitudes by changing p and h. 5 and 6 each illustrate an adjustment mechanism that changes the value of p in the above equation. FIG. 5 shows an elongated hole in which the position of point B in FIG. 4 is formed in the longitudinal direction of the link member. It can be moved along the LH, and the position can be adjusted by the turnbuckle TB. In addition, what is shown in FIG. 6 enables stepwise position adjustment by replacing the position of point B with a plurality of holes H provided along the longitudinal direction of the link member.

また、第２自重補償機構ＧＣ２は、前述した第１自重補償機構ＧＣ１と同じ構造であり、図１もしくは図２に示す作動シリンダユニット２３と、自重補償シリンダユニット２４、及び、両者を連結する屈曲自在な管路２５から構成されている。 The second self-weight compensation mechanism GC2 has the same structure as the first self-weight compensation mechanism GC1 described above, and the working cylinder unit 23 shown in FIG. 1 or FIG. 2, the self-weight compensation cylinder unit 24, and a bend connecting the two. It is composed of a flexible pipe 25.

図２に示すように、作動シリンダユニット２３は、ロッド側端部近傍を枢軸１８の鉛直下方に位置する枢軸１７に回動自在に支持されているシリンダ本体２３Ａと、そのロッド側端部から進退自在に突出して先端部が第４のリンク部材１４の長手方向途中位置に枢軸２６で回動自在に連結されているピストンロッド２３Ｂを備えている。 As shown in FIG. 2, the working cylinder unit 23 includes a cylinder body 23 A that is rotatably supported by a pivot 17 positioned vertically below the pivot 18 in the vicinity of the rod side end, and a forward and backward movement from the rod side end. A piston rod 23 B that protrudes freely and is pivotally connected to a middle position in the longitudinal direction of the fourth link member 14 by a pivot 26 is provided.

前記ピストンロッド２３Ｂは、本発明における第２の連結体としての機能を兼ねており、中継リンク部材１０に枢軸１２で連結されている第４のリンク部材１４に対して、この枢軸１２回りに、図２において時計方向の補償トルクを作用させて、第３のリンク部材１３、サドルリンク１６、着座した使用者の体重を含めたサドル１５等の重量や、第４のリンク部材１４の自重を合わせた荷重によって同枢軸１２回りに生じる負荷トルクを補償する。 The piston rod 23B also has a function as a second connecting body in the present invention, and the fourth link member 14 connected to the relay link member 10 by the pivot 12 is arranged around the pivot 12. In FIG. 2, the compensation torque in the clockwise direction is applied to match the weight of the third link member 13, the saddle link 16, the saddle 15 including the weight of the seated user, and the weight of the fourth link member 14. The load torque generated around the pivot shaft 12 by the applied load is compensated.

本実施形態の歩行補助装置１においては、使用者は、起立姿勢に近い姿勢でサドル１５に跨って体重を支えられた状態で手押しハンドル４につかまり、足を床面ないし路面に着地させて動かすことにより、台枠３とともに容易に移動することができる。 In the walking assist device 1 of the present embodiment, the user holds the weight on the saddle 15 in a posture close to a standing posture, and moves the user while landing the foot on the floor surface or road surface while supporting the weight. Thus, it can be easily moved together with the underframe 3.

なお、第１自重補償機構ＧＣ１及び第２自重補償機構ＧＣ２からサドル１５に作用する上向きの補償力は、サドル１５に跨ったときに、足が床面や路面から浮き上がって歩行動作に支障が生じない程度に、使用者の体重よりやや小さめに設定しておく。 The upward compensation force acting on the saddle 15 from the first weight compensation mechanism GC1 and the second weight compensation mechanism GC2 causes the foot to lift from the floor surface or the road surface when the saddle 15 is straddled. Set it slightly lower than the weight of the user.

使用者が膝を屈伸すると、サドル１５は一定の補償力で使用者を支えつつ使用者の動きに追従するため、使用者は、起立姿勢で膝を屈伸して行う作業等も膝に負担をかけずに容易に行うことができる。 When the user bends and stretches the knee, the saddle 15 follows the movement of the user while supporting the user with a certain compensation force. It can be done easily without spending time.

なお、サドル１５に体重をかけていない状態では、自重補償装置ＧＣ１、ＧＣ２が機能していると、サドル１５が補償力で上昇してしまうため、使用者の乗り降りを容易にするために、サドル１５を下降させた位置で保持しておく固定手段を設けておくことが望ましい。 In the state where the weight is not applied to the saddle 15, if the self-weight compensation devices GC1 and GC2 are functioning, the saddle 15 will be raised by the compensation force. It is desirable to provide fixing means for holding 15 at the lowered position.

前記固定手段は、機械的な係止機構で実現可能であるが、本実施形態のものにおいては、管路２１と管路２５の途中に開閉弁を組込んでこれらの中を通過する作動流体を遮断することで、前記固定手段を簡単に実現することができる。また、これらの管路２１、２５の途中に絞り要素を組み込むことによって、サドル１５の急激な跳ね上がりを防ぐことができる。 The fixing means can be realized by a mechanical locking mechanism. However, in the present embodiment, a working fluid that incorporates an open / close valve in the middle of the pipe line 21 and the pipe line 25 and passes through these valves is provided. By shutting off, the fixing means can be easily realized. Further, by incorporating a throttle element in the middle of the pipes 21 and 25, it is possible to prevent the saddle 15 from rapidly jumping up.

次に、図７は、本発明に係る自重補償型歩行補助装置の別の実施形態を示す斜視図、図８はその概略構造を示す側面図であって、本実施形態の歩行補助装置１Ａは、前述した歩行補助装置１から手押しハンドル４を省くとともに、サドル１５に使用者の腰部を固定するための固定ベルト２７を付設し、さらに、台枠３の前後の向きを逆にしたものである。なお、その他の部分については、前述した歩行補助装置１と同一の構造である。 Next, FIG. 7 is a perspective view showing another embodiment of the self-weight-compensated walking assist device according to the present invention, FIG. 8 is a side view showing a schematic structure thereof, and the walking assist device 1A of the present embodiment is The push handle 4 is omitted from the walking assist device 1 described above, a fixing belt 27 for fixing the user's waist is attached to the saddle 15, and the front and rear directions of the frame 3 are reversed. . In addition, about another part, it is the same structure as the walk assistance apparatus 1 mentioned above.

本実施形態のものにおいては、使用者の腰部が固定ベルト７でサドル１５に確実に固定されるので、両手を自由に使うことができ、サドルに跨った状態で様々な作業を安全且つ容易に行うことができる。 In the present embodiment, the user's waist is securely fixed to the saddle 15 by the fixing belt 7, so that both hands can be used freely, and various operations can be performed safely and easily while straddling the saddle. It can be carried out.

また、本実施形態のものにおいては、前述した歩行補助装置１のように手押しハンドル４を有していないため、使用者が歩行移動する場合には、使用者の動きに合わせて介助者が台枠３を押して移動させるか、あるいは、使用者自身が腰に固定されたサドル１５を介して台枠３を牽引移動させる。 Further, in the present embodiment, since the walking assist device 1 does not have the hand pushing handle 4 as described above, when the user walks and moves, the assistant is placed in accordance with the movement of the user. The frame 3 is pushed and moved, or the user himself / herself pulls and moves the frame 3 through the saddle 15 fixed to the waist.

なお、サドル１５は、第２の平行リンク機構ＰＬ２と第１の平行リンク機構ＰＬ１を介して台枠３に連結されており、台枠３に対しては、上下方向と前後方向の２方向に自由に移動できるので、使用者自身で台枠３を牽引移動させる際には、これらの平行リンク機構の何れか一方を無可動にするためのリンク固定手段を設ける必要がある。 The saddle 15 is connected to the frame 3 via the second parallel link mechanism PL2 and the first parallel link mechanism PL1, and the vertical direction and the front-rear direction are two directions with respect to the frame 3. Since it can move freely, when the user pulls and moves the frame 3 by himself / herself, it is necessary to provide a link fixing means for making any one of these parallel link mechanisms non-movable.

前記リンク固定手段は、機械的な係止機構によって実現することもできるが、先述したように、サドル１５を下降位置で保持しておくための固定手段として管路２１と管路２５中に開閉弁を組み込んだ場合には、これらの一方の開閉弁をリンク固定手段に兼用し、これを遮断することにより簡単に実現することができる。 The link fixing means can be realized by a mechanical locking mechanism. However, as described above, the link fixing means is opened and closed in the pipe line 21 and the pipe line 25 as a fixing means for holding the saddle 15 in the lowered position. When a valve is incorporated, it can be easily realized by using one of these on-off valves as a link fixing means and blocking it.

また、図７に示すように、本実施形態の歩行補助装置１Ａにおいては、台枠３を前述した歩行補助装置１とは前後の向きを反対にして用いているため、使用者の足下前方が開放されており、歩行動作だけではなく、例えば、書棚に対して本を出し入れするような、作業を、歩行補助装置１Ａに載った状態で容易に行うことができる。 Further, as shown in FIG. 7, in the walking assist device 1 A of the present embodiment, since the frame 3 is used with the front and rear directions opposite to those of the walking assist device 1 described above, It is open, and it is possible to easily perform not only the walking operation but also a work such as putting a book in and out of the bookshelf on the walking assist device 1A.

次に、図９は、本発明に係る自重補償型歩行補助装置のさらに別の実施形態における概略構造を示す側面図であって、同図に示す歩行補助装置１Ｂは、連結ロッド２８（連結体）、スライダ２９（支承部）、及び、圧縮コイルばね３０（自重補償ばね要素）から構成される第１自重補償機構ＧＣ１と、連結ロッド３１（連結体）、スライダ３２（支承部）、及び、圧縮コイルばね３３（自重補償ばね要素）から構成される第２自重補償機構ＧＣ２とを備えている。なお、他の部分の構造や使用方法については、前述した歩行補助装置１Ａと同様である。 Next, FIG. 9 is a side view showing a schematic structure in still another embodiment of the self-weight-compensated walking assist device according to the present invention, and the walking assist device 1B shown in FIG. ), A slider 29 (support part), a first self-weight compensation mechanism GC1 composed of a compression coil spring 30 (self-weight compensation spring element), a connecting rod 31 (connector), a slider 32 (support part), and A second self-weight compensation mechanism GC2 including a compression coil spring 33 (self-weight compensation spring element). In addition, about the structure and usage method of another part, it is the same as that of 1 A of walking assistance apparatuses mentioned above.

連結ロッド２８は、その長手方向途中位置が、支持部材５に対して枢軸８で回動自在に連結されているスライダ２９によってスライド自在に案内支持されている。また、前記連結ロッド２８の一方の端部は、第１のリンク部材６に枢軸２２で回動自在に連結されている。 The connecting rod 28 is slidably guided and supported at a midway position in the longitudinal direction by a slider 29 that is rotatably connected to the support member 5 by a pivot 8. Further, one end of the connecting rod 28 is connected to the first link member 6 so as to be rotatable by a pivot 22.

また、スライダ２９の反対側に突出している他方の端部には、鍔状のばね受部２８Ａが形成されていて、このばね受部２８Ａとスライダ２９との間には、圧縮コイルばね３０が自然長より枢軸８と枢軸２２間の距離に略等しい長さだけ予め弾性変位させた状態で組み込まれている。ここで、前記圧縮コイルばね３０のばね定数をｋとしたとき、ｋの値は、前述した（５）式に基づいて決定される。 A flange-shaped spring receiving portion 28A is formed at the other end protruding to the opposite side of the slider 29, and a compression coil spring 30 is interposed between the spring receiving portion 28A and the slider 29. It is incorporated in a state of being elastically displaced in advance by a length substantially equal to the distance between the pivot 8 and the pivot 22 from the natural length. Here, when the spring constant of the compression coil spring 30 is k, the value of k is determined based on the above-described equation (5).

また、連結ロッド３１は、その長手方向途中位置が、サドルリンク１６に対して枢軸１７で回動自在に連結されているスライダ３２によってスライド自在に案内支持されている。前記連結ロッド３１の一方の端部は、第４のリンク部材１４に枢軸２６で回動自在に連結されている。 Further, the connecting rod 31 is guided and supported by a slider 32 that is pivotally connected to the saddle link 16 by a pivot 17 at an intermediate position in the longitudinal direction. One end of the connecting rod 31 is rotatably connected to the fourth link member 14 by a pivot 26.

また、スライダ３２の反対側に突出している他方の端部には、鍔状のばね受部３１Ａが形成されていて、このばね受部３１Ａとスライダ３２との間には、圧縮コイルばね３３が自然長より枢軸１７と枢軸２６間の距離に略等しい長さだけ予め弾性変位させた状態で組み込まれている。 A flange-shaped spring receiving portion 31A is formed at the other end protruding to the opposite side of the slider 32, and a compression coil spring 33 is interposed between the spring receiving portion 31A and the slider 32. It is incorporated in a state where it is elastically displaced in advance by a length substantially equal to the distance between the pivot 17 and the pivot 26 from the natural length.

なお、以上に説明したそれぞれの実施形態における歩行補助装置１、１Ａ、１Ｂにおいては、第１のリンク部材６と第３のリンク部材１３、ならびに、第２のリンク部材９と第４のリンク部材１４をそれぞれ共通の枢軸１１と枢軸１２で中継リンク部材１０に連結しているが、中継リンク部材１０を共通にして第１の平行リンク機構ＰＬ１と第２の平行リンク機構ＰＬ２が構成されていればよく、これらのリンク部材はすべて個別の枢軸で中継リンク部材１０に連結するようにしてもよい。 Note that, in the walking assist devices 1, 1 A, and 1 B in the above-described embodiments, the first link member 6 and the third link member 13, and the second link member 9 and the fourth link member. 14 are connected to the relay link member 10 by the common pivot 11 and pivot 12, respectively. However, the first parallel link mechanism PL1 and the second parallel link mechanism PL2 are configured by using the relay link member 10 in common. All of these link members may be connected to the relay link member 10 by individual pivots.

また、前述した各実施形態の歩行補助装置１、１Ａ、１Ｂにおいては、ピストンロッド１９Ｂまたは連結ロッド２８の先端部を第１のリンク部材６と枢軸２２で連結し、シリンダ本体１９Ａまたはスライダ２９を枢軸８で支持部５に連結しているが、支持部５を上方に延長して、ピストンロッド１９Ｂまたは連結ロッド２８の先端部を第２のリンク部材９に回動自在に枢軸で連結し、シリンダ本体１９Ａまたはスライダ２９を枢軸８の鉛直上方に離間した位置で支持部５に枢軸で回動自在に連結してもよい。 Further, in the walking assist devices 1, 1 A, 1 B of the above-described embodiments, the tip of the piston rod 19 B or the connecting rod 28 is connected to the first link member 6 by the pivot 22, and the cylinder body 19 A or the slider 29 is connected. Although it connects with the support part 5 by the pivot 8, it extends the support part 5 upwards and connects the front-end | tip part of the piston rod 19B or the connection rod 28 to the 2nd link member 9 by a pivot, The cylinder body 19 A or the slider 29 may be pivotally connected to the support portion 5 at a position spaced vertically above the pivot 8.

同様に、前述した各実施形態のものにおいては、ピストンロッド２３Ｂまたは連結ロッド３１の先端部を第４のリンク部材１４と枢軸２６で連結し、シリンダ本体２３Ａまたはスライダ３２を枢軸１７でサドルリンク１６に連結しているが、サドルリンク１６を下方に延長して、ピストンロッド２３Ｂまたは連結ロッド３１の先端部を第３のリンク部材に枢軸で回動自在に連結し、シリンダ本体２３Ａまたはスライダ３２を枢軸１７の鉛直下方に離間した位置でサドルリンク１６に枢軸で回動自在に連結してもよい。 Similarly, in each of the above-described embodiments, the tip of the piston rod 23B or the connecting rod 31 is connected to the fourth link member 14 by the pivot 26, and the cylinder body 23A or the slider 32 is connected to the saddle link 16 by the pivot 17. However, the saddle link 16 is extended downward, the tip of the piston rod 23B or the connecting rod 31 is pivotally connected to the third link member by a pivot, and the cylinder body 23A or the slider 32 is connected. The saddle link 16 may be pivotally connected to the saddle link 16 at a position spaced vertically below the pivot 17.

さらに、向きを反対にして、ピストンロッド１９Ｂや連結ロッド２８の先端部を支持部５側に枢軸で連結し、シリンダ本体１９Ａやスライダ２９を第１のリンク部材６側に枢軸で連結したり、ピストンロッド２３Ｂまたは連結ロッド３１の先端部をサドルリンク１６側に枢軸で連結し、シリンダ本体２３Ａまたはスライダ３２を第４のリンク部材側に枢軸で連結するようにしてもよい。 Furthermore, the direction is reversed, the tip of the piston rod 19B and the connecting rod 28 is connected to the support portion 5 side by a pivot, and the cylinder body 19A and the slider 29 are connected to the first link member 6 side by a pivot, The tip of the piston rod 23B or connecting rod 31 may be connected to the saddle link 16 side by a pivot, and the cylinder body 23A or slider 32 may be connected to the fourth link member by a pivot.

次に、図１０は、本発明に係る自重補償型歩行補助装置のさらに別の実施形態における概略構造を示す側面図であって、同図に示す歩行補助装置１Ｃは、台枠３上に設けられた支持部５Ａに、同一長さの第１のリンク部材６Ａと第２のリンク部材９Ａがそれぞれ、一方の端部を鉛直面内で回動自在に枢軸７Ａと枢軸８Ａで連結されている。 Next, FIG. 10 is a side view showing a schematic structure in yet another embodiment of the self-compensation type walking assist device according to the present invention, and the walking assist device 1C shown in FIG. 10 is provided on the underframe 3. The first link member 6A and the second link member 9A having the same length are respectively connected to the support portion 5A by a pivot 7A and a pivot 8A so that one end of the link member 6A is rotatable in a vertical plane. .

枢軸８Ａは枢軸７Ａより後側上方に設けられており、また、第１のリンク部材６Ａと第２のリンク部材９Ａのそれぞれの他方の端部は、略２等辺３角形を横にした形状の中継リンク部材１０Ａに、枢軸１１Ａと枢軸３４で回動自在に連結されている。 The pivot 8A is provided on the rear upper side of the pivot 7A, and the other end of each of the first link member 6A and the second link member 9A has a shape that is substantially transverse to an isosceles triangle. The relay link member 10 A is rotatably connected by a pivot 11 A and a pivot 34.

ここで、第２のリンク部材９Ａは、第１のリンク部材６Ａの上方に平行に配置されていて、台枠３に設けられた支持部５Ａ、第１のリンク部材６Ａ、第２のリンク部材９Ａ、及び、中継リンク部材１０Ａは、支持部５Ａを固定リンクとして鉛直面内で運動可能な第１の平行リンク機構ＰＬ１を構成している。 Here, the second link member 9A is arranged in parallel above the first link member 6A, and is provided with a support portion 5A, a first link member 6A, and a second link member provided on the frame 3. 9A and the relay link member 10A constitute a first parallel link mechanism PL1 that can move in a vertical plane using the support portion 5A as a fixed link.

中継リンク部材１０Ａの枢軸３４には、第２のリンク部材９Ａの他方の端部と同軸に、第３のリンク部材１３Ａの一方の端部が鉛直面内で回動自在に連結されている。また、中継リンク部材１０Ａの枢軸１２Ａには、第４のリンク部材１４Ａの一方の端部が鉛直面内で回動自在に連結されている。 One end of the third link member 13A is connected to the pivot 34 of the relay link member 10A coaxially with the other end of the second link member 9A so as to be rotatable in a vertical plane. Further, one end of the fourth link member 14A is connected to the pivot 12A of the relay link member 10A so as to be rotatable in a vertical plane.

また、第３のリンク部材１３Ａと第４のリンク部材１４Ａの他方の端部はそれぞれ、上端にサドル１５が固定されたサドルリンク１６Ａに枢軸部１７Ａと枢軸部１８Ａで回動自在に連結されている。 Further, the other end portions of the third link member 13A and the fourth link member 14A are rotatably connected to a saddle link 16A having a saddle 15 fixed to the upper end by a pivot portion 17A and a pivot portion 18A. Yes.

ここで、第４のリンク部材１４Ａは、第３のリンク部材１３Ａの上方に平行に配置されていて、中継リンク１０Ａ、第３のリンク部材１３Ａ、第４のリンク部材１４Ａ、及び、サドルリンク部材１６Ａは、中継リンク１０Ａに対して鉛直面内で運動可能な第２の平行リンク機構ＰＬ２を構成している。 Here, the fourth link member 14A is arranged in parallel above the third link member 13A, and the relay link 10A, the third link member 13A, the fourth link member 14A, and the saddle link member. 16A constitutes a second parallel link mechanism PL2 that can move in a vertical plane with respect to the relay link 10A.

中継リンク１０Ａに支持されている枢軸１１Ａには、第１のリンク部材６Ａと一体に回動するように、第１の歯車部材としての第１のセクタ歯車３５が組み込まれ、また、枢軸１２Ａには、第４のリンク部材１４Ａと一体に回動し、且つ第１のセクタ歯車３５と噛み合う第２の歯車部材としての第２のセクタ歯車３６が組み込まれている。 A first sector gear 35 serving as a first gear member is incorporated in the pivot 11A supported by the relay link 10A so as to rotate integrally with the first link member 6A. Includes a second sector gear 36 that rotates integrally with the fourth link member 14 A and meshes with the first sector gear 35 as a second gear member.

第１のセクタ歯車３５と第２のセクタ歯車３６は、同一ピッチ円径を有しており、第１のリンク部材６Ａ及び第２のリンク部材９Ａの水平方向に対する傾斜角と、第３のリンク部材１３Ａ及び第４のリンク部材の水平方向に対する傾斜角とは常に等しい角度θで連動するようにしてある。 The first sector gear 35 and the second sector gear 36 have the same pitch circle diameter, the inclination angle of the first link member 6A and the second link member 9A with respect to the horizontal direction, and the third link. The inclination angle of the member 13A and the fourth link member with respect to the horizontal direction is always interlocked with an angle θ equal.

また、本実施形態の歩行補助装置１Ｃには、連結ロッド３７、スライダ３８、及び、圧縮コイルばね４０からなる、前述した歩行補助装置１Ｂにおいて用いられている第１自重補償機構ＧＣ１や第２自重補償機構ＧＣ２と同一構造の自重補償機構ＧＣが組み込まれている。 Further, the walking assist device 1C of the present embodiment includes the first weight compensation mechanism GC1 and the second weight that are used in the walking assist device 1B described above, which include the connecting rod 37, the slider 38, and the compression coil spring 40. A self-weight compensation mechanism GC having the same structure as the compensation mechanism GC2 is incorporated.

連結ロッド３７は、その長手方向途中位置が、支持部材５Ａに対して枢軸３８で回動自在に連結されているスライダ３９によってスライド自在に案内支持されている。また、前記連結ロッド３７の一方の端部は、第２のリンク部材９Ａに枢軸２２Ａで回動自在に連結されており、また、スライダ３９の反対側に突出している他方の端部のばね受部３７Ａと、スライダ２９との間には、圧縮コイルばね４０が自然長より枢軸３８と枢軸２２Ａ間の距離に略等しい長さだけ予め弾性変位させた状態で組み込まれている。 The connecting rod 37 is slidably guided and supported at a midway position in the longitudinal direction by a slider 39 that is rotatably connected to the support member 5A by a pivot 38. One end of the connecting rod 37 is rotatably connected to the second link member 9A by a pivot 22A, and the other end of the spring receiving the spring 39 is protruded on the opposite side. A compression coil spring 40 is incorporated between the portion 37A and the slider 29 in a state where it is elastically displaced in advance by a length substantially equal to the distance between the pivot 38 and the pivot 22A from the natural length.

この実施形態の歩行補助装置１Ｃにおいては、第４のリンク部材１４Ａに枢軸部１２Ａ回りに作用する負荷トルクτｗ２は、第２のセクタ歯車３６と第１のセクタ歯車３５を介して、第１のリンク部材６Ａの枢軸部７Ａ回りの負荷トルクとして伝達され、さらに、中継リンク１０Ａを介して第２のリンク部材９Ａの枢軸部８Ａ回りの負荷トルクとして伝達される。 In the walking assist device 1 C of this embodiment, the load torque τw 2 acting on the fourth link member 14 A around the pivot portion 12 A is transmitted via the second sector gear 36 and the first sector gear 35. It is transmitted as a load torque around the pivot portion 7A of the link member 6A, and further transmitted as a load torque around the pivot portion 8A of the second link member 9A via the relay link 10A.

一方、第２のリンク部材９Ａには，前記負荷トルクτｗ２とは別に、第１のリンク部材６Ａ、第２のリンク部材９Ａ、中継リンク部材１０Ａ等の自重や、中継リンク部材１０Ａを介して、サドル１５に跨った使用者の体重や、サドル１５、サドルリンク部材１６Ａ、第３のリンク部材１３Ａ、第４のリンク部材１４Ａ等の自重による負荷トルクτｗ１が作用する。 On the other hand, in addition to the load torque τw2, the second link member 9A has its own weight such as the first link member 6A, the second link member 9A, and the relay link member 10A, and the relay link member 10A. The weight of the user straddling the saddle 15 and the load torque τw1 due to the weight of the saddle 15, the saddle link member 16A, the third link member 13A, the fourth link member 14A, etc. act.

ここで、第３のリンク部材１３Ａと第４のリンク部材１４Ａの水平方向に対する傾斜角と、第１のリンク部材６Ａと第２のリンク部材１４Ａの水平方向に対する傾斜角が等しい角度θで変化すると、負荷トルクτｗ２は負荷トルクτｗ１と同様にｃｏｓθで変化する。 Here, when the inclination angle with respect to the horizontal direction of the third link member 13A and the fourth link member 14A and the inclination angle with respect to the horizontal direction of the first link member 6A and the second link member 14A are changed by the same angle θ. The load torque τw2 changes with cos θ similarly to the load torque τw1.

一方、自重補償ばね要素としての圧縮コイルばね４０から第３のリンク部材９Ａに作用する補償トルクτｓは、先に述べた（４）式で与えられるようにｃｏｓθで変化するため、圧縮コイルばね４０に、これらの負荷トルクτｗ１、τｗ２を合わせた負荷トルクに見合った補償トルクτｓが得られるばね定数のものを使用することによって、一つの自重補償機構ＧＣのみで、使用者の体重や使用者を保持するサドル１５や各リンク部材の重量を、θの値に関係なく補償することができる。 On the other hand, the compensation torque τs acting on the third link member 9A from the compression coil spring 40 serving as a self-weight compensation spring element changes with cos θ as given by the above-described equation (4). In addition, by using a spring constant having a compensation torque τs corresponding to the load torque obtained by combining these load torques τw1 and τw2, the weight and the user of the user can be controlled with only one self-weight compensation mechanism GC. The weight of the saddle 15 to be held and each link member can be compensated regardless of the value of θ.

本実施形態の歩行補助装置１Ｃの使用に際しては、前述した歩行補助装置１Ａや歩行補助装置１Ｂと同様に、サドル１５に設けた固定ベルト２７に腰部を固定して、使用者の歩行動作とともに台枠３を追従移動させることができるが、これに代えて、前述した図１及び図２に示す歩行補助装置１のように台枠３の前端部に手押しハンドルを設け、これを手で保持して手押し移動させるようにしてもよい。 When using the walking assist device 1C according to the present embodiment, the waist is fixed to the fixing belt 27 provided on the saddle 15 in the same manner as the walking assisting device 1A and the walking assisting device 1B described above, together with the walking motion of the user. The frame 3 can be moved following, but instead of this, a push handle is provided at the front end of the base frame 3 as in the walking assist device 1 shown in FIGS. 1 and 2, and this is held by hand. May be manually pushed and moved.

また、本実施形態の歩行補助装置１Ｃにおいては、第３のリンク部材１３Ａと第４のリンク部材１４Ａの長さを第１のリンク部材６Ａと第２のリンク部材９Ａの長さと等しく設定し、また、サドル１５や自重補償機構ＧＣが干渉しないように台枠３の幅方向に位置をずらして配置することにより、サドル１５を直線的に上下変位させることができる。 Further, in the walking assist device 1C of the present embodiment, the lengths of the third link member 13A and the fourth link member 14A are set equal to the lengths of the first link member 6A and the second link member 9A, Further, the saddle 15 can be linearly displaced up and down by disposing the position in the width direction of the frame 3 so that the saddle 15 and the self-weight compensation mechanism GC do not interfere with each other.

本発明の自重補償型歩行補助装置は、事故による怪我や病気、高齢等のために、自力では歩行が困難な者の歩行を補助する装置として利用することができるとともに、歩行障害のリハビリテーションを行うための装置として利用することができる。 The self-weight-compensated walking assist device of the present invention can be used as a device for assisting walking of persons who are difficult to walk on their own due to injury, illness, old age, etc. due to accidents, and performs rehabilitation for walking disorders It can be used as a device for

１、１Ａ、１Ｂ、１Ｃ自重補償型歩行補助装置
２キャスタ車輪
３台枠
４手押しハンドル
５、５Ａ支持部
６、６Ａ第１のリンク部材
７、７Ａ枢軸
８、８Ａ枢軸
９、９Ａ第２のリンク部材
１０、１０Ａ中継リンク部材
１１、１１Ａ枢軸
１２、１２Ａ枢軸
１３、１３Ａ第３のリンク部材
１４、１４Ａ第４のリンク部材
１５サドル
１６、１６Ａサドルリンク部材
１７、１７Ａ枢軸
１８、１８Ａ枢軸
１９作動シリンダユニット（自重補償ばね要素）
１９Ａシリンダ本体（支承部）
１９Ｂピストンロッド（連結体）
２０自重補償シリンダユニット
２０Ａシリンダ本体
２０Ｂピストン
２０Ｃピストンロッド
２０Ｄばね受部
２０Ｅ自重補償マスタばね
２１管路
２２、２２Ａ枢軸（支承部）
２３作動シリンダユニット（自重補償ばね要素）
２３Ａシリンダ本体（支承部）
２３Ｂピストンロッド（連結体）
２４自重補償シリンダユニット
２５管路
２６枢軸（支承部）
２７固定ベルト
２８連結ロッド（連結体）
２８Ａばね受部
２９スライダ（支承部）
３０圧縮コイルばね（自重補償ばね要素）
３１連結ロッド（連結体）
３１Ａばね受部
３２スライダ（支承部）
３３圧縮コイルバネ（自重補償ばね要素）
３４枢軸
３５第１のセクタ歯車（第１の歯車部材）
３６第２のセクタ歯車（第２の歯車部材）
３７連結ロッド（連結体）
３８枢軸
３９スライダ（支承部）
４０圧縮コイルばね（自重補償ばね要素）
ＰＬ１第１の平行リンク機構
ＰＬ２第２の平行リンク機構
ＧＣ１第１の自重補償機構
ＧＣ２第２の自重補償機構
Ｃ連結体
ＳＰ自重補償ばね要素
Ｊ１、Ｊ２支承部
ＬＨ長孔
ＴＢターンバックル
Ｈ孔 1, 1A, 1B, 1C Self-compensation type walking assist device 2 Caster wheels 3 Underframe 4 Hand handle 5, 5A Support portion 6, 6A First link member 7, 7A Axis 8, 8A Axis 9, 9A Second link Member 10, 10A Relay link member 11, 11A Pivot 12, 12A Pivot 13, 13A Third link member 14, 14A Fourth link member 15 Saddle 16, 16A Saddle link member 17, 17A Pivot 18, 18A Pivot 19 Actuating cylinder Unit (self-weight compensation spring element)
19A Cylinder body (supporting part)
19B Piston rod (connector)
20 Self-weight compensation cylinder unit 20A Cylinder body 20B Piston 20C Piston rod 20D Spring receiving part 20E Self-weight compensation master spring 21 Pipe line 22, 22A Axis (support part)
23 Actuating cylinder unit (self-weight compensation spring element)
23A Cylinder body (support)
23B Piston rod (connector)
24 Self-weight compensation cylinder unit 25 Pipe line 26 Axis (support)
27 Fixed Belt 28 Connecting Rod (Connected Body)
28A Spring receiving part 29 Slider (supporting part)
30 Compression coil spring (self-weight compensation spring element)
31 Connecting rod (Connected body)
31A Spring receiving portion 32 Slider (supporting portion)
33 Compression coil spring (self-weight compensation spring element)
34 Axis 35 First sector gear (first gear member)
36 Second sector gear (second gear member)
37 Connecting rod (connecting body)
38 Axis 39 Slider (support)
40 Compression coil spring (self-weight compensation spring element)
PL1 1st parallel link mechanism PL2 2nd parallel link mechanism GC1 1st self-weight compensation mechanism GC2 2nd self-weight compensation mechanism C coupling body SP self-weight compensation spring element J1, J2 support part LH long hole TB turnbuckle H hole

Claims

A frame having a plurality of caster wheels and movable in a desired direction by the caster wheels;
A first link member having one end pivotally mounted in a vertical plane on the support provided on the frame;
A second link member disposed in parallel above the first link member and having one end pivotally attached to the support portion in a vertical plane;
A relay link pivotally attached to the other end of the first link member and the other end of the second link member so as to be able to translate in a vertical plane with respect to the frame. Members,
A third link member having one end pivotably attached to the relay link member in a vertical plane;
A fourth link member arranged in parallel above the third link member and having one end pivotally attached to the relay link member in a vertical plane;
Pivotally attached to the other end of the third link member and the other end of the fourth link member, respectively, and provided so as to be able to translate in a vertical plane with respect to the relay link member; A saddle link member with a saddle fixed to the upper end;
A first support portion provided vertically apart from a pivot position between the support portion and the first link member, and a second support portion provided at a midway position in the longitudinal direction of the first link member. Or the first support portion provided vertically apart from the pivot position between the support portion and the second link member and the middle position in the longitudinal direction of the second link member. And one end portion is rotatably connected to one of these support portions, and the middle position in the longitudinal direction is freely changeable to the other support portion, and A first coupling body that is slidably guided and supported;
In a state where it is elastically displaced from the natural length by a length substantially equal to the distance between the first support part and the second support part, the other end of the first connected body and the end of the connected body with respect to the sliding direction are fixed. A first self-weight compensating spring element that is provided between the position and that pulls and biases the first coupling body by its elastic restoring force;
A third support portion provided vertically downward from the pivot position of the saddle link member and the fourth link member, and a fourth support provided at a midway position in the longitudinal direction of the fourth link member. Or a third support portion provided vertically downward from the pivot attachment position of the saddle link member and the third link member, and a position in the longitudinal direction of the third link member. It spans between the 4th support part provided, and while one end part is connected to one of these support parts so that rotation is possible, a halfway position in the longitudinal direction changes direction to the other support part. A second connecting body supported and slidably and freely slidable;
In a state where it is elastically displaced from the natural length by a length substantially equal to the distance between the third support portion and the fourth support portion, the other end portion of the second connecting body and the sliding direction of the end portion of the connecting body A self-weight-compensated walking assist device comprising a second self-weight-compensating spring element that is provided between the fixed position and that pulls and biases the second coupling body by its elastic restoring force.

A frame having a plurality of caster wheels and movable in a desired direction by the caster wheels;
A first link member having one end pivotally mounted in a vertical plane on the support provided on the frame;
A second link member disposed in parallel above the first link member and having one end pivotally attached to the support portion in a vertical plane;
A relay link pivotally attached to the other end of the first link member and the other end of the second link member so as to be able to translate in a vertical plane with respect to the frame. Members,
A third link member having one end pivotably attached to the relay link member in a vertical plane;
A fourth link member arranged in parallel above the third link member and having one end pivotally attached to the relay link member in a vertical plane;
Pivotally attached to the other end of the third link member and the other end of the fourth link member, respectively, and provided so as to be able to translate in a vertical plane with respect to the relay link member; A saddle link member with a saddle fixed to the upper end;
A first gear member incorporated so as to rotate integrally with the first link member on the pivot of the relay link member and the first link member;
The pivot link between the relay link member and the fourth link member rotates integrally with the fourth link member, meshes with the first gear member, and the horizontal direction of the first link member and the second link member. A second gear member that interlocks the inclination angle with the inclination angle of the third link member and the fourth link member with respect to the horizontal direction to be always equal;
A first support portion provided vertically apart from a pivot position between the support portion and the first link member, and a second support portion provided at a midway position in the longitudinal direction of the first link member. Or the first support portion provided vertically apart from the pivot position between the support portion and the second link member and the middle position in the longitudinal direction of the second link member. And one end portion is rotatably connected to one of these support portions, and the middle position in the longitudinal direction is freely changeable to the other support portion, and A linking body that is slidably guided and supported;
The other end of the connecting body and a fixed position with respect to the sliding direction of the connecting body end in a state where it is elastically displaced from the natural length by a length substantially equal to the distance between the first support and the second support. And a self-weight compensating spring element that pulls and biases the connected body by its elastic restoring force.

The self-weight compensating spring element has a cylinder main body connected with a cylinder body of a self-weight compensating cylinder unit having a piston rod connected to the self-weight compensating master spring, and an elastic restoring force of the self-weight compensating master spring is the tube. Composed of a working cylinder unit having a piston rod transmitted via a working fluid passing through the path,
3. The self-weight compensated walking device according to claim 1, wherein the cylinder body of the operating cylinder unit also serves as one support portion and the piston rod also serves as a coupling body. 4.

The self-weight compensation type according to any one of claims 1 to 3, wherein the position of the support portion provided at a midway position in the longitudinal direction of the link member can be adjusted along the longitudinal direction of the link member. Walking device.

The self-weight-compensated walking device according to any one of claims 1 to 4, further comprising a fixing means for holding the saddle in a lowered position.

The self-weight-compensated walking assist device according to any one of claims 1 to 5, wherein a hand handle is provided at a front end portion of the underframe.

The self-weight-compensated walking assist device according to any one of claims 1 to 5, further comprising a fixing belt for fixing the waist to the saddle.