JP5903260B2 - Walking assist device - Google Patents

Description

  The present invention relates to a walking assistance device for assisting human walking.

  For example, in a rehabilitation ward or the like in a hospital, walking training may be performed using a walking assist device in order to prevent a patient or an elderly person with impaired walking function from becoming bedridden and to promote independent walking. In addition, even for healthy persons, for example, when walking for a long time in a commercial facility, museum, or museum with a large site area, the walking assist device is used to assist walking, or the walking assist device is used to rest as appropriate during walking. May be required.

  As a walking assist device used at such time, a frame body that is substantially U-shaped in plan view is formed by a connecting portion that connects the left and right frame portions and the other frame portion at the front lower part, A walking assist device configured to be provided with a pair of left and right traveling wheels at the front and rear at the lower part of the frame body, with one of the front and rear traveling wheels as a free wheel, and steerable with a handle provided at the upper end of the frame portion, An operator (patient or the like) who operates the walking assist device can easily pass through the connecting portion by positioning at least the middle portion of the connecting portion below the pivot supporting portion that pivots the traveling wheel on the frame body. The thing (for example, refer patent document 1) which did it is known.

  In addition, it is a walking assistance device for supporting the user in a standing posture and assisting the walking motion when the user tries to walk on the walking surface, has a driving wheel, and rotates the driving wheel. A main body movable on the walking surface, side support means provided on the main body for receiving the user's side, elbow support means provided on the main body for receiving the user's elbow, and provided on the main body And a back contact means for receiving the back of the user and pressing the back of the user when the main body moves (for example, see Patent Document 2).

  However, since the above-described conventional walking assistance device is large in size, it has a disadvantage that it is difficult to store in a hospital, home, commercial facility, etc. when not in use (when stored). In addition, the shape is complicated and the number of parts is large, which may hinder the cost reduction of the device itself.

JP 2010-162114 A JP-A-10-216183

  The present invention has been devised in view of the above-mentioned present situation, and its purpose is to provide a walking assist device that can be stored in a small space when not in use (stored), has a simple structure, and is low in cost. Is to provide.

  The walking assist device according to the present invention includes two upper limb support frames that a user holds and controls on the upper limbs or rests on the upper limbs, and at least two lower frames that support the upper limbs. The end part is provided with the connection member supported so that rotation or sliding is possible. And the holding | maintenance part which a user hold | maintains is provided in the other edge part of the upper limb support frame, and the wheel is provided in the other edge part of the lower side support frame, It is characterized by the above-mentioned.

More specifically, two upper limb support frames on which the user supports or rests on the upper limbs,
At least two lower frames supporting the upper limb support frame;
A connecting member that connects all the upper limb support frames and all the lower frames by supporting the end portions thereof, and
At least one of the upper limb support frame and at least one of the lower frame are supported by the connecting member so that the ends thereof can rotate or slide,
A holding portion held by a user is provided at an end portion of the upper limb support frame opposite to the end portion supported by the connecting member, and an end portion supported by the connecting member in the lower frame; The opposite end is provided with a traveling wheel.

  According to this, two upper limb support frames and at least two lower frames are extended from the connecting member, and a holding portion that is held by the user is provided at the tip of the upper support frame. The walking assistance device can be configured with a simple structure in which a wheel is provided at least at the tip of the frame, and the cost reduction of the device can be promoted.

  In addition, at least one of the upper limb support frame and at least one of the lower frame are supported by the connecting member so as to be rotatable or slidable. The device size when the device is not used (stored) can be reduced. Thereby, space saving can be promoted.

In the present invention, the two upper limb support frames bend forward of the apparatus at a bend provided between the end supported by the connecting member and the end provided with the holding portion. Thus, the holding part is located in front of the apparatus with respect to the connecting member,
At least one of the lower frames is bent forward of the device at a lower bent portion provided between an end portion supported by the connecting member and an end portion provided with the wheel, so that the wheel Is located in front of the device with respect to the connecting member,
The holding portion may be provided so as to be inclined so as to be displaced upward as it goes to the front of the apparatus.

  According to this, the upper limb support frame and the lower frame extending from the connecting member are bent forward in the middle of the apparatus, and the holding portion at the tip of the upper limb support frame and the wheel at the tip of the lower frame are connected to the connecting member. It is located in front of the device. Therefore, the user can turn the walking assisting device by turning his / her back to the connecting member, facing the front of the device and holding the holding unit, and using the rotation of the wheel. With this structure, it is possible to open the front of the user, and it is possible to walk with a sense close to that when the user is walking without a walking assist device.

  In addition, since both the holding part and the wheel are located in front of the connecting member with respect to the connecting member, even when the user puts weight on the upper limb support through the holding part, the vertical stress at the contact point between the wheel and the ground is Therefore, it is possible to suppress a large moment from being generated in the entire apparatus. As a result, the running stability of the walking assistance device can be improved.

Further, in the present invention, a second wheel is provided at the lower bent portion of the lower frame bent forward of the apparatus at the lower bent portion,
The wheel or the second wheel may be provided with a drive device that drives the wheel or the second wheel.

According to this, the lower frame is grounded by the wheel provided at the tip and the second wheel provided at the bent portion, and more stable traveling is possible. Furthermore, in the present invention, the wheel or the second wheel is provided with a drive device for driving them. Thereby, the user can walk more easily. Particularly on an uphill, it is unnecessary for the user to push up the walking assist device by himself, and the burden on the user can be reduced.

  Here, the drive device may be an engine in addition to a motor driven by electricity. According to this, it is possible to control the running of the walking assistance device more easily or precisely. Alternatively, the user may wind up the mainspring by his / her movement at the time of stop, and drive the wheel by releasing the mainspring charge. According to this, energy other than human power is not required, and it is possible to give the elderly and patients the opportunity to exercise less frequently, such as winding up the mainspring (charging), improving the user's health and walking ability. It is possible to contribute to improvement.

  In the present invention, the connecting member is an upper connecting member that is a part of the upper side and supports the ends of all the upper limb support frames, and a lower part of the connecting member that is the lower part of the connecting member. You may make it detachably provided in the lower side connection member which supports the edge part of a lower frame.

  According to this, the apparatus can be separated into a portion where the upper limb support frame is supported and a portion where the lower frame is supported. Then, while maintaining the part where the lower frame is supported in a self-supporting state, the part where the upper limb support frame is supported is moved to another place, for example, a bed, and moved to the vicinity of the lower frame together with the patient using a crane or the like. And can be combined. According to this, it is possible to make it easier for a patient who needs walking assistance to be able to use the walking assistance device.

  The upper limb support frame or the upper connection member may be provided with a seating member on which a user can sit.

  According to this, when the part where the upper limb support frame is supported is moved to another place, for example, a bed and moved to the vicinity of the lower frame together with the patient, the patient is seated on the seating member, a crane, etc. Thus, the patient can be suspended and moved. Therefore, it is possible to make it easier for a patient who needs walking assistance to be able to use the walking assistance device.

  In the present invention, each of the upper limb support frame and the lower frame may be integrally formed by bending a tubular member. According to this, since the number of parts of the apparatus and the manufacturing process can be reduced, it is possible to more reliably promote cost reduction of the apparatus.

  In addition, said means can be used in combination with each other as much as possible.

  ADVANTAGE OF THE INVENTION According to this invention, while it becomes possible about the walk assistance apparatus for assisting a person's walk to simplify a structure more and to reduce cost more, it is less space at the time of non-use (at the time of accommodation). Storage is possible.

It is a figure which shows schematic structure of the walking assistance apparatus which concerns on Example 1 of this invention. It is a figure which shows the relationship between the walking assistance apparatus which concerns on Example 1 of this invention, and a user. It is a figure which shows the structure of the connection member which concerns on Example 1 of this invention. It is a figure which shows the state at the time of accommodation of the walking assistance apparatus which concerns on Example 1 of this invention. It is a figure shown about the 2nd and 3rd example of the structure of the connection member which concerns on Example 1 of this invention. It is a figure shown about the 4th example of the structure of the connection member which concerns on Example 1 of this invention. It is a figure shown about the 5th example of the structure of the connection member which concerns on Example 1 of this invention. It is a figure which shows the 2nd example of the state at the time of accommodation of the walking assistance apparatus which concerns on Example 1 of this invention. It is a figure which shows the state which attached the accessory to the walking assistance apparatus which concerns on Example 1 of this invention. It is a figure which shows schematic structure of the walking assistance apparatus which concerns on Example 2 of this invention. It is a figure which shows schematic structure of the walking assistance apparatus which concerns on Example 3 of this invention. It is a figure which shows schematic structure of the walking assistance apparatus which concerns on Example 4 of this invention. It is a figure which shows the state at the time of accommodation of the walking assistance apparatus which concerns on Example 4 of this invention. It is a figure which shows the 2nd example of schematic structure of the walking assistance apparatus which concerns on Example 4 of this invention. It is a figure which shows schematic structure of the walking assistance apparatus which concerns on Example 5 of this invention. It is a figure which shows schematic structure of the push-through bending apparatus which produces each flame | frame of this invention.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[Example 1]
FIG. 1 is a schematic diagram of a walking assist device 1 according to the present embodiment. FIG. 1A shows a front view, and FIG. 1B shows a side view. 1B is a side view when viewed from the left side of FIG. 1A, but the side view when viewed from the right side of FIG. 1A is the same as FIG. 1B. . Therefore, in the following description, the case where the apparatus is viewed from the right side by appropriately changing the reference numerals of the components in FIG. The same applies to the other side views below.

  Further, in standard use of the walking assist device 1, the front side perpendicular to the paper surface in FIG. 1A is the front side, and the vertical back side is the rear side in the paper surface. As shown in FIG. 1A, the walking assist device 1 has four frames: a right hand frame 2, a left hand frame 3, a lower right frame 4, and a lower left frame 5. In addition, one end of these frames is connected to the connecting member 6. At least one of the right hand frame 2 and the left hand frame 3 and at least one of the lower right frame 4 and the lower left frame 5 are rotatably connected to the connecting member 6. Here, the right hand frame 2 and the left hand frame 3 correspond to the upper limb support frame. The lower right frame 4 and the lower left frame 5 correspond to the lower frame.

  As can be seen from FIG. 1B, the left-hand frame 3 extends from the connecting member 6 to the upper side of the apparatus and is bent forward of the apparatus (left side of FIG. 1B) at the bent portion 3b. Although not shown in the figure, the right-hand frame 2 has a similar shape. The lower left frame 5 extends downward from the connecting member 6 and bends forward of the apparatus at a bent portion 5d. Although not shown in the drawing, the lower right frame 4 is similarly extended from the connecting member 6 to the lower side of the apparatus, and is bent to the front side of the apparatus at the bent portion 4d. Both sides of the bent portion 5d in the lower left frame 5 are bridged by a lower left stay 5c, and the lower left frame 5 is reinforced. Although not shown in the figure, similarly, both sides of the bent portion 4d in the lower right frame 4 are bridged by a lower right stay 4c, and the lower right frame 4 is reinforced.

A left hand grip 3 a is provided at an end (tip) opposite to the end connected to the connecting member 6 in the left hand frame 3. Similarly, a right hand grip 2 a is provided at the tip of the right hand frame 2. The lower left frame 5 is provided with a lower left front wheel 5a at an end (tip) opposite to the end connected to the connecting member 6, and a bent lower part 5d is provided with a lower left rear wheel 5b. Similarly, a lower right front wheel 4a is provided at the tip of the lower right frame 4, and although not shown in the drawing, a bent lower part 4d is provided with a lower right rear wheel 4b. The left hand grip 3a and the right hand grip 2a correspond to a holding portion. The lower right rear wheel 4b and the lower left rear wheel 5b correspond to second wheels.

  The user uses the walking assistance device 1 as described above in a posture as shown in FIG. That is, with the back facing the connecting member 6, the right hand grip 2a is gripped with the right hand, and the left hand grip 3a is gripped with the left hand. Then, the user walks in a desired direction while holding the right hand grip 2a or the left hand grip 3a as necessary. Here, the right-hand grip 2a and the left-hand grip 3a are provided in an inclined shape so that they are located above the device (so that the front side is up) as they go to the front of the device. Therefore, the user can move the walking assisting device 1 together with the user without pushing the right hand grip 2a and the left hand grip 3a with both hands. Note that the lower right front wheel 4a and the lower left front wheel 5a are rotatable around a vertically extending rotation axis. Therefore, the direction can be easily changed regardless of the direction the user walks.

  In the walking assist device 1 according to the present embodiment, the right hand grip 2a, the left hand grip 3a, the lower right front wheel 4a, and the lower left front wheel 5a are positioned at substantially the same positions in the longitudinal direction of the device. Therefore, when the user puts weight on the right hand grip 2a and the left hand grip 3a with both hands, the right lower front wheel 4a and the lower left front wheel 5a balance with the vertical drag received from the ground. The structure is such that a large moment does not act. As a result, the walking assist device 1 itself is prevented from falling forward even if the user exerts any force on the right hand grip 2a and the left hand grip 3a.

  Next, FIG. 3 shows the detailed structure of the connecting member 6. The connecting member 6 includes a mechanism including the ends of the four frames described above between the rear cover 6a and the front cover 6b (not shown in FIG. 3). In FIG. 3, the end of the right hand frame 2 is fixed to the rear cover 6a. On the other hand, the left-hand frame 3 is supported by the rear cover 6a so as to be rotatable around the rotation shaft 3d. The left-hand frame 3 is biased to rotate clockwise by the string spring 3f, and is restricted to the operating position by contacting the stopper 3e. The end of the lower left frame 5 is fixed to the rear cover 6a. On the other hand, the lower right frame 4 is supported by the rear cover 6a so as to be rotatable around the rotation shaft 4d. The lower right frame 4 is urged to rotate clockwise by the string spring 4f, and the position of the lower right frame 4 is restricted to the operating position by contacting the stopper 4e.

  The rear cover 6a is provided with moving stoppers 3g and 4g that can be moved forward and backward. When the left hand frame 3 abutted against the stopper 3e is rotated counterclockwise against the urging force of the string winding spring 3f, the moving stopper 3g once rides on the rear portion. Retreat in the form of entering the cover 6a. Then, after the left-hand frame 3 passes over the movement stopper 3g, it protrudes forward again from the rear cover 6a. Then, unless a force equal to or greater than a predetermined value acts in the direction in which the left hand side frame 3 is rotated clockwise, the left hand side frame 3 is prevented from returning until it comes into contact with the stopper 3e by the urging force of the chord spring 3f. As a result, the left hand side frame 3 is maintained at the storage position as indicated by the broken line in the figure.

By the same operation, the lower right frame 4 can also be maintained at the storage position indicated by the broken line by rotating against the urging force of the string spring 4f. In use, the user rotates the left hand side frame 3 and the lower right frame 4 clockwise with a force equal to or greater than a predetermined value, so as to get over the transition stopper 3g and the moving stopper 4g and contact the stopper 3e and the stopper 4e. It is possible to return to the use position. During use, the left hand side frame 3 and the lower right frame 4 normally have a force acting to rotate toward the stopper 3e and the stopper 4e, so that the left hand side frame 3 and the lower right frame 4 move during use. There is no end to it.

  In FIG. 4, the example of the state at the time of accommodation of the walking assistance apparatus 1 is shown. In this way, by rotating the left hand side frame 3 and the lower right frame 4 to the right hand side frame 2 and the lower left frame 5 respectively with a force (release force) greater than or equal to a predetermined value, the width of the entire apparatus can be reduced during storage. Can be small. As a result, it is possible to promote downsizing and space saving of the device during storage.

  Next, in FIG. 5, the 2nd and 3rd example of the structure of the connection member 6 is shown. In the second example shown in FIG. 5A, all of the right hand frame 2, the left hand frame 3, the lower right frame 4 and the lower left frame 5 are respectively connected to the rear cover 6a of the connecting member 6 on the rotating shaft 2d, It is rotatably supported around 3d, 4d and 5d. In use, each frame abuts against the stopper 2e, the stopper 3e, the stopper 4e, and the stopper 5e by the biasing force of the string winding spring 2f, the string winding spring 4f, and the string winding spring 5f, and maintains the use position indicated by the solid line. Is done. On the other hand, by applying a force of a predetermined value or more to each frame at the time of storage, the moving stoppers 2g, 3g, 4g and 5g are overcome and maintained at the storage position indicated by a broken line. According to this example, the movement of each frame during storage can be used as a left-right contrast, and the storage work and the return work to the use state can be facilitated.

  FIG. 5B shows a third example of the structure of the connecting member 6. In this example, drive stoppers 2h, 3h, 4h, and 5h are provided as stoppers that can be retracted by mechanically entering the rear cover 6a by performing a release operation. At the time of storage, first, the lower right frame 4 and the lower left frame 5 are rotated with a force equal to or greater than a predetermined value, over the moving stoppers 4g and 5g, and rotated to the storage position indicated by the broken line. Next, the drive stoppers 2h, 3h, 4h, and 5h are retracted particularly to the rear cover 6a, and then the right hand frame 2 and the left hand frame 3 are rotated downward. This makes it possible to maintain the right-hand frame 2 and the left-hand frame 3 in the storage position as shown by the broken line in a form aligned with the lower-right frame 4 and the lower-left frame 5 during storage. Thereby, the height of the whole apparatus at the time of accommodation can be suppressed, and it becomes possible to accommodate the apparatus more compactly. In the storage position, the right hand frame 2, the left hand frame 3, the lower right frame 4, and the lower left frame 5 are urged toward the stopper 6e by the action of the string springs 2f, 3f, 4f, and 5f. Therefore, the storage position becomes more stable.

  FIG. 6 shows a fourth example of the structure of the connecting member 6 of the walking assist device 1. In this example, the right hand frame 2 and the lower left frame 5 are formed of a single tubular member. The left hand frame 3 and the lower right frame 4 are also formed of a single tubular member. The tubular member constituting the right hand frame 2 and the lower left frame 5 and the tubular member constituting the left hand frame 3 and the lower right frame 4 are connected to a common rotating shaft 6d provided at the center of the connecting member 6. It is rotatably supported. The tubular members constituting the right hand frame 2 and the lower left frame 5 are biased counterclockwise by the string springs 2f and 5f, and are restricted to the use positions by the stoppers 2e and 5e. Similarly, the tubular members constituting the left hand frame 3 and the lower right frame 4 are urged clockwise by the string springs 3f and 4f, and are restricted to the use positions by the stoppers 3e and 4e.

At the time of storage, the tubular members constituting the right hand frame 2 and the lower left frame 5 are rotated clockwise against the urging force of the string springs 2f and 5f to temporarily get over the moving stoppers 2g and 5g. The position is restricted to the storage position shown. Similarly, the tubular members constituting the left hand frame 3 and the lower right frame 4 are rotated counterclockwise against the urging force of the string springs 3f and 4f to temporarily get over the moving stoppers 3g and 4g. The position is restricted to the storage position indicated by the broken line. On the contrary, during use, the tubular members constituting the right hand frame 2 and the lower left frame 5 in the storage position are rotated counterclockwise with a force equal to or greater than a predetermined value, and the moving stoppers 2g and 5g are temporarily moved over, thereby forming a solid line. Return to the use position indicated by. Similarly, the tubular members constituting the left hand frame 3 and the lower right frame 4 are rotated clockwise with a force equal to or greater than a predetermined value, and are moved over the moving stoppers 3g and 4g, thereby returning to the use position indicated by the solid line. .

  According to the fourth example, by rotating the two tubular members, the right hand frame 2, the left hand frame 3, the lower right frame 4, and the lower left frame 5 are all moved to the storage position or the use position. Thus, the storing operation or the returning operation to the use position can be further simplified.

  FIG. 7 shows a fifth example of the structure of the connecting member 6 of the walking assist device 1. In this example, the lower right frame 4 and the lower left frame 5 are supported by the rear cover 6a of the connecting member 6 so as to be rotatable around the rotation shafts 4d and 5d, respectively. On the other hand, the right hand frame 2 and the left hand frame 3 are supported so as to be slidable relative to the rear cover 6 a of the connecting member 6. During use, the lower right frame 4 and the lower left frame 5 abut against the stopper 4e and the stopper 5e by the force of rotating in directions away from each other due to the weight of the device, and are maintained at the use positions indicated by the solid lines. The Further, the positions of the right hand frame 2 and the left hand frame 3 are restricted in the vertical direction so that the respective end portions are placed on the holder 6f. The right hand frame 2 is in contact with the stopper 6g and the stopper 2e, and the left hand frame 3 is in contact with the stopper 6g and the stopper 3e. As a result, the right hand frame 2 and the left hand frame 3 are also maintained at the use positions indicated by the solid lines.

  On the other hand, at the time of storage, the user once raises the right hand frame 2 and the left hand frame 3 in the extending direction and lifts the end from the holder 6f, and then the right hand frame 2 and the left hand frame 3 approach each other. Rotate both frames in the direction and drop down the device. As a result, the right hand frame 2 and the left hand frame 3 move downward in the apparatus in such a manner that their side surfaces are guided by the guide 2h, the holder 6f, and the guide 3h. Then, the end portions of the right hand frame 2 and the left hand frame 3 come into contact with the lower right frame 4 and the lower left frame 5, respectively, and descend while rotating the lower right frame 4 and the lower left frame 5 toward each other. Eventually, the four frames are maintained in the stowed positions as indicated by broken lines in the figure, for example. In FIG. 8, the example of the accommodation state of the walking assistance apparatus 1 in this case is shown. According to this example, the storage operation and the return operation to the use state can be performed with a simpler configuration and operation using the weight of each frame.

  Next, in FIG. 9, it shows about the example which provided the accessory with the walking assistance apparatus 1 in a present Example. FIG. 9A shows an example provided with a basket 7 and a belt-like seat 8 as a seating member. The basket 7 is attached to the rear cover 6 a of the connecting member 6. The belt-like seat 8 is provided so as to bridge the seat portion 8b between the right hand frame 2 and the left hand frame 3 by fixing the belt portion 8a to the right hand frame 2 and the left hand frame 3. . According to this, the baggage can be stored in the basket 7, and the user can take a rest by sitting down on the seat portion 8b of the belt-like seat 8 as appropriate.

FIG. 9B shows an example provided with a basket 7 and a saddle 9 as a seating member. The basket 7 is attached to the rear cover 6 a of the connecting member 6. The saddle 9 is attached by fixing the hook portion 9 a to the front cover 6 b of the connecting member 6. According to this, while being able to store a luggage | casing suitably in the basket 7, a user is
It is possible to take a rest by sitting down on the saddle portion 9b of the saddle 9 as appropriate.

[Example 2]
Next, a second embodiment of the present invention will be described. In the present embodiment, an example will be described in which a motor and a battery are provided as driving devices for driving the lower right rear wheel 4b of the lower right frame 4 and the lower left rear wheel 5b of the lower left frame 5.

  In FIG. 10, schematic structure of the walking assistance apparatus 10 in a present Example is shown. FIG. 10A is a front view, and FIG. 10B is a side view. In the present embodiment, a battery 15 is provided on the rear side of the connecting member 6. Further, a lower right motor 16 and a lower right reduction gear train 17 are provided near the shaft of the lower right rear wheel 4b of the lower right frame 4. Further, a lower left motor 18 and a lower left reduction gear train 19 are provided near the shaft of the lower left rear wheel 5b of the lower left frame 5. Then, after the rotational motion of the output shaft of the lower right motor 16 is decelerated by the lower right reduction gear train 17, it is transmitted to the lower right rear wheel 4b to rotate the lower right rear wheel 4b. Similarly, the rotational motion of the output shaft of the lower left motor 18 is decelerated by the lower left reduction gear train 19 and then transmitted to the lower left rear wheel 5b to rotate the lower left rear wheel 5b. The battery 15 and the lower right motor 16 and the lower left motor 18 are electrically connected by drive cables 15a and 15b. The user can control the power supplied from the battery 15 to the lower right motor 16 and the lower left motor 18 by rotating the right hand grip 12a or the left hand grip 13a. That is, by turning the right hand grip 12a or the left hand grip 13a, it is possible to control ON / OFF of the rotational drive of the lower right rear wheel 4b and the lower left rear wheel 5b and the rotation speed.

  According to the present embodiment, the walking assistance device 10 can be moved without increasing the burden on the user even on an uphill, and the user's walking can be favorably assisted. In the present embodiment, the example in which each motor and the reduction gear train are provided so as to drive the rear wheels of the lower right frame and the lower left frame has been described. However, each motor and the reduction gear train has the front wheels of each frame. Of course, it may be provided so as to drive.

Example 3
Next, Embodiment 3 of the present invention will be described. In this embodiment, a spring driving unit is provided as a driving device for driving the lower right front wheel of the lower right frame and the lower left front wheel of the lower left frame, and the user charges the spring when stopped and releases the spring when walking. An example in which the walking assistance device is driven will be described.

  In FIG. 11, schematic structure of the walking assistance apparatus 40 in a present Example is shown. 11A is a front view, and FIG. 11B shows a cross section AA in FIG. In the present embodiment, a lower right mainspring drive unit 46 is provided near the axis of the lower right front wheel 44a of the lower right frame 44. Further, a lower left mainspring drive unit 47 is provided near the axis of the lower left front wheel 45 a of the lower left frame 45. The lower right mainspring drive unit 46 and the lower left mainspring drive unit 47 charge the mainspring provided inside the unit when the user repeatedly steps the pedal 46a or the pedal 47a with the lower limbs (hereinafter also simply referred to as a stepping motion). It is configured to be.

  Hereinafter, a more specific configuration and operation of the lower right mainspring drive unit 46 will be described. The configuration and operation of the lower left mainspring drive unit 47 are the same as the configuration and operation of the lower right mainspring drive unit 46, and will not be described here. As shown in FIG. 11A, the lower right mainspring drive unit 46 includes a mainspring unit 46a. The mainspring unit 46a incorporates a mainspring (not shown), a reduction gear train, a rotary oil damper that keeps the release speed at the time of releasing the mainspring charge at a constant speed, and the like.

  The output shaft of the mainspring unit 46a and the lower right front wheel 44a are connected by a shaft coupling member 46b. Further, the mainspring unit 46a is provided with a rotating member 46d which is rotatable about a rotation axis parallel to the traveling direction of the walking assist device 40 and is formed in a substantially cylindrical shape. On the side surface of the rotating member 46d, a flat pedal 46c for charging the mainspring and a pedal shaft 46e which is a rotating shaft thereof are supported. The pedal shaft 46e is supported on the side surface of the rotating member 46d so as to be perpendicular to the side surface. As shown in FIG. 11A, the rotating member 46d can be rotated by 90 degrees between a state where the pedal shaft 46e faces vertically upward and a state where the pedal shaft 46e is horizontal on the center side of the walking assist device 40. It has become. That is, the pedal 46c and the pedal shaft 46e can be switched between the vertical state and the horizontal state by the rotation of the rotating member 46d.

  When the user walks using the walking assistance device 40, the pedal 46c is in the above-described vertical state and does not hinder the user's walking. When the user stops and charges the mainspring, first, the rotating member 46d is rotated 90 degrees with the foot to bring the pedal shaft 46e into a horizontal state. Then, as shown in FIG. 11 (b), the user performs a stepping motion so that the pedal 46c reciprocates between a solid line state and a broken line state around the pedal shaft 46e maintained in a horizontal state. I do. The spring is charged by the reciprocating motion of the pedal 46c and locked in the charged state. Since the mainspring charging mechanism may be a general mechanism, description thereof is omitted here.

  After charging the mainspring, the user returns the pedal shaft 46e to the vertical state. And the charge release button not shown provided in the grip 2a is pushed. Then, the lock of the mainspring is released, and the mainspring charge is released. The releasing motion is a rotational motion at a constant speed by the rotary oil damper, and the lower right front wheel 44a is rotated at a constant speed via the shaft coupling member 46b. As a result, the walking assist device 40 moves forward at a constant speed. Also according to this embodiment, it is possible to drive the walking assist device 40 without increasing the burden on the user even on an uphill, thereby favorably assisting the user's walking.

  In the present embodiment, the example in which each mainspring drive unit is provided to drive the front wheels of the lower right frame and the lower left frame has been described. However, each mainspring drive unit is configured to drive the rear wheels of each frame. Of course, it may be provided. Further, the specific configuration of the mainspring driving unit, the method of charging the mainspring, and the like are not limited to those of the present embodiment, and can be appropriately changed without departing from the spirit of the present invention.

Example 4
Next, a fourth embodiment of the present invention will be described. In this embodiment, a three-wheel type walking assist device 20 will be described.

  In FIG. 12, schematic structure of the walking assistance apparatus 20 in a present Example is shown. 12A is a front view, and FIG. 12B is a side view. In the present embodiment, the lower right frame 24 and the lower left frame 25 are not bent forward at the bent portion, but are curved toward the rear of the device, and each include a lower right rear wheel 24a and a lower left rear wheel 25a. . The end of the central lower frame 27 is fixed to the front cover 26 b of the connecting member 26, and a central front wheel 27 a is provided at the tip of the central lower frame 27.

  Also in the present embodiment, the right hand side frame 2, the left hand side frame 3, the lower right frame 24, and the lower left frame 25 are rotatably connected to the connecting member 26. Then, by rotating each frame, it is possible to obtain a storage state as shown in FIG. According to the present embodiment, the weight of the walking assistance device 20 can be reduced, and the user's walking can be more easily assisted.

  Next, FIG. 14 shows an example in which the three-wheel type walking assist device shown in the present embodiment includes a main body with a built-in driving device. Fig.14 (a) shows the front view of the walking assistance apparatus 50 in a present Example, FIG.14 (b) shows a side view. The walking assist device 50 includes a main body 57 instead of the center lower frame or in addition to the center lower frame. The main body 57 houses a spring (not shown), a reduction gear train, a rotary oil damper, and the like. A central front wheel 57 a is disposed on the front side of the lower end of the main body 57.

  As shown in FIG. 14A, the left and right side surfaces of the main body 57 are provided with rotating shafts 58b and 59b parallel to the advancing direction of the walking assist device 50, and the rotating shafts 58b and 59b are provided around the rotating shafts 58b and 59b. The flat pedals 58a and 59a that can rotate and charge the mainspring and the pedal shafts 58c and 59c that are the rotation shafts are supported. The pedal shafts 58c and 59c are supported perpendicularly to the rotation shafts 58b and 59b. As shown in FIG. 14A, the rotating shafts 58 b and 59 b are in a state where the pedals 58 a and 59 a and the pedal shafts 58 c and 59 c are vertically upward and in a state where they are horizontal on the left and right outside of the walking assist device 50. In each case, it can be rotated by 90 degrees. That is, the pedals 58a and 59a and the pedal shafts 58c and 59c can be switched between a vertical state and a horizontal state.

  When the user walks using the walking assistance device 50, the pedals 58a and 59a and the pedal shafts 58c and 59c are in the above-described vertical state, and do not hinder the user from walking. When the user stops and charges the mainspring, first, the pedals 58a and 59a are rotated 90 degrees to be in a horizontal state. Then, as shown in FIG. 14B, the pedals 58a and 59c are reciprocally rotated around the pedal shafts 58c and 59c maintained in a horizontal state between the solid line state and the broken line state. Do stepping exercises. The spring is charged by the reciprocating motion of the pedals 58a and 59a, and is locked in the charged state.

  After charging the mainspring, the user returns the pedals 58a and 59a and the pedal shafts 58c and 59c to the vertical state. And the charge release button not shown provided in the grip 2a is pushed. Then, the mainspring is unlocked, and the central lower front wheel 57a is rotated at a constant speed. As a result, the walking assist device 50 moves forward at a constant speed. Also according to this embodiment, it is possible to drive the walking assist device 50 without increasing the burden on the user even on an uphill, thereby favorably assisting the user's walking.

  In this example, the main body 57 is equipped with a mechanism in which the center lower front wheel 57a faces the inclined side when the user tilts the walking assist device 50 in the left-right direction using the grips 2a, 3a. May be. If it does so, it is possible to control the advancing direction of an apparatus by simple operation that a user tilts the walking assistance apparatus 50 to the left-right direction using the grips 2a and 3a. Further, in this example, at least a part of the center front wheel 57a, the lower right frame 24, the lower left frame 25, the lower right rear wheel 24a, and the lower left rear wheel 25a is incorporated in the outer shape of the main body 57 in the stored state. It is good also as a simple structure. If it does so, the apparatus in the accommodation state can be made more compact, and handling, such as conveyance, can be made easier.

  In the present embodiment, an example in which a mainspring 57 as a driving device, a reduction gear train, a rotary oil damper, and the like are housed in the main body 57 has been described. However, the drive device housed in the main body 57 is not limited to this. For example, a motor, a reduction gear, a battery, and the like may be incorporated.

Example 5
Next, a fifth embodiment of the present invention will be described. In the present embodiment, an example will be described in which the entire apparatus can be separated vertically in the connecting member.

  In FIG. 15, it shows about the walking assistance apparatus 30 in a present Example. FIG. 15A shows the detailed structure of the connecting member 36. FIG. 15B is a side view of the walking assist device 30. In the connecting member 36 of the walking assist device 30 in the present embodiment, the rear cover 36a and the front cover (not shown) can be separated at the upper and lower central portions. The other detailed structure is the same as the first example in the first embodiment. The upper side and the lower side of the connecting member 36 may be fixed by screwing, or provided with a special chuck mechanism (not shown), which can be connected simply by abutting from above and below, and can be separated by releasing the chuck. You may do it. Here, the upper side of the connecting member 36 corresponds to an upper connecting member. The lower side of the connecting member 36 corresponds to the lower connecting member.

  When the walking assist device 30 includes the saddle 9 as shown in FIG. 15B, in this embodiment, the upper side of the device including the saddle 9, the right hand frame 2, and the left hand frame 3 is set to the lower right. The frame 4 and the lower left frame 5 are separated from the lower side of the apparatus. Then, only the upper side of the apparatus is moved to the bed, for example, the patient is seated on the saddle 9 on the upper side of the apparatus, the upper side of the apparatus is suspended by the user (patient) with a crane (not shown), and is coupled to the lower side of the apparatus. By doing so, it is possible to move a user (patient) who is difficult to move without the walking assistance device 30 to the walking assistance device 30 more easily and to make the walking assistance device 30 usable.

  In the above embodiment, the case where the lower right frame and the lower left frame are each provided with the lower right stay and the lower left stay has been described. However, the lower right stay and the lower left stay are not necessarily required. In addition, each frame such as a right hand frame, a left hand frame, a lower right frame, and a lower left frame may be integrally formed by bending a tubular member. If it does so, the manufacturing process of a walk auxiliary device can be simplified and manufacturing cost can be reduced.

  Each frame such as a right hand frame, a left hand frame, a lower right frame, and a lower left frame may be processed using, for example, a push-through bending apparatus as shown in FIG. FIG. 16 is a schematic view of a push-through bending apparatus. In FIG. 16, the fixed portion 101 is provided with a fixed die 103 having an opening. The movable part 105 is provided with a movable die 107 having an opening. Further, a feeding device 111 for feeding the tubular member 109 from the fixed die 103 toward the movable die 107 is provided on the fixed portion 101 side.

  A moving device 113 is provided between the fixed portion 101 and the movable portion 105 to move / tilt the movable portion die 107 with respect to the fixed die 103. Then, while the tubular member 109 is pushed from the opening of the fixed die 103 to the opening of the movable die 107 using the feeding device 111, the movable die 107 is moved / inclined with respect to the fixed die 103 using the moving unit 113, and the tubular member 109 is moved. The member 109 is bent into a three-dimensional shape. In addition, the position (and position change) of the movable part 105 controlled by the moving device 113 is determined based on a program by a control device (not shown).

  By processing each frame such as right hand frame, left hand frame, lower right frame and lower left frame using such a push-bending device, walking according to the user's carefulness, shoulder width, etc. more easily The auxiliary device can be appropriately manufactured. In other words, if the position (and position change) of the movable unit 105 is controlled based on data corresponding to the user, it is possible to create an optimal frame for various users simply by changing the data. It becomes.

The cross-sectional shape of each frame such as the right hand frame, the left hand frame, the lower right frame, and the lower left frame is generally circular, but is not necessarily limited to a circle. In order to omit the lower right stay and the lower left stay as described above, the cross-sectional shape of each frame may be an elliptical shape or an oval shape whose upper and lower sides are on the longer diameter side. Furthermore, it is good also as a polygonal cross section. Moreover, the material of each frame is not particularly limited. When the above push-through bending apparatus is used, metals such as iron, stainless steel, and aluminum are desirable. In addition, resin, carbon fiber, wood, bamboo, or the like can be used.

  Moreover, said Example is only the example of the walking assistance apparatus which concerns on this invention, and is not the meaning which limits this invention to said structure. Naturally, the shape of each frame, the shape of the connecting member, and the like can be changed without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Walking assistance device 2 ... Frame for right hand 2a ... Grip for right hand 3 ... Frame for left hand 3a ... Grip for left hand 4 ... Lower right frame 4a ... Lower right front wheel 5 ... Lower left frame 5a ... Lower left front wheel 5b ... Lower right rear wheel 6 ... Connecting member 6a ... Rear cover 6b ... Front cover 9 ... Saddle 16 ... Lower right motor 17 ... Lower left motor 46 ... Lower right mainspring drive unit 47 ... Lower left mainspring drive unit 57 ... Main body

Claims (6)

Two upper limb support frames that the user supports or rests on the upper limbs;
At least two lower frames supporting the upper limb support frame;
A connecting member that connects all the upper limb support frames and all the lower frames by supporting the end portions thereof , and
In the upper limb support frame, an end portion opposite to the end portion supported by the connecting member is provided with a holding portion held by the user ,
A wheel for traveling is provided at the end of the lower frame opposite to the end supported by the connecting member ,
The two upper limb support frames bend forward of the apparatus at a bent portion provided between an end portion supported by the connecting member and an end portion provided with the holding portion. Located in front of the device with respect to the connecting member,
At least one of the lower frames is bent forward of the device at a lower bent portion provided between an end portion supported by the connecting member and an end portion provided with the wheel, so that the wheel Is located in front of the device with respect to the connecting member,
The walking assist device according to claim 1, wherein the holding portion is provided to be inclined so as to be displaced upward as it goes forward of the device. 2. The walking according to claim 1, wherein at least one of the upper limb support frame and at least one of the lower frame are supported by the connecting member so as to be rotatable or slidable. Auxiliary device. A second wheel is provided at the lower bent portion of the lower frame bent forward of the apparatus at the lower bent portion,
The walking assist device according to claim 1, wherein the wheel or the second wheel is provided with a drive device that drives the wheel or the second wheel.   The connecting member is an upper connecting member that is a part on the upper side and supports the ends of all the upper limb support frames, and a lower part that is a part on the lower side of the connecting member and that is on the ends of all the lower frames. The walking assist device according to any one of claims 1 to 3, wherein the walking support device is detachably provided on a lower connecting member to be supported.   The walking assistance device according to claim 4, wherein a seating member on which a user can sit is provided on the upper limb support frame or the upper connection member.   6. The walking assistance device according to claim 1, wherein each of the upper limb support frame and the lower frame is integrally formed by bending a tubular member.

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