JP7275838B2 - walking support device - Google Patents

Description

The present invention relates to a walking assistance device.

In order for users who can walk independently to perform higher-quality, natural walking training, they should not lean on the walker, maintain a correct posture with their trunk straight, and walk while swinging their arms correctly in sync with their legs. it is very important to

For example, in the handcart described in Patent Document 1, when a user holds a handlebar fixed to the handbarrow so as to extend in the left-right direction and pushes the handlebar, a handle force, which is a force pushing the handbarrow, is generated. An assisting force is generated for assisting the movement of the handcart in the traveling direction according to its size and direction.

Further, for example, in the electric four-wheeled push cane vehicle described in Patent Document 2, when a movable push outer cylinder fixed to the electric four-wheeled push cane vehicle is grasped so as to extend in the left-right direction and pushed obliquely downward forward. It advances electrically and stops automatically when you release your hand.

JP 2017-12546 A JP-A-8-280763

In order for a user who can walk independently to perform higher-quality natural walking training, arm-swinging walking training, in which the user walks while swinging his/her arms correctly in synchronization with the movement of the legs, as described above, is important. However, it is more preferable if, for example, when the person is tired from the training, it is possible to perform the push-walking training described in Patent Documents 1 and 2, in which the person walks by pushing the walker with both hands without swinging the arms. In other words, it is more preferable that both arm-swinging walking training and push-walking training are possible. Further, it is more preferable that the direction of the handle held by the user during arm swing walking and the direction of the handle held by the user during push walking are suitable for each.

In the wheelbarrow described in Patent Document 1, the handle bar that the user grips is fixed to the wheelbarrow, and although it is possible to train the user to walk while walking, the user must walk while swinging their arms correctly in synchronization with the movement of their legs. Unable to train arm swing gait. Also, the direction of the handlebar held by the user does not change.

Similarly to Patent Document 1, the electric four-wheel push cane vehicle described in Patent Document 2 also has a movable push outer cylinder gripped by the user, which is fixed to the electric four-wheel push cane vehicle, and training of push walking is possible. However, it is not possible to train arm-swinging gait, in which the patient walks while swinging his arms correctly in synchronization with the movement of his legs. In addition, the direction of the movable push outer cylinder held by the user does not change.

The present invention has been devised in view of these points. Arm-swing walking, in which the user walks while swinging the arms correctly in synchronization with the movement of the legs, and pushes the device with both hands without swinging the arms. It is possible to train both walking and push walking, and it is possible to change the direction of the handle held by the user to an appropriate direction for each of arm swing walking and push walking. An object of the present invention is to provide a walking support device.

In order to solve the above-mentioned problems, the first aspect of the present invention provides a frame, a plurality of wheels, and a pair of left and right handles held by a user and movable in the front-rear direction of the frame, which is the front-rear direction with respect to the frame. and a hand, capable of assisting a user in walking while holding the handle and swinging the arm in the front-rear direction of the frame, wherein each of the handles is a first predetermined It is possible to change from a hand-pressing support state along a direction to an arm-swinging support state along a second predetermined direction different from the first predetermined direction, and to change from the arm-swinging support state to the hand-pressing support state. a direction-variable mechanism, a pushing support state holding mechanism for holding the handle in the pushing support state, and an arm swing support state holding mechanism for holding the handle in the arm swing support state. It is a walking support device.

Next, a second aspect of the present invention is the walking assistance device according to the first aspect, wherein the first predetermined direction is a substantially horizontal direction along the front-rear direction of the frame, and the second predetermined direction. is a walking support device which is substantially vertical, or a direction inclined at a first inclination angle toward the front of the frame with respect to the vertical direction.

Next, a third invention of the present invention is the walking support device according to the second invention, wherein the handle includes a grip portion held by a user and a brake lever movable with respect to the grip portion. and, when the handle is in the hand pushing support state, the brake lever is arranged below the grip portion, and the handle is in the arm swing support state. In some cases, the brake lever is a walking support device arranged in front of the grip portion.

Next, a fourth invention of the present invention is the walking support device according to any one of the first invention to the third invention, wherein the variable direction mechanism is arranged upward with respect to the longitudinal direction of the frame. The walking support device has a pair of left and right turning parts that turn around respective turning axes having a second inclination angle toward the right and left sides, and each of the turning parts is attached with the handle.

Next, a fifth invention of the present invention is the walking support device according to the fourth invention, wherein the turning axis lines are a pair of left and right, and when viewed from the front or rear of the frame, the pair of left and right In the walking support device, the turning axis is inclined at a third angle of inclination with respect to the vertical direction so that the interval narrows from the bottom to the top.

Next, a sixth invention of the present invention is a walking support device according to any one of the first to fifth inventions, wherein at least one of the plurality of wheels is a drive wheel, Driving means for driving the drive wheels, each handle state detection means for detecting the state of each handle, and each detected based on the detection signal from each of the handle state detection means. A control device for controlling the driving means for running based on a handle state, and a battery serving as a power source for the driving means for running and the control device, wherein the control device grips each of the handles. a training mode for controlling the driving means for running according to the swinging state of the arm detected by the handle state detection means when the user walks while swinging the arm in the front-rear direction; and an assist mode in which the driving means for running is controlled according to the hand pushing state detected by the holding hand state detecting means when the user who holds the is walking while pushing the hand forward without swinging the arm. , and when it is detected that each of the handles is in the hand-pushing support state, the operation mode is set to the assist mode, The walking support device sets the operation mode to the training mode when the arm swing support state is detected.

Next, a seventh invention of the present invention is the walking support device according to the sixth invention, wherein the vicinity of each of the handles is provided in the vicinity of a reference position set in the front-rear direction of the frame. A lock state in which the range of movement of the handle is restrained in the vicinity of the reference position when the handle is changed from the arm swing support state to the push support state when the handle is present, and the lock state. The walking support device is provided with respective lock mechanisms capable of switching to a released state for releasing the locked state when the holding hand is changed from the push support state to the arm swing support state.

Next, an eighth invention of the present invention is a walking support device according to any one of the first invention to the seventh invention, comprising a pair of left and right walking support devices that slide in the frame front-rear direction with respect to the frame. and each of the handles is connected to each of the slides via the direction variable mechanism of each ball mount structure.

According to the first invention, by having a pair of left and right handles that are movable in the longitudinal direction of the frame and a plurality of wheels, the user can train arm-swinging walking, push-walking training, is possible. It also has a direction changing mechanism capable of switching the direction of the handle between the arm swing assisted state and the push assisted state, and the arm swing assisted state holding mechanism and the push assisted state holding mechanism. As a result, the direction of the handle held by the user can be changed to an appropriate direction and the direction of the handle can be maintained during arm-swing walking and hand-push walking. It is possible.

According to the second invention, the direction of the handle can be appropriately set to the first predetermined direction suitable for hand-pushing walking and the second predetermined direction suitable for arm-swinging walking.

According to the third invention, when the handle is provided with a brake lever, the position of the brake lever when the handle is in the hand pushing support state, the position of the brake lever when the handle is in the arm swing support state, can be placed at positions that are easy for the user to operate.

According to the fourth invention, the structure for switching the holding hand between the hand-pushing support state and the arm-swinging support state can be realized with a simple structure.

According to the fifth invention, when the handle is in the arm-swing assisted state, the direction (angle) of the handle is set to an appropriate direction (angle) that makes it easier for the user to hold the handle and to perform arm-swing walking more easily. be able to.

According to the sixth invention, it is possible to realize a walking support device that runs electrically and appropriately controls running in a training mode during arm-swing walking and in an assist mode during hand-push walking. Furthermore, by detecting whether the holding hand is in the hand-pushing support state or the arm-swinging support state, the training mode and the assist mode, which have different controls, are automatically switched, which is convenient.

According to the seventh invention, it is convenient because it automatically switches to the released state when walking with arms and to the locked state when walking by pushing.

According to the eighth invention, it is possible to easily realize a handle that can move in the longitudinal direction of the frame and a direction changing mechanism that switches the handle between the first direction state and the second direction state.

It is a perspective view explaining the appearance of a walking support device. It is a figure explaining the opened state before folding a frame in the left-right direction. It is a figure explaining the state which folded the frame in the left-right direction. It is a perspective view explaining an example of appearance and structure, such as a cylindrical part, a shaft, a handle, etc. (on the right). It is the figure which looked at the cylindrical part from the V direction in FIG. It is a perspective view explaining the direction variable mechanism which changes the direction of a handle (right side), and its surrounding structure. FIG. 10 is a plan view of the appearance for explaining the (right) direction varying mechanism and its peripheral structure when the (right) handle is in a push-assisted state; FIG. 8 is a cross-sectional view taken along the line VIII-VIII of FIG. 7, and is a diagram for explaining a state in which the (right) handle is in the manual pushing support state and the lock mechanism is in the locked state; FIG. 9 is a diagram illustrating a state in which the (right) handle is changed from the hand-pushing support state to the arm swing support state from the state in FIG. 8 , and the lock mechanism is in the released state; FIG. 10 is a diagram showing left and right handles viewed from the back of the frame when the left and right handles are in a hand-pushing support state; FIG. 10 is a diagram showing left and right handles viewed from behind the frame when the left and right handles are in an arm swing assisted state; FIG. 12 is a side view (partial cross-sectional view) illustrating a state in which the (right) handle is in a manual pushing support state at the shaft reference position in the front-rear direction of the frame, and the lock mechanism is in the locked state; FIG. 13 is a diagram illustrating a state in which the holding hand is in the arm swing assist state and the lock mechanism is in the released state from the state shown in FIG. 12 ; 14 is a diagram illustrating a state in which the handle is pulled toward the rear of the frame from the state shown in FIG. 13; FIG. FIG. 4 is a diagram for explaining an example of the appearance of an operation panel; 3 is a block diagram for explaining inputs and outputs of a controller of the walking support device; FIG. 4 is a flowchart for explaining a processing procedure (overall processing) of a control device of a walking support device; FIG. 18 is a flowchart for explaining a processing procedure of input processing during the overall processing shown in FIG. 17; FIG. FIG. 19 is a flowchart for explaining a processing procedure of right (left) movement speed, movement direction, and amplitude calculation processing during the input processing shown in FIG. 18; FIG. 18 is a flowchart for explaining a processing procedure of ground speed correction amount calculation processing during the overall processing shown in FIG. 17; FIG. FIG. 18 is a flowchart for explaining a processing procedure of center position speed correction amount calculation processing during the overall processing shown in FIG. 17; FIG. FIG. 18 is a flowchart for explaining a processing procedure of progress speed adjustment processing during the overall processing shown in FIG. 17; FIG. It is a top view of a walking support device, and is a figure explaining a handle front-back position, a handle front-back center position, a virtual front-back reference position, etc. FIG. FIG. 5 is a diagram illustrating an example of longitudinal deviation/central position/speed correction amount characteristics; FIG. 3 is a diagram illustrating an example of a user walking while holding a handle and swinging his/her arm back and forth, and the positions of the walking support device and the handle;

Embodiments for carrying out the present invention will be described below with reference to the drawings. In addition, when the X-axis, the Y-axis, and the Z-axis are described in the drawing, each axis is orthogonal to each other. The X-axis direction indicates the forward direction when viewed from the walking support device 10, the Y-axis direction indicates the left direction when viewed from the walking support device 10, and the Z-axis direction indicates the direction when viewed from the walking support device 10. It shows the direction going vertically upward. Hereinafter, with respect to the walking support device 10, the X-axis direction is defined as "front", the direction opposite to the X-axis direction is defined as "rear", the Y-axis direction is defined as "left", and the direction opposite to the Y-axis direction is defined as "left". "Right", the Z-axis direction as "up", and the opposite direction to the Z-axis direction as "down". Also, hereinafter, the front-rear direction of the frame is referred to as the “frame front-rear direction”.

● [Schematic overall configuration of walking support device 10 (Figs. 1 to 3)]
A schematic overall configuration of the walking support device 10 will be described with reference to FIG. The walking support device 10 includes a frame 50, front wheels 60FL and 60FR, rear wheels 60RL and 60RR, driving means 64L and 64R, a battery B (power supply), a control device 40, and handles 20L and 20R. , shafts 21L and 21R, tubular portions 30L and 30R, a bag 50K and the like.

The frame 50 includes cylindrical portion support bodies 51L and 51R that extend in the vertical direction and support the cylindrical portions 30L and 30R, and a wheel support body 52L that extends in the frame front-rear direction, which is the front-rear direction with respect to the frame 50, and supports the wheels. 52R, etc. The wheel support 52L is fixed below the tubular part support 51L, and the wheel support 52R is fixed below the tubular part support 51R. 2 shows a state in which the frame 50 is opened in the horizontal direction, and FIG. 3 shows a state in which the frame 50 is folded in the horizontal direction. 2 and 3, the bag 50K is omitted. As shown in FIGS. 2 and 3, the cylindrical portion support 51L and the cylindrical portion support 51R are connected by link members 54L, 54R, 55L and 55R. As shown in FIGS. 2 and 3, when the walking support device 10 is not in use, it can be conveniently folded as shown in FIG. 3 to reduce the occupied space.

Further, the walking support device 10 can be easily changed from the state shown in FIG. 3 in which it is folded to the left and right, to the state shown in FIG. 2 to open to the left and right. An elastically deformable connecting body 53 is provided on the upper side of the tubular part support 51L and the tubular part support 51R. The user enters between the tubular portion 30L and the tubular portion 30R from the open side (rear) of the frame 50, grasps the handles 20L and 20R with the left and right hands, and moves the walking support device 10. to operate.

The tubular portion 30L is held at the upper end of the tubular portion support 51L, and the wheel support 52L is fixed to the lower side of the tubular portion support 51L. The cylindrical portion support 51L is vertically extendable, so that the height of the cylindrical portion 30L can be adjusted according to the height of the hand of the user who walks while swinging his arms. A front wheel 60FL, which is a turnable caster wheel, is provided on the front side of the wheel support 52L. 60RL is provided. The tubular portion support 51R, the tubular portion 30R, the wheel support 52R, the front wheels 60FR, the driving means 64R for running, and the rear wheels 60RR are also the same, so descriptions thereof will be omitted. As described above, the frame 50 is provided with a plurality of wheels (front wheels 60FL, 60FR, rear wheels 60RL, 60RR), and at least one wheel (rear wheels 60RL, rear wheels 60RR in this case) is a drive wheel. is.

The travel drive means 64L is, for example, an electric motor, and drives the rear wheels 60RL to rotate based on a control signal from the control device 40 based on the power supplied from the battery B. Similarly, the traveling drive means 64R is, for example, an electric motor, and drives the rear wheels 60RR to rotate based on a control signal from the control device 40 based on the electric power supplied from the battery B.

Further, the driving means 64L for traveling is provided with advancing speed detecting means 64LE such as an encoder, and outputs a detection signal to the control device 40 according to the rotation of the driving means 64L for traveling. The control device 40 can detect the travel speed of the walking support device 10 relative to the ground (the travel speed of the rear wheels 60RL) based on the detection signal from the travel speed detection means 64LE. Similarly, the driving means 64R for traveling is provided with advancing speed detecting means 64RE such as an encoder, and outputs a detection signal to the control device 40 according to the rotation of the driving means 64R for traveling. The control device 40 can detect the travel speed of the walking support device 10 relative to the ground (the travel speed of the rear wheels 60RR) based on the detection signal from the travel speed detection means 64RE.

The tubular portion 30L has a tubular shape extending in the frame front-rear direction, and accommodates the shaft 21L extending in the frame front-rear direction so as to be movable in the frame front-rear direction. Similarly, the tubular portion 30R has a tubular shape extending in the frame front-rear direction, and accommodates the shaft 21R extending in the frame front-rear direction so as to be movable in the frame front-rear direction. The cylindrical portion 30L and the cylindrical portion 30R are provided as a left and right pair.

The shaft 21R (corresponding to the slide portion) has a tubular shape extending in the frame front-rear direction, at least a portion of which is hollow (see FIG. 4), and is housed in the tubular portion 30R and extends in the frame front-rear direction. It is considered movable. A handle 20R is fixed to the rear end of the shaft 21R via a direction changing mechanism 80R. Similarly, the shaft 21L (corresponding to the slide portion) has a tubular shape extending in the frame front-rear direction, at least a portion of which is hollow, and is housed in the tubular portion 30L so as to be movable in the frame front-rear direction. It is said that A handle 20L is fixed to the rear end of the shaft 21L via a direction varying mechanism 80L. A pair of left and right shafts 21L and 21R are provided.

The handle 20L is held by the left hand of the user and is attached to the rear end of the shaft 21L via the direction changing mechanism 80L. It is movable in the longitudinal direction of the frame together with the shaft 21L with respect to the shaped portion 30L (that is, with respect to the frame 50). The handle 20L is provided with a brake lever BKL that decelerates the rotation of the rear wheel 60RL. Similarly, the handle 20R is held by the user's right hand, and is attached to the rear end of the shaft 21R via a direction-changing mechanism 80R. It is movable in the longitudinal direction of the frame together with the shaft 21R with respect to the cylindrical portion 30R (that is, with respect to the frame 50). The handle 20R is provided with a brake lever BKL that slows down the rotation of the rear wheel 60RR. The handle 20L and the handle 20R are provided as a left and right pair.

As will be described later, the handles 20L and 20R are set in a substantially horizontal direction along the front-rear direction of the frame by the direction changing mechanisms 80L and 80R (see FIGS. 1 and 12), and in a substantially vertical direction. The direction can be changed to the arm swing support state (see FIG. 14) in which the arm swing support state is tilted at the first tilt angle θ1 toward the front of the frame with respect to the direction. In addition, as will be described later, each of the direction changing mechanisms 80L and 80R has a lock state detection mechanism capable of detecting whether the direction of each of the handles 20L and 20R is in the push support state or arm swing support state. Means 85L3, 85R3 are provided. Based on the detection signals from the lock state detecting means 85L3 and 85R3, the control device 40 can detect which direction each of the handles 20L and 20R is in, the pushing support state or the arm swinging support state. can.

Although the details will be described later, the direction varying mechanisms 80L and 80R are in a "locked state" (locked state) in which the sliding movement range of the shafts 21L and 21R in the longitudinal direction of the frame with respect to the cylindrical portions 30L and 30R is restrained in the vicinity of the reference position. 12) and a “released state” (see FIGS. 13 and 14) for releasing the locked state. In the "locked state", the movement range of the shafts 21L, 21R and the handles 20L, 20R in the longitudinal direction of the frame is restricted within the longitudinal restriction range R3 (see FIG. 8) in the vicinity of the shaft reference position. In the "released state", the movement range of the shafts 21L, 21R and the handles 20L, 20R is allowed to exceed the longitudinal regulation range R3 (see FIG. 14).

A handle state detection means 21LS capable of detecting the state of the handle 20L is provided in the tubular portion 30L. For example, the handle state detection means 21LS is an encoder, which rotates according to the motion of the shaft 21L in the frame front-rear direction, and detects the position of the shaft 21L in the frame front-rear direction in the cylindrical portion 30L (that is, the frame front-rear direction of the handle 20L). position) is output to the control device 40 . Based on the detection signal from the handle state detection means 21LS, the control device 40 obtains the (left) handle front-rear position, which is the position of the handle 20L relative to the frame 50 (relative to the cylindrical portion 30L) in the frame front-rear direction. can be done.

Similarly, a handle state detection means 21RS capable of detecting the state of the handle 20R is provided inside the cylindrical portion 30R. For example, the handle state detection means 21RS is an encoder, which rotates according to the movement of the shaft 21R in the frame front-rear direction, and detects the position of the shaft 21R in the frame front-rear direction in the cylindrical portion 30R (that is, the frame front-rear direction of the handle 20R). position) is output to the control device 40 . Based on the detection signal from the handle state detecting means 21RS, the control device 40 obtains the (right) handle front-rear position, which is the position of the handle 20R relative to the frame 50 (relative to the cylindrical portion 30R) in the frame front-rear direction. can be done.

The operation panel 70 is provided, for example, on the upper surface of the cylindrical portion 30R, and as shown in FIG. It has an adjustment section 76, a warning display section 77, and the like. Details of the operation panel 70 will be described later.

The 3-axis acceleration/angular velocity sensor 50S is provided on the frame 50, and measures acceleration with respect to each of the three axes of the X-axis, Y-axis, and Z-axis. The angular velocity of the rotated rotation is measured, and a detection signal based on the measurement result is output to the control device 40 . For example, the three-axis acceleration/angular velocity sensor 50S outputs detection signals corresponding to the tilt angles of the walking support device 10 with respect to each of the X-axis, Y-axis, and Z-axis when the walking support device 10 is traveling on an inclined surface. 40. Further, for example, the three-axis acceleration/angular velocity sensor 50S detects acceleration applied to the vehicle body of the walking support device 10 (for example, impact on the vehicle body) and outputs a detection signal corresponding to the detected acceleration to the control device 40. . Further, for example, the three-axis acceleration/angular velocity sensor 50S detects the pitch angular velocity (angular velocity around the Y-axis), yaw angular velocity (angular velocity around the Z-axis), and roll angular velocity (angular velocity around the X-axis) of the vehicle body of the walking support device 10. and outputs a detection signal corresponding to the detected angular velocity to the control device 40 . Based on the detection signal from the three-axis acceleration/angular velocity sensor 50S, the control device 40 determines the inclination angles of the walking support device 10 with respect to the X-axis, Y-axis, and Z-axis, the magnitude of acceleration (shock), the pitch angular velocity, Yaw angular velocity and roll angular velocity can be detected.

● [Detailed structure of tubular portion 30R and shaft 21R (Figs. 4 and 5)]
Next, with reference to FIG. 4, detailed structures of the cylindrical portion and the shaft will be described. Since the cylindrical portion and the shaft (and the handle) are a pair of left and right, the right cylindrical portion 30R, the shaft 21R, the direction changing mechanism 80R, and the handle 20R will be described as an example, and the left cylindrical portion 30L will be described. , the shaft 21L, the direction varying mechanism 80L, and the handle 20L (see FIG. 1) will not be described. FIG. 4 shows a perspective view of the tubular portion 30R, the shaft 21R, the direction varying mechanism 80R, and the handle 20R, and FIG. 5 is a view of the tubular portion 30R viewed from the V direction in FIG.

The tubular portion 30R has a tubular shape extending in the longitudinal direction of the frame, and is provided therein with a guide rail 32R, guide rollers 33R and 33R1, a handle state detection means 21RS, an elastic unit 35R4, and the like. An operation panel 70 and the like are provided on the upper surface of the cylindrical portion 30R. An extending portion 37R extending rearward is provided below the rear end portion of the tubular portion 30R in the frame front-rear direction. As shown in FIGS. 12 and 13, the extending portion 37R forms a mounting surface 37R1 (see FIG. 4) that supports the direction varying mechanism 80R from below when the handle 20R is at the reference position in the frame front-rear direction. have. The extending portion 37R has a guide roller 33R1, a groove portion 37R3 that is part of the lock mechanism, and an abutting surface 37R2 against which the direction changing mechanism 80R abuts when the handle 20R is pushed forward.

The shaft 21R has a handle fitting hole 21R1, a hollow portion 21R3, a guided member 24R, a shaft-side elastic member 26R, a retaining member 25R, and the like. The handle 20R has a shaft fitting portion 20R1, a grip portion 20R2 held by the user, a brake lever BKL, and the like.

As shown in FIGS. 12 to 14, the shaft 21R is inserted into the tubular portion 30R on one side (tip in the X-axis direction) of the shaft-side elastic member 26R (shaft position restoring means). After that, it is fixed to the cylindrical portion 30R. Further, as shown in FIGS. 12 to 14, the other side of the shaft-side elastic member 26R (the tip of the side facing in the direction opposite to the X-axis direction) is inserted into the hollow portion 21R3 of the shaft 21R and attached to the shaft 21R. Fixed.

Further, as shown in FIGS. 12 to 14, the elastic unit 35R4 is fixed to the front end (the tip on the side facing the X-axis direction) inside the tubular portion 30R. The elastic unit 35R4 has a cylindrical portion side elastic member 35R1 (shaft position restoring means), a collar 35R2, a damper 35R3, and the like. As shown in FIGS. 12 to 14, one side of the cylindrical portion side elastic member 35R1 (the tip on the side facing the X-axis direction) is fixed to an elastic unit 35R4. Further, as shown in FIGS. 12 to 14, the other side of the tubular portion-side elastic member 35R1 (the tip on the side facing the direction opposite to the X-axis direction) is fixed to the front side surface of the collar 35R2. there is A damper 35R3 is attached to the rear surface of the collar 35R2 to absorb impact noise and the like when the tip of the shaft 21R collides. At the shaft reference position shown in FIGS. 12 and 13, the tip of the shaft 21R is in contact with the rear side of the damper 35R3.

In FIG. 4, the shaft fitting portion 20R1 of the handle 20R is fitted into the handle fitting hole 21R1 of the shaft 21R to integrate the handle 20R and the shaft 21R. Then, the shaft 21R is rotated 90 degrees clockwise around the X-axis direction, inserted between the upper and lower guide rollers 33R of the tubular portion 30R, and pushed along the X-axis direction. The shaft 21R is turned 90° counterclockwise around the X-axis before the stopper member 25R at the tip of the shaft 21R passes through the stopper panel 36R and reaches the guide rail 32R. When the shaft 21R is pushed further along the X-axis direction, the guided member 24R of the shaft 21R is inserted into the concave portion of the guide rail 32R, and the shaft 21R is guided by the guide rail 32R. Then, the front end of the shaft 21R is inserted until it contacts the damper 35R3, and the front end of the shaft-side elastic member 26R is fixed to the cylindrical portion 30R by the operator. The guide rail 32R and the guided member 24R form a rotation prevention structure that prevents the shaft 21R from rotating around the shaft center axis 21RJ (see FIG. 4) extending in the longitudinal direction of the frame inside the cylindrical portion 30R. do.

● [Structure of the variable direction mechanism 80R (Figs. 6 to 9)]
Next, referring to FIGS. 6 to 9, the direction of the handle 20R is set to be substantially horizontal along the front-rear direction of the frame (corresponding to the first predetermined direction) and substantially vertical or toward the front with respect to the vertical direction. The direction variable mechanism 80R that can be changed between a direction tilted at one tilt angle θ1 (corresponding to a second predetermined direction different from the first predetermined direction) will be described. In the present embodiment, the state in which the handle 20R is aligned in the first predetermined direction is referred to as the "hand pushing assisted state", and the state in which the handle 20R is aligned in the second predetermined direction is referred to as the "arm swing assisted state." call. Since the right direction varying mechanism 80R and the left direction varying mechanism 80L are the same, the right direction varying mechanism 80R will be described, and the description of the left direction varying mechanism 80L will be omitted.

As shown in FIGS. 6 to 9, the direction varying mechanism 80R has a base portion 81R, a cover portion 82R, a turning shaft member 83R, a turning portion 84R, a lock portion 85R, and the like.

As shown in FIGS. 6 to 9, the base portion 81R is fixed to the rear end portion of the shaft 21R together with the lock portion 85R. The base portion 81R holds a spherical revolving portion 84R so as to be revolvable around a revolving shaft member 83R.

The cover portion 82R is a thin plate-like member that extends from (or is attached to) the upper portion of the base portion 81R. covering the Also, the cover portion 82R has a position of the handle 20R indicated by a solid line in FIG. 6 (position in the hand pushing support state) and a position of the handle 20R indicated by a two-dot chain line in FIG. 6 (position in the arm swing support state). , and when the direction of the handle 20R is changed, the shape does not interfere with the handle 20R.

As shown in FIGS. 8 and 9, the turning shaft member 83R has a second upward inclination angle .theta.2 with respect to the longitudinal direction of the frame, and as shown in FIGS. When viewed from above, the turning axis lines 83LJ and 83RJ, which are the center axes of the left and right turning shaft members 83L and 83R, respectively, are inclined at a third inclination angle θ3 with respect to the vertical direction so that the distance therebetween narrows from bottom to top. It is fixed to the base portion 81R so as to have a Here, the third tilt angle θ3 is as small as about 10[°], which is 2*second tilt angle θ2≈90[°]+first tilt angle θ1.

The turning portion 84R has a spherical shape, is held on the base portion 81R by a turning shaft member 83R, and can turn around a turning axis 83RJ of the turning shaft member 83R. A handle 20R is fixed to the turning portion 84R. As shown in FIG. 6, the handle 20R is integral with the swivel portion 84R and can swivel around the swivel axis 83RJ. , and the position of the handle 20R indicated by the two-dot chain line in FIG.

As shown in FIGS. 7 to 9, the base portion 81R is provided with an urging member 81R2 and a plunger 81R3, and the turning portion 84R is provided with plunger concave portions 84R1 and 84R2. The biasing member 81R2 is an elastic member such as a spring, and biases the plunger 81R3 toward the turning portion 84R.

As shown in FIG. 8, the plunger recess 84R1 is a recess formed in the surface of the swivel portion 84R that faces the plunger 81R3 when the handle 20R is in the manual pushing support state. Therefore, as shown in FIG. 8, when the handle 20R is in the push assisted position, the plunger 81R3 is engaged with the plunger recess 84R1, and the handle 20R is held in the push assisted position. In this way, a pushing assisted state holding mechanism for holding the position of the handle 20R in the pushing assisted state is configured by the biasing member 81R2, the plunger 81R3, and the plunger recess 84R1.

Similarly, as shown in FIG. 9, the plunger recess 84R2 is a recess formed in the surface of the turning portion 84R facing the plunger 81R3 when the handle 20R is in the arm swing assisted position. Therefore, as shown in FIG. 9, when the handle 20R is in the arm swing assisted position, the plunger 81R3 is engaged with the plunger recess 84R2, and the handle 20R is held in the arm swing assisted position. In this manner, the arm swing assisted state holding mechanism for holding the position of the arm swing assisted handle 20R is configured by the biasing member 81R2, the plunger 81R3, and the plunger recess 84R2.

As described above, the handles 20R and 20L are connected to the respective sliding portions (shafts 21R and 21L) via the direction varying mechanisms 80R and 80L of the ball mount structure.

● [Structure of lock mechanism (Fig. 7 to Fig. 9)]
Next, the structure of the lock mechanism will be described with reference to FIGS. 7 to 9. FIG. When the user does not grip the handle 20R, the shaft 21R and the handle 20R are moved by the shaft-side elastic member 26R (shaft position restoring means), the cylindrical portion-side elastic member 35R1 (shaft position restoring means), and the like. It is held at the shaft reference position (the position shown in FIGS. 12 and 13), which is a predetermined position in the longitudinal direction of the frame. At the shaft reference position shown in FIGS. 12 and 13, both the shaft side elastic member 26R and the tubular portion side elastic member 35R1 are free lengths (the length when no force is applied), or the shaft side elastic member 26R is The force for pulling the shaft 21R forward and the force for pushing the shaft 21R rearward by the cylindrical portion side elastic member 35R1 are set to balance.

When the handle 20R is at the shaft reference position, as shown in FIGS. 8 and 9, the position of the lock pin 85R1 in the lock mechanism is the position facing the groove 37R3 of the extension 37R. When the handle 20R is at the shaft reference position and the handle 20R is moved to the position of the manual pushing support state (see FIG. 8), the lock mechanism changes the movement range of the handle 20R with respect to the tubular portion 30R to the shaft reference position. (locked). Further, when the handle 20R is at the shaft reference position and the handle 20R is moved to the position of the arm swing support state (see FIG. 9), the lock mechanism releases the locked state (sets to the released state).

As shown in FIGS. 7 to 9, the lock mechanism is composed of a lock slider 81R1, a lock pin 85R1 having a slide shaft 85R2, and a groove portion 37R3. Since the lock mechanism on the right side and the lock mechanism on the left side are the same, the lock mechanism on the right side will be explained, and the explanation on the lock mechanism on the left side will be omitted.

As shown in FIGS. 8 and 9, the lock slider 81R1 is accommodated in the base portion 81R and the lock portion 85R, and is reciprocally movable along the longitudinal direction in FIGS. The lock slider 81R1 is urged along the longitudinal direction in a direction approaching the revolving portion 84R by an urging member (not shown). The lock pin 85R1 side of the lock slider 81R1 is provided with an inclined surface 81R4 in contact with the slide shaft 85R2.

As shown in FIGS. 8 and 9, the lock pin 85R1 is accommodated in the lock portion 85R and is reciprocally movable along the longitudinal direction in FIGS. The lock pin 85R1 is urged along the longitudinal direction in a direction approaching the groove 37R3 by an urging member (not shown). A slide shaft 85R2 is provided on the lock pin 85R1, and the slide shaft 85R2 is in contact with the inclined surface 81R4 of the lock slider 81R1. A lock state detecting means 85R3 is provided in the vicinity of the lock pin 85R1. For example, when the lock pin 85R1 is in the "locked state" position as shown in FIG. 8, the lock state detection means 85R3 outputs a "switch OFF (locked state)" detection signal to the control device 40. As shown, when the lock pin 85R1 is in the "released state" position, a "switch ON (released state)" detection signal is output to the control device 40. FIG.

As shown in FIG. 4, the groove portion 37R3 is provided in the extension portion 37R of the cylindrical portion 30R, and when the user does not grip the handle 20R and the handle 20R is at the shaft reference position described above, , to face the lock pin 85R1 as shown in FIGS. As shown in FIG. 8, when the lock pin 85R1 protrudes into the groove 37R3, the "locked state" is established. As shown in FIG. 8, when the lock pin 85R1 protrudes into the groove 37R3, there is a gap ΔR3F in front of the lock pin 85R1 and a gap ΔR3R behind the lock pin 85R1. Further, when the handle 20R is at the shaft reference position, a gap Δ81R (gap Δ81R≧gap ΔR3F) is formed behind the groove portion 37R3 in FIG. Therefore, even if the handle 20R is in the "locked state" at the shaft reference position, it can move forward by the clearance ΔR3F and backward by the clearance ΔR3R. That is, when the handle 20R is put in the "locked state" at the shaft reference position, the range of movement of the handle in the longitudinal direction of the frame is constrained near the shaft reference position, and when it is put in the "released state", it is locked. is released and the range of movement of the handle in the front-rear direction of the frame is extended.

With the above configuration, as shown in FIG. 8, when the direction (position) of the handle 20R is in the direction (position) of the manual pushing support state, the lock slider 81R1 is pushed out toward the lock pin 85R1. Instead, it is urged in a direction to approach the turning portion 84R. As a result, the inclined surface 81R4 of the lock slider 81R1 moves toward the revolving portion 84R, so that the slide shaft 85R2 moves downward along the inclined surface 81R4. Therefore, the lock pin 85R1 moves downward, the lower end of the lock pin 85R1 protrudes into the groove 37R3 to enter a "locked state", and the lock state detecting means 85R3 outputs a "switch OFF (locked state)" detection signal to the control device. 40. As shown in FIGS. 8 and 12, when the direction (position) of the handle 20R is in the direction (position) of the hand-pushing support state, the direction of the handle 20R is substantially horizontal along the front-rear direction of the frame. 1 predetermined direction).

Further, as shown in FIG. 9, when the direction (position) of the handle 20R is in the direction (position) of the arm swing support state, the lock slider 81R1 is pushed out toward the lock pin 85R1 by the handle 20R. As a result, the inclined surface 81R4 of the lock slider 81R1 moves away from the revolving portion 84R, so that the slide shaft 85R2 moves upward along the inclined surface 81R4. Therefore, the lock pin 85R1 moves upward, and the lower end of the lock pin 85R1 comes out of the groove 37R3 to be in a "released state", and the lock state detection means 85R3 outputs a detection signal of "switch ON (released state)". output to As shown in FIGS. 9 and 13, when the direction (position) of the handle 20R is in the direction (position) of the arm swing support state, the direction of the handle 20R is toward the front of the frame with respect to the vertical direction. It is preferable that the direction is inclined at the first inclination angle θ1 (corresponding to the second predetermined direction), but it may be the vertical direction (corresponding to the second predetermined direction).

● [Position of the brake lever BKL in each of the hand-pushing support state and arm swing support state (Fig. 10, Fig. 11)]
FIG. 10 is a view of the handles 20R and 20L in the push assisted position (see FIG. 12) viewed from the rear of the frame. At this time, the pair of left and right turning axis lines 83RJ and 83LJ of the pair of left and right turning shaft members 83R and 83L become narrower from the bottom to the top, and each tilts at the third tilt angle θ3 with respect to the vertical direction. are doing. Further, as shown in FIG. 10, when the handles 20R and 20L are in the hand-pushing assisted position, the brake lever BKL is arranged below the grip portions 20R2 and 20L2 of the pair of left and right handles 20R and 20L. It is Further, as shown in FIG. 10, if the pair of left and right brake levers BKL are arranged so that the distance between them widens as they go downward (open in the left-right direction), it is easier for the user to grip. , more preferred.

FIG. 11 is a view of the handles 20R and 20L in the arm swing assisted position (see FIG. 13) as seen from the rear of the frame. At this time, the pair of left and right turning axis lines 83RJ and 83LJ of the pair of left and right turning shaft members 83R and 83L become narrower from the bottom to the top, and each tilts at the third tilt angle θ3 with respect to the vertical direction. are doing. Further, as shown in FIG. 11, when the handles 20R and 20L are in the arm swing assisted position, the brake lever BKL is arranged in front of the grip portions 20R2 and 20L2 of the pair of left and right handles 20R and 20L. It is Further, as shown in FIG. 11, it is more preferable for the pair of left and right brake levers BKL to be arranged so that the distance between them increases toward the front, because it is easier for the user to grip.

● [Movable range of shaft 21R in locked state (Fig. 12) and movable range of shaft 21R in unlocked state (Figs. 13 to 14)]
FIG. 12 shows a state in which the handle 20R is not gripped by the user (a state in which no force is applied in the longitudinal direction of the frame), and the positions of the shaft 21R and the handle 20R in the longitudinal direction of the frame are the shaft reference positions. It shows a state in which it is held and the handle 20R is in the direction (position) of the pushing support state. In this state, as described above, the handle 20R is locked, and the movable range of the handle 20R is restricted to the vicinity of the shaft reference position.

At this shaft reference position, as shown in FIG. 8, the shaft-side elastic member 26R (see FIG. 12) and the length of the cylindrical portion side elastic member 35R1 (see FIG. 12) are adjusted. The spring constant is set so that the spring constant K35 of the cylindrical portion-side elastic member 35R1 is larger than the spring constant K26 of the shaft-side elastic member 26R. For example, as shown in FIG. 12, the shaft reference position is a position near the front end within the movable range of the shaft 21R in the longitudinal direction of the frame.

In the "locked state" shown in FIG. 12, when the user grips the handle 20R and pushes the handle 20R forward (in the X-axis direction), the lock pin 85R1 hits the front end of the groove 37R3 in FIG. , the shaft 21R and the handle 20R can move forward. Then, when the user releases the handle 20R, the shaft 21R and the handle 20R are returned to the shaft reference position shown in FIG. 12 by the elastic force of the cylindrical portion side elastic member 35R1.

In the "locked state" shown in FIG. 12, when the user grips the handle 20R and pulls the handle 20R rearward (in the direction opposite to the X-axis direction), the lock pin 85R1 moves toward the groove 37R3 in FIG. The shaft 21R and the handle 20R are movable rearward until they hit the rear end of the shaft 21R. When the user releases the handle 20R, the elastic force of the shaft-side elastic member 26R returns the shaft 21R and the handle 20R to the shaft reference position shown in FIG.

FIG. 13 shows a state in which the direction (position) of the handle 20R is changed from the state of FIG. 12 from the direction (position) of the hand pushing support state to the direction (position) of the arm swing support state. In this state, as described above, the handle 20R is in the released state, the movable range of the handle 20R is wider than the movable range in the locked state, and the range of movement of the shaft 21R in the longitudinal direction of the frame is increased. It is not restricted within the front/rear restriction range R3 (see FIG. 8). For example, as shown in FIG. 14, it is possible to move backward greatly, so that it is possible to appropriately assist arm-swinging walking.

When the user grips the handle 20R and pulls the handle 20R backward, the handle 20R can be pulled backward until the drop-out prevention member 25R (see FIG. 4) at the tip of the shaft 21R interferes with the drop-out prevention panel 36R. . In other words, when the user is in the "released state" shown in FIG. 13, the user can walk using the walking support device while swinging the arm. The pull-out prevention member 25R and the pull-out prevention panel 36R form a pull-out prevention structure that prevents the shaft 21R from slipping out of the cylindrical portion 30R.

In this way, the shaft 21R (shaft 21L) has a shaft reference position, which is a reference position in the frame front-rear direction with respect to the tubular portion 30R (tubular portion 30L) that accommodates itself. As shown in FIGS. 12 and 13, when the user does not grip the handle 20R, the shaft 21R and the handle 20R are connected to the shaft position restoring means (shaft side elastic member 26R, cylindrical portion side elastic member 35R1). is held at the shaft reference position by As shown in FIG. 8, when the shaft 21R and the handle 20R are at the shaft reference position, the substantially center position of the groove 37R3 in the frame front-rear direction faces the lock pin 85R1. In the "locked state", the shaft 21R and the handle 20R are held within the longitudinal regulation range R3 in the longitudinal direction of the frame so as to be in the vicinity of the shaft reference position.

In FIG. 8, the gaps ΔR3F and ΔR3R from the lock pin 85R1 to the front end or the rear end of the groove 37R3 are shown relatively large for easy understanding. However, the clearance ΔR3F and the clearance ΔR3R of about 1 [mm] are sufficient. In the "released state", the user can pull the shaft 21R backward from the shaft reference position shown in FIG. 13, as shown in FIG. 14, for example, by about 150 [mm].

● [Appearance of operation panel 70 (Fig. 15)]
Next, the operation panel 70 will be described with reference to FIG. 15 . In the example shown in this embodiment, the operation panel 70 is provided on the upper surface of the cylindrical portion 30R. As shown in FIG. 15, the operation panel 70 has a main switch 72, a remaining battery level display section 73, a training mode display section 74, an assist mode display section 75, a driving torque adjustment section 76, a warning display section 77, and the like. ing.

The main switch 72 is a switch for instructing the activation of the walking support device 10. When the user turns on the main switch 72, power is supplied from the battery B to the control device 40 and the driving means 64R and 64L for running, and the walking support device 10 is operated. and enable operation. In addition, the remaining amount of battery B is displayed in the remaining battery amount display section 73 .

The driving torque adjustment unit 76 is an input unit for the user to adjust the strength of the driving torque of the driving means 64L, 64R for running when the walking support device 10 moves. For example, when using the walking support device 10 on an upsloping surface, the user inputs an instruction to increase the driving torque from the driving torque adjusting section 76 .

The walking support device 10 also has a "training mode" that supports "arm swing walking" in which the user walks while swinging the arm, and an "assist mode" that supports walking in a wheelbarrow state without swinging the arm (handwheel walking). and two operation modes are provided. When the user desires "arm swing walking", as described above, the direction (position) of the handles 20R and 20L in the shaft reference position is changed to the direction (position) of the "arm swing assisted state". When the directions (positions) of both the handles 20R and 20L are set to the “arm swing support state,” the control device 40 turns on the training mode display section 74, turns off the assist mode display section 75, and turns off the warning display section 77. is turned off. Further, when the user desires "push walking", as described above, the direction (position) of the handles 20R and 20L in the shaft reference position is changed to the direction (position) of the "push assisted state". When both the directions (positions) of the handles 20R and 20L are set to the “hand-pushing support state,” the control device 40 turns off the training mode display section 74, turns on the assist mode display section 75, and turns on the warning display section 77, for example. is turned off. When the direction (position) of one hand is in the "arm swing support state" and the direction (position) of the other hand is in the "hand push support state", the control device 40 displays the training mode display unit 74, for example. It is assumed that the light is turned off, the assist mode display section 75 is turned off, and the warning display section 77 is turned on.

● [Input/output of control device 40 (Fig. 16)]
FIG. 16 is a block diagram showing inputs and outputs of the control device 40. As shown in FIG. The control device 40 has control means such as a CPU (not shown), storage means 44 and the like. The control device 40 also includes detection signals from the traveling speed detection means 64LE and 64RE, detection signals from the hand state detection means 21RS and 21LS, detection signals from the triaxial acceleration/angular velocity sensor 50S, lock state detection means 85R3, A detection signal from 85L3 is input. Further, the operating states of the main switch 72 and the driving torque adjusting section 76 are input to the control device 40 from the operating panel 70 . In addition, the control device 40 outputs remaining battery information to the operation panel 70 to be displayed on the remaining battery amount display portion 73 of the operation panel 70, the training mode display portion 74, the assist mode display portion 75, the warning display portion 77, A control signal is output to the drive means 64L and 64R for traveling.

The control device 40 includes device ground speed calculation means 40A, handle longitudinal position calculation means 40B, handle movement speed calculation means 40C, handle ground speed calculation means 40D, ground speed correction amount calculation means 40E, and advancing speed adjustment means 40F. , handle front-rear center position calculation means 40G, center position speed correction amount calculation means 40H, etc., which will be described later.

● [Processing procedure of the control device 40 (FIGS. 17 to 22)]
FIG. 17 shows the overall processing in the processing procedure of the control device 40. As shown in FIG. When the user turns on the main switch 72, the process shown in FIG. 17 is activated at predetermined time intervals (for example, several [ms] intervals). When the process shown in FIG. 17 is activated, control device 40 advances the process to step S010. An example in which the user walks forward with the walking support device will be described below.

In step S010, control device 40 executes SB100 (input processing) and advances the processing to step S020. Details of SB100 (input processing) will be described later.

In step S020, control device 40 determines whether or not the operation mode obtained in step S010 (SB100) is the warning mode. If there is (Yes), the process proceeds to step S090.

When the process proceeds to step S040, the control device 40 executes SB400 (ground speed correction amount calculation process) and proceeds to step S050. Details of SB400 (ground speed correction amount calculation processing) will be described later.

In step S050, control device 40 executes SB500 (central position speed correction amount calculation process) and advances the process to step S060. Details of SB500 (central position speed correction amount calculation processing) will be described later.

In step S060, control device 40 executes SB600 (advancing speed adjustment process) and ends the process (returns). The details of SB600 (advancing speed adjustment process) will be described later.

When the process proceeds to step S090, the control device 40 stops the operation of the (right) running drive means 64R and the (left) running drive means 64L, and ends the process (returns).

● [SB100: Details of input processing (Fig. 18)]
Next, details of SB100 (input processing) will be described with reference to FIG. When executing SB100 in step S010 shown in FIG. 17, control device 40 advances the process to step SB010 shown in FIG.

In step SB010, the control device 40 controls the (right) locked state of the handle 20R, the (left) locked state of the handle 20L, target torque, right handle front/rear position, right travel speed, left handle front/rear position, left travel The speed, vehicle body tilt, pitch angular velocity, yaw angular velocity, and roll angular velocity are updated, and the process proceeds to step SB030.

Specifically, the control device 40 determines whether the (right) handle 20R is in the locked state or the unlocked state based on the detection signal from the lock state detection means 85R3 of the (right) handle 20R. Based on the detection signal from the lock state detecting means 85L3 of the (left) handle 20L, it is determined whether the (left) handle 20L is in the locked state or in the unlocked state and stored. Further, the control device 40 stores the target torque based on the input information from the drive torque adjustment section 76 (see FIG. 12). Further, the control device 40 stores the position of the handle 20R relative to the frame 50 (position in the frame front-rear direction) obtained based on the detection signal from the handle state detection means 21RS (see FIG. 1) in the right handle front-rear position. do. Further, the control device 40 detects the number of rotations of the (right) driving means 64R based on the detection signal from the (right) traveling speed detecting means 64RE of the (right) driving means 64R. The travel speed of the rear wheels 60RR is detected from the number of revolutions and stored in the right travel speed (see FIG. 1).

Similarly, the control device 40 stores the left hand grip front-back position and the left traveling speed. The control device 40 also stores, in the vehicle body tilt, tilt information such as the tilt angle and tilt direction of the vehicle body of the walking support device 10 obtained based on the detection signal from the triaxial acceleration/angular velocity sensor 50S (see FIG. 1). Further, the control device 40 stores the angular velocity about the Y axis of the walking support device 10 obtained based on the detection signal from the three-axis acceleration/angular velocity sensor 50S (see FIG. 1) in the pitch angular velocity, and stores the angular velocity about the Z axis. The yaw angular velocity is stored, and the angular velocity around the X-axis is stored as the roll angular velocity.

The control device 40 executing the process of step SB010 detects each handle 20R in the frame front-rear direction with respect to the frame 50 (walking support device 10) based on the detection signals from the respective handle state detection means 21RS and 21LS. , 20L, which corresponds to the handle front/rear position calculation means 40B (see FIG. 16) that calculates the handle front/rear positions (right handle front/rear position and left handle front/rear position).

At step SB030, control device 40 obtains and stores the traveling speed of the walking support device based on the right traveling speed and left traveling speed stored at step SB010, and advances the process to step SB040. For example, the control device 40 obtains the travel speed by using travel speed=(right travel speed+left travel speed)/2.

The control device 40 executing the process of step SB030 has device ground speed calculation means 40A (see FIG. 16) that calculates the traveling speed of the walking support device 10 with respect to the ground based on the detection signal from the traveling speed detection means. corresponds to

At step SB040, control device 40 determines whether or not (right) handle 20R is locked and (left) handle 20L is locked. If both the left and right handles are in the locked state (that is, the direction (position) of the left and right handles is the direction (position) of the pushing support state) (Yes), the process proceeds to step SB050A; ) advances the process to step SB045.

When the process proceeds to step SB045, the control device 40 determines whether the (right) handle 20R is in the released state and the (left) handle 20L is in the released state. If both the left and right handles are in the released state (that is, the direction (position) of the left and right handles is the direction (position) of the arm swing support state) (Yes), the process proceeds to step SB050B; ) advances the process to step SB050C.

When the process proceeds to step SB050A, control device 40 stores the assist mode in the operation mode and proceeds to step SB055A.

In step SB055A, control device 40 turns off the training mode display, turns on the assist mode display, turns off the warning mode display, and advances the process to step SB060.

When the process proceeds to step SB050B, control device 40 stores the training mode in the operation mode and proceeds to step SB055B.

In step SB055B, control device 40 turns ON (lights up) the training mode display section, turns OFF (lights out) the assist mode display section, turns OFF (lights out) the warning mode display section, and advances the process to step SB060.

When the process proceeds to step SB050C, control device 40 stores the warning mode in the operation mode and proceeds to step SB055C.

At step SB055C, control device 40 turns off the training mode display section, turns off the assist mode display section, turns on (lights up) the warning mode display section, and ends the process (returns). .

When the process proceeds to step SB060, the control device 40 executes SBA00 (right (left) movement speed, movement direction, amplitude calculation process) and ends the process (returns). The details of SBA00 (right (left) movement speed, movement direction, amplitude calculation processing) will be described later.

● [SBA00: Details of right (left) movement speed, movement direction, and amplitude calculation processing (Fig. 19)]
Next, the details of SBA00 (right (left) movement speed, movement direction, amplitude calculation process) will be described with reference to FIG. When executing SBA00 in step SB060 shown in FIG. 18, control device 40 advances the process to step SBA05 shown in FIG.

At step SBA05, the control device 40 determines whether or not the operation mode is the training mode. If the operation mode is the training mode (Yes), the process proceeds to step SBA10. No) ends the process (returns).

When the process proceeds to step SBA10, the control device 40 sets the right hand movement speed to "(Right hand front/rear position during current processing (Right hand front/rear position at this time) - Right hand front/rear position during previous process. (previous right handle front/rear position)/time" is stored, and the process proceeds to step SBA15. The "time" in this case is the time interval between activating the processes in FIG. 17 (for example, 10 [ms] when activating at 10 [ms] intervals). Also, if the current right hand front/rear position is earlier than the previous right hand front/rear position, the right hand movement speed will be a "positive" speed, and the current right hand front/rear position will be higher than the previous right hand front/rear position. If it is backward, the right hand movement speed will be a "negative" speed.

In step SBA15, the control device 40 determines that the right hand movement speed in the previous process (previous right hand movement speed)=positive (greater than 0) and the right hand movement speed in the current process (current right hand movement speed) moving speed)=negative (0 or less). If the conditions are satisfied (Yes), the controller 40 proceeds to step SBA25A, and if not satisfied (No), the controller 40 proceeds to step SBA20.

When the process proceeds to step SBA25A, the control device 40 stores the current right handle front/rear position in the right front end position, and proceeds the process to step SBA30.

When the process proceeds to step SBA20, the control device 40 determines that the right hand moving speed in the previous process (previous right hand moving speed) = negative (less than 0), and the right hand moving speed in the current process ( It is determined whether or not current right hand movement speed)=positive (0 or more). If the conditions are satisfied (Yes), the controller 40 proceeds to step SBA25B, and if not satisfied (No), the controller 40 proceeds to step SBB10.

When the process proceeds to step SBA25B, the control device 40 stores the current right handle front/rear position in the right rear end position, and proceeds the process to step SBA30.

When the process proceeds to step SBA30, the control device 40 stores the length obtained by right front end position - right rear end position (right front end position > right rear end position) in the right amplitude, and proceeds to step SBB10. proceed.

The processing of steps SBB10 to SBB30 is processing to obtain the left moving speed, left front end position, left rear end position, and left amplitude of the left handle 20L, and the right moving speed, right front end position, and right amplitude of the right handle 20R. Since steps SBA10 to SBA30 for obtaining the trailing edge position and the right amplitude are the same, the description is omitted.

The control device 40 executing the processes of steps SBA10 and SBB10 moves each handle relative to the walking support device 10 based on the respective handle front/rear positions (right handle front/rear position and left handle front/rear position). It corresponds to the handle movement speed calculation means 40C (see FIG. 16) that calculates the respective handle movement speeds (right hand movement speed and left hand movement speed).

● [SB400: Ground speed correction amount calculation processing details (Fig. 20)]
Next, details of SB400 (ground speed correction amount calculation processing) will be described with reference to FIG. When executing SB400 in step S040 shown in FIG. 17, control device 40 advances the process to step SB405 shown in FIG.

At step SB405, the control device 40 determines whether or not the operation mode is the training mode. If the operation mode is the training mode (Yes), the process proceeds to step SB410. No) advances the process to step SB450B.

At step SB410, the control device 40 obtains "advancing speed + right holding hand moving speed" and stores it as the right holding hand ground speed, and obtains "advancing speed + left holding hand moving speed" and stores it as the left holding hand ground speed. store, and the process proceeds to step SB420. Note that the "advancement speed" is the speed of the walking support device relative to the ground, and the "right hand movement speed" is the movement speed of the (right) hand 20R relative to the walking support device in the front-rear direction of the frame. "Hand ground speed" is the moving speed of the (right) handle 20R relative to the ground in the front-rear direction of the frame. The "right hand movement speed" is set to a "positive" speed in the same direction as the "advancement speed", and is set to a "negative" speed in the opposite direction to the "advancement direction". That is, when the traveling speed is a forward speed, the forward moving speed of the right hand is "positive" and the backward moving speed of the right hand is "negative". Also, the ground speed of the left hand is obtained in the same manner.

Control device 40, which is executing the process of step SB410, determines each handle ground speed (right hand It corresponds to the handle ground speed calculation means 40D (see FIG. 16) that calculates the ground speed and the left handle ground speed).

In step SB420, control device 40 determines whether or not the ground speed of the right hand is negative (less than 0), and if negative (less than 0) (Yes), the process proceeds to step SB440; In the case (No), the process proceeds to step SB430.

When the process proceeds to step SB430, the control device 40 determines whether or not the left hand ground speed is negative (less than 0), and if negative (less than 0) (Yes), the process proceeds to step SB440. If not (No), the process proceeds to step SB450B.

When the process has proceeded to step SB440, control device 40 calculates a weighting factor according to the advancing speed, and proceeds to step SB450A. For example, the weighting factor is set to decrease as the traveling speed increases.

At step SB450A, control device 40 stores the value obtained by multiplying the preset acceleration correction amount by the weighting factor as the ground speed correction amount, and ends the process (returns). Note that the acceleration correction amount is determined by various experiments, simulations, and the like. In this case, the ground speed correction amount is a value larger than 0 (a positive value and a correction amount for acceleration).

Control device 40 executing the processes of steps SB440 and SB450A determines that when at least one of the ground speeds of the handles of each handle is "negative" when the traveling speed is "positive", It corresponds to the ground speed correction amount calculation means 40E (see FIG. 16) that calculates the ground speed correction amount for accelerating the walking support device 10 in the direction of the traveling speed.

When the process proceeds to step SB450B, control device 40 stores the preset deceleration correction amount in the ground speed correction amount, and ends the process (returns). The deceleration correction amount is determined by various experiments, simulations, and the like. In this case, the ground speed correction amount is a value of 0 or less (zero or negative value, correction amount for deceleration).

When the ground speed correction amount is a positive value larger than 0, the traveling speed of the walking support device can be accelerated. Further, when the ground speed correction amount is a negative value less than 0, the traveling speed of the walking support device can be decelerated. Further, when the ground speed correction amount is zero, the walking support device is coasting, but the traveling speed is decelerated by rolling resistance and the like.

● [SB500: Details of central position speed correction amount calculation processing (Fig. 21)]
Next, details of SB500 (central position speed correction amount calculation processing) will be described with reference to FIG. When executing SB500 in step S050 shown in FIG. 17, control device 40 advances the process to step SB505 shown in FIG.

At step SB505, the control device 40 determines whether or not the operation mode is the training mode. If the operation mode is the training mode (Yes), the process proceeds to step SB510. No) advances the process to step SB550.

When the process proceeds to step SB510, control device 40 obtains "(right handle front/rear position+left handle front/rear position)/2" and stores it in the handle front/rear central position, and proceeds to step SB520.

The control device 40 executing the processing of step SB510 causes the handle front-rear center position calculation means 40G (see FIG. 16) to obtain the handle front-rear center position, which is the center of the frame front-rear direction with respect to each handle front-rear position. Equivalent to.

FIG. 23 is a top view of the walking support device 10, and (right) the handle front-rear position (PmR) of the handle 20R, (left) the handle front-rear position (PmL) of the handle 20L, and the virtual front-rear reference. It is a figure explaining a position (Ps), a handle front-back center position (Pmc), and a center position (Pc) of the movable range (movement range of the shafts 21L and 21R in the frame front-back direction). For example, in the front-rear direction of the frame, the movable range L1 of the handles 20R and 20L is from the front end position (Po) of the movable range L1 to the rear end position (Pr) of the movable range. The center position (Pc) is the center position of the movable range L1 in the frame front-rear direction. For example, a position a predetermined distance La behind the central position (Pc) of the movable range L1 is set as a virtual front-rear reference position (Ps), which is a predetermined position in the front-rear direction of the frame. Further, the central position in the frame front-rear direction between the right handle front-back position (PmR) and the left handle front-back position (PmL) is the handle front-back center position (Pmc).

At step SB520, control device 40 obtains "handle front-rear central position-virtual front-rear reference position", stores it in the front-rear direction deviation, and advances the process to step SB530. Note that, as shown in FIG. 23, the front-rear direction deviation ΔL is the deviation between the handle front-rear center position (Pmc) and the imaginary front-rear reference position (Ps).

At step SB530, control device 40 obtains a central position/velocity correction amount corresponding to the longitudinal deviation, stores the obtained central position/velocity correction amount, and ends the process (returns). For example, the longitudinal deviation/central position/speed correction amount characteristic shown in FIG. , the center position speed correction amount is obtained and stored.

When the process proceeds to step SB550, the control device 40 obtains "right handle front/rear position-handle reference position (position of handle 20R corresponding to the shaft reference position)" and stores it in the right deviation, and step SB560. proceed to When the operation mode is the "assist mode", the user cannot walk while holding the handle and swinging the arm because it is in the "locked state". In the case of the "assist mode", in steps SB550 to SB580 below, when the holding hand is pushed forward, the walking support device 10 is accelerated forward by center position speed correction.

At step SB560, control device 40 obtains "left handle front/rear position-handle reference position (position of handle 20L corresponding to shaft reference position)" and stores it in the left deviation, and proceeds to step SB570.

At step SB570, control device 40 obtains "(right deviation+left deviation)/2" and stores it in the longitudinal direction deviation, and proceeds to step SB580.

At step SB580, control device 40 obtains a central position/velocity correction amount corresponding to the longitudinal deviation, stores the obtained central position/velocity correction amount, and ends the process (returns). For example, the longitudinal deviation/central position/speed correction amount characteristic shown in FIG. , the center position speed correction amount is obtained and stored. Even if the value of the longitudinal deviation is the same, if the center position/speed correction amount (step SB580) in the locked state is made larger than the center position/speed correction amount (step SB530) in the unlocked state, the preferable.

The control device 40 executing the processes of steps SB520, SB530, SB570, and SB580 adjusts the advancing speed of the walking support device 10 so that the handle front-rear central position approaches the virtual front-rear reference position in the frame front-rear direction. It corresponds to the central position/velocity correction amount calculator 40H (see FIG. 16) that calculates the position/velocity correction amount.

● [SB600: Details of progress speed adjustment processing (Fig. 22)]
Next, the details of SB600 (advancing speed adjustment processing) will be described with reference to FIG. When executing SB600 in step S060 shown in FIG. 17, control device 40 advances the process to step SB610 shown in FIG.

At step SB610, control device 40 obtains "advancing speed + ground speed correction amount + central position speed correction amount" and stores it in the right target speed, and "advancing speed + ground speed correction amount + central position speed correction amount" It is obtained and stored in the left target speed, and the process proceeds to step SB620.

At step SB620, the control device 40 controls the (right) running drive means 64R to achieve the right target speed and target torque, and controls the (left) running drive means 64R to achieve the left target speed and target torque. It controls the driving means 64L and ends the processing (returns).

The control device 40 executing the processing of steps SB610 and SB620 controls the traveling drive means so as to achieve the target speed obtained based on the traveling speed and the ground speed correction amount (and the center position speed correction amount). , corresponds to the advancing speed adjusting means 40F (see FIG. 16).

● [Example of the user's arm-swinging walking state and the moving state of the walking support device (Fig. 25)]
FIG. 25 shows a state in which the user holds the (right) handle 20R with the right hand, holds the (left) handle 20L with the left hand, and walks while swinging the left arm from front to back (the right arm swings from the back to the front). ) is shown. Note that in FIG. 25, the handles 20R and 20L are in the direction (position) of the arm swing support state.

(Left) When the handle 20L moves backward, (left) the moving speed of the handle 20L as seen from the ground (left) When the ground speed of the handle (left) becomes "negative", the ground speed correction amount is used to support walking. Since the device 10 accelerates forward, the (left) handle 20L appears stationary when viewed from the ground, as indicated by the dashed line in FIG. That is, when viewed from the ground, the walking support device 10 advances while adjusting the traveling speed so that the (left) handle 20L moved backward appears stationary. Therefore, assuming that the virtual stock VS extends from the handle 20L to the ground, if the handle 20L appears stationary when viewed from the ground, the intersection point P1 between the virtual stock VS and the ground is looks like the same spot. Furthermore, since the direction of the handle 20L also simulates the direction of gripping the stock, the user can simulate walking while swinging the arm and striking the ground with the virtual stock VS.

● [Effects of the application]
As described above, the walking support device 10 described in the present embodiment can simulate arm swing walking by adjusting the traveling speed using the ground speed correction amount. Therefore, it is possible to support the training of walking while swinging the arms with the trunk straight. Further, the walking support device 10 described in the present embodiment adjusts the traveling speed using the center position speed correction amount, so that the user is maintained in the vicinity of the virtual front-back reference position. Since 10 is advanced, it is possible to appropriately prevent the position of the walking support device from being displaced in the front-rear direction with respect to the user.

In addition, the cylindrical portions 30L, 30R and the shafts 21L, 21R enable the handles 20L, 20R to move in the front-rear direction of the frame. It is possible to appropriately support high-quality walking training in which the robot is swung while walking.

In addition, the direction (position) of the handle can be changed between the direction (position) of the handle suitable for the push support state and the direction (position) of the handle suitable for the arm swing support state. It is possible to more appropriately support walking by pushing with hands according to the state of pushing the hands and walking by swinging the arms according to the state of swinging of the arms of the user. Also, if the direction (position) of the left and right handles is set as the direction (position) of the hand pushing support state, the lock state is automatically set, the operation mode is automatically set to the assist mode, and the direction (position) of the left and right handles is automatically set. position) is set as the direction (position) of the arm swing support state, the lock is automatically released, and the operation mode is automatically set to training. .

The walking support device of the present invention is not limited to the configuration, structure, shape, processing procedure, etc. described in the present embodiment, and various changes, additions, and deletions are possible without changing the gist of the present invention. .

In the present embodiment, an example in which the walking support device having a plurality of wheels is a four-wheeled vehicle and has two driving wheels has been described. The two wheels, the driving wheel and the rear wheel, may be caster wheels. The walking support device may have at least one drive wheel, or may be a non-powered fixed caster instead of the drive wheels (right drive motor, left drive motor). In addition, in the description of the present embodiment, in the control of the driving means (electric motor) for running, an example of adjusting the "advancement speed" was described. Alternatively, the advancing speed may be adjusted by controlling the motor torque.

Moreover, the handle state detection means 21RS and 21LS for detecting the states (positions) of the handles 20R and 20L and the progress speed detection means 64LE and 64RE for detecting the progress speed are not limited to encoders. The configuration and arrangement are not limited to those shown in this embodiment, and various configurations and arrangements are possible. Further, although an example using the shaft-side elastic member 26R and the tubular portion-side elastic member 35R1 (see FIG. 8) has been described as the shaft position restoring means, the shaft position restoring means is not limited to this.

In the description of the present embodiment, an example in which the traveling speed is adjusted using the ground speed correction amount and the center position speed correction amount has been explained. Alternatively, the ground speed correction amount may be omitted and the traveling speed may be adjusted using the center position speed correction amount. Also, in the description of the present embodiment, an example in which the ground speed correction amount is decreased as the traveling speed increases has been described, but the present invention is not limited to this.

In addition, there are also a fall-out prevention structure (fall-out prevention member 25R, fall-out prevention panel 36R (see FIG. 4)) that prevents the shaft from slipping out of the tubular portion, and a rotation prevention structure that prevents the shaft from rotating inside the tubular portion (guide The rail 32R and the guided member 24R (see FIG. 4) can have various structures, and are not limited to the structure described in the present embodiment.

Further, the direction variable mechanism, the pushing support state holding mechanism, the arm swinging support state holding mechanism, and the lock mechanism are not limited to the configurations, shapes, and the like described in the present embodiment.

Greater than (≧), less than (≦), greater than (>), less than (<), etc. may or may not include an equal sign. Also, the numerical values used in the description of the present embodiment are examples, and the present invention is not limited to these numerical values.

10 Walking support device 20L, 20R Handle 20L2, 20R2 Grip part 21L, 21R Shaft (slide part)
21LS, 21RS Handle state detection means 21R1 Handle fitting hole 24R Guided member (rotation prevention structure)
25R fall-out prevention member (fall-out prevention structure)
26R Shaft side elastic member (shaft position restoring means)
30L, 30R Cylindrical portion 32R Guide rail (anti-rotation structure)
33R, 33R1 guide rollers 35R1 cylindrical portion side elastic member (shaft position restoring means)
35R2 Collar 35R3 Damper 35R4 Elastic unit 36R Fall-out prevention panel (fall-out prevention structure)
37R Extension 37R1 Placement surface 37R2 Abutment surface 37R3 Groove (lock mechanism)
40 Control Device 40A Device Ground Speed Calculation Means 40B Handle Front-Back Position Calculation Means 40C Handle Movement Speed Calculation Means 40D Handle Ground Speed Calculation Means 40E Ground Speed Correction Amount Calculation Means 40F Advancing Speed Adjustment Means 40G Handle Front-Back Center Position Calculation Means 40H Central position speed correction amount calculation means 44 Storage means 50 Frame 50K Bag 50S 3-axis acceleration/angular velocity sensor 51L, 51R Cylindrical part support 52L, 52R Wheel support 53 Connecting body 60FL, 60FR Front wheels 60RL, 60RR Rear wheels (drive ring)
64L, 64R driving means for traveling (electric motor)
64LE, 64RE advance speed detection means 70 operation panel 72 main switch 73 remaining battery level display 74 training mode display 75 assist mode display 76 driving torque adjustment 77 warning display 80L, 80R direction variable mechanism 81R base 81R1 lock slider (lock mechanism)
81R2 biasing member (hand pushing support state holding mechanism, arm swing support state holding mechanism)
81R3 Plunger (Hand push support state retention mechanism, arm swing support state retention mechanism)
81R4 Inclined surface 82R Cover portion 83L, 83R Rotating shaft member 83LJ, 83RJ Rotating axis 84R Rotating portion 84R1 Plunger concave portion (hand pressing support state holding mechanism)
84R2 plunger recess (arm swing support state retention mechanism)
85R lock part 85R1 lock pin (lock mechanism)
85R2 slide shaft (lock mechanism)
85L3, 85R3 Lock state detection means B Battery (power source)
BKL Brake lever Pmc Handle front/rear central position PmL, PmR Handle front/rear position Ps Virtual front/rear reference position R3 Front/rear regulation range θ1 First tilt angle θ2 Second tilt angle θ3 Third tilt angle

Claims (7)

a frame;
a plurality of wheels;
a pair of left and right handles held by a user and movable in the front-rear direction of the frame, which is the front-rear direction with respect to the frame;
, and can support the user holding the handle and walking while swinging the arm in the front-rear direction of the frame , and the user holding the handle and walking without swinging the arm. A walking support device,
Each of the said holders
A hand pushing support state in which the user holding the handle is supported in walking without swinging the arm, and an arm swing support state in which the user holding the handle is supported in walking while swinging the arm. , can be changed to
From the hand pushing support state along the first predetermined direction, which is substantially horizontal along the front-rear direction of the frame, in a substantially vertical direction different from the first predetermined direction, or in front of the frame with respect to the vertical direction. A variable direction that enables a change to the arm swing support state along a second predetermined direction, which is a direction inclined at a first tilt angle, and a change from the arm swing support state to the hand pushing support state. a mechanism;
A hand pushing support state holding mechanism for holding the direction of the hand in the hand pushing support state in the first predetermined direction , and an arm swing holding the direction of the hand in the arm swing support state in the second predetermined direction. a support state holding mechanism;
have,
Walking support device. The walking support device according to claim 1 ,
The handle is
It has a grip portion held by a user and a brake lever movable with respect to the grip portion,
When the handle is in the manual pushing support state, the brake lever is arranged below the grip portion,
When the holding hand is in the arm swing support state, the brake lever is arranged forward of the grip portion,
Walking support device. The walking support device according to claim 1 or 2 ,
The variable direction mechanism is
having a pair of left and right swivel parts swiveling around respective swivel axes having a second upward inclination angle with respect to the frame front-rear direction;
each said handle is attached to each said swivel part,
Walking support device. The walking support device according to claim 3 ,
The turning axis is a pair of left and right,
When viewed from the front or rear of the frame, the pair of left and right turning axes are inclined at a third angle of inclination with respect to the vertical direction so that the distance between them decreases from bottom to top.
Walking support device. The walking support device according to any one of claims 1 to 4 ,
at least one of the plurality of wheels is a drive wheel;
a driving means for driving the driving wheels;
each hand state detection means for detecting the state of each hand;
a control device for controlling the driving means for traveling based on each hand state detected based on the detection signal from each hand state detecting means;
a battery that serves as a power source for the drive means for traveling and the control device;
has
The control device is
A training mode in which the driving means for running is controlled in accordance with the swinging state of the arm detected by the hand state detection means when the user walks while swinging his or her arms while holding the hand. and,
When the user holding each of the handles walks while pushing the hand forward without swinging the arm, the driving means for running is activated according to the hand pressing state detected by the handle state detecting means. Assist mode to control,
It has two operation modes of
When it is detected that each of the holding hands is in the manual pushing support state, the operation mode is set to the assist mode,
setting the operation mode to the training mode when it is detected that each of the holding hands is in the arm swing support state;
Walking support device. The walking support device according to claim 5 ,
In the vicinity of each said handle,
When the handle is in the vicinity of a reference position set in the longitudinal direction of the frame and the handle is changed from the arm swing assisted state to the push assisted state, the moving range of the handle is set to the reference position. and a released state in which the locked state is released when the holding hand in the locked state is changed from the hand pushing support state to the arm swing support state. Equipped with a locking mechanism
Walking support device. The walking support device according to any one of claims 1 to 6 ,
Having a pair of left and right slide portions that slide in the frame front-rear direction with respect to the frame,
Each handle is connected to each slide part via the direction variable mechanism of each ball mount structure,
Walking support device.

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