JP7628331B2 - Walking aids - Google Patents

Description

This disclosure relates to a walking aid that assists individuals who have difficulty walking on their own.

Walking aids have been known for some time to assist people who have weak legs and have difficulty walking on their own, such as sick people, physically disabled people, or elderly people. For example, the walking aid described in Patent Document 1 has wheels and a brake mechanism with a brake lever for applying the brakes to the wheels.

JP 2016-68784 A

Mobility aids need to be made safer.

The purpose of this disclosure is to provide a walking aid with improved safety.

The walking aid vehicle of the present disclosure is:
A body frame having wheels;
A trunk support portion provided on the main body frame for supporting a trunk of the assistance recipient from the left and right sides;
an electromagnetic locking mechanism configured to electromagnetically move a locking member for locking the wheel to either a locked position or an unlocked position,
the trunk support part is configured to be switchable between a supporting posture for supporting the trunk of the person to be assisted and a separation allowing posture for allowing the person to be assisted to separate,
switching the posture of the trunk support part to the supporting posture and moving the locking member to the unlocking position in response to a first predetermined operation;
The posture of the fuselage support part is switched to the detachment allowing posture and the locking member is moved to the locking position in response to a predetermined second operation.

According to this configuration, the wheels are automatically unlocked when walking starts and the attitude of the torso support part switches to the supporting attitude, and the wheels are automatically locked when walking ends and the attitude of the torso support part switches to the release-permitting attitude, so safety can be ensured. And yet, the wheels are locked or unlocked simply by performing an operation to change the attitude of the torso support part without the need for any operation to lock the wheels, so two operations can be achieved with one operation, improving convenience.
Therefore, it is possible to improve both safety and convenience.

FIG. 1 is a perspective view of the manually propelled vehicle of the first embodiment (with the trunk support part in a supporting position) as viewed from above and in the front; FIG. 1 is a perspective view of the manually propelled vehicle of the first embodiment (with the torso support part in a supporting position) viewed from above and behind; FIG. 1 is a front view of a handicapped vehicle according to a first embodiment (with a trunk support part in a support position); FIG. 1 is a rear view of the handicapped vehicle of the first embodiment (with the trunk support part in a supporting position) as viewed from the rear; FIG. 1 is a side view of the handicapped vehicle of the first embodiment (with the trunk support part in a supporting position) as viewed from the left side; FIG. 1 is a plan view of the manually propelled vehicle of the first embodiment (with the trunk support part in a supporting position) viewed from above; FIG. 1 is a bottom view of the handicapped vehicle of the first embodiment (with the trunk support part in a supporting position) viewed from below; FIG. 2 is a block diagram showing a control system of the manually propelled vehicle according to the first embodiment; A diagram showing the relationship between the state of the wheels, the position of the electromagnetic locking mechanism, and the brake unit. A diagram showing the relationship between the state of the wheels, the position of the electromagnetic locking mechanism, and the brake unit. A rear view showing the fuselage support section in the release-permitting position. A side view showing the fuselage support part in a separation-permitting position. FIG. 11 is a plan view showing a state in which the fuselage support part is in a separation-permitting position. 1 is a flowchart showing a processing routine executed by a processor. FIG. 11 is a block diagram showing a control system of the manually propelled vehicle according to the second embodiment. Block diagram showing the data acquisition system for welfare equipment FIG. 13 is a perspective view of the manually propelled vehicle of the fourth embodiment, seen from above and in front; FIG. 13 is a perspective view of the manually propelled vehicle of the fourth embodiment, seen from above and behind; FIG. 11 is an explanatory diagram of a first upper limit position of a load receiving portion by a first positioning member and a second positioning member; FIG. 11 is an explanatory diagram of a second upper limit position of the load receiving portion by the first positioning member and the second positioning member; FIG. 13 is a left side view of the handicapped vehicle according to the fourth embodiment. Side view of the left middle and rear wheels from the inside FIG. 13 is a side view showing the positional relationship between the first wheel, the second wheel, the wheel frame, and the main body frame in the fourth embodiment; FIG. 24 corresponds to FIG. 23 and shows a modified example of the fourth embodiment. Side view showing the lower limb support Left side view with some of the components that make up the lower frame hidden A perspective view from below and behind of a walking aid with the lower leg support hidden FIG. 1 is a plan view showing the positional relationship between a facing member, a standing area, and a lower leg supporter. FIG. 29 corresponds to FIG. 28 and shows a modified example of the fourth embodiment.

[First embodiment]
Hereinafter, a first embodiment of the present disclosure will be described with reference to the drawings.

As shown in FIG. 1, the walking aid vehicle has a main body frame 2 with wheels 1, a trunk support section 30 provided on the main body frame 2, and an electromagnetic locking mechanism 4 for locking the wheels 1. The walking aid vehicle is used to assist the person to be assisted in walking by allowing the wheels 1 to rotate while supporting or assisting the person to be assisted with the support sections 3 (trunk support section 30, armrests 31, or handle sections 32, 33) provided on the main body frame 2.

<Wheel 1>
As shown in Figs. 1 to 7, multiple pairs of wheels 1 are provided on the main body frame 2 so as to form left and right pairs. In this embodiment, three pairs of wheels 1 are provided, including a pair of front wheels 1F, a pair of middle wheels 1C, and a pair of rear wheels 1R, but this is not limited to this. For example, the number of pairs of wheels 1 may be changed. In this embodiment, the wheels 1 are disk-shaped wheels, but this is not limited to this, and ball-shaped wheels or the like may be used. In this embodiment, a running motor such as a three-phase brushless motor is connected to the middle wheel 1C, and running control such as speed control according to the walking speed of the person to be assisted and oblique running suppression control by adjusting the left and right speeds is executed by a processor 50 (see Fig. 8).

<Main frame 2>
The main frame 2 has a lower frame 20 having wheels 1, and an upper frame 21 having support parts 3. The upper frame 21 is supported by the lower frame 20 so as to be able to rise and fall freely. The upper frame 21 rises or falls when driven by a lifting motor unit 60 (see FIG. 8), such as an electric cylinder. This configuration allows the person to be assisted to easily stand up and sit down, supported by the support parts 3 provided on the upper frame 21. A battery (not shown) is mounted on the main frame 2, which serves as the power source for each motorized unit and control unit.

Specifically, the lower frame 20 has a U-shaped portion 20a that is U-shaped in a plan view and an upright portion 20b that stands up from the center of the U-shaped portion 20a. The upper frame 21 has a U-shaped portion 21a that is U-shaped in a plan view and a drooping portion 21b that droops down from the center of the U-shaped portion 21a.

In the U-shaped portion 20a of the lower frame 20, multiple pairs of wheels 1 (three pairs of front wheels 1F, middle wheels 1C, and rear wheels 1R in this embodiment) are arranged at intervals in the front-rear direction. The U-shaped portion 20a of the lower frame 20 also forms a foothold space for the person to be assisted to stand up. As a result, the wheels 1 are arranged on the front, back, left and right of the person to be assisted standing in the foothold space, making it possible to properly support the person to be assisted. The standing portion 20b of the lower frame 20 supports the hanging portion 21b of the upper frame 21, and is configured so that the hanging portion 21b of the upper frame 21 is accommodated by the standing portion 20b of the lower frame 20 as the upper frame 21 rises and falls. In addition, the lower frame 20 is provided with a lifting motor unit 60, an upper limit sensor 61 such as a switch that detects when the upper frame 21 has reached a predetermined upper limit height, and a lower limit sensor 62 such as a switch that detects when the upper frame 21 has reached a predetermined lower limit height, as shown in FIG. The upper limit sensor 61 and the lower limit sensor 62 function as height position detection sensors for the upper frame 21.

1 to 7, the U-shaped portion 21a of the upper frame 21 is set to a size that enables the person to be supported to be surrounded from the front and the left and right sides. A torso support portion 30 and an armrest 31 are provided in the U-shaped portion 21a of the upper frame 21 at the left and right sides of the person to be supported. A second handle portion 33 is integrally formed with the armrest 31. In addition, a first handle portion 32 is provided on the upper frame 21. The first handle portion 32 is located in front of the armrest 31, and is located at a position that allows it to be grasped with an arm placed on the armrest 31.
The U-shaped portion 21a of the upper frame 21, the armrest 31, the first handle portion 32 and the torso support portion 30 are each configured so that their positions can be adjusted, as will be described in detail later.

An operating unit 70 for operating the walking aid vehicle is provided in the center of the U-shaped portion 21a of the upper frame 21. As shown in FIG. 8, the operating unit 70 has an up command button 71 for raising the upper frame 21, a down command button 72 for lowering the upper frame 21, and a position change command button 73 for changing the position of the torso support unit 30. The processor 50 (control unit) is configured to detect when these buttons 71 to 73 are operated.

<Torso Support Part 30>
Returning to Figs. 1 to 7, the trunk support part 30 is provided on the upper frame 21 to support the trunk of the person to be assisted from the left and right sides. The trunk support part 30 is configured to be switchable between a support position P1 (see Figs. 4 to 6) for supporting the trunk of the person to be assisted and a separation-permitting position P2 (see Figs. 11 to 13) for allowing the person to be assisted to separate. In this embodiment, the trunk support part 30 has a first trunk pad 30a extending in the front-rear direction to support the trunk from the left and right sides, and a second trunk pad 30b for supporting the trunk from the rear. The second trunk pad 30b is rotated to change its position relative to the first trunk pad 30a, so that the position of the trunk support part 30 can be switched between the support position P1 and the separation-permitting position P2. As shown in Figs. 4 and 6, the second trunk pad 30b in the support position P1 is located in a position that protrudes inward in the left-right direction from at least a part of the support surface 30c of the first trunk pad 30a. 11 and 13, the second body pad 30b in the separation allowing position P2 is in a position retreated outward in the left-right direction from the support surface 30c of the first body pad 30a. As shown in Fig. 6, the front end of the first body pad 30a extends inward in the left-right direction, thereby preventing the recipient from separating forward.
That is, in this embodiment, the torso support unit 30 is configured to be able to support the torso of the person to be assisted not only from the left and right sides but also from the front and rear directions, and the departure allowing position P2 allows the person to be assisted to leave backwards. Note that if the front-to-back relationship is reversed, the torso support unit 30 in the departure allowing position P2 would allow the person to be assisted to leave forwards.

As shown in FIG. 4, the second torso pad 30b in the support position P1 is configured to be located higher than the support surface 30c of the first torso pad 30a. With this configuration, when the person being assisted is about to fall backwards, the back of the person being assisted can be supported at a higher position, reducing the load to be borne, and enabling appropriate support. Note that the second torso pad 30b may be configured to provide support at the same height or lower as the first torso pad 30a.

In general, both when walking and when stopping, the weight of the person to be assisted is likely to be exerted to the left and right sides and downward on the torso support part 30. If the position or posture of the torso support part 30 is changed by an electric unit such as a motor, depending on the structure, the electric unit may constantly bear the weight of the person to be assisted, which may result in high power consumption.
Therefore, in this embodiment, as shown in Figures 4 to 6, the first trunk pad 30a is directly or indirectly supported by the upper frame 21 (main frame 2) without an electric motor. In this way, the weight of the person to be assisted that is directed to the left and right sides and downward, which occurs frequently, can be supported without an electric motor, making it possible to reduce power consumption. Meanwhile, the second trunk pad 30b is supported by the first trunk pad 30a via a position-changing electric motor 63 such as a motor (see Figure 8).

In this specification, the support position P1 does not only mean a position in which the torso support section 30 contacts and restrains the torso, but also includes a position in which a gap is provided between the torso and the person being assisted, allowing support at the initial stage of the movement leading to the person falling over. Also, although no particular part of the torso is specified, the chest, or even the side of the chest, can be used as an effective part that can be supported at the initial stage of the movement.

<Electromagnetic lock mechanism 4>
9 and 10 are diagrams showing the relationship between the state of the wheel, the position of the electromagnetic locking mechanism 4, and the brake unit. FIG. 9(a) shows a state in which the electromagnetic locking mechanism 4 is in the first position P3, the locking member 40 is in the unlocked position LP2, and the wheel 1 is in an unlocked state. FIG. 9(b) shows a state in which the electromagnetic locking mechanism 4 is in the first position P3, the locking member 40 is in the locked position LP1, and the wheel 1 is in an unlocked state. FIG. 10 shows a state in which the electromagnetic locking mechanism 4 is in the second position P4, the locking member 40 is in the locked position LP1, and the wheel 1 is in an unlocked state. Note that FIG. 9 and FIG. 10 are abstracted to easily explain the operation of the electromagnetic locking mechanism 4 and its peripheral configuration, and are not shown strictly.

9 and 10, the electromagnetic locking mechanism 4 is configured to electromagnetically move the locking member 40 for locking the wheel 1 (the middle wheel 1C in this embodiment) to either the locked position LP1 or the unlocked position LP2. Specifically, the electromagnetic locking mechanism 4 has a locking motor unit 41 using a solenoid that moves the locking member 40 in response to excitation, and is configured so that the locking member 40 moves to the unlocked position LP2 in the excited state and moves to the locked position LP1 in the de-excited state. The locking position LP1 and the unlocked position LP2 refer to the relative positions of the locking member 40 with respect to the locking motor unit 41. With this configuration, when the power supply of the walking aid is off and the locking motor unit 41 is de-excited, the wheel 1 is in principle restrained. The drive of the electromagnetic locking mechanism 4 is controlled by the processor 50 (see FIG. 8).

Specifically, as shown in Figures 9(a) and 9(b), a brake unit 42 is provided that is configured to be switchable between an interference state in which it interferes with the wheel 1 [see Figure 9(a)] and a non-interference state in which it does not interfere with the wheel 1 [see Figure 9(b)]. In this embodiment, the brake unit 42 is always biased to be in a non-interference state, and when the locking member 40 is in the lock position LP1, the locking member 40 presses the brake unit 42, causing the brake unit 42 to interfere with the wheel 1, and when the locking member 40 is in the non-lock position LP2, the locking member 40 does not press the brake unit 42, causing the brake unit 42 to return to a non-interference state with the wheel 1.

<Configuration for Manually Releasing Constraint of Wheel 1>
As described above, the electromagnetic locking mechanism 4 is configured to position the locking member 40 in the lock position LP1 in a non-energized state, and as a result, the body of the physically challenged vehicle cannot be moved when the power supply to the physically challenged vehicle is off. Therefore, the following configuration is adopted to allow people other than the person being assisted (medical personnel, caregivers) to easily move around. This configuration is optional and can be omitted.

That is, as shown in Figures 9 and 10, the electromagnetic locking mechanism 4 including the locking member 40 is configured to be movable to either a first position P3 or a second position P4. As shown in Figure 9, the first position P3 is a position where the locking member 40 at the locking position LP1 causes the wheel 1 to be restrained. The second position P4 is a position where the locking member 40 at the locking position LP1 does not cause the wheel 1 to be restrained. The electromagnetic locking mechanism 4 is connected to a predetermined operating unit 43 such as a lever, and is configured to be able to move the electromagnetic locking mechanism 4 to the first position P3 or the second position P4 by moving the predetermined operating unit 43. The second position P4 is a position where the electromagnetic locking mechanism 4 is farther away from the brake unit 42 than the first position P3.
A wheel restraint sensor 64 (see FIG. 8), such as a switch, is provided to detect whether the wheel is restrained.

<Control by Processor 50>
8, the processor 50 is configured to receive signals from the up command button 71, the down command button 72, the attitude change command button 73, the electromagnetic lock release operation unit 74, the upper limit sensor 61, the lower limit sensor 62, and the wheel restraint sensor 64, and to control the driving of the lifting/lowering motor unit 60, the attitude change motor unit 63, and the electromagnetic lock mechanism 4 (lock motor unit 41). The electromagnetic lock release operation unit 74 is preferably placed in an inconspicuous location (for example, on the back side of the upper frame 21) so that the person to be assisted will not operate it.

An example of a specific process will be described with reference to FIG. 14. First, when the power is turned on, in step ST100, the processor 50 changes the attitude of the fuselage support part 30 to the separation-permitting attitude P2. This process is based on the assumption that the power is turned off with the attitude of the fuselage support part 30 in the supporting attitude P1, and then the power is turned back on. In the next step ST101, the processor 50 lowers the upper frame 21 to a predetermined lowered position. This process is based on the assumption that the power is turned off with the upper frame 21 raised, and then the power is turned back on.

In the next step ST102, the processor 50 determines whether the wheel 1 is in a locked state based on the detection result of the wheel restraint sensor 64. If it is determined in step ST102 that the wheel 1 is not in a locked state (ST102: NO), in step ST103, the processor 50 notifies the outside that the wheel is in an unlocked state using the notification unit 65, such as a speaker, a light-emitting device, or communication with a server via a communication network. This process is performed because it is assumed that the detection of the locked state of the wheel 1 when the electromagnetic locking mechanism 4 is in a non-excited state means that the electromagnetic locking mechanism 4 is in a state where it has moved to the second position P4. Guidance to move the electromagnetic locking mechanism 4 to the first position P3 may be issued. The notification process in step ST103 continues until it is determined in step ST104 that the wheel 1 is in a locked state based on the detection result of the wheel restraint sensor 64 (ST104: YES).

If the processor 50 determines in step ST102 or ST104 that the wheels are in a locked state, then in the next step ST105, the processor 50 determines whether or not the ascent command button 71 has been operated. If the processor 50 determines that the ascent command button 71 has not been operated (ST105: NO), the process returns to step ST102. If the processor 50 determines in step ST105 that the ascent command button 71 has been operated (ST105: YES), the processor 50 raises the upper frame 21 to a predetermined elevated position in step ST106. In the next step ST107, the processor 50 determines whether or not the attitude change command button 73 has been operated. This operation corresponds to the predetermined first operation. If the processor 50 determines that the attitude change command button 73 has not been operated (ST107: NO), the process returns to step ST106. If it is determined in step ST107 that the attitude change instruction button 73 has been operated (ST107: YES), in the next step ST108, the processor 50 switches the attitude of the torso support part 30 to the support attitude P1 and excites the electromagnetic locking mechanism 4 to move the locking member 40 to the unlocked position LP2.

In the next step ST109, the processor 50 determines whether or not the attitude change instruction button 73 has been operated. This operation corresponds to the predetermined second operation. Processing ST109 is continued until it is determined in step ST109 that the attitude change instruction button 73 has been operated (ST109: YES). If it is determined in step ST109 that the attitude change instruction button 73 has been operated, the processor 50 switches the attitude of the fuselage support part 30 to the detachment-permitting attitude P2 in the next step ST110, and changes the electromagnetic locking mechanism 4 from an excited state to a de-excited state to move the locking member 40 to the lock position LP1.

In the next step ST111, it is determined whether the electromagnetic lock release operation unit 74 has been operated. This operation corresponds to the predetermined third operation. Processing ST111 is continued until it is determined in step ST111 that the electromagnetic lock release operation unit 74 has been operated (ST111: YES). If it is determined in step ST111 that the electromagnetic lock release operation unit 74 has been operated, the processor 50 in the next step ST112 causes the electromagnetic lock mechanism 4 to be in an excited state and moves the lock member 40 to the unlocked position LP2. Note that in FIG. 14, the processing of steps ST111 and ST112 is described after step ST110, but is not limited to this and may be determined constantly or at any timing.

<Adjusting the Position of Support Part 3>
As shown in FIG. 4, the trunk support part 30 is fixed to the upper frame 21 by a fastener V1 such as a bolt, and is configured to be adjustable in height by changing the mounting position relative to the upper frame 21. Also, the trunk support part 30 is fixed to the upper frame 21 by a fastener V2 such as a bolt shown in FIG. 4, and is configured to be adjustable in spacing W1 between the trunk support parts 30 by changing the mounting position of the trunk support part 30 relative to the upper frame 21 in the left-right direction, as shown in FIG. 13. Also, the trunk support part 30 (first trunk pad 30a) is configured to be swingable in the up-down direction about the rotation axis C1 shown in FIG. 3. Also, the armrest 31 is configured to be able to change its forward-backward position relative to the upper frame 21 by changing its mounting position relative to the upper frame 21. Also, the armrest 31 is configured to be able to change the inclination angle α1 relative to the forward-backward direction by a fastener V3 such as a bolt shown in FIG. 5, and this allows the trunk support part 30 to be swung in the horizontal direction as shown in FIG. 13. In addition, by changing the mounting position of the first handle portion 32 relative to the upper frame 21 using the fastener V4 shown in FIG. 3, the rotational position (angle of the gripping portion) about the horizontal direction can be adjusted, and further, the position in the front-to-rear direction can be adjusted as shown in FIG. 5.

One effective way to improve safety and stability while walking is to provide a torso support part to support the torso of the person to be assisted. When the person to be assisted stands or sits down using the walking aid, it is necessary to simultaneously or in sequence move the body to the position supported by the torso support part and to operate the wheel lock. This may reduce convenience, and if the necessary operation is forgotten, it may cause a loss of stability, which is one of the issues.
As described above, the manually propelled vehicle of the present embodiment has:
A main body frame 2 having wheels 1;
A trunk support portion 30 is provided on the main body frame 2 and is for supporting the trunk of the assistance recipient from the left and right sides;
The vehicle is provided with an electromagnetic locking mechanism 4 configured to electromagnetically move a locking member 40 for locking the wheel 1 to either a locked position LP1 or an unlocked position LP2.
The torso support section 30 is configured to be switchable between a support position P1 for supporting the torso of the person to be assisted and a departure allowing position P2 for allowing the person to be assisted to leave.
In response to a first predetermined operation (the attitude change instruction button 73), the attitude of the trunk support part 30 is switched to the support attitude P1 and the lock member 40 is moved to the unlocked position LP2;
In response to a second predetermined operation (attitude change instruction button 73), the attitude of the fuselage support part 30 is switched to the separation allowing attitude P2 and the lock member 40 is moved to the lock position LP1.

According to this configuration, the wheels 1 are automatically unlocked when walking starts and the attitude of the trunk support part 30 switches to the support attitude P1, and the wheels 1 are automatically locked when walking ends and the attitude of the trunk support part 30 switches to the separation-permitting attitude P2, so safety can be ensured. Nevertheless, the wheels are locked or unlocked simply by performing an operation to change the attitude of the trunk support part 30 without the need for an operation to lock the wheels 1, so two operations can be achieved with one operation, improving convenience.
Therefore, it is possible to improve both safety and convenience.

As in the embodiment of Figures 1 to 14, the main body frame 2 has a lower frame 20 with wheels 1 and an upper frame 21 with a body support section 30, and the upper frame 21 is supported on the lower frame 20 so that it can be raised and lowered freely. It is preferable that the switching of the body support section 30 to the support position P1 and the movement of the locking member 40 to the unlocked position LP2 by a predetermined first operation (position change instruction button 73) are configured to be effective only when the upper frame 21 is in a predetermined raised position.

With this configuration, even if the specified first operation (position change instruction button 73) is performed in an incomplete state, such as when the upper frame 21 is not fully raised, the position change of the fuselage support section 30 and the release of the wheel lock are not enabled in response to the specified first operation (position change instruction button 73), thereby making it possible to further improve safety.

As in the embodiment of Figures 1 to 14, the torso support section 30 is configured to be able to support the torso of the person being assisted from both the front and rear directions, and it is preferable that the departure-permitting position P2 is a position that permits the person being assisted to leave in either the front or rear direction (rearward in this embodiment).

With this configuration, the torso support unit 30 can support the torso of the person being assisted not only from the left and right sides but also from the front and back, further reducing the possibility of falling. And yet, if the torso support unit 30 is in a detachment-permitting position, it can be detached in either the front or back direction, so there is no loss of convenience.

As in the embodiment of Figures 1 to 14, the electromagnetic locking mechanism 4 is preferably configured to move the locking member 40 to the unlocked position LP2 based on a predetermined third operation (electromagnetic unlocking operation unit 74).

With this configuration, the wheel 1 is unlocked by performing a predetermined third operation (electromagnetic lock release operation unit 74), so that people other than the person being assisted, such as caregivers or hospital staff, can move the walking aid vehicle, improving convenience.

As in the embodiment of Figures 1 to 14, the electromagnetic locking mechanism 4 is preferably configured such that the locking member 40 moves to the unlocked position LP2 when in an excited state, and moves to the locked position LP1 when in a non-excited state.

With this configuration, the locking member 40 can only move electromagnetically when the power is on. When the power to the ambulatory support vehicle is off, the locking member 40 moves to the locking position LP1, so in principle it is in a locked state. This makes it possible to prevent a situation in which the power is lost and the wheel 1 continues to move without being locked, improving safety.

As in the embodiment of Figures 1 to 14, the electromagnetic locking mechanism 4 including the locking member 40 is configured to be movable between a first position P3 where the locking member 40 in the locking position LP1 causes the wheel 1 to be restrained, and a second position P4 where the locking member 40 in the locking position LP1 does not cause the wheel 1 to be restrained, and it is preferable that the position of the electromagnetic locking mechanism 4 is configured to be movable to the first position P3 or the second position P4 by moving a predetermined fourth operating unit 75 connected to the electromagnetic locking mechanism 4.

According to this configuration, a predetermined fourth operating unit 75 such as a manual lever is connected to the electromagnetic locking mechanism 4, and by moving the predetermined fourth operating unit 75, the position of the electromagnetic locking mechanism 4 can be moved to the second position P4, making it possible to move the walking aid vehicle. For example, the vehicle body can be moved freely even in the event of a power loss, improving convenience.

As in the embodiment of FIG. 14, it is preferable to determine whether the wheel 1 is in a locked state when the power is turned on (ST102), and if it is determined that the wheel 1 is in a locked state, to notify the outside via the notification unit 65 (ST103).

This configuration makes it possible to prevent the electromagnetic locking mechanism 4 from being used when it is not in the first position P3.

In the embodiment of Figures 1 to 14, the locked state can be manually released by operating the electromagnetic unlocking operation unit 74, but no means for manually locking the wheel is provided. This is because the basic concept is, in principle, to have the wheel 1 locked, so there is no need to manually lock the wheel. This reduces the number of operations in the entire system, prevents user confusion, and actually improves convenience.

Although the embodiments of the present disclosure have been described above with reference to the drawings, the specific configuration should not be considered to be limited to these embodiments. The scope of the present disclosure is indicated not only by the description of the above embodiments but also by the claims, and further includes all modifications within the meaning and scope equivalent to the claims.

For example, the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings, can be realized in any order, so long as the output of a previous process is not used in a subsequent process. Even if the flow in the claims, specifications, and drawings is explained using "first," "next," etc. for convenience, this does not mean that it is necessary to execute the processes in this order.

<Modification>
1 to 14, the upper frame 21 is supported by the lower frame 20 so as to be freely raised and lowered, and the upper frame 21 is raised and lowered by the power of the lifting motor unit, but this is not limited thereto. For example, in the case of a walking aid dedicated to walking rehabilitation, the upper frame 21 may be fixed to the lower frame 20. Of course, the upper frame 21 and the lower frame 20 may be configured so as to be freely raised and lowered, and the height may be adjusted by fasteners such as screws and bolts.

In the embodiment shown in Figures 1 to 14, the support part 3 includes a body support part 30, an armrest 31, and grip parts 32 and 33, but this is not limited to this and can be modified as appropriate as long as the body support part 30 is provided. In addition, the second grip part 33 is integrally formed with the armrest 31, but it is also possible to provide only the armrest 31 without the second grip part 33.

In this embodiment, the operation unit 70 is configured with buttons, but is not limited to this. For example, the operation unit is not limited to mechanical operations such as buttons, knobs, levers, etc., and operation by voice recognition can be adopted.

In the embodiment of Figures 1 to 14, the posture of the torso support part 30 is changed by rotating and moving the second torso pad 30b, but this is not limited to the above. For example, the torso support part 30 may be structured so that the positional relationship between the first torso pad 30a and the second torso pad 30b is fixed, and the posture may be changed by pivoting the front part of the torso support part 30 as the axis of rotation.

The torso support section 30 is configured so that the first torso pad 30a extends inward in the left-right direction as it moves forward, and because there is a second torso pad 30b, it can support the underarm torso of the person being assisted from the left-right side and the front-back direction, but is not limited to this. For example, it is also possible to configure the torso support section 30 to have only the first torso pad 30a, with the first torso pad 30a having a linear shape in a plan view, so that the torso support section 30 supports the underarm torso of the person being assisted only from the left-right side.

In the embodiment shown in Figs. 1 to 14, the predetermined first operation, the predetermined second operation, and the predetermined third operation are described, but are not limited to this. Although the first to third operations are mentioned, it is not limited to the fact that they are all different operation units. The operation unit can be configured in various ways other than a mechanical switch mechanism such as a button or knob. For example, a contact sensor (electrostatic sensor, etc.) may be provided on the first handle unit 32, and the detection of the contact sensor may be the predetermined first operation. Also, a posture sensor (infrared sensor, etc.) may be provided to detect that the user has stood up in the foothold space of the walking aid vehicle, and the upper frame 21 may be raised based on the detection result of the posture sensor. In addition, an operation may be performed when a predetermined keyword is recognized by voice recognition.

<Walking balance adjustment function>
In the embodiment shown in Figs. 1 to 8, a running motor such as a three-phase brushless motor is connected to the middle wheel 1C, and running control such as speed control according to the walking speed of the person to be assisted and oblique movement suppression control by adjusting the left and right speed is executed by the processor 50 (see Fig. 8). The left and right middle wheels 1C have independent running motors (motors, etc.) and can be controlled with different drive amounts. A walking balance adjustment function may be implemented in the embodiment shown in Figs. 1 to 8. The assist force of the middle wheel 1C, which is a driving wheel for assisting the pedestrian, is a set value set by a pre-operation. An operation panel (not shown) is provided with an operation unit (operation button, etc.) that can input operations corresponding to "can go straight", "easy to turn left", and "easy to turn right". When "can go straight" is set, the assist force of the middle wheel 1C, which is the left and right driving wheels, is a set value. When "easy to turn right" is set, the assist force of the middle wheel 1C, which is the left driving wheel, is a set value, and the assist force of the middle wheel 1C, which is the right driving wheel, is (set value + 1). When "easy to turn left" is set, the assist force of the middle wheel 1C, which is the right driving wheel, becomes the set value, and the assist force of the middle wheel 1C, which is the left driving wheel, becomes (set value + 1).

<Emergency stop switch>
An emergency stop switch may be provided. When the emergency stop switch is pressed, the traveling electric unit (motor, etc.) that drives the middle wheel 1C, which is the driving wheel, is stopped. For example, if the power supply to the entire manually propelled vehicle is cut off when the emergency stop switch is pressed, the second body pad 30b will not move and will remain in the support position P1, causing a malfunction. By stopping the traveling electric unit, the malfunction can be avoided.

Second Embodiment
The manually propelled vehicle according to the second embodiment will be described below. The same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.

As shown in FIG. 15, the walking aid vehicle of the second embodiment is configured to collect data on the person to be assisted, store it in a memory unit 66, and transmit it to an external server at a predetermined timing via a communication unit 67. The communication unit 67 is optional.

For example, one example of data related to the assistance recipient is the position parameter of the support part 3. A support part position parameter acquisition unit 68a is provided to acquire the position parameter of the support part 3 (at least one of the torso support part 30, the armrest 31, and the first grip part 32), and the position parameter of the support part 3 is stored in the storage unit 66. The position parameters include at least one of the height position of the torso support part 30, the distance W1 between the torso support parts 30, the attachment position of the armrest 31 in the front-rear direction, the inclination angle α1 of the armrest 31, the attachment position of the first grip part 32 in the front-rear direction, and the rotational position of the first grip part 32. At least one of these parameters is treated as a set, and multiple sets can be stored, and the position of each support part 3 can be electrically changed, and the position of each support part 3 can be electrically changed to the corresponding position parameter in response to a selection operation.

Examples of data related to the person receiving assistance include the walking posture measured by the posture sensor 68b, the walking distance of the person receiving assistance measured by the walking distance measuring unit 68c, the measurement value of the load sensor 68d provided on the support part 3 such as the armrest 31, the measurement value of the center of gravity sensor 68e using a gyro sensor or the like, and biological information detected by the vital sensor 68f [heart rate, blood pressure, body temperature, respiration, skin moisture (sweating)], etc., which are acquired and stored together with time in the memory unit 66. In addition, the data related to the person receiving assistance stored in the memory unit 66 may be configured to be transmitted to an external server via the communication unit 67 at a predetermined timing.

Third Embodiment
In the second embodiment, the walking aid vehicle has a data logger, but the subject to which the data logger is provided is not limited to the walking aid vehicle, and any welfare equipment can be adopted. Examples of welfare equipment include an electric walking aid vehicle, a walking frame, a silver cart, a side push cart, a shopping cart, a walking stick, a handrail, and a chair. FIG. 16 shows a data acquisition system for welfare equipment. The system shown in FIG. 16 shows a data logger applied to an electric walking aid vehicle. The data logger acquires data such as measurement values and control information from various sensors (acceleration sensor, gyro sensor, tachometer, load sensor, etc.) or a microcomputer of the welfare equipment (microcomputer of the electric walking aid vehicle). The data logger saves the data in a storage such as a cloud via a network. The data logger is configured to be able to acquire at least one of the following data, for example:
(1) Device model number or ID: This can be obtained from information written at the time of manufacture. This can be used to provide valuable services to the user.
(2) MAC address: This can be obtained from microcomputer information. This allows identification of the device and can be used to detect changes in walking ability, for example, which can promote early intervention.
(3) Time: This can be obtained from the network. It can be used to detect changes in health status, which can promote early intervention.
(4) Acceleration: This can be acquired from an acceleration sensor. By linking with other devices, facilities, and systems, it is possible to propose improvements to lifestyles, health, etc.
(5) Angular velocity: This can be acquired from a gyro sensor. This enables collaboration with wearable robots.
(6) GPS: This can be obtained by installing a GPS on a smartphone or a GPS unit. This can be used to provide information and services to users from the terminal.
(7) Load (weight of the user on the device): This can be obtained from a load sensor, load cell, force sensor, etc. This can be used to provide value-added services to family members and caregivers.
(8) Vital information such as blood pressure and pulse rate: These can be acquired from a vital sensor or camera built into the grip. Location information can also be provided. This makes it possible to link with services such as monitoring.
(9) Assistance information: This can be obtained from the microcomputer of the electric walking vehicle. It is possible to obtain route information. This makes it possible to link with monitoring services and to confirm the safety of the user.
(10) Number of steps, speed, stride length: These can be obtained from a tachometer attached to the drive wheel, the number of rotations of the drive wheel (electric assist control information), a ToF sensor, a distance sensor, etc. These can be used to provide value-added services to care businesses.
(11) Tilt information: This can be obtained from an acceleration sensor or a gyro sensor. Activity information can be obtained, making it possible to provide intervention and guidance. It is possible to increase the amount of activity outside of the day care center and improve the level of care required.
(12) Fall information: This can be obtained from an acceleration sensor or a gyro sensor. This can provide valuable services to equipment manufacturers or rental companies.
(13) Braking or deceleration: This can be obtained from the electric assist control information. This can be used for equipment maintenance.
(14) Stop time: This can be obtained from a tachometer attached to the drive wheel. This makes it possible to provide a valuable service to the local government.
(15) Vibration caused by collision or bumps: This can be acquired by calculation using an acceleration sensor or gyro sensor. This makes it possible to detect deterioration of sidewalks. For example, it is possible to detect sidewalks that are dangerous for elderly people and share this information with local governments.
(16) Detection of human body or obstacle: can be obtained from a camera or ToF sensor.
(17) Detection of abnormalities and malfunctions in devices and appliances: This can be obtained from the electric assist control information or the control information of the logger unit.
(18) Temperature: Weather information can be obtained from the API using a temperature sensor, a humidity sensor, and GPS information.
(19) Communication terminal: Can be obtained from microcomputer information.
(20) Movement path: This can be obtained by calculation using an acceleration sensor, a gyro sensor, or a rotation counter.
(21) Image recognition (people, objects, actions): can be obtained from a camera.
(22) Spatial awareness (geography, destination): Destination information can be obtained from a smartphone app or camera.
(23) Information provided from navigation: Destination information from a smartphone app. (24) Personal authentication: Can be obtained from various authentication means such as ID and password, face authentication using a camera, and fingerprint authentication using a fingerprint sensor.
The following data is obtained by analyzing the above information.
(25) Time of use (per day, per week, per month, per year)
(26) Distance traveled (per day, week, month, year)
(27) Frequency of use (per day, per week, per month, per year)
(28) Health (changes, trends, comparisons)
(29) Walking (ability, speed, frequency, change, comparison)
(30) Activity (degree, trend, change, comparison)
(31) Location information (32) Travel route, walking route (33) Safety confirmation (34) Equipment information (malfunction, wear, maintenance schedule suggestions)

Fourth Embodiment
In the first embodiment, the upper limit sensor 61 detects the height position of the upper frame 21, and the upper frame 21 is stopped at an upper limit position set according to the user. In the fourth embodiment, the upper limit position of the upper frame 21 is configured to be changeable by a mechanical element.

[Configuration for changing upper limit position of lifting/lowering operation]
Specifically, as shown in Fig. 17 and Fig. 18, the welfare equipment (walking aid vehicle) of the fourth embodiment has a load receiving part 21X (upper frame 21) that receives the load of the user, and a base 20X (lower frame 20) that supports the load receiving part 21X so that it can be raised and lowered, and the load receiving part 21X is supported by the base 20X so that it can be raised and lowered. In the example shown in Fig. 17 and Fig. 18, there is a gas spring 22 that connects the base 20X and the load receiving part 21X to each other so that they can be raised and lowered, and a lifting and lowering operation part 23 (lever) that is operated to allow the lifting and lowering operation of the load receiving part 21X (upper frame 21). When the lifting and lowering operation part 23 is operated, the lock of the gas spring 22 is released, and the gas spring 22 becomes expandable and contractible, and moves up and down according to the load applied to the load receiving part 21X.

As shown in Figs. 19 and 20, the welfare equipment (walking aid vehicle) has a first positioning member 24 and a second positioning member 25. The first positioning member 24 and the second positioning member 25 are configured to be movable toward or away from each other in response to the lifting and lowering operations of the base 20X and the load receiving portion 21X, and restrict further lifting of the load receiving portion 21X from the contact state by contacting each other. The first positioning member 24 is fixed to one of the base 20X and the load receiving portion 21X, and the second positioning member 25 is attached to the other of the base 20X and the load receiving portion 21X so that the position can be changed. By changing the attachment position of the second positioning member 25, the contact portion between the second positioning member 25 and the first positioning member 24 is changed, and the upper limit position of the load receiving portion 21X is changed. In the example shown in Fig. 19, the load receiving portion 21X is set to the first upper limit position. In the example shown in Fig. 20, the upper limit position of the load receiving portion 21X is set to the second upper limit position which is lower than the first upper limit position. With this configuration, if the mounting position of the second positioning member 25 is initially set to suit the user, it will be possible to stop the device at the same height even if the user repeats the raising and lowering operation, eliminating the need for the user to adjust the height each time.

19 and 20, the first positioning member 24 is provided on the load receiving portion 21X, and the second positioning member 25 is provided on the base 20X, but this is not limited thereto, and the first positioning member 24 may be provided on the base 20X, and the second positioning member 25 may be provided on the load receiving portion 21X. Specifically, the first positioning member 24 and the second positioning member 25 are disposed between the hanging portion 21b constituting the load receiving portion 21X and the standing portion 20b constituting the base 20X, and are disposed rearward of the standing portion 20b on the vehicle body. The first positioning member 24 is inclined with respect to the far-near direction KD1 and the direction DK2 perpendicular to the far-near direction KD1. The first positioning member 24 has a first surface 24a facing the second positioning member 25. The first positioning member 24 may be an elongated member such as a rod, and the first surface 24a may be linear in side view, but in this embodiment, the first surface 24a facing the second positioning member 25 is formed in a stepped shape in side view to determine the contact portion with the second positioning member 25. This configuration allows the engagement between the first positioning member 24 and the second positioning member 25 to be stabilized. The second positioning member 25 is configured so that the mounting position can be changed by rotating around the rotation axis 25a. Specifically, the second positioning member 25 is formed in a rod shape and is attached to the base 20X (the standing portion 20b of the lower frame 20) so as to be rotatable around the rotation axis 25a. The standing portion 20b has a long hole 20c. A fastener 25b passing through the long hole 20c fastens the standing portion 20b to a portion of the second positioning member 25 that is eccentric from the rotation axis 25a.

The configuration of the second positioning member 25 is not limited to the configuration shown in Figures 19 and 20. For example, the mounting position of the second positioning member 25 may be changed by providing multiple holes in the member (base 20X) to which the second positioning member 25 is attached and changing the holes to which the second positioning member 25 is attached.

As in the embodiment shown in FIG. 1, a configuration in which the weight of the user is supported by an electric unit while the device moves up and down has a large energy loss and may cause the battery to run out early, making it difficult to secure power. However, if a gas spring 22 is used to reduce battery power consumption, the movable stroke of the gas spring 22 becomes the upper limit position of the load receiving portion 21X, and adjustments must be made each time depending on the height of the user, making it difficult or cumbersome for the care recipient to use. Therefore, as shown in FIG. 17 and FIG. 18, if a gas spring 22 is used without an electric unit such as a motor, and the first positioning member 24 and the second positioning member 25 are adopted, the upper limit position of the lifting and lowering operation according to the user can be mechanically set even with the gas spring 22.

It is possible to apply the upper limit position changing configuration using the first positioning member 24 and the second positioning member 25 to a configuration in which the gas spring 22 and the lifting operation unit 23 are not provided and the load receiving unit 21X is lifted and lowered by the lifting motor unit 60 as in the embodiment shown in FIG. 1.

The configuration for changing the upper limit position of the ascending/descending operation shown in Figs. 19 and 20 is not limited to walking aids, but can be used with any welfare equipment. Welfare equipment includes electric walking aids, walking frames, walkers, side-push carts, shopping carts, walking sticks, handrails (installed at entrances or stairs), chairs, etc.

[Wheels: Seesaw support configuration]
Fig. 21 is a left side view of the walking aid vehicle of the fourth embodiment. Fig. 22 is a side view of the left middle wheel 1C and the rear wheel 1R as viewed from the inside. The walking aid vehicle has a main body frame 2 that receives the load of the user, and three or more wheels 1 (three in the figure) arranged on each of the left and right sides of the main body frame 2. The three or more wheels 1 on each of the left and right sides have a first wheel 1C (middle wheel 1C) which is a driving wheel, and a second wheel 1R (rear wheel 1R) which is a driven wheel that does not have a driving force. The first wheel 1C (middle wheel 1C) and the second wheel 1R (rear wheel 1R) are provided on a wheel frame 10, and the wheel frame 10 is supported by the main body frame 2 so as to be swingable around a frame rotation axis 10a located between a portion 10b (rotation axis 10b of the first wheel 1C) where the first wheel 1C is provided and a portion 10c where the second wheel 1R is provided.

In this way, the first wheel 1C and the second wheel 1R are supported on the main frame 2 via the wheel frame 10 so that they can swing like a seesaw, so that both the first wheel 1C and the second wheel 1R can be grounded on the road surface Ro even when the vehicle goes over a step, making it possible to properly support the vehicle body. Furthermore, the first wheel 1C, which is the drive wheel, can always be grounded on the road surface Ro.

The seesaw support structure for the wheels shown in Figures 21 and 22 is not limited to walking aids, but can be used in any welfare cart that the user uses while walking.

[Configuration for easily climbing over steps]
FIG. 23 is a side view showing the positional relationship between the first wheel 1C, the second wheel 1R, the wheel frame 10, and the main body frame 2 of the fourth embodiment. As shown in FIG. 22 and FIG. 23, the load acts on the rotation axis 10b of the first wheel 1C, the rotation axis 10d of the second wheel 1R, and the frame rotation axis 10a. As shown in FIG. 23, the frame rotation axis 10a is preferably located below the virtual line L1 connecting the rotation axis 10b of the first wheel 1C and the rotation axis 10d of the second wheel 1R in a cross section passing through the front-rear direction and the vertical direction. If the frame rotation axis 10a is located below the virtual line L1, a force F1 that tends to move upward acts on the first wheel 1C when the first wheel 1C moving forward collides with a step. The direction of this force F1 coincides with the direction (upward) in which the first wheel 1C moves to overcome the step, so the first wheel 1C is more likely to overcome the step than the configuration shown in FIG. 24.

In the configuration shown in FIG. 23, it is preferable that the angle θ1 between the line connecting the rotation axis 10b of the first wheel 1C to the frame rotation axis 10a and the line connecting the frame rotation axis 10a to the rotation axis 10d of the second wheel 1R is less than 180 degrees.

Figure 24 corresponds to Figure 23 and shows a modified example of the fourth embodiment. If the frame rotation axis 10a is above the virtual line L1 as shown in Figure 24, a downward force F2 acts on the first wheel 1C when the first wheel 1C moving forward hits a step. The direction of this force F2 is opposite to the direction (upward) in which the first wheel 1C moves to overcome the step, so it becomes more difficult for the first wheel 1C to overcome the step compared to the configuration shown in Figure 23. Of course, the configuration shown in Figure 24 may be used for a configuration in which two wheels are supported in a seesaw manner. It is also possible to use a configuration in which the frame rotation axis 10a is on the virtual line L1.

[Configuration for improving grip and braking force of drive wheels]
As shown in FIG. 22, in a state where the first wheel 1C and the second wheel 1R are in contact with a flat road surface Ro parallel to the horizontal direction, it is preferable that the horizontal distance W1 from the rotation axis 10b of the first wheel 1C to the frame rotation axis 10a is smaller than the horizontal distance W2 from the frame rotation axis 10a to the rotation axis 10d of the second wheel 1R. If W1>W2, the load is more likely to be applied to the second wheel 1R than to the first wheel 1C, and the grip force and braking force of the first wheel 1C may decrease. If W1<W2, the load is more likely to be applied to the first wheel 1C than to the second wheel 1R, and it is possible to improve the grip force and braking force of the first wheel 1C. If W1=W2, the load is more likely to be applied to both the first wheel 1C and the second wheel 1R equally. In the fourth embodiment shown in FIG. 22, W1:W2=1:2, but is not limited to this ratio.

As shown in FIG. 21, in order to adequately support the user even if the user is about to fall backwards when the second torso pad 30b is in the support position P1, it is preferable that the rotation axis 10d of the rearmost wheel 1R is located horizontally rearward of the forwardmost support surface 30c of the second torso pad 30b in the support position P1.

[Lower limb supporter 8]
There are at least two possible ways in which a person to be assisted who has weak legs and hips may fall. In the first type of fall, the person loses strength with the feet on the ground, causing only the knees to bend forward and the torso to sink downward. In order to prevent or suppress this type of fall, it is preferable to provide a knee supporter 80 that comes into contact with the bending knees to prevent further bending of the knees in front of the standing area Ar1 defined by the walking aid vehicle where the person to be assisted should stand, as shown in Figures 17, 18, and 21.

The second type of fall is when the person falls backwards. In this case, the torso of the person being assisted is supported by the second torso pad 30b. However, if the person tries to fall further backwards without moving the feet that are on the ground, the support vehicle may move backwards and the feet or lower legs may become pinched between the road surface and the vehicle body. To prevent this situation, it is preferable to provide an underbody intrusion prevention guide 81.

Although the knee supporter 80 and the vehicle under-entry prohibition guide 81 may be separate members, in the fourth embodiment, a lower leg supporter 8 is provided that functions as both the knee supporter 80 and the vehicle under-entry prohibition guide 81. The lower leg supporter 8 has a cushioning material, and the rear surface of the lower leg supporter 8 is set as a support surface for receiving the support recipient. As shown in FIG. 21, the lower leg supporter 8 is disposed in a position in front of the position where the support recipient stands and covers the upper frame 21 from the rear. As shown in FIG. 25, the lower leg supporter 8 has an upper end 8a, a lower end 8b, and an intermediate portion 8c in a side view. The intermediate portion 8c is formed in a curved shape that protrudes rearward from the upper end 8a and the lower end 8b. The first support surface 82, which is above the apex 8d, which is the rearmost of the support surfaces of the lower leg supporter 8, extends from the upper front to the lower rear. This makes it possible to properly support the knee that bends from the upper rear to the lower front. The second support surface 83, which is below the apex 8d, the rearmost of the support surfaces of the lower leg supporter 8, extends from the upper rear to the lower front. As a result, even if the support wheel moves backward, the apex 8d is the first to come into contact with the lower leg (shin), restricting further backward movement of the support wheel, and since the second support surface 83 comes into contact with the lower leg (shin) or foot, it comes into contact with the person being supported at multiple points, making it possible to reduce the sensation given to the person being supported compared to contact at only one point.

As shown in FIG. 21, the lower end of the underbody intrusion prevention guide 81 (lower leg supporter 8) is located below the U-shaped portion 20a.

The support surface formed by the lower leg supporter 8 has a first curved surface 84 in a side view and a second curved surface 85 that is located below the first curved surface 84. The radius of curvature R1 of the first curved surface 84 is larger than the radius of curvature R2 of the second curved surface 85. With such a relationship between the radii of curvature, the knee can be properly supported and the foot is less likely to hit the lower leg supporter 8 when walking, making it less likely to get in the way when walking. Of course, if this effect is not pursued, the radii of curvature of the first curved surface 84 and the second curved surface 85 may be equal, or R1<R2.

[Changing the posture of the lower limb supporter 8]
FIG. 26 is a left side view in which some of the members (a resin cover and a part of the metal frame) constituting the lower frame 20 are hidden. As shown in FIG. 26, the lower leg supporter 8 is supported by the lower frame 20 so as to be rotatable around a horizontally parallel rotation axis 8e so that the position of the upper end 8a of the lower leg supporter 8 can be changed in the front-rear direction. This configuration allows appropriate settings according to the support recipient. An arm 86 is provided that is supported by the lower frame 20 so as to be rotatable around a fulcrum 86a. The lower leg supporter 8 is provided with a pair of plate members 87 having wavy elongated holes 87a. A pin provided at the tip of the arm 86 is inserted into the wavy elongated hole 87a, and is fastened or released by operating a fastener 87b. The wavy elongated hole 87a has a plurality of inflections and ends, and can be positioned at a desired position among a plurality of candidate positions by placing a pin at a position related to any of the plurality of inflections and ends.

Figure 27 is a perspective view of the walking aid vehicle with the lower leg supporter 8 hidden, seen from below and behind. Figure 28 is a plan view showing the positional relationship between the facing member, the standing area, and the lower leg supporter 8. As shown in Figures 17 and 18, the walking aid vehicle of the fourth embodiment has a main body frame 2. The main body frame 2 has a first U-shaped portion 21a and a second U-shaped portion 20a. The first U-shaped portion 21a has a load-receiving member (armrest 31, trunk support portion 30) that receives the load of the person to be assisted. The second U-shaped portion 20a has a plurality of wheels 1. As shown in Figure 28, the load-receiving member (armrest 31 or trunk support portion 30, etc.) defines a standing area Ar1 in which the person to be assisted should stand up. As shown in Figure 28, the main body frame 2 has a facing member 26 that is in front of the standing area Ar1 and faces the road surface Ro. The facing member 26 is a member that constitutes the main frame 2 and is located at a height from the road surface Ro equal to or less than a predetermined height H1 (see FIG. 21). The predetermined height H1 is, for example, 30 cm. In the example shown in FIG. 27 and FIG. 28, the facing member 26 is a pipe and a resin cover that constitute the second U-shaped portion 20a, but this is an example. The facing member 26 is located in front of the standing area Ar1 and is located at or less than the predetermined height H1, so there is a space between the facing member 26 and the road surface Ro into which the foot can enter. As shown in FIG. 21 and FIG. 28, a lower leg supporter 8 is provided in a position that covers the facing member 26 from behind.

Figure 29 corresponds to Figure 28 and shows a modified example of the fourth embodiment. In the fourth embodiment, a torso support section 30 is provided, but this can be omitted when the lower leg supporter 8 is a feature. In a configuration in which the torso support section 30 is omitted, as shown in Figure 29, the load-receiving member (armrest 31) defines a standing area Ar1 in which the person to be assisted should stand up.

[Summary of the Fourth Embodiment]
As described above, in the fourth embodiment, the walking aid vehicle has a main frame 2 which has a lower frame 20 having wheels 1, and an upper frame 21 which receives the weight of the person being assisted, and the upper frame 21 is supported on the lower frame 20 so as to be able to rise and fall freely, and the walking aid vehicle has a first positioning member 24 and a second positioning member 25 which are configured to be able to move towards and away from each other in response to the raising and lowering movements of the lower frame 20 and the upper frame 21, and which restrict further lifting of the upper frame 21 by coming into contact with each other, and it is preferable that the first positioning member 24 is fixed to one of the lower frame 20 and the upper frame 21, and the second positioning member 25 is attached to the other of the lower frame 20 and the upper frame 21 so that its position can be changed by changing the attachment position of the second positioning member 25, thereby changing the upper limit position of the upper frame.

With this configuration, if the mounting position of the second positioning member 25 is initially set to suit the user, it becomes possible to stop the lift at the same height even if the lifting and lowering operation is repeated, eliminating the need for the user to adjust the height each time.

As in the fourth embodiment, it is preferable that the second positioning member 25 is configured so that its mounting position can be changed by rotating about the rotation axis 25a.

This configuration makes operation easy because the mounting position can be changed simply by rotating the second positioning member 25.

As in the fourth embodiment, the first positioning member 24 has a first surface 24a that faces the second positioning member 25, and it is preferable that the first surface 24a is formed in a stepped shape.

This configuration allows the engagement between the first positioning member 24 and the second positioning member 25 to be stabilized.

As in the fourth embodiment, the vehicle has three or more wheels 1 arranged on each of the left and right sides of the main frame 2, and the three or more wheels 1 on each side include a first wheel 1C, which is a driving wheel, and a second wheel 1R, which is a driven wheel that does not have driving force, and the first wheel 1C and the second wheel 1R are provided on a wheel frame 10, and the wheel frame 10 is preferably supported on the main frame 2 so as to be swingable around a frame rotation axis 10a located between a portion 10b where the first wheel 1C is provided and a portion 10c where the second wheel 1R is provided.

In this way, the first wheel 1C and the second wheel 1R are supported on the main frame 2 via the wheel frame 10 so that they can swing like a seesaw, so that both the first wheel 1C and the second wheel 1R can be grounded on the road surface Ro even when the vehicle goes over a step, making it possible to properly support the vehicle body. Furthermore, the first wheel 1C, which is the drive wheel, can always be grounded on the road surface Ro.

As in the fourth embodiment, it is preferable that the frame rotation axis 10a is located below the imaginary straight line L1 connecting the rotation axis 10b of the first wheel 1C and the rotation axis 10d of the second wheel 1R.

In this way, if the frame rotation axis 10a is below the virtual line L1, when the first wheel 1C moving forward hits a step, an upward force F1 acts on the first wheel 1C. The direction of this force F1 coincides with the direction (upward) in which the first wheel 1C moves to get over the step, so the first wheel 1C can easily get over the step.

As in the fourth embodiment, when the first wheel 1C and the second wheel 1R are in contact with a flat road surface Ro that is parallel to the horizontal direction, it is preferable that the horizontal distance W1 from the rotation axis 10b of the first wheel 1C to the frame rotation axis 10a is smaller than the horizontal distance W2 from the frame rotation axis 10a to the rotation axis 10d of the second wheel 1R.

As in the fourth embodiment, the main frame 2 has a lower leg supporter 8 that is positioned in front of the position where the person to be assisted stands, and the lower leg supporter 8 has an upper end 8a, a lower end 8b, and an intermediate portion 8c in a side view, and it is preferable that the intermediate portion 8c is formed in a curved shape that protrudes further rearward than the upper end 8a and the lower end 8b.

This configuration makes it possible to adequately support the knee as it bends from the upper rear to the lower front. Furthermore, even if the support wheel moves backward, the apex 8d comes into contact with the lower leg (shin) first, restricting the support wheel from moving further backward. Also, since the second support surface 83 comes into contact with the lower leg (shin) or foot, contact is made with the person being supported at multiple points, which reduces the sensation felt by the person being supported compared to contact at only one point.

As in the fourth embodiment, the support surface formed by the lower limb supporter 8 has a first curved surface 84 in a side view and a second curved surface 85 positioned below the first curved surface 84, and it is preferable that the radius of curvature R1 of the first curved surface 84 is greater than the radius of curvature R2 of the second curved surface 85.

This relationship between the radii of curvature allows the knee to be properly supported, and the foot is less likely to hit the lower leg supporter 8 when walking, making it less likely to get in the way when walking.

As in the fourth embodiment, it is preferable that the lower leg supporter 8 is supported by the lower frame 20 so that the position of the upper end 8a of the lower leg supporter 8 can be changed in the front-rear direction and that the lower leg supporter 8 can rotate around the rotation axis 8e.

This configuration allows for appropriate settings to be made depending on the recipient of assistance.

As in the fourth embodiment, the main frame 2 has a first U-shaped portion 21a having a load-receiving member that receives the load of the person to be assisted, and a second U-shaped portion 20a having a plurality of wheels 1, the load-receiving member defines a standing area Ar1 in which the person to be assisted should stand, the main frame 2 has a facing member 26 in front of the standing area Ar1 and facing the road surface Ro, and it is preferable that a lower leg supporter 8 is provided in a position that covers the facing member 26 from behind.

This configuration makes it possible to adequately support the knee as it bends from the upper rear to the lower front. Furthermore, even if the support wheel moves backward, the apex 8d comes into contact with the lower leg (shin) first, restricting the support wheel from moving further backward. Also, since the second support surface 83 comes into contact with the lower leg (shin) or foot, contact is made with the person being supported at multiple points, which reduces the sensation felt by the person being supported compared to contact at only one point.

The structures used in each of the above embodiments can be used in any other embodiment.

The specific configuration of each part is not limited to the above-described embodiment, and various modifications are possible without departing from the spirit of this disclosure.

REFERENCE SIGNS LIST 1 Wheel 2 Main body frame 20 Lower frame 21 Upper frame 30 Fuselage support section 4 Electromagnetic locking mechanism 40 Locking member 65 Notification section 73 Attitude change instruction button (predetermined first operation, predetermined second operation)
74 Electromagnetic lock release operation unit (predetermined third operation)
P1 Support position P2 Release permitted position LP1 Locked position LP2 Unlocked position P3 First position P4 Second position

Claims (1)

An upper frame having armrests on which a walking person to be assisted places his/her arms and a handle portion that can be grasped with the arm placed on the armrest;
a lower frame that supports the upper frame via a connection part that extends in a vertical direction in front of the person to be assisted and has wheels;
A first body pad capable of supporting the body of the person to be assisted from the left and right sides;
A second body pad that is at least partially located above the first body pad and can support the body of the person to be assisted from behind when the person is about to fall backward;
Equipped with
the lower frame includes a pair of rod-shaped frames extending in a front-rear direction and having the wheels, and left and right pipes extending inward in a left-right direction from each of the pair of rod-shaped frames,
The left and right pipes are located forward of a standing area in which the assistance recipient stands,
the support surface is provided with cushioning material having a support surface for receiving the feet or lower legs if the person being assisted attempts to fall backwards, the upper end of the support surface is located above the left and right pipes, the lower end of the support surface is located below the left and right pipes, and the middle part of the support surface is formed in a curved shape that protrudes rearward beyond the upper and lower ends of the support surface, so that the rearmost apex of the support surface comes into contact with the feet or lower legs to restrict further rearward movement of the assistance vehicle, and an underbody intrusion prevention guide is provided to prevent the feet or lower legs from becoming pinched between the road surface and the left and right pipes,
the left and right pipes and the cushioning material are arranged in a position overlapping with the pair of rod-shaped frames in a side view, and the left and right pipes and the cushioning material are arranged in this order from front to rear.