JP3009889B1 - Walking training equipment - Google Patents

Abstract

Abstract: PROBLEM TO BE SOLVED: To recover a walking function, which is reduced by imposing a passive exercise to a walking trainee, and to carry out efficient rehabilitation by improving its safety and economy without a caregiver. . SOLUTION: A frame 1 having a trainer holder 4 for suspending a trainee 6, and a pair of right and left reciprocating back and forth alternately with both feet placed under the trainer holder 4 having a supporter 12. , A handrail portion 5 supported at a predetermined height in front of the footrests 7, 7, the footrests 7, 7 are reciprocated back and forth, and the footrests 7, 7 are moved back and forth. 7 comprises a base portion 8 for vertically moving the rear portion within a predetermined angle.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a walking training device, and more particularly to a device used for rehabilitation in hospitals, nursing homes and the like.

[0002]

2. Description of the Related Art At present, walking training machines used for rehabilitation in hospitals, nursing homes, etc., are provided with a pair of left and right guide bars of a predetermined length separated from each other and a trainer enters between the guide bars. A walking assist device which can move along a guide bar with both hands placed thereon is generally known, and a walking trainee performs walking training by moving between guide bars together with a caregiver. When the training reaches a high altitude, a walking trainer himself walks between the guide bars, and also performs walking training on a running belt that moves on an endless track while standing on a running belt.

[0003]

However, in the above-mentioned walking assist device, an initial walking trainer cannot perform training without a caregiver, and walking training with a running belt is not suitable for persons in the early stage of rehabilitation. It is.

[0004] Therefore, an object of the present invention is to enable efficient rehabilitation by assuring the safety of a gait trainer and the economy without a caregiver.

[0005]

In order to achieve the above object, according to the present invention, as described in claim 1, a frame having a supporter for suspending a body and both legs are placed under the supporter. A pair of left and right footrests that reciprocate back and forth alternately, a handrail section supported at a predetermined height in front of the footrests, and the footrests are driven back and forth to reciprocate. base such from the Rutotomoni having a mechanism for vertically moving the rear at a predetermined angle within the footrests its previous
Part is rotatably supported on the base plate via a shaft, and
The surface is supported by an arm that is swingably fixed to the base plate
Is arranged so as to be able to contact the roller, and the base plate has a predetermined length.
Movably engaged with the base rail, said rail being
The walking training device is characterized by being fixed to the section .

[0006]

According to a second aspect of the present invention, a nut block is fixed to the base plate, a ball screw is engaged with the nut block, and the ball screw can be rotated forward and reverse by a servo-controlled motor. A walking training device according to claim 1 is configured.

Further, according to a third aspect of the present invention, there is provided a walking training apparatus according to the first or second aspect, wherein the arm reciprocates within a predetermined angle range by a servo-controlled motor. .

Therefore, according to this walking training device,
Restoring the walking function, which is reduced by imposing a passive exercise on a walking trainer, enables walking training without the need for a caregiver.
Efficient rehabilitation can be performed with caregiver-free economy, and training safety is ensured.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a side view showing the entire walking training device according to the present invention, FIG. 2 is a plan view thereof, and FIG. 3 is a front view thereof. A driving body 4 that can be adjusted in the front-rear direction along the line 4 is a trainer holder that can be suspended from the driving body 2 and that can be moved up and down, and 5 is a hand for the trainer 6 to take support with both hands. The sliding portion, 7 is a footrest on which both feet of the trainee 6 can be placed and can move back and forth, 8 is a base portion having a built-in mechanism for repeatedly moving the footrest 7 back and forth, and P is a training device for the footrest 7. It is a personal computer that pre-programs, stores, and controls and drives the speed and trajectory most easily performed by the user.
An operation switch 9 that can be directly operated by the trainee 6 is provided on the driving body 2.
The operation switch 9 can control the movement of the driver 2 and, in an emergency, turn off the drive of the footrest 7 in addition to the control of the personal computer.

The frame 1 has a pair of parallel and spaced bottom frames 1a, 1a mounted on the floor surface FL, and a front frame 1b and a rear frame 1c which are substantially inverted U-shaped at both ends and higher than the height of a person. The rail 3 is supported by the front and rear frames 1b and 1c. An auxiliary frame 1d is connected between the bottom frames 1a, 1a near the rear frame 1c, and the auxiliary frame 1d is connected to the front frame 1d.
An auxiliary frame 1 parallel to the bottom frame 1a is located between the bottom frame 1a and an auxiliary frame (not shown, see 1h in FIG. 5) connecting the bottom frames 1a, 1a at the lower side.
e, 1e are connected, and an auxiliary frame 1f is further connected between the auxiliary frames 1e, 1e. A deck plate 1g is mounted and fixed on the upper part of the auxiliary frame 1e. Base part 8, 8
Are connected to the auxiliary frames 1d and 1f and arranged in parallel between the bottom frame 1a and the auxiliary frame 1e, respectively.

The trainee holder 4 is formed by connecting a pair of left and right U-shaped tubes 10, 10 at an upper portion thereof with a space therebetween, and suspending the upper portion with a belt 11. Winding and rewinding can be performed by a drum driven by a motor stored in the inside. A supporter 12 made of canvas cloth or the like provided with holes 12a, 12a through which the legs of the trainee 6 are inserted is supported by the lower portions of the tubular bodies 10, 10. The trainer can support the lower back by the supporter 12 and stand alone. . The handrails 5 are the support columns 1 standing on the left and right sides near the front frame 1b side.
A substantially U-shaped support is provided horizontally on the upper part of each of the trainers 3 and 14, and the trainer 6
Are located at a predetermined height on the front part and on both the left and right sides, and preferably the height and the front and rear can be adjusted. If the supporter 12 is directly supported by the belt 11, the trainer holder 4
May not be required.

The footrest 7 and the base 8 will be described in detail. The base part 8 is connected to the auxiliary frames 1d and 1f of the frame 1 in a pair on the left and right sides of the foot of the trainee 6 and is disposed in parallel between the bottom frame 1a and the auxiliary frame 1e, respectively, as shown in FIG. And rails 1 on the left and right side walls of the channel member 20.
9 and 19, the front and rear portions of the channel member 20 are closed by the front plate 21 and the rear plate 22, respectively, and the front and rear portions of the ball screw 23 are positioned substantially on the center line of the channel member 20.
At 4 and 24, the servo motor 25 (see FIG. 5) is supported on the front plate 21 side so as to be rotatable around the axis, and the end of the ball screw 23 is connected to this. A pair of sliders 26, 26 are respectively engaged with the rails 19, 19 so as to be slidable back and forth.

A table 27 is mounted and fixed on the sliders 26, 26, and a nut block 28 is fixed on the lower surface of the table 27.
The ball screw 23 is engaged with and penetrates the screw hole 8. Therefore, when the servo motor 25 is driven to rotate, the ball screw 23 rotates, and the nut block 28 reciprocates in the front-back direction along the ball screw 23, so that the table 27 can move back and forth.

As shown in FIGS. 4 and 6, a cover plate 29 connecting the front plate 21 and the rear plate 22 to the table 27 is loosely fitted in an upper groove having a substantially horizontal H-shaped cross section. I have.
Therefore, both left and right sides of the table 27 protrude from the cover plate 29 and are on the upper surface than the cover plate 29, and both sides of the rectangular base plate 30 are placed and fixed on both sides thereof. The footrest 7 is swingably supported by the shaft 32 through the shaft. The footrest 7 is a U-shaped groove-shaped footrest having a length enough to accommodate one foot, and has a front part closed.

A stopper 33 is fixed to the base plate 30 so as to be able to come into contact with a substantially central portion of the footrest 7. Rollers 34 abutting on the lower surface of the rear end of the footrest 7 are supported by arms 35, 35 so as to be able to swing up and down, and the arms 35, 35 are provided by a speed reducer 37 of a servomotor 36 fixed to the base plate 30. It is connected to an output shaft 38. Preferably, a belt is provided on the footrest 7 so that the foot F of the trainee 6 can be fastened and fixed by the belt.

The arms 35, 35 can reciprocate only vertically within a predetermined angle range by servo control, and two limit switches 40, 41 are fixed to the side surface of the speed reduction unit case 37 as a fail safe. Therefore, when the servomotor 36 is driven to rotate, the arms 35, 35 move up and down within a certain angle range, and the roller 34 pushes up the rear end of the footrest 7, and reaches the upper limit to lower the rear end. The footrest 7 can move up and down around the shaft 32.

As shown in FIG. 7, a cable for sending a power supply and a control signal to the servomotor 36 is connected via a cable holder 39 which is flexible and deforms while maintaining a U-shape. 2 is connected to the base plate 30 and the other end is connected to the front plate 21 side. As shown in FIG.
Are connected by a cable L. On the screen of the personal computer P, a movement curve capable of adjusting the drive of the servomotor 36 in accordance with the trainee 6 is displayed.

Therefore, the trainee 6 inserts both legs into the holes 12a, 12a of the supporter 12 by the care of a caregiver or the like and is suspended from the trainer holder 4, and the trainer 6 has both footrests 7,
7, one foot F is placed on each of them, and is appropriately fixed with a belt. The handrail unit 5 or the tubular body 10.10 is gripped with both hands to prepare for walking. After the operator signals the trainee 6, the servomotor 25, When the driver 36 is driven, the footrest 7,
7 alternately reciprocate back and forth, and
The rear part moves up and down at a predetermined angle around the axis, that is, the heel part of the foot moves up and down to form a walking state, and the trainee 6 may move his body according to the movement. When the trainee 6 stops walking practice due to an emergency, the operation switch 9 is operated.

The walking training conditions and settings are all performed via a personal computer, and are represented by X (front and rear) and Y (vertical) coordinates displayed on the personal computer screen as shown in FIG. ＮN4 (actually, up to 24 points can be set), and the curve connecting the anode points becomes the locus of the trainee's heel. These coordinates are set independently and can be controlled.
The anode point can be freely set on the XY coordinates. The operator appropriately adjusts according to the physical condition of the trainee 6 and moves the change point of the curve up and down on the screen, thereby moving the leg rests 7, 7 back and forth, and moving up and down the rear, and training. The acceleration and other operations from the beginning to the end in time are coordinated and formed. Thus, the walking trainee does not need the support of the caregiver, and can walk independently for a predetermined time.

[0021]

According to the present invention described above, since it is a device capable of practicing walking alone without the need of support of a caregiver, it is most suitable for rehabilitation of a caregiver shortage, and furthermore, it is possible to improve the safety of walking trainers. Efficient rehabilitation can be performed with care-free economy.

[Brief description of the drawings]

FIG. 1 is a side view showing an embodiment of the present invention.

FIG. 2 is a plan view showing an embodiment of the present invention.

FIG. 3 is a front view showing the embodiment of the present invention.

FIG. 4 is a partially cutaway perspective view showing a main part in the embodiment of the present invention.

FIG. 5 is a sectional side view showing a main part of the present invention.

FIG. 6 is a sectional view taken along line XX of FIG. 5;

FIG. 7 is a partially enlarged view of FIG. 5 showing an operation.

FIG. 8 is a personal computer setting screen for controlling a pair of left and right base units (displacement amounts and speeds in the X-axis and Y-axis directions).

[Explanation of symbols]

 P ... PC 1 ... Frame 2 ... Driver 3 ... Rail 4 ... Trainer holder 5 ... Handrail part 6 ... Trainer 7 ... Foot rest 8 ... Base part 9 ... Operation switch 11 ... Belt 12 ... Supporter 19 ... Guide rail 23 ... Ball screw 25 ... Servo motor 27 ... Table 28 ... Nut block 29 ... Cover plate 30 ... Base plate 31 ... Bracket 32 ... Shaft 33 ... Stopper 34 ... Roller 35 ... Arm 36 ... Servo motor

──────────────────────────────────────────────────続 き Continuation of the front page (72) Inventor Kentaro Sakamoto 2-2-13 Minamishinagawa, Shinagawa-ku, Tokyo Inside SENO CORPORATION (56) References JP-A-51-7059 (JP, U) JP-A-61- 65937 (JP, U) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61H 1/02 A63B 23/04

Claims (3)

(57) [Claims] 1. A frame having a supporter for suspending a body, a pair of left and right footrests which alternately reciprocate back and forth with both feet placed under the supporter, and a predetermined front side of the footrests. A handrail portion supported at a height and a base portion having a mechanism for reciprocatingly driving the footrest and reciprocating the footrest and moving the rear portion of the footrest up and down within a predetermined angle.
At the same time, the front part of the footrest rotates through the shaft
Supported by the base plate, and the lower surface of the rear part swings on the base plate
Able to contact rollers supported by fixed arm
Placed, and the base plate can be moved to a rail of a predetermined length
The walking training device , wherein the rail is fixed to the base portion . 2. A nut block is fixed to the base plate,
Ball screw engages the nut block, the walking training device according to claim 1 wherein said ball screw is characterized in that it is normal and reverse rotation by the servo control motor. Wherein the arm is walking training device according to claim 1 or 2, wherein the reciprocating rotation within a predetermined angular range by the servo control motors.