TWI714041B - Walking support device - Google Patents

Abstract

In order to provide a walking support device that improves the durability of the lifting mechanism, the lifting performance of the support member, and the rotation performance of the support member, the walking support device includes: a base 2; a moving device 3; a standing and sitting motion support device 4; and a connecting device 5. It connects the clothing worn by the user with the standing and seating motion support device 4; the standing and seating motion support device 4 includes: a fixed pillar 6 set on the base 2, a lifting member 7, a lifting driving device 8 and a lifting The guide device 9; the lifting member 7 includes: a lifting body 10, which is connected with the lifting drive device 8 to perform lifting actions; and a supporting member 20, which is installed on the lifting body via a hinge 70; the supporting member 20 includes a movable pillar 21 and the support base 22; the movable pillar 21 is equipped with a slider 23 on the lower end side, and is connected to the lifting body 10 via a hinge 70; the lifting guide device 9 is installed on the fixed pillar 6, and is provided when the support member 20 is raised and lowered A guide groove 91 for guiding the slider 23 of the movable support 21.

Description

Walking support device

The present invention relates to a walking support device with a support function for standing and sitting.

Conventionally, there has been known a walking support device having a standing and sitting motion support function (Patent Document 1).

The walking support device disclosed in Patent Document 1 includes: a support member having a pillar (moving pillar) and a support seat provided at the upper end of the pillar to support the user; and a supporting member rotating and moving mechanism, which is continuous After the support member is rotated and moved upwardly, the support member is moved upward after the support member is rotated and moved upward so that the pillar is close to the vertical state from the inclined state and the upper surface of the support base is close to the horizontal state from the inclined state.

The supporting member rotation and movement mechanism includes: a first shaft (rotation center shaft), which is installed on the lower end side of the support member’s pillar; a second shaft (slider), which is installed closer to the first shaft The upper end side of the pillar; the first fixed frame (fixed pillar) is equipped with a first guide groove that guides the first shaft vertically upward; the second fixed frame is equipped with a second guide groove, and the second guide The groove system is inclined to guide the second pivot from the rear of the device toward the front of the device, and then guides it vertically upward; and the drive mechanism has a pinion with the first pivot as the center of rotation, The rack meshed with the pinion gear, and the drive source that rotates the pinion gear.

[Prior Patent Document] [Patent Literature]

Patent Document 1: Japanese Patent Application Publication No. 2017-225504

However, in the walking support device disclosed in Patent Document 1, when the first support shaft (rotation center axis) provided at the lower end of the support member (moving support) is rotated, the small The gear meshes with the rack set on the first fixed frame (fixed pillar) while rotating. That is, because it is configured to simultaneously perform the lifting motion of the support member and the rotation motion of the support member, when supporting the standing and sitting motion, the rotation load during the lifting motion of the support member becomes larger, and the durability of the lifting mechanism of the support member , Or there is room for improvement in the lifting performance of the support member and the rotation performance of the support member.

The present invention provides a walking support device which improves the durability of the lifting mechanism of the support member, the lifting performance of the support member, and the rotation performance of the support member.

The walking support device that supports the walking of the user of the present invention is a walking support device that supports the walking of the user, and includes: a base; a mobile device provided on the base; a standing and seating motion support device provided on the base; and a connection The device is a device that connects the wearable device worn by the user with the standing and seating motion support device; the standing and seated motion support device is a device that supports the user connected through the wear piece and the connecting device to stand up from the seated state and through the wear A device that is connected to the connecting device when the user is seated from a standing state; the standing and seating motion support device includes: a fixed pillar, which is set to stand from the front of the base; a lifting member; a lifting drive device, The lifting member is raised and lowered along the pillar; and a lifting guide device; the lifting member includes: a lifting body, which is connected to the lifting drive device and performs lifting actions; and a supporting member, which is rotatably installed on the lifting body via a hinge , And support the user; the supporting members include: movable pillars, tied in the direction along the fixed pillars Extension; and the support base, which is set to extend from the upper end side of the movable pillar to the rear; the movable pillar is equipped with a sliding member on the lower end side, and is connected to the elevator body in the vertical direction through a hinge, and is configured as an upper and lower side With the hinge as the center of rotation, it can swing in the front and rear directions; the lifting guide device is installed on the fixed pillar, and is equipped with a guide groove that guides the slider provided at the lower end of the movable pillar when the supporting member is raised and lowered; In order to move the sliding member guided by the guide groove when the supporting member is raised and lowered, the movable pillar is rotated through the hinge. At the lowest position of the supporting member, the rear end of the supporting seat of the connecting device connected with the mounting member is provided Located below the front end of the support base, it is possible to provide a walking support device that improves the durability of the lifting mechanism of the support member, the lifting performance of the support member, and the rotation performance of the support member.

In addition, because the movable pillar is detachably mounted on the movable pillar and receives the pivoting shaft of the hinge bearing part, or the movable pillar is provided with the sliding member engaged with the guide groove, so that the hinge can be changed. The distance between the central axis of rotation and the sliding member, the lifting guide device is configured to change the installation position of the fixed pillar in the up and down direction, so a walking support device can be provided, which can be placed on the support member The position of the connecting device at the rear end of the support base at the lowest position is changed to suit the user's behavior or the user's preference.

In addition, as the lift guide device is provided with a plurality of lift guide devices with different shapes of guide grooves, the lift guide devices with different shapes of the guide grooves are configured to be replaceable for the fixed pillars, so a walking support can be provided The walking support device can select the movement trajectory of the connecting device accompanied by the movement of the support member during the lifting and lowering to suit the user's behavior or the user's preference, and can support the user's behavior or the user's preference Standing and sitting.

In addition, because the lifting guides are provided on the left and right sides of the fixed pillars, and sliding pieces are arranged on the left and right sides of the moving pillars, and the left and right sliding pieces are guided by the guide grooves of the left and right lifting guides to move, and the supporting member When raising and lowering, because the sliding member and the guide groove are engaged to support the left and right sides of the movable pillar, it can provide a stable and reliable lifting action of the support member, that is, the station A walking support device that supports movement while standing up.

In addition, because the fixed pillar is set to stand diagonally forward from the front of the base, when supporting the standing motion, the support base moves to stand diagonally forward, so the user can stand diagonally forward. Natural standing motion can provide a walking support device that can easily perform standing motions for users.

1: Walking support device

2: base

3: mobile device

4: Standing and sitting motion support device

5: Link device

6: Fixed pillar

7: Lifting member

8: Lifting drive device

9: Lifting guide device

10: Lifting body

20: Supporting member

21: movable pillar

22: Support seat

23: Slider

70: hinge

72: bearing bracket

91: Guide groove

A: User

B: Clothing

[Fig. 1] A perspective view of the walking support device viewed from the oblique rear side.

[Fig. 2] A side view of the walking support device viewed from the left lateral side.

[Fig. 3] A diagram of the walking support device viewed from the rear side.

[Fig. 4] is a perspective view from the oblique front side showing the state where the support base of the walking support device is at the highest position and the state where the support base is at the lowest position.

[Fig. 5] It is an action explanatory diagram when the walking support device supports the standing and sitting action.

[Fig. 6] is a diagram showing the posture change of the support seat of the support member of the walking support device during ascending and descending with an imaginary line.

[Fig. 7] is a diagram showing the process of the posture change of the support base when the support member of the walking support device is raised and lowered.

[Fig. 8] A side view of the walking support device viewed from the left lateral side.

[Fig. 9] is a diagram showing the posture change of the support seat of the support member of the walking support device during ascending and descending with an imaginary line.

[Fig. 10] is a diagram showing the process of the posture change of the support seat when the support member of the walking support device is raised and lowered.

[Fig. 11] A side view of the walking support device viewed from the left lateral side.

[Fig. 12] is a diagram showing the posture change of the support seat of the support member of the walking support device during lifting and lowering with an imaginary line.

[Fig. 13] is a diagram showing the process of the posture change of the support base when the support member of the walking support device is raised and lowered.

[Fig. 14] A perspective view of the walking support device viewed from the oblique rear side.

[Fig. 15] A side view of the walking support device viewed from the left lateral side.

[Fig. 16] A diagram showing the posture change of the support seat of the support member of the walking support device during ascending and descending with an imaginary line.

[Fig. 17] A side view of the walking support device viewed from the left lateral side.

[Fig. 18] is a diagram showing the posture change of the support seat of the support member of the walking support device during lifting and lowering with an imaginary line.

[Fig. 19] It is a side view of the walking support device viewed from the left lateral side.

[Fig. 20] A diagram showing the posture change of the support seat of the support member of the walking support device during ascending and descending with an imaginary line.

Embodiment 1

The walking support device 1 of the first embodiment is shown in FIG. 1, and is configured to include: a base 2; a mobile device 3 provided on the base 2; a standing and sitting motion support device 4 provided on the base 2; and a connecting device 5 , Which connects the clothing B, such as trousers, worn by the user A and the standing and sitting motion support device 4.

In addition, in the following, the front side of the user A who uses the walking support device 1 such as those in need of care, the handicapped, and rehabilitation training is defined as "front", the left side is defined as "left", and the right side is defined as " Right", define the back side as "back" to explain.

The base 2 is composed of, for example, an iron pipe having a circular cross-section, and the like is formed into a concave or U-shaped base frame. The bottom frame is viewed from the upper side, and the lower side of the concave or U-shaped is located in front of the walking support device 1, and the left and right upper sides of the concave or U-shaped are located behind the walking support device 1. Inverted concave or U-shaped.

That is, the base 2 is configured to include a left base 2a forming a left base, a right base 2b forming a right base, and a front base 2c forming a front base.

The moving device 3 is composed of, for example, a plurality of rotating casters (free casters) 31, 31....

The pivoting caster 31 is, for example, a wheel 32 that is rotatably attached to the fork 34 via a central shaft 33 that extends parallel (horizontally) to the road surface R such as the floor surface, and extends vertically to the road surface R. The fork 34 is mounted on the base 2 via the mounting seat 36 in such a way that the center shaft 35 is rotatable.

For example, as the rotating caster 31, a caster having a drum brake unit is used.

As shown in FIG. 1, for example, the pivoting casters 31 are provided on the rear end side of the bottom frame left portion 2a, the rear end side of the bottom frame right portion 2b, and the left and right sides of the bottom frame front portion 2c.

The standing and seating motion support device 4 supports the movement of the user A connected via the harness B and the connecting device 5 when standing up from a seated state, and the user A connected via the harness B and the connecting device 5 from standing up A device that moves when sitting.

The standing and seating motion support device 4 includes: a fixed pillar 6, which is set to stand vertically from the left and right center sides of the front part 2c of the base frame 2; a lifting member 7; and a lifting driving device 8, which is a lifting member 7 is lifted and lowered along the fixed pillar 6; and the lifting guide 9 is detachably installed on the fixed pillar 6.

The fixing support 6 is formed in, for example, a square column shape, and the lower end side is fixed to the left and right center sides of the front part of the chassis 2c by fixing devices such as mounting brackets, bolts, and nuts not shown in the figure.

As shown in Figure 2, the lifting member 7 includes: a lifting body 10 connected to the lifting drive device 8 and performing lifting actions; and a supporting member 20, which is rotatably mounted on the lifting body via a hinge 70 体10。 Body 10.

As shown in FIGS. 2 and 3, the lifting drive device 8 is composed of, for example, a ball screw mechanism 81 provided on the rear surface 61 of the fixed support 6.

As shown in FIG. 3, the ball screw mechanism 81 is configured to include: a screw shaft 82, which is arranged to be parallel to the rear surface 61 of the fixed pillar 6 and extends in the vertical direction; a motor 83 to rotate the screw shaft 82; The motor frame 84 fixes the motor 83 and is fixed to the fixed support 6; the bearing device 85 is fixed to the fixed support 6 and rotatably supports the rotating shaft formed by the lower end of the screw shaft 82; the cup ring 86 , Is connected to the lower end of the rotating shaft formed by the lower end of the screw shaft 82 and the rotating shaft of the motor 83; and the nut 87 is installed on the screw shaft 82 and moves in the vertical direction by the rotation of the screw shaft 82.

The lifting body 10 is configured to include: a nut 87, which is installed on the screw shaft 82, and moves in the vertical direction by the rotation of the screw shaft 82; and a rotating support plate 88, which is installed behind the nut 87 Extend left and right.

Therefore, the rotation of the motor 83 of the ball screw mechanism 81 is transmitted to the screw shaft 82 via the cup ring 86 and the screw shaft 82 rotates, whereby the lifting body 10 constituted by the nut 87 and the rotation support plate 88 is raised and lowered. In the ball screw mechanism 81, as is well known, a plurality of balls not shown in the figure are interposed between the screw shaft 82 and the nut 87, and the friction between the screw shaft 82 and the nut 87 is reduced, so the lifting body 10 Lifting smoothly.

The support member 20 includes a movable support 21 that extends in the direction along the fixed support 6 and a support base 22 that is provided to extend rearward from the upper end of the movable support 21 and supports the user A.

The movable support 21 is formed of, for example, a plate extending in the vertical direction. The horizontal width dimension of the plate forming the movable support 21 in the left-right direction is formed to be shorter than the horizontal width dimension of the fixed support 6 in the left-right direction.

The movable support 21 is provided with, for example, sliders 23, 23 that are provided to protrude from the left and right side surfaces 27, 27 on the lower end side, respectively, and connect the left and right front sides at the center of the vertical direction and the lift body via a hinge 70. 10 links.

The upper surface 24 of the movable pillar 21 includes: a power main switch 41 for power switch, which is used to switch power supply to the electrical components of the walking support device 1; and a switch 42, which is used to switch the walking support The device 1 performs standing motion support or seating motion support.

In addition, the upper surface 24 of the movable pillar 21 is formed as an inclined surface extending downward from the front to the rear, for example.

The support base 22 is configured to extend from the upper end side of the movable pillar 21 in the left-right direction and then extend from the left-right side to the rear. That is, the support base 22 is used for the user A to place the left and right forearms or the user A to hold the left and right hands, and is a part that supports the user A from below. When the support base 22 is viewed from the upper side, like the base 2, the lower side of the concave or U-shape is located in front of the walking support device 1 and connected to the upper end of the movable pillar 21, and the concave or U-shape is left and right. The upper side of is located behind the walking support device 1 and looks inverted or U-shaped.

The upper surface 22t of the support base 22 is formed as a flat surface, for example, and is connected to the upper end side of the movable support 21 so that when it reaches the highest position (refer to Fig. 4(a), Fig. 5(c), etc.), the upper surface 22t forms, for example, a horizontal surface. . That is, the support base 22 is connected on the upper end side of the movable support 21 so that the angle between the upper surface 22t of the support base 22 and the central axis of the movable support 21 becomes a right angle.

The hinge 70 is, for example, as shown in Figures 2 and 3, and is composed of the following components. One pair of bearing brackets 71, 71 are respectively provided on the left and right rear faces 89 of the rotating support plate 88 and face each other. One pair of bearing brackets 72, 72 on the other side are respectively provided on the front side 25 of the left and right sides of the central side of the movable support 21 in the vertical direction, and face each other; and the rotation center shaft 73 is set The bearing holes are formed through the four bearing brackets 71, 71, 72, 72, and are fixed to one pair of bearing brackets 71, 71, or to the other pair of bearing brackets 72, 72.

Therefore, when the lifting body 10 is raised and lowered, the bearing brackets 72, 72 of the movable support 21 rotate with the rotation center shaft 73 as the rotation center, and the movable support 21 uses the rotation center shaft 73 as the rotation center along the vertical As a result of the surface rotation, the upper and lower sides of the movable support 21 move in the front-rear direction.

That is, the movable support 21 is configured such that the center side in the vertical direction is connected to the elevator body 10 via the hinge 70, and the vertical side is swingable in the front-rear direction with the hinge 70 as the center of rotation.

The lifting guide device 9 includes a plate portion 90 and a guide groove 91 formed in the plate portion 90. That is, it is configured to include a plate portion 90 formed of a plate whose surface extends in the front-rear direction and the vertical direction, and is attached to the fixed post by bolts 96 and the like in a state where the front plate surface is in contact with the side surface 62 of the fixed post 6 The side surface 62 of 6; and the guide groove 91 are used to guide the slider 23 provided on the lower end side of the movable support 21 when the support member 20 is raised and lowered.

That is, the lifting guide device 9 is composed of a plate material forming a guide groove 91, which is entered by a slider 23 provided on the lower end side of the movable support 21, and guides the slider when the support member 20 is raised and lowered. 23 of the movement in the up and down direction.

In addition, the mounting structure of the lifting guide 9 on the side surface 62 of the fixed pillar 6 is shown in FIG. 1, for example, as long as the structure includes the following members. The screw hole 95 is formed on the side surface 62 of the fixed pillar 6. The through hole or screw hole outside the figure is formed in the lifting guide 9 to allow the bolt 96 to pass through; and the bolt 96 is passed through the through hole or screw hole and is locked to the screw hole of the fixed pillar 6 95.

Alternatively, the installation structure of the lifting guide device 9 composed of the following components can also be adopted. The screw shaft outside the figure is set to protrude from the side surface 62 of the fixed pillar 6; the through hole outside the figure is to make the The screw shaft passes through and is formed on the lifting guide 9; and the nut outside the figure is screwed with the screw shaft passing through the through hole and locked to the plate surface of the plate 90 of the lifting guide 9.

The guide groove 91 is a continuous structure in which the upper side guide groove 92, the center side guide groove 93, and the lower side guide groove 94 are continuous as shown in FIG. 2, for example.

In the state where the plate portion 90 constituting the lift guide device 9 is mounted on the fixed pillar 6, the upper side guide groove 92 is formed by a groove extending in the vertical direction at a position away from the fixed pillar 6, and the lower side guide groove 94 is formed by in The position closer to the fixed pillar 6 than the upper side guide groove 92 is formed by a groove extending in the vertical direction, and the center side guide groove 93 is formed by an inclined groove connecting the lower end of the upper side guide groove 92 and the upper end of the lower side guide groove 94 .

In addition, as shown in FIG. 1, the lifting guide 9 is installed on the left and right side surfaces 62, 62 of the fixed pillar 6, and the slider 23 is provided to protrude from the left and right side surfaces 27, 27 of the lower end side of the movable pillar 21 , The left and right sliders 23, 23 are configured to be guided by the guide grooves 91, 91 of the left and right lifting guide devices 9, 9 to move.

Therefore, when the support member 20 is raised and lowered, since the left and right sides of the movable pillar 21 are supported by the engagement of the slider 23 and the guide groove 91, the support member 20 can be stably and reliably raised and lowered. That is, the walking support device 1 for the standing and seating support action.

According to the walking support device 1 configured as described above, the lifting body 10 is raised and lowered by the drive motor 83, and the support member 20 rotatably connected to the lifting body 10 via the hinge 70 is raised and lowered. During this lifting operation, the slider 23 provided on the lower end side of the movable pillar 21 of the support member 20 is guided by the guide groove 91 of the lifting guide device 9 to move.

As shown in Fig. 5, when the user A who has worn the accessory B stands up from the state seated on the seat D of the bed or chair, etc., when supporting the standing motion, first, the motor 83 is driven, as shown in Fig. 5(a As shown in ), by lowering the movable pillar 21 to the lowest position, the support base 22 is set to a state of leaning downward toward the rear. Then, after connecting the connecting parts C, C and the connecting devices 5, 5, the switch 42 is set to the upper side (up), and the connecting parts C, C are provided on the left and right sides of the wearing part B worn by the user A In addition, buckles and the like are located on the left and right sides of the waist of the user A who has been seated on the seat D. The connecting devices 5 and 5 are hooks and the like provided on the left and right rear ends of the support base 22. Thereby, the motor 83 is driven, and the nut 87 connected to the screw shaft 82 rises. Therefore, because the support member 20 rotatably connected to the nut 87 via the rotation support plate 88 and the hinge 70 also rises, the user A connected to the support base 22 of the support member 20 also moves upward (see FIG. 5(b) ), (c)). That is, the standing support movement is performed.

As shown in FIGS. 6 and 7, when the support member 20 is raised, the movable support 21 is inclined to be able to The sliding member 23 of the movable support 21 is located at the lower end of the guide groove 91, and the upper end of the movable support 21 is located behind the lower end and starts to rise. When the slider 23 moves in the lower guide groove 94 extending in the vertical direction, the movable support 21 rises while maintaining the inclined state. When the slider 23 is moved in the central side guide groove 93 of the inclined groove extending obliquely from the upper end of the lower side guide groove 94 to the upper rear side, the movable support 21 is gradually approached from the inclined state via the hinge. 70 ascends while rotating. When the slider 23 moves in the upper guide groove 92 extending in the vertical direction from the upper end of the central guide groove 93, the movable support 21 rises while maintaining the vertical state.

Therefore, for example, if the support base 22 is mounted on the upper end side of the movable support 21 such that the upper surface 22t of the support base 22 becomes a surface orthogonal to the extension direction of the movable support 21, the support base 22 is attached to support the standing movement. The upper surface 22t rises from the state inclined upward from the rear end to the front side, and the upper surface 22t gradually approaches the horizontal surface, and after the upper surface 22t becomes a horizontal surface, the upper surface 22t is still horizontal and further rises.

That is, the support base 22 rises while changing its posture as shown in e to a illustrated in FIGS. 6 and 7.

Conversely, when the user A connected to the support base 22 via the connecting devices 5, 5 and the connecting portion C supports the seating action when the user A is seated on the seat portion D from a standing state, the switch 42 is set to the lower side ( decline). Thereby, the motor 83 is driven, and the nut 87 connected to the screw shaft 82 descends. Therefore, because the support member 20 rotatably connected to the nut 87 via the rotation support plate 88 and the hinge 70 also descends, the user A connected to the support base 22 of the support member 20 also moves downward.

When the supporting member 20 descends, it moves in the opposite direction to when supporting the standing movement. That is, the support base 22 is lowered while changing its posture as shown in a to e illustrated in FIGS. 6 and 7.

That is, at the lowest position of the support member 20 (refer to FIG. 4(b), FIG. 5(a), etc.), it is configured to be connected to the connecting parts C and C provided on the wearing tool B worn by the user A The rear end of the support base 22 of the connecting devices 5 and 5 is located below the front end of the support base 22. Therefore, when supporting the standing movement, it is because the connecting devices 5, 5 provided at the rear end of the support base 22 can be brought close to the connecting parts C, C of the wearer B of the user A who is seated on the seat part D, So it is easy to connect the connection device 5, 5 and the connection Department C, C operations. In addition, when supporting the seating action, the connecting devices 5 and 5 provided at the rear end of the support base 22 can be approached to a position close to the seating portion D, because until the user A is seated on the seating portion D, The user A is in a connected state with the support base 22, so the user A can perform the sitting motion with ease. In addition, after the user A is seated on the seat portion D, the operation of disconnecting the connecting devices 5 and 5 and the connecting portions C and C can be easily performed.

However, when supporting the standing motion, because the support base 22 of the support member 20 is lowered from the rear end to gradually rise in accordance with the standing motion of the user A while changing the posture while rising, the user A can perform Natural standing action.

In addition, when supporting the seating action, because the support member 20 is from a state where the upper surface 22t of the support base 22 is horizontal or close to a horizontal state, the rear end of the support base 22 is gradually lowered in accordance with the seating motion of the user A. The way changes the posture and descends at the same time, so user A can perform a natural sitting motion.

According to the first embodiment, the supporting member 20 has a structure in which a nut 87 that is raised and lowered by a ball screw mechanism 81 as a raising and lowering mechanism of the lifting drive device is connected via a hinge 70, and is configured to separate the screw shaft 82 and the nut 87 The lifting motion of the screwed support member 20 of 87 and the rotation motion of the support member 20 via the hinge 70.

Therefore, compared with a walking support device that does not have a hinge as a rotating mechanism for rotating the support member and is configured to simultaneously perform the lifting action of the support member and the rotating action of the support member, as shown in Patent Document 1, if implemented In the first form, a walking support device 1 with improved durability of the lifting mechanism, lifting performance of the support member 20, and rotation performance of the support member 20 can be obtained.

Embodiment 2

It is configured that the distance between the rotation center axis of the hinge 70 and the slider 23 can be changed.

For example, the movable support 21 can be configured to change the mounting position of the bearing bracket 72 provided on the movable support 21 and connected to the rotation center shaft 73 of the hinge 70, or the slider 23 provided on the lower end of the movable support 21 The installation position, and is configured to change the lifting guide device 9 to the fixed pillar 6 in the vertical direction The installation position of the hinge 70 can thereby be configured to change the distance between the pivot axis 73 of the hinge 70 and the slider 23.

In addition, the mounting position of the bearing bracket 72, the mounting position of the slider 23, and the mounting position of the lifting guide device 9 are as long as a plurality of mounting positions of the bearing bracket 72, the slider 23, and the lifting guide device 9 are formed in advance. It suffices to use screw holes such as bolts to install these bearing brackets 72, sliding parts 23, and lifting guide 9.

For example, as shown in Fig. 8, if the distance between the rotation center axis of the hinge 70 and the slider 23 is made shorter than the walking support device 1 (refer to Fig. 2) of the first embodiment, as shown in Figs. 9, 10 At the lowest position of the supporting member 20, the inclination angle of the movable support 21 (the angle between the vertical plane (the rear surface 61 of the fixed support) and the extension direction of the movable support 21) can be made larger than the walking support device 1 of the first embodiment. That is, the connecting device 5 at the rear end of the support base 22 can be reached below the walking support device 1 of the first embodiment, and the walking support device 1 that can cope with the height of the user A or the like can be provided.

On the other hand, if the distance between the rotation center axis of the hinge 70 and the slider 23 is made longer than the walking support device 1 (refer to FIG. 2) of the first embodiment, the movable support can be made at the lowest position of the support member 20 The inclination angle of 21 is smaller than that of the walking support device 1 of the first embodiment. That is, the position of the connecting device 5 at the rear end of the support base 22 at the lowest position of the support base 22 can be set higher, and the walking support device 1 that can cope with the user A with a high seat height can be provided.

That is, the position of the connecting device 5 at the rear end of the support base 22 at the lowest position of the support member 20 can be changed to suit the behavior of the user A or the preference of the user A.

Furthermore, if according to the second embodiment, the movement trajectory of the connecting device 5 accompanied by the movement of the support member 20 in the first embodiment does not conform to the behavior of the user A, or does not conform to the preference of the user A, etc., The movement trajectory of the connecting device 5 accompanying the movement of the support member 20 in the first embodiment when raising and lowering can be changed. That is, the movement trajectory of the connecting device 5 accompanied by the movement of the support member 20 when the support member 20 rises and falls can be changed to suit the behavior of the user A or the preference of the user A.

Embodiment 3

As the elevating guide device 9, the structure of the elevating guide device 9 having a plurality of different types of guide grooves 91 is adopted, and a plurality of different types of elevator guides having different shapes of the guide groove 91 are replaceably installed to the fixed pillar 6 The composition of the lead device 9. In this way, it is possible to provide a standing and sitting action that matches the user A's preferences.

In addition, the mounting structure for replaceably attaching the lifting guide 9 to the fixed pillar 6 is shown in FIG. 11, for example, and only needs to be configured to include the following components. The screw hole 95 is formed in the fixed pillar 6 side 62; the through hole or screw hole outside the figure is formed in the lifting guide 9 for the bolt 96 to pass through; and the bolt 96 is passed through the through hole or screw hole and is locked to the fixed pillar 6 screw holes 95.

The walking support device in Patent Document 1 supports the standing and seating action in the state of connecting the clothing worn by the user and the connecting device (human body hanging point 28) installed on the support base, because the support member ( 2) The movement trajectory of the connecting device (the movement trajectory shown by the arrow group X in Figure 4(a) of Patent Document 1) accompanying the movement during ascent and descending is fixed, so when supporting the standing and seating movement, even The movement of the supporting seat and the method of moving the connecting device do not conform to the user's behavior or the user's preference, and the movement track of the connecting device accompanied by the movement of the supporting member (2) during the lifting and lowering cannot be changed .

On the other hand, in the third embodiment, by replacing the lift guide 9 with a different shape of the guide groove 91, the connecting device accompanied by the movement of the support member 20 in the first or second embodiment The movement trajectory of 5 does not conform to user A’s behavior, or does not conform to user A’s preferences, etc., for example, as shown in Figures 12 and 13, the elevation of support member 20 in Embodiment 1 or Embodiment 2 can be changed The movement trajectory of the connecting device 5 accompanied by the action at the time. Therefore, since the movement trajectory of the connecting device 5 accompanied by the movement of the support member 20 during the lifting and lowering can be selected to suit the behavior of the user A or the preference of the user A, it is possible to provide support for the behavior or the behavior of the user A. The walking support device 1 for user A's preference for standing and sitting.

Embodiment 4

For example, in FIG. 2, a straight line connecting the center axis of the bolt 96 on one side of the fixed pillar 6 and the center axis of the other bolt 96 is taken as the radius, and the center of the bolt 96 A circular arc centered on the shaft is provided with a plurality of mounting parts for the other bolt 96 (screw holes 95 formed on the side surface 62 of the fixed pillar 6), or a circle centered on the central axis of the other bolt 96 The arc is provided with a plurality of mounting portions for one bolt 96 (screw holes 95 formed on the side surface 62 of the fixed pillar 6). In this way, by changing the mounting portion (mounting position) of the bolt 96 on the other side, or changing the mounting portion (mounting position) of the bolt 96 on the other side, the direction of the guide groove 91 of the lifting guide 9 can be changed, and The movement trajectory of the connecting device 5 accompanying the movement of the support member 20 when it rises and falls is changed.

Therefore, according to the fourth embodiment, by changing the mounting portion (mounting position) of the bolt 96 that fixes the lifting guide 9 to the other side of the fixed pillar 6, or changing the mounting portion (mounting position) of the bolt 96 on one side, Since the movement trajectory of the connecting device 5 accompanied by the movement of the support member 20 during the lifting and lowering can be changed to suit the behavior of the user A or the preference of the user A, support can be provided to suit the behavior of the user A or the user A A walking support device 1 for your favorite standing and seating actions.

Embodiment 5

In Embodiments 1 to 4, an example is provided with fixed pillars 6 that are provided to stand vertically from the left and right center sides of the chassis front portion 2c of the base 2, that is, are provided to stand vertically from the front of the base 2 The walking support device 1 of the fixed pillar 6 may be a walking support device 1 provided with a fixed pillar 6A installed to stand diagonally forward from the front of the base 2 as shown in FIGS. 14 to 20.

In addition, FIG. 14 corresponds to the diagram of FIG. 1, FIG. 15 corresponds to the diagram of FIG. 2, FIG. 16 corresponds to the diagram of FIG. 6, FIG. 17 corresponds to the diagram of FIG. 8, and FIG. 18 corresponds to the diagram of FIG. 9. Fig. 19 is a diagram corresponding to Fig. 11, and Fig. 20 is a diagram corresponding to Fig. 12. In each corresponding figure, because the components other than the fixed pillars 6, 6A are the same, the components other than the fixed pillars 6, 6A The same symbols are attached to the elements, and their description is omitted.

If the walking support device 1 according to the fifth embodiment is used, the fixed pillar 6A is set from the base 2 The front part stands diagonally forward, so when supporting the standing motion, the connecting devices 5 and 5 installed at the left and right rear ends of the support base 22 move toward the direction as shown in Fig. 16, Fig. 18 and Fig. 20 Standing diagonally forward, user A can perform a more natural standing movement of standing diagonally forward, and user A can easily perform standing movement.

In addition, the mobile device 3 may be a mobile device other than wheels. For example, instead of wheels, a moving device including casters, crawlers, etc., provided with a ball may be used as long as it is a moving device configured to be able to apply a brake.

2: base

2a: Left part of the chassis

3: mobile device

4: Standing and sitting motion support device

5: Link device

6: Fixed pillar

7: Lifting member

8: Lifting drive device

9: Lifting guide device

10: Lifting body

20: Supporting member

21: movable pillar

22: Support seat

23: Slider

25: front

27: side

31: Turn the casters

61: back

62: side

70: hinge

71: bearing bracket

72: bearing bracket

73: Rotation center axis

81: Ball screw mechanism

82: screw shaft

83: Motor

84: motor frame

87: Nut

88: Rotating support plate

89: back

90: Board Department

91: Guide groove

92: Upper side guide groove

93: Central side guide groove

94: Lower side guide groove

95: screw hole

96: Bolt

Claims (5)

A walking support device, which is a walking support device that supports the walking of a user, is characterized by: comprising: a base; a mobile device provided on the base; a standing and sitting motion support device provided on the base; and a connecting device, which is connected The clothing and the supporting device for standing and seating movements worn by the user; the supporting device for standing and sitting movements supports the movement of the user connected through the clothing and the connecting device when standing from a seated state, and through the clothing and the connecting device A device for the movement of the connected user when he is seated from a standing state; the standing and seating motion support device includes: a fixed pillar, which is set to stand from the front of the base; a lifting member; a lifting driving device, which is a lifting member Lifting along the pillar; and a lifting guide device; the lifting member includes: a lifting body, which is connected to the lifting drive device and performs lifting actions; and a supporting member, which is rotatably installed on the lifting body via a hinge, and supports use The supporting member includes: a movable pillar that extends in the direction along the fixed pillar; and a support seat, which is set to extend from the upper end of the movable pillar to the rear; the movable pillar is provided with a slider on the lower end and passes through The hinge connects the central side in the up and down direction with the lifting body, and is configured so that the upper and lower sides can swing in the front and rear directions with the hinge as the center of rotation; the lifting guide device is installed on the fixed pillar and is equipped with a guide when the support member is raised and lowered Guide grooves for the sliders provided at the lower end of the movable pillars; configured to move the sliding parts guided by the guide grooves when the supporting member is raised and lowered, whereby the movable pillars rotate through the hinge and are at the lowest position of the supporting member , The rear end of the support base that is provided with the connecting device connected to the fixture is located below the front end of the support base. Such as the walking support device of item 1 of the scope of patent application, which The movable pillar is detachably mounted on the movable pillar provided with a bearing part that receives the pivot axis of the hinge, or a sliding member provided on the movable pillar and engaged with the guide groove, so that the hinge's pivot center can be changed The distance between the shaft and the sliding part; the lifting guide device is configured to change the installation position of the fixed pillar in the up and down direction. For example, the walking support device of item 1 or 2 of the scope of patent application, as the lifting guide device, is equipped with a plurality of lifting guide devices with different shapes of guide grooves, and the lifting guide devices with different shapes of the guide grooves are constituted as The fixed pillar can be replaced. For example, the walking support device of item 1 or 2 of the scope of patent application, in which lifting guide devices are respectively arranged on the left and right of the fixed pillar, and sliding parts are arranged on the left and right of the movable pillar, and the left and right sliding parts are guided by the left and right lifting The slot guide device guides and moves. For example, the walking support device of item 1 or 2 of the scope of patent application, wherein the fixed pillar is set to stand diagonally forward from the front of the base.

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