JP2004195208A - Walker - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a walker capable of using safely and supporting walk according to a user's walking pace. <P>SOLUTION: The walker has a frame body 14 for supporting the one end of a grip arm 26 by an axis, a pendulum arm 36 which inclines to the upper side toward the movement direction and is supported at the frame body 14 to be able to rotate the upper end to the movement direction and move it up and down, and a transmission mechanism 40 for moving the frame body 14 forward in a fixed distance by communicating a fluctuation operation of the grip arm 26 to the upper end of a pendulum arm 36, and lifting the upper end of the pendulum arm 36 to move the bottom tip part of the pendulum arm 36 forward in the case of raising the other side of the grip arm 26, and pushing the bottom tip of the pendulum arm 36 on a floor surface in the case of lowering the other side of the grip arm 26. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

  The present invention relates to a walking aid used by a person with a walking function to assist walking.

  Various forms of walking aids have been proposed as walking aids used when a person with a walking function disorder walks. FIG. 8 shows an example of a walking assist device in which casters are attached to the lower end of a frame (see, for example, Patent Document 1).

The walking assist device 100 shown in FIG. 8 is configured such that casters 106 are attached to lower ends of frame frames 102 provided by combining rectangular frames. The walking assist device 100 assists the walking of the user by moving the user forward together with the frame frame 102 while holding the grip portion 102a of the frame frame 102 to reduce the load on the foot. Reference numeral 108 denotes a brake for controlling the rotation of the front caster 106a.
JP-A-8-107917 (FIG. 1)

However, when the walking aid 100 with casters is used, the walking aid can be easily moved only by pushing the walking aid 100, and is not suitable as a walking aid that walks at a walking pace that matches the degree of recovery of the walking function. was there.
Although the speed of the walking assist device 100 can be adjusted using the brake 108, for example, if the brake 108 is applied when the speed of the walking assist device 100 increases due to a downward slope or the like, the walking assist device 100 can be adjusted. However, there is a danger that the user 104 suddenly stops and the user 104 turns forward and falls.

  In view of the above, the present invention has been made to solve these problems, and an object of the present invention is to provide a walking assist device that can safely use a walking aid and assists walking in accordance with a user's walking pace. An auxiliary device is provided.

The present invention has the following configuration to achieve the above object.
That is, one end of the gripping arm is pivotally supported, and the pretend is inclined upward in the traveling direction, and the upper end is supported by the frame so as to be rotatable in the reciprocating direction and movable substantially up and down. This arm, and the raising and lowering operation of the gripping arm is transmitted to the upper end of the swing arm, and when the other end side of the grip arm is raised, the upper end of the swing arm is lifted and the lower end of the swing arm is lifted. When the other end of the gripping arm is lowered, the lower end of the swing arm is pressed against the floor surface to advance the frame by a predetermined distance.

The swing arm extends horizontally in a direction perpendicular to the traveling direction, and a balance axis that supports the upper end of the swing arm, a fixed axis horizontally attached to the frame body, and the balance axis. And the balance shaft is supported by the frame by a balance arm provided so as to be movable in an arc shape with the fixed shaft as a center axis.
Further, the frame frame includes a pair of rail frames extending parallel to a traveling direction at a lower end, and a moving body guided on an inner side surface of the rail frame and moving only in the reciprocating direction is provided at a lower end of the swing arm. It is characterized by being provided.

Further, the transmission mechanism is constituted by a push-pull arm that connects the force axis provided on the gripping arm and the balance shaft.
Further, the swing arm is provided so as to be extendable and retractable, and an upper end is supported by the frame so as to be rotatable in the reciprocating direction. When the other end of the grip arm is raised, the swing arm is contracted. The lower end of the swing arm is advanced to extend the swing arm when the other end of the gripping arm is lowered, and the lower end of the swing arm is pressed against the floor to fix the frame frame to a predetermined position. It is characterized by being provided so as to advance a distance.

Further, a roller rotatable in a traveling direction is attached to a bottom surface of each of the pair of rail frames.
The roller is provided with a braking mechanism, and the roller rotates only when lowering the other end of the gripping arm to advance the frame, and is otherwise braked. It is characterized.

  According to the walking aid according to the present invention, as described above, the grip part to be gripped by the user is provided so as to be able to be raised and lowered, and by lowering this grip part, the walking aid is itself provided so as to advance a predetermined distance. Thus, there is no danger that the walking assist device runs ahead and falls, and the user can walk at a walking pace of the user.

  Hereinafter, preferred embodiments of a walking aid according to the present invention will be described in detail with reference to the accompanying drawings.

(1st Embodiment)
FIG. 1 is a perspective view showing the configuration of the first embodiment of the walking aid according to the present invention. The walking assist device 10 of the present embodiment includes a frame 14 supported in an upright form on the floor surface, and a link mechanism 16 attached to the frame 14 to move the frame 14 forward. In the present embodiment, the frame 14 is formed of a metal pipe.

The frame body 14 of the present embodiment includes two rail frames 18 extending in the traveling direction and arranged in parallel with each other, and a frame column 20 fixed vertically to each of the rail frames 18. I have. Bridge arms 22, 22 for supporting the rail frames 18, 18 in parallel at a predetermined interval are provided between the rail frames 18, 18. The erection arms 22, 22 are provided on the front end side, and the rear end side is an empty space. The frame column 20 is provided to be supported at a position slightly behind the erection arm 22 on the front side of the rail frame 18, in this embodiment, on the rear end side.
Reference numeral 24 denotes a support shaft connecting the upper ends of the frame columns 20, and reference numeral 42 denotes a fixed shaft 42 connecting the intermediate portions of the frame columns 20. The support shaft 24 and the fixed shaft 42 are installed in parallel with the floor with the same length as the separation between the rail frames 18.

  At both ends of the support shaft 24, one ends of grip arms 26, 26 are pivotally supported, and at the other ends of the grip arms 26, 26, grip parts 12 that bridge between the grip arms 26, 26 are attached. . With this configuration, when the grip 12 is moved up and down, the grip 12 moves in an arc around the support shaft 24.

  The frame frame 14 having the above-described configuration is provided with a link mechanism 16 that moves the grip frame 12 in the vertical direction to advance the frame frame 14 itself by a predetermined distance. The link mechanism 16 is configured by connecting a moving body 30 disposed between the two rail frames 18 and the grip arm 26 to each other. Hereinafter, the configuration of the link mechanism 16 of the present embodiment will be described.

  In the moving body 30 of the present embodiment, two opposing guided portions 32, 32 disposed close to the inner side surfaces of the respective rail frames 18, 18, are integrally connected by a moving body arm 34. Things. The guided portion 32 is formed in a rectangular parallelepiped shape in which the longitudinal direction is parallel to the rail frames 18, 18. Even if the moving body 30 is shifted from the straight traveling direction and moves forward, the guided portion 32 guides the inner surface of the rail frame 18. It is provided to go straight.

  The lower end of a swing arm 36 that is inclined upward in the traveling direction is connected to one moving body arm 34a of the moving body 30. At the lower end of the swing arm 36, a ring portion 36a having a predetermined width externally inserted into the movable arm 34a is provided, and the swing arm 36 is rotatably connected to the movable arm 34a. . That is, the lower end of the swing arm 36 is pivotally supported by the movable body arm 34a.

  The upper end of the swing arm 36 is pivotally supported by a balance shaft 46 that is provided horizontally and perpendicular to the traveling direction. The balance shaft 46 is provided in front of the fixed shaft 42 in parallel with the fixed shaft 42, and is connected by a balance arm 44 connecting the fixed shaft 42 and the balance shaft 46. The balance arm 44 is supported by each of the fixed shaft 42 and the balance shaft 46. Thus, the balance shaft 46 can move in an arc shape around the fixed shaft 42.

  The walking assist device 10 shown in FIG. 1 shows a state before the walking assist device 10 moves. In this state, the guided portion 32 of the moving body 30 is in contact with the stoppers 48 provided at the rear end of the inner surface of the rail frames 18. The balance shaft 46 to which the upper end of the swing arm 36 is connected is provided so as to be at substantially the same horizontal level as the fixed shaft 42.

The balance shaft 46 is provided so that when the grip portion 12 is raised, the link mechanism 16 moves upward from the fixed shaft 42 level in an arc around the fixed shaft 42 by the link mechanism 16. That is, a push-pull arm 40 is provided between the balance shaft 46 and the grip portion 12 as a transmission mechanism for transmitting the vertical movement of the grip portion 12 to the balance shaft 46 and moving the balance shaft 46 up and down. . The push / pull arm 40 connects a balance point shaft 46 with a force point shaft 38 provided at an intermediate portion of the grip arm 26. The push / pull arm 40 is provided to be inclined downward in the traveling direction, and in the state of FIG. 1, both ends support the gripping arm 26 substantially horizontally. The push / pull arm 40 is mounted on the force point shaft 38 and the balance shaft 46, and moves the balance shaft 46 upward when the grip portion 12 is lifted.
In the present embodiment, the swing arm 36, the balance arm 44, and the push-pull arm 40 constituting the link mechanism 16 are provided as a pair parallel to the rail frame 18.

Next, the operation of the walking assist device 10 of the present embodiment will be described.
First, as shown in FIG. 1, an operation when the gripper 12 is lifted from a state where the moving body 30 is in contact with the stopper 48 will be described.
When the grip portion 12 provided on the upper portion of the frame 14 is lifted substantially upward, a force is applied to the push / pull arm 40 to pull the push / pull arm 40 upward along the axis of the push / pull arm 40. Under this force, the balance shaft 46 is pulled substantially upward about the fixed shaft 42, and the swing arm 36 supported by the balance shaft 46 also moves with the fixed shaft 42 moving upward. The upper end of the swing arm 36 is pulled upward.
When the upper end of the swing arm 36 moves upward, the swing arm 36 moves forward at the lower end side, and acts to move from the inclined position shown in FIG. 1 to the upright position shown in FIG. 2 like a pendulum. . As a result, the moving body 30 moves forward. FIG. 2 shows a state in which the moving body 30 has moved forward. The moving body 30 is provided so as to be able to move until the front end of the guided portion 32 of the moving body 30 comes into contact with the erection arm 22 on the rear side.

After the grip portion 12 is lifted and the moving body 30 is advanced as shown in FIG. 2, the grip portion 12 is lowered to advance the frame body 14 itself. This operation will be described with reference to FIG.
When the grip portion 12 raised to the upper position is pressed down, a downward force is applied to the balance shaft 46 via the push / pull arm 40. At this time, the swing arm 36 is provided in a substantially vertical state as the moving body 30 advances. Therefore, the lower end of the swing arm 36 acts to press the moving body 30 toward the floor, and the moving body 30 does not move with respect to the floor. That is, the moving body 30 to which the swing arm 36 provided substantially vertically is connected has a strong force for pressing the moving body 30 against the floor surface, and the force for moving the moving body 30 in the lateral direction is weaker. Therefore, the position of the moving body 30 is held with respect to the floor surface.

By the action of the link mechanism 16, the force for pushing down the grip portion 12 is a force for floating the frame 14 around the force point shaft 38.
As shown in FIG. 3, the balance shaft 46, which is applied with a force that floats on the frame frame 14 toward the lower side of the axis of the push / pull arm 40, swings while pulling the frame frame 14. The arm 36 moves along a track 50 (circular arc) using the lower end of the arm 36 as a support fulcrum. Then, until the front edge of the stopper 48 of the frame frame 14 comes into contact with the rear edge of the guided portion 32 of the moving body 30, the frame frame 14 advances while sliding on the ground (dotted line portion in FIG. 3). .
Note that when the moving body 30 abuts on the erection arm 22 on the rear side, the swing arm 36 is not completely vertical, but is provided with the upper end slightly inclined toward the forward side in the traveling direction. The balance shaft 46 is provided so as to always move forward.

  When using the walking assist device 10 that operates in this manner, the grip portion 12 provided at the waist position is lifted (the state of FIG. 1), and after the moving body 30 is advanced (the state of FIG. 2), The grip portion 12 is lowered to advance the frame frame 14 (the state shown by the dotted line in FIG. 3), and the user walks together with the frame frame 14.

The walking assist device 10 of the present invention is provided so as to advance by a predetermined distance each time the grip portion 12 is lowered. Therefore, the user can walk by raising and lowering the grip portion 12 to match his / her walking pace. Since the walking aid 10 does not use casters, it can be used safely without the danger of the walking aid running ahead.
Further, the walking assist device 10 of the present invention raises and lowers the grip portion 12 so that the walking function is restored and the upper body, particularly the arm, is exercised.

  The walking assist device 10 of the present embodiment can move while supporting the body with the grip portion 12 by providing the grip portion 12 at the waist position. When adjusting the height of the grip portion 12, an adjuster (not shown) for adjusting the length of the push / pull arm 40 is provided on the push / pull arm 40 to adjust the length, so that the grip arm 26 is tilted. The set position of the grip 12 can be moved up and down. Thus, even if the persons have different physiques, they can be used according to the height of the user.

Further, in the present embodiment, the movable body 30 is provided at the lower end of the swing arm 36. As the movable body, for example, a cap-shaped one formed of rubber, resin, or the like at the lower end of the swing arm 36 is used. May be put on.
Further, the frame is not limited to being formed by a metal pipe, but may be a pipe made of resin or the like. In the present embodiment, the front end of the rail frame 18 is provided so as to extend forward of the frame post 20 in the present embodiment, but the frame post 20 is provided at the front end of the rail frame 18. It may be provided standing up. Further, each arm of the link mechanism 16 is not limited to being provided two by two in parallel, but may be connected by three or more arms.

  In the walking assist device 10 of the present embodiment, the pushing operation of the grip portion 12 is transmitted to the swing arm via the link mechanism 16 to perform the forward movement. The transmission mechanism is not limited to the configuration of the above embodiment. FIG. 4 shows a modification of the pushing operation of the walking aid according to the present embodiment.

The walking assist device 10 a shown in FIG. 4A transmits the pushing operation of the grip portion 12 to the swing arm 54 by the hydraulic mechanism 52. That is, when the grip portion 12 is lowered, pressure is applied to the first hydraulic pipe 56 and transmitted to the second hydraulic pipe 60 provided in the middle of the swing arm 54 via the tube 58. As a result, the telescopic legs 54a provided below the second hydraulic pipe 60 extend, and a downward force is applied to the lower end of the swing arm 54, whereby the frame 14 moves forward by a predetermined distance.
The second hydraulic pipe 60 is provided so that the telescopic leg 54a extends when the grip portion 12 is lowered, and the telescopic leg 54a contracts when the grip portion 12 is raised. Since the swing arm 54 is provided so as to be extendable and contractible in this manner, the frame 14 can be moved forward if the upper end of the swing arm 54 is rotatably supported in the reciprocating direction.

  The walking assist device 10b shown in FIG. 4B connects the push-pull arm 63 and the swing arm 64 via the hard curved member 62, and transmits the pushing operation of the grip portion 12 to the swing arm 64. Is what you are doing. That is, when the grip portion 12 is lowered, the bending member 62 is pushed down while being guided by the rollers 66, 66, and applies a downward force to the swing arm 64. As a result, the swing arm 64 operates in the same manner as in FIG. 1 to advance the frame 14 by a predetermined distance.

The walking assist device 10c shown in FIG. 4C transmits the pushing operation of the grip portion 12 to the swing arm 70 by a wire tube 68 used for a brake of a bicycle or the like. In this walking aid 10c, one end of a gripping arm 67 is provided to extend forward from the frame post 20, and a wire 69 of a wire tube 68 is connected to this end. The other end of the wire 69 is connected to the upper end of a swing arm 70 provided with a telescopic mechanism. When the grip portion 12 is lowered, the wire 69 is pulled and the swing arm 70 is extended. Thus, similarly to FIG. 4A, when the grip portion 12 is lowered, the frame frame 14 is advanced by a predetermined distance by the force of the extension of the swing arm 70.
A spring 83 is provided in the middle of the swing arm 70 as an urging member for constantly biasing the arm so that the swing arm 70 expands to move forward, and then contracts immediately to allow the grip portion 12 to move. Return to the raised state. Therefore, the user can move the walking assist device 10c forward by a predetermined distance only by the operation of lowering the grip portion 12.

The walking assist device 10d shown in FIG. 4D transmits the pushing operation of the grip portion 12 to the swing arm 74 by the driving portion 72 driven by an electric motor. The walking assist device 10d is normally in a state where the grip portion 12 is raised by the spring 80, and when the grip portion 12 is lowered, the switch 76 electrically connected to the battery 78 is turned on and the driving portion is turned on. 72 is provided for driving.
The drive unit 72 rotates the drive arm 82 by a predetermined angle, pushes the swing arm 74 downward, and advances the frame 14 by a predetermined distance.

  The walking assist device 10e shown in FIG. 4E rotates a pulley 86 which is rotatably supported by a belt 85 attached to a grip arm 84, and pushes the grip portion 12 in a pushing motion. To communicate. The belt 85 is wound around the outer periphery of the pulley 86, and one end is connected to the tip of a gripping arm 84 extending toward the advancing side of the support shaft 24, and the other end is formed between the support shaft 24 of the gripping arm 84 and the grip 12. It is connected and provided between them. When the grip portion 12 is lowered, the pulley 86 turns, and the drive arm 87 provided on the pulley 86 rotates by a predetermined angle. Thus, as in FIG. 4D, the swing arm 74 attached to the end of the drive arm 87 is pushed down to advance the frame 14 by a predetermined distance.

(Second embodiment)
Next, a configuration of a second embodiment of the walking assist device according to the present invention will be described. FIG. 5 is a perspective view and a plan view showing the configuration of a second embodiment of the walking assist device according to the present invention.
The walking assist device 10f shown in FIG. 5 is provided with grip portions 89a and 89b independently of the left and right grip arms 26 and 26, respectively. As shown in FIG. 5B, outer cylinders 99, 99 that are externally inserted on the support shaft 24 that is installed between the frame columns 20, 20 are attached to one end sides of the grip arms 36, 36. .

Disc-shaped plates 91a, 91b are attached to the inner ends of the outer insertion tubes 99, 99 in a state where they are in contact with each other. Insertion holes 92a and 92b are provided in the flange portions of the plates 91a and 91b (which are located at positions deviated from the center position of the support shaft 24), and the plates 91a and 91b are inserted through the insertion holes 92a and 92b. Are provided so as to be able to be taken in and out.
The connecting rod 93 is connected to an operation section 95 attached to the grip section 89a by a tube wire 94. The operating portion 95 is provided in a structure substantially similar to the brake of the bicycle. When the operating portion 95 is pulled toward the user, the connecting rod 93 is pulled via the tube wire 94, and one of the insertion holes 92b through which the connecting rod 93 has been inserted. It is provided so as to deviate from.

Thus, in a steady state, since the connecting rod 93 is fitted in both of the insertion holes 92a and 92b, the grip portion 89a and the grip portion 89b move integrally, and when the operation portion 95 is pulled toward the user, the grip portion 89a and the grip portion 89b move in one direction. The connecting rod 93 is disengaged from the insertion hole 92b, and the grip 89a and the grip 89b move independently.
In addition, in the walking assist device 10f, when the grip portion 89a and the grip portion 89b are independently moved, the balance axis is moved so that the moving body 97a and the moving body 97b move independently in response to this operation. 96a and balance axis 96b, and power point axis 98a and power point axis 98b are provided independently.

  The moving bodies 97a and 97b are guided by guide rails 120 provided on the inner surfaces of the rail frames 18 and 18 and are provided so as to move along the rail frames 18 and 18. That is, as shown in FIG. 6, a guide rail 120 having a hook-shaped groove 122 is attached to the inner surface of the rail frame 18, and the movable body 97 b has a protrusion 124 fitted into the groove 122. Is provided. For this reason, the moving body 97 moves along the guide rail 120 without moving right and left. In addition, since the moving body 97 is supported by the rail frame 18, when the walking assist device 10f is carried, the lower end of the swing arm 36 does not touch and can be favorably carried.

The walking assist device 10f provided in the above-described configuration pulls the operation unit 95 forward, and once raises and depresses one grip unit 89a. The frame closer to the body 97a moves forward. Accordingly, the frame 14 moves so as to turn around the other moving body 97b as a fulcrum. Further, when the other grip portion 89b is pushed down, it moves so as to turn around the one moving body 97a as a fulcrum.
Thereby, according to the walking assist device 10f of the present embodiment, it is possible not only to move straight but also to turn left and right like the walking assist device 10 shown in FIG.

(Third embodiment)
Next, a configuration of a third embodiment of the walking assist device according to the present invention will be described. FIG. 7 is a side view and a partially enlarged view showing the configuration of a third embodiment of the walking assist device according to the present invention.
The walking assist device 10g shown in FIG. 7 has the same main configuration as that of the walking assist device 10 shown in FIG. 1, but in order to prevent damage to the floor when using the walking assist device, each of the rail frames 18, A front roller 130 and a rear roller 132 are provided at the front and rear of the roller 18, respectively.
A rear roller 130 provided at the rear of the rail frame 18 is provided rotatably in the forward and backward directions.

  On the other hand, in order to prevent the walking assist device 10g from moving on its own or running ahead on a slope or the like, the grip portion 12 is lowered on the front roller 132 provided at the front portion of the rail frame 18 by lowering the frame. A braking mechanism 134 is provided so as not to move except when the frame 14 is advanced. FIGS. 7B and 7C are partial enlarged views of the front roller 132 provided in the walking assist device 10g shown in FIG. 7A.

As shown in FIG. 7B, the front roller 132 is supported by one end of an L-shaped support portion 136, is provided rotatably in a forward direction and a backward direction, and has a fixed shaft 137 as a support shaft. It is provided so as to tilt at an angle.
At the front of the front roller 132, a braking mechanism 134 is provided. When the front roller 132 abuts on the bottom surface 18a of the rail frame 18, the braking mechanism 134 includes a idler 140 that contacts the outer peripheral surface 132a of the front roller 132, and a holding portion 142 that holds the idler 140. Become. The idle vehicle 140 of the braking mechanism 134 contacts the outer peripheral surface 132a of the front roller 132 in a state where the walking assist device 10g is stopped, that is, in a state where the front roller 132 contacts the bottom surface 18a of the rail frame 18, and When the roller 132 rotates in the forward direction (the arrow A in FIG. 7B), the roller 140 rotates in the direction of the arrow B due to friction with the front roller 132, and the idler 140 rotates between the holding portion 142 and the front roller 132. The rotation of the front roller 132 is locked by being pushed into the gap 144, and the rotation of the front roller 132 in the forward direction is restricted.

  The front roller 132 can rotate the front roller 132 in the forward direction without being restricted by the idle vehicle 140 when the rail frame 18 is moved by lowering the grip portion 12 of the walking assist device 10g. . That is, as shown in FIG. 7 (c), when the grip portion 12 is lowered to give a force to float on the rail frame 18, the front roller 132 moves about the fixed shaft 137 as the rail frame 18 floats. Since it moves downward and separates from the idle vehicle 140, it can rotate without being restricted by the idle vehicle 140.

Note that the rearward rotation of the front roller 132 does not rotate more than a predetermined angle because the swing arm 36 acts as a gripping rod, but the front roller 132 rotates the front roller 132 only in one direction of the forward direction. It may be provided so as to rotate.
Further, in the present embodiment, when using the walking assist device 10g, the front roller 132 is provided on the front edge of the rail frame 18 and the rear roller 130 is provided on the rear edge so as not to bend forward. The space between the roller unit 132 and the rear roller unit 130 is set as far as possible so that the front and rear loads can be balanced.

  As described above, the walking aid 10g of the present embodiment does not damage the floor surface by using the rotating roller, and the braking speed is provided on the roller. Can be moved. In the present invention, the mechanism is not limited to the braking mechanism shown in FIG. 7B, and may be any mechanism that suitably brakes the rollers.

It is a perspective view showing composition of a 1st embodiment of a walk auxiliary device concerning the present invention. FIG. 2 is a perspective view showing a state during operation of the walking assist device shown in FIG. 1. It is explanatory drawing which shows operation | movement of the walking assistance device shown in FIG. It is a schematic side view which shows the modification of the walking aid which concerns on this invention. It is the perspective view and top view which show the structure of 2nd Embodiment of the walking aid which concerns on this invention. FIG. 6 is an enlarged side view and an enlarged rear view showing a part of the walking assist device shown in FIG. 5. It is a side view and a partial enlarged side view showing the configuration of a third embodiment of the walking aid according to the present invention. It is a perspective view which shows an example of the conventional walking aid.

Explanation of reference numerals

DESCRIPTION OF SYMBOLS 10 Walking assistance device 12 Handle part 14 Frame frame 16 Link mechanism 18 Rail frame 30 Moving body 36 Pretend arm 40 Push-pull arm 46 Balance axis

Claims (7)

A frame frame on which one end of the gripping arm is pivotally supported,
A pretend arm which is inclined upward in the traveling direction, and whose upper end is rotatable in the forward / backward direction and supported by the frame so as to be movable substantially up and down,
The raising / lowering operation of the gripping arm is transmitted to the upper end of the swing arm, and when the other end of the grip arm is raised, the upper end of the swing arm is lifted to advance the lower end of the swing arm, A walking assist device comprising: a transmission mechanism for pressing the lower end of the swing arm to the floor surface to advance the frame frame by a predetermined distance when the other end of the gripping arm is lowered. The swing arm extends horizontally at right angles to the traveling direction, and includes a balance axis that supports the upper end of the swing arm, a fixed axis horizontally attached to the frame, and the balance axis. 2. The walking assist device according to claim 1, wherein said balance frame is connected to and supported by said frame by a balance arm provided so as to be movable in an arc shape around said fixed shaft as a center axis. The frame includes a pair of rail frames extending parallel to the traveling direction at the lower end,
The walking assist device according to claim 1 or 2, further comprising a moving body guided at an inner side surface of the rail frame and moving only in an advancing / retreating direction, at a lower end of the swing arm. The walking assist according to any one of claims 2 to 4, wherein the transmission mechanism is formed by a push / pull arm that connects the power point axis provided on the grip arm and the balance axis. vessel. A frame frame on which one end of the gripping arm is pivotally supported,
A swing arm, which is provided to be capable of extending and contracting inclining upward in the traveling direction and whose upper end is rotatably supported in the frame frame body in the forward and backward directions,
Transmitting the raising / lowering operation of the gripping arm to the swing arm, and when raising the other end of the grip arm, contracts the swing arm to advance the lower end of the swing arm, and And a transmission mechanism for extending the swing arm when the other end of the swing arm is lowered, and pressing a lower end of the swing arm against a floor surface to advance the frame by a predetermined distance. Auxiliary device. The walking aid according to claim 3 or 4, wherein a roller rotatable in a traveling direction is attached to a bottom surface of each of the pair of rail frames. The roller is provided with a braking mechanism,
7. The walking aid according to claim 6, wherein the roller rotates only when the frame frame is advanced by lowering the other end of the grip arm, and is otherwise braked. .

Images