Walking support device for animal

Abstract

Provided is a walking support device capable of urging an animal to exercise with an appropriate amount of intensity according to the health condition of the individual animal. A walking support device according to the present disclosure comprises: a pair of fixed shafts that extend vertically and are disposed on opposite sides, in a plan view, of a flat exercise region which spreads out wide horizontally and in which an animal can freely roam; a moving shaft that is supported by each of the pair of fixed shafts so as to be vertically displaceable and extends horizontally; and a slider that is attached so as to cover the entirety of the outer side of the moving shaft in the radial direction and can move horizontally with respect to the moving shaft. The slider comprises: a nut having a rolling groove, which extends facing the outer surface of the moving shaft, and a through-hole, which extends parallel to the rolling groove; a pair of turn components that are respectively attached to both ends of the nut in the horizontal direction and connect the rolling groove and the through-hole to form an endless circulation path; and a plurality of rolling elements that roll between the moving shaft and the rolling groove and circulate in the endless circulation path.

Description

Animal walking assistance device

[0001] This invention relates to a walking assistance device for animals.

[0002] Conventionally, devices that assist elderly pets in walking are known. For example, Patent Document 1 below discloses a walking training device that has a rotating endless belt and rotates the belt by driving an electric motor.

[0003] Japanese Patent Publication No. 2014-221022

[0004] However, with conventional technology, the belt is rotated by an electric motor, so when used by animals that cannot walk straight at a constant speed, such as elderly dogs, the speed of the rotating belt and the speed of the animal's walking may not match, resulting in inappropriate exercise.

[0005] To solve the above problems, the present invention provides a walking support device that allows animals, such as elderly dogs, whose walking direction and speed are unstable, to perform appropriate exercise according to their individual health condition.

[0006] The walking support device according to this disclosure is arranged to sandwich a flat movement area that extends horizontally and allows an animal to move freely in all directions, in a plan view, and comprises a pair of fixed axes extending in the vertical direction, a movable axis extending in the horizontal direction which is supported on each of the pair of fixed axes so as to be displaceable in the vertical direction, and a slider which is attached to cover the entire circumference on the radially outside of the movable axis and is movable in the horizontal direction relative to the movable axis, wherein the movable axis is supported so as to be rotatable around a rotation axis which extends vertically relative to the fixed axis.

[0007] According to the present invention, it is possible to encourage animals to engage in exercise of an appropriate intensity tailored to their individual health condition.

[0008] Figure 1 is an example of an external view of a walking support device according to the first embodiment of the present invention. Figure 2 is a plan view of the walking support device shown in Figure 1. Figure 3 shows a first example of the supporter shown in Figure 1 being attached to a dog, with Figure 3A being a side view and Figure 3B being a rear view. Figure 4 shows a second example of the supporter shown in Figure 1 being attached to a dog, with Figure 4A being a side view and Figure 4B being a rear view. Figure 5 shows a third example of the supporter shown in Figure 1 being attached to a dog, with Figure 5A being a side view and Figure 5B being a rear view. Figure 6 shows a fourth example of the supporter shown in Figure 1 being attached to a dog, with Figure 6A being a side view and Figure 6B being a rear view. Figure 7 shows a fifth example of the supporter shown in Figure 1 being attached to a dog, with Figure 7A being a side view and Figure 7B being a modified example of Figure 7A. Figure 8 is an example of an external view of a walking support device according to the second embodiment of the present invention. Figure 9 is a plan view of the walking support device shown in Figure 8. Figure 10A is a side view of the walking support device shown in Figure 8. Figure 10B is a rear view of the walking support device shown in Figure 8. Figure 11 is a diagram showing a modified example of the first embodiment shown in Figure 1. Figure 12 is a diagram showing a modified example of the second embodiment shown in Figure 8. Figure 13 is an example of an external view of the walking support device according to the third embodiment of the present invention. Figure 14 is an example of a perspective view of the guide member according to the third embodiment. Figure 15 is an example of an exploded perspective view of the guide member according to the third embodiment. Figure 16A is a longitudinal cross-sectional view of the guide member according to the third embodiment. Figure 16B is a cross-sectional view taken along line G-G in Figure 16A. Figure 17A is a perspective view of the slider according to the third embodiment. Figure 17B is a longitudinal cross-sectional view of the slider according to the third embodiment. Figure 18 is an exploded perspective view of the slider according to the third embodiment. Figure 19 is a plan view of the walking support device according to the third embodiment in its initial state before use. Figure 20 is a diagram showing the state in which the movable axis has been displaced due to the use of the walking support device. Figure 21 is a plan view showing an example of the state in which the inclination of the movable axis has increased. Figure 22 is an enlarged view of the left-side guide device in the state shown in Figure 21. Figure 23 is a plan view showing the state in which the positions of each of the pair of guide members on the fixed axis are at the position with the greatest possible separation distance. Figure 24 is a plan view showing the state in which the positions of the pair of guide members on the fixed axis are shifted by 1 / 5 of the total stroke. Figure 25 is a diagram showing a modified example of the walking support device according to the third embodiment.Figure 26 shows a modified example of the supporter. Figure 27 is a perspective view of the walking support device according to the fourth embodiment.

[0009] The following describes an embodiment with reference to the drawings. <Overview of the Embodiment> The animal walking support device 1 according to this disclosure (hereinafter simply referred to as "device 1") is a device that primarily supports the walking of pets kept at home as companion animals such as dogs and cats (hereinafter referred to as "dogs and cats"). Device 1 is particularly intended for use with elderly dogs and cats, or dogs and cats with some kind of disability in their legs. In the following description, the case of applying device 1 to an elderly dog ​​will be used as an example.

[0010] It is generally known that dogs' muscles, especially around their hind legs, weaken with age. In other words, once a dog reaches a certain age, it can no longer support its weight with its hind legs as it once did. On the other hand, even older dogs may still have a strong desire for exercise, and in such cases, there is a risk of injury from falls. Therefore, providing appropriate support and ensuring they continue to exercise is important for the health management of older dogs. If older dogs are not allowed to exercise at all, they may lose their appetite due to muscle weakness, and their physical and mental strength may rapidly decline. In other words, to suppress the deterioration of health associated with aging, it is desirable to provide them with exercise at an appropriate intensity on a continuous basis.

[0011] <First Embodiment> Figure 1 is an example of an external view of a walking support device according to the first embodiment of the present invention. Figure 2 is a plan view of the walking support device shown in Figure 1. As shown in Figure 1, the device 1 is a device that promotes exercise in elderly dogs by supporting a portion of the dog's weight by suspending the dog's body from above the exercise area. In other words, the device 1 promotes free movement in the vertical and horizontal directions for elderly dogs, while particularly reducing the burden on the muscles around the hind legs. The configuration of such a device 1 will be described in detail below. The device 1 comprises a support column 10, a pair of fixed shafts 11, a movable shaft 12, a guide member 13, a slider 14, and a supporter 20. In the following description, in accordance with the orientation of the dog shown in Figure 1, the view from the side of the direction of the dog's movement will be called a side view, and the view from the rear of the direction of the dog's movement will be called a rear view.

[0012] The support columns 10 extend vertically and are members that support the fixed shaft 11. In the illustrated example, four support columns 10 are erected outside the exercise area S. A base 10A is attached to the lower end of each support column 10. The exercise area S extends horizontally and is a flat area where animals can move freely in all directions. If the exercise area S is set up indoors, a mat may be laid in the exercise area S to reduce the burden on the animals' feet. If the exercise area S is set up outdoors, the exercise area S does not necessarily have to be flat, and the lower ends of the support columns 10 may be buried in the ground.

[0013] As shown in Figures 1 and 2, the pair of fixed shafts 11 are arranged to sandwich the motion region S in a plan view and extend parallel to each other in the vertical direction X. Both ends of the pair of fixed shafts 11 in the vertical direction X are fixed to the upper end of the support column 10. The fixed shafts 11 are, for example, hollow pipe members made of metal.

[0014] The movable shaft 12 is supported by a pair of fixed shafts 11 so as to be displaceable in the vertical direction X, and extends in the horizontal direction Y. The movable shaft 12 is, for example, a hollow pipe member made of metal or resin. The movable shaft 12 is supported by the fixed shafts 11 via a guide member 13. The guide member 13 is a member that guides the movable shaft 12 in the vertical direction X while supporting the movable shaft 12 on the fixed shafts 11 so as to be displaceable in the vertical direction. The pair of guide members 13 are each supported by the fixed shafts 11 so as to be displaceable in the vertical direction X. The guide member 13 is composed of two ring members 13A and 13B that are connected in the vertical direction, and includes an upper ring 13A located above and a lower ring 13B located below.

[0015] The upper ring 13A has an annular shape that covers the entire circumference of the fixed shaft 11 from the outside in the circumferential direction and is attached to the fixed shaft 11 so as to be displaceable in the vertical direction X. The lower ring 13B has an annular shape that covers the entire circumference of the movable shaft 12 from the outside in the circumferential direction and is fixed to both ends of the movable shaft 12 in the lateral direction Y. The displacement of the lower ring 13B relative to the movable shaft 12 is restricted.

[0016] Therefore, when subjected to an external force in the vertical direction X, the movable shaft 12 is displaceable relative to the fixed shaft 11 in the vertical direction X. Furthermore, the movable shaft 12 is formed to be longer than the distance between the pair of fixed shafts 11. The upper ring 13A and the lower ring 13B guide the movable shaft 12 so that it can rotate around a rotation axis that extends vertically relative to the fixed shafts 11. The rotation axis is located at the point where the upper ring 13A and the lower ring 13B extend. The lower ring 13B also supports the movable shaft 12 so that it can slide laterally relative to the lower ring 13B.

[0017] The slider 14 is a component attached to the movable shaft 12. The slider 14 is mounted so as to cover the entire circumference of the radially outer side of the movable shaft 12. The slider 14 is supported so as to be movable in the lateral direction Y relative to the movable shaft 12. The slider 14 has a circular cross-section. In the illustrated example, the slider 14 is composed of two rings that are connected vertically and form an annular shape. The slider 14 may also have a cylindrical shape, for example. Furthermore, the shape of each component is extremely simple, and it can be realized with a simple structure that has excellent weather resistance.

[0018] As described above, the slider 14 has a configuration that covers the entire circumference of the movable axis 12 from the outside in the circumferential direction, so that the slider 14 can always be kept set on the movable axis 12. In other words, in a walking support device for animals, if the movable body slides on a rail during the process of the animal walking in a disordered manner, there is a risk that the movable body may fall off the rail and drop due to the displacement of the movable body. On the other hand, in the configuration of the present invention, since the slider 14 covers the entire circumference of the movable axis 12, the problem of falling off and dropping can be avoided, and the dog can be exercised safely.

[0019] The supporter 20 is a component that connects the slider 14 and the harness 30 worn by the animal, and supports the animal's movement. The structure of the supporter 20 will be described in detail with reference to Figure 3. Figure 3 shows a first example of the supporter 20 being attached to a dog, with Figure 3A being a side view and Figure 3B being a rear view.

[0020] (First Example of the Supporter 20) As shown in FIGS. 3A and 3B, the supporter 20 has an elastic member 21 and a rotating fitting (rotating tool) 22. The elastic member 21 is disposed between the slider 14 and the harness 30. The upper end portion of the elastic member 21 is connected to the slider 14 via a ring-shaped connecting member 15. The elastic member 21 is, for example, a coil spring. Note that the elastic member 21 may be a spring member that exhibits a restoring force against elongation with a structure other than a coil spring.

[0021] The rotating fitting 22 is a fitting in which an upper fitting 22A and a lower fitting 22B are connected by a rotating hinge 22C. The rotating fitting 22 is configured such that the upper fitting 22A and the lower fitting 22B can be relatively displaced in the circumferential direction with respect to each other along the rotation axis of the rotating hinge 22C extending in the vertical direction. For this reason, the rotating fitting 22 can cancel the torsional twist in the circumferential direction between the elastic member 21 connected to the upper fitting 22A and the harness 30 connected to the lower fitting 22B. Note that the rotating fitting may be a rotating tool formed of a resin material.

[0022] And the elastic member 21 elastically connects the slider 14 and the harness 30 via the rotating fitting 22. Specifically, the lower end portion of the elastic member 21 is connected to one location of the harness 30 attached around the hind leg of the animal via the rotating fitting 22. Also, the upper end portion of the elastic member 21 is connected to the slider 14.

[0023] (Second Example of the Supporter 20) FIG. 4 is a diagram showing a second example of the attachment state of the supporter 20 to a dog, FIG. 4A is a side view, and FIG. 4B is a rear view. As shown in FIGS. 4A and 4B, the supporter 20 according to the second example has a plurality of elastic members 21. In the illustrated example, the supporter 20 has two elastic members 21. The two elastic members 21 are arranged symmetrically with respect to the left and right so as to sandwich the animal in the left-right direction. In the second example, the upper end portions of the two elastic members 21 are connected to the slider 14 via one rotating fitting 22. The lower end portions of the two elastic members 21 are respectively connected to the left and right side surfaces of the harness 30. For this reason, it is possible to effectively suppress the dog from falling to the left and right while suppressing the torsional twist due to the turning motion of the dog.

[0024] Incidentally, although the natural lengths and spring constants of the two elastic members 21 are the same as each other, at least one of the natural lengths and spring constants of the plurality of elastic members 21 may be different from each other. For example, when an old dog tends to lean to the left side, the natural length of the elastic member 21 on the left side may be shortened, or the spring constant of the elastic member 21 on the left side may be increased. Thereby, appropriate assistance can be provided according to the inclination of the posture of the old dog in the left-right direction. Also, it can be strongly held during large displacements such as when falling.

[0025] (Third Example of the Supporter 20) FIG. 5 is a diagram showing a third example of the attachment state of the supporter 20 to a dog, FIG. 5A is a side view, and FIG. 5B is a rear view. As shown in FIGS. 5A and 5B, the supporter 20 according to the third example has three elastic members 21. And one of the elastic members 21 of the supporter 20 according to the third example is connected to a harness 30 attached around the front legs of the animal. Therefore, the walking of an old dog can be supported more safely.

[0026] (Fourth Example of the Supporter 20) FIG. 6 is a diagram showing a fourth example of the attachment state of the supporter 20 to a dog, FIG. 6A is a side view, and FIG. 6B is a rear view. As shown in FIGS. 6A and 6B, the supporter 20 according to the fourth example includes three elastic members 21 and one non-elastic member. The non-elastic member is, for example, a belt-like member 23 made of cloth. The belt member 23 is connected to the central portion in the left-right direction behind the rear harness 30. The connection positions of the three elastic members 21 are the same as those in the example shown in FIG. 5, and the description thereof is omitted. In this way, by connecting the central portion in the left-right direction of the rear harness 30 with the belt member 23 which is a non-elastic member, the weight of the hip portion which is particularly likely to weaken can be effectively supported.

[0027] (Fifth Example of the Supporter 20) FIG. 7 is a diagram showing a fifth example of the attachment state of the supporter 20 to a dog, FIG. 7A is a side view, and FIG. 7B is a diagram showing a modified example of FIG. 7A. As shown in FIG. 7A, the supporter 20 according to the fifth example further includes a beam 24 extending in the front-rear direction. The beam 24 extends in the front-rear direction and is a member having a certain rigidity that does not bend when receiving a load.

[0028] In the illustrated example, the front end of the beam 24 is connected to a harness 30 attached around the animal's forelegs. The rear end of the beam 24 is connected to a harness 30 attached around the animal's hind legs. The beam 24 is connected to the lower end of the elastic member 21 via a rotating fitting 22. The upper end of the elastic member 21 is connected to the slider 14 via a connecting member 15. In this way, the supporter 20 is equipped with a beam 24 that extends in the front-rear direction, allowing for front-rear balance.

[0029] As shown in Figure 7B, in a modified example of the supporter 20 according to the fifth example, the supporter 20 has a belt member 23. The beam 24 has its front end connected to an elastic member 21 and its rear end connected to the belt member 23. The upper end of the elastic member 21 and the upper end of the belt member 23 are each connected to the lower fitting 22B of the rotating fitting 22. In this way, since the belt member 23, which is a non-elastic member, is connected to the lower end of the beam 24, it is possible to balance the front and rear while effectively supporting the weight of the buttocks, which is particularly prone to weakening.

[0030] In the above embodiment, the supporter 20 is shown to have one or more elastic members 21, but this is not limited to this configuration. The supporter 20 may also be composed of a belt member 23 and a rotating fitting 22.

[0031] <Second Embodiment> Next, a walking support device 2 (hereinafter referred to as "device 2") according to the second embodiment will be described. Figure 8 is an example of an external view of the walking support device according to the second embodiment of the present invention. Figure 9 is a plan view of device 2. Figure 10A is a side view of device 2. Figure 10B is a rear view of device 2. In this description, the side and rear views are based on the direction of movement of the dog shown in Figure 8.

[0032] As shown in Figure 8, the device 2 further comprises frame members 40 and fence members 50. Multiple frame members 40 are arranged in a plan view so as to surround the movement area S from all four sides. The frame members 40 comprises vertical frames 41 extending in the vertical direction X and horizontal frames 42 extending in the horizontal direction Y. The vertical direction X refers to the front-to-back direction of the dog as shown in Figure 8, and the horizontal direction Y refers to the left-to-right direction of the dog as shown in Figure 8.

[0033] The vertical frame 41 includes a lower vertical frame 41B and an upper vertical frame 41A. The lower vertical frame 41B is positioned at the bottom of the motion area S along the vertical direction X. The upper vertical frame 41A is positioned above the lower vertical frame 41B and extends in the vertical direction X. In this embodiment, in order to suppress deflection in the vertical direction, the vertical frame 41 is divided into two parts in the vertical direction X and connected via support columns 10.

[0034] The horizontal frame 42 includes a lower horizontal frame 42B and an upper horizontal frame 42A. The lower horizontal frame 42B is positioned at the bottom of the motion region S along the horizontal direction Y. The upper horizontal frame 42A is positioned above the lower horizontal frame 42B and extends along the horizontal direction Y. In this embodiment, in order to suppress deflection in the vertical direction, the horizontal frame 42 is divided into two parts along the horizontal direction Y and connected via a support column 10.

[0035] The fence member 50 is attached to the frame member 40 and covers the exercise area S from the outside in the horizontal direction. The fence member 50 is, for example, net-like, and the inside is visible from the outside. The presence of the fence member 50 restricts the range of movement of dogs exercising in the exercise area S. Therefore, it is possible to observe elderly dogs exercising inside from the outside while restricting their range of movement.

[0036] Furthermore, the device 2 has a stopper 60 that restricts the range of movement of animals. The stopper 60 is attached to at least one of the fixed shaft 11 and the movable shaft 12. In the illustrated example, it is attached to both ends of the pair of fixed shafts 11 and movable shafts 12. As shown in Figure 9, the attachment of the stopper 60 to the fixed shaft 11 restricts the range of motion of the movable shaft 12 in the vertical direction X. Also, the attachment of the stopper 60 to the movable shaft 12 restricts the range of motion of the slider 14 in the horizontal direction Y. In this way, by providing stoppers 60 on the fixed shaft 11 and the movable shaft 12, the range of movement of dogs can be further restricted, and it is possible to prevent dogs from colliding with the fence member 50.

[0037] Furthermore, as shown in Figures 10A and 10B, in the second embodiment, the fixed shaft 11 is positioned above the upper vertical frame 41A. Of the vertical frame 41, support pillars 43 that protrude upward are provided at both ends in the vertical direction X and in the middle of the vertical direction X. The fixed shaft 11 is attached to a connecting member 44 which is attached to the support pillars 43.

[0038] As shown in Figure 10A, the joining member 44 has a first joining member 44A that supports both ends of the fixed shaft 11 in the vertical direction X, and a second joining member 44B that supports the middle part of the fixed shaft 11 in the vertical direction X from below. The first joining member 44A has a hollow L-shape, and the upper end of the support pillar 43 and both ends of the fixed shaft 11 are inserted into its hollow part, thereby connecting the two.

[0039] The second joining member 44B has an arc-shaped support plate 44C fixed to the upper end of a hollow pipe material. The upper end of the support pillar 43 is inserted into the hollow portion of the pipe material of the second joining member 44B. The fixing shaft 11 is placed on the upper surface of the support plate 44C of the second joining member 44B. As a result, the middle portion of the fixing shaft 11 in the vertical direction X is supported from below by the support plate of the second joining member 44B.

[0040] As shown in Figures 10A and 10B, in the apparatus 2 of the second embodiment, a rectangular parallelepiped-shaped guide block B is used as a guide member 13 that moves freely in the vertical direction X on the fixed shaft 11. The guide block B has an opening that opens downwards. The opening is positioned on the fixed shaft 11. That is, the guide block B covers the upper side of the fixed shaft 11 from the outside in the circumferential direction, while leaving the lower side of the fixed shaft 11 open.

[0041] Furthermore, the support plate 44C of the second joining member 44B is in contact with the lower side of the fixed shaft 11. In this state, a gap is created in the vertical direction between the guide block B and the support plate 44C of the second joining member 44B, so that the guide block B can move vertically X on the fixed shaft 11 without interference between the guide block B and the support plate 44C.

[0042] As shown in Figure 8, the slider 14 according to the second embodiment is mounted so as to cover the entire circumference of the radially outer side of the movable shaft 12. The slider 14 has a rectangular cross-section and is supported by the movable shaft 12 so as to be movable in the lateral direction Y. Specifically, the slider 14 has a rectangular parallelepiped shape with a hollow portion formed inside. By inserting the movable shaft 12 into the hollow portion of the slider 14, the slider 14 covers the movable shaft 12 around its entire circumference.

[0043] <Modified Examples> Next, modified examples of each embodiment will be described. In each modified example, the same reference numerals are used for components that are the same as those in the previously described embodiments, and their descriptions are omitted.

[0044] (Modified Version of the First Embodiment) Figure 11 shows a modified version of the first embodiment. As shown in Figure 11, the configuration of the movable shaft 12 in the device 3 according to this modified version differs from that of the first embodiment. The movable shaft 12 of the device 3 is composed of a pair of shafts arranged in the vertical direction. In other words, the movable shaft 12 has an upper movable shaft 12A located above the fixed shaft 11 and a lower movable shaft 12B located below the fixed shaft 11.

[0045] The upper movable shaft 12A is placed on the upper surface of the fixed shaft 11 and moves vertically in the X direction while sliding on the fixed shaft 11. The lower movable shaft 12B is connected to the upper movable shaft 12A via a connecting ring 17, which is a guide member. As the lower movable shaft 12B moves vertically in the X direction, the upper movable shaft 12A moves vertically in the X direction, being pulled towards the connecting ring 17. The connecting ring 17, which is a guide member, guides the upper movable shaft 12A and the lower movable shaft 12B so that they can rotate around a rotation axis that extends vertically relative to the fixed shaft 11. The rotation axis is located at the point where the movable shaft 12 and the fixed shaft 11 come into contact. The connecting ring 17 also supports the upper movable shaft 12A so that it can slide laterally relative to the fixed shaft 11.

[0046] The slider 14 is attached to the lower moving shaft 12B so as to cover its entire circumference from the outside in the circumferential direction. With this configuration, when an external force in the vertical direction X is applied to the moving shaft 12, the upper moving shaft 12A can move in the vertical direction X while sliding along the upper surface of the fixed shaft 11. Compared to the configuration of the first embodiment, the sliding resistance of the moving shaft 12 can be reduced, and smooth movement can be achieved.

[0047] (Modification of the Second Embodiment) Figure 12 shows a modification of the second embodiment. As shown in Figure 12, in the device 4 according to this modification, the mounting position of the fixed shaft 11 is different from that of the second embodiment. That is, in this modification, the fixed shaft 11 is fixed to the upper surface of the upper horizontal frame 42A. Mounting portions 45 are provided at both ends of the upper horizontal frame 42A in the horizontal direction Y. Both ends of the fixed shaft 11 in the vertical direction X are fixed by being attached to the mounting portions 45. This configuration simplifies the configuration of the parts that support the fixed shaft 11 and reduces the number of parts.

[0048] In the above embodiment, the guide member 13 and slider 14 are shown to be slidably guided with respect to the fixed shaft 11 and the movable shaft 12, but this is not limited to this configuration. That is, a linear guide block in which rolling elements circulate inside may be used as the guide member 13 and slider 14. The linear guide block has rolling grooves and through holes extending along the direction of movement, and return caps are attached to both ends in the direction of movement. A circulation path is formed inside the return cap, and the circulation path connects the rolling grooves and through holes, realizing infinite circulation of rolling elements within the linear guide block.

[0049] With the rolling elements interposed between the outer circumferential surface of each shaft and the rolling grooves, the linear guide block can move each shaft freely in the direction of movement with extremely low sliding resistance. By adopting such a configuration, the guide member 13 and the slider 14 can be moved extremely smoothly. Such an embodiment will be described below.

[0050] <Third Embodiment> Next, a walking support device 5 (hereinafter referred to as "device 5") according to the third embodiment will be described. Figure 13 is an example of an external view of a walking support device according to the third embodiment of the present invention. In device 5, linear rolling guides are used for the guide member 70 and the slider 80.

[0051] (Around the support columns) As shown in Figure 13, in the device 5, a pair of parallel fixed shafts 11 are supported by four support columns 10. The support columns 10 are supported by bases 10A at the four corners of the movement area S. The fixed shafts 11 are fixed to the upper ends of the support columns 10 by joints 46. The joints 46 can be attached to any position in the height direction of the support columns 10 by fastening fixing screws (not shown) and wing nuts. The height of the fixed shafts 11 can be adjusted by changing the height position of the joints 46.

[0052] (Guide Member 70) Figure 14 is an example of a perspective view of the guide member 70. Figure 15 is an example of an exploded perspective view of the guide member 70. Figure 16A is a longitudinal cross-sectional view of the guide member 70. Figure 16B is a cross-sectional view taken along line G-G in Figure 16A. Note that the support portion 74 is not shown in Figure 16B. Also, fastening screws that secure each component are not shown in each drawing.

[0053] As shown in Figures 14 and 15, the device 5 is equipped with a guide member 70 as a linear rolling guide. The guide member 70 comprises a linear guide block 71, a circulating component 72, and rolling elements 73 (see Figure 15). As shown in Figure 16A, the linear guide block 71 is a rectangular parallelepiped member with an opening 71A on its lower surface that opens downwards. A fixed shaft 11, which is a hollow metal pipe, is inserted through the opening 71A of the linear guide block 71.

[0054] As shown in Figure 16A, the linear guide block 71 is supported by the fixed shaft 11 via rolling elements 73. The linear guide block 71 has rolling grooves 71B extending opposite to the outer surface of the fixed shaft 11, and through holes 71C extending parallel to the rolling grooves 71B. The rolling grooves 71B and through holes 71C are formed parallel to the fixed shaft 11. Multiple rolling grooves 71B and through holes 71C are formed.

[0055] In the illustrated example, the linear guide block 71 has two sets of rolling grooves 71B and through holes 71C. The two sets of rolling grooves 71B and through holes 71C are arranged symmetrically. The two rolling grooves 71B are provided such that the contact angle with the rolling element 73 is 45° with respect to the horizontal. The through holes 71C are arranged in a straight line connecting the center of the fixed shaft 11 and the center of the rolling grooves 71B.

[0056] As shown in Figure 16B, multiple rolling elements 73 are arranged inside the rolling groove 71B and the through hole 71C. The rolling groove 71B and the through hole 71C, together with the circulating component 72, form an infinite circulation path.

[0057] As shown in Figures 14 and 15, the linear guide block 71 is provided with a first rotation axis Ax1 extending in the vertical direction, and a support portion 74 that is rotatable around the first rotation axis Ax1. The support portion 74 functions as a thrust bearing that is rotatable around the first rotation axis Ax1 while receiving a load along the direction of the first rotation axis Ax1. The support portion 74 comprises a support plate 75, a support shaft 76, and a cover 77.

[0058] As shown in Figure 15, the support plate 75 is a plate member fixed to the upper surface of the linear guide block 71. A recess 75A, which is circular in shape when viewed from above, is formed in the center of the upper surface of the support plate 75. A portion of the first rotating groove 75B, which forms a circular orbit, is formed in the recess 75A. As shown in Figure 16A, the lower half of the first rotating groove 75B is formed in the recess 75A, and the upper half is formed on the inner circumferential surface of the cover 77. The support plate 75 may be formed integrally with the linear guide block 71. In this case, a recess 75A is formed on the upper surface of the linear guide block 71, with a portion of the first rotating groove 75B formed on its inner circumferential surface.

[0059] As shown in Figures 15 and 16A, the support shaft 76 is a shaft member that extends in the vertical direction. A support hole 76A is formed in the upper part of the support shaft 76. A second rotating groove 76B is formed at the lower end of the support shaft 76, opposite to the first rotating groove 75B. The second rotating groove 76B is formed around the entire circumference of the outer surface of the support shaft 76. The curvature of the second rotating groove 76B is the same as the curvature of the first rotating groove 75B.

[0060] As shown in Figure 16A, a plurality of small-diameter rolling elements 78 are arranged between the first rotation groove 75B formed in the support plate 75 and the cover 77 and the second rotation groove 76B formed in the support shaft 76 (the small-diameter rolling elements 78 are not shown in Figure 15). The small-diameter rolling elements 78 are resin balls. The plurality of small-diameter rolling elements 78 are arranged along the first rotation groove 75B and the second rotation groove 76B, over the entire circumferential area around the first rotation axis Ax1. The size of the small-diameter rolling elements 78 is set to be slightly smaller than the curvature of the first rotation groove 75B and the second rotation groove 76B.

[0061] As shown in Figure 13, a movable shaft 12 is attached to the support portion 74. Specifically, as shown in Figure 16A, the movable shaft 12 is supported by the support portion 74 by being inserted into the support hole 76A of the support shaft 76 of the support portion 74. The movable shaft 12 is not fixed to the support shaft 76, but is held so as to be slidable with respect to the inner circumferential surface of the support hole 76A.

[0062] With the movable shaft 12 inserted through the support hole 76A of the support portion 74, the support portion 74 supports the movable shaft 12 so that it can rotate freely around the first rotation axis Ax1 while receiving the load applied from the movable shaft 12. The support portion 74 also supports the movable shaft 12 so that it can slide (displace freely) in the lateral direction Y. Details of this form of support of the movable shaft 12 by the support portion 74 will be described later with reference to Figure 22.

[0063] As shown in Figure 15, the cover 77 has a shape that is a ring divided into two parts. Two covers 77 are provided and are attached so as to cover the recess 75A. Specifically, with the lower end of the support shaft 76 housed in the recess 75A, and the small-diameter rolling element 78 positioned between a part of the first rotation groove 75B of the support plate 75 and the second rotation groove 76B of the support shaft 76, the two covers 77 are attached to the recess 75A. As a result, as shown in Figure 16A, the recess 75A is closed, and the upper half of the first rotation groove 75B comes into contact with the small-diameter rolling element 78, forming the first rotation groove 75B. In other words, the cover 77 prevents the small-diameter rolling element 78 from falling out of the recess 75A and also constitutes a part of the first rotation groove 75B on which the small-diameter rolling element 78 rolls.

[0064] As shown in Figure 16B, the circulating component 72 is attached to both ends of the linear guide block 71 in the vertical direction X, connecting the rolling groove 71B and the through hole 71C to form an infinite circulation path. The circulating component 72 comprises an end plate 72A and an R piece 72B. The end plate 72A is a member with a turn groove formed therein that constitutes the outer circumferential surface of the turn portion in the infinite circulation path, and is attached to both ends of the linear guide block 71 in the vertical direction X. The R piece 72B is fitted into the turn groove of the end plate 72A and constitutes the inner circumferential surface of the turn portion in the infinite circulation path.

[0065] The rolling elements 73 are components that roll between the fixed shaft 11 and the rolling groove 71B as the linear guide block 71 moves along the fixed shaft 11 while receiving the load applied to the linear guide block 71. As the rolling elements 73 roll, they enter the through hole 71C via the turn portion of the circulating component 72, and then exit the through hole 71C as if pushed out by the subsequent rolling elements 73, and enter the turn portion of the circulating component 72 on the opposite side. After that, the rolling elements enter the space between the rolling groove 71B and the fixed shaft 11 again. In this way, an infinite circulation path for the rolling elements 73 is formed inside the guide member 70. Resin balls are used as the rolling elements 73. The size of the rolling elements 73 is set so that the curvature is slightly smaller than the curvature of the rolling groove 71B and the through hole 71C.

[0066] In the guide member 70, the linear guide block 71, the pair of circulating components 72, and the multiple rolling elements 73 are made of resin material. Specifically, the end plates 72A and R-pieces 72B of the circulating components 72 are also made of resin material. Furthermore, all the components constituting the support portion 74 are also made of resin material. As a result, the guide member 70 can be made lighter, ensuring ease of handling when used, for example, in a typical household, and achieving specifications suitable for consumer products.

[0067] (Slider 80) As shown in Figure 13, the device 5 is equipped with a slider 80 as a linear rolling guide. Figure 17A is a perspective view of the slider 80. Figure 17B is a longitudinal cross-sectional view of the slider 80. Figure 18 is an exploded perspective view of the slider 80. Note that the fastening screws that fix each component are not shown in each drawing. As shown in Figures 17A and 17B, the slider 80 is equipped with a nut 81, a pair of turning components 82, and a plurality of rolling elements 83 (see Figure 17B).

[0068] As shown in Figures 17A and 17B, the nut 81 is a hollow cylindrical member. A movable shaft 12, which is a hollow metal pipe, is inserted through the hollow portion of the nut 81. As shown in Figure 17B, the nut 81 has a rolling groove 81A extending opposite to the outer surface of the movable shaft 12, and a through hole 81B extending parallel to the rolling groove 81A. The rolling groove 81A and the through hole 81B are formed parallel to the movable shaft 12. Multiple rolling grooves 81A and through holes 81B are formed. Multiple rolling elements 83 are arranged inside the rolling grooves 81A and through holes 81B. The nut 81 is supported by the movable shaft 12 via the rolling elements 83.

[0069] In the example shown in Figure 17B, the nut 81 is provided with three sets of rolling grooves 81A and through holes 81B. Of these, the two upper rolling grooves 81A are arranged symmetrically to each other, and are positioned so that the contact angle with the rolling element 83 is 45° with respect to the horizontal direction. On the other hand, the lower rolling groove 81A is positioned so that the contact angle with the rolling element 83 is perpendicular to the horizontal direction. The through holes 81B are positioned at a 90° angle to the line segment connecting the center of the rolling groove 81A and the center of the movable shaft 12. The three sets of rolling grooves 81A and through holes 81B are positioned at predetermined angle rotations relative to each other around the central axis of the movable shaft 12.

[0070] As shown in Figures 17A and 17B, the nut 81 has a housing cylinder portion 81C that opens downward. A part of the rotating tool 84 is housed in the housing cylinder portion 81C. The rotating tool 84 has a second rotation axis Ax2 that extends in the vertical direction and supports the supporter 20 (see Figure 13) so as to be rotatable around the second rotation axis Ax2. That is, in this embodiment, the supporter 20 is connected to the slider 80 via the rotating tool 84, and the housing cylinder portion 81C in which the rotating tool 84 is housed is formed integrally with the slider 80. An annular cover 88 is attached to the lower end opening edge of the housing cylinder portion 81C. An opening is formed in the center of the cover 88. The lower end of the inner shaft 86 of the rotating tool 84 protrudes downward from the opening of the cover 88. The cover 88 is fixed to the lower end opening edge of the housing cylinder portion 81C with mounting screws, thereby holding the rotating tool 84 inside the housing cylinder portion 81C.

[0071] As shown in Figures 17B and 18, the rotating device 84 comprises an outer ring 85, an inner shaft 86, and a plurality of small-diameter rolling elements 87 (see Figure 17B). The rotating device 84 functions as a thrust bearing that rotates around a second rotation axis Ax2 while receiving a downward load. That is, the rotating device 84 supports the load (the weight of the dog) received at the lower end of the inner shaft 86 by the outer ring 85 via the plurality of small-diameter rolling elements 87, while allowing relative circumferential displacement between the inner shaft 86 and the outer ring 85 around the second rotation axis Ax2.

[0072] The outer ring 85 has an annular shape, and a third rotation groove 85A is formed on its inner circumferential surface. The outer ring 85 is made of a resin material. The third rotation groove 85A forms a circular orbit along the circumferential direction around the second rotation axis Ax2.

[0073] The inner shaft 86 is an axial member positioned inside the outer ring 85 and extending in the vertical direction. The upper end of the inner shaft 86 is enlarged in diameter. On the outer circumferential surface of the inner shaft 86, a fourth rotation groove 86B is formed in the portion connected to the upper end, facing the third rotation groove 85A of the outer ring 85. The fourth rotation groove 86B is formed around the entire circumference of the inner shaft 86. The curvature of the third rotation groove 85A and the fourth rotation groove 86B are the same. The inner shaft 86 is made of resin material. At the lower end of the inner shaft 86, a mounting hole 86A is formed, which has an oval shape extending in the vertical direction when viewed from the front. The upper end of the supporter 20, which is connected to the harness 30 attached to the dog, is connected to the mounting hole 86A.

[0074] As shown in Figure 13, the supporter 20 includes a plurality of connecting rings 25. The plurality of connecting rings 25 are connected to each other in a vertical direction. The upper ends of the elastic member 21 and the belt member 23 are connected to the lower ends of the connecting rings 25. In the illustrated example, the upper ends of the elastic member 21 and the belt member 23 are connected to the lowest connecting ring 25, but the position of the connecting ring 25 that connects the upper ends of the elastic member 21 and the belt member 23 can be changed arbitrarily. By changing the position of the connecting ring 25 that connects the upper ends of the elastic member 21 and the belt member 23 among the plurality of connecting rings 25 arranged in the vertical direction, the tension of the supporter 20 can be adjusted, thereby adjusting the strength of the support provided to the dog from above. This allows the user to flexibly adjust the support in the care setting according to each dog's physique, muscle strength, and physical condition on any given day.

[0075] As shown in Figure 17B, a plurality of small-diameter rolling elements 87 are arranged between the third rotation groove 85A of the outer ring 85 and the fourth rotation groove 86B of the inner shaft 86 (note that the small-diameter rolling elements 87 are not shown in Figure 18). The small-diameter rolling elements 87 are resin balls. The plurality of small-diameter rolling elements 87 are arranged circumferentially around the second rotation axis Ax2 along the third rotation groove 85A and the fourth rotation groove 86B. The size of the small-diameter rolling elements 87 is set to be slightly smaller than the curvature of the third rotation groove 85A and the fourth rotation groove 86B. The size of the small-diameter rolling elements 87 is equivalent to the size of the small-diameter rolling elements 78 housed inside the support portion 74 in the guide member 70 described above.

[0076] As shown in Figure 13, when the upper end of the supporter 20 is connected to the mounting hole 86A, if the dog performs a turning motion in place, the inner shaft 86 of the rotating device 84 shown in Figure 17B rotates around the second rotation axis Ax2 relative to the outer ring 85, following the twisting of the supporter 20. This eliminates the twisting of the supporter 20 that occurs in response to the dog's turning motion. Furthermore, because multiple small-diameter rolling elements 87 are interposed between the inner shaft 86 and the outer ring 85, the inner shaft 86 and the outer ring 85 displace relative to each other very smoothly. Therefore, it does not hinder the dog's turning motion. In addition, since the rotating device 84 supports the weight of the dog via multiple small-diameter rolling elements 87, wear on the contact points between the inner shaft 86 and the small-diameter rolling elements 87 on the inner shaft 86 and the outer ring 85 due to rotation can be reduced.

[0077] As shown in Figure 18, the turn component 82 is a member attached to both ends of the nut 81 in the lateral direction Y. The turn component 82 connects the rolling groove 81A and the through hole 81B, and, similar to the guide member 70 (see Figure 16B) described above, forms an infinite circulation path inside the slider 80. The turn component 82 comprises an end cap 82A and a turn piece 82B. The end cap 82A is a member with a turn groove formed therein that constitutes the outer circumferential surface of the turn portion in the infinite circulation path, and is attached to both ends of the nut 81 in the lateral direction Y. The turn piece 82B is fitted into the turn groove of the end cap 82A and constitutes the inner circumferential surface of the turn portion in the infinite circulation path.

[0078] The rolling element 83, while receiving the load applied to the nut 81, rolls between the moving shaft 12 and the rolling groove 81A as the slider 80 moves along the moving shaft 12. As the rolling element 83 rolls, it circulates in an infinite circulation path formed inside the slider 80. Resin balls are used as the rolling element 83. The size of the rolling element 83 is set to have a curvature slightly smaller than the curvature of the rolling groove 81A and the through hole 81B. The size of the rolling element 83 circulating in the infinite circulation path formed inside the slider 80 is larger than the size of the small-diameter rolling element 87 housed inside the rotating tool 84. The size of the rolling element 83 is the same as the size of the rolling element 73 circulating in the infinite circulation path formed inside the guide member 70.

[0079] In the slider 80, the nut 81, the pair of turning parts 82, and the multiple rolling elements 83 are made of resin material. Specifically, the end cap 82A and the turn piece 82B of the turning part 82 are also made of resin material. Furthermore, all the components constituting the rotating tool 84 are also made of resin material. By making the slider 80 lightweight, ease of handling is ensured, for example, when used in a typical household, resulting in specifications suitable for consumer products.

[0080] (Positioning Stopper 90) As shown in Figure 13, the apparatus 5 according to this embodiment further includes a positioning stopper 90. The positioning stopper 90 is attached to both ends of the pair of fixed shafts 11 in the vertical direction X. The positioning stopper 90 is a rod-shaped member extending in the horizontal direction Y, and stopper rings 91 are formed at both ends in the horizontal direction Y. The stopper ring 91 is ring-shaped and is fixed to the fixed shaft 11 by a set screw or the like with the vertical end of the fixed shaft 11 inserted through it.

[0081] The positioning stoppers 90 are attached to both ends of the pair of fixed shafts 11 in the vertical direction X, thereby restricting the range of movement of the guide member 70. In other words, the positioning stoppers 90 function as stoppers for the guide member 70. This restricts the dog's range of movement and prevents collisions with the dog's support posts 10, etc.

[0082] Furthermore, by attaching the positioning stoppers 90 to both ends of the pair of fixed shafts 11 in the vertical direction X, the distance in the horizontal direction Y is restricted at both ends of the pair of fixed shafts 11 in the vertical direction X. Therefore, the positioning stoppers 90 function as positioning members that restrict the direction in which each of the pair of fixed shafts 11 extends to be parallel. In other words, by attaching the pair of positioning stoppers 90 to the fixed shafts 11, the pair of fixed shafts 11 on which the two guide members 70 move can be arranged in parallel, and the movement of the guide members 70 that guide the movable shaft 12 can be made smoother.

[0083] (Specific aspects of supporting and guiding the movable shaft 12) Next, specific aspects of supporting and guiding the movable shaft 12 by the guide member 70 will be described. Figure 19 is a plan view of the device 5 in its initial state before use. Figure 20 is a diagram showing the state in which the movable shaft 12 has been displaced due to the use of the device 5.

[0084] As shown in Figure 19, the movable axis 12 is formed to be longer than the distance between the pair of fixed axes 11. Specifically, in the illustrated example, the length L of the movable axis 12 and the distance L between the pair of fixed axes 11 Ｂ The following equation (1) holds between L and L: L > L Ｂ ... (1)

[0085] Next, as shown in Figure 20, when the device 5 is used and a dog (not shown) walks freely in all directions within the movement area S, the slider 80 moves along the movement axis 12, and the movement axis 12 may become tilted in a plan view compared to its initial state. The movement of the movement axis 12 will be described in detail below. Similar to device 5, examples of drive devices equipped with a guide mechanism for two mutually orthogonal axes include XY tables used in the FA (Factory Automation) field, or overhead cranes used for transporting heavy objects. These drive devices use a drive source such as a ball screw or wheels connected to a motor to drive the drive unit, but basically the direction of the force output by the drive source always coincides with the direction along one of the guide axes.

[0086] In contrast, in device 5, the walking motion of the dog attached to the supporter 20 serves as the driving source for moving the slider 80 and the guide member 70. However, the dog's walking motion is disorderly, and the direction of walking is constantly changing, so it is not in a constant direction along the guide axis. That is, the direction of movement of the dog walking freely within the movement area S is more often not in a direction along the fixed axis 11 and the moving axis 12. For this reason, if the moving axis 12 is supported in a state where it is always perpendicular to the fixed axis 11, depending on the direction in which the dog walks, a yawing moment will be generated in a direction that tends to tilt the moving axis 12 in a plan view, and this effect may hinder the displacement of the moving axis 12 in the vertical direction X. This condition will be described in detail using Figures 13 and 16.

[0087] When a force is applied to the slider 80 shown in Figure 13 in a direction that attempts to tilt the moving axis 12 in a plan view, the guide member 70 shown in Figure 16A experiences a yawing moment M along the direction of rotation around the first rotation axis Ax1. Ｙ A load is applied. Yawing moment M Ｙ is the first component M Ｙ－ａ And, the second component M Ｙ－ｂ It can be broken down into these components. Here, the first component M Ｙ－ａ This component is along the straight line connecting the center of the fixed shaft 11 and the center of the rolling groove 71B in the front view of Figure 16A, and is the second component M Ｙ－ｂIn the front view of FIG. 16A, it is a component orthogonal to the first component MY-a. And the yaw moment M Ｙ The first component M in Ｙ－ａ causes the linear guide block 71 to be displaced relatively so as to tilt with respect to the fixed shaft 11.

[0088] Therefore, unlike the configuration of the present invention, if the guide member 70 is configured not to rotate around the first rotation axis Ax1, at one end of the linear guide block 71 in the vertical direction X, the distance CL between the rolling groove 71B and the outer peripheral surface of the fixed shaft 11 becomes narrow (simultaneously, at the other end, the distance between the rolling groove 71B and the outer peripheral surface of the fixed shaft 11 becomes wide). As shown in FIG. 16B, when the linear guide block 71 tilts with respect to the fixed shaft 11 and the distance CL at one end in the vertical direction X becomes narrow, in the infinite circulation path inside the guide member 70, it becomes difficult for the rolling element 73 to enter from the turn groove of the circulation component 72 into the rolling groove 71B, and the smooth circulation of the rolling element 73 is hindered. As a result, the rolling element 73 gets stuck inside the guide member 70, and the guide member 70 is locked with respect to the fixed shaft 11. Thus, when the moving shaft 12 cannot be displaced in the vertical direction X with respect to the fixed shaft 11, as a result, the walking of the dog is hindered.

[0089] Thus, as shown in FIG. 20, the guide member 70 in the present disclosure guides in the vertical direction X while being supported rotatably around the first rotation axis Ax1 extending in the vertical direction with respect to the fixed shaft 11 for the moving shaft 12. In other words, the guide member 70 supports the moving shaft 12 so that the angle of the moving shaft 12 with respect to the fixed shaft 11 in a plan view can change from an initial state where they are orthogonal to an inclined use state. Specifically, since the support portion 74 to which the moving shaft 12 is attached functions as a thrust bearing rotatable around the first rotation axis Ax1 as described above, the support shaft 76 to which the moving shaft 12 is attached rotates around the first rotation axis Ax1 with respect to the linear guide block 71. Therefore, even when a force (yaw moment M shown in FIG. 16B Ｙ ) that tries to tilt the moving shaft 12 in a plan view is generated, smooth displacement of the moving shaft 12 in the vertical direction X with respect to the fixed shaft 11 can be realized.

[0090] Furthermore, the guide member 70 guides the movable shaft 12 so that it can slide (displace freely) in the lateral direction Y. This point will be described in detail with reference to Figures 21 and 22. Figure 21 is a plan view showing an example of a state in which the inclination of the movable shaft 12 with respect to the fixed shaft is large. Figure 22 is an enlarged view of the left guide member 70 in the state shown in Figure 21. As shown in Figure 21, in the state in which the inclination of the movable shaft 12 is large, the distance L between the support parts 74 on the movable shaft 12 ３ The distance L between the pair of fixed shafts 11. Ｂ Between them, the following equation (2) holds in plane geometry: L ３ > L Ｂ ... (2)

[0091] Furthermore, from equation (2), as shown in Figure 22, the distance L from the end of the movable shaft 12 to the support portion 74 in the initial state (see Figure 19) is ４ The distance L from the end of the movable shaft 12 to the support part 74 when the movable shaft 12 is tilted significantly. ５ The following equation (3) holds between L and L. ４ > L ５ ... (3)

[0092] From equation (3), it can be seen that, in the process of the movable shaft 12 being displaced in the vertical direction X while tilting with respect to the fixed shaft, the movable shaft 12 also slides against the inner surface of the support hole 76A in the support part 74 and is displaced inward in the lateral direction Y. Specifically, with the movable shaft 12 inserted through the support hole 76A (see Figure 15) of the support shaft 76, it slides against the inner circumferential surface of the support hole 76A and is displaced inward in the lateral direction Y, while tilting with respect to the fixed shaft in accordance with the rotation of the support shaft 76 around the first rotation axis Ax1.

[0093] Thus, in the device 5, the guide member 70 is configured to guide the movable shaft 12 so that it can rotate freely around a first rotation axis Ax1 that extends vertically relative to the fixed shaft 11, and so that it can slide in the lateral direction Y. Therefore, a structure is realized in which the slider 80 and the movable shaft 12 can be smoothly displaced in the vertical direction X and the lateral direction Y in accordance with the movement of the dog, which moves freely in both vertical and horizontal directions.

[0094] In the device 5 shown in Figure 20, the rotation of the movable axis 12 around one of the two first rotation axes Ax1 of the left and right guide members 70 depends on the dog's walking position and direction. In reality, the first rotation axis Ax1 that is the center of rotational displacement of the movable axis 12 constantly changes in accordance with the dog's disordered walking, resulting in a complex movement combined with the vertical X displacement of the movable axis 12. Since the movable axis 12 is slidable relative to the support 74, depending on the dog's movement, both first rotation axes Ax1 may simultaneously become the rotation center of the movable axis 12, so the rotation center of the movable axis 12 as a whole may be the position between the two first rotation axes Ax1. On the other hand, the movable axis 12 may not rotate, but may only be displaced in the vertical X direction.

[0095] Furthermore, the slider 80 is a linear rolling guide, achieving extremely low sliding resistance relative to the moving shaft 12. On the other hand, since the moving shaft 12 is in contact with the inner surface of the support hole 76A of the support part 74, it is slidingly guided in the lateral direction Y by the support shaft 76. For this reason, the sliding resistance of the moving shaft 12 relative to the inner surface of the support hole 76A is greater than the sliding resistance of the slider 80 relative to the moving shaft 12. For this reason, in the initial state shown in Figure 19, when a force with only a component in the lateral direction Y is applied to the slider 80, a lateral displacement in the lateral direction Y occurs relative to the moving shaft 12 of the slider 80, which has low sliding resistance, and a lateral displacement in the lateral direction Y of the moving shaft 12 is unlikely to occur.

[0096] Furthermore, as shown in Figure 21, taking into account that the distance between the support portions 74 on the movable shaft 12 becomes longer than the initial state due to the inclination of the movable shaft 12 in a plan view, the length of the movable shaft 12 is set to be longer than the distance between the pair of fixed shafts 11. This prevents the end of the movable shaft 12 from falling off the support portion 74 when the movable shaft 12 is inclined in a plan view.

[0097] Next, the length of the movable shaft 12 will be explained below. Figure 23 is a plan view showing the position of each of the pair of guide members 70 on the fixed shaft 11 with the largest possible separation distance. Figure 24 is a plan view showing the position of the pair of guide members 70 on the fixed shaft 11 shifted by 1 / 5 of the total stroke.

[0098] In the example shown in Figure 23, the pair of guide members 70 are separated over the entire lengthwise stroke range St of the linear guide block 71. In this state, the distance L between the support parts 74 on the moving axis 12 is... ＭＡＸ The following equation (4) holds true for L. ＭＡＸ = (St ２ +L Ｂ ２ ) １／２ ... (4) St: Vertical stroke range L of the linear guide block 71 Ｂ The distance between the pair of fixed axes 11, i.e., the movable axis 12, is given by L as shown in equation (4). ＭＡＸ A length not exceeding [a certain value] is sufficient.

[0099] In the example shown in Figure 24, the pair of guide members 70 are separated by 1 / 5 of the vertical stroke range St of the linear guide block 71. In trial testing with prototypes, it was confirmed that when a dog walks freely in both directions, the tilt of the moving axis 12 occurs to at least 1 / 5 of the vertical stroke range St of the linear guide block 71. In this state, the distance L between the support parts 74 on the moving axis 12. ＭＩＮ The following equation (5) holds true for L. ＭＩＮ = ((St / 5) ２ +L Ｂ ２ ) １／２ ... (5) St: Vertical stroke range L of the linear guide block 71 Ｂ The distance between the pair of fixed axes 11, i.e., the movable axis 12, is given by L as shown in equation (5). ＭＩＮ The above length is required.

[0100] Based on equations (4) and (5), the following equation (6) can be derived as the range of the suitable length Lx of the movable axis 12: ((St / 5)２ +L Ｂ ２ ) １／２ ≤ Lx ≤ (St ２ +L Ｂ ２ ) １／２ ... (6) In other words, by ensuring that the length of the movable shaft 12 satisfies equation (6), the movable shaft 12 can be prevented from becoming longer than necessary while allowing for a minimum degree of inclination.

[0101] (Modification of the Third Embodiment) Figure 25 shows a modified apparatus 6 of the apparatus 5 according to the third embodiment. As shown in Figure 25, the apparatus 6 further includes a cushioning member 92. The cushioning member 92 is a member that mitigates the impact when the slider 80 and the guide member 70 come into contact with the surrounding members. The cushioning member 92 is made of a lightweight and highly cushioning material such as various foams, rubber, or elastomers, and is made of a material with lower rigidity than the member to which it is attached. In the illustrated example, the apparatus 6 includes a first cushioning member 92A, a second cushioning member 92B, a third cushioning member 92C, and a fourth cushioning member 92D.

[0102] The first buffer member 92A is provided at both ends of the slider 80 in the lateral direction Y. The first buffer member 92A reduces contact between the slider 80 and the side surface of the linear guide block 71 of the guide member 70. The second buffer member 92B is provided on the inner side surface of the linear guide block 71 of the guide member 70 in the lateral direction Y. The second buffer member 92B reduces contact between the slider 80 and the side surface of the linear guide block 71 of the guide member 70. Note that both the first buffer member 92A and the second buffer member 92B may be provided, or one of them may be omitted.

[0103] The third buffer member 92C is provided at both ends of the guide member 70 in the vertical direction X. The third buffer member 92C reduces contact between the guide member 70 and the stopper ring 91 of the positioning stopper 90. The fourth buffer member 92D is provided on the inner end face of the stopper ring 91 in the positioning stopper 90 in the vertical direction X. The fourth buffer member 92D reduces contact between the guide member 70 and the stopper ring 91. Note that both the third buffer member 92C and the fourth buffer member 92D may be provided, or one of them may be omitted.

[0104] As described above, in the modified device 6, multiple cushioning members 92 are provided, which can mitigate collisions between the parts. In this respect, unlike general FA devices, the slider 80 and guide member 70 move due to the dog's disorderly walking, so it is not possible to control the drive of the slider 80 and the moving shaft 12, and contact between parts is unavoidable. Therefore, by mitigating collisions between the driven parts with the cushioning members 92, the durability of the parts can be increased, and the device can be designed so that the dog is not subjected to impact during collisions. The cushioning members 92 may be replaced with damper members that have resistance characteristics in which the resistance force changes according to the displacement. In this case, the damper members can gently absorb the contact between parts, further reducing the impact transmitted to the dog.

[0105] Furthermore, in the device 6, a pair of retaining clips 93 are provided at both ends of the movable shaft 12 in the lateral direction Y. The retaining clips 93 are ring-shaped members. The inner diameter of the retaining clips 93 is larger than the outer diameter of the movable shaft 12. The ends of the movable shaft 12 are inserted into the inside of the retaining clips 93. With the movable shaft 12 inserted inside, the retaining clips 93 are fixed to the ends of the movable shaft 12 by set screws or the like that which penetrate the peripheral wall of the retaining clips 93 radially. The outer diameter of the retaining clips 93 is larger than the inner diameter of the support hole 76A of the support shaft 76. Therefore, the retaining clips 93 cannot pass through the support hole 76A and interfere with the support shaft 76, thereby restricting the displacement range of the movable shaft 12 relative to the support portion 74.

[0106] By providing retaining clips 93 at both ends of the movable shaft 12 in this manner, as described above, when the movable shaft 12 moves at an inclination in a plan view, the ends of the movable shaft 12 are prevented from being located inward in the lateral direction Y from the support portion 74, thereby preventing the movable shaft 12 from falling off the support portion 74. Note that when retaining clips 93 are provided, in the aforementioned equation (6), the preferred length Lx of the movable shaft 12 is not the length L of the movable shaft 12 itself, but the distance L between the pair of retaining clips 93. Ｄ I would like to add that this is equivalent to the above.

[0107] (Modified form of supporter 20) Figure 26 shows a modified form of supporter 20. In the supporter 20 shown in Figure 26, a beam 24 extending in the front-to-back direction of the dog is attached to the mounting hole 86A of the rotating part 84 of the slider 80 via a plurality of connecting rings 25. The plurality of connecting rings 25 are connected to the front end and rear end of the beam 24, respectively. An elastic member 21 is attached to the front end of the beam 24, and a belt member 23 is attached to the rear end of the beam 24. In addition, an elastic member 21 is attached to both the front harness 30 and the rear harness 30. By using this mounting structure for the supporter 20, it is expected that it will be easier to maintain the dog's balance in the front-to-back direction when walking. Note that the supporter 20 may also be equipped with only one of the elastic member 21 and the belt member 23.

[0108] <Fourth Embodiment> Next, a walking support device 7 according to the fourth embodiment will be described. Figure 27 is a perspective view of the walking support device 7 according to the fourth embodiment. In the device 7, the movable shaft 12 is mounted on the upper part of the fixed shaft 11. The movable shaft 12 is displaced in the vertical direction X and the horizontal direction Y by rolling or sliding on the upper surface (outer peripheral surface) of the fixed shaft 11. A pair of side discs 79, which serve as guide members, are attached to both ends of the movable shaft 12 in the horizontal direction Y. The pair of side discs 79 are positioned outside the contact portion between the movable shaft 12 and the fixed shaft 11 in the horizontal direction Y. A certain distance is provided between the side discs 79 and the fixed shaft 11.

[0109] The side disc 79 guides the movable shaft 12 so that it can rotate around a third rotation axis Ax3 that extends vertically relative to the fixed shaft 11, and so that the movable shaft 12 can slide (displace freely) in the lateral direction Y relative to the fixed shaft 11. The third rotation axis Ax3 is located at the point where the movable shaft 12 and the fixed shaft 11 come into contact. In other words, the side disc 79 does not restrict the lateral displacement of the movable shaft 12 when the angle at which the movable shaft 12 is inclined relative to the fixed shaft 11 in a plan view is within a predetermined range. On the other hand, the side disc 79 restricts further lateral displacement of the movable shaft 12 when the angle at which the movable shaft 12 is inclined relative to the fixed shaft 11 in a plan view exceeds a predetermined range, specifically when the movable shaft 12 is inclined to the extent that either of the pair of side discs 79 comes into contact with the fixed shaft 11.

[0110] Similarly, even when the movable axis 12 is displaced in the lateral direction Y, the side disc 79 allows the movable axis 12 to be displaced in the lateral direction Y up to the point where the side disc 79 contacts the fixed axis 11. This prevents the end of the movable axis 12 from falling off the fixed axis 11. In other words, since the movable axis 12 can be tilted in a plan view until the side disc 79 contacts the fixed axis 11, the movable axis 12 can be rotated around the third rotation axis Ax3 in accordance with the random movements of the dog, and the movable axis 12 can also be displaced in the lateral direction Y, thereby achieving smooth displacement of the movable axis 12.

[0111] Furthermore, in this embodiment, a ring-shaped slider 14 and a plurality of connecting rings 25 connected to the slider 14 are provided. A supporter 20 equipped with a rotating mechanism is connected to one of the multiple connecting rings 25 arranged in the vertical direction. By adopting this configuration, the structure of the slider 14 and the side disc 79, which is a guide member, can be made extremely simple, and the number of parts can be reduced. Note that the side discs 79 may be provided in pairs on the inside of the lateral direction Y with respect to each contact point with the fixed shaft 11 of the movable shaft 12, or they may be provided in pairs on one of the contact points with the fixed shaft 11 of the movable shaft 12 so as to sandwich the fixed shaft 11.

[0112] <Other> In the above embodiments, the animals to which the walking assistance device is applied are assumed to be pet animals such as dogs and cats, but the invention is not limited to this embodiment. For example, the walking assistance device described in this disclosure may be applied to horses such as racehorses or riding horses, cattle, or pigs, or to protected wild animals. In these cases as well, the same effects as in the above embodiments can be obtained.

[0113] It should be noted that the present invention is not limited to the embodiments described above, and various modifications are included. For example, the embodiments described above are described in detail to make the present invention easier to understand, and are not necessarily limited to those having all the configurations described. Furthermore, it is possible to replace parts of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add configurations from other embodiments to the configuration of one embodiment. In addition, it is possible to add, delete, or replace parts of the configuration of each embodiment with other configurations.

[0114] <Note> The contents of this disclosure are noted below.

[0115] (Note 1) An animal walking support device comprising: a pair of fixed axes extending in the vertical direction, positioned to sandwich a flat movement area that extends horizontally and allows the animal to move freely in both directions, in a plan view; a movable axis extending in the horizontal direction, supported by the pair of fixed axes so as to be displaceable in the vertical direction; a slider attached to the radially outer side of the movable axis so as to cover the entire circumference, and movable in the horizontal direction relative to the movable axis; and a supporter that connects the slider and the harness worn by the animal, and supports the movement of the animal.

[0116] (Note 2) The supporter comprises an elastic member and a rotating device disposed between the slider and the harness, wherein the elastic member elastically connects the slider and the harness via the rotating device, the animal walking support device according to Note 1.

[0117] (Note 3) The walking support device for an animal as described in Note 2, wherein the elastic member connects one point of the harness attached around the hind leg of the animal to the slider via the rotating device.

[0118] (Note 4) The animal walking support device according to Note 2, wherein the supporter has a plurality of elastic members, the plurality of elastic members are arranged symmetrically on the left and right so as to sandwich the animal from the left and right directions, and the upper ends of the plurality of elastic members are connected to the slider via a single rotating device.

[0119] (Note 5) The animal walking support device according to Note 4, wherein the supporter has three elastic members, and one of the elastic members is connected to a harness attached around the forelegs of the animal.

[0120] (Note 6) The supporter further comprises a belt member which is an inelastic member, and the belt member is attached to the left-right central part of the harness attached around the hind legs, as described in Note 5, for the animal walking support device.

[0121] (Note 7) The supporter further comprises a beam extending in the front-rear direction, the front end of the beam being connected to a harness attached around the animal's forelegs, the rear end of the beam being connected to a harness attached around the animal's hind legs, and the beam being connected to the lower end of an elastic member via a rotating mechanism, as described in Note 2 for an animal walking support device.

[0122] (Note 8) The animal walking support device according to Note 1, further comprising, in a plan view, a plurality of frame members surrounding the movement area from all four sides, and fence members attached to the frame members and covering the movement area from the outside in the horizontal direction.

[0123] (Note 9) The animal walking support device according to Note 2, further comprising a stopper attached to at least one of the fixed shaft and the movable shaft, which restricts the range of movement of the animal.

[0124] (Note 10) The animal walking support device according to Note 2, wherein the supporter comprises a plurality of elastic members, and the plurality of elastic members have different natural lengths and spring constants.

[0125] (Note 11) A walking support device comprising: a pair of fixed axes extending in the vertical direction, positioned to sandwich a flat movement area that extends horizontally and allows an animal to move freely in both vertical and horizontal directions, in a plan view; a movable axis extending in the horizontal direction, supported by the guide member and guided along the fixed axes; and a slider attached to the radially outer side of the movable axis so as to cover its entire circumference, and movable in the horizontal direction relative to the movable axis, wherein the movable axis is supported to be rotatable around a rotation axis extending vertically relative to the fixed axis.

[0126] (Note 12) The walking support device according to Note 11, further comprising a guide member supported on each of the pair of fixed shafts so as to be displaceable in the vertical direction and for guiding the movable shaft, wherein the movable shaft is formed to be longer than the distance between the pair of fixed shafts, and the guide member guides the movable shaft so as to be rotatable around a rotation axis extending vertically with respect to the fixed shafts and so as to be slidable in the horizontal direction.

[0127] (Note 13) The walking support device according to Note 12, wherein the slider comprises a nut having a rolling groove extending opposite to the outer surface of the movable shaft and a through hole extending parallel to the rolling groove; a pair of turn parts attached to each of the lateral ends of the nut, connecting the rolling groove and the through hole to form an infinite circulation path; and a plurality of rolling elements that roll between the movable shaft and the rolling groove to circulate in the infinite circulation path.

[0128] (Note 14) The walking support device according to Note 13, wherein the nut has a housing cylinder portion that opens downward, and the housing cylinder portion houses a part of a rotating device that is rotatably supported around a rotating shaft that extends in the vertical direction.

[0129] (Note 15) The walking support device according to Note 14, wherein the lateral end of the slider is provided with a buffer member to prevent contact with the guide member.

[0130] (Note 16) The walking support device according to Note 13 or 14, wherein the slider, the nut, the pair of turning parts, and the plurality of rolling elements are made of a resin material.

[0131] (Note 17) The walking support device according to Note 11 or 12, wherein the guide member comprises: a linear guide block having a rolling groove extending opposite to the outer surface of the fixed shaft and a through hole extending parallel to the rolling groove; a pair of circulating components attached to each of the vertical ends of the linear guide block, connecting the rolling groove and the through hole to form an infinite circulation path; and a plurality of rolling elements that roll between the fixed shaft and the rolling groove and circulate in the infinite circulation path.

[0132] (Note 18) The walking support device according to Note 17, wherein the linear guide block is provided with a rotating shaft extending in the vertical direction, and a support portion is provided that rotatably supports the moving shaft around the rotating shaft.

[0133] (Note 19) The walking support device according to Note 18, wherein the movable shaft is attached to the support and supported so as to be displaceable in the lateral direction relative to the support.

[0134] (Note 20) The walking support device according to Note 19, wherein a buffer member is provided on the inner side of the guide member in the lateral direction to buffer contact with the slider.

[0135] (Note 21) The walking support device according to Note 20, wherein the guide member, the linear guide block, the pair of circulating components, and the plurality of rolling elements are formed of a resin material.

[0136] (Note 22) The walking support device according to Note 11 or 12, further comprising positioning stoppers attached to both ends in the vertical direction of the pair of fixed shafts, which restrict the direction in which the pair of fixed shafts extend and restrict the range of movement of the guide member.

[0137] (Note 23) The walking support device according to Note 22, wherein an interference member is provided on the vertical inner side of the positioning stopper to buffer contact with the guide member.

[0138] (Note 24) The walking support device described in Note 23, wherein both ends of the movable shaft are provided with retaining devices.

[0139] 1-7...Walking support device 10...Support column 11...Fixed shaft 12...Moving shaft 13...Guiding member 14...Slider 15...Connecting member 20...Supporter 21...Elastic member 22...Rotating fitting (rotating device) 23...Belt member 24...Beam 30...Harness 40...Frame member 50...Fence 60...Stopper 70...Guiding member 80...Slider 90...Positioning stopper

Claims

1. A walking support device comprising: a pair of fixed shafts extending in the vertical direction, positioned to sandwich a flat movement area that extends horizontally and allows an animal to move freely in both directions, in a plan view; a pair of fixed shafts extending in the vertical direction, each of the pair of fixed shafts supported so as to be displaceable in the vertical direction, and extending in the horizontal direction; a slider attached to the radially outer side of the movable shaft so as to cover its entire circumference, and movable in the horizontal direction relative to the movable shaft; and a guide member supported so as to be displaceable in the vertical direction on each of the pair of fixed shafts, which guides the movable shaft, wherein the slider comprises a nut having a rolling groove extending opposite to the outer surface of the movable shaft and a through hole extending parallel to the rolling groove; a pair of turn parts attached to each of the lateral ends of the nut, connecting the rolling groove and the through hole to form an infinite circulation path; and a plurality of rolling elements that roll between the movable shaft and the rolling groove to circulate in the infinite circulation path.

2. The walking support device according to claim 1, wherein the guide member comprises: a linear guide block having a rolling groove extending opposite to the outer surface of the fixed shaft and a through hole extending parallel to the rolling groove; a pair of circulating components attached to each of the vertical ends of the linear guide block, connecting the rolling groove and the through hole to form an infinite circulation path; and a plurality of rolling elements that roll between the fixed shaft and the rolling groove and circulate in the infinite circulation path.

3. The walking support device according to claim 1 or 2, wherein the nut has a housing cylinder portion that opens downward, and the housing cylinder portion houses a part of a rotating device that is rotatably supported around a rotating shaft that extends in the vertical direction.

4. The walking support device according to claim 1 or 2, wherein the linear guide block is provided with a support portion that has a rotation axis extending in the vertical direction and supports the movable axis so as to be rotatable around the rotation axis.

5. The walking support device according to claim 4, wherein the movable shaft is attached to the support portion and is supported so as to be displaceable in the lateral direction relative to the support portion.

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