CN101077451A

CN101077451A - Balance exercise machine

Info

Publication number: CN101077451A
Application number: CNA2007101045419A
Authority: CN
Inventors: 中西隆介
Original assignee: Matsushita Electric Works Ltd
Current assignee: Panasonic Electric Works Co Ltd
Priority date: 2006-05-26
Filing date: 2007-05-25
Publication date: 2007-11-28
Anticipated expiration: 2027-05-25
Also published as: JP2007313076A; CN201061693Y; JP4770592B2; CN101077451B

Abstract

In a balance exercise machine (1), a swing mechanism (3) that swings a seat (2) in both of an anteroposterior direction (direction X) and a widthwise direction (direction Y) is rotatably supported on a supporting unit (119 around a predetermined rotation axis (T0). A first inclination mechanism (12) that stands up or down the rotation axis (T0) is provided between the supporting unit (11) and a pedestal (4). A second inclination mechanism (20) that can compensate the posture of the seat (2) is provided between the seat (2) and the swing mechanism (3). By driving the swing mechanism (3), the first inclination mechanism (12) and the second inclination mechanism (20) independently with each other, a stroke of swing motion of the seat can be expanded or contracted. Alternatively, by driving the swing mechanism (3), the first inclination mechanism (12) and the second inclination mechanism (20) in conjunction with each other, the trace of the motion of the seat (2) can be varied.

Description

Balance exercise machine

Technical field

The present invention relates to a kind of balance exercise machine, it is used to train trainee's balanced capacity, is sitting on the seat and swing seat by making the trainee to be similar to the mode of riding, and will train load to impose on the trainee.

Background technology

Recently, as a kind of suitable to people of all ages exercising device easily, balance exercise machine comes into vogue, and it has not only been expanded to normal domestic use, even has been used as the Medical Devices of rehabilitation training.For example, publication number is that the early stage publication of the Japan of 2006-61672 has disclosed a kind of compactly designed conventional balanced training airplane that has, and wherein, the swing mechanism of seat is arranged on below the seat.

Yet have this compactly designed conventional balanced training airplane and have following shortcoming: motor pattern is inadequate, and also some is little in the movement travel of seat.Therefore, if the trainee is used to train, then he or she may feel dissatisfied.In addition, for by training the privileged site that strengthens human body selectively, then need the better balance exercise machine of usefulness.

Summary of the invention

The purpose of this invention is to provide a kind of improved balance exercise machine, its have compactly designed in, can increase motor pattern and enlarge the movement travel of seat.

Balance exercise machine according to an aspect of the present invention comprises: seat, and the trainee is sitting on this seat; Swing mechanism, it swings this seat; The mechanism of extensible contraction, it changes the distance between this seat and this swing mechanism by extending or shrinking, with the stroke of the oscillating motion that changes this seat; And controller, it controls the mechanism of this swing mechanism and this extensible contraction.

According to this structure, when the mechanism of extensible contraction was driven, the distance between swing mechanism and the seat can prolong or shorten.For example, when the mechanism of extensible contraction extends, can prolong the stroke of the oscillating motion of seat, thus the balance exercise machine that can obtain to increase motor pattern and enlarge the movement travel of seat.In addition, when the mechanism of the extensible contraction of driving related, can increase the motor pattern of more seat with swing mechanism.

In above-mentioned balance exercise machine, preferably also comprise: support unit, it supports this swing mechanism, and this swinging structure can be around predetermined pivot axis; Bracing frame, it is settled on the ground, and supports this support unit, and this support unit can rotate around first horizontal axis.The mechanism of this extensible contraction comprises: first leaning device, and it is arranged between this bracing frame and this support unit, and changes the inclination angle of the pivot center of this swing mechanism in perpendicular; And second leaning device, it is arranged between this swing mechanism and this seat, and changes the inclination angle of this seat.

According to this structure, swing mechanism is because the driving force of itself can center on pivot axis.Therefore, seat can be along the width swing of balance exercise machine.In addition, because this support unit can rotate around first horizontal axis, and first leaning device is arranged between bracing frame and the support unit, so the pivot center of swing mechanism can change with respect to horizontal angle, in other words, the pivot center of swing mechanism can be holded up or put down.In addition,, can be independent of the motion of first leaning device, change the posture of seat because second leaning device is arranged between swing mechanism and the seat.

In above-mentioned structure, preferably: this controller control drives this first leaning device and second leaning device associated with each other, with extension or the contraction by this second leaning device, compensation is because at least a portion of the inclination of the seat that the extension of this first leaning device or contraction produce.

According to this structure, for example, when second leaning device during with the related driving of first leaning device, seat can be under the situation that keeps its posture, is raised or descends.

In above-mentioned structure, preferably: this controller control drives this first leaning device, and the inclination angle of the pivot center of this swing mechanism is changed in the scope of near vertical in level of approximation.

Perhaps, preferably: this controller control drives this first leaning device associated with each other and this second leaning device, inclination angle with the pivot center that changes this swing mechanism, so that the oscillating motion of this seat is changing around the oscillating motion of horizontal axis with around between the oscillating motion of vertical axis, by the extension or the contraction of this second leaning device, compensation is because at least a portion of the inclination of the seat that the extension of this first leaning device or contraction produce simultaneously.

In above-mentioned structure, preferably: this swing mechanism comprises motor and first driven wheel and second driven wheel that pass through the drive force of this motor respectively; This first driven wheel has eccentric shaft, and described eccentric shaft produces displacement in first perpendicular of fore-and-aft direction that comprises this balance exercise machine and vertical direction, and thus, this seat is swung in this first perpendicular; This second driven wheel has eccentric shaft, and this eccentric shaft produces displacement in second perpendicular of width that comprises this balance exercise machine and vertical direction, thereby this seat is swung in this second perpendicular.

According to this structure, can produce the broad ways of seat and the oscillating motion of fore-and-aft direction by the driving force of single motor.Therefore, can simplify swing mechanism and make its size of reduction, therefore, can reduce the size of the balance exercise machine that has adopted this swing mechanism, and can reduce the cost of balance exercise machine.

In addition, preferably: this swing mechanism has a mechanism, with the mobile motion that converts the formation elliptical path of this seat in this first perpendicular.

According to this structure, when with the motion of first leaning device and/or the motion association of second leaning device, when driving swing mechanism, can optimally change the shape of this elliptical path.

In addition, preferably: rotating speed of motor when being raised with continuous oscillating motion with respect to this seat, when this seat was raised, this master controller made this rotating speed of motor slack-off.

According to this structure, can adopt to have the motor of low power compact(ing) machine, thereby can reduce the power consumption and the cost of balance exercise machine as this driving mechanism.

In addition, preferably: this balance exercise machine also comprises: offsetting mechanism, so that be offset around the swing mechanism of this pivot center.Therefore, can provide this swing mechanism around the skew of pivot center with respect to the position, angle of support unit, thus swing mechanism, promptly seat can be with respect to basic point, and around the pivot center swing, this basic point tilts at a predetermined angle with respect to pivot center.

Although proposed new feature of the present invention in appending claims, from the detailed description below in conjunction with accompanying drawing, the present invention may be better understood.

Description of drawings

The present invention is described below with reference to the accompanying drawings.Should be noted in the discussion above that the institute's drawings attached that illustrates is used to illustrate the technical conceive of the present invention or embodiment, wherein:

Fig. 1 is a side view, and it shows the unitary construction of balance exercise machine according to an embodiment of the invention;

Fig. 2 is the plane of balance exercise machine shown in Figure 1;

Fig. 3 is a side view, and it shows the structure of the driving mechanism of balance exercise machine;

Fig. 4 is the cross sectional front view along A-A line among Fig. 3;

Fig. 5 is the exploded perspective view that right lateral side is looked from Fig. 1, and it shows the structure of balance exercise machine;

Fig. 6 is a stereogram, and it shows the structure of the balance exercise machine of removing seat and lid;

Fig. 7 is an exploded perspective view, and it shows the structure of the swing mechanism of seat;

Fig. 8 is a right view, and it shows the structure of swing mechanism;

Fig. 9 is a side view, and it shows between seat center, eccentric shaft center and the guide shaft center and concerns, and the oscillating motion track at seat center;

Figure 10 is a plane, it shows when the gear ratio of first driven wheel and second driven wheel is 1: 1 and is consistent all when 0 spends when set starting point with the oscillating motion of broad ways along the starting point of the oscillating motion of fore-and-aft direction, the oscillating motion track at seat center;

Figure 11 is a curve map, and it shows under the situation shown in Figure 10, along the relation between the phase place of the oscillating motion of the phase place of the oscillating motion of fore-and-aft direction and broad ways;

Figure 12 is a plane, it shows when the gear ratio of first driven wheel and second driven wheel is 1: 1 and differs 90 when spending, the oscillating motion track at seat center when set starting point with the oscillating motion of broad ways along the starting point of the oscillating motion of fore-and-aft direction;

Figure 13 is a curve map, and it shows under the situation shown in Figure 12, along the relation between the phase place of the oscillating motion of the phase place of the oscillating motion of fore-and-aft direction and broad ways;

Figure 14 is a plane, it shows when the gear ratio of first driven wheel and second driven wheel is 1: 2 and is consistent all when 0 spends when set starting point with the oscillating motion of broad ways along the starting point of the oscillating motion of fore-and-aft direction, the oscillating motion track at seat center;

Figure 15 be illustrated under the situation shown in Figure 14, along the curve map of the relation between the phase place of the oscillating motion of the phase place of the oscillating motion of fore-and-aft direction and broad ways;

Figure 16 is a plane, it shows when the gear ratio of first driven wheel and second driven wheel is 1: 2 and differs 180 when spending, the oscillating motion track at seat center when set starting point with the oscillating motion of broad ways along the starting point of the oscillating motion of fore-and-aft direction;

Figure 17 is a curve map, and it shows under the situation shown in Figure 16, along the relation between the phase place of the oscillating motion of the phase place of the oscillating motion of fore-and-aft direction and broad ways;

Figure 18 is a plane, it shows when the gear ratio of first driven wheel and second driven wheel is 1: 2 and differs 90 when spending, the oscillating motion track at seat center when set starting point with the oscillating motion of broad ways along the starting point of the oscillating motion of fore-and-aft direction;

Figure 19 is a curve map, and it shows under the situation shown in Figure 180, along the relation between the phase place of the oscillating motion of the phase place of the oscillating motion of fore-and-aft direction and broad ways;

Figure 20 is a plane, it shows when the gear ratio of first driven wheel and second driven wheel is 1: 2 and differs 270 when spending, the oscillating motion track at seat center when set starting point with the oscillating motion of broad ways along the starting point of the oscillating motion of fore-and-aft direction;

Figure 21 is a curve map, and it shows under the situation shown in Figure 20, along the relation between the phase place of the oscillating motion of the phase place of the oscillating motion of fore-and-aft direction and broad ways;

Figure 22 is a plane, it shows when the gear ratio of first driven wheel and second driven wheel is 2: 1 and is consistent all when 0 spends when set starting point with the oscillating motion of broad ways along the starting point of the oscillating motion of fore-and-aft direction, the oscillating motion track at seat center;

Figure 23 is a side view, and it shows when first leaning device that is used to swing mechanism is tilted extends, the track of the oscillating motion at relation and seat center between seat center and eccentric shaft center and the guide shaft center;

Figure 24 is a schematic diagram, its show under the situation shown in Figure 9 that is used to contrast and situation shown in Figure 23 under the seat centrode;

Figure 25 is a side view, and it shows when second leaning device that is used for tilted seat extends, the track of the oscillating motion after relation and seat center reached before extending second leaning device between seat center and eccentric shaft center and the guide shaft center;

Figure 26 is a side view, and it shows when swing mechanism being tilted and the displacement of seat when not tilting, driving mechanism each several part by extending first and second leaning devices;

Figure 27 is a plane, and it shows with Figure 14 and compares, and corresponding to the inclination of swing mechanism, the track at seat center changes;

Figure 28 is a plane, and it shows the transfer that is offset the basic point generation of the oscillating motion that makes the seat center owing to swing mechanism left;

Figure 29 is a plane, and it shows the plane that is offset the transfer that the basic point of the oscillating motion that makes the seat center produces owing to swing mechanism to the right;

Figure 30 is a block diagram, and it shows the electricity structure of balance exercise machine;

Figure 31 is a block diagram, and it shows the electricity structure of the main control circuit of balance exercise machine; And

Figure 32 is a schematic diagram, is used to describe master controller by balance exercise machine, the control of the motor that is used for swing seat is changed.

The specific embodiment

Balance exercise machine according to an embodiment of the invention is described with reference to the drawings.Fig. 1 shows the unitary construction according to the balance exercise machine 1 of first embodiment.Fig. 2 is the plane of balance exercise machine 1.Fig. 3 shows the structure of the driving mechanism of balance exercise machine 1.Fig. 4 is the cross sectional front view along the A-A line of Fig. 3.Fig. 5 is the exploded perspective view of the balance exercise machine 1 of Fig. 1 of looking from right lateral side.

Balance exercise machine 1 comprises: seat 2 and bracing frame 4 etc., and this seat roughly is the horseback shape or the shape of a saddle, is used to make the trainee to sit thereon; This bracing frame is arranged on the ground 5, is supporting seat 2.Seat 2 is constructed with seat base 2a and the mat 2b that is installed on the seat base 2a.

A pair of pin stirrup 7 (for the purpose of simplifying the description, in Fig. 2 to Fig. 5 with its omission) hangs down from two front sides of seat 2.Each pin stirrup 7 comprises: the foot pedal 7a that is used to make the trainee place his or her tiptoe, by be fixed on such as screw etc. seat base 2a collude suspension member 7b and with foot pedal 7a with collude the connector 7c that suspension member 7b is connected.When being formed on the colluding hanging hole 7e and be arranged on the pin 7d that colludes suspension member 7b lower end and match of connector 7c upper end, connector 7c can swing.Foot pedal 7a has a plurality of adjustment hole 7g that are arranged in a row, thereby, can match with one of them adjustment hole 7g by the pin 7f that will be arranged on the connector lower end, regulate the length (or height of foot pedal 7a) of pin stirrup 7.

Seat 2 also comprises the supporting base 2c that is arranged near the seat front end.Handrail 8 is arranged on the part of close seat 2 front ends on the supporting base 2c.Handrail 8 has semicircular handle 8a.Two ends 8b and the 8c of handle 8a curve inwardly, so that be supported in rotationally on the supporting base 2c.Therefore, the trainee can be by holding up handle 8a from seat, and the side away from trainee oneself of holding handle 8a.Form storage tank at the upper surface of supporting base 2c,, and handle 8a is put into the supporting base 2c of seat 2 so that can be by setting level handle 8a corresponding to handle 8a shape.Function circuit plate 9a is installed on supporting base 2c, and the front panel 9b in order to dimensional packaged circuit board 9a also is installed on the supporting base 2c, be configured to operating unit 9 thus.

Bracing frame 4 comprises: mounting base 4a, and it is placed on the ground 5; Column 4b, it is erected on the mounting base 4a; Covering 4c, 4d, it covers the top, front and back of mounting base 4a respectively; And covering 4e, it covers column 4b.Mounting base 4a is configured to: left frame 4f and correct frame 4g are connected to each other by being positioned near connecting frame 4h on the part of mounting base 4a front end and the connecting rod 4i that is in mounting base 4a core.Adjuster 4j is threaded onto on the bottom surface of the front-end and back-end that are positioned at mounting base 4a of left frame 4f and correct frame 4g, and this adjuster makes it possible to the height or the level of regulating mounting base 4a with respect to ground 5.

On the inner surface of the close mounting base 4a rear end of left frame 4f and correct frame 4g, also be provided with a pair of Caster 4k.Therefore, when the overhang of the adjuster 4j that is arranged on mounting base 4a rear end reduces, and the leading section of mounting base 4a is when being raised, can be by rolling Caster 4k shifting balance training airplane 1 on ground 5.Perhaps, when the overhang of the adjuster 4j that is arranged on mounting base 4a rear end increases, so that Caster is not when contacting with ground 5, balance exercise machine 1 can be by level and is firmly remained on the ground 5, and does not rock.Therefore, even work as the trainee in the above, when seat 2 carries out oscillating motion, also can firmly keep swing mechanism 3 and seat 2.

Column 4b comprises a pair of

support column

4m, 4n, and described support column forms to be seen from its side and to be the general triangular shape, so that support because the load that swing mechanism 3, seat 2 and trainee's body weight produce.The lower end of

support column

4m, 4n is separately fixed at the approximate centre part of left frame 4f and correct frame 4g.Bearing 4p is installed on the part on close each

support column

4m and 4n top.The leg-of-mutton approximate centre of at least one in

support column

4m and 4n forms recess 4q, so that carry out the electric current supply and can hold within it the main circuit board 4r that balance exercise machine 1 drives control.These elements that constitute column 4b are covered by covering 4e, and the space between covering 4e top and seat 2 bottoms is covered by contractile covering 2d.

Fig. 6 shows the structure of the driving mechanism of the balance exercise machine 1 of looking from the left side, and wherein this balance exercise machine 1 has been removed seat 2, covering 4c, 4d and 4e.Fig. 7 is the exploded perspective view of this driving mechanism.Fig. 8 is the right view of this driving mechanism.

The driving mechanism of balance exercise machine 1 comprises: swing mechanism 3, and it is used for along the fore-and-aft direction of balance exercise machine 1 (directions X) swing seat 2; Offsetting mechanism 6, it is used to make swing mechanism 3 around pivot center T0 skew; First leaning device 12, it is arranged between bracing frame 4 and the support unit 11, is used for changing in perpendicular the angular displacement (referring to Figure 26) of the pivot center T0 of swing mechanism 3; And second leaning device 20, it is arranged between swing mechanism 3 and seat 2 or the seat base 19, is used to change the inclination angle of seat 2.

Support unit 11 is supporting swing mechanism 3, and this swing mechanism can rotate around pivot center T0.Bracing frame 4 is supporting support unit 11, and this support unit can rotate around the first horizontal axis T1.Support unit 11 comprises: a pair of

rotor plate

11a, 11b, to look from its side, and each rotor plate has crooked shape as the dog back leg; First gripper shoe (shaft bearing plate) 11c, its rearward end 11m at

rotor plate

11a, 11b connects

rotor plate

11a, 11b; Second gripper shoe 11d, its core 11n at

rotor plate

11a, 11b connects

rotor plate

11a, 11b; And lifter gripper shoe 11e, it forwards

plate

11a, 11b in the bottom of

rotor plate

11a, 11b 11o connection.These

gripper shoes

11c, 11d, 11e are welded to respectively on rotor plate 11a, the 11b.

At the leading section 11k of

rotor plate

11a, 11b, a pair of axle bush 11f is press fit on rotor plate 11a, the 11b, and each of described axle bush all has internal thread.Because the bolt 4s that passes two bearings (bearing) 4p that is arranged on support column 4m, the 4n is threaded onto the internal thread of axle bush 11f, support unit 11 is around the first trunnion axis T1 at the center that connects two bearings 4p, radial journal bearing 4p rotationally.

Support 11h is fixed on the center of lifter gripper shoe 11e, so that such as extending and shrink between the connecting rod 4i of mounting base 4a that first leaning device 12 such as lifter is arranged on support 11h and bracing frame 4.Therefore, can be along the inclination angle of the support unit 11 of the fore-and-aft direction of balance exercise machine 1 and change corresponding to the extension of first leaning device 12 and contraction.

First gripper shoe 11c and second gripper shoe 11d are arranged to preset distance toward each other, and bearing 11i, 11j are fitted in its center respectively.These bearings 11i, 11j are supporting swing mechanism 3, so that it carries out oscillating motion around pivot center T0, will be described in detail below.

First leaning device 12 comprises: cylinder 12a; Movable part 12b, it can extend and contraction with respect to cylinder 12a; Gear-box 12c, it is arranged on the top of cylinder 12a; Motor 12d, its driving gearbox 12c; And height detection unit 12e.The lower end of cylinder 12a is articulated on the supporting base 4a by connecting rod 4i, to swing around horizontal axis.Movable part 12b for example comprises ball screw etc., and the upper end of movable part 12b pivots about support 11h and pin 12k, with around the horizontal axis swing.The inner surface of the gear (not shown) among the gear-box 12c is formed with internal thread, described internal thread is connected with the ball-screw screw thread of movable part 12b, and this gear is by the worm drive on the output shaft that is fixed on motor 12d, so that movable part 12b can stretch out in the cylinder 12a or be retracted in the cylinder 12a.

Height detection unit 12e comprises: slit plate (slit plate) 12g, and it is connected to the lower end of movable part 12b by connector 12f; Sensor 12h, it detects the displacement of slit plate 12g, can measure the height of lifter gripper shoe 11e thus, i.e. the inclination angle of support unit 11.Connector 12f inserts in the cylinder 12a from slit 12i, and is connected to the lower end of movable part 12b by screw 12j.

Swing mechanism 3 has compactly designed, so that can be contained in the space that is separated out by

rotor plate

11a, 11b and

gripper shoe

11c, 11d, 11e.With reference to figure 7 and Fig. 8, swing mechanism 3 comprises the motor 13 that is contained in the shell 3f, first driven wheel 14, second driven wheel 15, guide shaft 16 etc.Shell 3f is configured to: by screw 3e

side plate

3c, 3d are fixed on protecgulum 3a and the bonnet 3b.

First driven wheel 14, second driven wheel 15 and guide shaft 16 pivot around horizontal axis by bearing 3m, 3n, 3o, and described bearing is assembled to respectively among

recess

3j, 3k with

dead eye

3g, 3h, 3i, the 3l.

First driven wheel 14 has the worm gear 14a with worm screw 13b engagement, and this worm gear has maximum gauge.Worm screw 13b is press fit on the output shaft 13a of motor 13.Support 13c is fixed to motor 13 by welding or similar fashion.Support 13c has the screwed hole 13f that is formed on its side plate 13d, the 13e, and forms and the corresponding patchhole 3p of screwed hole 13f on side plate 3c, 3d.Therefore, motor is fixed on the swing mechanism 3 as follows, promptly makes the above-mentioned screw 3e that passes patchhole 3p be threaded onto screwed hole 13f.

Pin 13g is arranged on the position that the center of gravity G with motor 13 on each

side plate

13d, 13e has certain distance.When assembling shell 3f, at first these to be sold 13g and be installed among the pin-and-hole 3q that is formed on side plate 3c, the 3d by ccontaining first driven wheel 14, second driven wheel 15, guide shaft 16 and motor 13.Behind assembling shell 3f, motor 13 can be by being in pin 13g and the pin-and-hole 13g swing in the space between first driven wheel 14 and the guide shaft 16.As shown in Figure 8, the shell 3f after assembling is by such as location such as anchor clamps, and when the workman unclamps support to motor 13, because corresponding to the power F2 of the deadweight F1 of motor 13, worm screw 13b and worm gear 14a mesh.In swing mechanism 3, worm screw 13b contacts with worm gear 14a from following.Under this state, cooperate when the workman makes screw 3e, with motor 13 is fixed to side plate 3c, when 3d is last, can the best and automatically regulate gap between worm gear 13b and the worm screw 14a.

During assembling, the position of pin 13g and pin-and-hole 3q can be selected based on the pose of weight, power F2 and the shell 3f of motor 13, and wherein power F2 is that the gap that reduces between worm screw 13b and the worm gear 14a is necessary.For example, suppose that motor 13 along continuous straight runs are assembled on the shell, the distance of 13 center of gravity G is represented with symbol D1 from pin-and-hole 3q to motor, represent with symbol D2 to distance from pin-and-hole 3q, set up equation F1 * D1=F2 * D2 corresponding to the point of the worm gear 14a position of engagement on worm screw 13b and the output shaft 13a.

According to this structure, can avoid loaded down with trivial details adjusting to the gap between worm screw 13b and the worm gear 14a.In addition, do not need to use yet be used to regulate the gap such as particular components such as adjustment screw and the helical spring that is used to exert pressure, thereby can reduce the manufacturing cost of balance exercise machine 1.Moreover, even when because drive that load increases or since screw 3e fluffs or the way in vibrations, and produce when making the power of the gap enlargement between worm screw 13b and the worm gear 14a, power F2 acts on the worm screw 13b, with the reduction gap, thereby can reduce because the noise that the gap produces.

Perhaps, pin 13g can be arranged on side plate 3c, the 3d, and pin-and-hole 3q can be formed on side plate 13d, the 13e of support 13c.In addition, under the situation of top and worm gear 14a engagement, pin 13g should be arranged on the position relative with respect to output shaft 13a with the center of gravity G of motor 13, thereby can need not to regulate this gap at worm screw 13b.

The driving force of motor 13 is delivered to first driven wheel 14 by worm screw 13b.As shown in Figure 7, be formed with a pair of

eccentric shaft

14c, 14d at the two ends of first driven wheel 14.

Eccentric shaft

14c, 14d cooperate with dead eye 17a, the 18a of the central part 17j, the 18j that are formed on lifting

arm

17,18 respectively.Therefore, the driving force of motor 13 is delivered to lifting

arm

17,18 by

eccentric shaft

14c, 14d.

Lifting

arm

17,18 is arranged on the outside of shell 3f.As shown in Figure 7 and Figure 8, watch from its side, lifting

arm

17,18 is tortuous respectively to be formed.Bottom 17b, the 18b of lifting

arm

17,18 has roughly L shaped shape, and

dead eye

17a, 18a are separately positioned on the position corresponding to the end of L shaped shape.Free end 17c, the 18c of lifting

arm

17,18 extends from the sloped-end of the L shaped shape of

bottom

17b, 18b.

At the corner part of the L shaped shape of lifting

arm

17,18, form

long guide groove

17d, 18d respectively.On the other hand, guide shaft 16 has connection bump 16a, the 16b that is formed on its two ends, and

connection bump

16a, 16b cooperate with draw money on

credit support member

17e, 18e respectively, and the support member of drawing money on

credit

17e, 18e further insert long guide groove 17d, 18d.Therefore, lifting

arm

17,18 can vertically move with respect to guide shaft 16, and can not the along continuous straight runs motion.Therefore, lifting

arm

17,18 rotations have been limited by guide shaft 16 with respect to first driven wheel 14.

Here, as shown in Figure 9, suppose that the distance between the center P 3 of the center P 1 of seat 2 and guide shaft 16 represented that by symbol H1 the distance between the center P 2 of first driven wheel 14 and the center P 3 of guide shaft 16 is represented that by symbol H2 the offset of eccentric shaft 14c, 14d or eccentric stroke are represented by symbol H3.Because the center P 1 of seat 2 is arranged on the line T10 of center P 3 of the center P 2 that connects first driven wheel 14 and guide shaft 16, even when eccentric shaft 14c, 14d rotated around the center P 2 of first driven wheel 14, center P 1 displacement vertically of seat 2 also was the roughly twice of offset H3.By contrast, the displacement of center P 1 along continuous straight runs of seat 2 expands to H3 * H1/H2.When distance H 1 during greater than the twice of distance H 2, corresponding to the eccentric shaft 14c of first driven wheel 14, the rotation of 14d, the central motion of seat 2, the elliptical path of drawing R1, this elliptical orbit has the major axis of the along continuous straight runs of watching from its side.When the line T10 that connects the center tilted, the center displacement along continuous straight runs of seat 2 and the distribution of vertical direction were extended or reduction, thereby the ratio of the major axis of elliptical path and minor axis can change.

In addition, two ends at

eccentric shaft

14c, 14d form external screw thread 14e, described eccentric shaft passes dead eye 17a, the 18a of bearing 3m and lifting

arm

17,18, and nut 3r is threaded onto external screw thread 14e, thereby keeps eccentric shaft 14c, the 14d of first driven wheel 14 to match with dead eye 17a, the 18a of lifting

arm

17,18.

Guide shaft 16 has and the corresponding external diameter of bearing 3o internal diameter, thereby guide shaft 16 can slide along its horizontal center line axis.Yet, the two ends of guide shaft 16, promptly

connection bump

16a, 16b cooperate with

long guide groove

17d, 18d by draw money on

credit support member

17e, 18e respectively, and thus, the motion of guide shaft 16 along continuous straight runs is restricted.

Can adopt known kinking mechanism (kink mechanism) to replace guide shaft 16 and

long guide groove

17d, 18d, with

mobile lifting arm

17,18 repeatedly.In addition, the shape of

guide groove

17d, 18d also not only is confined to long straight shape, and it can be modified, for example corresponding to the circular arc of seat 2 required tracks or have the combination of the circular arc of different radii.In addition,

guide groove

17d, 18d can along continuous straight runs form or tilt along predetermined direction.

So, as shown in figure 25, distance between the center P 3 of the center P 1 of seat 2 and guide shaft 16 is represented by symbol H1, when the distance between the center P 2 of first driven wheel 14 and the center P 3 of guide shaft 16 is represented by symbol H2, and the offset of

eccentric shaft

14c, 14d or eccentric stroke are represented by symbol H3, as shown in figure 25, offset H3 expands to H3 * H1/H2.When the line T10 that connects these centers tilted, the distribution of stroke along continuous straight runs and vertical direction can change, thereby offset H3 can be extended or reduce.

Each axle bush 17f, 18f with internal thread are press fit into free end 17c, the 18c of lifting arm 17,18.On the other hand, have pair of

brackets

19a, 19b, and bearing 19c, 19d are press fit on the part of close rear end of

support

19a, 19b for the seat base 19 that seat 2 is installed.The bolt 19e, the 19f that pass bearing 19c, 19d respectively are threaded onto on the internal thread of axle bush 17f and 18f.Therefore, the rear end 19h of seat base 19 can pivot around the second horizontal axis T2.On the other hand, support 19g is fixed on the leading section 19j of seat base 19.The free end 17c of support 19g and lifting

arm

17,18 and 18c are linked to such as second leaning devices 20 such as extensible and contraction lifters.

Second leaning device 20 is similar with the structure of above-mentioned first leaning device 12, and comprises: cylinder 20a, and movable part 20b, it can extend and contraction with respect to cylinder 20a; Gear-box 20c, it is arranged on the top of cylinder 20a; Motor 20d, its driving gearbox 20c; And height detection unit 20e.The a pair of axle bush 20f that all has an internal thread is press fit on the part of bottom, close two sides of cylinder 20a.On the other hand, pair of bearings 17g, 18g are fitted in the close fore-end of lifting

arm

17,18 respectively.The bolt 17h, the 18h that pass bearing 17g, 18g are threaded onto axle bush 20f, thereby the lower end of second leaning device 20 can pivot around the 3rd horizontal axis T3 of connection bearing 17g, 18g.

Movable part 20b comprises that support 20g is fixed on the upper end of movable part 20b such as ball Luo Gang etc.Support 20g can pass through pin 20h, and the support 19g with respect to seat base 19 pivots around horizontal axis.The ball-screw of movable part 20b is threaded onto the internal thread that is formed on the inner surface that is arranged on the gear (not shown) in the gear-box 20d.When this gear of worm drive of the output shaft by being fixed on motor 20d, movable part 20b can stretch out or is retracted in the cylinder 20a from cylinder 20a, and therefore, seat base 19 is rotated around the above-mentioned second horizontal axis T2.In other words, the inclination angle that is installed in the seat 2 on the seat base 19 changes in the perpendicular that comprises balance exercise machine 1 fore-and-aft direction.Height detection unit 20e measures the displacement of the slit plate 20i that is connected with support 20g, so that detect the height of seat base 19 front ends, that is, and the inclination angle of seat base 19.

In above-mentioned swing mechanism 3, the driving force by worm screw 13b is delivered to the motor 13 of first driven wheel 14 further is delivered to second driven wheel 15 by the gear 14b that has than minor diameter.Be formed with eccentric shaft 15b in the end of second driven wheel 15.The eccentric shaft 15b that passes the bearing 3n that is arranged on side plate 3c is installed on the swivel bearing 21a that is arranged on eccentric rod 21 1 ends.Be formed with external screw thread 15c in the end of eccentric shaft 15b, and nut 21b is threaded onto external screw thread 15c, thereby eccentric shaft 15b can not extract from swivel bearing 21a.The other end of second driven wheel 15 also is formed with external screw thread 15d, and nut 3s is threaded onto external screw thread 15d, thereby the other end of second driven wheel 15 can not come off from the shell 3f of driving mechanism 3.

Swivel bearing 21a has the spherical axis bearing surface, and is provided with similar swivel bearing 21c at the other end of eccentric rod 21.The eccentric shaft 22a that is formed on the end of driving shaft 22 inserts swivel bearing 21c, and E shape ring 22b cooperates with the end of eccentric shaft 22a, thereby eccentric shaft 22a can not extract from swivel bearing 21c.The central part 22c of driving shaft 22 pivots by bearing 11n, and this bearing press mounting is in the hole 11m of the rearward end that is formed on rotor plate 11a.The other end at driving shaft 22 is formed with external tooth 22d.

External tooth 22d and the internal tooth 23a engagement that is formed on gear 23 inner surfaces.Gear 23 is arranged on the outside of rotor plate 11.The end relative with eccentric shaft 22a at driving shaft 22 is formed with external screw thread 22e, and nut 22f is threaded onto external screw thread 22e, thereby gear 23 is connected with driving shaft 22 one and plays rotation with one.Worm screw 24b engagement on gear 23 and the output shaft 24a that is press fit into motor 24.Motor 24 is fixed in the recess of rotor plate 11a outside formation by fixture 25.

Angle of rotation by encoder 26 detection of gear 23.As shown in Figure 6, encoder 26 detects with even interval and is formed on reference cave 23c on gear 23 1 end faces, and corresponding to each detection with reference to cave 23c, output signal.By calculating in the rotation process of gear 23 from the quantity of the signal of encoder 26 outputs, can detect the basic point of the oscillating motion of eccentric rod 21, will be described in detail below.

Above-mentioned eccentric rod 21, driving shaft 22, gear 23, motor 24 etc. constitute offsetting mechanism 6.Offsetting mechanism 6 is arranged on the support unit 11.

The lower end of protecgulum 3a and bonnet 3b forms parallel to each other.Axle bush 3x, the 3y that all has an internal thread is fitted in the center of part of the close lower end of protecgulum 3a and bonnet 3b respectively.The bolt 11x, the 11y that pass bearing 11j, 11i are threaded onto

axle bush

3x, 3y, thereby are connected on the shell 3f, that is, swing mechanism 3 can keep rotationally around the pivot center T0 of connection bearing 11j, 11i.When second driven wheel 15 rotated, because the effect of eccentric shaft 15b and eccentric rod 21, swing mechanism 3 was around pivot center T0 swing.In the oscillating motion process of swing mechanism 3, even the motor 24 of second swing mechanism 6 is not driven, eccentric rod 21 also can move, with near and away from side plate 3c.Yet because swivel bearing 21a, 21c, eccentric rod 21 can not break away from from second driven wheel 15 and driving shaft 22.

When the motor 24 of second swing mechanism 6 was driven, the driving shaft 22 that gear 23 and one are fixed on the gear 23 rotated by the driving force of motor 24.Because the lower end of eccentric rod 21 cooperates with the eccentric shaft 22a of driving shaft 22 by swivel bearing 21c, the basic point of the oscillating motion of eccentric rod 21 moves up and down along the vertical direction shown in the arrow Z (Z direction).Therefore, can provide swing mechanism 3 around the skew of pivot center T0 with respect to the position, angle of support unit 11, thus swing mechanism 3, promptly, seat 2 can be with respect to basic point (basic point) around pivot center T0 swing, and this basic point is with respect to the pivot center predetermined oblique angle.To be described in detail this below.In addition, because eccentric shaft 22a drives by worm screw 24b and gear 23, thereby can prevent the change at the inclination angle that produces owing to load.

As the balance exercise machine 1 of above-mentioned structure in, when motor 13 is driven, because the effect of eccentric shaft 14c, 14d, lifting arm 17,18 and the guide shaft 16 of first driven wheel 14, seat 2 moves back and forth along fore-and-aft direction (direction X) and vertical direction (direction Z), thereby when when its side is watched, the motion of seat 2 becomes elliptical path R1, as shown in Figure 9.Because the lifting arm 17,18 that supports for the seat base 19 that seat 2 is installed drives by the first single driven wheel 14, thereby can by will be vertically pumping of (Z direction) add front-rear reciprocation movement to along fore-and-aft direction (directions X), make the seat 2 motion elliptical path R1 that draws, thereby can increase the motor pattern of training.In addition, the swing mechanism 3 that can be used in the oscillating motion of carrying out seat 2 is simplified and its size is reduced.Moreover, further add in traditional front-rear reciprocation movement owing to pump, can stimulate trainee's autonomic nerve, and strengthen trainee's leg muscle.In addition, owing to watch seat 2 motion draw circular trace or elliptical path from the side, so, can when reducing the infringement that human body is caused, strengthen the effect of training thus because oscillating motion and burden that human body is caused can smooth change.

So when the gear ratio of the gear 15a of the supposition gear 14b of first driven wheel 14 and second driven wheel 15 was set to 1: 1, the velocity of rotation of first driven wheel 14 and second driven wheel 15 was 1: 1 than also.In addition, as shown in figure 11, suppose since the starting point that the driving force of first driven wheel 14 produces along fore-and-aft direction (directions X) oscillating motion set (timing) with because the starting point along the width shown in the arrow Y (hereinafter being abbreviated as the Y direction) oscillating motion that the driving force of second driven wheel 15 produces is spent consistent 0, in other words, the phase place of eccentric shaft 14c, the 14d of first driven wheel 14 is consistent with the phase place of the eccentric shaft 15b of second driven wheel 15, the movement locus at the center of seat 2 becomes straight line L11, as shown in figure 10.Point " a " to " e " in Figure 10 and Figure 11 shows the position of the center P 1 of the seat 2 in the oscillating motion.When since the phase place of the oscillating motion that the driving force of second driven wheel 15 produces than because the phase delay 180 of the oscillating motion that the driving force of first driven wheel 14 produces when spending, the direction difference of the oscillating motion of seat 2 only, and the movement locus at the center of seat 2 becomes straight line.

Perhaps, as shown in figure 12, suppose 1/4 cycle of phasic difference mutually of phase place and the eccentric shaft 15b of second driven wheel 15 of eccentric shaft 14c, the 14d of first driven wheel 14, i.e. 90 degree, because the oscillating motion of eccentric rod 21 watches the track at the center of seat 2 to become elliptical path L12 from above.Figure 13 shows in example shown in Figure 12, because the waveform of the oscillating motion that first driven wheel 14 and second driven wheel 15 produce.Figure 12 and Figure 13 show respectively because the phase place of the oscillating motion that the driving force of second driven wheel 15 produces postpones the situation of 90 degree than the oscillating motion that the driving force owing to first driven wheel 14 produces.Even when since the phase place of the oscillating motion that the driving force of second driven wheel 15 produces than because the phase place of the oscillating motion that the driving force of first driven wheel 14 produces 90 degree in advance, promptly, when delay 270 was spent, the track at the center of seat 2 became the different elliptical path of starting point.

When because the phase place of the oscillating motion that the driving force of first driven wheel 14 produces and because the difference between the phase place of the oscillating motion that the driving force of second driven wheel 15 produces when not being above-mentioned situation about mentioning, the track at the center of seat 2 be since first driven wheel 14 produce along the displacement of fore-and-aft direction and because the displacement of the broad ways that second driven wheel 15 produces, with the ratio of this phase difference calculate synthetic.

On the other hand, when the gear ratio of the gear 15a of the supposition gear 14b of first driven wheel 14 and second driven wheel 15 is set at 1: 2, the velocity of rotation ratio of first driven wheel 14 and second driven wheel 15 becomes 2: 1.In addition, suppose since the starting point of the oscillating motion that the driving force of first driven wheel 14 produces set with because the starting point of the oscillating motion that the driving force of second driven wheel 15 produces is spent consistent 0, as shown in figure 14, be formed centrally track L21 in the seat 2, this track is similar to 8 fonts of infinitely great symbol shape or side.Figure 15 shows in example shown in Figure 14, because the waveform of the oscillating motion that first driven wheel 14 and second driven wheel 15 produce.

When supposition since the oscillating motion starting point that the driving force of first driven wheel 14 produces set with because the oscillating motion that the driving force of second driven wheel 15 produces differs 180 degree, as shown in figure 16, be formed centrally track L22 in the seat 2, this track is similar to 8 word figures of infinitely great symbol figure or side.Figure 17 shows in example shown in Figure 16, because the waveform of the oscillating motion that first driven wheel 14 and second driven wheel 15 produce.With Figure 14 and Figure 16 contrast, the direction of track L21, the L22 that is formed centrally in the seat 2 is opposite each other.

When supposition was spent than the phase delay 90 of the oscillating motion of the driving force that produces owing to first driven wheel 14 owing to the phase place of the oscillating motion of the driving force of second driven wheel, 15 generations, as shown in figure 18, the track L23 at the center of seat 2 became roughly inverted V-shaped.Figure 19 shows in example shown in Figure 180, because the waveform of the oscillating motion that first driven wheel 14 and second driven wheel 15 produce.

When supposition since the phase place of the oscillating motion that the driving force of second driven wheel 15 produces than because the phase place of the oscillating motion that the driving force of first driven wheel 14 produces in advance 90 when spending, promptly, postpone 270 degree, as shown in figure 20, the track L24 at the center of seat 2 becomes roughly V-arrangement.Figure 21 shows in example shown in Figure 20, because the waveform of the oscillating motion that first driven wheel 14 and second driven wheel 15 produce.

In addition, when the gear ratio of the gear 15a of the supposition gear 14b of first driven wheel 14 and second driven wheel 15 is set at 2: 1, the velocity of rotation ratio of first driven wheel 14 and second driven wheel 15 becomes 1: 2.In addition, suppose since the starting point of the oscillating motion that the driving force of first driven wheel 14 produces set with because the starting point of the oscillating motion that the driving force of second driven wheel 15 produces is spent consistent 0, as shown in figure 22, be formed centrally track L3 in the seat 2, be similar to 8 word figures.

Should be noted in the discussion above that supposing here that eccentric shaft 22a is arranged at does not produce swing mechanism 3 position around the skew of the position, angle of pivot center T0, wherein this eccentric shaft is the basic point of the oscillating motion of eccentric rod 21.Be offset if produced the position, angle of swing mechanism 3, track L1, L21, L22, L23, L3 appear at the position of shifting along the offset direction, will be described in detail this below.In addition, should be noted in the discussion above that supposition pivot center T0 is a level.The centrode of seat 2 will be described below when pivot center T0 tilts.

When guide groove 17d, the 18d of lifting

arm

17,18 are vertically directed, the centrode of seat 2 has been carried out above-mentioned considering.So, when only first leaning device, 12 extensions of supposition, second leaning device 20 does not extend yet and does not shrink, seat 2 leans forward with respect to support unit 11, and therefore, because the effect of

eccentric shaft

14c, 14d, lifting

arm

17,18 and the guide shaft 16 of first driven wheel 14 as shown in figure 23, sees that from the side the track of the center P 1 of seat 2 becomes the elliptical path R2 that leans forward.In this case, oscillating motion changes to and fro along the component of fore-and-aft direction and the component vertically of oscillating motion.When seat 2 tilts to greater than predetermined angular, compare with track R1 shown in Figure 9, though the displacement stroke of the horizontal direction at the center of the seat 2 shown in Figure 24 is reduced to W1 ' from W1, the displacement stroke vertically at the center of seat 2 is increased to W2 ' from W2.Therefore, the size of the track at the center of seat 2 or shape can change.

Perhaps, can change the inclination angle of seat 2 by extending or shrinking second leaning device 20.When second leaning device 20 extends, as shown in figure 25, distance H 1 between the center of the center of seat 2 and guide shaft 16 extends to distance H 1 ', wherein, the center of seat 2 is centers of the oscillating motion of seat base 19, and the center of guide shaft 16 is because the basic point of the oscillating motion that swing mechanism 3 produces.When

guide groove

17d, 18d were vertically directed, the movement travel W2 vertically of seat 2 fixed, and is irrelevant with the extension or the contraction of second leaning device 20.By contrast, the along continuous straight runs of seat 2 or change along the movement travel W1 of fore-and-aft direction promptly, extends to stroke W1 '.Movement travel as for the broad ways of seat 2, variable in distance between the center of pivot center T0 and seat 2, thus the stroke of broad ways changes, wherein, pivot center T0 is the basic point of oscillating motion, and the center of seat 2 is centers of the oscillating motion of seat base 19.

According to the extension or the contraction of first leaning device 12 and/or second leaning device 20, can change the stroke of the oscillating motion of seat 2.In addition, second leaning device 20 extends longly more, and the front end of seat 2 is far away more from pivot center T0, thus, can increase the stroke of seat 2 around the oscillating motion (turn-taking and deflection) of pivot center T0.Though old or weak trainee uses traditional balance exercise machine by the movement velocity that reduces oscillating motion, but can change the stroke of oscillating motion corresponding to old or weak trainee according to balance exercise machine 1 of the present invention, so the user can use balance exercise machine 1 like a cork.Perhaps, can extend the stroke of oscillating motion corresponding to the trainee after the physique enhancing according to balance exercise machine 1 of the present invention.Like this, can provide the training that is fit to the trainee according to trainee's the bodily form, physical qualification, age, sex, muscle power etc. according to balance exercise machine 1 of the present invention, thereby can make the training effect optimization of this balance exercise machine.

In addition, when combining with one another, first leaning device 12 and second leaning device 20 extend repeatedly and when shrinking, seat 2 can be according to along with the track of its oscillating motion and/or the variation of stroke move up and down, thereby can increase the variation of balance training, and strengthen the truly feels of balance training, can obtain to make the trainee to keep the motion option of interest thus.

In addition, as shown in figure 26, by first leaning device 12 and second leaning device 20 being combined with one another extend repeatedly and shrinking, can change and be in the inclination angle that comprises along the pivot center T0 in the plane of fore-and-aft direction (directions X) and vertical direction (Z direction), and not change the angle of seat 2 or seat base 19.In Figure 26, solid line is represented the base state of support unit 11, swing mechanism 3, lifting

arm

17,18 and seat base 19, and wherein, pivot center T0 has the tiltangle with respect to ground 5, θ=45 degree; The mobile status by the above-mentioned parts shown in the label dotted line is represented in double dot dash line, and wherein, pivot center T0 roughly erects vertically.When first leaning device 12 when base state shrinks, pivot center T0 tilts towards horizontal line.Perhaps, when first leaning device 12 when base state extends, pivot center T0 tilts towards vertical curve.

When pivot center T0 from fore-and-aft direction (directions X) when the vertical direction (Z direction), in other words, when tiltangle becomes big, because the oscillating motion of the seat 2 that second driven wheel 15 and eccentric rod 21 cause, the oscillating motion (turn-taking) of broad ways (Y direction) and around change between the oscillating motion of vertical axis (when seat 2 be centered close to pivot center T0 the time, it becomes deflection).Therefore, the reciprocating component along fore-and-aft direction of swing mechanism 3 can be converted to component vertically.Therefore, balance exercise machine 1 can be in the pattern that changes oscillating motion more widely, and can change the stroke of oscillating motion along with the change of oscillating motion pattern, thereby can obtain to be suitable for the pattern that the trainee takes exercises the oscillating motion at position.Balance exercise machine 1 can keep user interest, and it has good usability.

Here, provided the example of the angle variation of the oscillating motion that changes along with tiltangle in the table 1.The angle of oscillating motion is owing to distance between the center of length, pivot center T0 and the driving shaft 22 of the offset of the eccentric shaft 15b of second driven wheel 15, eccentric rod 21 etc. changes.

Table 1

θ

The angle of turn-taking

Deflection angle

0°	9.6°	0°
0°	9.6°	0°	30°	8.3°	4.8°
45°	6.8°	6.8°	30°	8.3°	4.8°
45°	6.8°	6.8°	60°	4.8°	8.3°
90°	0°	9.6°	60°	4.8°	8.3°

Pivot center T0 leans on closely more from horizontal direction (θ=0 °) to vertical direction (θ=90 °), and the oscillating motion of seat 2 is changed to deflection around vertical axis from turn-taking of broad ways.For example, when the gear ratio of the gear 15a of the gear 14b of first driven wheel 14 and second driven wheel 15 was set at 1: 2, the track L21 at center of seat 2 that is similar to 8 fonts of infinitely great symbol or side diminished, shown in the label L21 ' of Figure 27.Yet,, added in the motion of seat 2 by the twisting campaign that label V1 and V2 represent as variation.This twisting is moved and is changed corresponding to the difference between the phase place of the eccentric shaft 15b of the phase place of eccentric shaft 14c, the 14d of first driven wheel 14 and second driven wheel 15.So, suppose that 0 ° of phase place of eccentric shaft 14c, 14d of first driven wheel 14 is consistent at basic point P0 with 0 ° of phase place of the eccentric shaft 15b of second driven wheel 15, wherein, be 0 in the center displacement of this basic point place seat 2.Seat 2 broad ways are turn-taked greatly more, and seat 2 twists greatly more towards the direction that will turn-take, shown in label V1.Perhaps, it is near more that the center of seat 2 turns back to basic point P0, and the twisting amount of exercise of seat 2 is more little, shown in label V2.Therefore, can strengthen the training effect of balance exercise machine 1.

By contrast, suppose that 180 ° of phase places of eccentric shaft 14c, the 14d of first driven wheel 14 are consistent with 0 ° of phase place of the eccentric shaft 15b of second driven wheel 15 under the condition that the gear ratio at the gear 14b of first driven wheel 14 and the gear 15a of second driven wheel 15 is set at 1: 2.The track at the center of seat 2 is the infinitely great symbol shape shown in Figure 16 or the track L22 of 8 fonts.Seat 2 broad ways are turn-taked greatly more, and seat 2 is along twisting just greatly more with the opposite direction of turn-taking shown in the label V2.Perhaps, it is near more that the center of seat 2 turns back to basic point P0, and the twisting amount of exercise of seat 2 is more little, shown in label V1.In this case, can mildly train.

In the situation of the V-arrangement track L24 at the center of seat shown in Figure 20 2, seat 2 broad ways are turn-taked greatly more, and seat 2 twists just greatly more towards the direction of turn-taking, shown in label V1.

In addition, seat 2 overhead 5 height can change by first leaning device 12 and second leaning device 20 that inclination combines with one another, so that eliminate because described leaning device extends or shrink the inclination of the seat 2 that causes.Therefore, can or be convenient to trainee's seat 2 and regulate the height of seat 2 up and down for the height that adapts to the trainee, and the additional mechanism providing additional operation that does not need that any lifting is set or reduce seat 2.

For example, when training by tilted seat 2, when increasing the training effect of part of trainee's health, because the extension of first leaning device 12 or shrink that the variation at inclination angle of the seat 2 that produces is unnecessary to be passed through the extension of second leaning device 20 or shrink and eliminate.Seat 2 can tilt to the condition lower swing of predetermined angular.

Under the states that will be rotated 90 degree, when seat 2 is installed on the seat base 19, the oscillating motion of passing through swing mechanism 3 of seat 2 becomes synthesizing of the oscillating traverse motion of broad ways and pumping vertically.Watch from the front or rear surface of balance exercise machine 1, the track at the center of seat 2 becomes elliptical path.Because the oscillating motion of the seat 2 that second driven wheel 15 and eccentric rod 21 produces becomes the motion of bowing of facing upward of broad ways.Perhaps, seat 2 can be installed on the seat base 19 from back to front.Like this, seat 2 can be selected arbitrarily according to training goal to the direction of swing mechanism 3.

On the other hand, though gear 23 rotates by the driving force of motor 24, when one is connected to the eccentric shaft 22a of the driving shaft 22 on the gear 23 when its extreme lower position is moved, promptly, when the basic point of the oscillating motion of eccentric rod 21 is positioned at bottom dead centre, and move to its extreme higher position as eccentric shaft 22a, promptly, when the basic point of the oscillating motion of eccentric rod 21 is positioned at top dead-centre, the peak excursion that swing mechanism 3 produces around pivot center T0.

When the tiltangle of pivot center T0 is approximately equal to 0 degree (θ ≈ 0), and the oscillating motion of seat 2 has the component of twisting motion (deflection), and as Figure 28 or shown in Figure 29, the basic point of the oscillating motion of seat 2 is transferred to a P0 ' from a P0.Figure 28 shows eccentric shaft 22a and pulls down eccentric rod 21, the situation that swing mechanism 3 is offset left.Figure 29 shows eccentric shaft 22a and upwards draws eccentric rod 21, the situation that swing mechanism 3 is offset to the right.In addition, when the tiltangle of pivot center T0 equals 0 degree (θ=0), and when the oscillating motion of seat 2 does not have the component of twisting motion (deflection), shift to the left or to the right along the central axis V11 of the oscillating motion of fore-and-aft direction, shown in the label V11 ' of Figure 27.

Therefore, the track at the center of seat 2 can tilt around pivot center T0, thus the angle of turn-taking on pivot center right side, deflection angle with can be with the left side along the displacement of fore-and-aft direction different.Therefore, can strengthen the pleural muscle or the adductor of trainee's health in the part, thereby can strengthen physical efficiency effectively, and can train trainee's the sense of equilibrium.

When motor 24 Continuous Drive, swing mechanism 3 changes continuously around the inclination of pivot center T0, thereby training mode can be diversified, can realize the balance exercise machine that can keep user interest and have good availability thus.

As mentioned above, suppose that 0 ° of phase place of

eccentric shaft

14c, 14d of first driven wheel 14 is consistent with 0 ° of phase place of the eccentric shaft 15b of second driven wheel 15.In addition, selecting 0 ° of phase place of eccentric shaft 14c, the 14d of first driven wheel 14 is bottom dead centre.In addition, select the pitch of worm screw 13b, make worm screw 13b to rotate by the power that applies from seat base 19 as the load of motor 13.

According to this structure, when the phase place of eccentric shaft 14c, the 14d of first driven wheel 14 adopts optional angle except above-mentioned 0 °, even stop the supply of electric power of motor 13, first driven wheel 14 along the oscillating motion of fore-and-aft direction and vertical direction that produces seat 2 also can be owing to seat 2 and trainee's weight is rotated, thus, second driven wheel of the oscillating motion of motor 13 and generation broad ways also rotates.Select the phase place of first driven wheel 14 and the phase place of second driven wheel 15, make when eccentric shaft 14c, the 14d of first driven wheel 14 arrival bottom dead centre, that is, seat 2 be centered close to extreme lower position the time, the center of seat 2 also is positioned at the center of fore-and-aft direction and width.Therefore, by cutting off electric power, seat 2 moves downward naturally, and is parked in extreme lower position (along the Z direction), and this position is positioned at the center of the motion of fore-and-aft direction (directions X) and width (Y direction).

Like this, balance exercise machine 1 can not need to use any sensor and complicated control, can be parked in original position, thus be convenient to the trainee about, the trainee can be sitting in good posture on the seat 2, and the training of balance can be provided to the trainee thus.

In addition, can be corresponding to the rotation direction of motor 13, first driven wheel 14 and second driven wheel 15, along clockwise direction with the profile of tooth of counterclockwise cutting worm screw 13b.In the present embodiment, the profile of tooth of worm screw 13b is cut along following direction: so that along the direction that worm screw 13b is press fit into the output shaft 13a of motor 13, from worm gear 14a power is applied to worm screw 13b.Therefore, can prevent that because trainee's weight makes when seat is downward, worm screw 13b breaks away from the unexpected whereabouts that can prevent seat thus from the output shaft 13a of motor 13.

Figure 30 shows the block diagram of the electricity structure of balance exercise machine 1.The main control circuit 41 of main circuit board 4r is corresponding to the signal from the function circuit 91 of function circuit plate 9a, and control drives following motor: such as motors 13 such as DC brushless electric machines, it is used for swing seat 2; Such as motor 12d such as DC motors, it is used to make first leaning device 12 to extend or shrinks, with along fore-and-aft direction wallowing motion mechanism 3; Such as motor 20d such as DC motors, it is used for extending or shrinking second leaning device 20, so that seat 2 relative swing mechanisms 3 tilt; And such as motors 24 such as DC motors, it is used for broad ways wallowing motion mechanism 3.Detect motor 20d by height detection unit 20e and make seat base 19 (or seat 2) tilt quantity of the reference point of swing mechanism 3 relatively.Height detection unit 12e detects motor 12d and makes the tilt quantity of support unit 11 with respect to column 4b, that is, and and the tiltangle of pivot center T0.Encoder 26 detects motor 24 and makes the tilt quantity of swing mechanism 3 with respect to support unit 11.The output of height detection unit 12e, 20e and encoder 26 is imported into master controller 41.

Figure 31 shows the electric block diagram of main control circuit 41.For example, will convert the DC electric power of 140V, 100V, 15V, 12V and 5V to by the commercial AC electric power of plug 51 inputs by power supply circuits 52.Each DC electric power of conversion is fed in each circuit of main control circuit 41.In main control circuit 41, comprise whole operations of the master controller 53 control balance exercise machines 1 of microprocessor 53a.For example, master controller 53 operating unit 9 such as LCD monitor display units such as (LCDs) on, demonstration information or the like, and by operating unit drive circuit 54 for example receives corresponding to the signal from the user's of function circuit 91 operation.Corresponding with signal corresponding to the testing result of the signal of the signal of user operation, the position, angle of motor by sensor signal processing circuit 55 inputs and rotating speed,

height detection unit

12e, 20e by sensor

drive driving circuit

56,57,58 inputs and encoder 26, master controller 53 drives the motor 13 that is used for oscillating motion by drive circuit 59, and drives motor 12d, the 20d, 24 that is used to tilt by drive circuit 60.

Should be noted in the discussion above that shown in figure 32 when changing the tiltangle of pivot center T0 by drive motors 12d, master controller 53 can be changed the rotation direction of the motor 13 of the oscillating motion that is used to produce seat 2.In addition, with respect to the rotating speed of motor 13 when seat 2 is raised with continuous oscillating motion, it is slack-off that master controller 53 can make the rotating speed of motor 13 when seat 2 is raised.

Rotation direction by conversion motor 13 can make seat 2 along opposite orbiting motion, makes that the trainee need not oppositely to be sitting on the seat, promptly can experience to be different from the training of motor 13 when normal direction is rotated.Like this, can strengthen the muscle of the body part that the trainee often do not use.

In addition, by when seat 2 promotes, making the rotating speed of motor 13 slack-off, and when reducing, seat 2 makes speeding up of motor 13, can reduce the required peak torque of motor 13, like this, compact(ing) machine can be as the motor 13 of the oscillating motion that produces seat 2, the size that can dwindle swing mechanism 3 thus.In addition, by when seat 2 promotes, making the rotating speed of motor 13 slack-off, and when seat 2 reduces, make speeding up of motor 13,, also can increase because the burden that the pin weight on pin stirrup 7 produces even the stroke of seat 2 oscillating motion vertically is identical.

The application is based on the Japanese patent application 2006-146596 and the 2006-145542 that submit in Japan on May 26th, 2006, and its content is incorporated herein by reference.

Though in conjunction with the accompanying drawings the present invention has been carried out comprehensive description by way of example, should be understood that various obvious variation and remodeling all are conspicuous for a person skilled in the art.Therefore, unless described variation and remodeling have broken away from scope of the present invention, it should be understood to be included in the present invention.

Claims

1. a balance exercise machine (1) comprising:

Seat (2), the trainee is sitting on this seat;

Swing mechanism (3), it swings this seat (2);

The mechanism of extensible contraction (12,20), it changes the distance between this seat (2) and this swing mechanism (3) by extending or shrinking, with the stroke of the oscillating motion that changes this seat (2); And

Controller (41,53), it controls the mechanism (12,20) of this swing mechanism (3) and this extensible contraction.

2. balance exercise machine as claimed in claim 1 also comprises:

Support unit (11), it supports this swing mechanism (3), and this swing mechanism (3) can rotate around predetermined pivot center (T0);

Bracing frame (4), it can be placed on the ground (5), and supports this support unit (11), and this support unit (11) can rotate around first horizontal axis (T1), and wherein:

The mechanism of this extensible contraction (12,20) comprising:

First leaning device (12), it is arranged between this bracing frame (4) and this support unit (11), and changes the inclination angle (θ) of the pivot center (T0) of this swing mechanism (3) in perpendicular; And

Second leaning device (20), it is arranged between this swing mechanism (3) and this seat (2), and changes the inclination angle of this seat (2).

3. balance exercise machine as claimed in claim 2, wherein:

This controller (41) control drives this first leaning device (12) and this second leaning device (20) associated with each other, with extension or the contraction by this second leaning device, at least a portion of the inclination of the seat (2) that compensation produces owing to the extension or the contraction of this first leaning device (12).

4. balance exercise machine as claimed in claim 2, wherein:

This controller (41) control drives this first leaning device (12), and the inclination angle (θ) of the pivot center (T0) of this swing mechanism is changed in the scope of near vertical in level of approximation.

5. balance exercise machine as claimed in claim 2, wherein:

This controller (41) control drives this first leaning device (12) and second leaning device (20) associated with each other, inclination angle (θ) with the pivot center (T0) that changes this swing mechanism, the oscillating motion of this seat (2) is being changed around the oscillating motion of horizontal axis with around between the oscillating motion of vertical axis, by the extension or the contraction of this second leaning device, compensation is because at least a portion of the inclination of the seat (2) that the extension of this first leaning device (12) or contraction produce simultaneously.

6. balance exercise machine as claimed in claim 1, wherein:

This swing mechanism (3) comprises motor (13) and first driven wheel (14) and second driven wheel (15) that pass through the drive force of motor (13) respectively;

This first driven wheel (14) has eccentric shaft (14c, 14d), described eccentric shaft produces displacement in first perpendicular of fore-and-aft direction that comprises this balance exercise machine (1) (directions X) and vertical direction (Z direction), thereby this seat (2) is swung in this first perpendicular; And

This second driven wheel (15) has eccentric shaft (15b), this eccentric shaft produces displacement in second perpendicular of width that comprises this balance exercise machine (1) (Y direction) and vertical direction (Z direction), thereby this seat (2) is swung in this second perpendicular.

7. balance exercise machine as claimed in claim 6, wherein:

This swing mechanism (3) has a mechanism (16,17,18,19), with the mobile motion that converts the formation elliptical path (R1) of this seat (2) in this first perpendicular.

8. balance exercise machine as claimed in claim 6, wherein:

With respect to the rotating speed of this motor (13) when this seat (2) is raised with continuous oscillating motion, when being raised, this master controller (41,53) makes the rotating speed of this motor (13) slack-off at this seat (2).

9. balance exercise machine as claimed in claim 1 also comprises:

Offsetting mechanism (6,21,22,23,24), it makes this swing mechanism (3) around this pivot center (T0) skew.