JP2888464B2 - Horse training equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a riding training apparatus simulating the movement of a horse body, and more particularly to a horse training apparatus simulating a starting movement of a racing horse from a gate.

[0002]

2. Description of the Related Art Conventionally, such a riding training apparatus has been disclosed in Japanese Patent Application Laid-Open No. 63-51875. This one is
Since only horizontal driving means for driving a horse-like mounted vehicle in the horizontal direction are provided, it is possible to perform training in a sprinting state where almost no vertical movement of the horse is seen, It was not possible to train the horse body to move up and down while moving horizontally, as seen when the horse started.

[0003]

That is, in the vertical movement of the horse body, the kick of the rear leg is larger than the kick of the front leg.
There arises for, but this up-and-down motion is large because the force kicking about at the time Hatsuba becomes stronger, become smaller as toward the sprint. In this vertical movement, since the rear leg kick is larger than the front leg kick, the vertical movement of the horse rear leg side is larger than that of the front leg side. The racehorse is trained to sprint as fast as possible within a few steps of the horse's departure, and the up-and-down movement occurs during these steps. Therefore, there is a problem that such a complicated movement cannot be reproduced by the conventional riding training apparatus provided with only the horizontal driving means.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems of the prior art, and an object of the present invention is to move a horse body such as that seen when a racing horse starts to move in a horizontal direction. Another object of the present invention is to provide a horse training apparatus that has a function of reproducing a state of moving up and down, and that can perform training at the time of starting a horse with a riding body simulating a horse body.

[0005]

In order to solve the above-mentioned problems, a horse-riding training apparatus according to the present invention includes a horizontal drive unit provided on a gantry for driving a riding body simulating a horse body in a horizontal direction; Horizontal drive on the front and rear legs of the mount on the mount
And a sine wave drive for the front drive unit and the rear drive unit, which are provided independently of the drive unit and drive the riding body in the vertical direction, and the horizontal drive unit, the front drive unit, and the rear drive unit. A sine wave generation circuit that outputs a signal in synchronization with the sine wave generation circuit, wherein the sine wave generation circuit attenuates a sine wave for each drive signal output and transmits the sine wave to the front leg side drive unit and the rear leg side drive unit. A control unit and a rear leg-side control unit are connected, and the front leg-side control unit and the rear leg-side control unit are mounted on the vehicle by the rear leg-side drive unit. An attenuation adjustment circuit having an attenuation rate set to be larger than the vertical movement of the front leg side is provided, and the front leg side control unit and the rear leg side control unit are provided.
A counter circuit for limiting the number of times the drive signal is output to the control unit to a plurality of times is connected.

[0006]

When the driving signal is output from one sine wave generating circuit, the vertical movement is started synchronously with the horizontal movement of the riding body, and the amplitude of the vertical movement is gradually reduced by the damping adjustment circuit. In addition, the rear leg side of the riding body is controlled to be larger than the front leg side, and is eliminated by the counter circuit a plurality of times. As a result, it is possible to reproduce the movement from the start of the racehorse to the full sprint,
You can train on a riding body that imitates a horse body.

[0007]

Embodiments of the present invention will be described below with reference to the drawings. First, a device configuration of the horse training apparatus that can move up and down and horizontally can be described, and then a control structure of up and down and horizontally moved will be described. FIG. 1 is a front view of the equipment configuration of the horse training apparatus of the present invention, FIG. 2 is a side view thereof, and FIG.
It is A sectional drawing.

In FIG. 1 and FIG. 2, a vertical base 1 a is fixed to a central portion of the base 1, and horizontal frames 2 a, 2 a in the front-rear direction
A first frame 2 of a rectangular frame formed by connecting vertical frames 2b, 2b in the left-right direction is vertically supported and rotatably supported on a vertical base 1a. In FIG. 3, two vertical guide rails 5 and 5 are fixed in parallel to the vertical base 1a, and guides 5a having linear motion type bearings are vertically and vertically movable on the vertical guide rails 5 and 5 in the axial direction. These guides 5a are fixed to the elevating body 31 as possible. The first horizontal frame 2a of the frame 2, the bearing boxes 33, 33 are provided in the 2a, the shaft 30 fixed to the elevating body 31, the first frame 2 and rotatably by the bearing housing 33, 33 Are linked. As described above, the first gantry 2 is rotatably and vertically movably supported with respect to the vertical base 1a. In FIG. 2, horizontal guide rails 3, 3 are fixed in parallel on the horizontal frames 2a, 2a of the first base 2, and guides 3a having linear motion type bearings are provided on the front, rear, left and right of the horizontal guide rails 3, 3. These guides 3a are fitted in the axial direction, that is, movably horizontally, and these guides 3a are fixed to a second frame 15 of a rectangular frame. The horse frame 4 is fixed to the second mount 15, and the head frame 2 is fixed to a fixed shaft 22, which is installed in the front upper part of the horse frame 4 in the left-right direction.
7 is rotatably supported. The fixed shaft 22 has both ends locked to the fixed shaft base, and a central convex portion formed on the head frame 27.
The head frame 27 is normally urged upward by the torsion spring 25. Therefore, the trainee moves downward by pushing the head. Outer skins 17 and 28 imitating a part of the horse body and the head are attached to the outer surfaces of the horse body frame 4 and the head frame 27 using styrofoam or the like to form a riding body 40, and the legs are combined. It is covered with a leather cover 16.

In FIG. 1, a second stand 15 and a first stand 2
Are connected via a link 6, and the second gantry 15 is driven in a horizontal direction with respect to the first gantry 2 by a hydraulic cylinder 9 which expands and contracts the link 6, and these constitute a horizontal drive unit 41 of the riding body 40. . Further, link mounting portions 2c, 2d projecting below the front and rear portions of the first gantry 2 are connected to the base 1 via links 7, 8, and hydraulic pressure for expanding and contracting these links 7, 8 is provided. First by cylinders 10 and 11
The gantry 2 is driven to be vertically rotatable with respect to the base 1, and these constitute the front leg side drive unit 42 and the rear leg side drive unit 43 of the riding body 40, respectively. Hydraulic cylinder 9, 1
The operation of 0, 11 is controlled by servo valves 12, 13, 14. In addition, 18 is a hydraulic unit, 19 is a control panel, 20 is an electromagnetic contactor with a push button for a hydraulic unit,
21 is an accumulator. Reference numeral 26 denotes a button operation unit.

Next, a control circuit for operating the horse training apparatus having the above structure will be described with reference to a block diagram of FIG.

In FIG. 4, when the power is turned on, the second start command D107 of the sine wave generation circuit 59 and the second start holding command D103 of the flip-flop FF2 are set to 0F.
F, the stop position setting circuits 70, 7 provided in the horizontal control unit 52, the front leg side control unit 53, and the rear leg side control unit 54.
The horizontal drive unit 41 and the front leg side drive unit 42 operate
And the rear leg side drive unit 43 is driven to move the riding body to the reference position at a low speed. Here, the reference position refers to a state in which the horizontal driving unit 41 drives the riding body 40 in the backward direction in FIG. 1 and the front leg side driving unit 42 and the rear leg side driving unit 43 drive the riding body 40 in the downward direction. Say. This reference position is a position for the trainee to get on and off the riding body. Next, when the start button 78 of the operation unit 26 shown in FIG. 4 is pressed, the flip-flop FF1 operates and the first start holding command D005 becomes O.
N, the flip-flop FF2 is operated, and the stop-time deceleration circuit 77 is kept inoperative. The operation of the flip-flop FF2 turns on the second start holding command D103, and sets the stop position setting circuits 70, 71, 72 to 0F.
At the same time, the output D108 is 0FF while the first timer 55 is operating, so that the initial position setting circuit 58 operates to move the riding body from the reference position to the standby position. Here, the standby position is
In FIG. 1, the horizontal drive unit 41 drives the riding body 40 in the forward direction,
A state in which the front leg side driving unit 42 and the rear leg side driving unit 43 have driven the riding body 40 in the upward direction.

After the operation of the second timer set to either the fixed timer 56 or the random timer 57 by the timer switching button 80 of FIG.
The start command D106 is output, and the sine wave generation circuit 59 operates. As a result, a sine-wave drive signal A112 is output from the sine-wave generation circuit 59, and is passed through the horizontal control unit 52, the front leg-side control unit 53, and the rear leg-side control unit 54, respectively. Leg side drive unit 43
Are driven synchronously. The input sections of the horizontal control section 52, the front leg side control section 53 and the rear leg side control section 54 are used to adjust the amplitude between the respective drive sections while considering the speed increase ratio of the link mechanism in FIG. Multipliers MUL81, 6 respectively
3, 82 and 83 ga are provided. The multiplier MUL8 is connected to the front leg side control unit 53 and the rear leg side control unit 54.
2 and 83, attenuation control circuits 61 and 62 for amplitude are provided, and a counter circuit 76 for limiting the outputs of the attenuation control circuits 61 and 62 is provided with switching circuits 85 to 87 and 89 to 9
1 and connected together. The attenuation adjustment circuits 61 and 62 have three multipliers MUL 64, 65, 66 and 6 whose magnifications are set to 1.0 ×, 0.75 × and 0.5 ×, respectively.
7, 68 and 69 are provided. On the other hand, the counter circuit 76 is reset by turning on the first start holding command D005, and starts counting when the sine wave generation circuit 59 outputs the sine wave signal A705 together with the drive signal A112. The counter circuit 76 counts the number of outputs by counting the zero point of the sine wave signal A 705, and sequentially switches the number selection signals D 201, 202, and 203 to the switching circuit 85.
To 87 and 89 to 91. And the switching circuit 8
5 to 87 and 89 to 91 are the number-of-times selection signal D201,
In steps 202 and 203, the three multipliers MUL are sequentially switched to smaller ones for each output. As a result, the amplitude of the sine wave of the drive signal attenuates for each output, and disappears three times when the number-of-times selection signal D203 ends. The multipliers of the multipliers MUL 64, 65, 66 and 67, 68, 69 are set as follows. That is, in FIG.
In consideration of the speed increase ratio of the link mechanisms 7 and 8 of the front leg side drive unit 42 and the rear leg side drive unit 43, the vertical movement of the rear leg side of the riding body 40 is set to be larger than the front leg side. . In this embodiment, the magnitude of the drive signal output to the front leg side drive unit 42 and the rear leg side drive unit 43 is the same, and the speed increase ratio of the link mechanisms 7 and 8 of the front leg side drive unit 42 and the rear leg side drive unit 43 is set. 2: 3
Is set so that the vertical movement on the rear leg side is larger than that on the front leg side at the above ratio.

Next, when the stop button 79 shown in FIG. 4 is pressed, the flip-flop FF1 is reset and the first start holding command D005 is turned off, so that the stop-time deceleration circuit 77 operates and the deceleration speed command A102 is output. You. The deceleration is performed by frequency control. When the speed is reduced to a predetermined speed, an END command D102 is output to the flip-flop FF2. Thereby, the flip-flop FF
2 is reset, the second start holding command D103 and the first start command D106 are turned off, and the sine wave generation circuit 5
9 is O when the output A112 becomes 0 in the cycle.
FF and the second start command D107 is also OFF at that time
I do. As a result, the stop position setting circuits 70, 71, and 72 operate to move the riding body to the reference position and stop as in the case of the power supply 0N. Thus, one sequence is completed, and thereafter, the sequence is repeated from the start.

The operation of the above-described control circuit will be described with reference to FIGS. FIG. 5 is a time chart showing a sine wave sequence of the sine wave generation circuit, FIG. 6 is a time chart showing an output operation sequence to the horizontal drive section, and FIG.
FIG. 8 is a time chart showing an output operation sequence to the front leg side and rear leg side drive units.

First, in FIGS. 6 and 7, when the power is turned on, the riding body moves to the reference position 95, and when the trainee rides, and the start button is pressed, the riding body moves to the standby position 96. . In FIG. 5, when a sine wave drive signal is output after a predetermined time, in FIGS. 6 and 7, the vibration starts in the horizontal direction and also starts in the vertical direction in synchronization with the vertical direction. The vibration in the direction decreases in amplitude each time and disappears three times, and thereafter, only the vibration in the horizontal direction continues. Further, as described above, the amplitude of the vertical vibration is made larger on the rear leg side than on the front leg side of the riding body by the link mechanism. Therefore, the movement of the horse body from the start of the racehorse to the full sprint is reproduced. Next, when the stop button is pressed, the vibration gradually stops while stopping, and the riding body returns to the reference position.

[0016]

As described above, the horse launching apparatus according to the present invention comprises a horizontal drive unit provided on a gantry for horizontally driving a mount simulating a horse body; A front leg side drive unit and a rear leg side drive unit which are provided on the rear leg side independently of the horizontal drive unit and drive the riding body in the vertical direction; and the horizontal drive unit, the front leg side drive unit and the rear leg side drive unit And a sine wave generation circuit that outputs a sine wave drive signal in synchronization with the sine wave drive circuit. The front leg side control unit and the rear leg side control unit transmitting to the drive unit are connected,
The damping rate is set in the front leg side control unit and the rear leg side control unit so that the vertical movement of the rear leg side of the riding body by the rear leg side driving unit is larger than the vertical movement of the riding body front leg side by the front leg side driving unit. with attenuation adjustment circuit is provided, the front leg
Since the counter circuit that limits the number of times the drive signal is output to the side control unit and the rear leg side control unit to a plurality of times is connected, when the drive signal is output from the sine wave generation circuit, The movement starts synchronously,
Moreover, the vertical movement is controlled by the damping adjustment circuit so that its amplitude is gradually reduced, and the rear leg side of the riding body is made larger than the front leg side, and is eliminated by the counter circuit a plurality of times. As a result, it is possible to reproduce the movement from the start of the racehorse to the full sprint, and it is possible to train at the time of starting the horse with a riding body that imitates a horse body.

[Brief description of the drawings]

FIG. 1 is a front view of a device configuration of a horse training apparatus of the present invention.

FIG. 2 is a side view of the equipment configuration of the horse training apparatus of the present invention.

FIG. 3 is a sectional view taken along line AA of FIG. 1;

FIG. 4 is a control block diagram of the horse training apparatus of the present invention.

FIG. 5 is a time chart of a sine wave sequence.

FIG. 6 is a time chart of an output operation sequence to the horizontal drive unit.

FIG. 7 is a time chart of an output operation sequence to the front leg side and rear leg side drive units.

[Explanation of symbols]

 A112 Drive signal 41 Horizontal drive unit 42 Front leg side drive unit 43 Rear leg side drive unit 53 Front leg side control unit 54 Rear leg side control unit 59 Sine wave generation circuit 61 Attenuation adjustment circuit 62 Attenuation adjustment circuit 76 Counter circuit

 ────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Noboru Takahashi 2-7 Kandajicho, Chiyoda-ku, Tokyo Senoh Co., Ltd. (72) Inventor Tetsuji Ogawa 2-7 Kandajimachi, Chiyoda-ku, Tokyo Senoh Co., Ltd. ( 56) References JP-A-2-161969 (JP, A)

Claims (1)

(57) [Claims] 1. A horizontal drive unit provided on a gantry for horizontally driving a riding body simulating a horse body, and provided on a front leg side and a rear leg side of the gantry on the riding body independently of the horizontal driving unit. A front leg side driving unit and a rear leg side driving unit for driving the riding body in the vertical direction, and a sine wave for synchronizing and outputting a sine wave driving signal to the horizontal driving unit and the front leg side driving unit and the rear leg side driving unit. A wave generation circuit, wherein the sine wave generation circuit attenuates a sine wave for each drive signal output and transmits the sine wave to the front leg side drive unit and the rear leg side drive unit. In the front leg side control unit and the rear leg side control unit, the vertical movement of the riding body rear leg by the rear leg side driving unit is larger than the vertical movement of the riding body front leg side by the front leg side driving unit. damping adjustment circuitry sets the attenuation rate with provided as before
A horse-running training apparatus, wherein a counter circuit is connected to limit the number of outputs of the drive signal to the front leg side drive unit and the rear leg side drive unit to a plurality of times.