JP3885460B2 - Balance training equipment - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a balance training apparatus used for training a balance function for the purpose of activating the body, training or recovery of a motor function, and the like.
[0002]
[Prior art]
In general, it is known that balancing so as not to fall while riding on a horse is training for maintaining balance, and also promoting exercise of the back and back muscles group to prevent back pain. However, the places where you can ride a horse are limited. Therefore, it is considered to use a mechanical device that can realize the same operation as that on a horse so that balance training can be easily performed without being restricted by a place or weather.
[0003]
As this type of mechanical device (balance training device), for example, as described in Japanese Patent Publication No. 6-65350, a device that has six driving sources and drives a horse-shaped vehicle with six degrees of freedom is proposed. Has been. In this configuration, it is possible to swing the vehicle by combining six operations of the linear reciprocating movement in the front-rear direction, the left-right direction, and the up-down direction and the rotational reciprocating movement about the front-rear axis, the left-right axis, and the vertical axis. In addition, six operations can be individually controlled. Therefore, swinging that is close to the state of riding on a horse is possible.
[0004]
However, what is described in the above publication includes six drive sources and controls each drive source individually, and therefore individually controls the operation timing, speed, operation range, etc. of each drive source. Need very complex control. Further, since six drive sources are provided, there is a problem that the size is easily increased and the cost is increased. This problem is not limited to the so-called 6-degree-of-freedom serial robot used in the above publication, but also applies to a 6-degree-of-freedom parallel robot having a relatively simple structure. Although the structure is simple, the cost of the component parts is high, resulting in a further increase in cost.
[0005]
Therefore, the inventors used one drive source for driving the linear reciprocating movement in the front-rear direction and the rotational reciprocating movement about the left-right axis, and using another driving source for driving the rotational reciprocating movement about the front-rear axis. A balance training device was proposed earlier. In other words, a balance training apparatus that can swing the seat with three degrees of freedom and that uses two drive sources has been proposed.
[0006]
[Problems to be solved by the invention]
By the way, in the balance function training, it is only necessary to simulate the normal walking degree of the horse's gait, and it is not necessary to simulate the fast walking and the running. That is, in the above-described conventional configuration, by adopting a configuration using two drive sources, it is possible to cope with gaits other than normal walking, but this function is not necessarily required in balance training.
[0007]
The present invention has been made in view of the above reasons, and an object thereof is to provide a balance training apparatus that can be used for balance training with a relatively simple configuration using only one drive source. is there.
[0008]
[Means for Solving the Problems]
The invention of claim 1 is provided with a seat on which a person sits and a drive device that swings the seat, and the seat is centered on each axis provided at different positions in the front-rear direction with respect to the base. The drive device includes a pedestal to which the seat is fixed, and has one drive source, and separates the rotational force of the main rotation shaft of the drive source into two systems. one in lineages is reciprocated pedestal to include straight reciprocating movement and rotational reciprocating movement around the longitudinal direction in the first plane including the longitudinal direction and the vertical direction as well as left-right direction and the vertical in strains other hand The pedestal is reciprocated so as to include a reciprocating rotational movement around the rotational axis in the front-rear direction within the second plane including the direction . In the reciprocating movement within the first plane, when the pedestal moves forward, the front end of the pedestal When the part is moved in the downward direction The monitor rear portion is moved in the upward direction, the pedestal is characterized in that moving the rear end portion in the downward direction moves the front end of the pedestal upward when moving backward.
[0009]
The invention of claim 2 includes a seat on which a person is seated and a drive device that swings the seat, and the drive device is capable of rotating and reciprocating about a base and a rotational axis in the front-rear direction with respect to the base. A movable base pivotally attached to the base so as to have a first link whose one end is rotatably connected to the movable base by a first shaft pin included in a plane orthogonal to the rotational axis, A base on which a second shaft pin parallel to one link is pivotally connected to the other end of the first link and is capable of rotating and reciprocating around the rotation shaft together with the movable base, and the seat is fixed; And a third shaft pin extending in the left-right direction, one end of which is rotatably connected to one of the base and the pedestal and is disposed in a plane orthogonal to the left-right direction including the rotation shaft. The other end is connected to the other of the base and the pedestal via a joint and cooperates with the first link It has a second link that limits the movement of the seat to a linear reciprocating movement in the front-rear direction and a rotational reciprocating movement around the left and right axes, and a single driving source disposed on the movable frame, and the rotational force of the driving source is two systems. In one system, the first link is tilted back and forth around the first shaft pin to move the base straight in the front-rear direction with respect to the base and rotate around the left-right axis, and in the other system The movable gantry is rotated around the rotation axis by changing the distance between the side portion and the base .
[0010]
The invention of claim 3 includes a seat on which a person sits and a drive device that swings the seat, and the drive device rotates and reciprocates around a rotation axis in the front-rear direction with respect to the base. A movable base pivotally attached to the base so as to be possible, and a first link having one end rotatably connected to the movable base by a first shaft pin included in a plane orthogonal to the rotational axis And a second shaft pin parallel to the first link is rotatably connected to the other end of the first link, and is capable of rotating and reciprocating around the rotation shaft together with the movable frame. One end is pivotally connected to one of the base and the pedestal by a pedestal to which the seat is fixed and a third shaft pin extending in the left-right direction, and includes the rotation shaft and is orthogonal to the left-right direction. The other end is located on the base via a first universal joint disposed in the plane. A second link connected to the other of the pedestal and cooperating with the first link to limit the movement of the pedestal to a rectilinear reciprocating movement in the front-rear direction and a rotating reciprocating movement around the left and right axis; On the other hand, a first rod that is pivotably connected in a plane along the first link, a first crank that is provided on the movable mount and is pivotally connected to the other end of the first rod, and one end A second rod having a portion connected to the base via a second universal joint, a second crank provided on the movable frame and having the other end of the second rod rotatably connected thereto, and a first crank And a single drive source that collectively rotates the second crank.
[0011]
According to the configuration of the first to third aspects , the seat can be swung with three degrees of freedom, namely, a linear reciprocating movement in the front-rear direction, a rotational reciprocating movement around the front-rear axis, and a rotational reciprocating movement around the left-right axis; Moreover, such a swing can be realized with only one drive source. In particular, in the configuration of the third aspect, the second crank and the second rod are interposed between the movable frame and the base, and the movable frame is pivotally supported on the base by the rotation shaft in the front-rear direction. When the two cranks rotate, the movable base rotates and reciprocates around the rotating shaft, and the pedestal rotates and reciprocates around the rotating shaft together with the movable base. Further, the first link and the second link restrict the moving direction of the pedestal relative to the movable pedestal to a linear reciprocating movement in the front-rear direction and a rotational reciprocating movement around the left and right axes, and the first link is provided between the movable pedestal and the pedestal. Since the crank and the first rod are interposed, when the first crank rotates, the pedestal moves with respect to the movable frame in a state where the movement direction is restricted by the first link and the second link as described above. It will be. In other words, the pedestal performs a reciprocating reciprocating movement in the front-rear direction and a rotating reciprocating movement about the left and right axes with respect to the movable gantry, and the reciprocating movement of the movable gantry around the rotation axis (the front-rear axis) with respect to the base As a result, the pedestal swings by a combination of a linear reciprocating movement in the front-rear direction, a rotational reciprocating movement around the front-rear axis, and a rotational reciprocating movement around the left-right axis with respect to the base. Since the seat is coupled to the pedestal, the seat swings with three degrees of freedom as with the pedestal. In addition, in order to realize such three-degree-of-freedom swing, it is only necessary to rotate two cranks, and both cranks are driven to rotate by one drive source. As a result, one drive source Only 3 degrees of freedom can be swung.
[0012]
The invention of claim 4 is characterized in that, in the invention of claim 3 , the ratio of the rotation speed of the first crank and the rotation speed of the second crank is set to 2: 1. In general, normal walking (normal walking) of the horse's gait is because the horse moves its limbs separately to the right back, right front, left back, and left front, so that it moves straight back and forth in the front-rear direction and rotational back and forth around the front and rear axes. Almost similar movement can be realized by swinging with three degrees of freedom of movement and reciprocating movement around the left and right axis. In addition, it is known that the rotational reciprocation around the front-rear axis is twice as long as the rotational reciprocation around the left-right axis and the rectilinear reciprocation in the front-rear direction (presumed from the movements of the limbs described above). it can). Therefore, the rotational speed of the first crank that performs the linear reciprocating movement in the front-rear direction and the rotational reciprocating movement about the left-right axis is set to be twice the rotational speed of the second crank that performs the rotational reciprocating movement about the front-rear axis. Thus, the movement of the pedestal can be swung to resemble the normal walking of a horse.
[0013]
The invention according to claim 5 is the invention according to claim 3 or claim 4 , wherein the main rotation shaft is rotationally driven by the drive source, and the first and second worms provided at each end of the main rotation shaft, The first worm wheel and the second worm wheel meshing with each worm, and the rotational forces of the first and second worm wheels are transmitted to the first and second cranks, respectively. According to this configuration, since the two worms that are rotationally driven by the drive source and the two worm wheels that mesh with each worm are used, the rotational force of one drive source is separated into two systems. The pedestal can be swung via a crank provided for each system.
[0014]
According to a sixth aspect of the present invention, in the third to fifth aspects of the present invention, the distance between the connecting portion of the first link to the movable base and the connecting portion of the second link to the base is the first and first. It is characterized by being smaller than the distance between the connection parts with the base in 2 links. According to this configuration, the pedestal swings back and forth simply by rotating the first and second cranks, and moves up and down so that the front end and the rear end are alternately switched up and down. The swing which resembled like is possible.
[0015]
DETAILED DESCRIPTION OF THE INVENTION
This embodiment will be described with reference to FIGS. A seat 1 on which a person sits is formed in a bowl shape, and a person sits in a form straddling the seat 1. The seat 1 is fixed in the form of being placed on a pedestal 3 provided in the drive device 2.
[0016]
The drive device 2 includes a base 4 fixed at a fixed position on the floor, and a mounting plate 5 having a U-shaped cross section including a pair of leg pieces 5 a spaced apart from each other is fixed to the base 4. A rotating shaft 6 that runs in the front-rear direction so as to penetrate 5a is fixed. Both ends of the rotating shaft 6 protrude outside the both leg pieces 5 a of the mounting plate 5, and the movable frame 8 is attached to both ends of the rotating shaft 6 via bearings 7 at the protruding portion. Therefore, the movable frame 8 can be rotated in the left-right direction with the rotation shaft 6 as the rotation center. One end of the first link 9 is pivotally attached to the movable base 8, and the pedestal 3 on which the seat 1 is placed is pivotally attached to the other end of the first link 9. That is, the movable base 8 and the base 3 are rotatably connected to both ends of the first link 9. The shaft pins 10 and 11 that connect the first link 9 to the movable frame 8 and the pedestal 3 are arranged so as to be parallel to each other in a plane orthogonal to the rotation shaft 6 (see FIGS. 3 and 4). A pair of left and right first links 9 are provided.
[0017]
On the other hand, as shown in FIG. 6, a pair of left and right support plates 12 are erected in front of the movable mount 8 in the base 4 (leftward in FIG. 1), and run in the left-right direction between the support plates 12. A shaft pin 13 is installed. The front end portions of both leg pieces 14a of the U-shaped second link 14 opened downward are pivotally attached to the shaft pin 13. That is, the second link 14 can be rotated back and forth around the shaft pin 13. The base 3 is connected to the left and right central portions of the central piece 14b of the second link 14 via a ball joint 15 as a universal joint. That is, as shown in FIG. 5, the ball joint 15 is disposed in a plane that includes the rotation shaft 6 and is orthogonal to the left-right direction. Here, the distance between the shaft pin 10 that connects the first link 9 to the movable mount 8 and the shaft pin 13 that connects the second link 14 to the base 4 is the same as that of the shaft pin 11 that connects the first link 9 to the base 3. The distance is set smaller than the distance between the second link 14 and the pedestal 3 and the ball joint 15.
[0018]
Accordingly, the upper surface of the base 3 is assumed to be parallel to the upper surface of the base 4 at the position shown in FIG. 1, and the first link 9 is tilted forward (leftward in FIG. 1) around the shaft pin 10 from this position. If it does, the 1st link 9 will push up the rear part (right part of FIG. 1) of the base 3, and when the 2nd link 14 falls down, the front part of the base 3 will fall. That is, the pedestal 3 moves forward and lowers the front end portion below the rear end portion. On the other hand, if the first link 9 is tilted backward around the shaft pin 10 from the position of FIG. 1, the pedestal 3 moves rearward while lowering the rear end portion from the front end portion. In this way, the first link 9 and the second link 14 cooperate to enable straight forward movement in the front-rear direction and rotation around the left-right axis. Further, the movable base 8 can be turned left and right around the turning shaft 6, and the swinging range of the left and right of the base 3 is limited by the ball joint 15 provided at one end (upper end) of the second link 14. Therefore, the pedestal 3 can be rotated around the front and rear axis (the rotation axis 6) together with the movable frame 8.
[0019]
In order to drive the pedestal 3 whose movement direction with respect to the base 4 is restricted by the above-described configuration, one motor 16 is used as a drive source in the present embodiment. A pair of front and rear motor mounting bases 17 are fixed to the upper surface of the movable mount 8, and the motor 16 is disposed between the front and rear motor mounting bases 17, and the motor 16 is fixed using bolts 18a and nuts 18b. Further, the main rotating shaft 19 that is an output shaft of the motor 16 protrudes on both sides of the motor 16, and the main rotating shaft 19 is rotatably held by bearings 20 respectively held on the motor mounting bases 17. Also, worms 21 and 22 are provided at the respective one end portions of the main rotating shaft 19, and the worm wheels 23 and 24 mesh with the worms 21 and 22. The worm wheels 23 and 24 are attached to shafts 25 and 26 parallel to the shaft pins 10 and 11. A first crank 27 is connected to one end of the shaft 25, and a second crank 28 is connected to one end of the shaft 26. Are concatenated. Each shaft 26 is rotatably held by a bearing 29 fixed to the motor mount 17. Here, the first crank 27 to which the rotation of the motor 16 is transmitted via the worm wheel 23 meshing with the worm 21 provided at the rear portion of the main rotating shaft 19 is arranged on the left side of the movable mount 8, and A second crank 28 to which the rotation of the motor 16 is transmitted via a worm wheel 24 meshing with a worm 22 provided at the front part is disposed on the right side of the movable frame 8. However, such an arrangement relationship is not essential.
[0020]
One end of the first rod 30 is rotatably connected to the first crank 27, and the other end of the first rod 30 is connected to the base 3 at the same site as the first link 9 by the shaft pin 11. That is, when the first crank 27 rotates, the first link 9 rotates back and forth around the shaft pin 10, so that the base 3 can move back and forth and the upper surface of the base 3 can be inclined. Here, in this embodiment, the rotation range of the first link 9 is a range indicated by φ1 in FIG. At this time, the second link 14 rotates within a range indicated by φ2 in FIG.
[0021]
On the other hand, one end of a second rod 31 is rotatably connected to the second crank 28, and the other end of the second rod 31 is connected to the base 4 via a ball joint 32 as a universal joint. That is, when the second crank 28 rotates, the distance from the rotation center of the second crank 28 to the base 4 changes, and the movable frame 8 rotates about the rotation shaft 6. In other words, the rotation of the second crank 28 causes the pedestal 3 to reciprocate around the front-rear axis (rotating shaft 6). Here, since one end portion of the second crank 28 is connected to the base 4 via the ball joint 32, the swing of the movable gantry 8 around the rotation shaft 6 is allowed.
[0022]
As described above, according to the configuration of the present embodiment described above, by using only one motor 16 as a drive source, the linearly reciprocating movement in the front-rear direction, the rotational reciprocating movement (roll) around the front-rear axis, The pedestal 3 can be swung with three degrees of freedom of rotation and reciprocation (pitch) around the axis.
[0023]
By the way, this embodiment is configured to simulate normal walking among horses. Although the actual swinging of the kite in normal walking is not strictly three degrees of freedom, the components of the above-mentioned linear movement in the front-rear direction, rotational movement about the front-rear axis, and rotational movement about the left-right axis are the largest. It is known from the experimental results, and the knowledge that normal walking can be simulated to a considerable extent by the above-described three-degree-of-freedom reciprocation is obtained. Especially for the purpose of balance training, a sufficient effect can be obtained by such swinging. On the other hand, in the actual normal walking, as shown in FIG. 7, with respect to the period of each component of the linear movement in the front-rear direction, the rotational movement about the front-rear axis, and the rotational movement about the left-right axis, as shown in FIG. Further, it has been found that the cycle of the rotational reciprocation (3) around the front-rear axis is twice that of the rotational reciprocation (2) around the left and right axes. Therefore, in the present embodiment, the number of rotations of the first crank 27 that determines the period of the linear reciprocating movement in the front-rear direction and the rotational reciprocating movement about the left-right axis is the same as that of the second crank 28 that determines the period of the rotational reciprocating movement about the front-rear axis. It is set to twice the number of rotations, and this setting makes it possible to swing the pedestal 3 in the same relationship as normal walking. In the configuration of this embodiment, the phase relationship of each component is mechanically adjusted in advance. That is, it is adjusted so that the center of the reciprocating movement is the same for all three components.
[0024]
【The invention's effect】
In the first to third aspects of the invention , the seat can be swung in three degrees of freedom: a linear reciprocating movement in the front-rear direction, a rotational reciprocating movement around the front-rear axis, and a rotational reciprocating movement around the left-right axis. There is an advantage that such swinging can be realized with only one drive source.
[0025]
In a fourth aspect of the invention , the rotational speed of the first crank that performs the linear reciprocating movement in the front-rear direction and the rotational reciprocating movement about the left-right axis is 2 to the rotational speed of the second crank that performs the rotational reciprocating movement about the front-rear axis. By setting it to double, the movement of the pedestal can be swung to resemble the normal walking of a horse.
[0026]
In the invention of claim 5 , since two worms rotated by a drive source and two worm wheels meshing with each worm are used, the rotational force of one drive source is separated into two systems. The pedestal can be swung via a crank provided for each system.
[0027]
In the invention of claim 6, will be simply pedestal rotating the first and second crank with shaking after before, the upper and lower the front end portion and the rear end portion moves up and down as alternating, horse The swing that resembles the gait of is possible.
[Brief description of the drawings]
FIG. 1 is a longitudinal sectional view seen from the right showing a first embodiment of the present invention.
FIG. 2 is a longitudinal sectional view as seen from the left.
FIG. 3 is a transverse sectional view as seen from the front side.
FIG. 4 is a transverse sectional view as seen from the rear side.
FIG. 5 is a horizontal sectional view of the above.
FIG. 6 is a transverse sectional view as seen from the rear side.
FIG. 7 is a view showing a rocking pattern in a regular foot of a horse.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Seat 2 Drive apparatus 3 Base 4 Base 6 Rotating shaft 8 Movable mount 9 1st link 10 Axis pin 11 Axis pin 13 Axis pin 14 2nd link 15 Ball joint 16 Motor 19 Main rotating shaft 21 Worm 22 Worm 23 Worm wheel 24 Worm wheel 27 1st crank 28 2nd crank 30 1st rod 31 2nd rod 32 Ball joint

Claims (6)

The seat includes a seat on which a person sits and a drive device that swings the seat, and the seat moves on an arc centered on each axis provided at different positions in the front-rear direction with respect to the base. The drive device is provided with a pedestal to which the seat is fixed and has one drive source, which separates the rotational force of the main rotation shaft of the drive source into two systems, and in one system, the front and rear direction and the first by reciprocating the base to include a rectilinear reciprocating movement and rotational reciprocating movement around the longitudinal direction in a plane including the vertical direction and the second plane including the horizontal direction and the vertical direction in the system of the other side The pedestal is reciprocated so as to include rotational reciprocation around the rotational axis in the front-rear direction, and in the reciprocation within the first plane, the front end of the pedestal is moved in the downward direction when the pedestal moves forward. Along the rear end Is moved toward the balance exercise machine, characterized in that to move the rear end portion in the downward direction together with the front end of the pedestal is moved in the upward direction when the seat is moved rearward. A seat on which a person is seated and a drive device for swinging the seat are provided, and the drive device is pivoted to the base so as to be capable of rotating and reciprocating about a rotation axis in the front-rear direction with respect to the base. A first link whose one end is rotatably connected to the movable frame by a first shaft pin included in a plane orthogonal to the rotation axis, and a second parallel to the first link. A pedestal that is pivotally connected to the other end of the first link by a shaft pin and is capable of rotating and reciprocating around the rotation axis together with a movable base, and a seat fixed to the first link along the left-right direction. One end portion is pivotally connected to one of the base and the pedestal by three shaft pins, and the other end portion via a first universal joint disposed in a plane perpendicular to the left-right direction including the pivot shaft Is connected to the other of the base and the pedestal and cooperates with the first link to move the pedestal forward and backward A second link that is limited to a linear reciprocating movement and a rotational reciprocating movement around the left and right axis, and a single driving source disposed on the movable gantry, and separates the rotational force of the driving source into two systems. Then, by tilting the first link back and forth around the first shaft pin, the pedestal moves straight in the front-rear direction with respect to the base and rotates around the left-right axis, and in the other system, the side of the movable gantry and the base A balance training apparatus characterized by rotating a movable gantry around a rotation axis by changing a distance . A seat on which a person is seated and a drive device for swinging the seat are provided, and the drive device is pivoted to the base so as to be capable of rotating and reciprocating about a rotation axis in the front-rear direction with respect to the base. A first link whose one end is rotatably connected to the movable frame by a first shaft pin included in a plane orthogonal to the rotation axis, and a second parallel to the first link. A pedestal that is pivotally connected to the other end of the first link by a shaft pin and is capable of rotating and reciprocating around the rotation axis together with a movable base, and a seat fixed to the first link along the left-right direction. One end portion is pivotally connected to one of the base and the pedestal by three shaft pins, and the other end portion via a first universal joint disposed in a plane perpendicular to the left-right direction including the pivot shaft Is connected to the other of the base and the pedestal and cooperates with the first link to move the pedestal forward and backward A second link that is limited to linear reciprocating movement and rotational reciprocating movement around the left and right axis, a first rod having one end rotatably connected to the pedestal in a plane along the first link, and movable A first crank provided on the pedestal and having the other end of the first rod rotatably connected thereto, a second rod having one end connected to the base via a second universal joint, and provided on the movable pedestal A balance training apparatus comprising: a second crank in which the other end of the second rod is rotatably connected; and a single drive source that collectively rotates the first crank and the second crank. . 4. The balance training apparatus according to claim 3, wherein the ratio between the rotation speed of the first crank and the rotation speed of the second crank is set to 2: 1 . A main rotary shaft that is rotationally driven by the drive source; first and second worms provided at each end of the main rotary shaft; and first and second worm wheels that mesh with each worm; The balance training apparatus according to claim 3 or 4, wherein the rotational force of the first and second worm wheels is transmitted to the first and second cranks, respectively. The distance between the connecting portion of the first link to the movable base and the connecting portion of the second link to the base is greater than the distance between the connecting portions of the first and second links to the pedestal. Any one of claims 3 to 5, characterized in that it is small. The balance training device according to item.

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