JP3885819B2 - Balance training equipment - Google Patents

Description

  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.

  In general, it is known that maintaining a balance so as not to fall while riding on a horse is a balance maintenance exercise, and also promotes activation of the back and back muscles group and also a exercise for preventing 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.

  As this type of mechanical device (balance training device), there has been proposed a device that includes six driving sources and drives a horse-shaped vehicle with six degrees of freedom (see, for example, Patent Document 1). 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.

  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.

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.
Japanese Patent Publication No. 6-65350

  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.

  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.

The invention of claim 1 includes a seat on which a person is seated 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 of the base. The drive device is regulated so as to move on an arc, and the drive device includes a pedestal on which the seat is fixed, which is capable of at least a linear reciprocating movement in the front-rear direction and a reciprocating rotational movement in the front-rear direction with respect to a base fixed at a fixed position. in together when provided, comprising a single driving source, the front end of the pedestal when moving pedestal forward by converting the rotational force of the main rotating shaft of a drive source into a reciprocating movement in the vertical direction and the longitudinal direction of the base When the pedestal moves in the downward direction and the rear end moves in the upward direction, and the pedestal moves backward, the front end of the pedestal moves in the upward direction and reciprocates so that the rear end moves in the downward direction. Features swinging That.

  According to this configuration, it is possible to swing the pedestal forward and backward and tilt the upper surface of the pedestal forward and backward, and such swinging can be realized with only one drive source.

  According to a second aspect of the present invention, in the first aspect of the invention, the main rotation shaft of the drive source is disposed along the front-rear direction, and the drive device meshes with a worm provided on the main rotation shaft that is orthogonal to the main rotation shaft. A shaft having a worm wheel attached thereto, and a crank that reciprocally moves the pedestal back and forth while tilting the upper surface of the pedestal by transmitting the rotation of the drive source through the shaft.

  According to this configuration, since the main rotation axis of the drive source is arranged along the front-rear direction, the horizontal dimension occupied by the drive source is smaller than when the main rotation axis is arranged along the left-right direction. can do. In this case, the main rotating shaft is rotating around the front and rear axes, but rotation around the left and right axes is necessary to enable swinging that moves the base back and forth and tilts the upper surface of the base back and forth. Therefore, the rotational force is transmitted to the shaft orthogonal to the main rotation axis by the worm and the worm wheel. Since the crank is rotated by the rotation of the shaft and the pedestal is oscillated using the crank to which the rotation of the drive source is transmitted via the shaft, the pedestal is oscillated with a simple and space-saving mechanism. Can be made.

  According to a third aspect of the present invention, in the first aspect of the present invention, the main rotation shaft of the drive source is disposed along the front-rear direction, and the drive device meshes with a worm provided on the main rotation shaft perpendicular to the main rotation shaft. A shaft having a worm wheel attached thereto, a crank connected to the shaft, and a rod that connects the crank and the pedestal and moves the pedestal back and forth by rotating the crank and reciprocates so that the upper surface of the pedestal is inclined. It is characterized by that.

  According to this configuration, since the main rotation axis of the drive source is arranged along the front-rear direction, the dimension in the left-right direction occupied by the drive source is smaller than when the main rotation axis is arranged along the left-right direction. can do. In this case, the main rotating shaft rotates around the front and rear axes, but rotation around the left and right axes is necessary to enable swinging that moves the base back and forth and tilts the top surface of the base back and forth. Therefore, the rotational force is transmitted to the shaft orthogonal to the main rotation axis by the worm and the worm wheel. Since the crank is rotated by the rotation of the shaft and the pedestal connected to the crank via a rod is swung, the pedestal can be swung with a simple and space-saving mechanism.

  According to a fourth aspect of the present invention, in the first to third aspects of the invention, each end is rotatably coupled to the base and the pedestal so that the upper surface of the pedestal can be inclined with respect to the base. A supporting link is provided.

  According to this configuration, since each end of the link is rotatably coupled to the base and the pedestal, the pedestal is supported with respect to the base so that the upper surface of the pedestal can be tilted back and forth.

  According to the configuration of the present invention, it is possible to perform rocking by moving the base back and forth and tilting the top surface of the base back and forth, and such rocking can be realized with only one drive source. There are advantages.

  Further, in the case where the main rotation axis of the drive source is arranged along the front-rear direction, the dimension in the left-right direction occupied by the drive source can be made smaller than when the main rotation axis is arranged along the left-right direction. There are advantages.

  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.

  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.

  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.

  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.

  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.

  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.

  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.

  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.

  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. This is because, in general, normal walking (normal walking) of the horse's gait causes the horse to move the limbs separately to the right rear, right front, left rear, and left front. 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.

It is a longitudinal cross-sectional view which shows the 1st Embodiment of this invention. It is a longitudinal cross-sectional view same as the above. It is the cross-sectional view seen from the front side same as the above. It is the cross-sectional view seen from the rear side same as the above. It is a horizontal sectional view same as the above. It is the cross-sectional view seen from the rear side same as the above. It is a figure which shows the rocking | fluctuation pattern in the regular foot of a horse.

Explanation of symbols

1 seat 2 drive device 3 base 4 base 16 motor (drive source)
19 Main Rotating Shaft 21 Worm 22 Worm 23 Worm Wheel 24 Worm Wheel 25 Shaft 26 Shaft 27 First Crank 28 Second Crank 30 First Rod 31 Second Rod 32 Ball Joint

Claims (4)

A seat on which a person is seated and a drive device that swings the seat are provided, so that the seat is moved on an arc centered on each axis provided at different positions in the front-rear direction of the base. is restricted, the drive, in together when provided with a pedestal the seat be capable of at least the longitudinal direction linearly reciprocating movement and the longitudinal reciprocating rotational movement of the base to be fixed in position is fixed, one The front end of the pedestal moves in the downward direction when the pedestal moves forward by converting the rotational force of the main rotation shaft of the drive source into the reciprocating movement of the pedestal in the vertical and longitudinal directions. In addition, the rear end portion moves in the upward direction, and when the pedestal moves backward, the front end portion of the pedestal moves in the upward direction and the back end portion is swung back and forth so that it moves in the downward direction. Balance training equipment .   The main rotation shaft of the drive source is arranged along the front-rear direction, and the drive device is driven through the shaft with a shaft attached with a worm wheel that is orthogonal to the main rotation shaft and meshes with a worm provided on the main rotation shaft. The balance training apparatus according to claim 1, further comprising: a reciprocating crank that transmits the rotation of the source and moves the pedestal back and forth and tilts the upper surface of the pedestal.   The main rotation shaft of the drive source is disposed along the front-rear direction, and the drive device is coupled to the shaft and a shaft attached with a worm wheel that is orthogonal to the main rotation shaft and meshes with a worm provided on the main rotation shaft. The balance training apparatus according to claim 1, further comprising: a crank, and a rod that connects the crank and the pedestal and moves the pedestal back and forth by rotation of the crank and reciprocates so as to incline the upper surface of the pedestal.   4. The device according to claim 1, further comprising a link that is pivotally coupled to the base and the pedestal, and that supports the upper surface of the pedestal so as to be tiltable with respect to the base. The balance training apparatus according to item.

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