JPH02220675A - Rope pulling training machine - Google Patents

Abstract

PURPOSE:To enable a high level rope pulling training by providing a winch drum driving device, both manual and automatic rope pulling pattern input device, a detecting means for rope pulling force and delivery volume and a control means of driving force feed-back in accordance with the set input and detected rope pulling force. CONSTITUTION:An automatic pattern input device 9A can set the maximum and minimum values of rope pulling force applied on a rope 1 as well as frequencies and wave forms. A manual pattern input device 9B can voluntarily set the rope pulling patterns with a manual operation and the patterns are input to control device 8 with a change over switch 12. Based on this a servo valve 7 is controlled and with a hydraulic pressure motor 4 a winch drum 2 is driven. On the other hand, the rope pulling force a person who pulls a rope 1 is detected with load cell 10 and is fed back to the control device 8. The control device 8 rolls up the rope 1 when the set value is larger than the rope pulling force while it delivers the rope when the value is smaller than the force. The driving force changes periodically in accordance with the set patterns to change the pulling force of the rope 1. Thus a rope pulling training can be conducted with a physical sense equal to the sense a person gets in the case in which he has an opponent.

Description

[Detailed description of the invention] (Industrial application field) The present invention relates to an improvement in a tug-of-war training machine.

(Prior Art) As a tug-of-war training machine, there is a training machine that pulls or lets out a rope in response to the traction force of the tug-of-war.

(Problem to be solved by the invention) However, this involves winding up a rope using a certain force on a drum, and the sensation of tug-of-war is far from that of an actual tug-of-war competition.

Further, in order to enhance tug-of-war practice, it is preferable to be able to collect various data such as tug-of-war force, stroke, or time.

An object of the present invention is to provide a tug-of-war training machine that allows you to practice tug-of-war as if you were actually with an opponent.

(Means for Solving the Problems) Therefore, the present invention provides a winch drum for winding and letting out a tug-of-war rope, a rotary drive device for the winch drum, and an automatic pattern for setting the tug-of-war force of the rope according to a predetermined characteristic pattern. An input device, a manual pattern input device for manually setting the tug-of-war force of the rope arbitrarily, a switching means for selectively switching the output of these pattern input devices, and a means for detecting the actual tug-of-war force and amount of payout of the rope. , means for feedback controlling the driving force of the rotary drive device according to the setting input from any of the pattern input devices and the actually detected tug-of-war force, and a display that displays the tug-of-war force and the amount of extension of the lobe. and a device.

(Function) When a tug-of-war pattern is input using a manual or automatic pattern input device, the lobes are pulled in a corresponding traction pattern, and at the same time, the traction force generated in response to the actual tug-of-war movement is fed back, and the robot responds accordingly. The tug-of-war force is controlled. Therefore, if there is a difference between the set tug-of-war force and the actual tug-of-war force, the robe is wound up or let out accordingly, allowing the user to practice tug-of-war with an appropriate experience at all times.

(Example) Embodiments of the present invention will be described based on the drawings.

FIG. 1 shows a schematic overall configuration, and FIGS. 2 to 4 show specific configurations of the training aircraft.

Winch drum 2 that winds up and unwinds the row 11
is attached to the frame 3. A hydraulic motor 4 is provided as a drive source for driving the winch drum 2, and transmits motor rotation to the winch drum 2 via a galley.

The hydraulic motor 4 receives pressure oil from the hydraulic unit 6 via the servo valve 7, and its rotational speed and rotational torque are controlled. The operation of the servo valve 7 is controlled by a control device 8, which will be described later.

As will be described later, the control device 8 receives a signal from an automatic pattern input device 9A that automatically sets a tug-of-war pattern or a manual pattern input device 9B that manually sets an arbitrary tug-of-war pattern to the input selector switch 12. At the same time, signals from the load cell 10 that detects the traction force of the row 11 and the rotary encoder 11 that detects the traction speed (traction amount) are also input. Note that the rotary encoder 11 detects the amount of rotation of the winch drum 2, and the load cell 10 detects the tug-of-war reaction force applied to the winch drum 2.

The manual pattern input device 9B allows the tug-of-war force to be freely set by manual operation using a shoe stick or the like.

Although the pedestal 3 can be moved freely by wheels 3A, an anchor bin 14 is provided to secure it during tug-of-war practice, and is inserted into a support hole 15A formed in the floor surface 15. This will fix it in that position.

The control device 8 drives the winch drum 2 according to the input tug-of-war pattern, and performs feedback control of this driving force according to the actual tug-of-war force applied to the row 11, and is controlled by a microcomputer as shown in FIG. It is composed of

A periodically fluctuating tug-of-war force pattern is set by the tug-of-war pattern input device 9A or 9B, and this is selectively inputted via the changeover switch 12.

This signal is converted into a digital signal by the A/D converter 15a and inputted (Fin). First, the detection signal from the load cell 10, which is the actual tug-of-war force, is fed back (FM a n ), and addition and subtraction are performed between this (ΔF=Fin
Fman), this correction signal ΔF is the sensitivity adjustment volume 2
0 (Vin=K・ΔF), and a signal (Vout=dSman/dt) obtained by differentiating the rotation amount (stroke) signal (Sman) input from the rotary encoder 11 via the A/D converter 15e. Addition and subtraction (Δ
F = V in - V out), this control signal Δ■
is output to the servo valve 7 via the D/A converter 1.5d to control its opening degree.

The control signal ΔV corresponds to a comparison between the tug-of-war force set by the pattern input device 9A or 9B, the tug-of-war force that actually pulls the row 11, and the tug-of-war speed, and the control signal ΔV is determined according to the opening degree of the servo valve 7. Pressure oil from 6 is supplied to the hydraulic motor 4, thereby controlling the driving force of the winch drum 2 that winds up the row 11.

The tug-of-war force feedback signal (Fman) is input to the data processing device 16 as tug-of-war data, and furthermore, a tug-of-war cover turn according to the data value is set by the external input device 17, and this is input to the pattern input devices 9A, 9.
A/D via the changeover switch 12 instead of the signal from B
The signal can be input to the converter 15a.

Further, the actual tug-of-war force (Fman) applied to the row 11 and the tug-of-war stroke amount Sman are displayed on a panel 19 serving as a display device. Incidentally, the elapsed time from the start of the tug of war is displayed on the display panel 19 based on the output from the timer 21.

The structure is as described above, and the operation will be explained as follows.
First, the automatic pattern input device 9A sets the maximum value (Fmax) and minimum value (F 5in) of the tug-of-war force applied to the row 11.
You can freely set the fluctuation period (T), fluctuation waveform, etc., and also use the manual pattern input device 9B to manually set the tug-of-war pattern using the switch 12. This set tug-of-war pattern is input to the control device 8 by the operation.

Based on this, the opening degree of the servo valve 7 is controlled, hydraulic oil is supplied to the hydraulic motor 4, and the winch drum 2 is driven in the winding direction.

On the other hand, the tug-of-war force of the person who actually pulls the loaf 11 against the winding force of the loaf 1 is detected by the load cell 10, and this is the control device! It is fed back to f8.

Therefore the control device ll! 8, when the setting value entered in the pattern is larger than the actual tug-of-war force, Row 11 is involved according to the difference, and conversely, when it is smaller, Row 1 is
Hydraulic motor 4 is operated via servo valve 7 to feed out
control the driving force of the

Therefore, when the tug of war practitioner's tug of war force is weaker than the set value, the low 11 will be pulled in depending on the weakness, and if it is strong, the low 11 will be pulled out.
When the set value and the tug-of-war force become tight, balance the situation accordingly. Moreover, the driving force of the winch drum 2 changes periodically according to the set pattern, and the traction force of the row 11 is strengthened or weakened, so you can practice tug-of-war with the same experience as when you actually have an opponent. can do.

When the difference in power is large, for example, if the practitioner lacks strength,
By reducing the setting value of the tug of war force, the training aircraft can practice with a weaker opponent, and by changing the setting value to a larger value, the trainer can practice with a stronger opponent, thus allowing the operator to freely choose an opponent.

Furthermore, by operating the sensitivity adjustment volume 20, the sensitivity of the setting pattern can be freely adjusted.

Additionally, depending on the training situation, the coach can manually input the tug-of-war pattern while watching the actual tug-of-war, allowing him to freely set the tug-of-war force.
It's not just physical strength training, it's also tactical training.

The display panel 19 can display the tug-of-war force, stroke amount, tug-of-war time, etc. that change moment by moment during tug-of-war practice, so by looking at it, it is possible to numerically judge the effectiveness of the actual practice, and the data processing device 16 It is possible to store data on each tug-of-war force during tug-of-war practice and data for each team as numerical values. Furthermore, based on these tug-of-war data, an optimal tug-of-war pattern can be set using the external input device 17 for the players to practice with.

(Effects of the Invention) As described above, according to the present invention, a winch drum for winding and letting out a tug-of-war rope, a rotary drive device for the winch drum, and a rope tug-of-war force can be set manually or automatically in an arbitrary characteristic pattern. a pattern input device for detecting a pattern input device, a means for selectively switching these outputs, a means for detecting an actual tug-of-war force and a payout amount of the rope, and a setting input from the pattern input device and a tug-of-war force actually detected. Since it is equipped with a means for feedback controlling the driving force of the rotary drive device and a display device that displays the tug-of-war force and amount of reeling out of the rope, it can be used to respond to various tug-of-war patterns in the same way as in an actual tug-of-war. , it is possible to perform advanced tug-of-war training, and depending on the pattern input method, it is also possible to conduct tug-of-war strategy training at will.

[Brief explanation of the drawing]

The drawings show an embodiment of the present invention; FIG. 1 is an overall schematic configuration diagram, FIG. 2 is a side view showing the specific configuration of the training aircraft, FIG. 3 is a plan view, and FIG. The front view, FIG. 5, is a block diagram of the control device. 1... Lobe, 2... Winch drum, 4... Hydraulic motor, 7... Servo valve, 8... Control device, 9A
...Automatic pattern input device, 9B...Manual pattern input device, 10...Load cell, 11...Rotary encoder, 12...Selector switch, one...Display device. Third

Claims (1)

[Claims] A winch drum that takes up and lets out the tug-of-war rope, a rotary drive device for the winch drum, an automatic pattern input device that sets the tug-of-war force of the rope according to a predetermined characteristic pattern, and a manual setting of the tug-of-war force of the rope as desired. A manual pattern input device, a switching means for selectively switching the outputs of these pattern input devices, a means for detecting the actual tug-of-war force and amount of rope reeling out, and setting input from any of the above-mentioned pattern input devices. A tug-of-war training machine characterized by comprising means for feedback-controlling the driving force of the rotary drive device according to the detected tug-of-war force, and a display device that displays the tug-of-war force and the amount of payout of the rope.