JPH0523799B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention is an embodiment of the head and neck of an artificial horse body in a riding simulator configured to simulate the basic walking motion of a real horse. It relates to a link mechanism for swinging like a horse.

[Prior Art] Conventionally, artificial horse bodies for amusement, such as those found in merry-go-rounds, have generally been designed to provide fun movement, such as a horse whose head, neck, body, and legs move as one. Therefore, the conventional artificial horse body moves in a way that is far removed from the movement of a real horse, in which the head, neck, trunk, and legs are all related to each other and perform complex movements. In particular, the lack of rocking motion in the head and neck is one of the reasons why the artificial horse body cannot provide the feeling of riding a real horse.

[Problems to be Solved by the Invention] Therefore, in the present invention, by swinging the head and neck of the artificial horse body, that is, when the artificial horse body moves forward, the neck lowers and the head rises at the same time. The technical means to be solved is to make the artificial horse's body move more closely to that of a real horse, such as raising the neck and lowering the head at the same time when moving backwards.

[Means for Solving the Problem] The technical means for solving the problem described above is such that the link mechanism of the artificial horse body in the riding simulator has a rotation center at the upper end, and this rotation center A lever is attached to a pivot attached to the fuselage so as to be rotatable in the longitudinal direction of the fuselage, and one end of this lever is connected to the lower end of the lever, and the other end is connected to the fuselage. An elastic member for biasing rotational force in the forward direction is connected to the lower end of the leg of the artificial horse body, and when the artificial horse body receives rotational force from the outside and performs a rotational movement, the said leg is moved vertically and laterally. The leg support lever is moved in an oscillating manner, and one end is attached to the lever while the other end is attached to the stomach and the other end via a pulley on a vertical bracket attached to the upper surface of the base installed below the artificial horse's body. a linear member attached to the leg support bar for rotating the torso lever in a direction corresponding to the biasing force of the elastic member as the torso moves; A rotating center is supported by the body via a neck pivot, and a neck has an extending piece extending from the rotating center in a direction opposite to the head; a first end rotatably attached to the extending piece having one end rotatably attached, and the other end rotatably attached to the lever to rotate the neck in response to the rotation of the lever;
a link, an arm rotatably attached to the body via a shaft so as to be rotatable in the front-rear direction of the body, and one end portion rotatably attached to the lever;
a second link whose other end is rotatably attached to the arm and rotates the arm in the same direction as the lever in response to rotation of the lever; A second end is attached concentrically to the supported shaft, and the other end is rotatably attached to the head, and rotates the head in the opposite direction to the arm in response to rotation of the arm. 3 links.

[Function] According to the link mechanism of the artificial horse body in the riding simulator configured as described above, when the leg support cover rotates in response to an external rotational force, for example, when the artificial horse body moves forward, the leg support bar The linear member connected to the lever pulls the lever against the biasing force of the elastic member, thereby rotating the lever toward the rear of the fuselage. When the lever rotates toward the rear of the fuselage, the first link, whose one end is rotatably attached to the lever, is pulled toward the rear of the fuselage in conjunction with the lever's rotation. An extension piece of the neck connected to the other end of the link is pulled by the first link. As a result, the neck is rotated counterclockwise, ie, downward, about the neck pivot as the rotation axis.

On the other hand, the second link, like the first link, is pulled toward the rear of the fuselage in conjunction with the rotation of the lever, so the arm connected to the end of the second link moves in the same direction as the lever. Rotate. As a result, the third link, one end of which is connected to the arm, is displaced concentrically with the center of rotation of the arm in a direction in which it is pushed out, causing the head to rotate upward.

As mentioned above, when the artificial horse body moves forward,
While the neck is displaced in a downward direction, the head is displaced in an upward direction.

Next, when the artificial horse body moves backward, for example, the linear member connected to the leg support lever is moved in the direction of loosening, so the lever is rotated toward the front of the body due to the biasing force of the elastic member. Ru. When the lever rotates toward the front of the fuselage, the first link, whose one end is rotatably attached to the lever, is pushed toward the front of the fuselage in conjunction with the rotation of the lever.
The extending piece of the neck connected to the other end of the first link is pushed forward. As a result, the neck is rotated clockwise about the neck pivot, and the extending piece is rotated clockwise, and the opposite side of the extending piece about the neck pivot, that is, the tip side is rotated upward. be moved.

On the other hand, like the first link, the second link is pushed out toward the front of the fuselage in conjunction with the rotation of the lever, so the arm connected to the end of the second link moves clockwise. Rotated. As a result, the third link is displaced so as to be pulled toward the fuselage,
Rotate the head downward.

As mentioned above, when the artificial horse body moves backward,
The neck moves upward, and the head moves downward.

[Example] Next, an example of the present invention will be described with reference to the drawings.

FIG. 1 is a side view of an artificial horse body 1 showing the overall configuration of an embodiment of the present invention.

FIG. 1 shows a state in which the left side of the left and right body plates constituting the body 2 is removed in order to facilitate explanation of link-related mechanisms to be described later.

As shown in the figure, the artificial horse body 1 includes a body 2, a head 3, a neck 4, front legs 5, and hind legs 6 as main parts. Body 2 has neck pivot 1
A neck portion 4 is rotatably attached around 1 as an axis. The head 3 is attached to the pin 1 at the tip of the neck 4.
It is attached so that it can rotate around axis 2. Further, at the base end of the neck portion 4, an extending piece 4A is formed diagonally downward from the joint portion with the neck pivot 11.

The front leg 5 is rotatably attached to the body 2 about a front leg pivot 13. Also hind legs 6
is rotatably attached to the body 2 about a rear leg pivot 14.

The lower end of the front leg 5 is attached to an eccentric shaft 16 attached to a rotating disk 15. Further, the lower end of the rear leg 6 is attached to a horizontal bar 21 that is pivotally supported by both an eccentric shaft 19 and an eccentric shaft 20 attached to the rotating disks 17 and 18, respectively.

The horizontal bar 21 is configured to always rotate in a horizontal state when the rotating disk 17 or 18 rotates in response to an external rotational force.

A lever pivot 31 is attached to the upper part of the body 2, and a thin plate-shaped lever 32 is rotatably attached to the lever pivot 31. One end of a spring 33 is connected to the lower end of this lever 32, and the other end of the spring 33 is connected to the front leg attachment portion 2F of the fuselage 2. Therefore, the spring 33 provides a moment to the lever 32 that causes the lever 32 to rotate clockwise.

On the other hand, one end of a rope 34 for applying a moment in the opposite direction to the moment caused by the spring 33 to the lever 32 is connected to the lower end of the lever 32, and the other end is connected to a pulley 50 attached to the body 2.
It is further connected to the horizontal bar 21 via a pulley 24 of a bracket 23 attached to the upper surface of the base 22. Therefore, when the artificial horse body 1 moves forward, the lever 32 is rotated counterclockwise by the tensile force of the rope 34 against the biasing force of the spring 33.

On the other hand, when the artificial horse body 1 moves backward, the rope 34 is moved in a direction that loosens it, so that the lever 32 is rotated clockwise by the biasing force of the spring 33.

One end of a first link 36 is attached to the lever 32 via a pin 35. Also, the first
The other end of the link 36 is attached to the extending piece 4A of the neck portion 4 via a pin 37. Also,
One end of a second link 38 is attached to the pin 35, and the other end of the second link 38 is attached to the lower end of an arm 40 attached to the neck pivot 11 via a pin 41. installed.

One end of a third link 42 is attached to the pin 39, and the other end of the third link 42 is attached to a pin 43 attached to the head 3.

Next, a driving device for driving the artificial horse body 1 having the above configuration will be explained with reference to FIG. 2.

A rotating shaft 51 for rotating the rotary disk 15 of the artificial horse body 1 is connected to a phase variable mechanism 52 for generating a phase difference between the vertical movement and the longitudinal movement of the artificial horse body 1. On the other hand, a rotating shaft 53 that rotates the rotating disk 18 is connected to a phase variable mechanism 54.

The phase variable mechanism 52 varies the phase between the rotary shaft 51 and a pulley shaft 55 inserted into the pulley 54A using a phase variable motor (not shown).

The phase variable mechanism 54 varies the phase between the rotary shaft 53 and a pulley shaft 57 inserted into the pulley 56 by a phase variable motor (not shown).

The pulley 54A includes a pulley 61 attached to an output shaft 60 of a reducer 59 that decelerates and outputs the rotation of the main motor 58, and a timing belt 62.
and is configured to be rotated through. Further, the pulley 56 is configured to be rotated via a pulley 63 attached to the output shaft 60 and a timing belt 64.

The main motor 58 is connected to an inverter 65, and its rotational speed is controlled according to the frequency of drive power output from the inverter 65. This inverter 65 is electrically connected to a control device 66, and the control device 66 is connected to the inverter 6.
5 outputs a drive signal according to the walking motion mode of the artificial horse body 1 to drive the main motor 58, thereby rotating the rotating discs 15, 18 via the phase variable mechanisms 52, 54. let

Further, the control device 66 is electrically connected to an operation panel 67, and a setting switch (not shown) provided on the operation panel 67 sets the walking operation mode of the artificial horse body 1.

Next, the function of the artificial horse body 1 will be explained.

For example, a mode for moving the artificial horse body 1 in walking mode is set by the setting switch on the operation panel 67, and a drive signal is output from the control device 66 to the inverter 65 to drive the main motor 58. , the rotating discs 15 and 18 rotate counterclockwise in response to the rotational torque of the rotating shafts 51 and 53, respectively, causing the artificial horse body 1 to reciprocate in the front and back direction with an amplitude in the vertical direction, and the eccentric shaft 19 ，
A horizontal bar 21 attached to 20 is rotated in a horizontal state. When the artificial horse body 1 moves forward in the forward and backward reciprocating motion, the rope 34 connected to the horizontal bar 21 is pulled in the direction of the arrow F1, as shown in FIG. It resists the biasing force of the spring 33 and is rotated in the direction of arrow F2. As a result, the first link 36 and the second
The link 38 is moved in the directions of arrows F3 and F4, and the extending piece 4A of the neck 4 connected to the end of the first link 36 via the pin 37 is pulled in the same direction. is rotated in the direction of arrow F5, that is, downward.

On the other hand, as the second link 38 moves in the direction of arrow F4, the arm 40 also rotates in the same direction.
The link 42 is pushed out in the direction of arrow F6, and the head 3 is rotated in the direction of arrow F7, that is, upward.

As described above, when the artificial horse body 1 moves forward, the neck 4 lowers and the head 3 rises, making it possible to swing like a real horse.

Furthermore, when the artificial horse body 1 moves in the backward direction of the back and forth reciprocating motion, the rope 34 connected to the horizontal bar 21 loosens in the direction of arrow B1, as shown in FIG. 32 is rotated in the direction of arrow B2 by the urging force of spring 33. As a result, the first link 36 and the second link 38 are moved in the directions of arrows B3 and B4, and the extending piece 4A of the neck 47 is connected to the end of the first link 36 via the pin 37. are pushed out in the same direction, so the neck portion 4 is rotated in the direction of arrow B5, that is, upward.

On the other hand, as the second link 38 moves in the direction of arrow B4, the arm 40 also rotates in the same direction.
The link 42 of is pulled in the direction of arrow B6, and the head 3
is rotated in the direction of arrow B7, that is, downward.

As described above, when the artificial horse body 1 moves backward, the neck 4 rises and the head 3 falls, making it possible to swing like a real horse.

Next, the artificial horse body 1 constructed as shown in FIG.
A will be explained.

The above artificial horse body 1A is the artificial horse body 1 of the above embodiment.
The rotating discs 15, 18, horizontal bar 21, bracket 23, pulley 24, etc. are omitted, and
The front legs 5 and the rear legs 6 are fixed to a movable table 101, and the movable table 101 is reciprocated only in the front and back direction by means of rotary disks 102 and 103. is base 10
It is attached to 4.

In the artificial horse body 1A having the above configuration, the rotating disk 1
02 and 103 are rotated counterclockwise in response to the rotational torque of the respective rotating shafts 51 and 53 of the drive mechanism that drives the artificial horse body 1 of the above embodiment, the moving table 101 is moved in the forward direction. , the rope 34 is pulled in the direction of arrow F11.

As a result, the lever 32 opposes the biasing force of the spring 33 and is rotated in the direction of arrow F12. Therefore, the first link 36 and the second link 38 are moved in the directions of arrows F13 and F14, and the extending piece 4A of the neck portion 4 connected to the end of the first link 36 via the pin 37 is moved. Since it is pulled in the same direction, the neck portion 4 is rotated in the direction of arrow F15, that is, downward.

On the other hand, as the second link 38 moves in the direction of arrow F14, the arm 40 also rotates in the same direction.
The third link 42 attached concentrically to the arm 40 and pin 39 is pushed out in the direction of arrow F16,
The head 3 is rotated in the direction of arrow F17, that is, upward.

Further, when the movable table 101 is moved in the backward direction, the rope 34 is loosened in the direction of arrow B11, and the lever 32 is moved by the biasing force of the spring 33 as indicated by the arrow B11.
Rotated in 12 directions. As a result, the first link 36 and the second link 38 are moved in the directions of arrow B13 and arrow B14, and the first link 36
Since the extension 4A of the neck portion 4 connected to the end portion of the neck portion through the pin 37 is pushed out in the same direction, the neck portion 4
15, that is, in the upward direction.

On the other hand, as the second link 38 moves in the direction of arrow B14, the arm 40 also rotates in the same direction.
The third link 42 attached concentrically to the arm 40 and pin 39 is pulled in the direction of arrow B16, and the head 3 is rotated in the direction of arrow B17, ie, downward.

As described above, in this embodiment, as the artificial horse body 1A is moved in the front-rear direction, the head 3 and the neck 4 are respectively swung in opposite directions.

FIG. 6 shows that the second link 38 and arm 40 in the artificial horse body 1 and the artificial horse body 1A are omitted, and one end of the link 42 (third link) is attached to the body 2 via a pin 39. On the other hand, link 4
2 shows an artificial horse body 1B characterized in that the other end of the horse body 2 is attached to the head 3 via a pin 43.

In the artificial horse body 1B, the rope 34 described above in the artificial horse bodies 1 and 1A is connected to the spring 33.
If the neck 4 is pulled down by the link mechanism when it is pulled in the direction against the urging force or in the same direction as the urging force, the link 42 pushes up the head 3, so the head 3 is pulled upward. Rotate.

On the other hand, when the neck portion 4 is raised, the link 42 acts in a direction to pull the head 3, thereby rotating the head 3 downward.

[Effects of the Invention] As described above, according to the present invention, the link mechanism formed in the artificial horse's body allows the head to rise as soon as the neck of the artificial horse's body goes down, and to lower the head as the neck goes up. Another advantage is that the movement of the artificial horse body can be made to resemble that of a real horse by rocking the handle and the neck part as the artificial horse body reciprocates in the back and forth direction.

[Brief explanation of the drawing]

FIG. 1 is a side view showing the overall structure of an artificial horse body according to an embodiment of the present invention, and FIG. 2 is a side view showing a driving device for driving the artificial horse body according to the above embodiment. Appearance perspective view shown together with Fig. 3 and Fig. 4
FIG. 5 is a side view showing the overall structure of the artificial horse body of another embodiment.
FIG. 6 is a side view showing the structure of an artificial horse body according to still another embodiment. 1, 1A, 1B... Artificial horse body, 2... Torso, 3
...Head, 4...Neck, 5, 6...Leg, 11...
...Neck pivot, 17, 18...Rotating disk, 21...
...Horizontal bar, 22...Base, 23...Bracket, 24...Pulley, 31...Lever pivot,
32...Lever, 33...Spring, 34...
Rope, 36...first link, 38...second link, 40...arm, 42...third link.

Claims (1)

[Scope of Claims] 1. A link mechanism for swinging the head and neck of the artificial horse body like a real horse as the artificial horse body moves in a riding simulator, the link mechanism having a rotating mechanism at the upper end. A lever has a rotating center part, and this rotating center part is attached to a pivot attached to the fuselage so that it can rotate in the longitudinal direction of the fuselage, and one end is connected to the lower end of this lever. , an elastic member whose other end is connected to the torso and applies a rotating force in the forward direction of the torso to the lever; and an elastic member which is connected to the lower end of the leg of the artificial horse body and rotates in response to an external rotational force. a leg support bar that swings the leg vertically and horizontally when exercising; one end of the bar is attached to the lever, and the other end is attached vertically to the upper surface of a base installed below the artificial horse's body; a linear member, the other end of which is attached to the leg support bar via a pulley on a bracket, for rotating the lever in a direction corresponding to the biasing force of the elastic member as the body moves; The head is rotatably attached to the distal end, a rotation center is supported by the body via a neck pivot, and an extension extends from the rotation center in a direction opposite to the head. a neck portion having a projecting piece; one end portion is rotatably attached to the extending piece formed on the neck portion, and the other end portion is rotatably attached to the lever, and the lever is rotated. a first link that rotates the neck in accordance with the motion; an arm rotatably attached to the body through a shaft so as to be rotatable in the front-rear direction of the body; and one end rotatably attached to the lever. a second link whose other end is rotatably attached to the arm and rotates the arm in the same direction as the lever in response to the rotation of the lever; It is attached concentrically to the shaft supporting the center of motion, and the other end is rotatably attached to the head, so that when the arm rotates, the head moves in the opposite direction to the arm. A link mechanism for an artificial horse body in a riding simulator, comprising a third link for rotation.