KR101152407B1 - Bipedal locomotion appratus having turning function - Google Patents

Abstract

PURPOSE: An exercise device having a direction change function is provided to increase the reaction speed of a rotation providing device. CONSTITUTION: An exercise device having a direction change function comprises a treadmill, a footrest member(20), a supporting frame(37), a rotary driving unit(31). The treadmill has a roller moving belts. A plurality of footrest members is fixed on the belt and is arranged in the longitudinal direction of the belt. The supporting frame supports the roller in the lower part thereof. The rotary driving unit rotates the supporting frame. The footrest member is equipped with a footrest frame. The footrest member is equipped with a transfer element transferring the footrest frame.

Description

Biped exercise device having a turning function {BIPEDAL LOCOMOTION APPRATUS HAVING TURNING FUNCTION}

The present invention relates to a biped exercise device, and more particularly to a biped exercise device having a direction change function.

The system providing virtual reality collects the user's motion or command and thus provides the simulated content to the user through a graphic display or haptic device. In particular, a biped walking device disposed on the floor is included to allow the user to feel the movement.

The bipedal walking device can be divided into a unidirectional system that can move only in one direction and a multidirectional system that can rotate and move in multiple directions. In general, when a user performs navigation, training, etc. in a virtual reality space, a multidirectional system that can move in various directions is desired to feel immersive.

The unidirectional walking device can be easily implemented by applying a treadmill system using a roller and a belt. On the other hand, the multi-directional walking device can change the direction by rotating the unidirectional treadmill to the user center, or can attach dozens of small treadmills to one large treadmill and provide multidirectional motion through each displacement combination.

However, the rotational direction change method has a disadvantage in that it is difficult to secure a proper reaction speed because the inertial treadmill device must be rotated with a large force, and the user may be unstable due to the sudden rotation and the rotational inertia caused by this. There is a disadvantage. In addition, a complex treadmill system using dozens of treadmills has a disadvantage in that the system is complicated, bulky, heavy, and expensive to manufacture, since each treadmill must be controlled.

SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and an object of the present invention is to provide a biped exercise device that can exhibit a natural direction change in a virtual reality system. More specifically, in the treadmill direction switching system by rotation, in order to increase the reaction speed of the rotation providing device according to the user's intention to change direction and to change direction stably, it is possible to use a slidable scaffold member.

The bipedal exercise device according to an aspect of the present invention includes a treadmill having a belt and a roller for moving the belt, and a plurality of scaffold members fixed on the belt and arranged along a longitudinal direction of the belt, wherein the scaffold member is the And a footrest frame provided to be slidable with respect to the belt in the width direction of the belt.

The scaffold member may further include a transport member for moving the scaffold frame, the scaffold member may further include a support fixed to a belt, and the transport member may be fixed to the support.

The scaffold frame may be provided with a translation operation member coupled to the transfer member and linearly moved by the transfer member, the transfer member may be formed of a ball screw bolt, and the translation operation member may be formed of a ball screw nut. .

The conveying member may be formed of a pinion gear, the translating operation member may be made of a rack, and the conveying member may be provided with a motor for rotating the conveying member.

The scaffold frame includes a top plate disposed opposite to the support part and a side plate bent at a side end of the top plate, wherein the support part includes a support plate fixed to the belt and a guide protrusion protruding toward the scaffold frame on the support plate. The protrusion may be disposed to face the inner side surface of the side plate to support the side plate. In addition, a groove may be formed in the guide protrusion, and a protrusion inserted into the groove may be formed in the side plate.

It may further include a support frame for supporting the roller in the lower portion and a rotary drive for rotating the support frame, the rotary drive unit is coupled to the drive gear and the drive gear is connected to the motor and the driven drive is fixed to the support frame It may include a gear.

The rotary drive unit may include a ball screw bolt connected to the motor, a ball screw nut coupled to the ball screw bolt, a rack fixed to the ball screw nut, and a pinion gear coupled to the rack and rotating the treadmill.

The scaffold member may include a transfer member fixed to the belt and a translation operation member coupled to the transfer member and fixed to the scaffold frame. In addition, the biped exercise device is connected to each of the scaffolding frame is installed via a plurality of connectors, it may further include a transfer device installed rotatably.

The conveying apparatus may be spaced apart in the width direction of the treadmill, the conveying apparatus may include a conveying rail and a roller for conveying the conveying rail made of an endless track form, and a rotary drive for rotating the conveying rail.

The moving distance of the scaffold frame disposed at a distance from the top of the treadmill relative to the longitudinal center of the belt can be driven to be larger.

Biped exercise device according to an embodiment of the present invention can provide a natural turning and walking feeling, it is possible to reduce the production cost by minimizing the volume and weight.

In addition, by generating displacement of the scaffold member to the user's intention to change direction, the direction change effect can be quickly realized, and the natural and stable direction change walk is minimized by minimizing the rotational inertia felt by the user's sudden treadmill rotation. It is possible.

1 is a plan view showing a biped exercise device according to a first embodiment of the present invention.
2 is a cross-sectional view taken along the line II-II in FIG.
3 is a cross-sectional view taken along line III-III of FIG. 1.
4 is a longitudinal cross-sectional view of the scaffold member cut in the width direction according to the first embodiment of the present invention.
5 is a plan view showing an example of the change of direction in the bipedal exercise apparatus according to the first embodiment of the present invention.
6 is a plan view showing another example of the change of direction in the bipedal exercise apparatus according to the first embodiment of the present invention.
7 is a cross-sectional view showing the scaffold member installed in the biped exercise device according to the second embodiment of the present invention.
FIG. 8 is a cross-sectional view taken along the line VII-VII in FIG. 7.
9 is a cross-sectional view showing a biped exercise device according to a third embodiment of the present invention.
10 is a plan view illustrating a rotation driving unit of a biped exercise device according to a fourth embodiment of the present invention.
11 is a plan view of the biped exercise device according to the fourth embodiment of the present invention.
12 is a cross-sectional view showing the scaffold member of the biped exercise device according to the fourth embodiment of the present invention.
13 is a longitudinal sectional view showing a transfer device of the bipedal exercise apparatus according to the fourth embodiment of the present invention.
14 is a plan view showing an example of a change of direction in the bipedal exercise device according to the fourth embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily carry out the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In order to clearly illustrate the present invention, parts not related to the description are omitted, and the same or similar components are denoted by the same reference numerals throughout the specification.

1 is a plan view showing a biped exercise device according to a first embodiment of the present invention, Figure 2 is a cross-sectional view taken along the line II-II in Figure 1, Figure 3 is taken along the line III-III in Figure 1 This is a cross-sectional view.

1 to 3, the bipedal exercise apparatus 101 according to the present embodiment includes a belt 13 and a treadmill 10 including a roller 12 for moving the belt 13, and a belt ( 13) a plurality of scaffold member 20 fixed on the.

The belt 13 is formed in a caterpillar shape and is supported by two rollers 12. The roller 12 has a cylindrical shape and is installed to be rotatable. A motor for rotating the roller 12 is connected to the roller 12 so that the belt 13 can be moved using the roller 12.

The scaffold member 20 is formed in the form of a square plate extending in the width direction of the belt 13, the plurality of scaffold members 20 are spaced apart along the longitudinal direction of the belt (13). The scaffold member 20 is fixedly installed on a surface facing outward from the belt 13, whereby the scaffold member 20 moves along with the belt 13.

4 is a longitudinal cross-sectional view of the scaffold member cut in the width direction according to the first embodiment of the present invention.

As shown in FIGS. 3 and 4, the scaffold member 20 includes a support 28 fixed to the belt 13 and a scaffold frame 26 movably installed with respect to the support 28. The 26 is slidably installed in the width direction of the belt 13 with respect to the belt 13. The footrest frame 26 and the support part 28 are formed in the plate shape extended in the width direction of the belt 13. As shown in FIG. The scaffold frame 26 includes a top plate 26a disposed opposite the support portion 28 and side plates 26b and 26c that are bent toward the support portion 28 at both side ends of the top plate 26a. The support portion 28 includes a support plate 28a fixed to the belt 13 and a guide protrusion 28b protruding toward the scaffold frame 26 on the support plate 28a, and the guide protrusion 28b includes a side plate 26b, It is disposed to face the inner side of 26c and supports the side plates 26b and 26c.

The support part 28 is fixedly installed with a conveying member 21 for moving the scaffold frame 26 on the surface facing the scaffold frame 26, and the scaffold frame 26 is coupled with the conveying member 21 to the conveying member. The moving translationally operated member 23 is fixedly installed.

The transfer member 21 may be installed to rotate, and the translational operation member 23 may be installed to perform translational movement by screwing or gear-coupling with the transfer member 21. 3 and 4, the transfer member 21 may be made of a ball screw bolt, the translational operation member 23 may be made of a ball screw nut screwed with the ball screw bolt. Steel balls are installed between the ball screw bolt and the ball screw nut, which allows the ball screw nut to move linearly with little friction due to the rotation of the ball screw bolt.

However, the present invention is not limited thereto, and the conveying member 21 may be formed of a hydraulic actuator, a pneumatic actuator, an electric actuator, and the like. The translationally actuating member 23 may be formed of a protrusion connected to the actuators. .

The transfer member 21 is provided with a motor 25 for rotating the transfer member 21. The transfer member 21 is fixed to the support 28 via the motor 25 and the fixing protrusion 24 fixed to the support 28.

In this embodiment, the conveying member 21 is installed on the support 28 so that the scaffold frame 26 can be easily conveyed by reducing the weight of the scaffolding frame 26, and the translational operation member 23 is a scaffolding frame ( 26, but the present invention is not limited thereto, and the transfer member 21 may be fixed to the scaffold frame 26, and the translation operation member 23 may be fixed to the support 28. have.

On the other hand, the footrest frame 26 is provided with auxiliary wheels 27 so that the footrest frame 26 can be easily moved with respect to the support part 28.

In addition, the bipedal movement device 101 includes a support frame 37 for supporting the roller 12 from the bottom and a rotation drive unit 31 installed in the lower portion of the support frame 37 to rotate the support frame 37. do. The support frame 37 is fixedly installed on the base 36 fixedly fixed to the ground. The rotary drive unit 31 includes a driven gear 32 coupled to the drive gear 34 and the drive gear 34 and fixed to the support frame 37.

The drive gear 34 is provided with a motor 35 for rotating the drive gear 34, and the drive gear 34 has a smaller diameter than the driven gear 32. The driven gear 32 is rotatably installed in the base 36 installed in the lower portion through a bearing or the like.

Thereby, the rotation angle of the driven gear 32 can be precisely controlled using the drive gear 34.

As shown in FIG. 5, when the user walking on the bipedal exercise device 101 changes direction, the scaffold frame 26 is transferred in the width direction of the belt 13. At this time, the moving distance of the scaffold frame 26 disposed at a distance from the upper part of the treadmill 10 relative to the longitudinal center L1 of the belt 13 becomes larger. And the front and rear are conveyed in different directions with respect to the longitudinal center L1 of the belt 13. That is, the scaffold frame 26 located in front of the pedestrian gaze direction is transported in the direction in which the pedestrian switches and moves, and the scaffold frame 26 located in the rear is in the opposite direction to the direction in which the pedestrian moves. Transferred.

Accordingly, the scaffold frame 26 may be arranged in a direction inclined with respect to the belt 13 so as to coincide with the traveling direction of the pedestrian.

In addition, as shown in FIG. 6, when the pedestrian changes direction at a larger angle with respect to the linear movement direction, the scaffold frame 26 not only moves laterally but also the support frame 37 rotates. Accordingly, the scaffold frame 26 may be disposed to match the direction in which the pedestrian moves.

When only the support frame 37 is rotated, there is a problem in that it is difficult for a pedestrian to fall or feel a natural walking feeling due to rotational inertia. However, as in the present embodiment, the scaffold frame 26 is transferred in a direction consistent with the direction of travel of the pedestrian, and when the support frame 37 is rotated, it can provide a natural walking feeling and also rotate inertia even in the case of a sudden change of direction. This can prevent pedestrians from falling or feeling uncomfortable walking.

On the other hand, after the direction is changed, it is necessary to restore the pedestrians to look at the front. In this case, the support frame 37 is rotated to the original position, and then the scaffold frame 26 is moved to the original position.

As described above, according to the present embodiment, when the traveling direction of the pedestrian is switched, the scaffold frame 26 moves in the width direction with respect to the belt 13 and is arranged in a direction coinciding with the traveling direction of the pedestrian. Not only can it be switched, it can also provide a natural pedestrian walk.

7 is a cross-sectional view showing the scaffold member installed in the biped exercise device according to the second embodiment of the present invention, Figure 8 is a cross-sectional view taken along the line VII-VII in FIG.

Referring to FIGS. 7 and 8, the biped exercise device according to the present embodiment has the same structure as the biped exercise device according to the first embodiment except for the scaffold member, and thus the overlapping description of the same structure will be described. Omit.

The scaffold member 20 includes a support 58 fixed to the belt and a scaffold frame 56 slidably installed with respect to the support 58. The support 58 is formed in a plate shape and grooves 58a are formed at both sides thereof. The scaffold frame 56 includes a top plate 56a disposed opposite the support portion 58 and side plates 56b and 56c that are bent toward the support portion 58 at both side ends of the top plate 56a.

Projections 56d inserted into the grooves 58a are formed in the side plates 56b and 56c so that the scaffold frame 56 is slidably installed with respect to the support 58.

The support unit 58 is provided with a transfer member 51 for transferring the scaffold frame 56, and a translational operation member 53 gear-coupled with the transfer member 51 is installed on the upper plate 56a. The conveying member 51 is formed of a pinion gear, and is fixedly installed to the support 58 through a motor 55 for rotating the conveying member 51. The translational operation member 53 is made of a rack, and is fixed to the upper plate 56a to perform a linear motion in accordance with the rotation of the pinion gear.

With the above structure, the scaffold frame 56 can slide with respect to the support 58, and the degree of movement of the scaffold frame 56 can be easily controlled by adjusting the rotation angle of the pinion gear.

9 is a cross-sectional view showing a biped exercise device according to a third embodiment of the present invention.

Referring to FIG. 9, the biped exercise device according to the present embodiment has the same structure as the biped exercise device according to the first embodiment, except for the structure of the scaffold member, and thus, redundant description of the same structure is omitted. do.

The biped exercise device 102 according to the present embodiment includes a footrest member 29 provided to be movable in the width direction of the belt 13 with respect to the belt 13.

The scaffold member 29 according to the present embodiment is fixed to the scaffold frame 26 and the scaffold frame 26 and is coupled to the translation operation member 23 and the translation operation member and the transport member 21 fixed to the belt 13. ). The conveying member 21 is fixed directly on the belt 13, and the scaffold frame 26 is installed to be slidable in the width direction of the belt 13 by the conveying member 21.

The conveying member 21 according to the present embodiment is made of a ball screw bolt, the translation operation member 23 is made of a ball screw nut coupled with the conveying member. Therefore, the footrest frame 26 can move in the width direction of the belt in accordance with the rotation of the ball screw bolt.

However, the present invention is not limited thereto, and the transfer member 21 may include a pinion gear, an actuator, and the like. Or the like.

As described above, since the transfer member 21 is directly fixed on the belt 13, the weight of the scaffold member 29 may be reduced.

10 is a plan view illustrating a rotation driving unit of a biped exercise device according to a fourth embodiment of the present invention.

Referring to FIG. 10, the rotary drive unit 60 according to the present embodiment is fixed to the ball screw nut 64 and the ball screw nut 64 coupled to the ball screw bolt 63 and the ball screw bolt 63. Rack 61 and pinion gear 66 coupled to rack 61 and rotating the treadmill.

The ball screw bolt 63 is provided with a motor 62 for rotating the ball screw bolt 63. Steel balls are installed between the ball screw bolt 63 and the ball screw nut 64, so that the ball screw nut 64 can be linearly moved by the rotation of the ball screw bolt 63. When the ball screw nut 64 moves, the rack 61 fixed to the ball screw nut 64 also moves together, and the pinion gear 66 rotates by the movement of the rack 61.

The pinion gear 66 is connected to the support frame via the shaft 67, so that the treadmill can rotate by the rotation of the support frame. The shaft 67 is rotatably installed in the base 68 installed in the lower portion via a bearing or the like.

11 is a plan view showing a biped exercise device according to a fourth embodiment of the present invention, Figure 12 is a cross-sectional view showing a foot member of the biped exercise device according to a fourth embodiment of the present invention.

Referring to FIGS. 11 and 12, the bipedal exercise apparatus 103 according to the present embodiment includes a treadmill 10 including a belt and a roller for transferring the belt, and a plurality of scaffold members 70 fixed to the belt. And a transfer device 40 disposed to be spaced apart in the width direction of the treadmill 10 to transfer the plurality of scaffold members 70.

Since the treadmill 10 according to the present exemplary embodiment has the same structure as that of the treadmill according to the first exemplary embodiment, redundant description thereof will be omitted. The footrest member 70 includes a support portion 78 fixed to the belt and a footrest frame 76 slidably installed with respect to the support portion 78.

The support portion 78 includes a support plate 78a and a guide protrusion 78b protruding from the support plate 78a toward the scaffold frame 76, and a groove 78c is formed on the side surface of the guide protrusion 78b. The footrest frame 76 includes an upper plate 76a disposed opposite the support portion 78 and side plates 76b and 76c that are bent toward the support portion 78 at both ends of the upper plate 76a. The side plates 76b and 76c are formed with projections 76d inserted into the grooves 78c.

11 and 13, the transfer device 40 is connected to each scaffold frame 76 via a plurality of connectors 42 and is rotatably installed.

The conveying apparatus 40 includes a conveying rail 46, a roller 43 for conveying the conveying rail 46, and a rotation drive part 41 for rotating the conveying rail 46.

The conveying rail 46 is formed in a caterpillar form and is rotatably installed, and the roller 43 rotates so that the conveying rail 46 can move at the same speed as the belt installed in the treadmill 10.

The transfer rail 46 is provided with a connector 42 connected to the scaffold frame 76. A plurality of connectors 42 are fixed to the transfer rail 46 at set intervals, and the connectors 42 are fixed to the respective scaffold frames 76. The connector 42 has a rod shape.

The roller 43 is rotatably installed on the base 45 installed in the lower portion via the support frame 47, and a rotation drive part 41 for rotating the feed rail 46 is installed on the base 45. The rotary drive part 41 includes a driven gear 41a coupled to the drive gear 41b and the drive gear 41b and fixed to the support frame 47. A motor 48 for rotating the drive gear 41b is connected to the drive gear 41b.

Accordingly, as shown in FIG. 14, the transfer rail 46 is rotated by the rotation driving unit 41, and the footrest frame 76 connected with the connector 42 is in the width direction of the belt in accordance with the rotation of the transfer rail 46. Is transferred to.

As described above, according to the present exemplary embodiment, the scaffolding frames are rotated in one rotation by using the connector 42 and the transfer rail 46 fixed to the scaffolding frame 76 instead of individually controlling the scaffolding frames 76. 76 may be arranged to match the direction in which the pedestrian travels.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, but many variations and modifications may be made without departing from the spirit and scope of the invention. And it goes without saying that they belong to the scope of the present invention.

10: treadmill 101, 102, 103: bipedal exercise device
12, 43: roller 13: belt
20, 29, 70: scaffold member 21, 51: transfer member
23, 53: translatable member 24: fixing projection
25, 35, 48, 55, 62: motors 26, 56, 76: scaffold frame
26a, 56a, 76a: top plate 26b, 26c, 56b, 56c, 76b, 76c: side plate
27: auxiliary wheels 28, 58, 78: support
28a, 78a: support plate 28b, 78b: guide protrusion
29: scaffold member 31, 41, 60: rotary drive unit
34, 41a: drive gear 32, 41b: driven gear
36, 45, 68: base 37, 47: support frame
40: feeder 42: connector
43: roller 46: feed rail
56d, 76d: projection 58a, 78c: groove
61: rack 63: ball screw bolt
64: ball screw nut 66: pinion gear
67: axis

Claims (17)

A treadmill having a belt and a roller for moving the belt;
A plurality of scaffold members fixed on the belt and arranged along a length direction of the belt;
A support frame supporting the roller from below; And
A rotation drive unit rotating the support frame;
Including,
And the scaffold member comprises a scaffold frame provided to be slidable with respect to the belt in a width direction of the belt. The method according to claim 1,
The scaffold member further comprises a transfer member for moving the scaffold frame. The method of claim 2,
The scaffold member further comprises a support fixed to the belt, the transfer member is a biped exercise device fixed to the support. The method of claim 3,
The footrest frame is a biped exercise device coupled to the transfer member is provided with a translation operation member for linear movement by the transfer member. The method of claim 4, wherein
And said conveying member is comprised of a ball screw bolt and said translational actuating member is comprised of a ball screw nut. The method of claim 4, wherein
And said conveying member is comprised of a pinion gear and said translational actuating member is comprised of a rack. The method of claim 4, wherein
The biped exercise device provided with the motor for rotating the conveying member in the conveying member. The method of claim 3,
The scaffolding frame includes an upper plate disposed to face the support and a side plate bent at side ends of the upper plate.
The support portion includes a support plate fixed to the belt and a guide protrusion protruding toward the scaffold frame on the support plate,
And the guide protrusion is disposed to face the inner surface of the side plate to support the side plate. The method of claim 8,
The guide protrusion is formed with a groove, the side plate is a biped exercise device formed with a projection is inserted into the groove. delete The method according to claim 1,
The rotation driving unit is a bipedal movement device comprising a drive gear coupled to the motor and the driven gear coupled to the drive gear and fixed to the support frame. The method according to claim 1,
And the rotation drive unit includes a ball screw bolt connected to the motor, a ball screw nut coupled to the ball screw bolt, a rack fixed to the ball screw nut, and a pinion gear coupled to the rack and rotating the treadmill. The method according to claim 1,
The scaffold member is a biped exercise device comprising a transfer member fixed to the belt and a translation operation member coupled to the transfer member and fixed to the scaffold frame. A treadmill having a belt and a roller for moving the belt; And
A plurality of scaffold members fixed on the belt and arranged along a length direction of the belt;
Including,
The scaffold member includes a scaffold frame provided to be slidable in the width direction of the belt with respect to the belt,
The feeder is connected to each scaffold frame through a plurality of connectors.
The conveying apparatus is installed to be rotatable, biped exercise device comprising a feed rail consisting of a caterpillar and a roller for conveying the conveying rail, and a rotation drive for rotating the conveying rail. 15. The method of claim 14,
The transfer device is a biped movement device spaced apart in the width direction of the treadmill. delete The method according to claim 1,
A bipedal movement device having a greater movement distance of the scaffold frame disposed at a distance from a top of the treadmill with respect to the longitudinal center of the belt.

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