Load generator

Abstract

To provide a device capable of adding to multidirectional operation as a structure realizing electrically-driven load adjustment and free motion.SOLUTION: A fitness machine 100 includes a chair 1, left and right grips 6, and mechanism parts 2, 3 of three axes, x axis, y axis, and z axis. The mechanism parts 2, 3 are disposed on the right and left of the chair 1, and a user seated on the chair 1 grips both grips 6 to operate the mechanism parts 2, 3. The mechanism parts 2, 3 are provided with: a direct acting mechanism 4 linearly moving the grip 6 along the x axis direction; and a rotary mechanism for rotating the direct acting mechanism 4 in the y axis direction and the z axis direction. To each, a motor is attached. The motor adds load to the operation of the user who grips the grip 6.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a load generating device that applies an electric load (force) to a user's movement in multiple axial directions. [Background technology]

[0002] Conventionally, resistance generating devices for fitness machines and other devices have employed structures such as weights, brakes, and springs. However, it has been difficult for conventional resistance generating devices to properly control the resistance applied to the user's operating parts (such as grips). Therefore, resistance generating devices that apply resistance electrically have been proposed.

[0003] For example, Patent Document 1 describes a load generation device for training that uses a ball screw function. That is, the load is transmitted to an operating unit by a ball screw mechanism, and the load is adjusted by a servo motor, making it possible to adjust the load in real time according to the muscle output measured by a force sensor.

[0004] Patent Document 2 describes a load generating device for exercise equipment that controls the load using an electric actuator. This electric actuator controls the load in accordance with the displacement speed of a movable unit detected by a sensor. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-108665 [Patent Document 2] Utility Model Registration No. 3218174 Summary of the Invention [Problem to be solved by the invention]

[0006] Although the device of Patent Document 1 is capable of adjusting the load exerted by the servo motor using a ball screw mechanism, the operation is limited to the up and down movement of the bar that constitutes the user's operation unit.

[0007] Furthermore, the device of Patent Document 2 has a load adjustment mechanism that uses an electric actuator, but this mechanism also requires changing the device to be used depending on the exercise, just like Patent Document 1.

[0008] As a result, according to the devices of Patent Documents 1 and 2, multiple devices are required to perform a variety of exercises, which may increase the total installation area of ​​the devices.

[0009] On the other hand, although there are commercially available devices that use wire mechanisms to apply load to free movement, wire mechanisms can only apply load in the direction of pulling the wire. In this case, if you want to apply load in multiple directions, you need to increase the number of wires, and ultimately the wires get in the way of movement and may restrict exercise.

[0010] The present invention has been made to solve the problems of the conventional technology, and aims to provide a device that employs a configuration that realizes electrically-driven load and free motion, and is capable of applying load to movements in multiple directions. [Means for solving the problem]

[0011] (1) The present invention provides a load generating device that applies a load to an operation of an operation unit by a user, a mechanism configured to move the operation unit in multiple axial directions; an electric motor that applies a load to the movable member; Equipped with The movement includes an action of rotating the operation unit forward and backward in the direction of at least one axis.

[0012] (2) One aspect of the multiple axes is: a linear motion shaft that linearly moves the operation unit in a linear direction; a rotation axis that rotates the operation unit; In this case, a plurality of the rotation shafts may be included.

[0013] (3) The mechanism is a linear motion mechanism that linearly moves the operation unit along the direction of the linear motion axis; a rotation mechanism that rotates the linear motion mechanism; Equipped with A configuration may be provided in which a plurality of electric motors are provided to apply loads to the linear motion and the rotation, respectively.

[0014] (4) One aspect of the present invention is provided with a control unit that controls the load of each of the electric motors, and the control unit is capable of adjusting the amount of the load by varying the torque command value and torque limit of each of the electric motors.

[0015] (5) The mechanical units can be placed on the left and right sides of the chair on which the user sits, and the housing supporting each of the mechanical units can be fixed to the chair, or the mechanical units placed on the left and right sides of the chair can be configured as an integrated unit. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a device that is capable of applying a load to movements in multiple directions as a configuration that realizes an electrically-driven load and free motion. [Brief explanation of the drawings]

[0017] [Figure 1] Overall configuration diagram of a fitness machine to which the first embodiment is applied [Figure 2] The same diagram of the three-axis mechanism. [Figure 3] FIG. 10 is a control configuration diagram of each motor. [Figure 4] (a) is a diagram of the chest press exercise, (b) is a diagram of the exercise equivalent to the butterfly machine, and (c) is a diagram of the lat pulldown exercise. [Figure 5] FIG. 10 is a diagram showing the configuration of a fitness machine to which the second embodiment is applied. [Figure 6] FIG. 1( a ) is an explanatory diagram showing the mechanism by which reaction forces are generated during exercise in Example 1, and FIG. 1( b ) is an explanatory diagram showing the mechanism by which the reaction forces cancel each other out. [Figure 7] FIG. 10 is a configuration diagram of a three-axis mechanism according to a third embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0018] A load generating device according to an embodiment of the present invention will be described below. This device is configured to apply an electrically-driven load (or realize a virtual load) to the free motion of the upper body of a human body and to be able to control the load. This device can be used, for example, in fitness machines and game controllers with force feedback. Hereinafter, the embodiment of the present invention will be specifically described based on Examples 1 to 3. [Example]

[0019] 1 indicates a fitness machine to which the load generating device of Example 1 is applied. This fitness machine 100 is configured to enable three-dimensional exercise and free motion training.

[0020] <Overall structure> Fitness machine 100 includes chair 1 on which a user (trainee) sits, left and right operating units (grips) 6 that the user grasps and operates, and three-axis mechanisms 2 and 3 that are movable along the x-, y-, and z-axes, with mechanisms 2 and 3 located on the left and right sides of chair 1. Here, a user seated on chair 1 grasps one of the grips 6 with their right hand to operate mechanism 2, and grasps the other grip 6 with their left hand to operate mechanism 3. Note that a mechanism (not shown) for securing the user to the chair may also be provided.

[0021] As shown in Fig. 2, the mechanical units 2 and 3 include a linear motion mechanism 4 that linearly moves the grip 6 along the x-axis direction, and a rotation mechanism that rotates the linear motion mechanism 4 in the y-axis and z-axis directions, each of which is equipped with motors 7 to 9. These motors 7 to 9 apply a load to the movement of the user holding the grip 6, enabling training. In Fig. 2, the linear motion that reciprocates along the x-axis direction is indicated by arrow X, the forward and reverse rotational motion in the y-axis direction (hereinafter referred to as rotation) is indicated by arrow Y, and the forward and reverse rotational motion in the z-axis direction (also hereinafter referred to as rotation) is indicated by arrow Z.

[0022] Specifically, each of the mechanisms 2 and 3 is supported by a vertically long box-shaped housing 11 erected on a rectangular base 12, and includes an L-shaped bracket 10 with a lower end 10b rotatably mounted on the upper surface 11a of the housing 11 in the direction of arrow Z, and a linear motion mechanism 4 supported on the upper end 10a of the bracket 10 so as to be rotatable in the direction of arrow Y. Note that although only the mechanism 2 is shown in Figure 2, the mechanism 3 is also configured in the same way.

[0023] A motor chamber (not shown) is formed in the upper part of the housing 11, and a motor 9 is housed in the motor chamber. A lower end portion 10b of a bracket 10 is supported on the shaft of the motor 9 so as to be rotatable in the direction of the arrow Z. This forms a rotation mechanism that rotates the linear motion mechanism 4 in the direction of the arrow Z, and makes it possible to apply a load from the motor 9 to the rotation of the bracket 10 in the same direction.

[0024] Meanwhile, a motor 8 is fixed to the upper end 10a of the bracket 10 by screws or the like. The rear end of the arm 4a of the linear motion mechanism 4 is axially supported on the shaft of this motor 8 so as to be rotatable in the direction of the arrow Y. This forms a rotation mechanism that rotates the linear motion mechanism 4 in the direction of the arrow Y, and makes it possible to apply the load of the motor 8 to the rotation of the arm 4a in the same direction. Note that a rotation shaft (not shown) may be connected to the shafts of the motors 9 and 8, and the bracket 10 and arm 4a may be axially supported by this rotation shaft.

[0025] The linear motion mechanism 4 includes the arm portion 4a described above, a motor 7 attached to the rear end of the arm portion 4a, a slider (movable element) 5 to which a grip 6 is fixed, and a ball screw mechanism (not shown) that applies a load from the motor 7 to the linear motion of the slider 5 along the X-axis direction.

[0026] This ball screw mechanism can employ a known structure composed of a screw shaft, a nut, balls, etc. For example, a screw shaft is mounted inside the arm 4a, and the rear end of the screw shaft is connected to the shaft of the motor 7. A nut is threaded onto this screw shaft, and multiple balls roll between the nut and the screw shaft, converting the forward and reverse rotation of the shaft of the motor 7 into linear motion in the forward and backward directions.

[0027] Here, slider 5 is fixed on the nut, and a load is applied by motor 7 to the movement of slider 5 in the direction of arrow X. Therefore, by gripping grip 6 and moving in the same direction, the user can train the upper arm and pectoral muscles. Also, by rotating arm 4a in the direction of arrow Y while gripping grip 6, a load is applied by motor 8, and thus the upper arm can be trained in the same way.

[0028] Furthermore, by rotating arm 4a in the direction of arrow Z, the load of motor 9 is added to the rotation of bracket 10, making it possible to train pectoral muscles, etc. By combining such three-axis movements (linear and rotational), it becomes possible to perform various free motion exercises in multiple directions, improving exercise efficiency.

[0029] The ball screw mechanism of the linear motion mechanism 4 described above is one example, and other mechanisms such as a cylinder mechanism or a linear motor may also be used. Also, while the arm portion 4a is configured to be supported at one end by an L-shaped bracket 10 in Figures 2 and 3, from the viewpoint of strength and stability, the arm portion 4a may be configured to be supported at both ends by a U-shaped bracket 10' as shown in Figure 7. Furthermore, the motor 8 may be held by a pair of brackets 10 as shown in Figure 7.

[0030] <Control configuration> The control configuration for motors 7 to 9 will be described with reference to Fig. 3. Here, fitness machine 100 uses a commercial power source or a built-in battery as the power source for motors 7 to 9. Fitness machine 100 also includes a power converter (not shown) that drives motors 7 to 9 and a controller (control unit) (not shown) that sets command values ​​for the power converter, and controls the rotation speed and torque of motors 7 to 9 according to the command values, thereby controlling the load on movement in the directions of arrows X and Z.

[0031] Specifically, the fitness machine 100 includes a position controller 13, a switch 14, a speed controller 15, a limiter 16, a switch 17, a calculator 18, and a current controller 19 as a control configuration.

[0032] Position controller 13 receives as input a command value "θcmd" for the rotor position (amount of rotation) of motors 7 to 9 from the controller and a rotor position detection value "θdet" of motors 7 to 9 detected by a sensor (not shown). It performs control so that the deviation between the input command value "θcmd" and the rotor position detection value "θdet" becomes zero, and outputs a rotational speed command value "ωcmd" for motors 7 to 9.

[0033] A switch 14 switches the speed command value input to the speed controller 15 in accordance with the control mode of the motors 7 to 9. This control mode is set by the controller, which sets the following modes A to C in accordance with a user's designation. A: Position control mode (motors 7 to 9 are rotated and braked at the desired position) B: Speed ​​control mode (controls the rotation speed of motors 7 to 9) C: Torque control mode (controls the current of motors 7 to 9) Specifically, switch 14 selects "A" in the position control mode, and selects "B" in the speed control mode. Note that the torque control mode is selected by switch 17, and the selection of switches 14 and 17 can be set for each of motors 7 to 9.

[0034] The speed controller 15 receives the motor rotation speed command value "ωcmd" when "A" is selected by the switch 14, and receives "ωcmd_ext" when "B" is selected. The speed controller 15 controls the deviation between the input rotation speed command value and the rotation speed detection value "ωdet" of the motors 7 to 9 detected by a sensor (not shown) so that it becomes zero, and outputs the torque command value "Trq_cmd" for the motors 7 to 9 to the limiter 16.

[0035] The limiter 16 receives as input a torque command value "Trq_cmd" and a torque limit set value "Trq_lim_set." This torque limit set value "Trq_lim_set" may be a value previously input by the user. In this example, the limiter 16 outputs a torque command value "Trq_cmd'" obtained by limiting the torque command value "Trq_cmd" by the torque limit set value "Trq_lim_set."

[0036] The switch 17 switches the torque command value according to the control mode of the motors 7 to 9. Here, "A" or "B" is selected in the position control mode or speed control mode, while "C" is selected in the torque control mode.

[0037] The torque command values ​​of the motors 7 to 9 ("Trq_cmd'" when the switch 17 selects "A" or "B", and "Trq_cmd"_ext when it selects "C") are input to the calculator 18. The calculator 18 converts the input torque command values ​​into current command values ​​"Icmd" for the motors 7 to 9 and outputs them to the current controller 19.

[0038] The current controller 19 receives the current command value "Icmd" output from the calculator 18 and the current detection value "Idt" detected by a sensor (not shown). It controls the deviation between the input current command value "Icmd" and the current detection value "Idt" so that it becomes zero, outputs voltage command values ​​"Vcmd" for the motors 7 to 9 to the motors 7 to 9, and applies a load to the movement of the arm 4a in the directions of the arrows X and Z.

[0039] An example of load control using such a control configuration will be described. First, "B" is selected using the switches 14 and 17, and each of the motors 7 to 9 is set to speed control mode. Here, the speed command value "ωcmsd_ext" of the speed controller 15 is set to zero to limit the rotational speed of the motors 7 to 9. In addition, a torque limit "Trq_lim_set" is set to the torque command "Trq_cmd" output by the speed controller 15 so that a desired load is obtained, thereby limiting the load. This makes it possible to apply a load with three degrees of freedom to the user's movement in the X to Z directions indicated by the arrows.

[0040] Next, by selecting "C" with switch 17 and entering torque control mode, it becomes possible to apply a viscous load or similar load to the user's movements by adjusting the torque command value "Trq_cmd_ext" according to the rotational speed of motors 7 to 9, making it possible to reproduce a variety of loads. Furthermore, by selecting "A" with switches 14 and 17 and utilizing position control mode, motors 7 to 9 will rotate to the desired position and then brake, making it possible to reproduce movements such as stretching.

[0041] As described above, fitness machine 100 allows many exercises that place loads on the user's muscles to be realized by linear motion in the x-axis direction and rotational motion in the y-axis and z-axis directions perpendicular to the x-axis direction. By using motors 7-9 with different electrical characteristics and control methods for the linear motion and rotational motion, a wide variety of free motion training can be achieved without requiring an excessively large device configuration. <Training example> An example of training using fitness machine 100 will be described with reference to Figure 4. Here, a pair of brackets 10 are pivotally supported on the top surface 11a of housing 11 so as to be rotatable in the direction of arrow Z, and motor 8 is held and fixed between the top ends 10a of both brackets 10 by screws or the like.

[0042] (1) An example of the chest press exercise will be explained based on Figure 4(a). Here, the motors 8 and 9 are set to position control mode by the switch 14, which controls and fixes the left and right arm sections 4a in a horizontal position forward. Also, the switches 14 and 17 switch the motor 7 between speed control mode and torque control mode.

[0043] At this time, if the user grasps the grips 6 and moves both arms back and forth (in the direction of arrows F and B, the same direction as arrow X in Figure 2), the ball screw mechanism applies a load to the motor 7. This allows chest press training, enabling the user to train their pectoral muscles, triceps, etc.

[0044] (2) An example of the movement equivalent to a butterfly machine will be described with reference to Fig. 4(b). Here, the motors 7 and 8 are set to the position control mode by the switch 14, so that the left and right arms 4a are controlled to a horizontal position forward, and the position of the grip 6 on the arm 4a is fixed.

[0045] Additionally, switches 14 and 17 switch motor 9 between speed control mode and torque control mode. At this time, if the user grasps grip 6 and moves both arms left and right (in the directions of arrows R and L, the same direction as arrow Z in Figure 2), a load is applied to motor 9. As a result, training similar to that of a butterfly machine is realized, enabling the user to train their pectoralis major, trapezius, and other muscles.

[0046] In addition, by setting the motor 7 to speed control mode or torque control mode using the switches 14, 17 and alternately performing movement in the R, L direction and movement in the F, B direction, it is possible to perform combined exercises with chest press.

[0047] (3) An example of rat-pull exercise will be explained based on Figure 4(c). Here, motors 8 and 9 are set to position control mode by switch 14, and the left and right arms 4a are controlled and fixed in the vertical direction. Also, switches 14 and 17 are used to switch motor 7 between speed control mode and torque control mode.

[0048] At this time, if the user grasps grip 6 and moves both arms up and down (in the direction of arrows U and D, the same direction as arrow Y in Figure 2), the ball screw mechanism applies a load to motor 7. This allows for lat pulling training, which can train the user's latissimus dorsi, trapezius, teres major, biceps, rhomboid muscles, etc.

[0049] As described above, according to this embodiment, multiple training sessions can be performed on a single fitness machine 100. That is, by controlling the load with motors 7-9 for movements of the upper body with a high degree of freedom, it is possible to apply loads (or realize virtual loads) to free motions in multiple directions, thereby training a variety of muscles. This improves the exercise efficiency of the user, reduces the cost of installing machines in a fitness gym, and also reduces the installation space within the fitness gym. [Example]

[0050] 5 and 6, a description will be given of Example 2. In Example 1, the three-axis mechanism units 2 and 3 are configured separately from the chair 1, but in this example, the three-axis mechanism units 2' and 3' are configured integrally with the chair 1, and the base unit 12 is eliminated.

[0051] Explaining with reference to Fig. 5, the housing 11 of this embodiment is formed in the shape of a horizontally long box, and is fixed by screws or the like to the left and right sides 1b of the seat 1a of the chair 1. A motor 8 is installed inside this housing 11, and a lower end 10b of a bracket 10 is rotatably supported on the shaft of the motor 8. However, the fixing position of the housing 11 is not limited to that shown in Fig. 5, and it may be in another location, such as the back of the backrest 1c of the chair 1, as long as three-axis movement by the mechanism units 2' and 3' is ensured.

[0052] Examples 1 and 2 will be compared and explained using chest press exercise as an example with reference to Figure 6. In Example 1, as shown in Figure 6(a), when the user pushes the grip 6 in the direction of arrow F during chest press exercise, the motor 7 applies a load (braking force of the motor 7) in the opposite direction (the direction of arrow B).

[0053] In this case, reaction forces in the directions of arrows P1 and P2 are generated in the chair 1 and the housing 11 that supports the mechanisms 2 and 3 as a reaction to the stresses in the directions of arrows F and B. That is, when the user presses the grip 6 in the direction of arrow F, a reaction force in the direction of arrow P1 is applied to the seat 1a via the backrest 1c. Also, a reaction force in the direction of arrow P2 is applied to the housing 11 via the bracket 10 against the braking force of the motor 7 in the direction of arrow B.

[0054] As a result, a reaction force in the direction of arrow Q2 that supports seat 1a on the floor is generated as a reaction to the direction of arrow P1, and a reaction force in the direction of arrow Q1 that supports housing 11 on the floor is generated as a reaction to the direction of arrow P2 (hereinafter referred to as reaction forces Q1 and Q2). Therefore, seat 1a and housing 11 of chair 1 need to be strong enough to withstand reaction forces Q1 and Q2, and there is also a risk that reaction forces Q1 and Q2 may cause displacement of chair 1 and housing 11.

[0055] In contrast, with the mechanical units 2' and 3' of this embodiment, the housing 11 is fixed to the seat 1a, so there is no need to support the housing 11 on the floor. As shown in FIG. 6(b), the reaction force Q1 is applied to the seat 1a, and the reaction forces Q1 and Q2 cancel each other out. Therefore, there is no need to ensure that the housing 11 and the seat 1a have the strength to withstand the reaction forces Q1 and Q2, which reduces manufacturing costs. Furthermore, because there is no need to fix it to the floor, installation is easy, and it is possible to use a chair 1 with casters, for example. [Example]

[0056] Example 3 will be described with reference to Figure 7. In this example, the base unit 12 is eliminated, and an integrated mechanism unit 30 is adopted, which integrates the mechanism units 2 and 3 arranged on the left and right sides of the chair 1. This mechanism unit 30 has a structure in which the mechanism units 2 and 3 shown in Figures 2 and 3 are laid on their side, and the left and right mechanism units 2 and 3 share the housing 11.

[0057] That is, the motor chambers are provided at both ends of a single housing 11, each housing a motor 9. Here, the bottom plate of a U-shaped bracket 10 closing the opening of the motor chamber is pivotally supported on the shaft of motor 9 so as to be rotatable in the direction of arrow Z. In this case, housing 11 may be fixed to the rear surface of backrest 1c of chair 1 with screws, for example, or may be fixed with screws to a mounting member such as a separate housing provided behind backrest 1c.

[0058] According to this embodiment, the number of parts can be reduced by sharing the housing 11 between the left and right mechanism units 2 and 3. Furthermore, there is no need to fix the left and right housings 11 to the base unit 12, and they can be fixed together in one place, which simplifies the assembly process.

[0059] The present invention is not limited to the above-described embodiment, and can be modified and implemented within the scope of the claims. For example, the mechanical units 2 and 3 are not limited to being movable and rotatable in the three axial directions of the x-axis, y-axis, and z-axis, but may be configured to be movable and rotatable in two or four or more axial directions. In this case, a motor for applying a load to each of the multiple axial directions may be provided. [Explanation of symbols]

[0060] 1. Chair 1a... Seat area 1c...backrest 2,3…mechanical part 4...Linear motion mechanism 5...Slider 6...Grip (operating part) 7~9...Motor 10,10´…bracket 11,11´…Housing 12...Base 13...Position controller 14,17...Switch 15...Speed ​​controller 16...Limiter 18...Arithmetic unit 19...Current controller 30...Integrated mechanism 2, 3

Claims

1. A load generating device that applies a load to an operation of an operation unit by a user, a mechanism configured to move the operation unit in multiple axial directions; an electric motor that applies a load to the movable member; Equipped with The movement includes an action of rotating the operation unit forward and backward in at least one axial direction. A load generating device characterized by:

2. The multiple axes include: a linear motion shaft that linearly moves the operation unit in a linear direction; a rotation axis that rotates the operation unit; 2. The load generating device according to claim 1, further comprising:

3. The multiple axes include:

3. The load generating device according to claim 2, comprising a plurality of said rotating shafts.

4. The mechanism unit includes: a linear motion mechanism that linearly moves the operation unit along the direction of the linear motion axis; a rotation mechanism that rotates the linear motion mechanism; Equipped with A plurality of electric motors are provided to apply loads to the linear motion and the rotation, respectively.

4. The load generating device according to claim 2 or 3.

5. a control unit for controlling the load of each of the electric motors, 5. The load generating device according to claim 4, wherein the control unit is capable of adjusting the amount of the load by varying a torque command value and a torque limit of each of the electric motors.

6. 5. The load generating device according to claim 4, wherein the mechanism units are disposed on the left and right sides of a chair on which a user sits.

7. a housing for supporting the mechanical units; 7. The load generating device according to claim 6, wherein the housing is fixed to the chair.

8. 7. The load generating device according to claim 6, wherein the respective mechanical parts are integrated.

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