Exercise equipment and training systems

Abstract

To provide equipment for exercise and a training system that can control a load semi-automatically or automatically.SOLUTION: Equipment for exercise includes a base body, an operation body provided so as to swing or reciprocate, a load generation device provided between the base body and the operation body for generating a load in a direction opposite to an operation in a predetermined direction to the operation body, and a control device for controlling the load generation device. The control device controls the load generation device so as to generate a load based on operation force input to the operation body or a speed that the operation body moves.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to exercise equipment and a training system in which the load can be electrically controlled. [Background technology]

[0002] Hydraulic training machines are known. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Utility model registration No. 3129066 Summary of the Invention [Problem to be solved by the invention]

[0004] The training machine in Patent Document 1 uses a hydraulic cylinder, and the load can be changed by manually changing the mounting position of the hydraulic cylinder. However, there are problems with the work involved in changing the load. Therefore, the object of the present invention is to provide an exercise machine and a training system that can semi-automatically or automatically control the load. [Means for solving the problem]

[0005] In order to solve the above problems, the present invention provides an exercise machine that includes a base body, an operating body that is provided so as to be able to swing or reciprocate, a load generating device that is provided between the base body and the operating body and generates a load in an opposite direction to a predetermined direction of operation on the operating body, and a control device that controls the load generating device, wherein the control device controls the load generating device to generate a load based on an operating force input to the operating body or a speed at which the operating body moves. With this configuration, the load can be controlled semi-automatically or automatically.

[0006] The control device may control the load generating device to generate a load based on the operating force input to the operating body and the selected exercise mode when one of a plurality of preset exercise modes is selected. With this configuration, the operator can train in the exercise mode that is suitable for the operator.

[0007] The exercise equipment may further include a first sensor that measures the position or speed of the operating object, and the control device may control the load generated by the load generating device based on a first measurement value measured by the first sensor. With this configuration, the load can be set based on the speed at which the operating object moves, allowing the operator to perform training that is suitable for the operator.

[0008] The exercise equipment may further include a second sensor that measures the torque or pressure applied to the operating body, and the control device may control the load generated by the load generating device based on a second measurement value measured by the second sensor.With this configuration, the load can be set based on the operating force of the operator, allowing training that is suitable for the operator.

[0009] The control device may control the load generated by the load generating device so that the velocity of the operating body when the operating force is input falls within a predetermined range. With this configuration, it is possible to perform training that is suitable for the operator.

[0010] The control device may control the load generating device so that the operating force applied by the operator to the operating body and the load generated by the load generating device are temporarily balanced, and calculate the load generated by the load generating device when the balanced state is reached as the operating force. With this configuration, it is possible to calculate the maximum operating force by the operator.

[0011] When the personal identification data is input, the control device may create personal history data by associating the exercise machine usage data with the personal identification data, and record the personal history data. With this configuration, the training data of each person can be accumulated individually.

[0012] When personal identification data is input by an input device or a terminal device or identification means carried by an operator, the control device may create personal history data by associating the exercise equipment usage data with the personal identification data and transmit the personal history data to the terminal device. With this configuration, training data can be accumulated in a mobile terminal such as a smartphone carried by an individual.

[0013] When personal identification data is input by an input device, a terminal device carried by an operator, or an identification means, the control device may transmit usage data of the exercise equipment to a management server connected to the terminal device or the exercise equipment via a network. This configuration can reduce the workload of creating personal history data in the control device of the exercise equipment. In other words, personal history data can be created by a mobile device such as a smartphone carried by an individual or by a management server.

[0014] When personal identification data is input by an input device, a terminal device carried by an operator, or an identification means, the control device may control the load generated by the load generating device based on the latest personal history data recorded by the control device or the terminal device. With this configuration, training can be performed with reference to the most recent training, making it possible to perform training that is suitable for the operator.

[0015] Also, from one aspect, the present invention provides a training system comprising an exercise machine having a base body, an operating body provided to be able to swing or reciprocate, a load generating device provided between the base body and the operating body, which generates a load in a direction opposite to a predetermined direction of operation on the operating body, and a control device for controlling the load generating device to generate the load based on the operating force input to the operating body or the speed at which the operating body moves, and a management server connected to the exercise machine through a network, in which, when personal identification data is input by an input device, a terminal device carried by an operator, or an identification means, the control device associates the personal identification data with usage data of the exercise machine to create personal history data, and records the personal history data or transmits the personal history data to the management server or the terminal device carried by the operator. According to this configuration, the training data of each person can be individually accumulated.

[0016] In another aspect, the present invention provides a training system including an exercise machine having a base body, an operating body provided to be able to swing or reciprocate, a load generating device provided between the base body and the operating body, which generates a load in a direction opposite to a predetermined direction of an operation on the operating body, and a control device for controlling the load generating device to generate the load based on the operating force input to the operating body or the speed at which the operating body moves, and a management server connected to the exercise machine through a network, in which when personal identification data is input by an input device or a terminal device or an identification means carried by an operator, the control device transmits the personal identification data and usage data of the exercise machine to the management server, and the management server creates personal history data by associating the personal identification data with the usage data, and records the personal history data or transmits the personal history data to the terminal device carried by the operator. With this configuration, the training data of each person can be individually accumulated. Effect of the Invention

[0017] According to the present invention, it is possible to realize exercise equipment and a training system that can semi-automatically or automatically control the load. [Brief description of the drawings]

[0018] [Figure 1] 1 is a schematic diagram showing the configuration of an exercise machine according to a first embodiment of the present invention. [Diagram 2] 1 is a schematic configuration diagram of a control system for controlling an exercise machine according to a first embodiment of the present invention. [Diagram 3] 1 is a schematic configuration diagram of a control device and peripheral devices of the control device according to the present invention; [Figure 4] 4 is an example of a screen displayed on the input device according to the present invention. [Diagram 5] 4 is an example of a screen displayed on the input device according to the present invention. [Figure 6] 4 is an example of a screen displayed on the input device according to the present invention. [Figure 7] 1 is a schematic diagram showing a training system according to the present invention; [Figure 8] FIG. 11 is a schematic diagram showing the configuration of an exercise machine according to a second embodiment of the present invention. [Figure 9] FIG. 11 is a schematic configuration diagram showing a load generating device and peripheral devices according to a second embodiment of the present invention. [Figure 10] FIG. 11 is a schematic diagram showing a modified example of the exercise machine according to the second embodiment of the present invention. [Figure 11] FIG. 11 is a schematic diagram showing a modified example of the exercise machine according to the second embodiment of the present invention. [Figure 12] FIG. 11 is a schematic configuration diagram showing a modified example of the load generating device and peripheral devices according to the second embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0019] Hereinafter, the exercise equipment of the first and second embodiments of the present invention will be described with reference to the drawings. The concept of direction used in the following description is used for convenience in the description and does not limit the orientation of the configuration of the invention to the described direction. Furthermore, the exercise equipment described below is merely one embodiment of the present invention. Therefore, the present invention is not limited to the following embodiment, and additions, deletions, and modifications are possible within the scope of the invention.

[0020] (First embodiment) (Device configuration) 1 and 2, the exercise equipment 1 according to the first embodiment includes a base body 2, an operating body 3 that is provided so as to be able to swing or reciprocate, a load generator 4 that is provided between the base body 2 and the operating body 3 and generates a load in an opposite direction to a predetermined direction of operation on the operating body 3, and a control device 5 that controls the load generator 4. Here, the load refers to a force that is applied to the operating body 3 by an operator H using the exercise equipment 1. The operating force and the load act against each other on the operating body 3. This allows the operator H to train his / her muscles. Note that, although Fig. 1 shows a form in which the operator H operates the operating body 3 with his / her hands to train the upper body, the operator H may operate the operating body 3 with his / her legs to train the lower body.

[0021] The base body 2 has a frame 6, a seat 7 provided on the upper part of the frame 6, and a plurality of legs 8 provided on the lower part of the frame 6. An electric motor 4, which is a load generating device 4, is provided on the lower part of the frame 6 of the base body 2. The load generating device 4 may be configured to include the electric motor 4 and a reduction gear (not shown). An operating body 3 is mechanically connected to the electric motor 4. The operating body 3 has a rod portion 9 and a handle portion 10 held by an operator H, a first end of the rod portion 9 is mechanically connected to an output shaft of the electric motor 4, and a second end of the rod portion 9 is provided with the handle portion 10. The rod portion 9 of the operating body 3 penetrates the frame 6 and the seat 7, a first end is located at the lower part of the frame 6, and a second end is located at the upper part of the frame 6. The rod portion 9 of the operating body 3 may be arranged so as to pass outside the frame 6 without penetrating the frame 6 or the like.

[0022] In order to limit the movable range of the operating body 3, a stopper member 11 is provided between the electric motor 4 and the operating body 3. The stopper member 11 has a first stopper portion 12 and a second stopper portion 13. The first stopper portion 12 limits the movement of the operating body 3 in the right direction (first direction) in FIG. 1, and the second stopper portion 13 limits the movement in the left direction (second direction) in FIG. 1. This allows the operating body 3 to be rockable or reciprocating relative to the base body 2, and the operator H can move the operating body 3 in the forward and backward directions while sitting or lying on the seat 7. At this time, the electric motor 4 generates a load when moving the operating body 3, and the load generated by the electric motor 4 is controlled by the control device 5. Note that, at the time of initial setup or before use of the exercise equipment 1, the operating body 3 is inclined in the first direction and is positioned at the initial position by contacting the first stopper portion 12.

[0023] The electric motor 4 is provided with an encoder 14 as a first sensor 14, which can detect the rotation angle / rotation position of the electric motor 4, i.e., the rotation angle / rotation position of the operating body 3. A torque sensor 15 as a second sensor 15 is provided between the output shaft of the electric motor 4 and the operating body 3, which can detect the torque applied to the operating body 3. The encoder 14 and the torque sensor 15 are electrically connected to a control device 5, which controls the load generated by the electric motor 4 based on signals transmitted from both of them.

[0024] 2 and 3, the exercise equipment 1 may include an input device 16 for inputting information about the operator H and information such as an exercise mode indicating the type of exercise to be performed to the control device 5. In addition to using the input device 16, information may be input to the control device 5 from a terminal device 17 such as a smartphone or smartwatch carried by the operator H using a communication function such as short-range wireless communication. In addition, personal identification data may be input to the control device 5 using an identification means 18 carried by the operator H such as a magnetic card on which personal identification data is recorded, an IC chip card, or a wristband with an IC chip, and then information such as an exercise mode indicating the type of exercise to be performed may be input to the control device 5 using the input device 16.

[0025] (Control devices and peripheral devices) The control device 5 and its peripheral devices will be described with reference to Fig. 3. The control device 5 is a so-called computer, and is mainly composed of a CPU (Central Processing Unit) that performs control processing and arithmetic processing, a ROM (Read Only Memory) that stores control programs and arithmetic programs executed by the CPU, a RAM (Random Access Memory) that temporarily stores processing data, and an input / output interface. The control device 5 has a speed calculation unit 5a, an operating force / load calculation unit 5b, a load control unit 5c, and an individual history data creation unit 5d.

[0026] The speed calculation unit 5a calculates the rotation angular velocity / rotation speed (speed) of the operating body 3 operated by the operator H, based on the rotation angle / rotation position (first measurement value) of the operating body 3 detected by the encoder 14. If the speed at which the operating body 3 moves is a positive value, it indicates a state in which the operating force by the operator H exceeds the load generated by the electric motor 4, and if it is a negative value, it indicates a state in which the operating force by the operator H is lower than the load generated by the electric motor 4.

[0027] The operating force / load calculation unit 5b calculates the operating force applied by the operator H to the operating body 3 or the load generated by the electric motor 4 based on the torque (second measurement value) acting on the operating body 3 detected by the torque sensor 15. When the speed at which the operating body 3 moves is approximately zero, the operating force by the operator H and the load generated by the electric motor 4 are in a balanced state, so the operating force is calculated based on the detected torque. When the speed at which the operating body 3 moves is a positive or negative value, the operating force and the load are not in a balanced state, so the load by the electric motor 4 is calculated based on the detected torque. When calculating the operating force or load, the operating force / load calculation unit 5b may refer to the speed of the operating body 3 calculated by the speed calculation unit 5a.

[0028] The load control unit 5c generates a load command based on the speed of the operating body 3 calculated by the speed calculation unit 5a, or the operating force or load calculated by the operating force / load calculation unit 5b. The load control unit 5c transmits the generated load command to the driver 21. The driver 21 calculates a drive current based on the load command and supplies the drive current to the electric motor 4. The electric motor 4 generates a load based on the supplied drive current. In addition, by transmitting signals from the encoder 14 and the torque sensor 15 to the control device 5, the load control unit 5c generates a new load command and functions to appropriately control the load opposing the operating force by the operator H.

[0029] When personal identification data on the operator H is input by the input device 16, the personal history data creation unit 5d creates personal history data by associating the personal identification data with usage data when the exercise equipment 1 was used (at least one of the calculated operating force, the load on the electric motor 4, the speed of the operating body 3, and the selected exercise mode). In other words, the personal history data is data that indicates the state and conditions under which the operator H exercised. By accumulating the personal history data, it is possible to grasp the current values ​​and changes over time of the operator H's physical strength, such as muscle strength and endurance, as well as the operator H's exercise habits, etc.

[0030] The input device 16 is a device for inputting personal identification data and the like to the control device 5, and is, for example, a touch panel display or monitor. The input device 16 is set with options for directly inputting the magnitude of the load as a numerical value and for selecting various exercise modes, and the load control unit 5c controls the load generated by the electric motor 4 based on the selected option. For example, as shown in Figs. 3 and 4, the input device 16 is set with buttons for "load numerical value input," "exercise mode selection," and "personal identification data input."

[0031] The function of the input device 16 may be provided in application software installed in the terminal device 17 carried by the operator H. In this case, the terminal device 17 carried by the operator H and the exercise equipment 1 need to be connected by a communication function such as short-range wireless communication. In addition, the operator may input personal identification data to the control device 5 using an identification means 18 carried by the operator, such as a magnetic card on which personal identification data is recorded, an IC chip card, or a wristband equipped with an IC chip, and then input the current training information (such as the above-mentioned [load numerical input] and [exercise mode selection]) to the control device 5 using the input device 16. The display device 22 displays data such as the calculated operating force and load, the speed of the operating body 3, and the exercise mode. These data are output from the control device 5 and input to the display device 22. The operator H can grasp the current exercise situation by checking the displayed data. The input device 16 and the display device 22 may be the same device, and may be, for example, a touch panel display or monitor.

[0032] (Use and operation of exercise equipment) The control executed by the control device 5 when the [Load Numerical Input] button is selected will be described below. When the [Load Numerical Input] button is selected, the screen of the input device 16 is switched. As shown in FIG. 5, for example, a screen for inputting a numerical value corresponding to the weight of a weight used in weight training is displayed. The electric motor 4 is controlled to generate a load based on this input value. In the control device 5, first, the load control unit 5c calculates the load to be generated by the electric motor 4 based on the input value and generates a load command. Next, the load control unit 5c outputs the generated load command to the driver 21. Next, the driver 21 calculates a drive current based on the load command and supplies the drive current to the electric motor 4. Finally, the electric motor 4 generates a load based on the drive current. The control device 5 also executes torque feedback control based on a signal from the torque sensor 15 and control based on a signal from the encoder 14.

[0033] During the initial setting or before use, the operating body 3 is positioned at the initial position by contacting with the first stopper portion 12. Positioning at the initial position is performed by position feedback control based on a signal from the encoder 14. For example, the control device 5 detects a signal from the torque sensor 15 while moving the operating body 3 toward the first stopper portion 12 (first direction) by position feedback control. When the torque detected by the torque sensor 15 is greater than a predetermined value, positioning at the initial position is completed. At this time, the operating body 3 is in a state of applying a torque (a predetermined load set in advance or a load calculated by the load control unit 5c) to the first stopper portion 12. The positioning of the operating body 3 at the initial position is also performed in the same manner when the [exercise mode selection] button described later is selected.

[0034] When the operator H applies an operating force to the operating body 3 that is greater than or equal to the load based on the input value, the operating body 3 moves in a direction away from the first stopper portion 12, i.e., the initial position (a second direction). In this manner, the operator H can perform muscle training by pushing the operating body 3 with a load that is arbitrarily set.

[0035] When the operating force of the operator H exceeds the load and the operating body 3 moves, a signal from the torque sensor 15 is fed back to the control device 5, and the load control unit 5c generates a new load command based on the signal. This allows the operator H to move the operating body 3 while keeping the load opposing the operating force of the operator H constant. When the operating body 3 moves from the initial position, the torque sensor 15 detects the load based on the input value input by the operator H. When the operating body 3 moves from the initial position and the speed at which the operating body 3 moves is approximately zero, the operating force of the operator H and the load generated by the electric motor 4 are in a balanced state, so the torque detected by the torque sensor 15 is approximately equal to the operating force of the operator H.

[0036] When the operating body 3 moves up to the second stopper portion 13, that is, to the end position, a series of controls relating to the movement of pushing the operating body 3 to move ends, and the operating body 3 is controlled to move to the initial position. Also, control may be performed so that the operating body 3 can be moved by pulling it, starting from the position of the second stopper portion 13. The control when it moves up to the second stopper portion 13 is also the same when the [Movement mode selection] button described later is selected.

[0037] When the input value input by the operator H is large, the load is greater than the operating force of the operator H, so the operating body 3 does not move from its position. At this time, the operating body 3 has not moved from the initial position, so the torque sensor 15 detects the load based on the input value.

[0038] The control executed by the control device 5 when the [exercise mode selection] button is selected will be described below. When the [exercise mode selection] button is selected, the screen of the input device 16 is switched. As shown in Fig. 6, for example, buttons for [hard exercise mode], [moderate exercise mode], and [light exercise mode] are displayed on the screen.

[0039] When the [Firm Exercise Mode] is selected, for example, the electric motor 4 is controlled to generate a load in the range of 70 to 100% of the maximum operating force that the operator H can exert. When the [Moderate Exercise Mode] is selected, for example, the electric motor 4 is controlled to generate a load in the range of 40 to 70% of the maximum operating force that the operator H can exert. When the [Light Exercise Mode] is selected, for example, the electric motor 4 is controlled to generate a load in the range of 1 to 40% of the maximum operating force that the operator H can exert. In this way, the load generated by the electric motor 4 is controlled based on the maximum operating force of the operator H and the selected exercise mode. Note that the ratio of the load to the maximum operating force in each exercise mode is not limited to the above ratio, and can be set arbitrarily for each exercise mode. Unlike when the [Load Numerical Input] button is selected, when the [Exercise Mode Selection] button is selected, the load generated by the electric motor 4 is controlled based on the operating force applied by the operator H to the operating body 3. Note that after the [Exercise Mode Selection] button is selected, an option may be provided for directly inputting what percentage of the operator's maximum operating force the operator H will exercise with.

[0040] The control flow when each motion mode is selected will be explained step by step. In step S0, as described above, the operating body 3 is controlled to move to the initial position. In step S1, the electric motor 4 is controlled to generate a preset initial load. For example, the initial load is set to a small value.

[0041] In step S2, the speed calculation unit 5a calculates the speed at which the operating body 3 moves. When the operator H applies an operating force to the operating body 3, if the operating force exceeds the load generated by the electric motor 4, the operating body 3 is defined as moving at a positive speed, and if the operating force is lower than the load generated by the electric motor 4, the operating body 3 is defined as moving at a negative speed. In other words, if the operator H overcomes the load, the operating body 3 moves at a positive speed, and if the operator H overcomes the load, the operating body 3 moves at a negative speed.

[0042] In step S3, the load control unit 5c controls the load to be generated by the electric motor 4 based on the calculation result of the speed calculation unit 5a. Specifically, when the speed at which the operating body 3 moves is positive, the load control unit 5c generates a load command based on a predetermined rule so that the load generated by the electric motor 4 is greater than the current value, and when the speed at which the operating body 3 moves is negative, the load control unit 5c generates a load command based on a predetermined rule so that the load generated by the electric motor 4 is smaller than the current value. In other words, when the operating body 3 moves at a positive speed, the load is controlled to be greater, so that the speed of the operating body 3 approaches zero or becomes negative, and when the operating body 3 moves at a negative speed, the load is controlled to be smaller, so that the speed of the operating body 3 approaches zero or becomes positive.

[0043] In step S4, the controls in steps S2 and S3 are repeated for a predetermined time or a predetermined number of times to detect the maximum operating force that the operator H can exert. Specifically, the load of the electric motor 4 is adjusted until the speed at which the operating body 3 moves approaches zero, in other words, until the operating force by the operator H and the load generated by the electric motor 4 are balanced, and the load generated by the electric motor 4 in the temporarily balanced state is detected as the maximum operating force that the operator H can exert (maximum operating force). The maximum operating force may be detected by a torque sensor 15 provided between the electric motor 4 and the operating body 3, or may be calculated based on the current value of the electric motor 4 and a performance curve of the electric motor 4.

[0044] In step S5, the load generated by the electric motor 4 is controlled based on the maximum operating force detected in step S4 and the selected exercise mode. In other words, the operator H can exercise with a load based on his / her maximum operating force at the current time (the time when the exercise equipment is used), so that the operator H can always exercise with an appropriate load. When the operating body 3 moves to the position of the second stopper portion 13, the series of controls ends, but the control thereafter is as described above.

[0045] In addition, when the [exercise mode selection] button is selected, the load generated by the electric motor 4 may be controlled based on the speed at which the operating body 3 moves when an operating force is input, or the load generated by the electric motor 4 may be controlled based on the operating force of the operator H and the speed at which the operating body 3 moves. In this case, when the [firm exercise mode] is selected, the load generated by the electric motor 4 is controlled so that the operating body 3 moves at a first speed. When the [moderate exercise mode] is selected, the load generated by the electric motor 4 is controlled so that the operating body 3 moves at a second speed faster than the first speed. When the [light exercise mode] is selected, the load generated by the electric motor 4 is controlled so that the operating body 3 moves at a third speed faster than the second speed. In other words, by controlling the load generated by the electric motor 4 so that the speed at which the operating body 3 moves is within a predetermined range, it is possible to exercise with a large load in the [firm exercise mode], a moderate load in the [moderate exercise mode], and a small load in the [light exercise mode].

[0046] In this case, the control flow may be based on the maximum operating force as in the above flow, or may be based only on the speed at which the operating body 3 moves without detecting the maximum operating force. In either case, it is sufficient that the load of the electric motor 4 is controlled so that the speed at which the operating body 3 moves falls within a predetermined range.

[0047] The control executed by the control device 5 when the [Enter personal identification data] button is selected will be described below. When the [Enter personal identification data] button is selected, a screen for entering ID data and a password is displayed. When entering ID data for the first time, a predetermined questionnaire will be answered and a password will be set. When exercise equipment 1 is used after entering ID data and password (personal identification data), personal history data is created by the control device 5 that associates the personal identification data with usage data when exercise equipment 1 was used (at least one of the maximum operating force calculated by the control device 5, the load generated by electric motor 4, the speed at which operating body 3 moves, and the selected exercise mode).

[0048] The personal history data created by the personal history data creation unit 5d of the control device 5 is recorded in the storage device 23 as shown in FIG. 3. The storage device 23 is, for example, a non-volatile memory such as a hard disk or a flash memory. The control device 5 may be configured to include the storage device 23. The personal history data created by the personal history data creation unit 5d of the control device 5 may be transmitted to a terminal device 17 such as a smartphone or a smart watch carried by the operator 3 or a management server 25 connected to the exercise equipment 1 via a network 24, as shown in FIG. 7, and then recorded in the terminal device 17 or the management server 25. The management server 25 may be a cloud server. That is, data indicating what kind of training the operator H performed using the exercise equipment 1 is accumulated as personal history data. This allows the operator H to grasp the history of exercise data indicating his / her endurance, muscle strength, etc., and therefore allows him / her to exercise in a planned manner or to confirm the improvement of his / her athletic ability.

[0049] Furthermore, when personal identification data is input for the second or subsequent time (excluding the first time), the control device 5 may recommend what load, exercise mode, etc. the operator H should use for training. In other words, when personal identification data is input by the input device 16 or the terminal device 17 carried by the operator H, and the input is for the second or subsequent time, the control device 5 may control the load generated by the electric motor 4 based on the latest personal history data recorded by the control device 5, the terminal device 17, or the management server 25. The latest personal history data is data based on usage data from the previous time the exercise equipment 1 was used. Therefore, the recommendation regarding the current training based on the latest data proposes a reasonable training for the operator H.

[0050] (Training System) As shown in FIG. 7, when the exercise equipment 1 is connected to the terminal device 17 carried by the operator H by a communication function such as short-range wireless communication, or when the exercise equipment 1 is connected to the management server 25 by the network 24, the personal history data may be created in the management server 25 or the terminal device 17. In this case, when the personal identification data is input by the input device 16, the terminal device 17, or the identification means 18, the control device 5 transmits the usage data when the exercise equipment 1 is used (the maximum operating force calculated by the control device 5, the load generated by the electric motor 4, the speed at which the operating body 3 moves, the selected exercise mode, etc.) to the terminal device 17 or the management server 25. At that time, the control device 5 transmits the personal identification data to the terminal device 17 or the management server 25 as necessary. After that, the terminal device 17 or the management server 25 creates personal history data in which the personal identification data and the usage data of the exercise equipment 1 are associated, and records the created personal history data. The personal history data created by the management server 25 may also be transmitted to the terminal device 17.

[0051] In this way, by constructing a training system 26 equipped with exercise equipment 1 and management server 25, when multiple exercise equipment 1 are used at a fitness club or the like, the personal history data of each club member can be managed centrally by the management server 25, or can be managed individually by the terminal device 17 owned by each club member.

[0052] Second embodiment 8 and 9, in the second embodiment, a load generating device 27 has an electromagnetic relief valve 28 and a hydraulic cylinder 29. Other than that, the device configuration and the control device are not particularly changed from the first embodiment, so the explanation will focus on the changes.

[0053] (Device configuration) As shown in Figures 8 and 9, exercise equipment 30 according to the second embodiment includes a base body 31, an operating body 32 that is arranged to be able to swing or move back and forth, a load generating device 27 that is arranged between the base body 31 and the operating body 32 and generates a load in an opposite direction to a predetermined direction of operation on the operating body 32, and a control device 33 that controls the load generating device 27.

[0054] The operating body 32 has a handle portion 34, a rod portion 35, and a shaft portion 36. The shaft portion 36 is provided at a first end of the rod portion 35, and the handle portion 34 is provided at a second end. An operating body support portion (bearing portion) of a frame 37, which is a part of the base body 31, rotatably supports the shaft portion 36 of the operating body 32, so that the operating body 32 is provided so as to be capable of swinging or reciprocating relative to the base body 31. The operating body support portion (bearing portion), which is a connection portion between the operating body 32 and the frame 37, may be provided on a side surface of the frame 37 or may be provided in the center of the frame 37. A hydraulic cylinder 29 is provided between the operating body 32 and the frame 37. A rod portion 39 of the hydraulic cylinder 29 is connected to the rod portion 35 of the operating body 32 via a pin, and a cylinder portion 40 of the hydraulic cylinder 29 is connected to the frame 37 via a pin. When the operating body 32 swings or reciprocates relative to the base body 31, the hydraulic cylinder 29 expands or contracts to follow the forward and backward movement of the operating body 32.

[0055] In other words, when the operator moves the operating body 32 in the forward / backward direction while sitting or lying on the seat 38, the hydraulic cylinder 29 expands and contracts, and hydraulic fluid is discharged from the hydraulic cylinder 29 or supplied to the hydraulic cylinder 29. The discharge pressure of the hydraulic fluid is pressure-controlled by the electromagnetic relief valve 28, which will be described later. The control device 33 controls the relief pressure of the electromagnetic relief valve 28, that is, the discharge pressure of the hydraulic fluid, so that the load generating device 27, which has the hydraulic cylinder 29 and the electromagnetic relief valve 28, can generate a load when moving the operating body 32.

[0056] In the second embodiment, there is no need to provide a separate stopper member. This is because the operating body 32 can move only within the stroke range of the hydraulic cylinder 29. The position where the rod portion 39 of the hydraulic cylinder 29 is most extended is set as the initial position, and the position where the rod portion 39 of the hydraulic cylinder 29 is most contracted is set as the end position. The operator starts the movement by applying an operating force to the operating body 32 positioned at the initial position, and the series of movements ends when the operating body 32 reaches the end position. Also, the configuration may be such that a movement is possible in which the operating body 32 is pulled and moved starting from the end position.

[0057] (Load generation equipment and peripheral equipment) A load generator 27 having an electromagnetic relief valve 28 and a hydraulic cylinder 29 will be described with reference to Fig. 9. In Fig. 8, the rod portion 39 of the hydraulic cylinder 29 is connected to the rod portion 35 of the operating body 32 by a pin, and the cylinder portion 40 of the hydraulic cylinder 29 is connected to the frame 37 by a pin, but in Fig. 9, for the sake of simplicity, the cylinder portion 40 of the hydraulic cylinder 29 is fixed, and the rod portion 39 of the hydraulic cylinder 29 is moved by a handle portion 41. In other words, it is conveniently shown that the hydraulic cylinder 29 expands and contracts as the operating body 32 moves.

[0058] The hydraulic cylinder 29 has a cylinder portion 40, a rod portion 39, and a piston portion 42. Furthermore, the hydraulic cylinder 29 has therein a head chamber 43 defined by the inner circumferential surface of the cylinder portion 40 and a first surface of the piston portion 42, and a rod chamber 44 defined by the inner circumferential surface of the cylinder portion 40 and a second surface of the piston portion 42. The rod portion 39 is connected to the second surface of the piston portion 42. The first position is when the volume of the head chamber 43 is maximum and the volume of the rod chamber 44 is minimum, and the second position is when the volume of the head chamber 43 is minimum and the volume of the rod chamber 44 is maximum.

[0059] When the piston portion 42 of the hydraulic cylinder 29 moves from the first position to the second position with the movement of the operating body 32, the volume of the head chamber 43 decreases and the volume of the rod chamber 44 increases. As the volume of the head chamber 43 decreases, hydraulic fluid is discharged from the head chamber 43. The discharged hydraulic fluid is guided to the tank 46 via the first discharge path 45. On the first discharge path 45, a first check valve 47 for preventing backflow of the hydraulic fluid to the head chamber 43 and an electromagnetic relief valve 28 for controlling the discharge pressure of the hydraulic fluid are provided. The electromagnetic relief valve 28 is provided downstream of the first check valve 47. As the volume of the rod chamber 44 increases, hydraulic fluid is supplied from the tank 46 via the first supply path 48. On the first supply path 48, a second check valve 49 for preventing backflow of the hydraulic fluid to the tank 46 is provided.

[0060] When the piston portion 42 of the hydraulic cylinder 29 moves from the second position to the first position with the movement of the operating body 32, the volume of the head chamber 43 increases and the volume of the rod chamber 44 decreases. As the volume of the rod chamber 44 decreases, the hydraulic fluid is discharged from the rod chamber 44. The discharged hydraulic fluid is guided to the tank 46 via the second discharge path 50. The second discharge path 50 merges with the first discharge path 45. The merged point is provided upstream of the electromagnetic relief valve 28 and downstream of the first check valve 47. A third check valve 51 is provided on the second discharge path 50 to prevent the hydraulic fluid from flowing back to the rod chamber 44. As the volume of the head chamber 43 increases, the hydraulic fluid is supplied from the tank 46 via the second supply path 52. A fourth check valve 53 is provided on the second supply path 52 to prevent the hydraulic fluid from flowing back to the tank 46.

[0061] With this configuration, when the operating body 32 is moved from the first position toward the second position, the hydraulic fluid is discharged from the head chamber 43 to the tank 46, and the hydraulic fluid is supplied from the tank 46 to the rod chamber 44. Also, when the operating body 32 is moved from the second position toward the first position, the hydraulic fluid is discharged from the rod chamber 44 to the tank 46, and the hydraulic fluid is supplied from the tank 46 to the head chamber 43.

[0062] A stroke sensor 54 serving as a first sensor is provided on the hydraulic cylinder 29, and can detect the positions of the piston portion 42 and the rod portion 39, that is, the position of the operating body 32. A pressure sensor 55 serving as a second sensor is provided on the first discharge path 45. The pressure sensor 55 is provided upstream of the electromagnetic relief valve 28 and downstream of the first check valve 47 and the third check valve 51. The pressure sensor 55 can detect the hydraulic pressure of the hydraulic fluid discharged from the head chamber 43 or the rod chamber 44. The stroke sensor 54 and the pressure sensor 55 are electrically connected to the control device 33, and the control device 33 controls the set relief pressure of the electromagnetic relief valve 28, that is, the discharge pressure of the hydraulic fluid, based on signals transmitted from both sensors.

[0063] (Control device) The speed calculation unit of the control device 33 calculates the speed at which the operating body 32 operated by the operator moves, based on the position (first measurement value) of the operating body 32 detected by the stroke sensor 54. If the speed at which the operating body 32 moves is a positive value, it indicates a state in which the operating force of the operator exceeds the load generated by the load generating device 27, that is, the hydraulic pressure generated by the operator in the hydraulic cylinder 29 via the operating body 32 exceeds the set relief pressure of the electromagnetic relief valve 28. If the speed at which the operating body 32 moves is zero, it indicates a state in which the operating force of the operator falls below the load generated by the load generating device 27, that is, the hydraulic pressure generated by the operator in the hydraulic cylinder 29 via the operating body 32 falls below the set relief pressure of the electromagnetic relief valve 28.

[0064] The operation force / load calculation unit of the control device 33 calculates the operation force applied by the operator to the operation body 32, or the current relief pressure of the electromagnetic relief valve 28, based on the hydraulic pressure (second measurement value) in the head chamber 43 or the rod chamber 44 detected by the pressure sensor 55. When the speed at which the operation body 32 moves is approximately zero, the operation force by the operator and the load generated by the load generating device 27 are in a balanced state, so the operation force is calculated based on the detected hydraulic pressure in the head chamber 43 or the rod chamber 44. When the speed at which the operation body 32 moves is positive, the operation force and the load generated by the load generating device 27 are not in a balanced state, so the current relief pressure of the electromagnetic relief valve 28 is calculated based on the detected hydraulic pressure in the head chamber 43 or the rod chamber 44.

[0065] The load control unit of the control device 33 generates a load command based on the speed of the operating body 32 calculated by the speed calculation unit, or the operating force or current relief pressure calculated by the operating force / load calculation unit. The load control unit transmits the generated load command to the electromagnetic relief valve 28. The electromagnetic relief valve 28 sets a set relief pressure based on the transmitted load command. In addition, by transmitting signals from the stroke sensor 54 and the pressure sensor 55 to the control device 33, the load control unit generates a new load command and functions to appropriately control the load that counteracts the operating force applied by the operator.

[0066] (Use and operation of exercise equipment) The control performed by the control device 33 when the [Input load value], [Select exercise mode], and [Input personal identification data] buttons are selected is similar to that described in the first embodiment, and therefore will not be described.

[0067] Since the load generating device 27 of the second embodiment has an electromagnetic relief valve 28 and a hydraulic cylinder 29, unlike the electric motor 4 which is the load generating device 4 of the first embodiment, the load generating device 27 cannot move the operating body 32. Therefore, the control in this respect is different from that of the first embodiment.

[0068] For example, the operator must position the operating body 32 to its initial position by himself / herself. In addition, when calculating the maximum operating force, the load generated by the load generator 27 is controlled to adjust the speed at which the operating body 32 moves, but the speed of the operating body 32 cannot be adjusted to a negative speed. Therefore, in this case, the load of the load generator 27 is controlled so that the speed of the operating body 32 approaches zero.

[0069] (Modification of the second embodiment) (Device configuration) 10 and 11 show modified examples of the exercise machine of the second embodiment. The same components are given the same reference numerals, and the differences from FIG. 8 will be mainly described.

[0070] In the embodiment of FIG. 10, the base body 31 has a frame 37, a seat 38, a support 56, and legs, and the support 56 is provided on the frame 37. The support 56 is provided so as to extend upward from the side or top surface of the frame 37. The operating body support portion (bearing portion) of the support 56 rotatably supports the shaft portion 36 of the operating body 32, so that the operating body 32 is provided so as to be able to swing or reciprocate relative to the support 56, i.e., the base body 31. A hydraulic cylinder 29 is provided between the operating body 32 and the support 56. A first end of the hydraulic cylinder 29 is connected to the rod portion 39 of the operating body 32 via a pin, and a second end of the hydraulic cylinder 29 is connected to the support 56 via a pin. When the operating body 32 swings or reciprocates relative to the base body 31, the hydraulic cylinder 29 can follow the forward and backward movement of the operating body 32 by expanding or contracting.

[0071] In the embodiment of FIG. 11, a support 57 different from that of the embodiment of FIG. 10 is used. In detail, the support 57 has a column portion 58 and a beam portion 59, the column portion 58 is provided so as to extend upward from the side or top surface of the frame 37, and the beam portion 59 extending horizontally is provided on the upper portion of the column portion 58. A first end of the hydraulic cylinder 29 is connected to the beam portion 59. The hydraulic cylinder 29 is provided so as to be able to be held in any posture relative to the beam portion 59. In other words, the posture of the hydraulic cylinder 29 can be adjusted so that the operator can easily operate the operating body 32, and the adjustment is made by an adjustment plate, a screw, or the like (not shown). In addition, the beam portion 59 and the hydraulic cylinder 29 may be simply connected by a pin. The operating body 32 is provided at the second end of the hydraulic cylinder 29, and the rod portion 39 of the hydraulic cylinder 29 and the rod portion 35 of the operating body 32 are common to each other. Since the operating body 32 is supported by the support 57 via the hydraulic cylinder 29, when the operating body 32 moves back and forth relative to the base body 31, the hydraulic cylinder 29 can extend or contract to follow the forward / backward / up / down movement of the operating body 32.

[0072] (Load generation equipment and peripheral equipment) A modified example of the load generating device of the second embodiment will be described with reference to Fig. 12. The same components are given the same reference numerals, and changes from Fig. 9 will be mainly described.

[0073] 12, the head chamber 43 is a component part of the hydraulic circuit, and as the piston portion 42 moves, hydraulic fluid is discharged from the head chamber 43 through the first discharge passage 45 and the first check valve 47, or hydraulic fluid is supplied to the head chamber 43 through the first supply passage 60 and the second check valve 61. On the other hand, the rod chamber 44 is separated from the hydraulic circuit and communicates with the outside (atmosphere). Therefore, even if the volume of the rod chamber 44 increases or decreases, the rod chamber 44 does not generate resistance, and the rod chamber 44 does not hinder the movement of the piston portion 42.

[0074] An elastic member 62 such as a coil spring is provided in the head chamber 43. Both ends of the elastic member 62 may be fixed to the piston portion 42 and the cylinder portion 40, respectively, or only one of the ends may be fixed to the piston portion 42 or the cylinder portion 40. With this configuration, when the operator releases the operating body 32 while moving the operating body 32 from the first position to the second position, or when the operator moves the operating body 32 to the second position, the operating body 32 is automatically returned to the first position by the elastic member 62. Note that instead of providing the elastic member 62 such as a coil spring, the handle portion 34 or the rod portion 35 of the operating body 32 may be made heavier. With this configuration, when the operator releases the operating body 32 while moving the operating body 32 from the first position to the second position, or when the operator moves the operating body 32 to the second position, the operating body 32 is automatically returned to the first position by the weight of the operating body 32. At that time, the hydraulic fluid is supplied from the tank 46 to the head chamber 43 through the first supply passage 60. Here, the first position is when the volume of the head chamber 43 is maximum and the volume of the rod chamber 44 is minimum, and the second position is when the volume of the head chamber 43 is minimum and the volume of the rod chamber 44 is maximum.

[0075] (Modification common to the first and second embodiments) In the first and second embodiments, the exercise equipment 1, 30, 301, 302 has one operating body 3, 32 and one load generating device 4, 27, 271. However, the exercise equipment 1, 30, 301, 302 may have two operating bodies 3, 32 and two load generating devices 4, 27, 271. By configuring in this way, each hand can perform an independent exercise. For example, the exercise equipment 1, 30, 301, 302 may be configured to perform an exercise simulating the movement of rowing a boat. Conventional exercise equipment such as weight type can only adjust the load in one direction, so training related to such movements cannot be realized. However, the exercise equipment 1, 30, 301, 302 of the present invention can adjust the load in two directions, so training related to various movements is possible. [Explanation of symbols]

[0076] 1 Exercise equipment 2 Base body 3. Control unit 4 Electric motor (load generator) 5. Control device 5a Speed ​​calculation section 5b Operating force / load calculation section 5c Load control section 5d Personal History Data Creation Department 11 Stopper member 14 Encoder (first sensor) 15 Torque sensor (second sensor) 16 Input Devices 17 Terminal Equipment 18 Identification device 22 Display device 23 Storage device 24 Network 25 Management Server 26 Training System 27 Load Generator 28 Solenoid relief valve 29 Hydraulic Cylinder 30 Exercise equipment 31 Base body 32 Operation body 33 Control device 54 Stroke sensor (first sensor) 55 Pressure sensor (second sensor) 271 Load Generator 301, 302 Exercise equipment H Operator

Claims

1. A base body; An operating body that is provided so as to be able to swing or reciprocate; a load generating device provided between the base body and the operation body and configured to generate a load in an opposite direction to a predetermined direction of operation of the operation body; A control device that controls the load generating device, The control device controls the load generating device so that the operating force applied by the operator to the operating body and the load generated by the load generating device are temporarily balanced, calculates the load generated by the load generating device when in a balanced state as the operating force, controls the load generating device to generate a load based on the calculated maximum operating force, and controls the load generated by the load generating device so that the movement speed of the operating body falls within a predetermined range.

2. 2. The exercise equipment of claim 1, wherein the control device controls the load generating device to generate a load based on the maximum operating force and a selected exercise mode when any one of a plurality of preset exercise modes is selected.

3. The exercise equipment described in claim 1, wherein the control device controls the load generated by the load generating device when any one of a plurality of pre-set exercise modes is selected so that the movement speed of the control body becomes a speed based on the selected exercise mode.

4. 4. The exercise equipment according to claim 1, wherein the load generating device comprises an electromagnetic relief valve and a hydraulic cylinder.

5. A base body, An operating body that is provided so as to be able to swing or reciprocate; A load generating device is provided between the base body and the operation body, and generates a load in an opposite direction to a predetermined direction of the operation body; A control device that controls the load generating device, the control device controls the load generated by the load generating device so that the moving speed of the operating object falls within a predetermined range.

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