JPH10203467A - Running type fitness machine - Google Patents
Running type fitness machineInfo
- Publication number
- JPH10203467A JPH10203467A JP9009319A JP931997A JPH10203467A JP H10203467 A JPH10203467 A JP H10203467A JP 9009319 A JP9009319 A JP 9009319A JP 931997 A JP931997 A JP 931997A JP H10203467 A JPH10203467 A JP H10203467A
- Authority
- JP
- Japan
- Prior art keywords
- human
- unit
- load
- input
- pressing force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
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- Rehabilitation Tools (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、身体の鍛練に使用
するもので、特に足腰筋力向上及び心肺持久力向上に有
用な屋外健康機に関し、更に詳しくは、人力駆動にて自
走する自転車、車椅子、軽車両等の形態にて、人力入力
制御を行う走行型健康機に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an outdoor health machine which is used for training a body, and is particularly useful for improving leg muscle strength and cardiorespiratory endurance. The present invention relates to a traveling health machine that performs human input control in the form of a wheelchair, a light vehicle, or the like.
【０００２】[0002]
【従来の技術】近年、日本人は身体運動の少ない座業的
生活習慣の増大に加えて過食傾向による冠動脈性心疾
患、高血圧、肥満等が死亡原因となる比率が高まると共
に、腰痛、情緒的ストレス等の障害も多くなる傾向とな
っている。従来、上記問題解決手段として、スポーツに
よる健康作りが推奨され、ランニング、球技、体操、水
泳、格技等種々実行されている。機器を使用する運動と
して、例えば、トレッドミル、自転車、自転車型屋内健
康機がある。2. Description of the Related Art In recent years, in addition to an increase in sedentary lifestyle with little physical activity, the rate of death due to coronary heart disease, hypertension, obesity, etc. due to overeating tendency has been increasing, as well as low back pain, emotional state. Obstacles such as stress tend to increase. Hitherto, as a means for solving the above-mentioned problems, health promotion by sports has been recommended, and various types of running, ball games, gymnastics, swimming, and martial arts have been performed. Examples of the exercise using the device include a treadmill, a bicycle, and a bicycle-type indoor health machine.
【０００３】ランニングは全身運動として適切である
が、局部に衝激荷重がかかり膝関節を痛める等の問題が
あった。トレッドミル、屋内健康機は、負荷は制御出来
るが屋内設置であり、設置場所が限定されると共に運動
の楽しさは少なく、情緒的に好ましくなかった。またサ
イクリングは呼吸循環機能に適度の刺激を与え、身体機
能の活動水準を高め有酸素運動をする万人向きの理想的
運動であるが、通常の使用では単位時間当りのエネルギ
ー消費量は少なく、効果を発揮させるには長時間を要
し、又個人体力レベル、運動プログラムに応じた運動力
調節が出来なかった。[0003] Running is suitable for whole-body exercise, but has a problem in that an impact load is locally applied and a knee joint is damaged. The treadmill and the indoor health machine can be controlled in load but are installed indoors. The installation place is limited and the joy of exercise is small, and it is emotionally undesirable. Cycling is an ideal exercise for everyone who exercises cardiorespiratory function moderately, enhances the activity level of physical functions and performs aerobic exercise, but in normal use, energy consumption per unit time is small, It took a long time to exert the effect, and it was not possible to adjust the exercise strength according to the individual physical strength level and exercise program.
【０００４】この問題を解決するため、実開平６２−１
２８５６０号公報に開示された技術が知られている。こ
れは所定の負荷を付与しつつ走行する屋外健康機であ
る。しかし、前記負荷量は人力入力に関連なく一定に制
御する方式のため、坂の有無等の路面状況及び走行速度
により押力は大きく変化し、逆に走行距離、走行時間で
は自動的には負荷量は変化しなかった。In order to solve this problem, Japanese Utility Model Laid-Open No. 62-1
A technique disclosed in Japanese Patent No. 28560 is known. This is an outdoor health machine that runs while applying a predetermined load. However, since the load amount is controlled to be constant regardless of human input, the pressing force greatly changes depending on the road surface condition such as the presence or absence of a hill and the traveling speed, and conversely, the load is automatically increased at the traveling distance and traveling time. The amount did not change.
【０００５】また特開平４−１００７９０号、特開平６
−１０７２６７号の各公報に開示されたように、人体指
標の増減に対応させ、モータの駆動力を制御する例もあ
った。Further, Japanese Patent Application Laid-Open Nos.
As disclosed in each publication of -107267, there is an example in which the driving force of the motor is controlled in accordance with the increase or decrease of the human body index.
【０００６】[0006]
【発明が解決しようとする課題】従来の技術で、実開平
６２−１２８５６０号公報に記載のものでは、これより
も以前の自転車型屋内健康機に比べ情緒的には改善され
たものの、負荷量は走行時間、つまり肉体的疲労度等に
応じては変化しない為、効率的な身体機能改善効果の面
では劣るものであった。The prior art disclosed in Japanese Utility Model Laid-Open Publication No. 62-128560 is emotionally improved as compared with the previous bicycle-type indoor health machine, but the load amount is increased. Is not changed according to the running time, that is, the degree of physical fatigue, etc., so that the effect of improving the physical function is inferior.
【０００７】また特開平４−１００７９０号、特開平６
−１０７２６７号の各公報に記載のものの場合では、駆
動用電動モータのみでは昇り坂と同様のペダル押力を下
り坂では負荷しにくく、また運動プログラムに基づいた
押力制御が出来にくいものであった。一般的に中等度か
ら高いエネルギー消費的運動は心肺機能適性の有意な向
上を示すが、低いエネルギー消費量の身体運動では、な
んらの改善もみられない。継続して適切な負荷を与える
事が重要である。また、屋内で長時間、固定位置で運動
するより、屋外で様々な環境のもとで運動する方が情緒
的に良く、継続出来る。Further, Japanese Patent Application Laid-Open Nos. Hei 4-100790 and Hei 6
In the case of JP-A-107267, it is difficult to apply the same pedal pressing force as on an ascending slope on a downhill with only the electric motor for driving, and it is difficult to control the pressing force based on an exercise program. Was. In general, moderate to high energy expenditure exercises show a significant improvement in cardiorespiratory fitness, whereas low energy expenditure physical exercises show no improvement. It is important to provide an appropriate load continuously. Exercise outdoors and in various environments is emotionally better and can be continued than exercise indoors at a fixed position for a long time indoors.
【０００８】本発明は前記従来の問題点を解決し、適切
な運動処方を可能とするため、機器を屋外走行式とし、
適切な負荷をかける事により人力入力を路面状況に関係
なく制御可能とし、効率的な運動が出来る走行型健康機
を提供する事を第１の目的とする。また第２の目的は、
昇り坂でも負荷が過大とならず、且つ人力入力を仕事率
で管理しようとする機構を有する走行型健康機を提供せ
んとするものであり、第３の目的は運動プログラムに基
づき走行中に必要人力入力を変化さす走行型健康機を提
供せんとするものであり、第４の目的は、下り坂にても
入力を負加しなければ走行しないようにせしめ、より運
動効果を高めた自走式健康機を提供せんとするものであ
る。[0008] The present invention solves the above-mentioned conventional problems, and in order to enable a proper exercise prescription, the equipment is made to run outdoors.
It is a first object of the present invention to provide a traveling-type health machine capable of controlling human input irrespective of a road surface condition by applying an appropriate load and capable of performing efficient exercise. The second purpose is
The purpose of the present invention is to provide a traveling-type health machine having a mechanism in which a load is not excessively increased even on an ascending slope and a human input is controlled at a work rate. The fourth object of the present invention is to provide a running health machine that changes human power input. It does not provide a portable health machine.
【０００９】また第５の目的は運動プログラムを体力に
応じ多数の中より選択可能な駆動力制御機構を備えた走
行型健康機を提供せんとするものであり、第６の目的と
して負荷部を機械式とし、制動部と兼用の構造としてコ
ストダウンと利便性を向上させた自走式健康機を提供せ
んとするものであり、更に第７の目的として、車椅子
等、人力入力を複数有する場合に手、足等人体使用部位
の能力に合わせて負荷が制御出来る自走式健康機を提供
せんとするものである。A fifth object of the present invention is to provide a running-type health machine having a driving force control mechanism capable of selecting an exercise program from among a large number of exercise programs according to physical strength. The purpose of the present invention is to provide a self-propelled health machine that is mechanical and has improved cost reduction and convenience as a structure that also serves as a braking unit. Another object of the present invention is to provide a self-propelled health machine capable of controlling the load according to the ability of the human body such as hands and feet.
【００１０】[0010]
【課題を解決するための手段】上記課題を解決するた
め、請求項１に記載の発明にあっては人力入力値を検出
し、検出値に基づき負荷部を制御する制御部を有する構
造とした。従って、走行抵抗とは別個に負荷増減させる
ことにより効率的運動処方が得られる。請求項２に記載
の発明にあっては、運動駆動系と、人力仕事率演算部を
装備し、予め設定されている設定仕事率と対比させ、運
動量を制御する構造とする。これにより昇り坂でも人力
入力は過大とならず、また運動管理に適切な仕事率で運
動を管理出来る。Means for Solving the Problems In order to solve the above problems, the invention according to claim 1 has a structure having a control unit for detecting a human input value and controlling a load unit based on the detected value. . Therefore, an efficient exercise prescription can be obtained by increasing or decreasing the load separately from the running resistance. According to the second aspect of the present invention, the exercise driving system and the manual power operation unit are provided, and the exercise amount is controlled by comparing the exercise power with the preset power. As a result, human input does not become excessive even on an uphill, and exercise can be managed at an appropriate work rate for exercise management.
【００１１】請求項３に記載の発明にあっては、電動駆
動系と人力入力検出部を装備し、記憶された時間経過に
供ない変化する車速及び入力部押力プログラムに基づ
き、電動モータを制御さすと共に、表示部に目標車速及
び目標押力を表示させる。この結果使用者は、車速、押
力を制御出来、運動プログラムに基づいた運動が可能と
なる。According to a third aspect of the present invention, the electric motor is provided with an electric drive system and a human input detection unit, and the electric motor is controlled based on the stored vehicle speed and input unit pressing force program which does not change over time. At the same time, the target vehicle speed and the target pressing force are displayed on the display unit. As a result, the user can control the vehicle speed and the pressing force, and can exercise based on the exercise program.
【００１２】請求項４に記載の発明にあっては、電動駆
動系と人力入力検出部を装備し、記憶された人力駆動系
操作経過に供ない変化する目標車速及び目標押力を表示
させる。この結果前述請求項と同様、利用者は運動プロ
グラムに基づいた適切な運動が可能となる。請求項５に
記載の発明にあっては、人力入力値検出部、車速検出
部、車輪回転抵抗の負荷部を備え、人力入力値が一定値
以下の時、車速を零とする。これにより、下り坂でも自
走せず走行中は、常に基礎代謝以上のカロリー消費が可
能となる。According to the fourth aspect of the present invention, an electric drive system and a human input detection unit are provided, and the target vehicle speed and the target pressing force which are not used for the progress of the operation of the human drive system are displayed. As a result, the user can perform appropriate exercise based on the exercise program as in the above-mentioned claims. According to a fifth aspect of the present invention, a human input value detection unit, a vehicle speed detection unit, and a load unit for wheel rotation resistance are provided, and when the human input value is equal to or less than a predetermined value, the vehicle speed is set to zero. As a result, calorie consumption higher than basal metabolism can always be achieved during traveling on a downhill without traveling on its own.
【００１３】請求項６に記載の発明にあっては、電動駆
動系を有する走行型健康機においても、請求項５と同様
の構成とするもので同様の効果が得られ、より健康機と
しての使用性が高い。請求項７に記載の発明にあって
は、負荷部、負荷量を制御する制御部、目標人力入力値
を複数の関数で記憶するメモリ部、複数の関数を選択す
る操作部を備え、目標人力入力値に近づけるベく制御す
るので、使用者は自分に合った運動プログラムを選択し
て走行する事が可能となる。According to the sixth aspect of the present invention, a traveling health machine having an electric drive system also has the same configuration as that of the fifth aspect, and the same effects can be obtained. High usability. The invention according to claim 7 includes a load section, a control section for controlling a load amount, a memory section for storing a target human input value as a plurality of functions, and an operation section for selecting a plurality of functions, Since the control is performed so as to approach the input value, the user can select an exercise program suitable for the user and run.
【００１４】請求項８に記載の発明にあっては、複数の
制動装置の少なくとも１つが負荷部を兼ね、人力制動の
他、制御部信号により車輪に回転抵抗を加えるもので、
性能の安定化、部品の共有化が図れる。請求項９に記載
の発明にあっては、複数の人力入力部を独立させ、負荷
部、電動駆動系を制御するもので、左右手足の筋力が異
なっても個々の能力に合わせて負荷及び人力入力値を制
御するものである。According to the invention described in claim 8, at least one of the plurality of braking devices also serves as a load unit, and in addition to manual braking, applies a rolling resistance to wheels by a control unit signal.
Performance can be stabilized and parts can be shared. According to the ninth aspect of the present invention, the load unit and the electric drive system are controlled by making the plurality of human input units independent, and the load and the human power are adjusted according to the individual abilities even if the muscular strengths of the right and left limbs are different. It controls the input value.
【００１５】請求項１０に記載の発明にあっては、複数
車輪に互いに独立した電動駆動系出力及び車輪回転抵抗
負荷力を加え、制御するもので、左右両輪が制御輪でも
１個所の人力入力で左右走行抵抗が異なっても人力入力
の安定が図れる。請求項１１に記載の発明にあっては、
車輪に回転抵抗を加える負荷部を人力の他、負荷部駆動
ユニットでも、同一の制動ワイヤで並列制御するもの
で、負荷部作動を検出し、負荷部駆動ユニットにより制
動ワイヤの遊びを小さくするもので、制動時の負荷部作
動効率を高めるものである。According to the tenth aspect of the present invention, an independent output of the electric drive system and a wheel rotation resistance load force are applied to and controlled from a plurality of wheels. Therefore, even if the left and right running resistances are different, the input of human power can be stabilized. In the invention according to claim 11,
A load unit that applies rotational resistance to wheels is controlled in parallel by the same brake wire in the load unit drive unit as well as by human power. Detects load unit operation and reduces the play of the brake wire by the load unit drive unit. Thus, the operation efficiency of the load portion during braking is improved.
【００１６】[0016]
【発明の実施の形態】本発明の請求項１に記載の発明
は、車輪に回転抵抗を加える負荷部と、車輪に回転駆動
力を与える人力入力を検出する検出部と、前記人力入力
の入力値に応じて前記負荷部に与える負荷量を記憶する
メモリ部と、メモリ部よりの信号で負荷部出力を制御す
る制御部とを備えた走行型健康機としたものである。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The invention according to claim 1 of the present invention comprises a load section for applying a rotational resistance to a wheel, a detection section for detecting a human input for applying a rotational driving force to the wheel, and an input of the human input. The present invention is a traveling health machine including a memory unit that stores a load amount given to the load unit according to a value, and a control unit that controls the output of the load unit by a signal from the memory unit.
【００１７】屋外走行の場合、通常人力入力は路面状況
により変化し、逆に平地では変化させにくい。本発明で
は一定以下の人力値の場合、例えば２０ｋｇ以下の場
合、負荷を加え、常に２０ｋｇ以上となる様メモリ部に
記憶させ、不足分を負荷部により加えるよう様にしてい
るので、健康増進を第１に重要視される心肺持久力向上
及び筋力等運動力向上に有効な過重負荷原理を付加した
運動が情緒的に好影響を与える屋外にて、短時間で効率
的に行える。In the case of traveling outdoors, the human input usually changes depending on the road surface condition, and is hardly changed on flat ground. In the present invention, when the human power value is less than a certain value, for example, when the load is 20 kg or less, a load is added, and the load is always stored in the memory unit so that the load becomes 20 kg or more. Firstly, exercise with an added overload principle effective for improving cardiopulmonary endurance and muscular strength such as muscle strength, which is regarded as important, can be efficiently performed in a short time outdoors outdoors where emotions are positively affected.
【００１８】本発明の請求項２に記載の発明は、人力駆
動系と、電動モータを有する電動駆動系と、人力制動装
置とを有し、人力駆動力を電動駆動力で補助する電動車
輪において、前記人力駆動系の人力入力値を検出する人
力入力検出部と、人力駆動系の回転数検出部と、前記人
力入力検出値と、前記人力入力検出値及び人力駆動系回
転数検出値により人力仕事率を演算する人力仕事率演算
部と、この人力仕事率及び予め設定されている初期設定
仕事率とを記憶するメモリ部と、前記人力仕事率と初期
設定仕事率の差に基づき、前記電動モータの出力を制御
する制御部とを有する駆動力制御機構を備えたものであ
る。この場合は、昇り坂や速度を出す時は通常人力入力
は大きくなる傾向を防ぎ、人体に過大な負荷がかからな
いようにし、且つ正確に運動量を把握する為、人力入力
を仕事率管理している。従って長時間、軽度の運動をす
るのに適しており、手軽に有酸素運動による体脂肪の減
少、新練代謝機能の向上がはかれる。According to a second aspect of the present invention, there is provided an electric wheel having a human-powered driving system, an electric driving system having an electric motor, and a human-powered braking device, and assisting the human-powered driving force with the electric driving force. A human input detection unit that detects a human input value of the human drive system, a rotation number detection unit of the human drive system, and a human input based on the human input detection value, the human input detection value, and the human rotation detection value. A manual power calculating unit for calculating a power, a memory unit for storing the manual power and a preset initial power, and the electric motor based on a difference between the manual power and the initial power. And a control unit for controlling the output of the motor. In this case, when entering an uphill or at a speed, the human input is usually controlled to prevent the input from becoming too large, to prevent an excessive load from being applied to the human body, and to accurately grasp the amount of exercise, in order to accurately grasp the amount of exercise. . Therefore, it is suitable for light exercise for a long time, and easily reduces body fat and improves metabolic function by aerobic exercise.
【００１９】本発明の請求項３に記載の発明は、入力部
と入力軸とを有する人力駆動系と、電動モータを有する
電動駆動系と、走行車輪と、入力軸回転数または走行車
輪回転数により検出する車速検出部にて検出した車速
と、入力部への押力で人力入力値を測定し、この車速及
び押力の少なくともどちらか一方を表示する表示部と、
目標車速及び目標押力の少なくともどちらか一方を走行
開始よりの時間経過の関数で記憶するメモリ部と、この
メモリ部出力値に基づき電動モータ出力を制御する制御
部とを備えた走行型健康機である。According to a third aspect of the present invention, there is provided a human-powered drive system having an input portion and an input shaft, an electric drive system having an electric motor, traveling wheels, an input shaft rotational speed or a traveling wheel rotational speed. A vehicle speed detected by the vehicle speed detection unit, and a human input value measured by a pressing force to the input unit, and a display unit that displays at least one of the vehicle speed and the pressing force,
A traveling-type health machine comprising: a memory unit that stores at least one of a target vehicle speed and a target pressing force as a function of time elapsed from the start of traveling; and a control unit that controls an electric motor output based on the output value of the memory unit. It is.
【００２０】一般に運動の初期はペダル押力が軽く、徐
々に押力を高めるのが好ましい。また運動時間経過に伴
ない押力を変化さすのが望ましい。本発明によれば、速
度、走行路面条件の影響を軽度にし、上記の如き、走行
中押力の強弱変化を与える制御をし、目標車速及び目標
押力を表示しているので使用者のコントロールも容易で
ある。従って、例えば高令者の屋外運動に対する抵抗を
小さくする手軽な運動プログラムが実現出来る。Generally, the pedal pressing force is light at the beginning of exercise, and it is preferable to gradually increase the pressing force. It is also desirable to change the pressing force as the exercise time elapses. According to the present invention, the speed and the influence of the traveling road surface condition are reduced, and the control for giving the change in the pressing force during the running is performed as described above, and the target vehicle speed and the target pressing force are displayed. Is also easy. Therefore, for example, a simple exercise program that reduces the resistance of older people to outdoor exercise can be realized.
【００２１】本発明の請求項４に記載の発明は、入力部
と入力軸とを有する人力駆動系と、電動モータを有する
電動駆動系と、走行車輪と、入力軸回転数または走行車
輪回転数により検出する車速検出部にて検出した車速
と、入力部への押力で人力入力値を測定し、この車速及
び押力の少なくともどちらか一方を表示する表示部と、
目標車速及び目標押力の少なくともどちらか一方を、入
力軸累計回転数等の人力駆動系操作経過の関数で記憶す
るメモリ部と、このメモリ部出力値に基づき電動モータ
出力を制御する制御部とを備えた走行型健康機である。According to a fourth aspect of the present invention, there is provided a human-powered driving system having an input portion and an input shaft, an electric driving system having an electric motor, running wheels, an input shaft speed or a running wheel speed. A vehicle speed detected by the vehicle speed detection unit, and a human input value measured by a pressing force to the input unit, and a display unit that displays at least one of the vehicle speed and the pressing force,
A memory unit that stores at least one of the target vehicle speed and the target pressing force as a function of a human-powered drive system operation progress such as the input shaft total rotation speed, and a control unit that controls an electric motor output based on the memory unit output value. It is a traveling type health machine equipped with.
【００２２】この場合、請求項３と同様の作用・効果を
奏するが、屋外走行では信号等により不随意に停止する
場合があり人力駆動系操作経過で制御する構成としてい
るので、より運動管理が正確となる。本発明の請求項５
に記載の発明は車輪に回転抵抗を加える負荷部と、車輪
に回転駆動力を与える人力部と入力軸とを有する人力駆
動系と、人力駆動系の人力入力値を検出する検出部と前
記入力軸の回転数を検出する入力部回転数検出部と、車
速検出部とを有し、入力軸回転数が一定値以下で、人力
部押力も一定値以下の時、車速が零となる様、負荷部の
出力値を制御する制御部とを備えた走行型健康機であ
る。In this case, the same operation and effect as those of the third aspect can be obtained. However, when the vehicle is running outdoors, the vehicle may be stopped involuntarily by a signal or the like. Be accurate. Claim 5 of the present invention
The invention described in (1) is a load unit that applies rotational resistance to the wheel, a human-powered drive system having a human-powered unit that applies rotational drive force to the wheel and an input shaft, a detection unit that detects a human-powered input value of the human-powered drive system, and the input. An input unit that detects the number of rotations of the shaft has a rotation speed detection unit and a vehicle speed detection unit. And a control unit for controlling an output value of the load unit.
【００２３】本構成においては、走行中下り坂となった
場合、従来は押力不用で自走していたので、運動カロリ
ーは発生しなかったが、操作が必要となり、仕事量に応
じた一定のカロリー消費が可能となる。また従来の下り
坂走行では手による制動であり、急な坂で長時間の制動
は指の局部疲労を招き安全上も問題であったが、本発明
では入力軸を回転させねば速度は零となるので、入力軸
回転数により速度を制御出来、安全である。また、押
力、入力軸回転数を検知しているので坂道手押時、力を
抜いた時後退する事も防止出来る。In this configuration, when the vehicle goes downhill during running, no exercise calorie was generated because the vehicle was running without a pressing force in the past, but operation was required, and a certain amount of work was required. Calories can be consumed. In addition, in the conventional downhill traveling, manual braking is performed, and long-time braking on a steep slope causes a local fatigue of a finger, which is also a problem in safety.However, in the present invention, if the input shaft is not rotated, the speed becomes zero. Therefore, the speed can be controlled by the rotation speed of the input shaft, which is safe. Further, since the pressing force and the number of rotations of the input shaft are detected, it is possible to prevent the vehicle from retreating when the power is released when the hand is pushed down the hill.
【００２４】本発明の請求項６に記載の発明は、請求項
５記載の走行型健康機において、人力駆動系と電動モー
タを有する電動駆動系とを備えた電動補助車輪の構成
で、負荷部及び電動駆動系の出力値を制御する制動部と
を備えているので、請求項６記載の効果に加え、電動補
助のため不用意に小さな押力で走り出すという事も無く
なる。According to a sixth aspect of the present invention, there is provided the traveling-type health machine according to the fifth aspect, wherein the load unit comprises the configuration of electric auxiliary wheels having a human-powered driving system and an electric driving system having an electric motor. And a braking unit for controlling the output value of the electric drive system, so that in addition to the effect described in claim 6, running with carelessly small pressing force due to electric assist is also eliminated.
【００２５】本発明の請求項７に記載の発明は請求項１
〜４、または請求項６記載の走行型健康機において、車
速を検出する車速検出部と、車輪に回転抵抗を加える負
荷部と、負荷部への負荷量を制御する制御部と、制御内
容を表示する表示部と、人力駆動系と、人力駆動系への
目標人力入力値を、走行時間経過及び人力駆動系操作経
過に伴ない変化する複数の関数として記憶するメモリ部
と、上記複数の関数の目標人力入力値の特定関数を選択
する操作部と、選択された関数に基づき、走行時人力入
力値が目標人力入力値に近づくよう制御する制御部とを
備えているものである。そして昇り坂、下り坂等、異な
る走行環境においても、負荷部及び電動モータの出力を
制御し、例えば一定速度走行に於いても上記異なる走行
環境による走行抵抗の変化に影響を受けることなく、使
用者の体力、使用意図に応じた心肺機能向上の運動プロ
グラムを選択出来、トレーニング効果を高められる。The seventh aspect of the present invention is the first aspect of the present invention.
The traveling health machine according to any one of claims 4 to 6, or the vehicle-type health machine according to claim 6, further comprising: a vehicle speed detection unit that detects a vehicle speed; a load unit that applies rotational resistance to wheels; a control unit that controls a load amount on the load unit; A display unit for displaying, a human-powered drive system, a memory unit for storing a target human-power input value to the human-powered drive system as a plurality of functions that change with a lapse of travel time and a human-powered drive system operation, and the plurality of functions An operation unit for selecting a specific function of the target human input value, and a control unit for controlling the human input value during running to approach the target human input value based on the selected function. In addition, the output of the load unit and the electric motor is controlled even in different traveling environments such as uphill and downhill, so that, for example, even when traveling at a constant speed, the driving unit can be used without being affected by the change in traveling resistance due to the different traveling environment. An exercise program for improving cardiopulmonary function can be selected according to the physical strength of the person and the intended use, and the training effect can be enhanced.
【００２６】本発明の請求項８に記載の発明は、請求項
１〜４または請求項７記載の複数の走行輪及び制動装置
を有する走行型健康機において、制動装置の少なくとも
一個が、車輪に制御部よりの信号に基づき、回転抵抗を
加える負荷部である構成である。一般に走行中、走行抵
抗は運動処方に要するエネルギーより制動に要するエネ
ルギーが大きいので、制御性の良い制動装置で負荷部と
兼用が出来る。この結果、全体構成の簡素化、負荷部性
能の安定化とコストダウンが図れる。油圧ディスクブレ
ーキの様に入力一出力特性の誤差が小さく放熱性の良い
制動装置を使用すればより確実で安定した負荷部が得ら
れる。According to an eighth aspect of the present invention, there is provided a traveling-type health machine having a plurality of traveling wheels and a braking device according to the first to fourth or seventh aspects, wherein at least one of the braking devices is mounted on a wheel. This is a configuration that is a load unit that applies a rotational resistance based on a signal from the control unit. Generally, during traveling, the running resistance requires more energy for braking than the energy required for exercise prescription, so a braking device with good controllability can also be used as a load. As a result, the overall configuration can be simplified, the performance of the load section can be stabilized, and the cost can be reduced. If a braking device having a small error in the input-output characteristic and a good heat radiation property is used like a hydraulic disc brake, a more reliable and stable load portion can be obtained.
【００２７】本発明の請求項９に記載の発明は、請求項
１〜４または請求項７に記載の、人力入力により駆動さ
れる人力駆動系と、電動モータにより人力駆動を補助す
る電動駆動系とを有する電動補助付の走行型健康機にお
いて、前記人力入力は複数の人力入力部を有し、目標人
力入力値は、各々別個の関数となる様、車輪回転抵抗負
荷部及び電動駆動系出力値を制御する制御部とを備えて
いる。従って、例えば左足が右足の筋力の８割であり、
リハビリで左足を鍛えようと左足に押力を大きくして走
行した場合、従来の自転車では、左クランク回転速度を
早くせねばならないが、本発明によれば左足入力を検知
し、右足入力時と比べ電動補助率を小さく又は負荷部出
力を大きくし、同一速度で走行の場合、左足入力が右足
入力より一定比率で高くなる様設定するので、サイクリ
ングをしながら要部の効果的身体鍛練が可能となる。逆
に筋力に比例させた制御をしても良く、この場合は無理
なく、楽に走行出来る。According to a ninth aspect of the present invention, there is provided a human-powered driving system driven by a human-powered input and an electric-powered driving system for assisting a human-powered driving by an electric motor according to the first to fourth or seventh aspects of the present invention. The human-power input has a plurality of human-power input units, and the target human-power input values have different functions, so that the wheel rotation resistance load unit and the electric drive system output A control unit for controlling the value. Therefore, for example, the left foot is 80% of the muscle strength of the right foot,
When running with a large pressing force on the left foot to train the left foot in rehabilitation, in a conventional bicycle, the left crank rotation speed must be increased, but according to the present invention, the left foot input is detected, and the right foot input is detected. When driving at the same speed, make the power assist ratio smaller or increase the load output, and set the left foot input to be higher than the right foot input at a fixed ratio, so that effective physical training of essential parts while cycling is possible Becomes Conversely, control may be performed in proportion to the muscle strength, and in this case, the vehicle can travel comfortably and comfortably.
【００２８】本発明の請求項１０に記載の発明は、請求
項１〜７に記載の走行型健康機において、人力入力によ
り駆動される人力駆動系と電動モータにより人力駆動を
補助する電動駆動系と、車輪に回転抵抗を加える負荷部
とを有し、複数の車輪に電動駆動系出力及び車輪回転抵
抗負荷力を加え、各々、人力入力に対する出力値は別個
の関数となるよう各出力値を制御する制御部とを備えた
構成としている。According to a tenth aspect of the present invention, in the traveling health machine according to any of the first to seventh aspects, a human-powered driving system driven by a human-power input and an electric driving system assisting the human-powered driving by an electric motor. And a load unit that applies rotational resistance to the wheels, and applies an electric drive system output and a wheel rotational resistance load force to a plurality of wheels, and each output value for a human input is a separate function. And a control unit for controlling.
【００２９】従って、例えば三輪車や車椅子等で駆動輪
を左右有する車両で、片側が砂利道の時、従来は、走行
抵抗が異なるので、人力入力値を左右で変化させねば直
進する事は困難であったが、本発明では同一入力で、左
右同一の車輪回転となる制御が可能となり、走行性を高
めることが出来る。本発明の請求項１１に記載の発明
は、請求項８に記載の発明において人力駆動系と、車輪
と、車輪に回転抵抗を加える負荷部と、負荷部の負荷量
を操作する、ブレーキレバーと、レバー把握力を負荷部
に伝達するインナワイヤとアウタワイヤより成る制動ワ
イヤとを有し、負荷部には負荷部作動検出部と、負荷部
を駆動し、回転抵抗を加える負荷部駆動ユニットと、負
荷部駆動ユニットと、回転抵抗を制御し、アウタワイヤ
に対するインナワイヤ出代を負荷部作動状態まで長さ調
整する負荷制御装置を備えた走行型健康機である。Therefore, for example, a tricycle, a wheelchair, or the like having left and right drive wheels, when one side is a gravel road, the running resistance is different conventionally, and it is difficult to go straight unless the input value of the human power is changed left and right. However, according to the present invention, it is possible to control the same wheel rotation on the left and right sides with the same input, thereby improving traveling performance. According to an eleventh aspect of the present invention, in the invention according to the eighth aspect, a human-powered driving system, a wheel, a load unit that applies rotational resistance to the wheel, and a brake lever that operates a load amount of the load unit are provided. A braking wire composed of an inner wire and an outer wire for transmitting a lever gripping force to the load portion, a load portion operation detecting portion, a load portion drive unit for driving the load portion and applying rotational resistance, and a load portion. The present invention is a traveling-type health machine including a unit drive unit and a load control device that controls a rotation resistance and adjusts a length of an inner wire allowance for an outer wire to a load unit operating state.
【００３０】上記構成においては、駆動ユニットで、常
に負荷部がインナワイヤの遊びがなく、すぐ負荷部が作
動する状態まで出代を調整するので、ブレーキレバーの
応答性が良く、制動時の安全性を高める効果を有するも
のである。 （実施の形態１）次に、路面状況による走行の変化と人
力入力の変化の相関性を無くし、使用者の意図に応じた
仕事量や押力の変化が得られる走行型健康機である本発
明の具体例を説明する。In the above configuration, the load is always adjusted until the load portion is actuated immediately after the load portion has no play of the inner wire in the drive unit, so that the responsiveness of the brake lever is good and the safety at the time of braking is improved. Has the effect of increasing the (Embodiment 1) Next, the present embodiment is a traveling-type health machine that eliminates the correlation between a change in running due to road surface conditions and a change in human power input, and obtains a change in the amount of work and the pressing force according to the user's intention. A specific example of the invention will be described.
【００３１】図１は本発明の実施形態１を示す走行型健
康機で、駆動力補助装置付自転車形態をしており、従来
の自転車と基本構造は同一である。１はハンドル、２は
サドル、３は人力入力部としてのペダル、４はクランク
である。５はダイヤモンド型のフレームで、上パイプ５
ａ，下パイプ５ｂ，立パイプ５ｃ，シートステー５ｄ，
チェーンステー５ｅ，ブラケット５ｆにより構成されて
いる。ｂはブラケット５ｆに設けた電動補助ユニット
で、７はその電源となるバッテリーである。FIG. 1 shows a traveling health machine according to a first embodiment of the present invention, which is in the form of a bicycle with a driving force assisting device, and has the same basic structure as a conventional bicycle. 1 is a steering wheel, 2 is a saddle, 3 is a pedal as a human input unit, and 4 is a crank. 5 is a diamond type frame, and the upper pipe 5
a, lower pipe 5b, vertical pipe 5c, seat stay 5d,
It is composed of a chain stay 5e and a bracket 5f. b is an electric auxiliary unit provided on the bracket 5f, and 7 is a battery serving as a power source thereof.
【００３２】８は操作部で、調節レバー９と変速レバー
１０を有し、調節レバー９により走行時の制御パターン
Ｉ〜ＶＩＩからなる運動プログラムを選択する。例えば
運動プログラムにおける、制御パターンＩは、走行抵抗
のみを表わす。制御パターンＩ〜ＶＩＩでの運動プログ
ラムを図２、図３に示す。縦軸にペダル押力、横軸にク
ランク累計回転数を示し、クランク累計回転数によりペ
ダル押力は変化する。制御パターンＶの場合、初期は負
荷抵抗零で、中途より一定速度時、ペダル押力ａを確保
するパターンである。また、変速レバー１０によりクラ
ンク４と後車輪５３の回転を変える変速機構５４（図１
３）は、図示していないが、ディレーラを使用する通常
の外装変速機構造である。１１は油圧ディスクブレーキ
構造の負荷部、１２はブレーキレバー、１３はワイヤー
制動装置で、ブレーキレバー１２の操作により、後車輪
５３を減速さす制動装置ともなっている。負荷部１１の
本体１４は取付金具１５を介して、チェーンステー５ｅ
及びシートステー５ｄに取付けられている。Reference numeral 8 denotes an operation unit having an adjustment lever 9 and a speed change lever 10, and selects an exercise program including the control patterns I to VII during traveling by the adjustment lever 9. For example, the control pattern I in the exercise program represents only the running resistance. Exercise programs in the control patterns I to VII are shown in FIGS. The vertical axis indicates the pedal pressing force, and the horizontal axis indicates the total crank rotation speed. The pedal pressing force changes according to the total crank rotation speed. In the case of the control pattern V, the load resistance is initially zero, and the pedal pressing force a is secured at a constant speed from halfway. A speed change mechanism 54 (FIG. 1) that changes the rotation of the crank 4 and the rear wheel 53 by the speed change lever 10.
3) is a normal external transmission structure using a derailleur, not shown. Reference numeral 11 denotes a load portion of a hydraulic disc brake structure, 12 denotes a brake lever, and 13 denotes a wire braking device, which also serves as a braking device for decelerating the rear wheel 53 by operating the brake lever 12. The main body 14 of the load portion 11 is connected to a chain stay 5e via a mounting bracket 15.
And is attached to the seat stay 5d.
【００３３】１６はマイコン組込みの表示部で、前車輪
５５に設けられた検出部１７におけるマグネットによる
回転数検知信号を、線１８により受信し、速度、走行距
離として表示している。この表示部１６はその他、調節
レバー９により選択された運動プログラム、また、運動
仕事率、設定仕事率、ペダル押力、負荷及び補助出力時
刻、タイマー表示をする。図４は表示部１６の表示例
で、制御パターンＩＩは一定速度で走行した時ペダル押
力一定の場合である。一方、路面は登り下りあるので、
仕事率はクランク回転数とペダル押力の積であるが、意
図した設定仕事率が平地や下り坂では通常のペダル押力
では確保出来ない場合があった。この場合、負荷部１１
により斜線（ａ）の面積部に負荷をかけ、逆に登り坂で
は、制御なしではペダル押力が過大となる場合があっ
た。この場合、斜線（ｂ）の面積部が電動補助される。Reference numeral 16 denotes a display unit incorporated in the microcomputer, which receives a rotation speed detection signal by a magnet in a detection unit 17 provided on the front wheel 55 via a line 18 and displays the signal as a speed and a traveling distance. The display unit 16 also displays the exercise program selected by the adjustment lever 9, exercise power, set power, pedal pressing force, load and auxiliary output time, and timer. FIG. 4 shows a display example of the display unit 16, in which the control pattern II is a case where the pedal pressing force is constant when the vehicle travels at a constant speed. On the other hand, because the road surface goes up and down,
The power is the product of the crank rotation speed and the pedal pressing force, but the intended set power may not be able to be secured with a normal pedal pressing force on a flat ground or a downhill. In this case, the load 11
As a result, a load is applied to the area indicated by the oblique line (a), and conversely, on an uphill, the pedal pressing force may be excessive without control. In this case, the area of the hatched area (b) is electrically assisted.
【００３４】図５は操作部８の斜視図である。１９は電
動補助ユニット６の電源キー差込スイッチ、２０は電源
ＯＮ表示を兼ねたバッテリー充電量表示の５分割ランプ
である。電源が入れば５面点灯し、バッテリー充電残量
が少なくなれば点灯面数は少なくなる。２１は変速段数
表示部、２２は運動プログラム表示部、２３は選択した
運動プログラムの制御パターンの絶対数値の調整ボタン
で、図２，図３で示す、ペダル押力ａの絶対値を調整す
る。２４はクランク回転数により変化する同パターンの
変化の間隔（サイクル）を調整する調整ボタンである。
この実施例において、調節レバー９を廃止し、運動プロ
グラムの制御パターンＩの表示部２２ａより、制御パタ
ーンＶＩＩ表示部２２ｅを直接押しボタン式で押す方式
や、調整ボタン２２、２３を、回転式ボリュームツマミ
としても良い。調整ボタン２３の＋側ボタン２３ａを押
すと、設定仕事率が増え、必要ペダル押力は大きくな
り、その数値は表示部１６に表示される。また−側ボタ
ン２３ｂを押すと、前記とは逆の設定仕事率が下降し、
同様の表示がされる。同様に調整ボタン２４の−側ボタ
ン２４ｂを押すとサイクル数が短かくなり、図３の制御
パターン４の場合ペダル押力ａに設定した設定ペダル押
力の零よりａへの転換回数が小さくなり、走行開始後短
時間で負荷がかかる。ここで、設定仕事率が低く、指定
走行速度が早くなると、電動補助ユニット６の動作する
比率が高くなり、また設定仕事率が高く、指定走行速度
が遅くなると、負荷部１１が働く比率が高くなる。な
お、実施形態１では図２、図３の横軸に示す如く運動プ
ログラムの制御パターンの数値変化を人力駆動系操作経
過を検出するためクランク累計回転数に応じて行った。
これは信号等で止まっている時、自動的にプログラムが
進行しない為であったが、横軸を時間経過とし、停止時
はカウントしないように制御しても良い。FIG. 5 is a perspective view of the operation unit 8. Reference numeral 19 denotes a power key insertion switch of the electric auxiliary unit 6, and reference numeral 20 denotes a five-division lamp for displaying a battery charge amount which also serves as a power ON display. When the power is turned on, five screens are lit, and when the remaining charge of the battery is reduced, the number of lit faces is reduced. Reference numeral 21 denotes a gear position number display unit, 22 denotes an exercise program display unit, and 23 denotes an adjustment button for adjusting the absolute value of the control pattern of the selected exercise program, and adjusts the absolute value of the pedal pressing force a shown in FIGS. Reference numeral 24 denotes an adjustment button for adjusting an interval (cycle) of the change of the same pattern that changes according to the crank rotation speed.
In this embodiment, the adjusting lever 9 is abolished, and the control pattern VII display 22e is directly pressed with a push button from the control pattern I display 22a of the exercise program. It may be a knob. When the + button 23a of the adjustment button 23 is pressed, the set power increases, the required pedal pressing force increases, and the numerical value is displayed on the display unit 16. When the-button 23b is pressed, the set power opposite to the above decreases,
A similar display is displayed. Similarly, when the minus side button 24b of the adjustment button 24 is pressed, the cycle number becomes shorter, and in the case of the control pattern 4 in FIG. 3, the number of times of switching to a from the set pedal pressing force a set to zero is reduced. The load is applied shortly after the start of traveling. Here, when the set power is low and the designated traveling speed is high, the ratio at which the electric assist unit 6 operates is high, and when the set power is high and the designated traveling speed is low, the ratio at which the load unit 11 operates is high. Become. In the first embodiment, as shown by the horizontal axes in FIGS. 2 and 3, the change in the control pattern of the exercise program is performed in accordance with the total number of revolutions of the crank in order to detect the progress of the manual drive system operation.
This is because the program does not automatically proceed when stopped at a signal or the like, but it is also possible to control so that the horizontal axis indicates time elapsed and the stop is not counted.
【００３５】図６に電動補助ユニット６の内部構造を示
す。２５は扁平型直流の電動モータＡで、２６はワンウ
ェイクラッチで、２７は減速機構で、２８はＣＰＵで構
成する制御部で、これらで後車輪５３の駆動をアシスト
する電動駆動系を構成し、大ギヤ２９より前ギヤ３０へ
電動モータＡ２５の駆動力は伝えられる。人力入力駆動
系は、ペダル３、クランク４、入力軸３１、ワンウェイ
クラッチ３２を経由し、かつ遊星歯車機構３３のキャリ
ア３４、インターナルギヤ３５を介して、前ギヤ３０と
連動している。これらは電動補助ユニット６内に一体に
組み込まれているが、更にギヤの回転速度を磁気式ギャ
ップセンサーで求め、ペダル回転数を検出する回転数検
出部５７（図１３に示す）、及び中央のサンギヤ３６に
加わるトルクをポテンショメータ３７ａで検出すること
によりペダル押力を検出する押力検出部３７（図１３に
示す）が内蔵されている。上記で説明した押力及び車速
の検出は、他の公知の検出方法を採用しても良い。FIG. 6 shows the internal structure of the electric auxiliary unit 6. 25 is a flat DC electric motor A, 26 is a one-way clutch, 27 is a speed reduction mechanism, 28 is a control unit composed of a CPU, and these constitute an electric drive system that assists the driving of the rear wheel 53, The driving force of the electric motor A25 is transmitted from the large gear 29 to the front gear 30. The human input drive system is interlocked with the front gear 30 via the pedal 3, the crank 4, the input shaft 31, the one-way clutch 32, and via the carrier 34 and the internal gear 35 of the planetary gear mechanism 33. These are integrated into the electric auxiliary unit 6, but the rotational speed of the gear is further obtained by a magnetic gap sensor, and the rotational speed detector 57 (shown in FIG. 13) for detecting the pedal rotational speed, A pressing force detecting section 37 (shown in FIG. 13) for detecting a pedal pressing force by detecting a torque applied to the sun gear 36 with a potentiometer 37a is incorporated. The detection of the pressing force and the vehicle speed described above may employ other known detection methods.
【００３６】３８は電動補助ユニット６外側に装着され
た、負荷駆動ユニットで、図７、図８に内部構造を示
す。ワイヤ１３はアウタワイヤ１３ａとインナワイヤ１
３ｂより成り、インナワイヤ１３ｂにラック３９が固定
されている。４０はエンコーダ付の電動モータＢで、矢
印で示すブレーキレバー１２の操作方向にフリーなワン
ウェイクラッチを内蔵した減速機４１で減速後に歯車４
２にてラック３９を位置制御のサーボ制御で往復運動を
させる。後述の弾性体４３（図１０に示す）の張力に対
抗してインナーワイヤ１３ｂを引くので、後述の電動モ
ータＡ２５の制御方式であるＰＷＭ制御にしても良い。
ワンウェイクラッチにより、制動時、ブレーキレバー１
２を操作し、インナワイヤ１３ｂが図８中の矢印方向へ
移動しても電動モータＢ４０は回転しない。電動モータ
Ｂ４０の回転量は制御部２８内のＣＰＵにより制御され
る。Reference numeral 38 denotes a load drive unit mounted outside the electric auxiliary unit 6, and FIGS. 7 and 8 show the internal structure. The wire 13 includes the outer wire 13a and the inner wire 1
3b, and a rack 39 is fixed to the inner wire 13b. Reference numeral 40 denotes an electric motor B with an encoder. The gear 4 is decelerated by a speed reducer 41 having a built-in free one-way clutch in the operation direction of the brake lever 12 indicated by an arrow.
In step 2, the rack 39 is reciprocated by servo control of position control. Since the inner wire 13b is pulled against the tension of an elastic body 43 (shown in FIG. 10) described later, PWM control, which is a control method of the electric motor A25 described later, may be performed.
Brake lever 1 when braking with one-way clutch
2, the electric motor B40 does not rotate even if the inner wire 13b moves in the direction of the arrow in FIG. The rotation amount of the electric motor B40 is controlled by the CPU in the control unit 28.
【００３７】図１０〜図１２に負荷部１１の本体１４の
詳細を示す。４４はインナワイヤ１３ｂの動きを調節す
る調節ねじで、軸４５に螺合され、軸４５は本体１４に
回転自在に取付けられている。調節ねじ４４はアウター
ワイヤ１３ａを収納位置決めし、組立時、軸４５に対す
る相対位置を螺着位置を変化さすことにより調整し、ア
ウタワイヤ１３ａに対するインナーワイヤ１３ｂの出代
を調節する事により、ブレーキレバー１２のストローク
を変化させ制動力を確保する。従って、負荷駆動ユニッ
ト３８をこの部分に設け、本実施例では調節ねじ４４を
手で回したが、電動モータＢ４０で回転させ負荷調整を
する構造としても良い。図１２にその原理図を示す。FIGS. 10 to 12 show the details of the main body 14 of the load section 11. An adjusting screw 44 for adjusting the movement of the inner wire 13b is screwed to a shaft 45, and the shaft 45 is rotatably attached to the main body 14. The adjusting screw 44 accommodates and positions the outer wire 13a, adjusts the relative position with respect to the shaft 45 by changing the screwing position at the time of assembly, and adjusts the margin of the inner wire 13b with respect to the outer wire 13a. To secure the braking force. Therefore, the load drive unit 38 is provided in this portion, and in this embodiment, the adjustment screw 44 is manually turned. However, the load may be adjusted by rotating the electric motor B40. FIG. 12 shows the principle diagram.
【００３８】図１０において１３ｃは弾性体４３を伸ば
す操作子である。バネで形成され、負荷に比例して伸び
る弾性体４３の他端はクランク４６に係止され、図に示
すｌの変化により、クランク４６の回転トルクが制御さ
れる。インナワイヤ１３ｂの終端は、運動プログラムに
おいて、通常かけ得るペダル押力の上限をカバーする長
さとしている。例えば３０ｋｇで弾性体４３が伸長し得
る余裕の長さをもってピン４７に固定されている。従っ
て通常のソフトな制動は弾性体４３を介し、且つ緊急時
は直接クランク４６に入力し全制動出来る。In FIG. 10, reference numeral 13c denotes an operator for extending the elastic body 43. The other end of the elastic body 43 formed of a spring and extending in proportion to the load is locked to the crank 46, and the rotational torque of the crank 46 is controlled by changing l shown in the figure. The end of the inner wire 13b has a length that covers the upper limit of the pedal pressing force that can be normally applied in the exercise program. For example, the elastic body 43 is fixed to the pin 47 with a sufficient length at which the elastic body 43 can extend at 30 kg. Therefore, normal soft braking is applied via the elastic body 43 and is directly input to the crank 46 in an emergency, so that all braking can be performed.
【００３９】また、通常ブレーキレバー１２をハンドル
１に近づけるに従い、すなわちストロークが増えるに従
い操作力は飛躍的に増加し、高令者では十分な制動力を
確保するのに大きな労力を必要としたが、本実施形態で
は負荷駆動ユニット３８も同時に働き、ストロークが大
きくなる程、インナワイヤの張力が大きくなる様、制御
しているので低入力で全制動もできる。クランク４６の
動きは本体１４内でピストン４８により油圧に変換さ
れ、主筒４９に圧力は伝達される。５０は負荷部１１の
一部を成すディスク板、５１は主筒４９内ピストンで、
油圧により押し出され、パッド５２をディスク板５０に
移動させ、本体１４はフレーム５に遊動固定されている
ので、パッド５２、５３間でディスク板５０は押圧さ
れ、負荷力及び制動力を発生させる。Also, as the brake lever 12 is moved closer to the steering wheel 1, that is, as the stroke increases, the operating force increases dramatically, and the older person requires a large amount of labor to secure a sufficient braking force. In the present embodiment, the load drive unit 38 also operates at the same time, and the braking is controlled so that the tension of the inner wire increases as the stroke increases. The movement of the crank 46 is converted into hydraulic pressure by a piston 48 in the main body 14, and the pressure is transmitted to the main cylinder 49. 50 is a disk plate forming a part of the load portion 11, 51 is a piston in the main cylinder 49,
Since the pad 52 is pushed out by the hydraulic pressure to move the pad 52 to the disk plate 50 and the main body 14 is loosely fixed to the frame 5, the disk plate 50 is pressed between the pads 52 and 53 to generate a load force and a braking force.
【００４０】図１３は駆動力と制御の系統を示すブロッ
ク図である。人力入力部としてのペダル３からの入力
は、前ギヤ３０、ワンウェイクラッチ３２、チェーン、
後ギヤで構成される駆動機構５６、一方向クラッチ５６
ａ、変速機構５４、後車輪５３と伝達されるが、一方、
入力値は電動補助ユニット６内の押力検出部３７と回転
数検出部５７にて電気信号に転換され、制御部２８の仕
事率演算回路２８ａにて仕事率を求め、後で説明する図
１６のフローチャートによる制御プログラムに基づき、
この仕事率の水準により補助力演算回路２８ｂもしくは
負荷力演算回路２８ｃを働かせ、所定の出力値を得る。
この出力は特性変換回路２８ｄにて、スタート時の挙動
を安定さす為、図１４に一例として示す如き特性変換を
した後、ＰＷＭ変換回路２８ｅにて、デューティ比を変
化させるＰＷＭ（パルス巾制御）信号に変換され、この
通信制御信号に基づいて、ドライブ回路２８ｆはこのデ
ューティ比でオン・オフするモータ電流を電動モーター
Ａ２５又は電動モータＢ４０に供給し、所定の出力を発
生させる。モーターＡ２５の場合は、一方向クラッチ２
６、減速機構２７、及びギヤ、チェーン等の駆動機構５
６を経由し、ペダル３による人力入力と合力し、後車輪
５３を回転させ、自転車の推進力となる。モータＢ４０
の場合は、減速機構（一方向クラッチを含む）４１を経
由し、負荷部１１にて、後車輪５３の回転防止の制動負
荷力を発生させる。これらの制御は、ソフトプログラム
に従って実行され、必要な制御信号が各回路に送出され
後述する本発明の制御動作が行なわれる。FIG. 13 is a block diagram showing a driving force and a control system. The input from the pedal 3 as a human input unit is a front gear 30, a one-way clutch 32, a chain,
Drive mechanism 56 composed of rear gear, one-way clutch 56
a, the transmission mechanism 54, and the rear wheel 53 are transmitted.
The input value is converted into an electric signal by the pressing force detecting unit 37 and the rotation speed detecting unit 57 in the electric auxiliary unit 6, and the power is calculated by the power calculating circuit 28a of the control unit 28, and FIG. Based on the control program according to the flowchart of
Depending on the level of the power, the auxiliary force calculation circuit 28b or the load force calculation circuit 28c is operated to obtain a predetermined output value.
This output is subjected to characteristic conversion as shown as an example in FIG. 14 in order to stabilize the behavior at the start in the characteristic conversion circuit 28d, and then the PWM conversion circuit 28e changes the duty ratio (PWM (pulse width control)). The drive circuit 28f supplies the motor current that is turned on and off at this duty ratio to the electric motor A25 or the electric motor B40 based on the communication control signal and generates a predetermined output. In the case of the motor A25, the one-way clutch 2
6. Speed reduction mechanism 27 and drive mechanism 5 such as gears and chains
6, the resultant force is combined with a human input by the pedal 3 to rotate the rear wheel 53, thereby providing a propulsion force of the bicycle. Motor B40
In the case of (1), the load unit 11 generates a braking load force for preventing rotation of the rear wheel 53 via the speed reduction mechanism (including the one-way clutch) 41. These controls are executed according to a software program, necessary control signals are sent to each circuit, and control operations of the present invention described later are performed.
【００４１】図１５は本発明の実施形態のプログラムの
フローチャートを示す。本実施形態は走行抵抗に加えて
負荷をかけ、ペダル押力を所定の特性に制御するもので
ある。プログラムが開始されるとステップ６０、６１に
て図１３の押力検出部３７、回転数検出部５７により、
押力及び車速を検出し、ステップ６２にて、この実走車
速及び設定車速を表示部１６に表示する。ステップ６３
にて、この二者の車速を比較し許容範囲内（例えば２０
％）を越えて速ければ、ステップ６４に進み、車速減少
を表示させ、そして同じく遅ければステップ６５に進
み、車速増加を示させ、さらに許容範囲であれば、直接
ステップ６６へ進む。ここで、その時点での許容範囲内
の設定車速時の押力を演算し、ステップ６７に進む。ス
テップ６７では、使用者が選択した運動プログラムに基
づく設定押力、例えば、クランク水平時押力２０ｋｇの
許容誤差範囲を実走押力が越えているか比較する。
（＋）側に越えておればステップ６８に進み、２０ｋｇ
との差を補う値を、これまでの電動モータＢ４０の駆動
値と押力の関連より負荷量減少量を演算し、ステップ６
９に進み、この演算値に基づいて電動モータＢ４０を駆
動させる。（−）側に越えておればステップ７０に進
み、増加をすべき負荷量を演算し、ステップ７１にて電
動モータＢ４０を駆動させる。実走と設定の押力差が３
０％以下であれば補正しない。以上の経過を終了すると
再びステップ６０に戻る。FIG. 15 shows a flowchart of a program according to the embodiment of the present invention. In this embodiment, a load is applied in addition to the running resistance to control the pedal pressing force to a predetermined characteristic. When the program is started, in steps 60 and 61, the pressing force detecting unit 37 and the rotation speed detecting unit 57 in FIG.
The pressing force and the vehicle speed are detected, and in step 62, the actual running vehicle speed and the set vehicle speed are displayed on the display unit 16. Step 63
, The two vehicle speeds are compared to be within an allowable range (for example, 20
If it is faster than (%), the process proceeds to step 64 to display a decrease in the vehicle speed, and if it is too late, the process proceeds to step 65 to indicate an increase in the vehicle speed. Here, the pressing force at the time of the set vehicle speed within the allowable range at that time is calculated, and the routine proceeds to step 67. In step 67, a comparison is made as to whether or not the actual running pressing force exceeds a set pressing force based on the exercise program selected by the user, for example, an allowable error range of 20kg when the crank is horizontal.
If it exceeds the (+) side, proceed to step 68 and
Is calculated based on the relationship between the drive value of the electric motor B40 and the pressing force so far, and the value of
The program proceeds to 9 where the electric motor B40 is driven based on this calculated value. If it exceeds (-), the routine proceeds to step 70, where the amount of load to be increased is calculated, and in step 71, the electric motor B40 is driven. Pushing force difference between actual running and setting is 3
If it is 0% or less, no correction is made. When the above process is completed, the process returns to step 60 again.
【００４２】負荷をかける方法は、通常走行の負荷状態
は、路面の状況が一定であれば一定の走行抵抗となるの
と同様に、一定走行距離は一定負荷となる様、電動モー
タＢ４０を制御し駆動さす場合が簡易的である。その他
の制御方法として、人力入力に比例さす方法がある。つ
まり、ペダル押力は、クランク４の角度により変化し、
一般に、水平位置で押力は高く、上下位置では殆んど零
になる略余弦曲線状の、押力負荷曲線を描くが、同様の
負荷曲線となるプログラムを選択可能である。後者の方
が、走行速度の変化は小さい。また、本プログラムの開
始及び終了は、一定車速となった時動作するよう設定し
ている。In the method of applying a load, the electric motor B40 is controlled so that the load condition during normal running is a constant running resistance if the road surface condition is constant, and a constant running distance is a constant load in a similar manner. It is simple to drive it. As another control method, there is a method of making it proportional to human input. In other words, the pedal pressing force changes depending on the angle of the crank 4,
In general, a pressing force load curve is drawn in a substantially cosine curve shape in which the pressing force is high at the horizontal position and almost zero at the vertical position, but a program having a similar load curve can be selected. The latter has a smaller change in running speed. The start and end of this program are set to operate when the vehicle speed becomes constant.
【００４３】図１６は、他の実施例のフローチャートを
示す。この実施例は、負荷をかける他、急な昇坂等で、
押力が設定値を越えた時、作動する電動補助駆動系を備
え、人力仕事率を所定の範囲に制御するものである。ま
ずステップ８０で車速検出し、ステップ８１で実走車速
及び設定車速を表示する。次にステップ８２、８３でペ
ダル押力及びクランク回転数・回転角度を検出し、ステ
ップ８４でこれら検出値を基に仕事率を演算する。これ
らの数値はステップ８５でメモリ２８ｇに記憶される
が、同時にクランクの各回転角度での仕事率を３６０°
集計した１サイクル合計の仕事量も記憶された後、ステ
ップ８６に進む。図１〜図１４に示す、本実施形態の具
体構成に示すように、本実施例では６通りのプログラム
が用意されている。ステップ８６で制御パターンＩＩが
選択された場合を以下に示す。FIG. 16 shows a flowchart of another embodiment. In this embodiment, in addition to applying a load, such as a steep uphill,
An electric auxiliary drive system that operates when the pressing force exceeds a set value is provided to control the manual power in a predetermined range. First, at step 80, the vehicle speed is detected, and at step 81, the actual running vehicle speed and the set vehicle speed are displayed. Next, in steps 82 and 83, the pedal pressing force and the crank rotation speed and rotation angle are detected, and in step 84, the power is calculated based on these detected values. These numerical values are stored in the memory 28g in step 85. At the same time, the power at each rotation angle of the crank is set to 360 °.
After the total work amount of one cycle is also stored, the process proceeds to step 86. As shown in the specific configuration of the present embodiment shown in FIGS. 1 to 14, in this embodiment, six types of programs are prepared. The case where the control pattern II is selected in step 86 will be described below.
【００４４】制御パターンＩＩは常に一定の仕事率にて
走行する場合である。他の制御パターンはサブルーチン
プログラム２０２〜２０５にて示す。制御パターンＩ
は、補正無しの場合である。制御パターンＩＩでは、ス
テップ８７に進み、設定車速と実走車速を比較し許容範
囲外であればステップ８８で修正車速を表示してから、
また範囲内であれば直接ステップ８９へ進む。ステップ
８９では、クランクの回転角各時点での人力押力仕事率
と設定仕事率との差を比較する。一定の仕事率のコース
でもクランク上、下死点では押力が加わらず、仕事率は
小さくなるので、１サイクル管理し、各角度では略余弦
曲線で変化させた使用者の押力曲線で変化する設定仕事
率と比較する。実際の押力仕事率が設定仕事率の許容差
より大きかった場合はステップ８０に進み、電動モータ
Ｂ４０が作動しているか判断し、負荷をかけていないと
判断すれば、昇り坂の可能性が高く、ステップ９１に進
み、設定仕事率との倍率を判断する。押力仕事率が設定
仕事率の２倍以下であれば、ステップ９２で、駆動補助
のため、電動モータＡ２５の補助量を演算し、ステップ
９４に進み、演算値に基づいてモータＡ２５を駆動さ
せ、押力仕事率を低減させステップ８０に戻る。また押
力仕事率が設定仕事率の２倍以上であれば、走行抵抗が
大きいため、範囲内に収まる様、ステップ９３にて設定
車速を減速するよう指示し、ステップ８０に戻る。ステ
ップ８９にての判断で押力仕事率が、設定仕事率の所定
の範囲内（本例では３０％以内）であれば、ステップ８
０に戻り、引続き走行する。また、ステップ８９で、押
力仕事率が設定仕事率許容範囲以下であればステップ９
５に移り、モータＡ２５の補助量と押力仕事率の合算が
設定仕事率以上か判断する。ＹＥＳであればステップ９
６に進み、電動モータＡ２５の補助の減少量を演算す
る。路面状況は刻々と変化するので、許容差は広くと
り、押力変化が急激に変化しないよう演算し、ステップ
９７に移り、演算値に基づいて電動モータＡ２５を減少
駆動させ、ステップ８０に戻る。ステップ９５にて設定
仕事率の方が大きかった場合は、ステップ９８で電動モ
ータＡ２５の補助を止め、ステップ９９に進む。ここで
電動モータＢ４０が作動しているか判断し、ＹＥＳであ
ればステップ１００へ移り、速度が５ｋｍか判断する。
これは、走行を中止する意図かどうか判断するためであ
り、設定速度は必ずしも５ｋｍ／ｈでなくとも良い。本
例では、５ｋｍ／ｈで判断し、以下であればステップ１
０１に進み、電動モータＢ４０の負荷を徐々に減少させ
る。次にステップ１０２で、停止したか判断し、停止し
ていれば終了するが、下り坂で押力が一定以下で速度が
零でない場合は、ステップ１０３に進み、速度が零とな
る走行抵抗を電動モータＡ２５、電動モータＢ４０に加
え、終了する。ステップ９９で電動モータＢ４０が作動
していないと判断した場合及び、ステップ１００で速度
が５ｋｍ／ｈを越えている場合は、走行抵抗が過少であ
るため、ステップ１０４に進み、モータＢ４０の負荷量
の増加を演算し、ステップ１０５に移って、この演算値
に基づいて電動モータＢ４０を駆動させ負荷をかけ、ス
テップ８０に戻る。設定車速を上げる選択肢もあるが、
本例では、省略する。The control pattern II is a case where the vehicle always runs at a constant power. Other control patterns are shown by subroutine programs 202 to 205. Control pattern I
Is a case without correction. In the control pattern II, the process proceeds to step 87, in which the set vehicle speed is compared with the actual running vehicle speed. If the vehicle speed is outside the allowable range, the corrected vehicle speed is displayed in step 88,
If it is within the range, the process directly proceeds to step 89. In step 89, the difference between the manual power and the set power at each time point of the rotation angle of the crank is compared. Even in the course of constant power, the pressing force is not applied at the top and bottom dead centers of the crank, and the power is small. Compare with the set power. If the actual power of the pressing force is larger than the tolerance of the set power, the process proceeds to step 80, where it is determined whether the electric motor B40 is operating. If so, the process proceeds to step 91, and the magnification with the set power is determined. If the pressing power is not more than twice the set power, in step 92, the assist amount of the electric motor A25 is calculated for driving assistance, and the process proceeds to step 94 to drive the motor A25 based on the calculated value. Then, the power of the pressing force is reduced, and the process returns to step 80. If the pressing power is not less than twice the set power, the running resistance is large. Therefore, in step 93, an instruction is issued to reduce the set vehicle speed so as to fall within the range, and the process returns to step 80. If it is determined in step 89 that the pressing power is within the predetermined range of the set power (in this example, within 30%), step 8 is performed.
Return to 0 and continue running. If it is determined in step 89 that the pressing power is equal to or less than the set power allowable range, step 9 is performed.
Then, it is determined whether the sum of the assist amount of the motor A25 and the pressing power is equal to or higher than the set power. If YES, step 9
Then, the process proceeds to step S6, where the amount of reduction of the assist of the electric motor A25 is calculated. Since the road surface condition changes every moment, the tolerance is widened and the calculation is performed so that the change in the pressing force does not change abruptly. If the set power is higher in step 95, the assist of the electric motor A25 is stopped in step 98, and the process proceeds to step 99. Here, it is determined whether the electric motor B40 is operating. If YES, the process proceeds to step 100, where it is determined whether the speed is 5 km.
This is to determine whether the intention is to stop running, and the set speed is not necessarily required to be 5 km / h. In this example, the determination is made at 5 km / h.
In step 01, the load on the electric motor B40 is gradually reduced. Next, in step 102, it is determined whether or not the vehicle has stopped. If the vehicle has stopped, the process is terminated. In addition to the electric motor A25 and the electric motor B40, the process ends. If it is determined in step 99 that the electric motor B40 is not operating, or if the speed exceeds 5 km / h in step 100, the running resistance is too low. Then, the process proceeds to step 105, in which the electric motor B40 is driven to apply a load based on the calculated value, and the process returns to step 80. There is an option to increase the setting speed,
In this example, the description is omitted.
【００４５】本実施の形態では、左右のクランク押力を
区別せず、同じ余弦曲線、同じ絶対値が負荷されるもの
として扱ったが、左右脚力が異なる場合や、車椅子等、
複数の人力入力部を有し、筋力が異なり操作力にアンバ
ランスが生ずる場合、左右同一の負荷又は補助では、弱
い筋力の側に一層の負担がかかるため、筋力の比に比例
させ、各入力部入力値が、筋力の比率となるよう、負荷
部出力値及び電動補助値を制御すれば、疲れにくく、健
常者と同様に運動プログラムを消化できる。逆に筋力が
弱い方に負荷がかかる制御をすれば、リハビリ効果を高
める事が出来る等、複数入力部を独立制御する効用は多
い。尚、左右踏力を比較する場合、クランク４の左右同
一角度時の比較をするが、平地等、走行抵抗が大きく変
化しない時のリサイクルの仕事量の左右比較を、自動ま
たは計測スイッチＯＮ時に実施するか、初期設定を入力
して各入力部入力値の比率を決定する。In the present embodiment, the left and right crank pressing forces are not distinguished, and the same cosine curve and the same absolute value are treated as being applied.
If there are multiple human power input units and the muscular strength is different and the operation force is unbalanced, the same load or assist on the left and right places more burden on the weak muscular strength side. If the load section output value and the electric assist value are controlled so that the section input value becomes the ratio of the muscle strength, the exercise program is less likely to be tired and the exercise program can be digested in the same manner as a healthy person. Conversely, if control is performed to apply a load to a person with weak muscle strength, the rehabilitation effect can be enhanced, and there are many utilities for independently controlling a plurality of input units. When the left and right pedaling forces are compared, comparison is made when the left and right angles of the crank 4 are the same. However, when the running resistance does not change significantly, such as on a flat ground, the left and right comparison of the recycle work amount is performed automatically or when the measurement switch is ON. Or, input the initial setting and determine the ratio of the input values of each input section.
【００４６】なお、本実施の形態は電動自転車である
が、電動車椅子でも良い。この場合は制御プログラム
は、運動のための制御でなく、下り坂での暴走、昇り坂
での負荷の大幅上昇を防ぎ速度操作力が独立及至相関係
数が速度増加に従って低下する図１７の如き特性を有す
る。使用者が低入力で安全自在に操れる操縦制御にする
と実用的効果は高まる。すなわち、図１７の制御は、図
１４にて説明したと同じ路面である。定常走行の場合、
初期Ｗ１の仕事量が必要の所、斜線（ａ）で示す面積部
のＷ１の４割を補助し、Ｗ２の操縦仕事量である。また
昇り坂では同様にＷ３の所、斜線（ｂ）の部分５割を補
助し、Ｗ４で動かせる。更に下り坂では、一定速で走行
の為にはＷ５の制動力が必要であるが、車体内で負荷部
等により、Ｗ５＋Ｗ６の抵抗を加え、定常走行の為には
Ｗ６の仕事量を必要とする。これにより安全走行が計ら
れる。次に、平地（Ｂ）に移り、走行速度を上昇させた
場合、加速力は最大Ｗ７であるが補助率は高くなり６割
補助（ｄ）部でＷ８の仕事量が使用者の負担となり、高
速の新たな定常速度ではＷ９の必要量に対し、斜線
（ｅ）で示す７割補助を実行し、使用者はＷ１０の操縦
仕事量で高速定常走行する制御プログラムが好ましい。In this embodiment, an electric bicycle is used, but an electric wheelchair may be used. In this case, the control program is not the control for the exercise, but prevents the runaway on the downhill and the large increase of the load on the uphill, the speed operation force becomes independent and the correlation coefficient decreases as the speed increases, as shown in FIG. Has characteristics. Practical effects will be enhanced if the user controls the steering so that the user can safely operate it with low input. That is, the control in FIG. 17 is performed on the same road surface as that described in FIG. For steady driving,
Where the work amount of the initial W1 is necessary, 40% of W1 of the area shown by the oblique line (a) is assisted, and the work amount of the operation is W2. Similarly, on an uphill slope, 50% of the hatched area (b) is assisted at W3, and can be moved at W4. Further, on a downhill, a braking force of W5 is required for traveling at a constant speed, but a resistance of W5 + W6 is added by a load portion in the vehicle body, and a work amount of W6 is required for steady traveling. I do. Thereby, safe driving is measured. Next, when the vehicle moves to the level ground (B) and the traveling speed is increased, the acceleration force is the maximum W7, but the auxiliary rate increases, and the work load of the W8 in the 60% auxiliary (d) portion burdens the user, At the new high-speed steady speed, a control program that executes 70% assistance indicated by oblique lines (e) with respect to the required amount of W9 and allows the user to perform high-speed steady traveling with the steering work amount of W10 is preferable.
【００４７】また、本発明の実施の形態で、ブレーキレ
バー１２により負荷部１１が制動装置の働きをし、アウ
ターワイヤ１３ａに対するインナーワイヤ１３ｂの出代
をディスク板５０にパッド５２当接直前となる様、例え
ば一担、当接させ少し戻すよう負荷駆動ユニット３８を
制御部２８で制御しており、これにより、従来、通常自
転車において、ワイヤ出代調整不足の場合、ブレーキレ
バー１２の遊びが大きく、制動力が不足するという安全
上不具合となる可能性があったが、本発明の構成では常
に最適にブレーキワイヤ出代に調整出来る。Further, in the embodiment of the present invention, the load portion 11 functions as a braking device by the brake lever 12, and the margin of the inner wire 13b with respect to the outer wire 13a is set immediately before the pad 52 comes into contact with the disk plate 50. For example, the load drive unit 38 is controlled by the control unit 28 so that the load drive unit 38 is brought into contact with and slightly returned, so that in the conventional bicycle, when the wire allowance adjustment is insufficient, the play of the brake lever 12 is large. However, there is a possibility that the braking force is insufficient, which is a safety problem. However, the configuration of the present invention can always optimally adjust the brake wire allowance.
【００４８】[0048]
【発明の効果】このように本発明によれば、人力入力に
対する路面抵抗の影響を少なくする機構及び制御プログ
ラムを備えているので、従来エルゴメータ等により、屋
内定位置で実行していた健康維持や筋力強化の運動プロ
グラムが、走行しながら、使用者の能力に合わせ実施出
来るので、適切且つ使用雰囲気が変化するので情緒的に
も安定し長続きする状態で実施出来、使用者に大いに有
益な走行型健康機を供する事が出来る。As described above, according to the present invention, a mechanism and a control program for reducing the influence of road surface resistance on human input are provided. Exercise program for strengthening muscles can be implemented according to the user's ability while running, so it can be implemented in a stable and long-lasting state emotionally because the appropriate and changing atmosphere changes, and a traveling type that is very beneficial to the user A health machine can be provided.
【００４９】また、請求項１の発明にあっては回転負荷
量制御して、主に平地、下り坂等で上記効果を発揮す
る。請求項２の発明にあっては、電動補助を追加して、
昇り坂、加速時にても上記効果を発揮する。請求項３の
発明にあっては、時間経過で押力が制御出来るので、よ
り多様な運動プログラムが実施出来る。Further, according to the first aspect of the present invention, the above-described effect is exerted mainly on a flat ground, a downhill, or the like by controlling the rotational load amount. According to the second aspect of the invention, the electric assist is added,
The above effects are exhibited even when climbing uphill or accelerating. According to the third aspect of the present invention, since the pressing force can be controlled over time, more various exercise programs can be executed.
【００５０】請求項４の発明にあっては、人力駆動系操
作量により押力制御するので、請求項３と同様、種々の
運動プログラムが実施出来る。請求項５の発明にあって
は、車速零制御するので既述の効果に加え、下り坂等で
不用意に走り出さないようにできる。請求項６の発明に
あっては、請求項５の効果に加え、電動補助部にも同様
の制御を加えたので、平地においても不用意に走り出さ
ない制御ができる。According to the fourth aspect of the present invention, since the pressing force is controlled by the operation amount of the manual drive system, various exercise programs can be executed as in the third aspect. According to the fifth aspect of the present invention, since the vehicle speed is controlled to be zero, in addition to the effects described above, it is possible to prevent the vehicle from running carelessly on a downhill or the like. According to the invention of claim 6, in addition to the effect of claim 5, the same control is applied to the electric assist unit, so that it is possible to control that the vehicle does not start running carelessly even on level ground.
【００５１】請求項７の発明にあっては、種々の運動プ
ログラムを選択可能とし、また走行状態をそれに近づけ
る様制御するので一層実用効果の高い走行型健康機が得
られる。請求項８の発明にあっては、負荷部と制動部を
共通にしているので、単純構造に出来、安価で信頼性の
高い実用価値大なる走行型健康機にできる。According to the seventh aspect of the present invention, a variety of exercise programs can be selected and the running state is controlled so as to approach the running state, so that a running health machine with higher practical effects can be obtained. According to the eighth aspect of the present invention, since the load section and the braking section are shared, a simple structure can be achieved, and a low cost, highly reliable traveling health machine with high practical value can be obtained.
【００５２】請求項９の発明にあっては、複数の人力入
力部各々別個に制御するので使用者の身体部位筋力に合
致した最適制御が可能となる。請求項１０の発明にあっ
ては、複数の車輪を別個に制御するので、各車輪路面接
地状況に応じた最適制御ができると共に、請求項９と組
合わせた構成にすれば更にその効果は高まる。According to the ninth aspect of the present invention, since the plurality of human power input sections are individually controlled, optimal control matching the muscle strength of the body part of the user can be performed. According to the tenth aspect of the present invention, since a plurality of wheels are controlled separately, optimal control according to each wheel road surface grounding situation can be performed, and the effect is further enhanced by adopting a configuration in combination with the ninth aspect. .
【００５３】請求項１１の発明にあっては、制動ワイヤ
の出代も制御するので、制御部が摩耗しても常に最適制
動が可能になる。According to the eleventh aspect of the present invention, since the protrusion of the braking wire is also controlled, the optimal braking can be always performed even if the control unit is worn.
【図１】本発明の押力制御方式を採用した走行型健康機
の側面図FIG. 1 is a side view of a traveling health machine adopting a pressing force control system according to the present invention.
【図２】同走行型健康機の運動プログラムパターン１〜
３を示す図FIG. 2 is an exercise program pattern 1 of the traveling health machine.
Figure showing 3
【図３】同走行型健康機の運動プログラムパターン４〜
６を示す図FIG. 3 is an exercise program pattern 4 to 4 for the traveling health machine.
Figure showing 6
【図４】同走行型健康機のパターン１で走行した場合の
走行エネルギーと走行距離との関連を示す図FIG. 4 is a diagram showing the relationship between traveling energy and traveling distance when traveling in pattern 1 of the traveling health machine.
【図５】同走行型健康機の操作部を示す斜視図FIG. 5 is a perspective view showing an operation unit of the traveling health machine.
【図６】同走行型健康機の電動補助ユニットの要部断面
図FIG. 6 is a sectional view of a main part of the electric auxiliary unit of the traveling health machine.
【図７】同走行型健康機の負荷駆動ユニットの要部横断
面図FIG. 7 is a cross-sectional view of a main part of a load drive unit of the traveling health machine.
【図８】同走行型健康機の負荷駆動ユニットの要部横断
面図FIG. 8 is a cross-sectional view of a main part of a load drive unit of the traveling health machine.
【図９】同走行型健康機における他の実施形態の負荷駆
動ユニットの要部側面図FIG. 9 is a side view of a main part of a load drive unit according to another embodiment of the traveling health machine.
【図１０】同走行型健康機の負荷部側面図FIG. 10 is a side view of a load section of the traveling health machine.
【図１１】同走行型健康機の負荷部の要部断面図FIG. 11 is a sectional view of a main part of a load unit of the traveling health machine.
【図１２】同走行型健康機の負荷部斜視図FIG. 12 is a perspective view of a load section of the traveling health machine.
【図１３】同走行型健康機の動作と制御のブロック図FIG. 13 is a block diagram of operation and control of the traveling health machine.
【図１４】同走行型健康機の制御部における特性変換回
路の入出力特性例の図FIG. 14 is a diagram showing an example of input / output characteristics of a characteristic conversion circuit in a control unit of the traveling health machine.
【図１５】同走行型健康機の制御プログラムの１パター
ンを示すフローチャートFIG. 15 is a flowchart showing one pattern of a control program for the traveling health machine.
【図１６】同走行型健康機の制御プログラムの別のパタ
ーンを示すフローチャートFIG. 16 is a flowchart showing another pattern of the control program for the traveling health machine.
【図１７】同走行型健康機の運動プログラムの１例で走
行した場合の走行エネルギーと走行時間との関連を示す
図FIG. 17 is a diagram showing the relationship between the running energy and the running time when running with an example of the exercise program of the running health machine.
４ クランク ６ 電動補助ユニット ８ 操作部 １１ 負荷部 １２ ブレーキレバー １３ ワイヤー １３ａ アウターワイヤ １３ｂ インナーワイヤ １６ 表示部 １７ 車速検知部 ２５ 電動モータＡ ２８ 制御部 ３８ 負荷駆動ユニット ４０ 電動モータＢ Reference Signs List 4 Crank 6 Electric auxiliary unit 8 Operation unit 11 Load unit 12 Brake lever 13 Wire 13a Outer wire 13b Inner wire 16 Display unit 17 Vehicle speed detection unit 25 Electric motor A 28 Control unit 38 Load drive unit 40 Electric motor B
Claims (11)
に回転駆動力を与える人力入力を検出する検出部と、前
記人力入力の入力値に応じて前記負荷部に与える負荷量
を記憶するメモリ部と、メモリ部よりの信号で負荷部出
力を制御する制御部とを備えることを特徴とする走行型
健康機。1. A load unit for applying a rotational resistance to a wheel, a detection unit for detecting a human input for applying a rotational driving force to a wheel, and a load applied to the load unit in accordance with an input value of the human input. A traveling health machine, comprising: a memory unit; and a control unit that controls a load unit output with a signal from the memory unit.
駆動系と、人力制動装置とを有し、人力駆動力を電動駆
動力で補助する電動補助車輪において、前記人力駆動系
の人力入力値を検出する人力入力検出部と、人力系駆動
の回転数検出部と、前記人力入力検出値と人力駆動系の
回転数検出値により人力仕事率を演算する人力仕事率演
算部と、この人力仕事及び予め設定されている初期設定
仕事率とを記憶するメモリ部と、前記人力仕事率と初期
設定仕事率の差に基づき、前記電動モータの出力を制御
する制御部とを有する駆動力制御機構を備えた走行型健
康機。2. An electric assist wheel having a human-powered driving system, an electric driving system having an electric motor, and a human-powered braking device, wherein the human-powered driving force is assisted by the electric driving force. A human-power input detecting unit, a human-power-driven rotational speed detecting unit, a human-power-power calculating unit that calculates a human power based on the human-power input detected value and the human-powered-system rotational speed detected value, And a drive unit having a memory unit that stores a preset initial power and a control unit that controls an output of the electric motor based on a difference between the manual power and the initial power. A traveling health machine equipped with.
と、電動モータを有する電動駆動系と、走行車輪と、入
力軸回転数または走行車輪回転数により検出する車速検
出部にて検出した車速と、入力部への押力で人力入力値
を測定し、この車速及び押力の少なくともどちらか一方
を表示する表示部と目標車速及び目標押力の少なくとも
どちらか一方を、走行開始よりの時間経過の関数で記憶
するメモリ部と、このメモリ部出力値に基づき電動モー
タ出力を制御する制御部とを備えた走行型健康機。3. A human-powered drive system having an input unit and an input shaft, an electric drive system having an electric motor, running wheels, and a vehicle speed detecting unit that detects the input shaft speed or the running wheel speed. The vehicle speed and the human power input value are measured by the pressing force to the input unit, and the display unit for displaying at least one of the vehicle speed and the pressing force and at least one of the target vehicle speed and the target pressing force are measured from the start of traveling. A traveling health machine including a memory unit that stores a function of a time lapse, and a control unit that controls an electric motor output based on the output value of the memory unit.
と、電動モータを有する電動駆動系と、走行車輪と、入
力軸回転数または走行車輪回転数により検出する車速検
出部にて検出した車速と、入力部への押力で人力入力値
を測定し、この車速及び押力の少なくともどちらか一方
を表示する表示部と、目標車速及び目標押力の少なくと
もどちらか一方を、入力軸累計回転数等の人力駆動系操
作経過の関数で記憶するメモリ部と、このメモリ部出力
値に基づき電動モータ出力を制御する制御部とを備えた
走行型健康機。4. A human-powered driving system having an input unit and an input shaft, an electric driving system having an electric motor, running wheels, and a vehicle speed detecting unit detecting the input shaft rotation speed or the running wheel rotation speed. A display unit that measures a human input value based on the vehicle speed and the pressing force applied to the input unit, and displays at least one of the vehicle speed and the pressing force, and displays at least one of the target vehicle speed and the target pressing force on the input shaft total. A traveling-type health machine comprising: a memory unit that stores a function of an operation progress of a human-powered driving system such as a rotation speed;
に回転駆動力を与える入力部と入力軸とを有する人力駆
動系と、人力駆動系の人力入力値を検出する検出部と、
前記入力軸の回転数を検出する入力部回転数検出部と、
車速検出部とを有し、入力軸回転数が一定値以下で、人
力部押力も一定値以下の時、車速が零となる様、負荷部
の出力値を制御する制御部とを備えた走行型健康機。5. A human-powered driving system having a load unit for applying a rotational resistance to a wheel, an input unit for applying a rotational driving force to the wheel, and an input shaft; a detecting unit for detecting a human-powered input value of the human-powered driving system;
An input unit rotation speed detection unit that detects the rotation speed of the input shaft,
And a control unit that controls an output value of a load unit so that the vehicle speed becomes zero when the input shaft rotation speed is equal to or less than a certain value and the human power unit pressing force is equal to or less than a certain value. Type health machine.
駆動系とを備えた電動補助車輪において、負荷部及び、
電動駆動系の出力値を制動する制御部とを備えた事を特
徴とする、請求項５記載の走行型健康機。6. An electric assist wheel including a human-powered driving system and an electric driving system having an electric motor, wherein a load unit,
The running health machine according to claim 5, further comprising a control unit that brakes an output value of the electric drive system.
転抵抗を加える負荷部と、負荷部への負荷量を制御する
制御部と、制御内容を表示する表示部と、人力駆動系
と、人力駆動系への目標人力入力値を、走行時間経過及
び人力駆動系操作経過に伴ない変化する複数の関数とし
て記憶するメモリ部と、上記複数の関数の目標人力入力
値の特定関数を選択する操作部と、選択された関数に基
づき、走行時人力入力値が目標人力入力値に近づくよう
制御する制御部とを備えた事を特徴とする、請求項１〜
４または請求項６記載の走行型健康機。7. A vehicle speed detecting unit for detecting a vehicle speed, a load unit for applying a rotational resistance to wheels, a control unit for controlling a load amount on the load unit, a display unit for displaying control contents, and a human-powered drive system. A memory unit for storing a target human input value to the human-powered drive system as a plurality of functions that change with a lapse of travel time and a human-power drive system operation, and a specific function of the target human-power input value of the plurality of functions is selected. An operation unit for performing the operation, and a control unit that controls the input value during traveling to approach the target input value based on the selected function.
The traveling health machine according to claim 4 or claim 6.
行型健康機において、制動装置の少なくとも一個が、車
輪に制御部よりの信号に基づき、回転抵抗を加える負荷
部である事を特徴とする、請求項１〜７記載の走行型健
康機。8. A traveling health machine having a plurality of traveling wheels and a braking device, wherein at least one of the braking devices is a load unit that applies a rotational resistance to the wheels based on a signal from a control unit. The traveling health machine according to claim 1.
と、電動モータにより人力駆動を補助する電動駆動系と
を有する電動補助付の走行型健康機において、前記人力
入力は複数の人力入力部を有し、目標人力入力値は、各
々別個の関数となる様、車輪回転抵抗負荷部及び電動駆
動系出力値を制御する制御部とを有することを特徴とす
る、請求項１〜４または請求項７記載の走行型健康機。9. A travel-type health machine with an electric assist having a human-powered driving system driven by a human-powered input and an electric driving system for assisting a human-powered driving by an electric motor, wherein the human-powered input includes a plurality of human-powered input units. 5. The control device for controlling a wheel rotation resistance load unit and an electric drive system output value so that the target human input value is a separate function. 6. 7. The traveling health machine according to 7.
と、電動モータにより人力駆動を補助する電動駆動系
と、車輪に回転抵抗を加える負荷部とを有し、複数の車
輪に電動駆動系出力及び車輪回転抵抗負荷力を加え、各
々人力入力に対する出力値は別個の関数となるよう各出
力値を制御する制御部とを有することを特徴とする、請
求項１〜７記載の走行型健康機。10. A human-powered driving system driven by human-powered input, an electric-powered driving system for assisting human-powered driving by an electric motor, and a load unit for applying rotational resistance to wheels, and a plurality of wheels output electric-powered driving systems. And a control unit that controls each output value so that an output value corresponding to a human input becomes a separate function. .
抗を加える負荷部と、負荷量を操作するブレーキレバー
とレバー把握力を負荷部に伝達するイン＋ワイヤとアウ
タワイヤより成る制動ワイヤとを有し、負荷部には、負
荷部作動検出部と、負荷部を駆動し回転抵抗を加える負
荷部駆動ユニットと、回転抵抗を制御し、アウタワイヤ
に対するインナワイヤ出代を負荷部作動状態まで長さ調
節する事を特徴とする、負荷制御装置を備えた請求項８
記載の走行型健康機。11. A human-powered driving system, a wheel, a load portion for applying rotational resistance to the wheel, a brake lever for operating a load amount, and a brake wire including an in + wire and an outer wire for transmitting a lever gripping force to the load portion. The load section includes a load section operation detection section, a load section drive unit that drives the load section and applies rotational resistance, and a control section that controls the rotational resistance to extend the inner wire allowance for the outer wire to the load section operating state. 9. A load control device, wherein the load control device is adjusted.
The running health machine described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP00931997A JP3463494B2 (en) | 1997-01-22 | 1997-01-22 | Traveling health machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP00931997A JP3463494B2 (en) | 1997-01-22 | 1997-01-22 | Traveling health machine |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH10203467A true JPH10203467A (en) | 1998-08-04 |
| JP3463494B2 JP3463494B2 (en) | 2003-11-05 |
Family
ID=11717153
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP00931997A Expired - Fee Related JP3463494B2 (en) | 1997-01-22 | 1997-01-22 | Traveling health machine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3463494B2 (en) |
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| US11046392B2 (en) | 2018-03-29 | 2021-06-29 | Shimano Inc. | Human-powered vehicle control device |
| JP2020059422A (en) * | 2018-10-11 | 2020-04-16 | 株式会社シマノ | Control device for man-power drive vehicle |
| JP2020062997A (en) * | 2018-10-18 | 2020-04-23 | 株式会社シマノ | Control device for man-power drive vehicle and control method for man-power drive vehicle |
| CN113044152B (en) * | 2019-12-27 | 2023-08-18 | 株式会社岛野 | Control device for man-power driven vehicle |
| CN113044152A (en) * | 2019-12-27 | 2021-06-29 | 株式会社岛野 | Control device for human-powered vehicle |
| US11730999B2 (en) | 2020-06-08 | 2023-08-22 | Tonal Systems, Inc. | Exercise machine enhancements |
| US11285355B1 (en) | 2020-06-08 | 2022-03-29 | Tonal Systems, Inc. | Exercise machine enhancements |
| JP2020172264A (en) * | 2020-08-03 | 2020-10-22 | 株式会社シマノ | Control device for bicycle and brake system for bicycle including the same |
| US11878204B2 (en) | 2021-04-27 | 2024-01-23 | Tonal Systems, Inc. | First repetition detection |
| US11998804B2 (en) | 2021-04-27 | 2024-06-04 | Tonal Systems, Inc. | Repetition phase detection |
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|---|---|
| JP3463494B2 (en) | 2003-11-05 |
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