WO1981001960A1

WO1981001960A1 - Running machine

Info

Publication number: WO1981001960A1
Application number: PCT/JP1980/000003
Authority: WO
Inventors: T Ito
Original assignee: T Ito
Priority date: 1980-01-09
Filing date: 1980-01-09
Publication date: 1981-07-23

Abstract

Running machine which can move in the same manner that the entire body and limbs move to run, and run at a high speed including acceleration and deceleration selected by a runner, and incorporates an endless movable belt moving backwardly as the user runs, in order to safely obtain the running exercise effect. This machine consists of first means for longitudinally elastically supporting the runner's abdomen or waist at a supporting base to thereby apply the motion of the upper body to the machine, and second means for limiting the ratio of the runner's inertia to the mechanical exercise system's inertia to a predetermined range to thereby stabilize the running exercise. In order to render the running feeling close to that of natural running, the mechanical loss of the mechanical exercise system is reduced to as great an extent as possible. Compensating the residual mechanical loss by an electromotive force is practical and economical.

Description

Specification

(Title of invention) Running machine

(Technical field) The present invention relates to an improvement of a running machine having an endless travel zone that recoils and retreats when a runner runs.

(Technical background) 'This exercise machine was developed mainly for the purpose of strengthening leg strength, and the commonly used configuration is a pulley that is axially supported in front and rear in a horizontal and parallel direction. The tension is applied by tensioning the endless belt, and the bottom surface, which is the running surface, is supported by the flat rollers arranged in close proximity. It is common to grasp a hand or a handrail. In addition, the running surface is inclined forward and upward, and the running surface is retracted by the component force of the body weight. Next, although it has a similar structure to the main body, there is one that drives the running surface with an electric motor, while the runner runs in synchronization with the speed of the running surface.

Both are highly used for health, training, and medical purposes, and there are many references to their partial improvements. Among them, there are two cases in which the purpose of improvement is considered to be similar to that of the present invention, in the scope of the investigation, that is, Japanese Utility Model Publication 51-105567 and Japanese Utility Model Publication 53-145568.

(Disclosure of Invention)

Of the three types described in the previous section, the former needs to hold the handle or the handrail when traveling, and therefore cannot exercise most of the upper body. The following can add movements of the upper body, but in principle cannot run freely at high speed. On the other hand, the electrically driven one can make the whole body the movement of the running, but in general,

OMPI WIPO There is a delay in control even if the vehicle travels in synchronization with a preset speed, or the speed of the traveling surface is automatically controlled by using the displacement of the runner. However, if the acceleration / deceleration selected by the runner is large, it is necessary to lengthen the running surface.

This invention eliminates the above-mentioned problems, and adds the movement of the upper body to the runner's posture in the same way as running on the ground, and further includes the optional acceleration / deceleration selected by the runner. It provides a running machine that enables safe driving at high speeds and can expect the full-scale exercise effect of running. (Hereinafter, in this specification, running on the ground is described as running, and running by running machine is described as running. Also, approximation is used as a word indicating a level close to that of running.) In terms of the language, the rung is a reaction that occurs when the runner kicks the ground, and the runner moves against the ground, and some of the release of muscle force is possessed by the runner. It is converted as a mechanical motion energy to accelerate mass. The target speed is to keep constant speed by constantly repeating acceleration and deceleration, but it is mechanically inefficient, and this appears as an effect of motion.

In a running machine (hereinafter abbreviated as "machine") having an end-running surface that recoils and recedes, the abdomen and waist, which forms the moving center of gravity when running, at the midpoint of the running surface. If the support is supported vertically and horizontally in the vertical direction and elastically in the front-back direction so that the force increases with movement, the runner can run without gripping the handle. Similarly, upper body movements can be added. However, that alone is not enough to get a smooth run. To get stable running

CMFI

.V IFO As with running, it must accelerate and decelerate, as well as give and receive the movement energy required to maintain a constant speed, between the runner's sole and running surface.

As a countermeasure, if the runner gives the same speed to the running surface by using the machine and the value of the motion energy held during the running, the running surface and the following The kinetic energy value stored in the moving system is approximated by configuring the machine's kinetic system so that the machine has a running feeling similar to that of running. As a result of planning and implementation, it was confirmed that the assumption was correct. The condition of the motion energy approximation is that the inertia of the runner viewed from a certain rotation of the motion system of the machine and the inertia of the motion system of the machine are approximated (condition of the inertia approximation). It can also be expressed.

Further, the elastic support is intended to temporarily store or release the motion energy associated with acceleration / deceleration of the runner, and effectively act to improve the running stability and the running stability.

Due to the nature of the run, the runner expects to increase speed and distance as well. Therefore, it is necessary to pay attention to the structure so that the energy loss consumed on the running surface and the motion system driven by it is minimized. In particular, the material of the running zone that forms the running surface, the construction, and the method of supporting the running portion are important for reducing energy loss and improving the feel of the tread. One of the manufacturing methods is the belt conveyor, which has a pool at the front and back, and an endless belt is hung on it. It is a bell-shaped thing. When using the running beach as a belt,

' The energy loss caused by the bending resistance at the rear pulley and the runner's sole slipping into the gap between the receiving rollers via the belt is unexpectedly large. An example of the countermeasure will be described later as an example.

Next, it is possible to obtain a more comfortable running surface by configuring the running zone without using belts. The structure is such that the two ends of a tread plate of the same shape subdivided at right angles to the running direction are connected by roller chains, and the ones that are made of an address are hung on the front and rear chain cars and used as the running part of the chain. It is a structure in which the lower part of the roller is supported by a smooth rail, which is commonly known as the sled cone shape. The tread feels much better and energy loss can be reduced with the right configuration.

Next, if one of the constituent conditions of the subject of the present invention (condition of the inertia approximation) is shown by the equation of motion energy, it becomes as follows.

The mass of the runner is ¾ ^

When the runner's running speed is vibrated at the same speed as Vi using the Vi machine

The mass of the linear motion system of the machine is M _{2 and} the velocity of the linear motion system of the machine is V 2

The inertia moment of the rotary motion system of the machine can be expressed as if the angular velocity of the rotary motion system of the I machine is

Satisfying the above approximation formula steadily brings about the effect of the present invention.

Ύ-, no WIPO However, the left side shows the condition of the weight of the runner and the right side shows the content of kinetic energy possessed by the machine-moving system.Therefore, in the first embodiment described below, numerical values are applied to the above approximation formula. And, for a runner of weight, the following percentage values are obtained.

/ 00 = ^ + / / L%

As mentioned above, most of them are the second term on the right side, of which the main one is due to the effect of the flywheel. By the way, there are some recoil type machines on the market that are equipped with flywheels.

/ 00 ^ 2 + 6%

"

The value on the right side is extremely small. This is due to the fact that the vehicle travels while gripping the fixed part by hand, and the purpose is different ^. Even so, the reason for such a difference in the second term is that in the case of the embodiment, in order to increase the energy storage effect, a speed increasing mechanism is connected to the pulley shaft and a flywheel is connected to the high speed shaft. This is the effect of the fixed installation of the base. If the mass and the radius of gyration are the same, the interior of the engine is proportional to the square of the speed increasing ratio, and if a reduction in the total weight of the machine is required in this invention, the speed increasing mechanism and the flap are inevitable. I need wheels. However, the above (conditions for inertia approximation) is very wide. For example, a machine tailored to a runner with a heavy weight can drive a child with a weight of 3c2 in a stable manner. In the above formula, if the values on both the left and right sides are made equal, the running feeling can theoretically be made equal to the running even if the moving center of gravity of the runner is fixed in the front-back direction. Since the moving center of gravity of the runner is elastically supported, Even if the ratio of the right side to the left side is large enough, it does not hinder driving. According to the experiments, the more the ratio exceeds /, the more stable the vehicle is at constant speed, and the more c2, the more unnatural the acceleration / deceleration is. It depends on the runner. 9 It is difficult to limit numerically because it has different sensations, but even if the movement system has a low efficiency, it may be O.S or higher, and the upper limit is the elastic support allowed by the length of the running surface. It greatly changes with the spring constant of the body. Therefore, it is convenient to drive if the structure of the flywheel can be changed easily, or if the structure is such that the effect changes automatically depending on the displacement of the runner. Next, in this machine as well, the food load device for performing the strengthening exercise is effective, and its configuration can be easily achieved by any known technique.

Next, in order to cover the mechanical loss of the machine of the above-described embodiment and keep the running posture naturally, the slope with the running surface at the front upper side] 3 is /. With the odometer attached in this state, the planned amount of running was continued for about 3 months every day, and then running was performed.The results of comparing the data before and after were compared, and as a result, the running condition was improved. It was confirmed that there was an equivalent effect.

However, in the above-mentioned embodiment, the power consumed during the travel of 3 Zsec is the calculated value. On the other hand, running in the horizontal state is several watts, which is several times the load running. As mentioned above, the runners expected to extend the running distance, and they did their best to reduce the mechanical loss of the machine, but in order to further improve the structure, It was decided that the solution by the following method would be easy and economical.

The means to obtain a running effect close to the running is the structure of the running belt of the shin, the method of supporting the part forming the running surface, the support of the runner's impact, the machine and the runner's inertia. The composition of the subject, such as the ownership ratio, is the same as the original

ο ίίι WIFO Comb consumed in the machine's motor system? : Nergi ^ ~ The idea is to compensate the loss with electric power. At first glance, it seems to be similar to the electric drive type, but since it basically adds to the machine of a different configuration, the capacity of the motor becomes smaller. It is said that the electric drive type has a large capacity of the electric motor and has good stability during traveling, but in the present invention, the torque of the electric motor is a limit value capable of compensating the mechanical loss of the machine. However, not only is it expensive to have a large capacity, but it also requires a high degree of contract for torque control.

Become here.

Next, is the characteristic including this motor and its control system the purpose?

0

It is ideal to have a DC machine that can adjust the output torque pattern according to the characteristics of the change in the weight of the runner and the speed loss of the machine, but consider versatility. In order to save maintenance work, it is possible to use a single-phase induction motor that can be used as a household power source, and to attach a simple control device to obtain a machine with a very pleasant driving feeling. The control required for compensating the mechanical loss of the machine is the torque control of the electric motor, and as a result, the speed control of the driving zone may be used. The element of speed control in the running zone is that the runner changes the transmission output according to the displacement from the neutral point (elastic support equilibrium point), and the displacement-related sensor depends on the displacement sensor. Easy to configure by any method, such as capturing changes in the center of gravity

0

it can. In either case, it is advisable to set the velocity at the middle point and to increase the velocity for displacement. An example thereof will be described later as an example. As an extreme example for simplifying the control system, the main body of control is composed of a dynamic switch and a variable resistor, and the motor is controlled by the opening and closing.

"^ No However, the result is that the driving feeling is sufficiently satisfied. Even if the control system is simplified up to this point, the machine fulfills its function because the motor system of the runner and the machine is selected as the inertia value of the same level, and both of them are shoes. This is considered to be due to the frictional coupling between the bottom and the running zone, and the closed-loop characteristic obtained by the elastic coupling between the moving center of gravity of the runner and the support.

Next, in the present invention, the purpose of the electric motor is to generate a torque for compensating the loss of the machine, and when the torque corresponding to the loss of the machine is analyzed, the motor is driven under no load. The two main factors are running resistance and running resistance that changes depending on the weight of the runner. The former may be considered to be constant, while the latter is considered to be proportional to body weight, so

As a result, a torque motor that has the highest torque at a moderate speed can be adapted, which can adjust the torque by changing the weight of the runner. Satisfactory results were obtained using a medium resistance single-barrel torque motor that provides the required characteristics. The torque approaches the compensation value required at medium speed, and the change in the weight of the runner can be dealt with by increasing or decreasing the supplied voltage.

Next, using the characteristics of the machine described above, we examined the possibility of mechanical loss compensation using a variable-speed electric motor, and as a result of implementation, the range where the maximum torque falls below the loss compensation value of the machine. If so, the running feel is good, and Run # is set according to the planned running speed before or during running.

-It was confirmed that by changing the setting device, it is possible to travel sufficiently corresponding to the acceleration / deceleration characteristics of the electric motor. '

In addition, since the machine has elastic characteristics for controlling the electric motor as described above, the electric motor used and its control device are

(OMPI Numerous combinations of techniques are available. It should be noted that if the control device is a reliable one, the capacity of the motor is much larger than that required, and it should be no problem. Regarding the torque compensation value, in order to stabilize driving and obtain safe driving, lower the compensation value at low speed,

-At high speeds, the required value should be approached, and at high speeds the shortage should be compensated again.

Yes. As an overcompensation, the runner can be given a forced run.

Next, regarding the configuration of the traveling zone and the addition of flywheels described on lines S / 0 to 7 on page S, it is exactly the same even when the motor is attached, but the inertia For, it is necessary to determine the ratio including all of the electric motor and the moving body for engaging it.

Ο

Next, when an electric motor is attached, it is possible to easily apply a compulsory load due to the effect of dynamic braking by supplying direct current to the stator.

This concludes the explanation of the configuration. The idea of this invention is to elastically support the center of gravity of the runner's movement in a mechanical manner.? The aim is to achieve a machine that allows arbitrary running, and the other conditions attached are ideal. It is a means to obtain the effect.

The target described in the first part of this section was achieved almost completely because of the electric power compensation, but it is highly useful for that purpose even if it does not come with an electric bush. The psychology that sought to run is a natural example of human beings, and a collective example that develops year by year is a typical example. This long-lasting recoil-back run-in machine has the ability to add whole-body movements. In addition to health and training, the value of running

ΟΜΡΙ

， No The value is extremely high.

(Brief description of drawings)

Figure 1 is a perspective view of the overall configuration showing the principle of the first embodiment.

Figure 2 is a partial perspective view of the transfer roller.

Figure 3 shows a new side view of a machine that uses a transfer roller.

FIG. 4 is a perspective view of the overall configuration showing the principle of the second embodiment.

Figure 5 is a block diagram of the speed control system of the electric motor.

Figure 6 is a side view of a machine that controls speed by changing the center of gravity.

Figure 7 is a block diagram of the speed control system of the motor.

(Best Mode for Carrying Out the Invention)

An embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing the overall configuration of the first embodiment for explaining the principle of the invention. For better understanding, the parts were drawn apart from each other, but the actual products are compact and designed to allow safe driving. The front and rear pulleys 1 and 2 and the receiving roller 3 are pivotally mounted on the support 5 so that they are extremely lightly driven by the endless belt 4. The support joint 5 is provided with a device for tensioning the belt 4 and an adjusting device for tilting the running surface forward and upward. The flywheel 7 is connected from the shaft end of the front pulley-1 via the speed increasing mechanism 6. The waist belt 8 worn on the abdomen and waist of the runner is rubber straps 9 and 9

/

According to this, the runner can freely move the whole body centering on the abdominal and lumbar regions, since the runner is connected to the supporting arms 10 and 10.

The above is the outline that constitutes the machine, but it is necessary to give careful consideration to each part that makes up! ), And the results of the examples will be described.

WIPO As already mentioned, the Belt 4 requires strong tensioning in order to reduce the irritability and mechanical loss of the runner's sole in the gap between the sockets 1 and 3. Need resistance to do.

However, if it is too thick, it is not preferable because it causes large mechanical loss during bending in the front and rear pulleys 1 and 2. As a result of trying various materials, in the example with a puller diameter of / 00, comparison was made with synthetic fiber canvas as the core and synthetic resin vulcanized on both sides of thickness c2 OT. And gave good results.

Receptacle — The rail 3 is an important part that affects the performance of the machine when the traveling zone is made up of belts, and the performance of the machine changes greatly depending on the selection. In order to reduce mechanical loss and improve the feel of the tread, it is necessary to arrange them as closely as possible. To do so, it is necessary to arrange rollers with small diameters close to each other, but there is a limit in strength, and the following method gives even better results. Fig. 2 is a partial perspective view with the receiving roller as a rolling roller, and Fig. 3 is a side sectional view showing the principle of constructing a machine using it.

A shaft is provided at both ends of the diameter / ε-roller 21 and the roller chain

The structure in which 22 is fitted and connected to the endless belt is hung on a chain wheel 24 having a common shaft 23 provided at the front and rear of the traveling surface, and the lower surface to be the traveling portion is supported by a smooth surface plate 25. Is. In principle, the weight of the runner is supported by the surface plate directly via the roller, so the diameter of the mouthpiece can be small and the tread feels good, but to prevent noise, the material selection and processing accuracy are You need to be convinced.

Next, the best way to improve the feel of the tread is that the running surface is flat.

Λ, V IPO In this method, a prototype of a so-called slid-compeller-shaped running zone was prototyped. Place a hard wood of 2J "in the running direction close to it, with the lower end of the joining line being the axis of the mouth, and then use the roller chain of the 5.4-pitch pitch. The lower surface of the chain roller, which is the running part, is supported by a smooth rail to form the running surface.The tread feel of this example is as expected. However, the running resistance is high when the bearing of the chain roller 1 is plan bearing, which is solved by the use of ball bearings. It is necessary to prevent the generation of noise by using synthetic resin, etc. Also, if the weight of the running zone is close to the weight of the runner, the flywheel is not necessary.

Next, the necessity of the speed increasing mechanism 6 and the flywheel 7 and the technical contents are as described in detail in the section of (Disclosure of Invention). In this embodiment, the speed-increasing mechanism 6 is a rubber belt having teeth inside, and a pulley with two teeth engaged with the rubber belt provides an efficient mechanism that does not generate noise. For the adjustment of the energy storage effect of flywheel 7, we adopted the method of adding a ring if necessary. It would be ideal if a stepless speed-up mechanism with high efficiency could be obtained.

Next, a rubber cord forming an elastic support, which is an essential requirement in the present invention.

9 and 3 are the spring constants-// ^ of the natural length ^ of which it is necessary to select an appropriate one because it affects the driving feeling, and the interference range of the tension of the front and rear rubber plate ~ Good results were obtained for lOM. In order to prevent lateral shake during running and to stabilize it, as shown in the figure, the locking points of the support frame can be opened and closed to the left and right to increase or decrease the lateral shake of the runner. Is effective.

Next, as a braking device for strengthening motion, a method in which a friction material is pressed against the flywheel 7 is used, a method in which an induction haze is generated in the flywheel with a permanent magnet having a strong coercivity, Experiments such as these were conducted, but all of them were effective. -Now that the detailed description of the configuration has been completed, the usage method will be explained. Even if the mechanical loss of the machine is reduced as described above, it will give a running resistance of about 2 to the weight of the runner, so the posture will collapse when used horizontally. Therefore, it feels good to drive if the front part is raised and tilted to match the resistivity. According to the belt bearing on the running surface, the use of athletic shoes with a slightly harder flat bottom reduces the mechanical loss of the machine. In the embodiment shown in FIG. 1, the speed / c2 kmZ h and the stride were easily obtained. What is the effective length of the running surface? Therefore, this means that both legs of the runner float in the air, similar to running.

Next, a form in which the mechanical loss of the machine is compensated by electric force will be described. FIG. 4 is a perspective view showing the overall structure of an embodiment for explaining the principle. Note that the parts numbers 1 to 10 shown in Fig. 1 completely match the content, structure, and purpose in this drawing as well, so the description of (a) is added and the description is omitted and newly added. I will only explain the parts. The speed change mechanism 41 is interposed on the high speed shaft of the speed increasing mechanism, and the electric motor 42 is attached. In addition, a tension sensor 43 is fixed to the center of the beam that is laid horizontally above the support sill 10a, and this is connected to the waist belt 8a by the rope 44. Next, a device for controlling the reach of the electric motor 42 will be described. Figure 5 shows the distance system

c:,:? i

V / IPO In the block diagram of the control system, the tension sensor 43 and the voltage regulator 45 are connected to the motor 42 on the load side and the main switch 46 on the power source side.

Since the outline of the configuration is described above, the details of each component will be explained. The structure of the speed change mechanism 41 should be the same as that of the speed increasing mechanism 6a.

42 is a general-purpose single-phase / ^? ^V capacitor — a rotor of a motor is processed to have a medium resistance torque characteristic, and the characteristic after modification is ^ ^HZ , when operating at oo and about Λ O3 ^ s- ^ o Torque is generated o At this rotational speed, the speed of belt 4.a was selected to be about 3 m / sec. The rope 44 is a thin rubber tube.

Next, the tension sensor 43 is a coarse-precision differential transformer, and its output is applied to the triac of the voltage regulator 45 to generate a torque of the motor approximately proportional to the tension, and the displacement / 00 view An extremely natural driving feeling was obtained by selecting the full voltage.

Next, it has already been described that the mechanical characteristics of this machine are extremely advantageous for simplifying the characteristics of the electric motor and its control device, but another embodiment constructed for the purpose of simplifying the control device is described. Of these, we will describe a simple and successful method. Fig. 6 is a side view showing the principle that the change of the center of gravity of the machine due to the displacement of the runner is used as a control element, and Fig. 7 is a block diagram of the control system of the electric motor. The machine is supported by a fulcrum 62 fixed on a cradle 61 and a compression spring 63, and is configured to move up and down the front part according to the displacement of the runner and 1¾. The movable switch 64 fixed to the pedestal 61 can be opened and closed on the front part of the support 5 by the push rod 65 fixed vertically. The control circuit is parallel to the ballistic switch 64

O PI Connect the variable resistor 66 to the motor, and connect the motor to the load side and the main switch 46 to the power source side to connect to the power source. Adjust the operating point of the elastic switch so that it opens when the runner stands at the midpoint and closes when the runner moves to the front, and the opening and closing hysteresis and the spring constant of the compression spring 63 are selected. Constitute.

As mentioned above, running takes time for both feet to float in the air.Therefore, opening and closing are repeated for each step, and the energization time is almost proportional to the displacement of the runner, so the control device is simple. and order to adjust the effect of the torque裰償to the body weight of regardless good _c Note variable resistor 66 the drive feeling can be obtained runner is a Yu勃for smooth operation of the rotor. When using the runner's displacement as an element, even a simple control system like this can withstand practical use.

Next, an example using a torque motor will be described. As described above, the speed-torque characteristic of an electric motor that compensates for mechanical loss of this machine should have a gradual rise curve and fall at high speed as the speed increases. By reducing the voltage of the medium resistance torque motor, the torque characteristics required from start-up to the maximum operating range can be obtained. A machine with a good driving feeling was obtained by selecting one that compensates for mechanical loss of the machine for this stalling torque. To respond to changes in the weight of the runner, the voltage supplied may be increased or decreased. In this case, the transmission 41 has a mechanism for increasing the speed.

Next, an embodiment using a variable speed motor having a speed setting device will be described. The electric motor is a single-phase induction drive box that has a speed generator and can control the supplied power by comparing it with the set speed by handpacking its voltage. The maximum acceleration and deceleration torque of the machine We chose a value close to the value that can be compensated for, and installed a speed setting device in a place where it was easy for the running runner to operate. When the speed of the machine approaches the set speed, an extremely good driving feeling is obtained, and any acceleration / deceleration does not affect the usability.

Next, a braking device for applying a forced load will be described-. This is a method in which the main switch 46 is a neutral double throw, and when it is placed on the load side, it is excited by an adjustable direct current through a rectifier. Due to the effect of dynamic braking, the desired load running can be obtained at medium speeds and above.

Now that we have completed the explanation of the machine configuration with electric force compensation, we will now explain how to use it. In general, it is unavoidable that the control gear including the electric motor and its control device will be expensive if it is required to be accurate in order to compensate the mechanical loss of the machine. In order to simplify the control system and ensure safe driving, it is necessary to select the compensation torque at a slightly lower level than the required torque at the average value. As an inevitable measure, inclining the running surface slightly forward and upward is a necessary measure to keep the running posture natural. It should be noted that in the example in which the torque motor 1 was adopted, the results of speed / 1ππ / ι and stride / were easily obtained.

The basic condition required for the construction of the present invention is the elastic support of the runner to the support frame as described above, and the runner and machine motion system inners for realizing stable running in that state. This is the condition of shear approximation. When the results of the examples were analyzed, it was confirmed that these two are effective in coordinating and stabilizing the running. An example of this is a configuration in which the ratio of the left and right sides of the above approximation formula is /: Runners start at a relative acceleration of about έ ni / sec,

When reaching 3 m // see, the runner can accelerate the cruising zone while displacing forward about J ¾ ¾, return to the midpoint after about sec and continue running at a constant speed. When a machine equipped with a torque motor for loss compensation is started with no load, it takes approximately 2 seconds to reach this speed The energy of the vehicle is given by the runner] 9, and even if the vehicle decelerates suddenly, the elastic support effectively works and the vehicle can safely stand at the midpoint. As described above, it was possible to confirm the kinetic effect of the two conditions, which was the basis of power generation, when driving at constant speed including rapid acceleration and deceleration.

Determining the ratio of the right-hand side to the left-hand side of the approximate expression, which is an essential requirement in the present invention, is an important condition for satisfying the driving feeling, and will be explained by the results obtained in the examples. In constant speed running, increasing the ratio is effective to improve the running feeling.] 9, The position where the reaction force of the runner and the elastic support balance with the maximum acceleration / deceleration is balanced. Then the ratio should be close to /. Increasing the spring constant of the elastic support is to lower the support] 3, the same as above. The lower limit of the ratio that satisfies the driving feeling was when the mechanical efficiency of the motion system was low, except when the motion system was restricted to apply a forced load. The upper limit of the ratio is

• The smaller the deceleration is, the better. It is necessary to find the optimum ratio in harmony with the lower limit value by taking into account conditions such as acceleration / deceleration, characteristics of supporting strength, and running surface length. is there. Also, when overriding the torque of the electric lock, it is necessary to keep in mind when driving.

Claims

The scope of the claims

1. A running machine that has the following structure in a traveling machine that has an endless traveling zone that recoils when traveling.

(a) A free-running endless traveling armature is wound around a rotating body that is horizontally supported in the front-rear direction and horizontally supported to support each other. The main body is constructed by installing a device that supports the bearings in a certain direction and attaching a device that tilts the support joint backward.

(b) The ratio of the inertia of the machine motion system viewed from the rotation axis of the machine to the inertia of the runner calculated from the coaxial view when the runner is fixed to the running surface is equal to or greater than the value of the machine Select the amount of exercise system inertia.

(c) At the midpoint of the running surface, the abdomen and waist of the runner and the support base are connected by an elastic support so that the support force increases as the runner moves back and forth from the midpoint. Elastically supports the runner.

2. The traveling zone is an endless belt, the front and rear guides are provided by a pulley, and a plurality of rollers are arranged on the lower surface of the traveling shoulder to form a traveling surface. The listed running machine.

3. In the traveling zone, both ends of the treads subdivided at right angles to the traveling direction are connected to the endless rollers by roller chains, and the guides in front of and behind them are made into chain cars, and the chain entrance of the traveling part is used. The running machine according to claim 1, wherein the lower surface is supported by a rail to form a running surface.

4. A kinematic system is constructed by engaging a speed increasing mechanism around a rotating body that follows the traveling zone, and fixing a flywheel to the speed increasing mechanism to form a motion system. Or the running machine described in paragraph 3.

R £ .G:? I

WIPC5 ~ "

5. The running machine according to claim 1, 2 or 3, wherein a braking device is provided in the airframe motion system to brake the running beach.

6. A running machine that has the following configuration in a traveling machine that has an in-vehicle traveling zone that recoils when it travels.

(a) A free-running endless traveling winding is wound around a rotating body that is horizontally parallel to the front and rear and is axially supported by a support base. The main body is constructed by installing a device that supports the bearings in a certain direction and attaching a device that tilts the support base backward.

(b) An electric motor is engaged with the shaft of the rotary system that follows the traveling zone.

(c) The ratio of the inertia of the machine motion system viewed from the axis of the machine to the runner's inertia calculated from the coaxial view with the runner fixed to the running surface is that value. Select the amount of inertia in the aircraft motion system as described above.

(d) At the midpoint of the running surface, the abdomen and waist of the runner and the support base are connected by a flexible support so that the support force increases as the runner displaces back and forth from the midpoint. Elastically supports the runner.

(e) The output torque of the electric motor controls the electric motor so that it approaches the value within the range of the torque required for compensating the mechanical loss of the body motion system when the runner runs. ..

7. The traveling belt is an undresbelt, the guides before and after the traveling belt are uniform, and a plurality of rollers are arranged on the lower surface of the traveling belt to form the traveling surface. A running machine.

8. The running limb connects the both ends of the treads subdivided at right angles to the running direction to the end with the roller chain, and the guides before and after that are used as a chain car.

ΟΜΡΙ The running machine according to claim 6, wherein the lower surface of the chain roller serving as a row is supported by a rail to form a running surface.

9. Secure the flywheel to the rotary shaft of the high-speed section that follows the traveling zone.

7. The running machine according to claim 6, which constitutes a motor system.

10. The displacement of the runner forward from the midpoint of the running surface is used as a sensing element to dynamically increase the speed of the running zone to the running speed of the runner.

The runner control according to any one of claims 6 to 9 for controlling an electric motor.

11. The running machine according to any one of claims 6 to 9, wherein the electric motor is a torque motor.

0

12. The running machine according to any one of claims 6 to 9 wherein the electric motor is a variable speed electric motor whose speed can be preset by a speed setter.

13. Any one of claims 6 to 9 for braking the traveling zone by dynamic braking obtained by supplying direct current to the electric motor.

Five

The running machine o

ΟΜΡΙ

'i? o ^