JPH07110289B2 - Step-type training machine control method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention sets an exercise load as a pulse value and feeds back the pulse value during exercise to meet the individual physical fitness level of an exerciser. The present invention relates to a step-type training machine and a control method capable of automatically controlling the braking force of a braking load means so as to maintain an exercise load.

[Prior art]

In recent years, various training machines aiming to improve physical fitness for a few to elderly people have been developed.

For example, a so-called step climbing that is equipped with a pair of left and right crank pedals that can be driven up and down, and controls the up and down driving of the crank pedals by transmitting the up and down driving of the left and right crank pedals to load means such as a power generation brake. Type training machines are known, the control of the vertical drive speed of the left and right crank pedals of the conventional step climbing type training machine is performed by changing the field current of the generated brake load means that changes in proportion to the vertical drive speed of the crank pedals. The strength is used as it is to obtain the braking force, and the braking force of the dynamic braking load means is not controlled in consideration of the actual weight of the exerciser, exercise efficiency, age, sex, physical strength level, etc. It was

〔Problems to be solved〕

Therefore, the conventional stair climbing type training machine cannot adjust the load of the power generation braking load means according to the physical strength level which is different for each exerciser or according to the change of the physical condition during the training. Therefore, it is impossible to set an effective exercise load on the exerciser, which leads to problems such as excessive training, and conversely, light training that makes pointless training meaningless. Was there.

[Means for solving problems]

The present invention has been made in view of the above circumstances, its purpose is to note that there is a correlation between the exercise load and the pulse value, for example, preset target pulse value, during training When controlling the braking force of the generator brake load means etc. so that the pulse value slowly increases according to the increase rate of the load suitable for the exerciser and approaches the target pulse value, the left and right sides of the exerciser's foot are independent. In a step-type training machine that controls the driving speed of the crank pedal that is driven up and down by the brake load means, the target pulse value is determined by the pulse of the exerciser and the age and sex of the exerciser. The step of determining and the step of constantly detecting the pulse rate of the exerciser and determining the exercise load so that the pulse rate during exercise becomes the target pulse rate determined by the age, sex, etc. of the exerciser , A warm-up step to determine the target exercise load from the age of the exerciser, and to ensure that the pulse enters the target pulse band without overloading the exerciser, and the pulse value measured during the warm-up The physical strength level estimation step of estimating the physical strength level of, the step for controlling according to the physical strength level estimated in the physical strength level estimation step to control the optimal pulse value, and the data obtained in each step above is calculated A step-type training machine control method for controlling a brake load means by a control signal extracted by the arithmetic processing means.

[Action]

Since the above-mentioned configuration is adopted, by setting the exercise load as the pulse value and feeding back the pulse value during the exercise, the power generation brake load means is provided so that the exercise load that matches the individual physical strength level of the exerciser can be maintained. It is possible to automatically control the braking force of.

〔Example〕

Hereinafter, one embodiment of a step-type training machine and a control method thereof according to the present invention will be described in detail with reference to FIGS. 1 to 6.

FIG. 1 is a perspective view showing the entire structure of a step-type training machine adopting the control method according to the present invention.

In the figure, A is a frame part, B is a crank pedal part, C is a drive part, and D is a control part.

In the frame portion A, one side of a pair of L-shaped under pipes 1a, 1a is arranged horizontally and at equal intervals, and under plates 1b, 1b are passed between the under pipes 1a, 1a, and A space (S) is formed by interposing a separator (not shown) on the plates 1b, 1b to attach the base plate 1c, and the under pipe 1a,
It is configured by connecting both ends of the upper pipes 1d, 1d formed in a substantially U shape with the same width as the under pipes 1a, 1a through color joints 1e, 1e to both ends vertically facing upward of 1a. .

The crank pedal portion B is a rear underplate in which both ends of a pivot shaft 2b arranged so as to pass through the corner portions of a pair of substantially L-shaped crank arms 2a, 2a are inserted between the underpipes 1a, 1a. 1b is pivotally supported by a pair of pivot bearings 2c, 2c which are vertically provided at a predetermined interval substantially in the center of the rear edge of the 1b, and the pedals 2d, 2d are pivoted at the respective rear ends of both crank arms 2a, 2a. It is configured to wear.
The positions of the two pedals 2d, 2d slightly offset from the pivotal positions of the crank arms 2a, 2a and the pivot shafts 2c, 2c.
Parallel links 2e, 2e are arranged between the slightly eccentric positions, and the rotation of both pedals 2d, 2d is always held horizontally without being affected by the vertical swing angle of the crank arms 2a, 2a. Is configured.

The drive unit C includes a drive shaft 3c that is arranged between the bearings 3a, 3a arranged on the left and right of the rear side of the base plate 1c, and a pair of left and right free wheels 3b, 3b that are arranged through the drive shaft 3c. It is composed of a speed increaser 3d attached to one front side of 1c and a power generation brake load means 3e arranged on one side of the speed increaser 3d, and these free wheels 3b, 3b, speed increaser 3d and power generation brake load means 3e.
Is driven by the movement of the chains 3f, 3f connected between the ends of the crank arms 2a, 2a described above, that is, both crank arms.
The movements of both chains 3f, 3f, which move with the vertical swing of 2a, 2a, are transmitted to drive sprockets 3g, 3g inserted through the drive shaft 3c at a predetermined interval near the center of the drive shaft 3c, and the drive sprockets 3g, 3g Rotation is free wheel 3b,
Drive shaft converted to unidirectional rotation by 3b
3c, the rotation of the drive shaft 3c is a sprocket 3h arranged on one side of the drive shaft 3c, and a gearbox
Timing when the rotation transmitted to the speed increasing gear 3d through the chain 3j wound between the sprockets 3i mounted on the input shaft of 3d, and accelerated by the speed increasing gear 3d is mounted on the output shaft of the speed increasing gear 3d. It is configured to be transmitted to and driven by the power generation brake load means 3e via a timing belt 3m wound between a timing pulley 3l mounted on the input shaft of the pulley 3k and the power generation brake load means 3e.

The free ends of the chains 3f, 3f stretched over the tips of the crank arms 2a, 2a are wound around the drive sprocket 3 inserted through the drive shaft 3c, and at the approximate center of the rear edge of the base plate 1c. A space S formed between the base plate 1c and the under plates 1b, 1b via a pair of left and right sprockets 3n, 3n arranged at predetermined intervals.
Through the inside, through the pulleys 3p, 3p arranged at a predetermined interval on the front end substantially center left and right of these plates 1b, 1c in the direction of separating from each other, and at a predetermined interval on the rear center left and right of both plates 1b, 1c. The pulleys 3q, 3q arranged are connected to both ends of a spring 3r wound around the pulleys 3q, so that the chains 3f, 3f can be moved smoothly.

The control unit D is the upper end of the under pipe 1d, that is, U.
Arithmetic processing means 4b (hereinafter referred to as a microcomputer in the present embodiment) built in a housing 4a attached in a substantially central position formed in a letter shape, a pulse detection circuit 4c, an alarm buzzer
4d and a display unit 4e arranged on the upper surface of the housing 4a (this display unit displays, for example, pulse value, load level, age, sex, weight, time, elapsed time, calorie consumption, type of training, etc. And an input key 4f for inputting various data, and the microcomputer 4b to the pulse detection circuit arranged outside the housing 4a via a lead wire.
Rotational speed detector of power braking load means 3e connected to 4c
It consists of 4g, pulse sensor 4h, and constant current power supply 4i.

The various data are interface circuits 4j (by connecting to an external host computer via this interface circuit, data is input from the outside instead of being input by the input keys 4f, or data such as training results is output. It also has a communication function that can be done)
It is also possible to print out by a printer 4k connected via.

Hereinafter, the operation of the step-type training machine and the control method of the step-type training machine according to the present invention will be described based on the above configuration.

First, the operation of the step-type training machine will be described.

As shown in FIG. 1, the exerciser M puts his / her feet on the pedal pushes 2d, 2d, alternately puts his / her weight on the left / right feet, and steps down the left / right crank arms 2a, 2a. By this step operation, the left and right crank arms 2a, 2a move to the pivot shafts 2b, 2b.
Is rotated about a fulcrum by a predetermined angle.

For example, when the left crank arm 2a shown by the solid line in the figure is stepped down by the left foot of the exerciser M, the chain positioned in front of the pivot shaft 2b of the left crank arm 2a.
The front end connected to 3f moves backward from the lower position shown in the figure while making an arc rotation. Therefore, the left chain 3f connected to the tip of the crank arm 2a is pulled out rearward. When the chain 3f is pulled back,
The drive sprocket 3g on which the chain 3f is wound rotates, and this rotation is transmitted to the left free wheel 3b integrated with the drive sprocket 3g.
The drive shaft 3c inserted through the shaft is rotated in one direction.
The rotation of the drive shaft 3c is input to the speed increaser 3d via a sprocket 3h fixed to the left side of the drive shaft 3c and a chain 3j wound around a sprocket 3i attached to the input shaft of the speed increaser 3d. The rotation input to the speed increaser 3d is accelerated to a preset number of rotations, and the timing is wound between the timing pulley 3k attached to the output shaft and the timing pulley 3l attached to the input shaft of the dynamic brake load means 3e. belt
It is transmitted to the power generation brake load means 3e via 3m and rotates the power generation brake load means 3e.

By the way, since the end portion of the left chain 3f pulled out when the left crank arm 2a is stepped down is connected to the right chain 3f via the spring 3r, the movement of the left chain 3f moves via the spring 3r to the right chain. It is transmitted to 3f. Therefore, as shown by the solid line in the figure, the right chain 3f is in a state of being pulled out rearward by the tip portion of the right crank arm 2a, but is in a state of being pulled back by the rearward movement of the left chain 3f, and is rotated rearward. The tip portion of the right crank arm 2a moving forward. That is, at the time when the stepping down of the left crank arm 2a by the left foot of the exerciser M is completed, the exerciser M takes a posture of pulling up the right foot in the normal step motion, so that the right chain
Since the load of the right crank arm 2a pulled back by the 3f is lightened, the pedal 2d side of the right crank arm 2a moves smoothly upward.

When the stepping-down motion of the left foot by the exerciser M is completed, the pedal pivotally attached to the right crank arm 2a as described above.
Since 2d moves upward, the exerciser M steps down on the right foot positioned above as the next movement.

When the exerciser M steps down on the right crank arm 2a with the right foot, the tip end of the right crank arm 2a, which is connected to the chain 3f located in front of the pivot shaft 2b, makes an arc rotation from a position (not shown). Move backwards. Therefore, the right chain 3f connected to the tip of the right crank arm 2a is pulled out rearward. When the chain 3f is pulled out rearward, the drive sprocket 3g around which the chain 3f is wound rotates, and this rotation causes the drive sprocket 3g to rotate.
The drive shaft 3c is transmitted to the right free wheel 3b which is integrated with the drive wheel 3b and is inserted into the free wheel 3b to rotate in one direction. The rotation of the drive shaft 3c is caused by the sprocket 3h fixed to the left side of the drive shaft 3c and the chain 3j wound around the sprocket 3i attached to the input shaft of the speed increaser 3d.
Is input to the speed increaser 3d via. The rotation input to the speed increaser 3d is accelerated to a preset number of rotations, and the timing is wound between the timing pulley 3k attached to the output shaft and the timing pulley 3l attached to the input shaft of the dynamic brake load means 3e. It is transmitted to the power generation brake load means 3e via the belt 3m to rotate the power generation brake load means 3e.

Since the end portion of the right chain 3f pulled out when the right crank arm 2a is stepped down is connected to the left chain 3f via the spring 3r, the movement of the right chain 3f moves through the spring 3r to the left chain. It is transmitted to 3f. Therefore, the right chain 3f is pulled out by the rearward rotation of the tip of the right crank arm 2a.
The left chain 3f connected via 3r moves forward and enters a retracted state. That is, in the step-type training machine according to the present invention, the exerciser M alternately depresses the left and right crank arms 2a, 2a with the left and right feet while stepping up the steps for a certain period of time, and by the control method described later, the power generation brake is used. The load of the load means 3e is controlled while being controlled so as to satisfy the optimum condition of the exerciser M.

Hereinafter, the control method of the above-described power generation brake load means 3e will be described in detail.

First, the exercising person M attaches the pulse sensor 4h to a body capable of measuring the pulse rate without disturbing training such as earlobe,
Personal data such as age, sex, weight, and exercise time are input from the input keys 4f of the display device 4e shown in FIG.

Next, the exerciser M balances his body while gripping the handrail part composed of the upper pipes 1d and 1d of the frame part A, and depresses the left and right pedals 2d and 2d by pressing the start / stop key equipped on the display device 4e. To start training.

During the exercise, the display unit displays the pulse value, the load level, the calorie consumption, and the elapsed time after the exercise start in real time.

Based on the personal data input as described above, the microcomputer 4b calculates the maximum pulse value, the upper limit pulse value, the target pulse value (general training or training for weight loss) shown in FIG.

The maximum pulse rate is estimated from the input age and sex by the following formula.

(Male) HRmax = 209− (0.69 × age) (Female) HRmax = 205− (0.75 × age) The upper limit pulse value during exercise in this example is set to the maximum pulse value−30 and Control.

Next, the warm-up step 1 is entered.

Warming-up step 1 (see step 1 in FIG. 5) A warming-up load is required to raise the normal pulse before exercise to the target pulse value.

There is a relationship between exercise load and pulse rate, and if the appropriate exercise intensity is given, the target pulse rate should be almost reached. The magnitude of the required warm-up load differs depending on the physical strength level of the exerciser M.

If the physical fitness level of the exerciser is known, the target exercise intensity may be determined based on it, but if the physical fitness level is not known, personal data such as age, gender, and weight can be used when determining the target exercise intensity. Warming up is performed with a general standard exercise intensity that can be calculated in advance, and the physical fitness level is estimated from the pulse value obtained during warming up to derive an appropriate target exercise intensity.

Based on the experiment, the relationship between the exercise load and the age at which the pulse rate was 50% of the maximum pulse rate (50% HRmax) was measured, and the standard exercise intensity was set as the following equation from the result.

50% HRmax) standard exercise load calculation formula Step 1 target exercise load = A1− (B1 × age) A1: 10.0 B1: 0.09 (A1, B1 are the age / exercise intensity graphs disclosed in FIG. 6,
Both are constants obtained from experiments. ) Obtained as described above, a gradual load of 20 seconds step for 3 minutes is applied so as to become the standard exercise intensity at 50% HRmax, and the average pulse for 2-3 minutes at that time is measured,
The physical fitness level is divided into three levels to determine the target exercise intensity in warm-up step 2.

(Step 1 Gradually increasing exercise load) Step value = Step 1 target exercise intensity ÷ 18 (step / 20sec) The target exercise load of Step 2 is set as follows for three levels of physical fitness.

Level 1: When entering the target pulse zone (target pulse within ± 5 beats) within 3 minutes from the start of warming up.

{Enter pulse control processing (no step 2)} Level 2: When the average pulse for 2 to 3 minutes after the start of warming up is 60 or more (60% HRmax) of the maximum pulse.

{Step 2 target exercise intensity = Step 1 target exercise intensity +
5} Level 3: When the average pulse for 2 to 3 minutes after the start of warming up is 60 (60% HRmax) or less of the maximum pulse.

{Step 2 target exercise intensity = Step 1 target exercise intensity +
9} A 20 second step gradual increase load is applied to the power generation brake load means 3e so that the exercise load of the exerciser reaches the target exercise intensity obtained above in 3 minutes.

When the exerciser's pulse value exceeds the upper limit pulse value calculated above, the buzzer 4d gives an alarm. Further, when the upper limit pulse value is exceeded for a certain period of time, the training is finished.

When the pulse value during warming up is larger than the target pulse value minus 5 calculated above: The braking load level of the power generation brake load means 3e is lowered by 2 steps, and the pulse control is started.

When it is small: Gradually increase the load for 3 minutes in steps of 20 seconds and measure the average pulse for 1 minute for 2-3 minutes at that time.

When the measured average pulse value is larger than the value of 60% of the target exercise intensity set in the above, the value is changed to a value obtained by adding 5 to the target exercise intensity.

When it is equal to or less than: Change to a value obtained by adding 9 to this target exercise intensity.

Next, the warm-up step 2 is entered. (Fifth
Warming-up step 2 (gradually increasing exercise load) The exercise load is controlled by controlling the 20 second step increasing load by the power generation brake load means 3e so as to increase to the target exercise load of step 2 changed in the above in 5 minutes. Is gradually increased with the same slope until enters the target pulse band.

Step value = (Step 2 target exercise load-Step 1 target exercise load ÷ 15 (step / 20sec) Again, when the pulse value during exercise is larger than the value of gradually increasing pulse value minus 5: Exercise intensity by the generated brake load means 21 2 steps down to enter pulse control.

When it is small: Again, the 20 second step gradual load is controlled by the power generation brake load means 21 so that the exercise intensity by the power generation brake load means 3e reaches the target exercise intensity changed in the above 5 minutes.

The step-wise increasing exercise intensity is obtained by the following equation.

Step gradual exercise intensity = (Step 2 target exercise intensity-Step 1 target exercise intensity) ÷ 15 (step / 20sec) Also, if it does not become larger than the target pulse value minus 5 in 5 minutes, it becomes the target pulse value minus 5 or more. Step gradual increase until.

Then enter pulse control.

(See Fig. 5 Automatic control) Pulse control Monitor the pulse value every 20 seconds, and when the target pulse of -5 is passed for the first time, the exercise load for warming up is lowered by 2 steps to enter pulse control. Further, from the exercise load at this time, a one-step exercise load for pulse control that matches the physical strength level of the exerciser is determined by the following formula.

(Exercise load step value for pulse control) Step value = (Exercise load x 0.3) ÷ 20 (step / 20sec) Exercise load: Exercise load at the end of warm-up After that, the pulse value is measured every 20 seconds, and the target pulse value The difference (ΔHR = HR−THR) is obtained, and control is performed under the following conditions with the range of ΔHR ± 5 as the dead zone.

When ΔHR> 10, decrease 2 step exercise intensity 5 <ΔHR ≤ 10 decrease 1 step exercise intensity -5> ΔHR ≧ -10 increase 1 step exercise intensity When ΔHR <-10 2 step exercise intensity Raise Next, go into cooldown.

(See Fig. 5 Cooldown) Cooldown When the preset time has elapsed or when the start / stop key is pressed, the cooldown is performed for 1 minute and the training ends.

That is, the exercise intensity is reduced every 20 seconds in steps of 1/3 of the final exercise intensity.

Also, if the upper limit pulse value during exercise is set to the maximum pulse value of -30 and if this is exceeded, an alarm is given to the exerciser by the buzzer 4d, and if the upper limit pulse value is exceeded for 20 seconds or more, the program is forcibly terminated. Let

In addition, when displaying the consumed calories on the display device 4e,
Calculate the calorie consumption value by the following calculation.

Calculation of calorie consumption Calculate the calorie consumption by the following formula.

Calorie consumption = number of rotations of power generation brake load means x weight (Kg) x 9.8 x (1 / 0.323) x 0.329 (Kcal) 9.8: gravity velocity 1 / 0.232: exercise efficiency 0.239: calories per 1w [effect of the invention] As described above, according to the present invention, by performing exercise at a constant speed by weight loading, which is a daily exercise load,
Training can be performed in a state where the physical load on the exerciser is low, and at the same time, the target pulse rate is set so that the exercise load is effective as aerobic exercise, and the exercise load is controlled so as to maintain the target pulse rate. You can

Furthermore, stable and highly accurate pulse control is possible by controlling the pulse based on the physical strength level of the exerciser measured during warming up.

Further, by changing the target pulse rate, it is possible to cope with various kinds of training such as training for the purpose of weight loss and rehabilitation.

Further, it has an excellent effect that the training effect can be confirmed by measuring the average exercise intensity during automatic control.

[Brief description of drawings]

FIG. 1 is a perspective view showing the overall structure of a step type training machine according to the present invention, FIG. 2 is a block diagram of a control unit of the step type training machine, and FIG. 3 is a panel of the step type training machine according to the present invention. Diagram,
FIG. 4 is a flow chart of a control method for a step-type training machine according to the present invention, FIG. 5 is a graph showing a state of exercise load setting of the step-type training machine, and FIG. 6 is a graph showing experimental data. A ... Frame part, B ... Crank pedal part, C ... Drive part, D ... Control part, 1a ... Under pipe, 1b ... Under plate, 1c ... Base plate, 1d ... Upper pipe, 1e ... … Color joint, 2a …… Crank arm, 2b …… Pivot shaft, 2c …… Pivot bearing, 2d ……
Pedal, 2e …… Parallel link, 3a …… Bearing, 3b …… Free wheel, 3c …… Drive shaft, 3d …… Gearbox, 3e…
… Power generation braking load means, 3f …… Chain, 3g …… Drive sprocket, 3h …… Sprocket, 3i …… Sprocket, 3j …… Chain, 3k …… Timing pulley, 3l
...... Timing pulley, 3m …… Timing belt, 3n…
… Sprocket, 3p …… Pulley 3q …… Pulley, 4a …… Housing, 4b …… Computation processing means, 4c …… Pulse detection circuit, 4d ……
Alarm booter, 4e …… Display device, 4f …… Enter key, 4g ……
Rotation speed detector, 4h ... pulse sensor, 4i ... constant current power supply.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Masao Ito 3-16-9 Uchikanda, Chiyoda-ku, Tokyo Combi Co., Ltd. (56) Bibliographic reference Sho49-10657 (JP, U) 4060 (JP, U) Actual development Sho 58-120702 (JP, U)

Claims (1)

[Claims] 1. A step-type training machine for controlling a driving speed of a crank pedal, which is vertically driven independently by a foot of an exerciser, to control an exercise load applied to the exerciser by a brake load means. The step of determining the target pulse value based on the age and sex of the exerciser, and the pulse rate of the exerciser is constantly detected so that the pulse value during exercise becomes the target pulse value determined based on the age and sex of the exerciser. The exercise load to determine the target exercise load based on the age of the exerciser, and the warming-up step to ensure that the pulse falls within the target pulse band without overloading the exerciser. The physical fitness level estimation step that estimates the physical fitness level of the exerciser from the pulse values measured in step 1 and the optimal physical fitness level estimated in the physical fitness level estimation step. A step for controlling the beat value and an arithmetic processing means for arithmetically processing the data obtained in each of the above steps are provided, and the brake load means is controlled by a control signal extracted by the arithmetic processing means. A step-type training machine control method characterized by: