JP2018020002A - Force feedback device - Google Patents

Abstract

An object of the present invention is to allow a user to easily learn accurate movements by directly using tools used in leisure, sports, and the like. A gyro part (23) and a motor (22) that rotate on their own axis, and these are mounted on a shaft part (12) to be mounted. And an attachment adjusting portion 21 that adjusts and fixes so as to be parallel. [Selection diagram] Fig. 1

Description

  The present invention relates to a force feedback device suitable for leisure and sports in which long objects such as golf and gateball need to be rotated accurately.

  Conventionally, a dedicated learning device has been proposed that allows a user to repeatedly learn paddle operations for paddling sports such as canoeing and kayaking. (For example, Patent Document 1)

George Router et al, “A Tendon-Based Parallel Robot Applied to Motor Learning and Sports in the Sports”, Paper Presented at the Biosciences and Biotechnology. 26-29.

  In addition to the above technology, a golf club dedicated to practice has been developed to generate a vibration that causes a sense of incongruity when the plane of the swing path is not drawn in order to allow the user to swing the golf club accurately in golf. Has been commercialized.

  However, each of the technologies described above is a dedicated device for learning, and is not a tool that is actually used in leisure or sports. For this reason, it has been impossible to perform learning using a favorite tool that is familiar to the hand that is actually used in leisure or sports.

  The present invention has been made in view of the above circumstances, and the purpose of the present invention is to allow a user to easily learn accurate movements by using tools used in leisure, sports, etc. Is to provide a powerful feedback device.

  One aspect of the present invention includes a gyroscope that rotates and a gyroscopic part that is attached to a shaft part to be attached, a rotating surface of the gyroscopic part that rotates the shaft part, and a shaft of the shaft part And an attachment adjusting unit that adjusts and fixes the sensor so as to be parallel with the direction.

  ADVANTAGE OF THE INVENTION According to this invention, it becomes possible to make a user learn an exact motion easily, using the tool used by leisure, a sport, etc. as it is.

1 is a perspective view showing an external configuration in which a force feedback device according to an embodiment of the present invention is attached to a golf club. The figure explaining the structure of the whole force feedback apparatus which concerns on the same embodiment. The figure which shows the more concrete structure of the attachment adjustment part seen from the arrow III direction in FIG. 2 which concerns on the embodiment. The top view which shows the shape based on the actual size of each of four types of plates which concern on the embodiment.

  Hereinafter, an embodiment in which the present invention is applied to a force feedback device that learns the correct swing feeling of a golf club will be described in detail with reference to the drawings.

[Constitution]
FIG. 1 is a perspective view showing an external configuration in which a force feedback device is attached to a golf club. In the figure, the golf club 10 is composed of a grip part 11, a shaft part 12, and a head part 13 in order from the top, so that the user does not get in the way when the user grips the grip part 11 at the top of the shaft part 12 as much as possible. Attach the force feedback device 20.

  The force feedback device 20 includes an attachment adjusting portion 21 that is attached to the shaft portion 12 and adjusts an attachment angle and the like, a motor portion 22, and a gyro portion 23. Although the detailed configuration of the gyro portion 23 will be described later, the gyro portion is rotated by driving the motor portion 22 in a pair of disc-shaped covers.

  When the swing surface when the user swings the golf club 10 is disturbed, the motor unit 22 generates a reaction force due to the gyro effect and transmits the disturbance to the user as a sensation. Therefore, the rotational surface of the gyro portion 23 of the force feedback device 20 is orthogonal to the head surface 13A of the head portion 13 of the golf club 10 and both the surface that swings the golf club 10 and the axial direction of the grip portion 11. It is necessary to accurately adjust the mounting adjusting portion 21 so that it is parallel.

  Further, as shown in the figure, in the case of a right-handed golf club 10, the rotational direction of the gyro as viewed from the direction indicated by the arrow I in the figure is counterclockwise, that is, centrifugal force generated by the swing of the golf club 10. From the rotation direction of the swing, it is necessary to apply a force in the forward direction to the rotation of the gyro.

  FIG. 2 is a diagram for explaining the overall configuration of the force feedback device 20 as viewed from the direction in which the gyro part 23 is located at the top with the axial direction of the shaft part 12 being horizontal. A pair of plates 31 </ b> A and 31 </ b> B are fixed to the shaft portion 12 using bolts 32 and 33. Further, the pair of plates 31A and 31B protrude from the slits 34A1 and 34B1, and the shaft portion 12 is sandwiched between the pair of plates 34A and 34B and fixed using bolts 35 and 36. Therefore, the force feedback device 20 is attached and fixed to the golf club 10 by the shaft portion 12 being sandwiched between the two pairs of plates 31A and 31B and the plates 34A and 34B.

  The bolt 36 also serves as an attachment portion for the pair of plates 37A and 37B. At the other end of the plates 37A and 37B, the protruding portion is fixed by using a bolt 41 in a state where the protruding portion is inserted into a slit, which will be described later, of a pair of U-shaped plates 38A and 38B (the side in the figure).

  The plates 37A and 37B form slits 37A1 and 37B1 so that the mounting position of the bolt 36 can be adjusted, and the distance between the shaft portion 12 and the gyro portion 23 can be adjusted according to the fixing position of the bolt 36. It is configured.

  The U-shaped plates 38A, 38B are fixed by using two pairs of bolts / nuts 39A, 40A, 39B, 40B while sandwiching the motor portion 22 as a pair. The cover 23B of the gyro part 23 is attached and fixed to the motor part 22.

  In the gyro part 23, for example, four pairs of bolts 23G1 to 23G4 and 23H1 to 23H4 are used, and covers 23A and 23B are provided at a predetermined interval, and the gyro 23C is connected to the rotating shaft 22A of the motor part 22 between them. Connected and driven to rotate.

  The gyro 23C is configured in such a manner that a pair of disks 23D and 23E are fixed by, for example, six pairs of bolts / nuts (not shown), and a wire 23F is wound between the disks circumferentially from the outside of the bolts / nuts. The The weight of the gyro 23C as a rotating object is adjusted by the amount of the wire 23F to be wound.

  FIG. 3 is a view showing a more specific configuration of the attachment adjusting portion 21 as seen from the direction of the arrow III in FIG. FIG. 4 is a plan view showing shapes based on actual sizes of the four types of plates constituting the attachment adjusting portion 21.

  As shown in FIG. 4 (C), the pair of plates 31A and 31B sandwiching the shaft portion 12 are formed in through holes 31A1, 31A2 and 31B1 in metal pieces punched to form slits 34A1 and 34B1 of the plates 34A and 34B. , 31B are formed.

  These plates 31A and 31B are fixed so as to sandwich the shaft portion 12 by using two pairs of bolts 32A, 33A, 32B, and 33B and long shaft nuts 52A and 52B.

  These plates 31A and 31B protrude from the slits 34A1 and 34B1, and the plates 34A and 34B have through holes 34A4, 34A5, 34B4 and 34B5 formed at both ends, respectively, as shown in FIG. 4C. Protrusions 34A2, 34A3, 34B2, and 34B3 are provided.

  By attaching a pair of bolts 35A, 35 and a long nut 51 through the through holes 34A5, 34B5 at one of the projections 34A3, 34B3 (lower side in the figure), the plate 34A, The distance between 34B is adjusted.

  Using the bolts 36A, 36B and the long nuts 53A, 53B, 54 as described above through the through holes 34A4, 34B4 at the projections 34A2, 34A3, 34B2 on the other side (upper side of the figure) of the plates 34A, 34B, FIG. Plates 37A and 37B shown in FIG. 4B are fastened and fixed at arbitrary positions within the range of D1 along the slits 37A1 and 37B1.

  Here, the long shaft nut 54 connects two bolts 36A and 36B, and the distance between the plates 34A and 34B is adjusted by the distance between the positions of the long shaft nuts 53A and 53B on the respective shafts of the bolts 36A and 36B. The plates 34A and 34B sandwich and fix the shaft portion 12.

  Protrusions 37A2 and 37B2 are formed at one end (upper part of the drawing) of the plates 37A and 37B, and through holes 37A3 and 37B3 are provided. These projections 37A2 and 37B2 are inserted into slits 38A1 and 38B1 at the center of the bent portions of U-shaped plates 38A and 38B as shown in FIG. 4A, and then two pairs of bolts / nuts 41A, 55A, 41B, and 55B. The U-shaped plates 38A and 38B are fixed to the plates 37A and 37B by tightening and fixing by the above.

  The U-shaped plates 38A and 38B are inserted into the notch portions (not shown) formed on the side surfaces of the motor portion 22 by inserting the projection portions 38A2 and 38B2 inside the bent portion from the left and right sides, and slits 38A3 and 38A4 on both leg portions. , 38B3, 38B4, and the two bolts / nuts 39A, 40A, 39B, 40B are fastened and fixed to fix and support the motor unit 22.

  The power lines 61 and 62 of the motor unit 22 are led out from the bottom of the motor unit 22 and connected to a driver circuit (Dv.) 63 attached to the plate 34B. The driver circuit 63 has a power switch 64 for starting / stopping the rotation of the gyro 23C, and a motor is driven as necessary by electric power sent from an external battery (BATT) (not shown) through a power cable 65. Electric power is supplied to the unit 22 to rotate the gyro 23C.

[Operation]
When the golf club 10 having the force feedback device 20 attached and adjusting the position and angle as described above is used to practice swinging, the power is turned on by operating the power switch 64, and the gyro section As the gyro 23C of the 23 rotates, a gyro moment is generated.

  Accordingly, when the golf club 10 swings when the golf club 10 is rotated, the rotation plane that is the locus of the shaft section 12 and the rotation plane of the gyro section 23C of the gyro section 23 are exactly parallel from beginning to end. There is no particular discomfort for the user.

  On the other hand, when the golf club 10 is swung, if the rotation surface serving as the trajectory of the shaft portion 12 and the rotation surface of the gyro 23C of the gyro portion 23 are not at least partially parallel, for example, gripping is performed during the swing. When a twisting motion is added to the grip state of the user at the portion 11, a force to return to the original rotation surface is generated based on the size of the gyromotor generated in the gyro 23C, and the force is It is transmitted to the grip part 11 and is felt by the user.

  Therefore, the user who is swinging the golf club 10 can immediately recognize that the swing is not along an accurate rotation surface at that time.

  The force generated at this time is proportional to the magnitude of the gyro moment. The weight of the gyro 23C of the gyro 23, the rotational speed of the gyro 23C by the motor 22, and the axis of the shaft 12 of the golf club 10 and the gyro It varies depending on the distance between the rotating surface of 23C.

  Therefore, the magnitude of the gyro moment can also be changed by changing the amount of the wire 23F wound by the gyro 23C and setting the rotation speed of the gyro 23C by the motor unit 22 (or changing the model of the motor unit 22 itself). Although it can be changed, it is also possible to adjust the position of the bolts 36A and 36B along the slits 37A1 and 37B1 of the plates 37A and 37B when the force feedback device 20 is attached to the golf club 10 instead. The magnitude of the gyro moment can be changed.

  The golf club 10 to which the force feedback device 20 is attached is repeatedly subjected to swing practice, and the bolts 36A, 36B are the most from the gyro part 23 side in the slits 37A1, 37B1 of the plates 37A, 37B so that the gyro moment becomes the largest. Even in a state of being adjusted to a position away from the subject, the swing can be executed without particularly feeling uncomfortable due to the reaction force of the gyro moment, so that a correct swing operation can be acquired.

  In the above-described embodiment, power is described as being supplied from an external battery (not shown) via the power cable 65. However, the present invention is not limited to this, and the force feedback device 20 itself has a built-in battery. Also good.

  Moreover, although the said embodiment demonstrated as an example the case where the one force feedback apparatus 20 was attached with respect to the one golf club 10, two or more, for example, two force feedback apparatuses are provided in one golf club 10. It is also conceivable to attach 20,20.

  In this case, the two feedback devices 20 and 20 are both attached to the upper part of the shaft part 12 so that they are close to the grip part 11 and the gyro parts 23 face each other with the shaft part 12 interposed therebetween. It is desirable not to adversely affect the weight balance in the up / down and front / rear directions of 10.

  Furthermore, the attachment target of the force feedback device 20 is not limited to a golf club, and the present device is particularly useful in leisure and sports that require an accurate swing operation such as a stick used for a gate ball.

  In addition, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention at the implementation stage. Further, the functions executed in the above-described embodiments may be combined as appropriate as possible. The above-described embodiment includes various stages, and various inventions can be extracted by an appropriate combination of a plurality of disclosed constituent elements. For example, even if some constituent requirements are deleted from all the constituent requirements shown in the embodiment, if the effect is obtained, a configuration from which the constituent requirements are deleted can be extracted as an invention.

DESCRIPTION OF SYMBOLS 10 ... Golf club, 11 ... Grip part, 12 ... Shaft part, 13 ... Head part 13, 13A ... Head surface, 20 ... Attachment adjustment part, 21 ... Attachment adjustment part, 22 ... Motor part, 23 ... Gyro part, 23A, 23B ... Cover, 23C ... Gyro, 23D, 23E ... Disc, 23F ... Wire, 31A, 31B ... Plate, 32, 32A, 32B, 33, 33A, 33B ... Bolt, 34A, 34B ... Plate, 35, 35A, 35B, 36, 36A, 36B ... bolt, 37A, 37B ... plate, 38A, 38B ... U-shaped plate, 39A, 39B ... bolt, 40A, 40B ... nut, 41, 41A, 41B ... bolt, 51, 52A, 52B, 53A 53B, 54 ... long shaft nut, 55A, 55B ... nut, 61, 62 ... power line, 63 ... driver circuit (D .), 64 ... power switch, 65 ... power cable.

Claims (2)

A gyro that rotates and rotates,
Mounting adjustment in which the gyro part is attached to a shaft part to be attached, and the rotation surface of the gyro part is adjusted and fixed so as to be parallel with the surface for rotating the shaft part and the axial direction of the shaft part. And
A force feedback device characterized by comprising:   The force feedback device according to claim 1, wherein the attachment adjustment unit includes an adjustment mechanism that variably adjusts a distance between the gyro unit and the shaft unit.