JPH0736680Y2 - Strength measurement and training equipment - Google Patents

Description

[Detailed Description of the Device] [Industrial Application Field] The present invention relates to a device for performing muscle strength measurement and strength training for persons who require rehabilitation (function training) such as disabled persons and patients and athletes. It is a thing.

“Prior Art” When performing muscle strength measurement, it is general to measure with torque about an arbitrary joint. This is because a value with good reproducibility can be obtained without affecting the length from the joint (axis) to the point of action. Therefore, in recent years, it is the mainstream that the data output from the muscle strength measuring apparatus main body is output as a torque value.

By the way, there are three forms of muscle strength measurement and strength training: isokinetic, isotonic, and isometric.

Isokinetic is the part to which force is applied (input part)
It is premised that the rotation speed of is kept constant, and a person gives a torque that tries to catch up to that speed and turn it faster, or a torque that tries to suppress the rotation, at that time. The torque is measured by using the speed of the input section as a parameter, and muscle strength training is performed.

Further, isotonics are based on the premise that a constant load is applied as seen in iron arrays and the like, and torque is measured or training is performed under the premise.

Further, the isometric is to measure the torque and perform muscle strength training in this state with the input unit stationary.

In recent years, muscle strength training and the like capable of taking the above three forms have been demanded.

FIG. 5 shows an example of a conventionally known muscle force measuring device (see Japanese Patent Publication No. 49-45343), which can take isokinetic and isometric forms.
In this device, a gear mechanism 73 is connected to an output shaft of a servo motor 72 controlled by a control unit 71,
The output of 73 is connected to the worm gear 74. Two worm wheels 75 are meshed with the worm gear 74, and the rotation of the worm wheels 75 is transmitted via an overrunning clutch 76 and an idle gear 77 to a large input gear 78.
Be transmitted to. A rotating force is applied from the subject to the large input gear 78 via the arm 79. Also, the worm gear
A load cell 80 is arranged at one end of 74.

In this device, when the output shaft of the servo motor 72 rotates at a constant speed, the rotation is transmitted to the worm gear 74 via the gear mechanism 73. Then, it is transmitted to the input gear 78 via the worm wheel 75 and either the left or right overrunning clutch 76. Here, when the subject gives a torque to rotate the input gear 78 rotating at a constant speed earlier than the rotation, or conversely gives a torque to suppress the rotation, the force at that time is: Since the reduction ratio between the worm gear 74 and the worm wheel 75 is large, it acts as a force for moving the worm gear 74 in the axial direction without acting as a force for rotating the worm gear 74.
As a result, the load cell 79 is pressed. By measuring this pressing force, the torque given by the subject can be measured. That is, this form is isokinetic.

On the other hand, when the test subject gives a rotational force to the input gear 78 while the servo motor 72 is stopped, the force acts as a force for moving the worm gear 74 in the axial direction by the overrunning clutch 76 and the worm wheel 75 as described above, Eventually, a predetermined pressing force is applied to the load cell 80. This form is isometric.

[Problems to be solved by the invention] In the above-mentioned muscle training and measurement device, since the servo motor 72 is used as a drive source, a complicated electric circuit is required in addition to the servo motor 72, resulting in high cost and large arrangement space. It was accompanied by such drawbacks as

The present invention has been made in view of the above circumstances, and can take three forms of isokinetic, isotonic, and isometric, and further, a servomotor, a complicated electric circuit, etc. are not required, and the cost can be reduced. It is an object of the present invention to provide a muscle strength measuring and training device that can be placed even in a small space.

[Means for Solving the Problems] In order to solve the above problems, in the invention according to claim 1, a casing (1) and a cylinder (rotatably mounted in the casing with restricted movement in the axial direction). 2)
A hollow rod piston (4) fitted in the cylinder so as to be slidable and integrally rotatable in the axial direction, and a partition between the rod piston and the cylinder. Left and right pressure chambers (5A, 5B), an oil passage (35) connecting the left and right pressure chambers via an oil adjusting means, and fixed to the inner peripheral surfaces of the hollow rod pistons. And a nut member (12) that is screwed to the nut member to form a screw mechanism (13), and the relative movement in the axial direction with respect to the cylinder is restricted and an external force is applied so that the subject rotates the cylinder. Input shaft (14)
And a torsion bar (25) having one end fixed to the casing and the other end engaged so as to rotate integrally with the cylinder.

In addition to the device according to claim 1, the invention according to claim 2 is such that the oil adjusting means is an oil flow rate adjusting mechanism (38) for keeping the flow rate of the oil flowing through the oil passage (35) constant. It is characterized by being.

According to a third aspect of the invention, in addition to the first aspect of the invention, the oil adjusting means is an oil pressure adjusting mechanism for maintaining the pressure of the oil flowing in the oil passage (35) at a predetermined pressure or less. It is characterized by being composed of 44).

Further, in addition to the device according to claim 1, an invention according to claim 4 further comprises an oil supply mechanism (5) for forcibly supplying oil to one of the pressure chambers to the oil adjusting means.
6) is attached to the structure.

In the device according to claim 1, when the subject applies a rotational force to the input shaft, the nut member that constitutes the ball nut mechanism together with the input shaft is moved in the axial direction because the rotation is restricted. . Along with the movement of the nut member, both rod pistons fixed to the nut member move, and eventually the capacities of the left and right pressure chambers in the cylinder change. That is, the capacity of one pressure chamber increases and the capacity of the other pressure chamber decreases. In order to cope with the change in the capacity of the pressure chambers, oil flows from one pressure chamber to the other pressure chamber in an oil passage connecting both pressure chambers, and tries to adjust the pressure in the pressure chambers. An oil adjusting means is interposed in the oil passage. For example, when a resistance force is applied to the oil flow by the oil adjusting means, the resistance force of the oil flow causes the nut member to follow the input shaft and rotate. Acts as a force to. As the nut member is rotated, the rotation of the nut member is transmitted to and twists the torsion bar via both rod pistons and cylinders configured to rotate integrally therewith.

Therefore, the torque applied to the input shaft can be detected by detecting the twist of the torsion bar at this time by a torque detecting means or the like, or by detecting a change in the internal pressure of the pressure chamber in the cylinder.

Further, according to the second aspect of the present invention, an oil flow rate adjusting mechanism is provided in the oil passage connecting the both pressure chambers, and the oil flow rate adjusting mechanism is provided so that the oil flow rate is zero. When it is set so as to be completely cut off, when the subject applies it to the input shaft, the force acts as a force for twisting the torsion bar without rotating the input shaft. That is, isometric can be realized. Further, if the oil flow rate adjusting mechanism is set so as to keep the oil flow constant, even if a rotational force of a predetermined amount or more is applied to the input shaft, the input shaft always rotates constantly, and isokinetic can be realized.

According to the third aspect of the present invention, an oil pressure adjusting mechanism is provided in the oil passage, and when the oil pressure adjusting mechanism is set so that the pressure in the oil passage does not exceed a predetermined value, the subject can input When a rotational force is applied to the shaft, the oil passage is opened and the force is released even if it is attempted to rotate with a force equal to or larger than a predetermined value, so that the torque applied to the input shaft does not exceed the predetermined value. That is, an isotonic can be realized.

Further, in the invention according to claim 4, the oil supply mechanism forcibly supplies oil to either one of the pressure chambers, thereby forcibly moving both rod pistons and rotating the input shaft. You can That is, it is possible to detect the torque when the input shaft is rotated at a constant speed and the subject catches up with the set speed and tries to rotate faster. That is, isokinetic can be realized.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings.

First Embodiment FIGS. 1 and 2 show a first embodiment of the present invention. In FIG. 1, reference numeral 1 is a casing for accommodating the main constituent parts of the apparatus, which is fixed to a fixed body such as a wall via a support portion (not shown). A cylinder 2 is incorporated inside the casing 1 with both ends thereof supported by bearings 3a and 3b so as to be rotatable and regulated to move in the axial direction. The cylinder 2 has a four-part structure, a left end portion 2a supported by a bearing 3a on the left side in the drawing, and a cylinder body portion 2b defining pressure chambers 5A and 5B between both rod pistons 4 described later, The intermediate portion 2c supported by the bearing 3b on the right side and the small diameter portion 2d engaged with the ends of both rod pistons 4 and the torsion rod 25, which will be described later, so as to rotate integrally with each other are bolted to each other. Has become.

A hollow rod piston 4 is fitted in the cylinder 2 slidably in the axial direction. Left and right pressure chambers 5A and 5B are defined between the outer peripheral surface of both rod pistons 4 and the inner peripheral surface of the cylinder 2. A key groove 6 is formed on the inner peripheral surface of the right cylindrical portion 4a of the two rod pistons 4 in the figure, and a key 7 bolted to the inner peripheral surface of the cylinder 2 is fitted into the key groove 6, and The piston 4 is adapted to rotate integrally with the cylinder 2. Reference numeral 8 is a seal member which is interposed between the inner peripheral surface of the cylinder 2 and the outer peripheral surfaces of the rod pistons 4 which are opposed to each other so as to make the pressure chambers 5A and 5B liquid-tight.

Ports 9 and 10 corresponding to the left and right pressure chambers 5A and 5B are formed on the side wall of the cylinder 2, and a notch 11 extending in the circumferential direction is formed in the casing 1 so as to correspond to the ports 9 and 10. A nut member 12 is provided on the inner peripheral surface of the two rod pistons 4,
A flange portion 12a formed integrally with the nut member 12 is bolted and fixed to the end portions of both rod pistons 4. An input shaft 14 that constitutes a ball nut mechanism 13 together with the nut member 12 is screwed onto the inner circumference of the nut member 12. An arm as shown in the conventional example is attached to an end portion of the input shaft 14 projecting outward of the casing 1, and a rotational force is applied from the subject through the arm. The input shaft 14 is
Both left and right ends are supported by a radial bearing 15 and a thrust bearing 16 arranged between the cylinder 2 and the cylinder 2, and are rotatable. Thrust bearing 16
On the right and left ends of the input shaft 14 via the spacer 17
Has a structure in which a flange 19 fixed by being screwed in is supported by a retainer 21 from both left and right sides via balls 20, and thereby the input shaft 14 is restricted from moving in the axial direction with respect to the cylinder 2. 22 is cylinder 2
Is a retaining member that is screwed to the end of the retainer to retain the retainer 21.

25, one end (right end) is integrally held in the casing 1 via the key 26, and the other end (left side) is integrally held in the inner peripheral portion of the small diameter portion 2d of the cylinder 2 via the key 27. A hollow torsion bar that is rotatably engaged. A strain gauge 28 is attached to the outer periphery of the small diameter portion 25a formed in the middle portion of the torsion rod 25. The strain gauge 28 is connected to a controller (not shown) so that the twist amount of the twist rod 25 is detected, and the torque of the subject applied to the input shaft 14 can be measured based on this value.

Reference numeral 30 denotes a connecting rod which is coaxially inserted through the central hole of the twisting rod 25 and arranged. One end of the connecting rod 30 is coaxially screwed to the input shaft 14, and the other end is projected to the outside of the casing 1, and a rotary encoder 31 fixed to the casing 1 is attached to the timing belt 32 at the protruding end. Are connected via.

An oil passage 35 is connected to the ports 9 and 10 provided in the cylinder 2 as shown in FIG. In the oil passage 35, check valves 36 and a speed controller paired with flow control valves 38A and 38B are installed in opposite directions, and even if the temperature and pressure change, the oil flow rate in the oil passage 35 reaches a specified value. It is designed to be kept at.

Next, the operation of the muscle strength measuring and training device will be described.

<Isometric> Even if the subject rotates the input shaft 14 with maximum torque by narrowing down the flow control valve 38A (38B) installed in the oil passage 35, the oil flow between the pressure chambers 5A and 5B is regulated. Set to do.

In this state, when the subject applies a rotational force to the input shaft 14 via an arm (not shown), the nut member 12 that constitutes the ball nut mechanism 13 together with the input shaft 14 is in the axial direction (for example,
It receives a force that moves to the right in Fig. 1. This nut member
As the rod 12 moves, the rod pistons 4 fixed to the nut member 12 also try to move in the same direction, and as a result, the capacities of the left and right pressure chambers 5A and 5B in the cylinder 2 change. That is, the capacity of the pressure chamber 5A on the left side in the figure increases and the pressure chamber on the right side increases.
5B capacity is reduced. The oil passage 35 connected to both the pressure chambers 5A and 5B corresponding to the change in the capacity of the pressure chambers 5A and 5B.
Then, the oil flows from the pressure chamber 5B on the right side to the pressure chamber 5A on the left side, and tries to adjust the pressures of the pressure chambers 5A and 5B.

However, since the flow control valve 38A (38B) interposed in the oil passage 35 is throttled as described above and blocks the flow of oil in the passage 35, the movement of the nut member 12, the piston 4, etc. Is regulated. At this time, the resistance force that blocks the oil flow is the nut member 12
Acts as a force to rotate following the input shaft 14, and eventually the nut member 12 rotates integrally with the input shaft 14.
When the nut member 12 rotates, the rod pistons 4 and the cylinder 2 also rotate in the same direction, and as a result, the left end of the torsion rod 25 rotates.

At this time, the torsion bar 25 is twisted because the right end is fixed by the casing 1. Torsion rod 25 at this time
The torque applied to the input shaft 14 can be detected by detecting the twist of the strain gauge 28.

In the above torque detection, the cylinder 2 is a bearing
Since it is supported by 3a and 3b, the force applied to the input shaft 14 acts as a force to twist the torsion bar 14 with almost no loss, and therefore accurate torque detection can be performed.

When the cylinder 2 rotates, the connecting portion of the oil passage 35 connected to the ports 9 and 10 also rotates integrally, but the casing 1 is provided with a notch 11 at a portion facing the ports 9 and 10. Therefore, it is possible to avoid the connection portion from interfering with the casing 1.

By adjusting the flow control valve 38A (38B), the input shaft 14 can be rotated with almost no resistance, and after setting the input shaft 14 to a proper rotation angle, tighten the flow control valve 38A (38B) again. , Input shaft
With the 14 arms set at a predetermined angle, muscle strength measurement and training can be performed. That is, torque detection and training at any arm angle position can be realized.

<Isokinetic> Adjust the flow control valve 38A (38B) to keep the oil flow in the oil passage 35 at a constant value.

In this case, when a rotational force is applied to the input shaft 14 from the subject, the ball nut mechanism 13 receives a force to move the nut member 12 in the axial direction, and the nut member 12 is fixed to the nut member 12 as the nut member 12 moves. The two rod pistons 4 that are moving also move in the same direction, and the capacities of the left and right pressure chambers 5A and 5B are changed. Based on the change in the capacity of the pressure chambers 5A and 5B, oil flows in a predetermined direction in the oil passage 35 that communicates the pressure chambers 5A and 5B, and tries to adjust the pressures of the pressure chambers 5A and 5B.

Since the speed of the oil flow at this time is kept at a certain value by the speed control valve 37, the oil tries to flow with a certain resistance force. The resistance force of the oil at this time acts as a force to rotate the nut member 12 following the input shaft 14, thereby rotating the nut member 12. With the rotation of the nut member 12, both rod pistons 4 and the cylinder 2 also rotate in the same direction, and the torsion bar 25 is twisted. At this time, the torque applied to the input shaft 14 can be detected by detecting the twist of the torsion bar 25 with the strain gauge 28.

That is, the subject applies torque while rotating the input shaft 14 at a constant speed via an arm (not shown), and the strain gauge 28 can detect the torque at that time.

This form, even if temperature and pressure change,
The flow control valve 38A (38B) is an isokinetic in which the rotation of the input shaft is maintained at a constant speed by always maintaining the flow in the oil passage 35 at a constant value. The isokinetic feature of this embodiment is that the torque can be measured when the subject tries to rotate the input shaft at a speed higher than the speed determined by the set value of the flow control valve 38A (38B).

It is needless to say that the rotation of the input shaft 14 can be detected by the rotary encoder 31, and thus, in addition to the above-described torque detection, the motion speed, the range of motion of the joint, and the like can also be detected.

Second Embodiment FIG. 3 shows a second embodiment of the present invention, in which the oil passage 4 connected to the ports 9 and 10 of both pressure chambers 5A and 5B of the cylinder 2 described above.
It shows another example of 0.

The oil passage 40 of this example is different from the oil passage described above in parallel with the flow control valves 38A, 38B, so as to correspond to both pressure chambers 5A, 5B, respectively, relief valves 41A, 41B and check valves 42A, 42B. This is the point where the oil passages 43A and 43B that are interposed are connected. The relief valve and the check valve constitute an oil pressure adjusting mechanism 44 that keeps the pressure of the oil flowing in the oil passage below a predetermined pressure.

The operation of this embodiment will be described.

<Isotonic> Set the relief valve 41A to the specified value and close the flow control valve 38B at the same time. In this state, the input shaft is rotated to move both rod pistons 4 to the right in the figure to increase the capacity of the pressure chamber 5A, while decreasing the capacity of the pressure chamber 5B, the oil from the pressure chamber 5B flows. Since the control valve 38B is completely closed, the control valve 38B cannot flow through the oil passage in which the valve 38B is interposed, and the pressure in the oil passage upstream of the relief valve 41B rises.
And this pressure is a relief valve that is preset
When the relief pressure of 41B is reached, the oil flows as indicated by the arrow shown by the solid line in the figure and flows into the pressure chamber 5A on the other side.

The resistance of the oil flowing in the oil passage at this time is maintained so as not to exceed a certain value determined by the relief valve 41B. That is, an isotonic form in which the input shaft is rotated at a constant torque value based on the value determined by the relief valve 41B is obtained.

When the input shaft is rotated in the opposite direction, the flow control valve 38A on the opposite side to the above is closed. As a result, when a rotational force is applied to the input shaft, the pressure in the pressure chamber 5A gradually rises, and when the relief pressure of the relief valve 41A is about to be exceeded, the relief valve 41A opens and the pressure chamber as shown by the broken line arrow in the figure. Oil flows to the 5B side. That is, also in this case, an isotonic form is obtained.

<Isokinetic> When the relief valve 41A (41B) is set to the maximum relief pressure value (pressure value larger than the pressure value applied in this circuit), the oil passage in which the relief valve 41A (41B) is interposed is not provided. The same as the case, that is, the second
Will be the same as

Therefore, in this state, the flow control valve 38
By properly setting the value of A (38B), isokinetic can be realized as in the case shown in the embodiment of FIG.

Third Embodiment FIG. 4 shows a third embodiment of the present invention, in which the oil passage 5 connected to the ports 9 and 10 of both pressure chambers 5A and 5B of the cylinder 2 described above.
It shows still another example of 0.

In the oil passage 50 shown here, by driving the pump 52 with the motor 51 and operating the switching valve 53, the oil pumped by the pump 52 is selectively sent to one of the pressure chambers 5A and 5B. You can put it in. That is, the motor 51, the pump 52, and the switching valve 53 are provided in the pressure chamber 5
An oil supply mechanism 56 is configured to forcibly supply oil to either one of A and 5B. The oil supply mechanism 56 forcibly rotates the input shaft via the ball nut mechanism to obtain a so-called isokinetic form. The isokinetic in this embodiment is different from the isokinetic shown in FIG. 2 or FIG.

That is, the above-mentioned isokinetic is to measure the torque when the subject tries to rotate at a speed farther than the rotation speed determined by the flow control valve 38A (38B), and the isokinetic obtained here is
The torque is measured when the test subject rotates the input shaft at a speed determined by the drive mechanism of the device regardless of the test subject, and the test subject tries to rotate the input shaft at a speed faster than the speed. Also here, the so-called temperature / pressure compensation type flow control valve 38A (38B) operates so as to eliminate the influence of temperature or pressure changes.
Is used.

Further, the torque at this time can be detected by the strain gauge 28 attached to the outer peripheral surface of the torsion bar 25 as described above, and the rotation status of the input shaft 14 can be detected by the rotary encoder 31.

In FIG. 4, 54 is a pilot valve and 55 is a safety valve.

In each of the above embodiments, the strain gauge 28 is attached to the torsion rod 25 and the torque is detected by the twist amount of the torsion rod 25. However, the present invention is not limited to this, and the pressure chambers 5A and 5B in the cylinder 2 are not limited to this. The torque may be detected on the basis of the pressure change, or the strain gauge may be attached to an arm (not shown) connected to the input shaft 14 to detect the torque.

Further, in the above embodiment, the ball nut mechanism 13 is used to change the rotational movement of the input shaft 14 into the linear movement, but the present invention is not limited to this, and a simple screw mechanism may be used.

[Advantage of device] According to the device of claim 1, it is possible to freely adopt the three forms of isokinetic, isotonic and isometric, and the servomotor and the complicated electric circuit are not required, so that the cost is reduced. In addition to being able to reduce the number and compactly disposing the cylinder and the ball nut mechanism in the casing, there are excellent effects such as disposition in a small space.

According to the second aspect of the present invention, the oil flow rate adjusting mechanism sets the flow rate of the oil to zero, that is, the passage is completely cut off to provide an isometric form. By setting to allow a certain amount of oil flow, the isokinetic can measure the torque when the subject tries to rotate the input shaft at a rotation speed higher than the input shaft rotation speed determined by the set value at that time. However, each can be realized with a simple configuration.

According to the third aspect of the invention, the isotonic can be realized with a simple structure by setting the pressure of the oil passage to be kept below a predetermined value by the oil pressure adjusting mechanism.

Further, according to the invention of claim 4, the input shaft can be forcibly rotated by forcibly supplying the oil to either one of the pressure chambers by the oil supply mechanism,
It is possible to realize with an easy configuration, an isokitique capable of detecting the torque when trying to rotate the input shaft in the same direction.

[Brief description of drawings]

FIGS. 1 and 2 show a first embodiment of the present invention. FIG. 1 is a longitudinal sectional view showing a main part of the apparatus, and FIG. 2 shows an example of an oil passage connected to the apparatus. Explanatory drawing, third
FIG. 4 shows a second embodiment of the present invention, an explanatory view showing another example of the oil passage, and FIG. 4 shows a third embodiment of the present invention, yet another example of the oil passage. And FIG. 5 is a schematic configuration diagram showing a conventional example. 1 …… Casing 2 …… Cylinder 3 …… Bearing 4 …… Piston 5A, 5B …… Pressure chamber 11 …… Notch 12 …… Nut member 13 …… Ball nut mechanism (screw mechanism) 14 …… Input shaft 25… … Torsion rod 25a …… Hollow part 28 …… Strain gauge 30 …… Connecting rod 31 …… Rotary encoder 38A (38B) …… Flow control valve (oil flow rate adjustment mechanism) 44 …… Oil pressure adjustment mechanism 56 …… Oil supply mechanism

Claims (4)

[Scope of utility model registration request] 1. A casing (1), a cylinder (2) which is rotatably mounted in the casing with its axial movement restricted, and slidably and integrally in the cylinder along the axial direction. Hollow rod rods (4) fitted so as to rotate in the right and left, and left and right pressure chambers (5A, 5B) defined between the rod pistons and the cylinder,
An oil passage (35) for connecting the left and right pressure chambers via an oil adjusting means, a nut member (12) fixed to the inner peripheral surfaces of the hollow rod pistons, and the nut member. An input shaft (14) which is screwed to form a screw mechanism (13) and whose relative movement in the axial direction with respect to the cylinder is restricted and an external force is applied so as to be rotated by a subject, and one end side of which is the casing. And a torsion bar (25) fixedly attached to the cylinder and engaged at the other end so as to rotate integrally with the cylinder. 2. The muscle force measuring and training according to claim 1, wherein the oil adjusting means is an oil flow rate adjusting mechanism (38) for keeping the flow rate of the oil flowing in the oil passage (35) constant. apparatus. 3. The oil pressure adjusting mechanism (44) according to claim 1, wherein the oil adjusting means is an oil pressure adjusting mechanism (44) for keeping the pressure of the oil flowing in the oil passage (35) at a predetermined pressure or less. Muscle measurement and training equipment. 4. The muscle force according to claim 1, wherein the oil adjusting means is provided with an oil supply mechanism (56) for forcibly supplying oil to one of the pressure chambers. Measuring and training equipment.