JP2005066060A - Training machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To realize training of a rising action function corresponding to a physical condition by optionally setting the pushing up force of a seat surface for assisting the rising action, the number of repetition, and the upper end and lower end positions of vertical movement. <P>SOLUTION: A lift 7 is vertically driven by a female screw 34 fitted into a male screw shaft 33 rotationally driven by a motor 31 through a transmission clutch 32 and a gear wheel, and a seat part 2 is fitted to the front end of the lift 7 through a pressure sensor 21. At a fitting pole 18, switches 61, 62 and 63 for detecting a home position, an upper limit position A and a lower limit position B, respectively, by using a switch action piece 64 are fixed in a position-adjustable state. The subject machine is provided with: an action control means 65 for repeating a set number of times of vertical movement and finishing it; and a vertical movement force control means 4 which disconnects the transmission clutch 32 for temporary stop when a load detected by the pressure sensor 21 amounts to a set upper limit threshold and which makes the transmission clutch 32 finish stand-by when a fixed time has elapsed. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a training apparatus for restoring a standing motion function.

Many techniques are disclosed in patent documents and the like as an instrument or device for assisting the walking, standing up and sitting movements of a disabled person or an elderly person whose muscle strength has weakened, and a training device for functional recovery. For example,
The recumbent suspension of the buttock seat is pulled up and down in a direction inclined forward and upward by the traction device. There is an apparatus in which a user who has been entrusted is assisted in standing up and sitting (see Patent Document 1).

  Also, there is a seat with a backrest that can be reclined, and a footrest that extends downward from the position of the front edge and is provided with a step on the tip is driven by the electric telescopic arm, and the hinge just below the front edge The knees of both legs, which are pushed up to the level by rotating at the position, and the legs placed on the platform and the thighs placed on the seating surface are fixed with an elastic band by repeated rotation of the footrest. There are devices that flex and extend joints. Further, at the position where the footrest is pushed up horizontally, the footrest can be tilted by lever operation, and the hip, knee and ankle joint can bend and stretch (see Patent Document 2).

Also, the drive power supply and control means are housed in the backpack, and the control means calculates the required torque of the hip and knee joints in each motion mode based on the output of the angle sensor and gyro sensor, and the user's condition from this required torque There is a walking assist device that generates torque obtained by subtracting a preset threshold according to the electric actuator, and drives the hip and knee joints to extend and bend. By assisting walking, raising and lowering stairs, or sitting / standing up motion, the movement is promoted to suppress muscle weakness and correct walking form (see Patent Document 3).
Japanese Patent Laid-Open No. 10-5279 JP 2002-200193 A JP 2002-301124 A

  As it is said that “deterioration of physical fitness starts from the legs and feet”, it is desirable that the training of the feet and legs is indispensable in daily life, not limited to the sick and the elderly, and can be used easily. It is a training device for recovering the standing motion function that can be used as a normal chair and that can be used simply by sitting and switching on, and is intended to increase the strength of the hip and knee joints. To do.

  In addition, the seating surface push-up force that assists standing motion can be set arbitrarily, or the number of repetitions and the upper and lower positions of lifting and lowering can also be set arbitrarily, and training that matches the physical strength of the user The challenge is to make it possible.

  The basic configuration of the training device according to the present invention includes a base, a seating portion, a lifting device that lifts and lowers the seating portion in a substantially vertical direction, a drive actuator that is a power source of the lifting device, and an upper threshold setting element. And a lifting force control means capable of variably controlling the lifting drive force and an operating device capable of operating the start of the lifting operation. Is.

  Furthermore, it has a position control means that can control the origin position of the start or stop of the lifting operation, any one or all of the upper limit position A and the lower limit position B, and a number setting element that can arbitrarily set the number of repetitions of the lifting operation. Then, the apparatus is provided with an operation control means for stopping at the origin position or the upper limit position A after repeating the set number of times of raising and lowering and ending the predetermined.

In addition, the lifting force control means detects and inputs the load of the seating portion on which the user's weight has been placed during the lifting process, and compares it with the set upper limit threshold of the lifting driving force, so that the load reaches the upper limit threshold. If there is a determination means M for transmitting a standby signal,
While the standby signal is being received, the seat portion is lifted and stopped in a temporarily stopped state, and when stopped, the temporarily stopped state is canceled and the lifting motion is continued, and the reception duration time is set to a preset time. When it reaches, it has a standby means for transmitting a standby end signal,
A standby end means is provided for receiving the standby end signal, canceling the control of the determining means M and the standby means, returning the seating portion to the origin position or the upper limit position A, and stopping the drive actuator.

Further, the drive actuator is constituted by a screw fitting and a transmission clutch driven by forward / reverse rotation of the motor,
The determination means M detects and inputs the load of the seating portion by a pressure sensor provided in either the seating portion or the lifting device, and compares and calculates. When the load reaches the upper limit threshold value, a standby signal is transmitted. And
While the standby means is receiving the standby signal, the lifting / lowering of the seating portion is caused to wait in a suspended state by disconnecting the transmission clutch, and the delay timer is operated to measure the standby time. When the standby signal is received / stopped, the transmission clutch is disengaged / engaged and the standby time measurement start / initial return is repeated, and when the measured time of the delay timer reaches a preset time, the standby end signal Is to send
The standby end means cancels the control of the determination means and the standby means by receiving the standby end signal, re-engages the transmission clutch, and once the seating portion has been raised to the upper limit position A, it is lowered to the origin position and stopped. It will end waiting,
The position control means can variably fix the positions of a plurality of detection switches arranged in the vertical direction that are turned on and off by the switch operating piece,
The operation control means receives an on / off signal from the detection switch at the upper limit position A and the lower limit position B to control forward / reverse switching of the motor, and counts and sets the number of passes from the detection switch at the upper limit position A. After repeatedly raising and lowering the number of times, the operation is stopped at the origin position, and predetermined completion is performed.

In addition, the lifting force control means is provided with a determination timer that operates when the lifting operation starts and when the lower limit position B is reached and returns when the upper limit position A is reached. A determination means P for transmitting a standby end signal;
A standby end means is provided for receiving the standby end signal, canceling the control of the judging means P, returning the seating portion to the origin position or the upper limit position A, and stopping the drive actuator.

Further, the drive actuator is a main air cylinder and an auxiliary air cylinder having a movable piston, and the latter follows a lifting motion by the former driving force without receiving supply of compressed air during a predetermined operation, Drive output only at the end,
The lifting force control means includes a pressure control valve for compressed air that can variably control the upper limit threshold of the lifting driving force,
The standby end means operates the auxiliary air cylinder as auxiliary power, drives the seating portion together with the main air cylinder, returns to the upper limit position A, and ends standby.
The position control means is provided with a plurality of detection switch groups arranged vertically in any or all of the origin position, the upper limit position A and the lower limit position B, and is turned on / off by the movement of the switch operating piece And
The operation control means includes a group selection element capable of selecting one of the on / off signals of each detection switch group, and receives the on / off signal of the selected upper limit position A and lower limit position B to receive the piston. Controls the switching of the operation direction, receives the on / off signal of the selected upper limit position A, counts the number of passes, repeats the set number of times, stops at the selected upper limit position A, and finishes predetermined It is.

The lifting device includes a pair of a front upper heel, a front lower heel, a rear lower heel, and a rear upper heel in which an upper fulcrum and a lower fulcrum are arranged in a vertical direction, and a front fulcrum and a rear fulcrum are arranged in a horizontal direction. The rhombus links are provided equidistantly on the left and right, and a top plate to which the movable part and the seating part of the drive actuator are attached is arranged above and is connected to the left and right links on both sides thereof. ,
The front upper eaves extend linearly in the front-rear direction from both fulcrum positions, the front lower end is provided with a pivot fulcrum, and the upper upper end is in the guide groove provided at the rear of the top plate in the front-rear direction The front and lower rods extend linearly from the lower fulcrum position to the rear and lower, and the rear end of the front lower rod extends in the guide groove provided at the rear of the foundation. The rear lower arm extends linearly from the lower fulcrum position to the front and lower, and its front end pivots to the support provided at the front of the base. The rear upper collar extends linearly from the upper fulcrum position to the front upper direction, and the front end of the rear upper collar is rotatably supported by a support part provided in front of the top plate. ,
The seating portion is provided with two pivot receiving portions on the lower surface, and the rear pivot receiving portions are rotatably supported by the pivot supporting portions provided on the left and right sides of the top plate. A movable support portion is rotatably supported on a rotation fulcrum at the upper end of the connection rod, and a rotation fulcrum at the lower end of the connection rod is rotatably supported on the rotation fulcrum portion at the front end of the front upper rod.

  In addition, the setting value of the upper limit threshold of the lifting drive force, the setting value of the repeated raising / lowering times, the setting value of the upper limit position A and the lower limit position B, the required time from the start to the end of the training, and the number of times of raising / lowering when the standby end is reached Any or all of these can be recorded and printed.

The training device of the present invention is a form that can be used as a normal chair, and can start recovery training of the standing motion function with an extremely simple operation of sitting and switching on. It is possible to perform repetitive movements to strengthen the muscle strength of the sword.
In addition, the seating surface push-up force that assists standing motion can be set arbitrarily, or the number of repetitions and the top and bottom positions of lifting and lowering can be set arbitrarily, and training that matches the physical strength of the user There is an advantage of making it possible.
In addition, due to these advantages, not only the user can be aware of the degree of physical strength change, but also the doctor in charge can grasp the current physical strength of the user and the progress of rehabilitation from the training result record.

  Two preferred embodiments of a training apparatus according to the present invention will be described with reference to the accompanying drawings.

FIG. 1 is a side view showing a part in a cross-section while stopping at the origin position of Embodiment 1 to which the invention of claim 4 is applied. FIG. 2 is a side view showing a part of the lower limit position B in cross section.
The drive actuator 3 is composed of a screw-fitting and transmission clutch 32 that is driven by forward / reverse rotation of the electric motor 31.
While the upper plate 15 parallel to the base 1 is disposed above, the male screw shaft 33 is rotatably mounted via a bearing, and the column 16 and the mounting column 18 are vertically fixed.
An electric motor 31 is attached and fixed to the base 1 via a bracket, and the male screw shaft 33 is rotationally driven via a transmission clutch 32 and a gear.
The elevating device 7 is driven up and down via a female screw 34 fitted to the male screw shaft 33 and guided via a linear guide 17 fitted to the support column 16.
An electric motor in which a male screw shaft is attached and fixed without being allowed to rotate, a female screw fitted to the male screw shaft is rotatably attached to the elevating device 7 via a bearing, and is attached and fixed to the elevating device 7. The present invention can also be implemented by a configuration in which the female screw is rotationally driven via a transmission clutch and a gear, but it is not shown here.
Switches 61, 62, and 63 for detecting the origin position, the upper limit position A, and the lower limit position B are attached to the mounting column 18 so that the position thereof can be adjusted. An operating piece 64 is attached (position control means 6).
The base 1, the upper plate 15, the column 16, and the mounting column 18 constituting the frame body that repeatedly supports the lifting load are formed of metal such as steel or aluminum, and the lifting device 7 is made of aluminum, reinforced resin, or a combination of both. The fitting of the male screw shaft 33 and the female screw 34 is a ball screw, and the linear guide 17 is also of a ball guide type, so that a smooth ascending and descending motion is achieved.
A saddle-like seating portion 2 of the bicycle is attached to the front end of the lifting device 7 through a pressure sensor 21 together with a backrest and an armrest.
In the present embodiment, the operating device 5 is attached to the lifting device 7. However, the operating device 5 can be attached to the base 1 or a part thereof can be mounted on the remote control. The drive unit cover 19 covers the movable part behind the backrest, but only a part of it is shown.

The operating device 5 includes an operation start switch 51, an elevating force upper limit threshold setting element 41, and a repeated elevating frequency setting element 66, and includes an operation control means 65 and an elevating force control means 4.
The operation control means 65 controls the forward / reverse switching of the electric motor 31 by inputting on / off signals from the detection switches 62 and 63 for the upper limit position A and the lower limit position B, and the number of passes from the detection switch 62 for the upper limit position A. , And a control circuit and an element that are stopped at a starting point after repeating ascending and descending the number of times set by the number-of-times setting element 66 and finishing predetermined.
In the lifting force control means 4, the determination means M detects and inputs the load of the seating part from the pressure sensor 21, compares and calculates the lifting force upper limit threshold set by the upper threshold setting element 41, and the load is the upper threshold. If it has reached, send a standby signal,
While the standby means is receiving the standby signal, the lifting and lowering of the seating part 2 is made to wait in a temporarily stopped state by disconnecting the transmission clutch 32, and the delay timer is operated to measure the standby time. When the standby signal is received / stopped, the transmission clutch 32 is repeatedly disconnected and connected and the standby time measurement start / initial return is repeated, and when the delay timer measurement time reaches a preset time, the standby ends. Send a signal,
The standby end means cancels the control of the determination means and the standby means by receiving the standby end signal, re-engages the transmission clutch 32, and once the seat portion 2 rises to the upper limit position A, it stops descending to the origin position. And a control circuit and an element for ending standby.

  The training apparatus can perform the standing training for the set number of times with the assistance of the set force. Further, when it becomes difficult to stand up on the way, the standby end means operates to return the seating portion to the origin position and end. Training that matches the user's physical strength is possible by resetting the assist force, the number of times of ascending and descending, or the upper and lower limit positions.

FIG. 3 is a side view showing a part in a cross-section while stopping at the origin position of the second embodiment to which the inventions of claims 6 and 7 are applied. 4 and 5 are side views showing a part of the lower limit position B and the upper limit position A in section.
The drive actuator 3 is a main air cylinder 35 and an auxiliary air cylinder 36 having a movable piston, and the latter follows the up-and-down movement by the former driving force without receiving the supply of compressed air during a predetermined operation, and waits. Both of them are driven and output only at the end, and both of them are attached and fixed to the upper surface of the base 1 with the tip of the movable piston.
The lifting device 7 has a pair of rhombus links 70 including a front upper rod 71, a front lower rod 72, a rear lower rod 73, and a rear upper rod 74 provided above the base 1 at an equal distance on the left and right. The fulcrum 75 and the lower fulcrum 76 are arranged in the vertical direction, the front fulcrum 77 and the rear fulcrum 78 are arranged in the horizontal direction, and the top plate on which the movable part of the air cylinder and the seating part 2 are attached. 8 is arranged and is connected to the left and right links on both sides thereof. The right side of the pair of left and right rhombus links 70, that is, the front side of the figure is omitted and not shown.
The front upper rod 71 extends in a linearly inclined manner in the front-rear direction from both fulcrum positions, and has a pivot fulcrum portion 79 at the front lower end, and a guide groove provided at the rear of the top plate 8 at the rear upper end The front lower rod 72 extends in a linearly inclined manner from the lower fulcrum position to the rear lower side, and its rear end is provided at the rear of the base 1. It is supported in the guide groove 11 so as to be movable in the front-rear direction and pivotable, and the rear lower rod 73 extends linearly from the lower fulcrum position to the front and lower, and its front end is in front of the base 1. The rear upper collar 74 extends in a linearly inclined manner from the upper fulcrum position to the front and upper sides, and the front end of the rear upper collar 74 is provided in front of the top plate 8. 82 is rotatably supported.

The seat portion 2 is provided with two pivot receiving portions on the lower surface, and the rear pivot receiving portions are pivotally supported by the pivot support portions 83 provided on the left and right sides of the top plate 8, and the front The pivot receiving portion of the connecting rod 22 is rotatably supported by a pivoting fulcrum at the upper end of the connecting rod 22, and the pivoting fulcrum of the lower end of the connecting rod 22 is rotatable at the rotating fulcrum portion 79 of the front end of the front upper rod 71. Supported.
The four bases 71, 72, 73, 74 and the connecting base 22 constituting the base 1, the top plate 8, and the pair of left and right rhombus links 70 are formed of a metal such as aluminum, a reinforced resin, or a combination of both, Each fulcrum part and supporting part to be linked are rotatably connected by a shaft, a pin or a rivet. In the present embodiment, the seating surface of the seating portion 2 is of a general form on which the entire buttock is placed, and is used to bend and stretch the knee joint by linking to the lifting movement by the action of the connecting rod 22. Inclination exercise that fits the angle of the person's thigh.
A mounting column 18 provided upright on the base 1 is fixed with a switch 61 for detecting the origin position and a plurality of switch groups 62 and 63 for detecting the upper limit position A and the lower limit position B. The plate 8 is provided with a switch operating piece 64 for operating the three-position switch and the switch group (position control means 6).
In this embodiment, the backrest, the armrest and the operation device 5 are attached to the top plate 8 of the lifting device 7. However, the operation device 5 can be attached to the base 1 or a part thereof can be mounted on the remote control. . Although the drive part cover 19 has covered the movable part of the raising / lowering apparatus, illustration was abbreviate | omitted.

The operating device 5 includes an operation start switch 51, position selection switch group selection elements 67 and 68, a lifting force upper limit threshold setting element 41, and a repetitive lifting frequency setting element 66. The lifting force control means 4 is included.
The operation control means 65 inputs the upper limit position A and the lower limit position B selected by the setting of the respective group selection elements 67 and 68 that can select one of the on / off signals of the detection switch group of the upper limit position A and the lower limit position B.・ Receive the cut signal to switch the direction of operation of the main air cylinder 35, receive the on / off signal of the selected upper limit position A, count the number of passes, and select after repeating the set number of times A control circuit and an element that are stopped at the upper limit position A and finished predetermined are provided.
The lifting force control means 4 includes a compressed air pressure adjustment valve 37 as the upper and lower drive force upper limit threshold setting element 41, and the determination means P operates when the lifting operation starts and when the lower limit position B is reached, and reaches the upper limit position A. It is equipped with a judgment timer that returns from time to time, and the rising time is measured each time. When a preset time has elapsed, a standby end signal is transmitted,
The standby end means receives the standby end signal, cancels the control of the determination means P, operates the auxiliary air cylinder 36 as auxiliary power, drives the seat portion 2 together with the main air cylinder 35, and returns to the upper limit position A. And a control circuit and an element for ending standby.

As in the first embodiment, the set-up training can be performed with the set number of assists. Further, when it becomes difficult to stand up on the way, the standby end means operates, and the seating portion returns to the upper limit position A and ends. Training that matches the user's physical strength is possible by resetting the assist force, the number of times of ascending and descending, or the upper and lower limit positions.

  The assisting mechanism for the standing motion according to the present invention can also be used for a user of a wheelchair to stand and sit without helping an assistant.

Side view (Example 1) which shows a part in section in the state stopped at the origin position of Example 1 to which the invention of claim 4 is applied Side view which shows a part in the lower limit position B of Example 1 same as the above in section The side view which shows a part in section in the state stopped at the origin position of Example 2 to which the invention of claims 6 and 7 is applied (Example 2) Side view which shows a part in lower limit position B of Example 2 same as the above in a sectional view Side view which shows a part in upper limit position A of Example 2 same as the above in a sectional view Block diagram of control system in embodiment 1 Block diagram of control system in embodiment 2

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Base stand 11 Guide groove 12 of a base stand 15 Supporting part 15 Top plate 16 Column 17 Linear guide 18 Mounting pillar 19 Drive part cover 2 Seating part 21 Pressure sensor 22 Connecting rod 3 Drive actuator 31 Electric motor 32 Drive clutch 33 Male Screw shaft 34 Female thread 35 Main air cylinder 36 Auxiliary air cylinder 37 Pressure control valve 4 Lifting force control means 41 Upper threshold setting element 5 Operation device 51 Operation start switch 6 Position control means 61 Origin position detection switch 62 Upper limit position A detection switch 63 Lower limit position B detection switch 64 Switch operating piece 65 Operation control means 66 Number setting element 67 Group selection element 68 for upper limit position A detection switch group 7 Group selection element for lower limit position B detection switch group Lifting device 70 Diamond link 71 Front upper collar 72 Front lower rod 73 Rear lower rod 74 Rear upper rod 75 Upper fulcrum 76 Lower fulcrum 77 Front fulcrum 78 Rear fulcrum 79 Rotating fulcrum portion 8 Top plate 81 Top plate guide groove 82 Top plate support portion 83 Top plate rotation support portion

Claims (8)

A base stand, a seating section,
An elevating device that drives the seat to move up and down in a substantially vertical direction;
A drive actuator that is a power source of the lifting device;
Lifting force control means comprising an upper threshold setting element and capable of variably controlling the lifting driving force;
A training apparatus comprising: an operating device capable of operating a start of an elevating operation, and stopping and ending after repeating the elevating operation by operating the start. Position control means capable of controlling any or all of the origin position, the upper limit position A and the lower limit position B for starting or stopping the lifting operation;
It has a number setting element that can arbitrarily set the number of repetitions of ascending and descending, and provided with an operation control means that stops at the origin position or upper limit position A and repeats a predetermined end after repeating ascending and descending a set number of times when the start is operated. The training apparatus according to claim 1. The lifting force control means detects and inputs the load of the seating portion on which the weight of the user has been riding during the lifting process, compares it with the set upper limit threshold of the lifting drive force, and the load reaches the upper limit threshold In the case, a determination means M for transmitting a standby signal is provided,
While the standby signal is being received, the seat portion is lifted and stopped in a temporarily stopped state, and when stopped, the temporarily stopped state is canceled and the lifting motion is continued, and the reception duration time is set to a preset time. When it reaches, it has a standby means for transmitting a standby end signal,
And a standby end means for receiving the standby end signal, canceling the control of the determination means M and the standby means, returning the seating portion to the origin position or the upper limit position A, and stopping the drive actuator. The training device according to claim 2. The drive actuator is constituted by a screw fitting and a transmission clutch driven by forward and reverse rotation of the motor,
The determination means M detects and inputs the load of the seating portion by a pressure sensor provided in either the seating portion or the lifting device, and compares and calculates. When the load reaches the upper limit threshold value, a standby signal is transmitted. And
While the standby means is receiving the standby signal, the lifting / lowering of the seating portion is caused to wait in a suspended state by disconnecting the transmission clutch, and the delay timer is operated to measure the standby time. When the standby signal is received / stopped, the transmission clutch is disengaged / engaged and the standby time measurement start / initial return is repeated, and when the measured time of the delay timer reaches a preset time, the standby end signal Is to send
The standby end means cancels the control of the determination means and the standby means by receiving the standby end signal, re-engages the transmission clutch, and once the seating portion has been raised to the upper limit position A, it is lowered to the origin position and stopped. It will end waiting,
The position control means can variably fix the positions of a plurality of detection switches arranged in the vertical direction that are turned on and off by the switch operating piece,
The operation control means receives an on / off signal from the detection switch at the upper limit position A and the lower limit position B to control forward / reverse switching of the motor, and counts and sets the number of passes from the detection switch at the upper limit position A. The training apparatus according to claim 3, wherein the training apparatus is stopped at the origin position after repeatedly raising and lowering the number of times and predetermined completion. The lifting / lowering force control means operates when the lifting / lowering operation is started and when the lower limit position B is reached, and includes a determination timer that returns when the upper limit position A is reached, and measures the rising time each time. A determination means P for transmitting a signal;
3. A standby end means for receiving the standby end signal, canceling the control of the judging means P, returning the seating portion to the origin position or the upper limit position A and stopping the drive actuator. The training device described. The drive actuator is a main air cylinder and an auxiliary air cylinder having a movable piston, and the latter follows a lifting motion by the former driving force without receiving supply of compressed air during a predetermined operation, and at the end of standby Only drive output,
The lifting force control means includes a pressure control valve for compressed air that can variably control the upper limit threshold of the lifting driving force,
The standby end means operates the auxiliary air cylinder as auxiliary power, drives the seating portion together with the main air cylinder, returns to the upper limit position A, and ends standby.
The position control means includes a plurality of detection switch groups arranged in the vertical direction at any or all of the origin position, the upper limit position A, and the lower limit position B, and is turned on / off by a switch operating piece. ,
The operation control means includes a group selection element capable of selecting one of the on / off signals of each detection switch group, and receives the on / off signal of the selected upper limit position A and lower limit position B to receive the piston. Control movement direction switching, receive on / off signal of selected upper limit position A, count the number of passes, stop at selected upper limit position A after repeatedly raising and lowering the set number of times, and finish predetermined The training device according to claim 5. The lifting device has a pair of rhombuses consisting of a front upper heel, a front lower heel, a rear lower heel, and a rear upper heel, in which an upper fulcrum and a lower fulcrum are arranged vertically, and a front fulcrum and a rear fulcrum are arranged horizontally. A link is provided at equal distances on the left and right, and a top plate to which a movable part and a seating part of the drive actuator are attached is disposed above, and is connected to the left and right links on both sides thereof.
The front upper eaves extend linearly in the front-rear direction from both fulcrum positions, the front lower end is provided with a pivot fulcrum, and the upper upper end is in the guide groove provided at the rear of the top plate in the front-rear direction The front and lower rods extend linearly from the lower fulcrum position to the rear and lower, and the rear end of the front lower rod extends in the guide groove provided at the rear of the foundation. The rear lower arm extends linearly from the lower fulcrum position to the front and lower, and its front end pivots to the support provided at the front of the base. The rear upper collar extends linearly from the upper fulcrum position to the front upper direction, and the front end of the rear upper collar is rotatably supported by a support part provided in front of the top plate. ,
The seating portion is provided with two pivot receiving portions on the lower surface, and the rear pivot receiving portions are rotatably supported by the pivot supporting portions provided on the left and right sides of the top plate. The movable support portion is rotatably supported on the pivot fulcrum at the upper end of the connecting rod, and the pivot fulcrum at the lower end of the coupled rod is pivotally supported on the pivot fulcrum at the front end of the front upper rod. The training device according to claim 1, 2, 3, 4, 5 or 6. Any of the set value of the upper limit threshold value of the ascending / descending driving force, the set value of the repeated raising / lowering times, the set value of the upper limit position A and the lower limit position B, the time required from the start to the end of the training, and the number of times of raising / lowering when the standby end is reached The training apparatus according to claim 3, wherein all or all of them can be recorded and printed.

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