JP2000167020A - Massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To artificially operate a work of a treatment piece and perform a suitable massage according to a request from a treated person, by providing a driving portion for driving the treatment piece with a servo mechanism that operates the treatment piece following variation of output from an operating portion. SOLUTION: This massage machine 1 is provided with treatment pieces 5 projected upward from a housing placed on a floor. A driving portion for driving the treatment piece 5 for massage is constituted by providing three expandable bellows-shaped air cells (air actuator) 15a-15c between an oscillation plate 11 and an air cell base 17. For example, when one air cell 15b expands, the treatment pieces 5 corresponding to that position exits to the treated person side. When both air cells 15a, 15b simultaneously expand or shrink, both treatment pieces 5 are simultaneously proceeded or backed. Each of air cells 15a-15c operate an air guide valve 21 constituting a servo mechanism for expansion or shrinkage according to a moving amount of each wire 39.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a massage machine.

[0002]

2. Description of the Related Art Conventionally, a treatment element and a drive unit for driving the treatment element are provided, and the treatment element performs a massage operation such as acupressure, massaging, tapping, and rubbing on an affected part of a user. Massage machines are known.

[0003]

The massage operation preferred by the user depends on the part of the body to be massaged and the degree of the disease, and the demands are diverse. However, in the conventional massage machine, the driving unit only causes the treatment element to perform a predetermined operation, and changes the part to be pressed, adjusts the operation speed, and changes the operation such as kneading and tapping. Although the instruction is possible, the movement of the treatment element itself cannot be artificially operated according to the request of the user. Therefore, it has not been possible to perform a massage corresponding to various requests of the user.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and has an object to enable a massage according to a request of a user by enabling the movement of a treatment element to be artificially operated. With the goal.

[0005]

The present invention takes the following technical means to achieve the above object. That is, the present invention is a massager including a treatment element, a driving unit that drives the treatment element, and an operation unit that instructs the operation of the treatment element to the driving unit. And a servo mechanism for operating the treatment element in accordance with a change in the output from the operation section.

By employing this configuration, the treatment element operates in accordance with the operation of the operation unit. Therefore, massage according to the request of the user can be performed. Here, as the movement (= operation amount) of the treatment element, any one of a one-dimensional movement (linear movement), a two-dimensional movement (planar movement), and a three-dimensional movement (three-dimensional movement) is adopted. can do. In particular, if only the pressing force of the treatment element is adjusted, a one-dimensional movement is sufficient. This is because the strength of the pressing force is almost proportional to the moving amount of the treatment element. In order to realize the one-dimensional operation, a drive unit capable of the one-dimensional operation may be employed similarly to the operation unit capable of the one-dimensional operation.

[0007] However, in order to respond to various tastes of the oblique treatment, those capable of two- or three-dimensional operation are preferable. In this case, as the drive unit, the drive unit includes a plurality of actuators that expand and contract, and the treatment element is provided on a treatment element base that can operate by expansion and contraction of each actuator. it can. Here, the “expansion / contraction operation” is a concept including a simple linear operation.

[0008] The operation unit may be configured to be capable of outputting to the servo mechanism an amount by which each of the actuators should expand and contract as a target value. The servo mechanism may be provided for each actuator, and may control expansion and contraction of the actuator so that the treatment element operates in accordance with the change in the target value.

According to such a configuration, it is possible to realize various operations of the treatment element according to the preference of the oblique treatment.
Here, the operation unit is an amount that each actuator should expand and contract,
That is, the motion vector (2) of the treatment element base (treatment element)
Or a three-dimensional vector).
Specifically, the operation unit includes an operation handle that can be tilted in an arbitrary direction, and a servo control unit that sets the degree of expansion and contraction of each actuator necessary for the treatment element base to tilt following the inclination of the operation handle as a target value. It is preferable to have an indicator for outputting to a mechanism.

Preferably, the actuator comprises an air cell (air bag) which expands and contracts by supplying and discharging air. In this case, the servo mechanism causes the air cell to expand and contract in accordance with the change in the target value. It is preferable to include a valve for switching between supply and exhaust. Further, in the present invention, information indicating a temporal change in output of the operation unit is stored in order to store the massage operation according to the preference of the user by operating the operation unit and enable it to be reproduced many times. It is preferable to provide learning means for operating the treatment element based on the stored information.

In this case, a manual mode for operating the treatment element based on the input to the operation unit, a learning mode for storing the input to the operation unit in the learning means, and a treatment mode based on the information stored in the learning means. It is preferable to be configured to be able to switch between a reproduction mode for operating the child and a reproduction mode. Further, according to the present invention, a massager including a treatment element, a driving unit that drives the treatment element, and an operation unit that artificially instructs the operation of the treatment element to the driving unit, A learning means for storing information indicating a temporal change in the output of the operation unit may be provided.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 7 show a massage machine 1 according to a first embodiment of the present invention. As shown in FIG. 1, this massage machine 1 is placed on a floor or the like to massage an affected part such as a back, and supports the body with a cushion C or the like as needed when used.

The massage machine 1 includes a housing 3 placed on the floor and a treatment element 5 projecting upward from the housing 3. A treatment element 5 is provided in the housing 3.
Is provided with a driving unit 7 for massaging. Also, an operation unit 9 for artificially inputting the movement of the treatment element 5
Are provided separately from the housing 3. The treatment element 5 is for giving a stimulus to the affected part of the user P. The treatment element 5 includes a treatment element base (oscillating plate) 1
Two pieces are arranged on one, and each upper part is covered with an elastic body 13 such as rubber. As shown in FIG. 3, the swinging plate 11 is formed in a pentagonal shape in which two vertices of a triangle are cut off. The two treatment elements 5 are respectively provided near the cut-off vertices. The shape of the swing plate 11 is not particularly limited.

The driving unit 7 includes three telescopic bellows-like air cells (air actuators) 15a, 15b, 15
c. Each air cell 15a, 15b, 1
5 c is provided between the swing plate 11 and the air cell base 17. Then, the three air cells 15a, 15b,
Of the 15c, two air cells 15a, 15b are located below the treatment element 5, and three air cells 15a, 15b, 1
5c are arranged in a triangular shape.

The air cell base 17 is provided fixed to the housing 3. Air cells 15a, 15
b and 15c expand and contract with respect to the air cell base 17 in the vertical direction. The oscillating plate 11 includes the air cells 15a, 15
b, 15c are supported at the upper end (the end in the expansion and contraction direction),
The air cells 15a, 15b, 15c can be freely tilted in any direction due to the difference in the degree of expansion and contraction. The tilt direction and the tilt amount of the swing plate 11 are determined by the difference in the degree of expansion and contraction of each air cell.

Since the swinging plate 11 can be tilted in an arbitrary direction, the treatment element 5 can also perform various operations. Treatment child 5
For example, when one of the air cells 15a, 15b in which the treatment element 5 is disposed above 15b is extended, the treatment element 5 corresponding to the position of the air cell 15b is moved to the user P side. Advance (see FIG. 5). Also, when the two air cells 15a and 15b, at which the treatment element 5 is disposed at least above, expand and contract simultaneously, the two treatment elements 5
Move forward and backward toward the user P at the same time. In particular, when all three air cells expand and contract simultaneously, the swing plate 11
The patient itself can move up and down, that is, move forward and backward toward the user P.

As shown in FIG. 2, the air cell 15 expands and contracts by supplying and discharging compressed air from an air supply source 19.
The air supply source 19 includes an air pump 19a and a motor 1
9b, an accumulator 19c, a relief valve 19d, and the like. The air supply and exhaust are switched by each air cell 1
The air guide valve 21 connected to 5a, 15b, 15c performs. Each air guide valve 21 is located between the swing plate 11 and the air cell base 17 and has a respective air cell 15a, 15b, 15
Each of them is arranged near c. These three air guide valves 21 include three air cells 15a, 15b, 15c.
Are similarly arranged in a triangular shape outside the triangle.

The air guide valve 21 has a cylindrical valve body 2.
3 and a spool 2 slidable inside the valve body 23.
And 5. The spool 25 includes a spool valve shaft 27 and two spool valves 29 and 31 (hereinafter, FIG. 2) arranged at a predetermined interval in the axial direction of the spool valve shaft 27.
, The upper spool valve is referred to as a first spool valve 29, and the lower spool valve is referred to as a second spool valve 31).

The valve body 23 includes an air cell port 33 connected to the air cell 15, an air supply port 35 connected to the air supply side of the air supply source 19, and an exhaust gas connected to the intake side of the air supply source 19. And a port 37. Note that a switching valve 38 is interposed in an air passage between the exhaust port 37 and the air supply source 19. The switching valve 38 is connected to the air cell 15
This is for switching between a forced exhaust state in which exhaust from the air is forcibly returned to the intake side of the air supply source 19 and a natural exhaust state in which exhaust is released to the atmosphere. In FIG. 2, the natural exhaust state is set. . In the forced exhaust state, the expansion and contraction of the air cell becomes faster, and the massage operation becomes sharp.

A space surrounded by the first spool valve 29 and the valve body 23 is an exhaust passage, and the exhaust port 37 is provided so as to communicate with the exhaust passage. An air supply passage is provided between the first spool valve 19 and the second spool valve 31, and the air supply port 35 is provided so as to communicate with the air supply passage. When the first spool valve 29 is located below the position of the air cell port 33, the air cell port 33 and the exhaust port 37 are in communication with each other, and the air cell 15 is exhausted. On the other hand, when the first spool valve 29 is located above the position of the air cell port 33, the air supply port 35
And the air cell port 33 are in communication with each other,
Air supply to 5 is performed.

When the first spool valve 29 closes the air cell port 33 as shown in FIG. 2, neither air supply nor exhaust is performed, and the air cell is kept in the air holding state.
The lower end of the spool valve shaft 27 is connected to a wire 39 extending from the operation unit 9, and the spool 25 slides vertically with respect to the valve body 23 by pushing and pulling the wire 39. The wire 39 extending from the operation unit 9 is connected to the spool valve shaft 27 through a wire guide 40 provided on the lower surface of the air cell base 17.

On the other hand, the valve body 23 is suspended and held by the rocking plate 11, and the rocking plate 1 accompanying the expansion and contraction of the air cell 11.
By the swing of 1, the valve body 23 also slides with respect to the spool 25. The lower end of the spool shaft 27 and the wire 39
Are pivoted to correspond to the swing of the swing plate 11, and the valve body 23 and the swing plate 11 are also pivotally attached for the same reason.

Here, the valve body 23 of each air guide valve 21
Is provided near each of the air cells 15a, 15b, and 15c, so that the sliding amount of the valve body 23 substantially corresponds to the amount of expansion and contraction of each of the air cells 15a, 15b, and 15c.
When the spool 25 is pushed upward with respect to the valve body 23 by the wire 39, the first spool valve 29 is located above the air cell port 33. Then, the air supply port 35 and the air cell port 33 communicate with each other to be in an air supply state. When the air cell 15 is supplied with air and expands, and the rocking plate 11 moves upward, the valve body 23 also moves upward. Valve body 2
When 3 moves by the amount corresponding to the rise of the spool valve shaft 27, the positions of the first spool valve 29 and the air cell port 33 match again, the air supply is stopped, and the expansion of the air cell 15 is stopped, and the state is maintained.

On the other hand, when the spool valve shaft 27 is moved downward with respect to the valve body 23 from the state of FIG. 2, the first spool valve 29 is located below the air cell port 33. Then, the air cell 15 is exhausted and contracted, and the swinging plate 11 moves downward. As a result, the valve main body 23 also moves downward, and when the valve main body 23 moves by the lowering amount of the spool valve shaft 27, the positions of the first spool valve 29 and the air cell port 33 coincide again, the exhaust stops, and the air cell 15 contracts. Also stops and is kept in that state.

As described above, each of the air cells 15a, 15b,
15c expands and contracts according to the amount of movement of the wire 39. That is, the air guide valve 21 detects a position displacement based on a difference in position between the air cell port 33 and the first spool valve 29,
A servo mechanism that expands and contracts the air cells 15a, 15b, and 15c up to a target value given by the amount of movement of the wire 39 is configured.

The operating section 9 operates the spool valve shaft 27 of the air guide valve 21 via the wire 39 to adjust the degree of expansion and contraction of each of the air cells 15a, 15b, 15c, Is to operate. By operating the movement of the rocking plate 11, the treatment element 5
Is operated. As shown in FIGS. 6 and 7, the operation unit 9 includes an operation handle 4 that can be tilted in any direction.
1 and a triangular operation plate 43 tilted by the operation handle 41. The other end of the wire 39 whose one end is attached to the spool valve shaft 27 is attached to each of the apexes 43a, 43b, 43c of the operation plate 43.
The wire 39 is pushed and pulled.

The operation handle 41 includes a handle bar 45.
A grip 47 is attached to the upper part of the device. The handle bar 45 is attached to a handle support portion 51 provided on the fixed plate 49 by a ball joint 53, and can be inclined in any direction. The operation plate 43 is provided on the handle bar 45 so as to be parallel to the fixing plate 49 when the operation handle 41 is in the upright state. When the operation handle 41 is tilted, the operation plate 43 is also tilted accordingly.

The wire 39 extends below the fixed plate 49 through a wire guide 55 provided below the fixed plate 49, and reaches the spool valve shaft 27 of each air guide valve 21. The air guide valve 21 is connected to the air cells 15a, 15b, 1 as described above in accordance with the amount of movement of the wire.
Control the expansion and contraction of 5c. As described above, the inclination direction and the inclination amount of the operation handle 41 are represented as the respective movement amounts of the three vertexes 43a, 43b, and 43c of the operation plate 43, and these movement amounts are set to the target by the three wires 39. The value is transmitted to the guide valve 21 as a value. That is, the operation plate 43 and the wire 39 play a role of an instruction unit for giving a target value to the guide valve 21 which is a servo mechanism.

Therefore, the three vertices 43 of the operation plate 43
a, 43b and 43c are moved by the air cells 15a and 15c.
The movements of the operation plate 43 are reproduced on the swinging plate 11 as well as the movements of b and 15c. The movement of the first spool valve 29 according to the movement amount of each wire 39 eventually determines the direction and amount of inclination of the rocking plate 11, and the movement of the operation plate 43 is also reproduced on the rocking plate 11. You.

Therefore, when it is desired to advance a certain treatment element 5 to the user P (upward in FIG. 2), the operating handle 41 may be tilted in the direction corresponding to the treatment element 5. 8 to 14 show a massage machine 1 according to a second embodiment of the present invention. In the first embodiment,
In order to operate the oscillating plate 11 in response to an instruction from the operation unit 9, the air guide valve 21 is used to perform the mechanical operation. However, in the second embodiment, an electric servo system is used. Done by

In the second embodiment, instead of the air guide valve 21, three position detecting means 61 for detecting the amount of displacement of the swing plate 11 with respect to the air cell base 17 are provided. The operation unit 9 includes a fixed plate 49 of the operation plate 43.
Command signal generating means 63 for detecting the amount of displacement with respect to, and instructing the amount of operation of the rocking plate 11 is provided. The position detecting means 61 is composed of, for example, a differential transformer or a potentiometer. The position detecting means 61 is shown in FIGS.
As shown in FIG. 0, the air guide valve 21 is arranged in the same manner as in the first embodiment, and the distance between the swing plate 11 and the air cell base 17 at the mounting position is measured.
Further, since the position detecting means 61 is disposed near the air cell 15 similarly to the air guide valve 21, the amount of expansion and contraction of the air cell 15 is detected by detecting the amount of displacement of the rocking plate 11. .

The command signal generating means 63 comprises, for example, a differential transformer or a potentiometer. The command signal generating means 63 is attached to the same position as the wire 39 between the operation plate 43 and the fixed plate 49, and the operation plate 4 expressed as the movement amount of the wire 39
3 is detected as an electric signal, and the amount of displacement serves as a target value (command signal) of the amount of expansion and contraction of each of the air cells 15a, 15b, and 15c. That is, the operation plate 43 and the command signal generating means 63 are used as an instructing unit that gives a target value to a servo mechanism described later.

In the second embodiment, as shown in FIG. 13, in order to switch the supply and exhaust of the air cells 15a, 15b, and 15c, the air passages between the air supply source 19 and the air cells are respectively provided with electromagnetic waves. A valve 65 is provided. The solenoid valve 65 is a three-position, four-port spring center, and can switch among three states: an air supply state, an exhaust state, and an air holding state. Note that the air supply state is
It is when the first solenoid 67 is excited, and the exhaust state is established when the second solenoid 69 is excited.
When neither of the solenoids 67, 69 is excited, the air is held.

In the case of the exhaust state, the air supply source 19
The air is forcibly exhausted, but if a natural exhaust is performed by the force applied to the treatment element 5 or the like, a simpler electromagnetic valve (for example, a 3-port valve) can be adopted. The operation of the solenoid valve 65 is controlled by a solenoid valve driving circuit 71 as shown in FIG.

The drive circuit 71 includes a command signal generator 6.
The first solenoid (SV1) 67 or the second solenoid (SV2) 69 is energized based on the command signal output from 3 to expand and contract so that the air cells 15a, 15b, and 15c follow target values. is there. Hereinafter, FIG.
4, the configuration and operation of the drive circuit 71 will be described.

The command signal output from the command signal generating means 63 and the displacement signal output from the position detecting means 61 and amplified by the amplifier 73 are applied to the input of a differential amplifier 75. The output of the differential amplifier 75 represents the deviation between the command signal and the displacement signal. The output of the differential amplifier 75 is provided to a first drive circuit 77 for exciting the first solenoid 67 and a second drive circuit 79 for exciting the second solenoid 69, respectively. Each of the driving circuits 77 and 79 is configured such that driving FETs 89 and 91 of solenoids 67 and 69 are connected to the output side of operational amplifiers 81 and 83 via diodes 85 and 87, respectively.

When the deviation which is the output of the differential amplifier 75 is positive (that is, in the case of a command to extend the air cell 15), the first drive circuit 77 operates and the first solenoid 67 operates.
Excites. Then, the solenoid valve 65 is supplied with air, and the air cell 15 is extended. When the displacement of the oscillating plate 11 reaches the target value, the deviation becomes zero, the first solenoid 67 is demagnetized and the extension stops, and the solenoid valve 65 enters the air holding state.

When the deviation is negative (that is, in the case of a command to contract the air cell 15), the second drive circuit 79 operates and the second solenoid 69 is excited. Then, the solenoid valve 65 is exhausted, and the air cell 15 contracts. When the deviation becomes zero, the contraction stops. in this way,
Each air cell 15 operates based on a command signal from the operation unit 9, and the same movement as the operation plate 43 can be reproduced on the swing plate 11. Therefore, the treatment element 5 can perform various operations based on the operation of the operation unit 9.

FIG. 15 shows a third embodiment of the present invention. In the third embodiment, an operation learning unit 93 is connected between the command signal generating unit 63 and the operational amplifier 75 in the second embodiment (see FIG. 14).
The operation learning means 93 stores information indicating a temporal change of a command signal from the operation section 9, and can operate the treatment element 5 without operation by the operation section 9 based on the stored information.

The operation learning means 93 is constituted by a memory circuit as shown in FIG. 15, and is an A / D converter 95 for converting an analog signal indicating a temporal change of a command signal from the operation section 9 into digital data. A memory 97 for storing the digital data converted by the A / D converter 95, and a D / A converter 99 for converting the digital data stored in the memory 97 into an analog signal (command signal to the drive circuit). The main configuration is provided.

In the memory circuit 93 shown in FIG.
A portion (a portion surrounded by a dotted line in FIG. 15) 93a including the / D converter 95 and the D / A converter 99 is equivalent to one air cell to be controlled, and the air cells 15a, 15
It is necessary to provide a plurality (three) according to the numbers of b and 15c. The memory circuit 93 constituting the operation learning means can be freely switched among three modes: a manual mode, a learning mode, and a reproduction mode. The manual mode (non-learning mode) refers to a state in which the treatment element 5 can be operated by the operation of the operation unit 9 but does not learn the operation. The learning mode is a state in which the treatment element is operated by the operation of the operation unit 9. At the same time as storing a command signal from the operation unit 9, and the reproduction mode refers to a state of operating the treatment element 5 based on data in the memory 97.

Each mode is switched by the first switch SW.
1 is performed. The first switch is used to switch three contacts in the memory circuit 93 at the same time.
It is composed of a combination of two switch elements SW1A, SW1B, SW1C. In FIG. 15, each contact a of each switch element SW1A, SW1B, SW1C,
Of b and c, the contact a corresponds to the manual mode, the contact b corresponds to the learning mode, and the contact c corresponds to the reproduction mode.

The contact a of the first switch SW1 is selected,
In the manual mode (the state of FIG. 15), the operation unit 9
The command signal output from the command signal generating means 63 of the differential amplifier 7 is similar to that of the second embodiment (see FIG. 14).
5 and the treatment element 5 operates. In the manual mode, the command signal from the command signal generator 63 is input to the A / D converter 95, but the A / D converter 95 and the memory 97 are deactivated by the switch elements SW1B and SW1C. Learning is not performed.

The setting b of the first switch SW1 is selected,
In the learning mode, the command signal output from the command signal generating means 63 is input to the differential amplifier 75 (the contact a and the contact b of the switch element SW1A are connected) as in the manual mode, and the treatment element 5 Works. Also, A
/ D converter 95 outputs a command signal converted to 4-bit digital data, and the data is stored in memory 9
7 and the input to the operation unit 9 is stored.

That is, the CE (C) of the A / D converter 95 is controlled by the switch element SW1B whose contact b is selected.
A Low signal is input to a terminal “hip Enable (negative logic)”, the A / D converter 95 is activated, and the A / D
The analog command signal given to D converter 95 is converted into digital data. Further, a low signal is input to the CE (negative logic) terminal of the memory 97 by the switch element SW1C whose contact b is selected, and the memory 97 is activated and the switch element S whose contact c is selected.
By W1B, R / W (Read / Wr) of the memory 97 is read.
(item: Write is negative logic) A Low signal is input to the terminal, and the memory 97 is in a writable state.

Since the output of the A / D converter 95 is connected to the data input / output terminal 103 of the memory 97 via the data bus 101, the 4-bit data converted by the A / D converter 97 is written to the memory 97.
When the contact c of the first switch SW1 is selected and the reproduction mode is set, the differential amplifier 75 is supplied to the D / A converter 9 by the switch element SW1A instead of the command signal generating means 63.
9 is connected, and the treatment element 5 operates based on the data stored in the memory 97.

That is, a low signal is input to the CE terminal of the memory by the switch element SW1C whose contact c is selected, the memory 97 is activated, and the R / R of the memory 97 is switched by the switch element SW1B whose contact c is selected. The High signal is input to the W terminal, and the memory 97 becomes readable. In addition, the switch c of the D / A converter 99 is controlled by the switch element SW1B whose contact c is selected.
The Low signal is input to the E (negative logic) terminal via the NOT circuit 105, and the D / A converter 99 is activated.

The data input / output terminal 103 of the memory 97
Since the data is connected to the input of the D / A converter via the data bus 101, the data stored in the memory 97 is converted into an analog command signal by the D / A converter 99, and is differentially converted via the switch element S11A. Amplifier 7
5 given. The address given to the memory 97 when reading and writing data is generated by the address counter 107. The address counter 107 generates a 14-bit address by inputting a pulse having a constant period generated by the oscillator OSC. When the second switch SW2 in FIG. 15 is pressed, the address counter 10
7, a Low signal is input to the RES (RESET: negative logic) terminal, and the address counter 107 is reset.

Here, the address of the memory 97 is 16 bi
t, the lower 14 bits (A0 to A13) are assigned to the address counter 107, and the remaining upper 2 bits (A14, A15) are assigned to the data selector 10.
9 is assigned. As described above, since the upper two bits are allocated to the data selector 109, four types of data can be stored. That is, four types (a plurality of types) of operation data of the treatment element 5 can be stored.

The oscillator OSC and the address counter 1
07 is connected via a two-input AND gate.
One input of the AND gate is connected to a third switch SW3 which is an operation switch. When the contact a of the third switch is selected, the pulse of the oscillator OSC is output as it is from the output of the AND gate 111. However, when the contact b of the third switch is selected, AND
No pulse is output from the gate 111. Therefore,
The address counter 107 does not operate, and the memory circuit 93 stops operating.

The output of the AND gate 111 is connected to the R / W timing terminal of the memory 97 via the delay element 113, and the pulse generated by the oscillator OSC is delayed for a certain period of time as a read / write timing pulse to the memory 97. Given to. The operation procedure of the memory circuit 93 configured as described above will be described below. (1) In the case of the manual mode, after the first switch SW1 is set to the manual mode (contact point a is selected), the treatment element 5 is operated by the operation unit 9. (2) In the case of the learning mode First, a stop state is set by the third switch SW3 (contact b is selected). Then, the learning mode is set by the first switch SW1 (contact b is selected), and the second switch (reset switch) SW2 is pressed to set the memory address counter 10 in the learning mode.
7 is reset.

After that, when the operation state is set by the third switch SW3 (contact a is selected), the storage is started. When the treatment element 5 is operated by the operation unit 9 in this state, the operation of the treatment element 5 is stored in the memory 97. At this time, an area to be stored is selected by the data selector 109 in advance (4
Out of one). Here, since the address of the memory 97 is 14 bits, data of 16384 steps can be stored. When the data sampling period is 1/20 [SEC], an operation of about 13 minutes can be stored. (3) In the case of the reproduction mode First, a stop state is set by the third switch SW3 (contact b is selected). Then, the reproduction mode is set by the first switch SW1 (contact point c is selected), and the second switch (reset switch) SW2 is pressed to set the memory address counter 1
07 is reset.

Thereafter, when the third switch SW3 is turned on (contact a is selected), reproduction (play) starts. At this time, the data selector 109 can select any data from the four types of data.
According to the present embodiment, since the content operated by the operation unit 9 is stored, the massage according to the preference of the oblique treatment can be reproduced many times.

The present invention is not limited to the above embodiment. For example, the number of the air cells 15 constituting the driving unit 7 can be an arbitrary number. Further, the number of treatment elements 5 is also arbitrary. In particular, the mechanisms of the drive unit 7 and the operation unit 9 described in the above embodiment are exemplary.

The massage machine of the present invention can also be applied as a massage unit built in the back of a chair-type massage machine.

[0056]

As described above, according to the present invention, a massage can be performed according to a request of a user.

[Brief description of the drawings]

FIG. 1 is an explanatory view of a use state of a massage machine according to a first embodiment.

FIG. 2 is a configuration diagram showing an operation unit, a driving unit, and an air supply source of the massage machine.

FIG. 3 is a plan view of the massage machine.

FIG. 4 is a front view of the massage machine.

FIG. 5 is a front view showing an operation state of the massage machine.

FIG. 6 is a perspective view of an operation unit of the massage machine.

FIG. 7 is a cross-sectional view of the operation unit on a virtual cutting plane X1 in FIG. 6;

FIG. 8 is a plan view of a massage machine according to a second embodiment.

FIG. 9 is a front view of the massage machine.

FIG. 10 is a front view showing an operation state of the massage machine.

FIG. 11 is a perspective view showing an operation unit of the massage machine.

FIG. 12 is a cross-sectional view of the operation unit along a virtual cutting plane X2 in FIG. 11;

FIG. 13 is an air circuit diagram of the massage machine.

FIG. 14 is a drive circuit diagram of the solenoid valve.

FIG. 15 is a circuit diagram of an operation learning means (memory circuit).

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 massager 5 treatment element 7 drive section 9 operation section 11 treatment element base (oscillating plate) 15 air cell 19 air supply source 21 air guide valve (valve) 25 spool 27 spool valve shaft 29 first spool valve 31 second spool valve Reference Signs List 39 wire 41 operation handle 43 operation plate 49 fixing plate 61 position detection means 63 command signal generation means 65 solenoid valve (valve) 71 drive circuit 93 learning means (memory circuit)

Claims (7)

[Claims] 1. A massage machine including a treatment element, a driving unit for driving the treatment element, and an operation unit for instructing the operation of the treatment element to the driving unit, wherein the driving unit includes: A massage machine comprising a servo mechanism for operating a treatment element following a change in output from the operation unit. 2. The driving unit has a plurality of actuators that extend and contract, and the treatment element is provided on a treatment element base that can be operated by the expansion and contraction of each actuator. The servo mechanism is configured to be able to output the amount to be expanded or contracted to the servo mechanism as a target value, and the servo mechanism is provided for each actuator, and the treatment element operates so as to follow a change in the target value. 2. The massage machine according to claim 1, wherein said massage machine controls expansion and contraction of said actuator. 3. The operation unit according to claim 1, wherein an operation handle that can be tilted in an arbitrary direction, and a degree of expansion and contraction of each actuator required for the treatment element base to be inclined following the inclination of the operation handle are set as target values. 3. The massage machine according to claim 2, further comprising an instruction unit for outputting to each servo mechanism. 4. The actuator includes an air cell that expands and contracts by supplying and discharging air, and the servo mechanism has a valve that performs air supply and exhaust switching so that the air cell expands and contracts following a change in the target value. The massage machine according to claim 2 or 3, characterized in that the massage machine is configured as follows. 5. The apparatus according to claim 1, further comprising learning means for storing information indicating a temporal change of an output of said operation unit, and operating a treatment element based on the stored information. The massage machine according to any one of the above. 6. A manual mode in which a treatment element is operated based on an input to an operation section, a learning mode in which an input to the operation section is stored in a learning means, and a treatment element based on information stored in the learning means. 6. The massage machine according to claim 5, wherein the massage mode is configured to be switchable between a play mode and a play mode for operating the massager. 7. A massage machine comprising: a treatment element; a driving section for driving the treatment element; and an operation section for artificially instructing the operation of the treatment element to the driving section. A massage machine comprising learning means for storing information indicating a temporal change of an output of a massager.