JP4732945B2 - Chair massage machine - Google Patents

Description

  The present invention relates to a chair-type massage machine, and more specifically, a chair body having a backrest portion and a seat portion, and can be turned up and down on the front side of the seat portion, and can be expanded and contracted in the length direction of the legs of the user. The present invention relates to a chair-type massage machine comprising a leg placement unit and at least a massage mechanism provided in either one of the chair body or the leg placement unit.

  Conventionally, a reclining backrest portion is connected to a seat portion placed on the floor, and a rotatable leg placement portion is provided on the front side of the seat portion, and the backrest portion is provided with a ball or the like. There is known a chair-type massage machine that provides a massage mechanism that performs massage, and also provides an air cell or the like on the leg placement unit so that not only the body but also legs and feet can be massaged.

  In such a chair-type massage machine, the leg placement unit is configured to be extendable and adapted to the length of the user's leg, and detects whether or not the leg placement unit is in contact with the floor surface. There was one provided with a floor detection sensor (see, for example, Patent Document 1).

As a result, the position of the leg placement part in the longitudinal direction of the leg can be adjusted according to the length of the leg of the user, and the leg placement part can be adjusted when the leg placement part is rotated up and down. Can be prevented from colliding with the floor.
Japanese Patent Laid-Open No. 2004-216028

  However, the chair type massage machine disclosed in Patent Document 1 described above does not include a means for detecting the amount of expansion / contraction of the leg placement unit, and is provided with a floor detection sensor including a limit sensor. If the floor detection sensor is not brought into contact with the floor, the extension limit position of the leg placement portion cannot be detected.

  Therefore, in order to automatically stop the extension operation of the leg placement unit, the leg placement unit must be brought into contact with the floor surface. Therefore, the leg placement unit is used as a means for avoiding damage to the floor surface. Wheels etc. had to be provided on the lower surface of the part.

  An object of this invention is to provide the chair type massage machine which can solve the said subject.

(1) In the present invention described in claim 1, a chair body having a backrest portion and a seat portion, which can be turned up and down on the front side of the seat portion and extendable in the length direction of the legs of the user , A leg placement unit having a sole receiving part capable of back massage, a massage mechanism provided at least in either the chair body or the leg placement unit, and the leg placement on the front side of the seat A rotating means for vertically rotating the part, an expansion / contraction means for extending / contracting the leg mounting part in the length direction of the leg of the user, and a control for controlling the operation of the rotating means and the expansion / contraction means e Bei means, wherein the rotating means includes a rotational position detecting sensor for detecting the rotational position at which the footrest portion obtained by vertically pivoted, said elastic means, said leg The seat of the leg rest when the rest is expanded and contracted in the length direction of the legs of the user A telescopic position detection sensor for detecting a position from the side, wherein the control means is based on a detection value of the rotation position detection sensor and is a distance to a position where the leg placement portion is in contact with the floor surface Is calculated in advance, and when the expansion / contraction means is operated, the amount of expansion / contraction according to the calculation result is controlled to prevent the leg placement portion from coming into contact with the floor surface during rotation . a chair slave type massage machine further comprising, said control means massage start operation unit for driving the massaging mechanism, when the input signal from the massaging start operation unit is generated, the input signal is generated Based on the position of the leg placement unit at the time when the massage is performed, control is performed to make the leg placement unit stand by at a predetermined start standby position, and at the time when an input signal from the massage start operation unit is generated. If the initial position of the leg placement part is in a range below the movable range in which the leg placement part can be rotated up and down without contacting the floor surface with the leg placement part extended to the maximum, the movable range the footrest portion of the lowermost position as the start waiting position of the, was chair-type massage machine Ru is upwardly rotated to the start waiting position without extending from the initial position.

( 2 ) In the present invention according to claim 2, in the chair type massage machine according to claim 1 , the initial position of the leg placement unit at the time when the input signal from the massage start operation unit is generated is the leg placement. The initial position is set as the start standby position when the mounting portion is in a movable range in which it can be rotated up and down without contacting the floor surface in a state where the mounting portion is extended to the maximum.

(3) In the present invention of claim 3, wherein, in the chair-type massage machine according to claim 1 or 2, in the start waiting position, characterized in that to maximize contract the footrest portion.

( 4 ) In this invention of Claim 4, in the chair type massage machine of any one of Claims 1-3 , the reclining means for reclining the said backrest part, and the reclining for driving this reclining means An operation portion, and a reclining position detection sensor for detecting a reclining position of the backrest portion, wherein the control means is based on a relative angle between the leg placement portion and the backrest portion in the mutual expansion direction. The predetermined reference angle is compared with the relative angle obtained from the detection result by the rotation position detection sensor and the detection result by the rotation position detection sensor, and the leg is reclined during the reclining operation. It has interlocking permission determining means for determining whether or not to permit rotation of the mounting portion, and by this interlocking permission determining means Only if the interlock between the footrest portion and the reclining operation of the serial backrest is permitted, the backrest of the footrest portion for rotating said footrest portion in association with the reclining operation of the backrest It is characterized in that control for performing the interlocking operation on the unit is executed.

( 5 ) In the present invention according to claim 5, in the chair type massage machine according to claim 4 , the interlock permission determining means is configured such that a difference between a tilt angle of the backrest portion and a flip-up angle of the leg placement portion is calculated. When the operation of tilting the backrest portion is performed when the predetermined value is exceeded, the interlocking operation of the leg resting portion is permitted.

  According to the present invention, since the expansion / contraction position detection sensor for detecting the position when the leg placement unit is expanded and contracted is provided, the expansion / contraction operation is performed with the optimum expansion / contraction amount according to the vertical rotation position of the leg placement unit. Even when the leg placement portion is rotated up and down, it can be expanded and contracted to the maximum without being brought into contact with the floor surface.

  The chair type massage machine according to the present invention includes a chair body having a backrest portion and a seat portion, and a leg mounting that can be vertically rotated on the front side of the seat portion and that can extend and contract in the length direction of the legs of the user. A massage mechanism provided on at least one of the chair main body or the leg placement part, a turning means for turning the leg placement part up and down on the front side of the seat part, In the chair-type massage machine, comprising: an extension / contraction means for extending / contracting the leg placement portion in the length direction of the user's leg; and a control means for controlling the operation of the rotation means and the extension / contraction means. The movement means has a rotation position detection sensor for detecting a rotation position when the leg placement portion is turned up and down, and the expansion and contraction means attaches the leg placement portion to the legs of the user. The front side of the seating part of the leg mounting part when expanded and contracted in the length direction The control unit is configured to determine in advance a distance to the position where the leg placement unit is in contact with the floor surface based on a detection value of the rotation position detection sensor. When calculating and operating the expansion / contraction means, the amount of expansion / contraction according to the calculation result is controlled so that the leg placement unit can be prevented from coming into contact with the floor surface during rotation. It is.

  Both the rotation means and the expansion / contraction means can preferably use an actuator such as an electric motor or a cylinder, and both the rotation position detection sensor and the expansion / contraction position detection sensor can use an optical sensor.

  The control means includes a control circuit in which a CPU, ROM, RAM, and the like are provided on a substrate, and is electrically connected to the actuator drive source.

  In the chair type massage machine having such a configuration, since the maximum extension amount at the position of the leg placement portion can be calculated in advance, the leg placement portion is optimally adapted to the vertical rotation position. It can be expanded and contracted by the amount of expansion and contraction. Therefore, even when the leg placement portion is rotated up and down, it can be expanded and contracted to the maximum without being brought into contact with the floor surface.

  The chair-type massage machine further includes a massage start operation section for driving the massage mechanism section, and the control means generates an input signal when an input signal is generated from the massage start operation section. Based on the position of the leg mounting portion at the time, it is possible to execute control for waiting the leg mounting portion at a predetermined start standby position.

  The massage start operation unit is, for example, a massage start button provided on an operation panel such as a remote controller (remote controller). In this embodiment, when the massage start button is pressed, the massage is not suddenly started. First, the control means performs control for causing the leg placement unit to wait at a predetermined start standby position. The remote control includes massage start buttons, automatic massage course buttons, manual massage buttons, and other massage-related operation buttons, as well as upper / lower rotation buttons, extension / retraction buttons, and backrest reclining. A storage button or the like is provided for bringing the button, the leg placement portion, and the backrest portion into a substantially vertical state.

  The start standby position of the leg placement unit is provided so that the user can make fine adjustments such as the vertical rotation position and extension degree of the leg placement unit when starting a massage or the like. In this embodiment, the start standby position is automatically determined according to the position of the leg rest when the massage start button is pressed by the user.

  For example, when the input signal from the massage start operation unit is generated, the initial position of the leg mounting unit can be rotated up and down without contacting the floor surface with the leg mounting unit fully extended. If it is within the movable range, the initial position can be set as the start standby position and can be made to stand by on the spot.

  The movable range in which the leg resting portion can be rotated up and down without contacting the floor surface with the leg resting portion extended to the maximum is the turning angle of the leg resting portion, that is, the jumping up from the substantially vertical initial state. It can be represented by an angle. In the present embodiment, the range is approximately 46 degrees to 90 degrees. Note that the lowest position of the movable range indicates the last position that does not come into contact with the floor surface, but of course includes not only a strict limit position but also a position having a certain margin. In the embodiment of the present application, the lowermost position of the possible range is defined as a position where the expansion / contraction means automatically operates when the position is further lowered.

  When the leg placement portion has a flip-up angle in the range of approximately 46 degrees to 90 degrees, it is determined that the position is preferred by the user, and the leg placement portion is rotated to any position. It is not moved and is maintained in the initial position.

  On the other hand, the initial position of the leg rest when the input signal from the massage start operation section is generated can be rotated up and down without contacting the floor surface with the leg rest being fully extended. The lowermost position of the movable range is set as the start standby position, and the leg rest is moved upward from the initial position to the start standby position without extending. It is rotated and waits at that position.

  That is, when the leg placement portion is in a substantially vertical state (bounce-up angle 0 degrees) to a bounce-up angle of about 46 degrees, the control means determines the position where the bounce-up angle is 46 degrees as the start standby position. The leg placement unit is moved by rotating upward to this position.

  In addition, when it is in a movable range that can be rotated up and down without contacting the floor surface with the leg mounting portion extended to the maximum extent, the position is set as the start standby position. Even in a state where there is a placement portion, the leg placement portion can be extended as much as possible during start standby.

  And, at least moving the leg placement part without extending the leg placement part means that the leg placement part is rotated upward while maintaining the current length without extending the leg placement part. However, the leg placement portion is relatively contracted with respect to the legs of the user, and the legs are accompanied by a tight feeling. In other words, the foot of the user is strongly pressed by the foot receiving part of the leg placement part.

  Therefore, for example, when an air bag or the like is provided at the sole receiving portion to enable foot massage, if the above-described control is performed, at least the sole of the user will not be separated from the air bag. Convenient for back treatment. That is, in the start standby position, it changes only in a direction with a feeling of cramping relative to the user's leg compared to the previous initial position, and the leg placement portion is substantially vertical in the initial position. For the person in the storage position, the movement is to the position where the user feels contact in the most contracted state, and for the person who has left the initial position as the final use position, the movement is at least changed to the direction in which contact is felt. In this way, the adjustment of the expansion / contraction position is made easy to understand.

  In addition, if the leg placement part is rotated upwards while maintaining the current length without extending, the leg placement part is relatively contracted with respect to the legs of the user. This is due to the relationship between the pivotal support position of the leg placement part and the position of the knee of the user, and the ascending movement of the leg placement part substantially contracts against the leg of the user. Will accompany.

  Further, at each of the start standby positions described above, it is possible to perform control so that the leg rest is contracted to the maximum. Of course, if a control means for automatically or manually moving the leg resting portion to the storage position at the substantially vertical position at the end of the massage is provided, the leg resting portion is maximally contracted at the start standby position.

  In general, when operating the massage start operation section, the leg placement section and the backrest section are often stored (both are in a substantially vertical state). Therefore, normally, the leg placement portion is in a maximally contracted state, and therefore, when the massage start operation portion is operated, the leg is rotated upward with the maximally contracted state, and the flip-up angle is 46 degrees. It will move to the position.

  And when the start stand-by position of the leg placement part is a position with a flip-up angle of 46 degrees, the user can rotate the leg placement part up and down according to his / her physique or extend / contract the position Very convenient.

  For example, if the leg is felt to be too cramped at a position where the flip-up angle is 46 degrees and the leg resting part is to be extended, the leg resting part can be extended by remote control operation. If the sole does not reach the foot support surface of the leg rest at the position where the flip-up angle is 46 degrees even if the rest is fully retracted, the leg rest is rotated upward by remote control. Move it. In any case, the position changing operation is performed only by operating the operation button of the remote controller once.

  In addition, when the sole does not reach the foot receiving surface of the leg placement unit, the leg placement unit may be rotated upward, as described above. This is because there is an effect similar to the contraction operation.

  By the way, when the leg placement unit is moving to the start standby position, remote control operations other than the reclining operation of the backrest unit, the telescopic operation, the rotation operation, and the stop operation of the leg placement unit are not accepted. .

  In addition, after the leg placement unit has moved to the start standby position, if the user fine-tunes the rotation position or expansion / contraction position according to his / her preference, the position is registered as the user's favorite start standby position. It can also have a function to make it.

  In this case, a registration button may be provided on the remote controller or the like, and if the registration button is operated after the fine adjustment is completed, it may be stored as a favorite start standby position in the storage device of the control means.

  As described above, when using the massage machine after moving to the start standby position, as described above, the rotation operation and the expansion / contraction operation of the leg placement unit are based on the detection value of the rotation position detection sensor. Therefore, the leg placement unit is controlled so as not to contact the floor surface when rotating.

  In addition, since the stretched state of the leg resting part in the massage operation after the start standby position can be regarded as after the adjustment to the stretched state that the user is satisfied with, it is not necessary to make a strong contact on purpose, and when moving upward It may be extended and automatically interlocked with an accurate expansion / contraction state corresponding to the rotation position according to the length of the leg.

  Further, the chair type massage machine according to the present embodiment includes a reclining means for reclining the backrest part, a reclining operation part for driving the reclining means, a reclining position detection sensor for detecting the reclining position of the backrest part, The control means is based on a relative positional relationship between the reclining position of the backrest portion and the rotational position of the leg rest portion, and is detected by the reclining position detection sensor during the reclining operation of the backrest portion. It has interlocking permission determining means for determining whether or not to permit the rotation of the leg resting portion according to the result, and the interlocking permission judging means interlocks the reclining operation of the backrest portion with the leg resting portion. The backrest part and the leg rest part are operated in an interlocking manner only when permission is granted. So that control is executed. The reclining means is composed of an actuator such as a motor in the same manner as the rotating means and the expansion / contraction means, and an optical sensor can also be suitably used as the reclining position detecting means.

  The relative positional relationship between the reclining position of the backrest portion and the rotation position of the leg resting portion, which is used as a reference for determination by the interlocking permission determination means, is, for example, the reclining position (rotation position) of the backrest portion. What is necessary is just to determine from a viewpoint whether the rotation position (bounce-up position) of a leg mounting part is the posture which can be relaxed, for example, it is formed between both mutual expansion directions of a leg mounting part and a backrest part. The reference angle is set within a range of 180 to 210 degrees that is considered to be an appropriate angle, and when the angle exceeds the determination reference angle, it is determined that the upper limb has significantly warped backward with respect to the lower limb. So, when an operation with a reclining button that attempts to collapse the backrest part in such a state is performed, the backrest part and the leg placement part are interlocked, and the angle between the two becomes the determination reference angle, is there Is to control so as to fall within a range of 180 to 210 degrees is considered appropriate angle.

  For example, when the determination reference angle as an appropriate angle formed between the leg placement portion and the backrest portion in the mutual expansion direction is set to 190 degrees, the jumping angle of the leg placement portion is When the tilting angle of the backrest part is 20 degrees and the operation of further tilting the backrest part is performed, the angle in the expanding direction between the leg placement part and the backrest part is 220 degrees, 190 degrees Therefore, the leg placement part is lifted and rotated in conjunction with the reclining operation of the backrest part, and the angle in the expanding direction between the two is controlled to be 190 degrees.

  Therefore, in the present embodiment, the interlock permission determination means is in a state where the difference between the tilt angle of the backrest portion and the flip-up angle of the leg placement portion with respect to the vertical position exceeds a predetermined value. When the operation of tilting the backrest portion is sometimes performed, the interlocking operation of the leg placement portion is permitted.

  The predetermined value, which is the difference between the tilt angle of the backrest portion and the flip-up angle of the leg placement portion, which is the determination criterion at this time, is, for example, between both of the spread directions of the leg placement portion and the backrest portion. If the determination reference angle as an appropriate angle to be formed is set to 190 degrees, it is 10 degrees. Therefore, when the difference between the tilt angle of the backrest portion and the flip-up angle of the leg placement portion exceeds 10 degrees, the interlock operation of the leg placement portion is permitted.

  By performing such control, conventionally, the leg resting part and the backrest part are linked to each other without causing any relationship to be in an unbalanced posture, or the backrest part and the leg resting part are not interlocked at all. However, the user himself / herself becomes uncomfortable while obtaining the desired reclining angle by performing the reclining operation only once. The posture you want is not lost.

  As described above, since the expansion / contraction position detection sensor for detecting the expansion / contraction amount of the leg placement unit is provided, the leg placement unit can be easily used with the optimum extension amount at the optimum position. In addition, there is no risk of the floor surface being in contact with the floor surface during the pivoting operation of the leg placement unit, and damaging the floor surface.

  Hereinafter, the massage machine according to the present embodiment will be described more specifically with reference to the drawings. 1 is a perspective view showing a chair type massage machine according to the present embodiment, FIG. 2 is a side view thereof, FIG. 3 is an explanatory view of a massage unit of the massage machine, and FIG. 4 is a block diagram showing a drive control system of the massage machine FIG. 5 and FIG. 5 are explanatory views of a remote controller provided in the massage machine.

  As shown in FIGS. 1 and 2, the chair-type massage machine according to the present embodiment includes a seat portion 1 on which a user is seated, and a base portion 2 that is installed on the floor F and supports the seat portion 1. And a backrest part 3 connected to the rear side of the seat part 1 so as to be able to fall down and reclining, and a pivot part 1a is provided near the front upper part of the seat part 1, and this pivot part The leg placement part 4 is connected to be swingable in the vertical direction around 1a. In addition, in the chair type massage machine (hereinafter simply referred to as “massage machine A”) according to the present embodiment, each part except the base part 2 is directly covered with a cover made of synthetic leather or the like as necessary. Alternatively, a cushion member covered with a cover is also provided.

  The said leg mounting part 4 is what is called a so-called "ottoman", and in recent chair type massage machines, it is an important component for performing massage treatment relaxedly, and becomes a principal part in this embodiment. Is.

  The backrest portion 3 includes side wall portions 6 and 6 that function as body-side treatment portions on both the left and right sides, and a mechanical massage unit 11 described later (see FIG. 5). In addition, armrest portions 5 and 5 are provided on the left and right sides of the seat portion 1, and each armrest portion 5 is provided with an arm treatment portion 8 that allows air massage by inserting an arm.

  In FIG. 1 and FIG. 2, R is a remote controller, and the general operation including the massage operation in the massage machine A can be performed by the user. The remote controller R will be described in detail later. Reference numeral 31 denotes a remote control case, which is attached to the front end of a support rod 32 extended forward from the right side of the backrest 3.

  Further, as shown in the figure, the back portion 3 is provided with back airbags a1 and a1 at the left and right upper portions, and waist airbags a2 and a2 at the lower left and right portions, The air massage to be pressed is executable.

  Moreover, two body side part airbags a3 and a3 are attached to the inner side surface of the side wall part 6 in the left-right direction so as to function as a body side treatment part. The side wall portion 6 has a substantially sector shape in which the vertical length on the distal end side is longer than the vertical length on the attachment base end portion 61 side, and is located on the side of the upper arm side of the user seated on the seat portion 1. And is gradually expanded outward from the mounting base end 61 side to the tip end side.

  Further, a heel lower portion airbag a4 is attached to the rear side of the seat portion 1, a thigh airbag a5 is attached to the front portion, and a heel side airbag a6 is attached to the left and right sides.

  The arm treatment portions 8 and 8 are each formed in a substantially U shape in a sectional view, and arm airbags a8 and a8 are attached to the inner upper and lower surfaces, respectively.

  The leg placement part 4 which is a main part in the present embodiment will be described in detail later. As shown in the drawing, the left and right leg receiving parts 18 and 18 in a semi-cylindrical shape for receiving the left and right legs are arranged in parallel. A flat plate in which a main body portion 15 provided and a lower end portion of the main body portion 15 are continuously provided with a predetermined gap d and left and right footrests 16 and 16 for receiving left and right soles are formed. A substantially L-shaped side view is formed from the foot-shaped foot support portion 17. The leg upper portion airbags a7, a7, a7, a7 that are paired on the left and right sides are attached to both inner side surfaces of the leg receiving portions 18, 18 of the main body portion 15, and each foot sole of the foot receiving portion 17 is attached. Foot sole treatment airbags a9 and a9 are attached to positions corresponding to the receptacles 16 and 16, respectively.

  As shown in FIG. 4, the plurality of airbags a <b> 1 to a <b> 9 are supplied with air from an air pump 25, and the air pump 25 temporarily stores the air that is press-fitted from the air pump 25 to each airbag. A flow divider (not shown) for diverting to a1 to a9 is connected in communication.

  The shunt is provided with a plurality of air outlets corresponding to the airbags a1 to a9, and each air outlet is provided with an electromagnetic valve (not shown) that opens and closes the opening of the air outlet. The air outlets a1 to a9 corresponding to the air outlets of the flow divider are connected to each other by a pressure hose (not shown), and the opening / closing operation of the solenoid valve is controlled by a control unit G (see FIG. 4) described later. Thus, the required air bags a1 to a9 can be individually supplied and exhausted, and the air bags a1 to a9 can be inflated (inflated) and contracted to perform air massage on the user. The airbags a1 to a9 can be inflated (inflated) and deflated by the opening / closing operation of the electromagnetic valve, while the airbags a1 to a9 can be held in an inflated state (inflated state).

  Next, with reference to FIGS. 3 and 6, the massage unit 11 disposed on the backrest portion 3 so as to be movable up and down and back and forth is described.

  As shown in FIG. 3, the massage unit 11 houses and arranges a kneading ball drive unit 9, and the kneading ball driving unit 9 has a pair of left and right kneading balls 7, 7 arranged as a treatment body in the front-rear direction. And a kneading mechanism 80 for performing a kneading operation by rotating the kneading balls 7 and 7 eccentrically, and a front side of the backrest portion 3 (treatment). The massage strength changes depending on the position of advance and retreat, that is, the pressure applied to the user by the kneading balls 7 and 7 is changed.

  In FIG. 3, m1 is an elevating motor that is an elevating drive source for elevating the massage unit 11, m2 is an advancing / retracting motor for moving the kneading ball drive unit 9 back and forth, and m3 is a kneading motor m3. Reference numeral m4 denotes a tapping motor, and the elevating motor m1 is interlocked and connected to an elevating shaft 28 that supports the kneading ball drive unit 9 so as to be swingable back and forth, and when the motor m1 is driven, the elevating shaft 28 is driven. , And the pinion gears 29 and 29 attached to both ends of the lift shaft 28 mesh with the racks 13 (FIG. 6) of the vertical frames 30 and 30 disposed on the backrest portion 3 so that the entire massage unit 11 moves up and down. .

  Further, when the advance / retreat motor m2 is driven, the advance / retreat shaft 43 rotates, and the ball drive unit 9 is swung even if the pinions 44, 44 attached to the advance / retreat shaft 43 move on the arc-shaped racks 46, 46 in the front-rear direction. It is made to advance and retreat by this swing. Reference numeral 49 denotes a bearing for rotatably supporting the advance / retreat shaft 43.

  Further, an advance / retreat position detection substrate 81 having a plurality of through holes formed at predetermined intervals on the periphery of the fan-shaped plate member is attached to the side portion of the one arc-shaped rack 46 described above. The optical sensor unit 82 that emits a light beam to the position of the through hole of the substrate 81 and detects the advance / retreat position of the kneading ball drive unit 9 based on the number of detections of the passing light sandwiches a part of the advance / retreat position detection substrate 81. The advance / retreat position detection sensor G8 is configured by the advance / retreat position detection substrate 81 and the optical sensor unit 82.

  The kneading motor m3 is a main component of the kneading mechanism 80, and is linked to the kneading balls 7 and 7 via a kneading rotation shaft (not shown). Then, by controlling the operation of the kneading motor m3, the distance between the kneading balls 7, 7 can be expanded or reduced. For example, the distance between the kneading balls 7, 7 can be set to “wide”, “normal”, It can be set to one of the “narrow” states to perform massage massage.

  The tapping motor m4 is arranged in parallel with the kneading motor m3, and is linked to the kneading balls 7 and 7 through a tapping rotation shaft.

  Further, rotary encoders E1 to E3 (see FIG. 4) for detecting a rotation angle (drive amount) are attached to the rotation shafts linked to the motors m1, m3, and m4, respectively. The detection result of the encoder E is given to the control unit G described later.

  Here, with reference to FIG. 4 and FIG. 5, the control unit G that is a control unit of the massage machine A according to the present embodiment and the remote controller R as the operation unit connected to the control unit G will be described in detail below. .

  The control unit G is arranged in the base unit 2 and is programmed from the power-on to the power-off and the single function operation of the massage machine A via a remote control R which is a remote-controllable operation means connected thereto. It is possible to control the control operation such as the automatic course, the reclining operation of the backrest portion 3, the up-and-down rotation operation of the leg placing portion 4, and the expansion and contraction operation in the length direction of the legs. The control unit G can also control display on the liquid crystal screen K which is a display unit provided in the remote controller R.

  The control unit G also functions as body shape detection means. That is, the elevating motor m1 is driven to lower the massage unit 11 to the user's buttocks position, and even if the advancing / retracting motor m2 is driven, the balls 7 and 7 are retracted to the rearmost position, and the advancing / retreating motor is at that position. m2 is driven so that the kneading balls 7 and 7 protrude toward the back of the user, and an increase in the load current of the advancing / retracting motor m2 when it hits the user is detected by the load current detecting means; Further, even if the advancing / retracting motor m2 is driven, the balls 7 and 7 are moved rearward to the rearmost position, and the elevating motor m1 is driven to detect the rotary encoder E1 provided in the massage unit 11. The user receives the massage unit 11 by raising the massage unit 11 by a predetermined distance and repeating the operation of moving the balls 7, 7 forward even if the advance / retreat motor m2 is driven at that position. The body shape can be detected by moving to the shoulder position.

  The control unit G will be described below with reference to FIG. As shown in the figure, the control unit G includes a CPU, a memory unit G1 that stores various tables such as various massage programs and a later-described interlocking permission determination table (see FIG. 15), and drive control that performs drive control of various motors and the like. A section G2 and interfaces G3 and G4 are provided.

  Then, the CPU detects the reclining position by detecting the reclining angle of the remote control R and the backrest part 3 via the interface G3, and detects the reclining position and the vertical rotation angle of the leg placement part 4 to detect the reclining position. Leg placement part rotation position detection sensor G6 for detecting the movement position, leg placement part extension / contraction position detection sensor G7 for detecting the extension / contraction position of the leg placement part 4, and the forward / backward position of the massage unit 11 in the front-rear direction The advancing / retreating position detection sensor G8 for detecting the movement and the rotary encoders E1 to E3 are connected.

  The CPU also includes an elevating motor m1, a kneading motor m3, a hitting motor m4, and an advancing / retreating motor m2 for moving the massaging unit 11 back and forth through the interface G4. Furthermore, the reclining motor m5 which is a reclining means for performing the reclining operation of the backrest part 3, the airbag air pump 25, and the heater H provided in the seat part 1 are connected. This heater H makes it possible to massage comfortably even in winter.

  Further, the CPU expands and contracts the leg placement unit rotation motor m6 as the rotation means of the leg placement unit 4 and the leg placement unit 4 in the length direction of the legs of the user via the interface G4. A leg placement unit telescopic motor m7 as an extending / contracting means is connected to control the vertical rotation operation and the telescopic operation of the leg placement unit 4.

  With this configuration, on the basis of a command signal from the operation unit S provided on the remote controller R described in detail later, the control unit G has a plurality of automatic courses combined with various massage modes for the purpose of fatigue recovery, refresh, relaxation, etc. Basic massages such as massage, shiatsu, fir (rubbing up / down), slamming, brushing, vibration and stretching, as well as different types of manual massage such as rolling and air massage can be performed.

  Next, the remote controller R will be described. As shown in FIG. 5, the remote controller R is provided with a liquid crystal screen K as a relatively large display unit constituting a liquid crystal display on the upper side of the main body having a generally scooped shape when viewed from the front, and a plurality of liquid crystal screens K are provided on the lower side. An operation unit S including a button group is provided. In this manner, the area of the liquid crystal screen K is widened to improve the visibility, and the width dimension of the operation unit S is made narrower than the width dimension of the liquid crystal screen K to improve the grip operability of the operation unit S. .

  Then, by using the operation unit S and the liquid crystal screen K, a required massage mode is selected, and when performing a mechanical massage with the kneading balls 7, 7, the reference position of the kneading balls 7, 7 is covered. It can be adjusted while visually recognizing the image according to the user, and the reclining position of the backrest part 3, the rotation position and the expansion / contraction position of the leg rest part 4 can be visually recognized.

  A determination button S2 is arranged at a substantially central position of the operation unit S, a massage-related operation unit S1a is provided above the non-massage operation unit S1b, and a leg placement unit is provided on the non-massage operation unit S1b. A pair of leg up / down buttons S14, S15 for rotating the upper and lower parts 4 and a pair of reclining up / down buttons S16, S17 for reclining the backrest part 3 are spaced apart from each other in the width direction of the main body with the massage machine design interposed therebetween. A storage button S18 for placing the backrest 3 and the leg rest 4 in a substantially vertical posture is disposed below the massage machine symbol.

  In addition, a pair of expansion / contraction buttons S19a and S19b for extending / contracting the leg placement unit 4 are arranged at the lowermost part of the non-massage operation unit S1b with a distance in the body width direction from each other with the massage machine design interposed therebetween. ing.

  In addition, the massage-related operation unit S1a can be set to a position directly below the liquid crystal screen K so that the user can execute setting information such as a massage mode and massage strength desired by the user or an original automatic course created according to preference. Four massage buttons S5a, S5b, S5c, and S5d are provided side by side at appropriate intervals in the body width direction.

  These individual massage buttons S5a to S5c register the type of the original automatic course and cause the massage operation by the automatic course to be executed by pressing, and the individual massage button S5d is the massage that the user desires. This is a button that allows you to register an automatic course constructed by combining the start wait position described later, which is fine-tuned to your optimal position, and these buttons are easy to operate and stand out on the LCD screen. It is arranged in a horizontal row close to K.

  In addition, a start button S3 is provided below the individual massage buttons S5a, S5b, S5c, and S5d, and is used when starting massage or storing the balls 7 and 7 even after the massage is finished. It is supposed to be.

  By the way, in this embodiment, when the start button S3 is pressed to start the massage, an automatic course button S6 described later, the individual massage buttons S5a, S5b, S5c, S5d, or the function button S7 are operated. Until now, the leg placement unit 4 is made to wait at a predetermined position.

  In addition, a stop button S4 is disposed on the right side of the start button S3, and the massage can be stopped even when the massage is in progress by operating the stop button S4.

  Below the start button S3, there are an automatic course button S6 for selecting an automatic course and performing a massage, and a function button S7 for manual massage for selecting and executing a desired massage from a plurality of types of massages. In addition, there is an air button S10 for performing air massage below these, and a skip button for skipping this if it is a massage mode that does not suit your taste while performing an automatic course S8 and a repeat button S9 are provided so that this can be repeated if the massage mode is comfortable. Further, a shoulder position fine adjustment button S20 for adjusting the shoulder position in the vertical direction is disposed below the function button S7.

  S31 is a menu button, S32 is a shoulder button for operating the body side airbags a3 and a3, and S33 is an arm button for operating the arm airbag a8 of the arm treatment unit 8.

  In the massage machine A configured as described above, the feature of the present embodiment is that the control unit G causes the leg placement unit 4 to be a floor based on the detection value of the leg placement unit rotation position detection sensor G6. When the distance to the position in contact with the surface F is calculated in advance and the leg mounting unit telescopic motor m7 is operated, the leg mounting unit 4 is rotated by controlling the amount of expansion / contraction according to the calculation result. This is to prevent the contact with the floor surface F when moving.

  With reference to FIGS. 6-11, the structure of the leg mounting part 4 and its operation | movement are explained in full detail below. FIG. 6 is an explanatory view in a side view showing the rotation operation of the backrest part 3 and the leg rest part 4 of the massage machine A, FIG. 7 is an exploded perspective view of the leg rest part 4, and FIG. FIG. 9 is a front view of a state in which the leg placement portion support frame and the sliding frame are attached, FIG. 10 is an explanatory view of a contraction mechanism attached to the sliding frame, and FIG. These are explanatory drawings of a leg mounting part rotation mechanism.

  As shown in FIGS. 6 and 7, the leg mounting portion 4 is connected to the front end of the base frame 200 forming the base portion 2 via the pivotal support portion 1 a and is attached to the base frame 200. The leg placement portion rotation mechanism 410 is configured to be rotatable up and down. The leg placement portion rotation mechanism 410 will be described in detail later.

  As shown in FIG. 6, the base frame 200 is provided with a backrest rotating mechanism 300 having a reclining motor m5 as a reclining means, and a screw rod 301 that is rotationally driven by the reclining motor m5. The backrest part 3 can be reclined by moving forward and backward. The backrest rotating mechanism 300 has substantially the same configuration as the leg mounting portion rotating mechanism 410 described later in detail, and has substantially the same configuration as a leg mounting portion rotating position detection sensor G6 described later. A reclining position detection sensor G5 is provided.

  As shown in FIG. 7, the base frame 200 has left and right vertical columns 202 and 202 erected at the front ends of the left and right lower frames 201 and 201, and left and right center columns 203 and 203 in the vicinity of the center. The seat support panel 204 is attached between the left and right vertical columns 202 and 202 and the left and right center columns 203 and 203.

  Further, pivot support portions 1a, 1a are provided on the left and right sides of the seat support panel 204, and front / rear pivot brackets 205. for mounting the leg placement portion rotating mechanism 410 between the pivot portions 1a, 1a. 206 (see FIG. 6).

  The upper ends of the left and right vertical frames 401, 401 of the leg placement portion support frame 400 that supports the leg placement portion frame 40 forming the leg placement portion 4 (see FIG. 1) are pivotally supported on the pivot portions 1a, 1a, respectively. At the same time, a sliding frame 420 provided with a sliding mechanism 430 is attached to the leg placement unit support frame 400 so that the leg placement unit support frame 400 can slide up and down. . In FIG. 7, reference numeral 207 denotes a base portion front panel, 402 denotes a plurality of reinforcing rods spanned between the left and right vertical frames 401, 401 of the leg placement portion support frame 400, and 440 denotes the leg placement portion support frame 400. This is a sliding connection mechanism portion with the sliding frame 420.

  Further, as shown in FIGS. 6 and 7, the leg placement portion frame 40 includes a main body shell portion 15 ′ forming the main body portion 15 (see FIG. 1) and a flat plate-like foot support portion 17 (see FIG. 1). And a main frame 421 formed in a substantially L shape in a side view of the sliding frame 420 with a gap d (see FIG. 2) vertically attached to each other. ing. Therefore, the leg placement part 4 formed by covering the leg placement part frame 40 with a cover or the like has a body part 15 in which the left and right leg support parts 18 and 18 are juxtaposed and a sole support that receives the left and right soles. A gap d is formed between the portion 17 and the foot 17 can be prevented from being peeled off, and dust that tends to accumulate can be easily swept out, and cleaning is also easy.

  As shown in FIG. 8, the sliding coupling mechanism portion 440 is substantially U-shaped in a cross-sectional view in which the first rolling pieces 441 a are vertically arranged on the left and right vertical frames 401, 401 of the leg placement portion support frame 400. The base side clamping portions 441 and 441 are attached, and the base side clamping portions 441 and 441 are provided with the second rolling pieces 442a and 442a on the upper and lower sides thereof, and a substantially U-shaped mounting portion side in a cross-sectional view. The sandwiching portions 442 and 442 are coupled to face each other, and the main frame 421 of the sliding frame 420 formed in a substantially L shape in a side view is sandwiched between the both. With this configuration, the sliding frame 420 is attached to the leg placement unit support frame 400 so as to be slidable in the vertical direction.

  9 and 10, the sliding mechanism 430 provided at the center of the sliding frame 420 attaches a leg placement unit telescopic motor m7 to the lower part of the mounting plate 431, and the leg placement unit telescopic. The lower end of the screw 433 is interlocked and connected to the motor m7 via the interlocking mechanism 432.

  Further, a continuous member 434 projects from the upper part of one side end of the mounting plate 431, and the leg placement portion expansion / contraction position detection sensor G7 is attached to the continuous member 434.

  The leg placement portion expansion / contraction position detection sensor G7 fixes the upper end to the connecting member 434 and has a plurality of through-holes 435 opened in the longitudinal direction at predetermined intervals, and the expansion / contraction position detection sensor G7. The optical sensor 437 is provided so as to hold the substrate 436 and emits a light beam to the position of the through hole 435, and light from the light emitting part of the optical sensor 437 receives the through hole 435. The amount of expansion / contraction of the leg placement unit 4 can be detected based on the number of times of detection of the light received by the light receiving unit after passing through.

  Further, as shown in FIG. 11, the leg placement unit rotation mechanism 410 that moves the leg placement unit 4 up and down by pushing up or lowering the leg placement unit support frame 400 from the rear side is provided with an attachment chassis 411. A leg mounting portion rotation motor m6 is fixed to one end of the screw mounting portion, and one end of a screw 413 is interlocked and connected to the leg mounting portion rotation motor m6 via an interlocking mechanism 412.

  In addition, a continuous member 414 is protruded from the vicinity of the other end of the attachment chassis 411, and the leg placement portion rotation position detection sensor G6 is attached to the continuous member 414.

  The leg placement portion rotation position detection sensor G6 has substantially the same configuration as the leg placement portion expansion / contraction position detection sensor G7, and fixes a distal end to the connecting member 414 and a plurality of penetrations in the longitudinal direction. A rotation position detecting substrate 416 having holes 415 opened at a predetermined interval, and provided so as to hold the rotation position detecting substrate 416, and configured to emit a light beam to the position of the through hole 415. Optical sensor unit 417. And the rotation position of the leg mounting part 4 can be detected by the number of times the light from the light emitting part of the optical sensor part 417 passes through the through hole 415 and is received by the light receiving part. Yes.

  Further, as shown in FIG. 6, the tip of the screw 413 of the leg placement portion rotating mechanism 410 is attached with an arm portion 418 that is pivotally connected to the base frame 200 side, and the arm portion 418 is provided with a roll. A driving wheel 419 enables the rear surface of the base unit front panel 207 to smoothly roll. With such a configuration, the vertical movement of the leg placement unit 4 is performed extremely smoothly.

  The massage machine A according to the present embodiment has the above-described configuration, and as described above, the control unit G is configured based on the detection value of the leg placement unit rotation position detection sensor G6. When operating the leg mounting unit telescopic motor m7 by calculating in advance the distance to the position where the mounting unit 4 is in contact with the floor surface F, this is controlled so that the expansion / contraction amount according to the calculation result is obtained. Thus, it is possible to prevent the leg placement portion 4 from coming into contact with the floor surface F during rotation.

  That is, since the maximum extension amount at the upper and lower rotational positions of the leg placement unit 4 is calculated in advance, the drive of the leg placement unit telescopic motor m7 is controlled to move the leg placement unit 4 up and down. It can be expanded and contracted with an optimal amount of expansion and contraction according to the rotation position, and even when the leg placement part 4 is rotated up and down, it can be expanded and contracted to the maximum without being brought into contact with the floor surface F. It becomes.

FIG. 12 shows the maximum extension / contraction stroke L of the leg placement part 4 and the limit position of the leg placement part 4 that can be realized without contacting the maximum extension / contraction stroke L with the floor surface F. In the present embodiment, the maximum expansion / contraction stroke L is 180 mm, and the position of the leg placing portion 4 at that time is a position rotated from the floor surface F by an angle of 46 degrees. In the present embodiment, this position is set as a reference position of the leg placement unit 4. Also, will be called the flip-up angle α is a vertical plane reference from the floor F of the footrest portion 4 at this position (see FIG. 20), the reference angle θ (46 degrees from the floor surface F).

  That is, if this massage machine A is above the reference position shown in FIG. 12, there is no fear that the leg placement part 4 will abut against the floor surface F even if it is extended to the maximum, so that it can be expanded and contracted freely. When the position is lower than the reference position, the maximum extension amount at the rotation position of the leg placing unit 4 is calculated in advance so that the leg placing unit 4 does not contact the floor surface F. .

  In the massage machine A capable of performing the above-described control, when the start button S3 of the remote control R as a massage start operation unit is pressed and the input signal is input to the control unit G, the input signal is generated when the input signal is generated. Based on the position of the leg placing unit 4, control is performed for causing the leg placing unit 4 to stand by at a predetermined start standby position.

  That is, when the start button S3 is pressed and turned on, the massage is not started suddenly, but the control unit G first controls the leg placement unit 4 to stand by at the start standby position.

  In addition, the predetermined start standby position is determined based on the position of the leg mounting portion 4 at the time when the input signal is generated, and in this embodiment, this start standby position is the reference position shown in FIG. Based on the decision.

  FIG. 13 shows a flowchart of the operation control process of the leg rest section 4 when the start button S3 is pressed.

  As shown in the figure, when the start button S3 is pressed, the CPU first determines whether or not the flip-up angle α at the position of the leg placement unit 4 is greater than or equal to a predetermined value (step S331). That is, it is determined whether or not the initial position of the leg placement unit 4 is above the reference position.

  If it is determined that the initial position is located above the reference position, the CPU ends this process. That is, when the initial position of the leg placement unit 4 is above the reference position (between the flip-up angle of approximately 46 degrees and the flip-up angle of 90 degrees), the position is set as the start standby position without being rotated. , Wait at this position.

  On the other hand, if it is determined in step S331 that the leg placement unit 4 is positioned below the reference position (between the flip-up angle 0 degrees and the flip-up angle approximately 46 degrees), the CPU moves the leg placement unit 4 to the reference position. An instruction to turn is set (step S332), and this process is terminated.

  That is, the leg placing unit 4 rises from the initial position to the reference position, and stands by using this position as a start standby position. At this time, the CPU rotates the leg placement unit 4 upward to the start standby position at least without extending.

  At this time, since the leg placement unit 4 is not extended at least, the leg placement unit 4 is contracted relative to the leg of the user, and the sole of the user is placed on the leg. It will be in strong contact with the sole treatment airbag a9 of the placement portion 4, and it will be easy to adjust the expansion and contraction, and will be ready for effective foot massage.

  When the leg rest 4 is moved to the start standby position, the operation from the remote controller R is the reclining up / down buttons S16, S17, the leg up / down buttons S14, S15, the telescopic buttons S19a, S19b, and the stop. Only buttons S4 are accepted.

  Further, when the reference position is set as the start standby position, it is more preferable to control the leg placement unit 4 to be contracted to the maximum. At this reference position, if the leg resting portion 4 is contracted to the maximum, if the user feels that the leg is cramped, the leg resting portion 4 is extended by operating the extension button S19a of the remote controller R. In addition, even if the leg placement unit 4 is contracted to the maximum, the remote control can be used when the sole does not reach the left and right foot supports 16 and 16 of the leg placement unit 4 at this reference position. The leg placing part 4 may be rotated upward by operating the R leg raising button S14. In any case, the operation of changing the position of the leg rest 4 may be performed only once.

  Note that when the sole does not reach the left and right foot supports 16, 16 of the leg rest 4, the leg rest 4 should be rotated upward. This is based on the relationship that the position of the knee of the user is positioned above the position of the pivotal support portion 1a. When the leg placement portion 4 is rotated and raised, the leg placement portion 4 is substantially increased. This is because the same action and effect as the contraction occurs.

  FIG. 14 is a preferred embodiment in the massage treatment state after the start standby position is moved, and the leg placement unit 4 when one of the leg up / down buttons S14 and S15 (FIG. 5) of the remote control R is pressed. It is a flowchart which shows the expansion-contraction operation control process of this.

  As shown in the drawing, the CPU of the control unit G first determines whether or not the button has been pressed (step S351). If the leg raising button S14 is pressed, the leg placement unit 4 is determined. Set up a lift instruction to rotate the. Next, the CPU determines whether or not the extension of the leg placement unit 4 is the longest (step S353). If the length is the longest, the process ends. If not, the extension of the leg placement unit 4 is completed. An instruction is set (step S354), and this process ends.

  In the case of the above raising instruction, since there is no possibility that the leg resting part comes in contact with the floor, the telescopic control of the leg resting part may not be necessary, but since this control is after the start standby position has been moved, it can be adapted to the user's preference. Therefore, in this embodiment, as shown in step S354, it is extended according to the rotation position.

  On the other hand, if the leg lowering button S15 is pressed (NO in step S351), the process proceeds to step S355. In step S355, it is determined whether or not the contraction position of the leg placement unit 4 is the shortest. If it is the shortest, a lowering instruction for rotating the leg placement unit 4 downward is set (step S358). Exit.

  On the other hand, if it is determined in step S355 that the position is not the most contracted position, whether or not the flip-up angle α of the leg placing unit 4 is equal to or greater than a predetermined angle, that is, the leg placing unit 4 is the reference position (bounce It is determined whether or not the position is higher than the raising angle α = 46 degrees (step S356). If it is determined that the position is higher than the reference position (Yes), the process proceeds to step S358 and the process is performed. finish.

  On the other hand, if it is determined in step S356 that the leg placement unit 4 is positioned below the reference position (No), a contraction instruction for contracting the leg placement unit 4 to a length corresponding to the position is set. (Step S357), this process ends.

  In addition, since it is after the start standby position has been moved, it can be considered that the adjustment is performed according to the user's preference. Therefore, even when the leg placement unit 4 is positioned above the reference position (step) In step S356, Yes), before the processing in step S358, the control may be performed to contract to the length corresponding to the rotation position when rotating downward, similarly to step S357.

  Then, when the expansion / contraction operation control processing of the leg placement unit 4 is completed, the control unit G performs the rotation operation by extending / contracting the leg placement unit 4 according to the command set in each step. Therefore, the leg placement part 4 is rotated without contacting the floor surface F, and there is no possibility of damaging the floor surface F.

  Further, in the present embodiment, during the reclining operation of the backrest unit 3, the control unit G detects the reclining position based on the relative positional relationship between the reclining position of the backrest unit 3 and the rotation position of the leg placement unit 4. It is determined whether or not the rotation of the leg placement unit 4 is permitted according to the detection result by the sensor G5. That is, the control unit G functions as a linkage permission determination unit.

  The relative positional relationship between the reclining position of the backrest portion 3 and the rotation position of the leg rest portion 4 as a reference for determination by the control unit G is the same as the reclining position (rotation position) of the backrest portion 3. The rotation position (bounce-up position) of the mounting portion 4 is determined from the viewpoint of whether or not the user can take a relaxing posture.

  In the present embodiment, the interlocking permission determination table shown in FIG. 15 is stored in the memory unit G1, and the control unit G refers to this when operating the reclining up / down buttons S16, S17.

  As shown in FIG. 15, in the present embodiment, the relative angle between the leg placement part 4 and the backrest part 3 is defined as the determination reference angle when the relative angle between the leg placement part 4 and the backrest part 3 is 190 degrees. Is less than 190 degrees which is the reference angle, when the reclining lower button S17 is operated, only the backrest section 3 is tilted, but when the relative angle is 190 degrees or more, the backrest section 3 and the leg rest are mounted. The leg placement unit 4 is interlocked and rotated upward so that the angle with the placement unit 4 becomes the determination reference angle. Note that the determination reference angle may be set as appropriate within a range of 170 to 210 degrees.

  Here, the concept of the relative angle between the leg rest 4 and the backrest 3 will be described. As shown in FIG. 20, the relative angle γ in the present embodiment is the horizontal state of the leg rest 4. The downward rotation angle (90 degrees—the flip-up angle α from the floor surface F) with respect to the position, the backward tilt angle β with respect to the vertical position of the backrest portion 3, and the leg placement portion 4 It is the sum of 90 degrees between the horizontal state and the vertical state of the backrest 3.

  Therefore, according to the interlocking permission determination table, when the reclining lower button S17 is operated when the relative angle γ is less than the determination reference angle of 190 degrees, only the backrest 3 is tilted and the relative angle is 190 degrees or more. In this case, the leg placement unit 4 is interlocked and rotated upward so as to be 190 degrees.

  When the reclining upper button S16 is operated, as shown in FIG. 15, if the relative angle is less than 190 degrees which is the determination reference angle, the leg placement unit 4 is interlocked and rotated downward. However, when the relative angle is 190 degrees or more, only the backrest part 3 may be rotated upward, or the angle between the backrest part 3 and the leg placement part 4 may be the determination reference angle. The leg placement part 4 may be interlocked with and rotated downward. That is, turning the backrest part 3 upward means that the leg placement part 4 is interlocked if the angle in the expanding direction between the leg placement part 4 and the backrest part 3 does not spread at least. This is because even if it is turned downward, it does not become an unnatural posture more than the present situation.

  FIGS. 16 and 17 are flowcharts of the operation control process when the reclining up / down buttons S16, S17 are operated.

  First, the case where the reclining lower button S17 is operated (the backrest 3 falls down) will be described.

  As shown in FIG. 16, first, the CPU calculates and calculates a relative angle between the leg mounting portion 4 and the tilt angle β (reclining tilt angle) of the backrest portion 3 (step S301). ). Next, an instruction to recline in the direction of tilting the backrest 3 is set (step S302). Then, it is determined whether or not the relative angle is equal to or greater than the determination reference angle (190 degrees) (step S303). If the relative angle is equal to or greater than the determination reference angle as shown in the interlock permission table (FIG. 15), the interlock is permitted. Then, an instruction to raise the leg placement unit 4 is set (step S304). On the other hand, if it is determined in step S303 that the determination reference angle is not satisfied, this process ends. That is, the interlocking between the reclining operation and the pivoting operation of the leg placement unit 4 is not permitted, and only the reclining operation of the backrest unit 3 is performed.

  Next, in step S305, the CPU determines whether the flip-up angle α of the leg placement unit 4 is equal to or greater than a predetermined value. The predetermined value here is the reference angle θ of about 46 degrees at the reference position described above.

  When the angle is less than the reference angle θ, the process is terminated. When the angle is equal to or larger than the reference angle θ, the process proceeds to step S306 to determine whether or not the leg placement unit 4 is at the maximum extension. If it is the maximum extension, this process ends. If it is not the maximum extension, the extension instruction of the leg placement unit 4 is set (step S304), and this process ends. That is, when the reference angle θ is exceeded, the leg placing portion 4 extends, so that the user does not feel that the leg is cramped.

  Next, a case where the reclining upper button S16 is operated (the backrest 3 rises) will be described.

  As shown in FIG. 17, first, the CPU calculates and calculates a relative angle between the flip-up angle α of the leg rest portion 4 and the tilt angle β (reclining tilt angle) of the backrest portion 3 (step S311). ).

  Next, an instruction to recline in the direction to raise the backrest 3 is set (step S312). Then, it is determined whether or not the relative angle is greater than or equal to the determination reference angle (190 degrees) (step S313).

  In this step S313, here, when the angle is equal to or larger than the determination reference angle, the process is terminated, and the interlocking with the rotation operation of the leg placement unit 4 is not permitted, and the reclining is performed in the direction in which only the backrest unit 3 is raised. ing.

  On the other hand, if the determination reference angle is not satisfied, the CPU moves the process to step S314 to determine whether or not the leg placement unit 4 is contracted to the shortest position. A lowering instruction for permitting and rotating the leg placement unit 4 downward is set, and this process is terminated.

  In step S314, if the leg placement unit 4 is not contracted to the shortest position, in step S315, the flip-up angle α of the leg placement unit 4 is a predetermined value, that is, the reference angle θ (46 degrees). If it is greater than or equal to the reference angle θ, the interlocking is permitted and the process proceeds to step S317, and the lowering instruction of the leg placement unit 4 is set. A contraction instruction for contracting the leg placement unit 4 so as not to contact the floor surface F is set (step S316), and this process is terminated. In step S313, as described above, the interlocking with the rotation operation of the leg placement unit 4 may be permitted (see the interlocking permission table (FIG. 15)).

  When the above-described control is performed, when the reclining operation for raising the backrest portion 3 is performed, as shown in FIG. 21, the relative angle γ between the leg placement portion 4 and the backrest portion 3 is, for example, 170 degrees. The leg placement unit 4 rotates downward in conjunction with the upward rotation of the backrest unit 3 (FIG. 21A). When the leg placement unit 4 reaches the reference position, the rotation of the leg placement unit 4 is temporarily stopped and only the backrest unit 3 is rotated upward (FIG. 21B). When the reclining upper button S16 is operated even after the backrest portion 3 reaches the standing position (FIG. 21C), the leg placement portion 4 is contracted and the downward rotation is started. (FIG. 21D), the reclining operation of rotating the leg placement portion 4 to the storage position in the substantially vertical state (FIG. 21E) is also possible.

  By performing such control, conventionally, the leg placement unit 4 and the backrest unit 3 are interlocked without causing any relationship, and an unbalanced posture that causes discomfort for the user is obtained. Alternatively, it is necessary to operate the backrest 3 and the leg rest 4 individually without being interlocked at all. However, the reclining operation desired by the remote control R is performed only once. While obtaining the angle, the posture of the user is not changed to a posture that makes the user himself uncomfortable.

  In the massage machine A according to the present embodiment having the above-described configuration, control when the leg placement unit 4 is extended by operating the extension button S19a of the remote controller R will be described with reference to FIG.

  First, the CPU determines whether or not the expansion / contraction position of the leg placement unit 4 is the longest (step S341). If it is determined that the position is at the longest position, for example, a button reception invalid buzzer is set and a buzzer is sounded to notify the user that further extension operation is impossible (step S342).

  If the leg placement unit 4 is not at the longest position in step S341, the CPU moves the process to step S343, where the leg placement unit 4 is above the reference position (bounce angle α = 46 degrees), that is, the expansion / contraction restriction release position. It is determined whether or not. And when it is in the expansion / contraction restriction release position, since there is no possibility of coming into contact with the floor surface F even if it is the longest, an extension instruction to extend the leg placement part 4 is set (step S344), and it is not in the expansion / contraction restriction release position. Sets an instruction to raise the leg placement unit 4 upward (step S345), and performs control to rotate the leg placement unit 4 upward to the extension restriction release position.

  Although the reclining operation and the expansion / contraction operation of the leg placement unit 4 have been described, for example, when the reclining up / down buttons S16, S17 and the expansion / contraction buttons S19a, S19b are operated simultaneously, in this embodiment, the reclining up / down button S16 is used. , S17 is preferentially performed.

  Next, control when the storage button S18 of the remote controller R is operated will be described with reference to FIG. In the present embodiment, all button operations from the remote controller R are not accepted during the storage operation.

  When the storage button S18 is operated, as shown in the figure, the CPU first determines whether or not the expansion / contraction position of the leg placement unit 4 is the shortest (step S321). If it is not the shortest, a contraction instruction for the leg placement unit 4 is set (step S322), and this process ends.

  On the other hand, if the leg resting portion 4 is contracted to the shortest position in step S321, the CPU determines whether or not the backrest portion 3 is in the reclining storage position, that is, in the substantially standing state (falling angle β = 5 degrees). (Step S323), if it is in the storage position, the process proceeds to step S325, and if it is not in the storage position, in order to raise the backrest 3, that is, a reclining raising instruction is set (step S324), The process moves to step S325.

  In this step S325, the CPU determines whether or not the leg placement unit 4 is in the storage position, that is, in a substantially vertical state. If the leg placement unit 4 is in the storage state, the CPU ends the process. A lowering instruction for rotating the mounting portion 4 downward is set (step S326), and this process is terminated.

  22 to 24 show specific storage operation examples of the backrest unit 3 and the leg placement unit 4 when the storage button S18 is operated.

  The storage operation shown in FIG. 22 is in accordance with the processing shown in FIG. 19. First, the rotation operation of the backrest portion 3 and the leg placement portion 4 is performed after minimizing the expansion / contraction position of the leg placement portion 4. It is something to be started.

  That is, if the leg placing part 4 is extended, the leg placing part 4 is contracted (FIG. 22A), and then the leg placing part 4 is rotated downward and the backrest part 3 is rotated. Is rotated upward (FIG. 22B), and the backrest 3 and the leg rest 4 are both positioned at the storage position (FIG. 22C).

  Further, as another embodiment of the storing operation, the storing operation shown in FIG. 23 may be used. This is because the backrest unit 3 and the leg mounting unit 4 are unconditionally rotated until the leg mounting unit 4 reaches the reference position, and after the leg mounting unit 4 reaches the reference position, the leg mounting is performed. The expansion / contraction state of the placement unit 4 is determined.

  That is, the leg rest 4 is pivoted downward while raising the backrest 3 upward (FIG. 23A). When the leg placing part 4 reaches the reference position, both the leg placing part 4 and the backrest part 3 are stopped (FIG. 23B). And the control part G determines whether the expansion-contraction position of the leg mounting part 4 is the shortest here, and when it is not the shortest, the leg | leg mounting part 4 currently extended is shrink | contracted to the shortest position (FIG. 23 ( c)). Thereafter, the leg rest 4 is rotated downward and the backrest 3 is pivoted upward (FIG. 22D), and both the backrest 3 and the leg rest 4 are positioned in the storage position (FIG. 22). 22 (e)).

  Furthermore, as another embodiment, a storing operation shown in FIG. 24 is also conceivable.

  That is, as in the other embodiments described above, the leg rest 4 is pivoted downward while raising the backrest 3 upward (FIG. 24A). And here, when the leg mounting part 4 reaches | attains a reference | standard position, the leg mounting part 4 will be stopped and the rotation operation | movement of the backrest part 3 will continue to stand. And after the backrest part 3 stands up (FIG.24 (b)), the control part G determines whether the expansion-contraction position of the leg mounting part 4 is the shortest, and when not the shortest, it is extending the leg mounting. While the mounting portion 4 is contracted to the shortest position, it is rotated downward to the storage position (substantially vertical state) to be positioned at the storage position (FIG. 24C).

  By the way, in this massage machine A, leg stretching treatment, so-called foot stretch, can be performed by using the vertical movement of the leg placement unit 4 and the airbag a7 disposed on the leg placement unit 4. That is, while the legs are clamped by the air bag a7, the leg placement unit 4 is moved up and down within a predetermined angle range. At this time, the lowered position is the reference position (the flip-up angle α = 46 degrees). If the position is lower than the above, the control unit G detects the amount of extension of the leg placement unit 4 and the position of the leg placement unit 4 at the start of the foot stretch, and performs a predetermined process before starting the foot stretch operation. The leg placement part 4 is raised by an angle, and control is performed so that the tip of the leg placement part 4 does not contact the floor surface F even at the lowest position during the foot stretch operation. In addition, when raising the leg mounting part 4 previously, it is desirable to also perform the expansion | extension operation | movement of the leg mounting part 4 with a raise. Further, the expansion amount may be determined based on the body shape detection of the user performed by the control unit G, more preferably based on the reclining position of the backrest unit 3, and the expansion amount is stored in the RAM of the memory unit G1. In addition, it is good to perform control to return to the original expansion / contraction position after the end of stretching.

  Accordingly, there is no feeling of cramping of the legs during foot stretching, and the leg mounting portion 4 does not contract during the rotation of the leg mounting portion 4 during stretching. Effective foot stretching can be performed without any problems.

  By the way, the foot stretch operation may be controlled as follows.

  That is, regardless of the position of the leg placement part 4, if a foot stretch instruction is given, the leg placement part 4 rotates downward as it is, but the maximum extension position corresponding to the rotation position of the leg placement part 4 Therefore, the control unit G stops the leg placement unit 4 immediately before coming into contact with the floor surface F. Then, with this as the lowest point, it is rotated upward according to the rotation angle required for foot stretching, and when it reaches the highest point, it is moved downward to the lowest point again.

  Further, the contraction operation of the leg placement unit 4 described above is controlled by the control unit G even during the massage by the automatic course, and there is no possibility of coming into contact with the floor surface F regardless of the extension amount.

  According to the embodiment described above, the following massage machine can be realized.

  A chair body having a backrest portion 3 and a seat portion 1; a leg placement portion 4 that can be turned up and down on the front side of the seat portion 1; and can be expanded and contracted in a length direction of a user's leg; and at least the chair A massage mechanism (for example, a massage unit 11 or an airbag) provided on either the main body or the leg placement unit 4 and the leg placement unit 4 are rotated up and down on the front side of the seat unit 1. Rotation means (for example, a leg placement unit rotation motor m6) and expansion / contraction means (for example, a leg placement unit extension motor) for extending and contracting the leg placement unit 4 in the length direction of the legs of the user. m7) and a control unit (for example, control unit G) for controlling the operation of the rotating unit and the expansion / contraction unit, the rotating unit moves the leg placing unit 4 up and down. Rotation to detect the rotation position when rotating A position detection sensor (for example, a leg placement portion rotation position detection sensor G6), and the expansion / contraction means expands and contracts the leg placement portion in the length direction of the legs of the user. There is an expansion / contraction position detection sensor (for example, a leg placement portion expansion / contraction position detection sensor G7) for detecting the position of the mounting portion 4 from the front side of the seat portion 1, and the control means is the rotation position detection sensor. Based on the detected value, when calculating the distance to the position where the leg placement unit 4 is in contact with the floor surface F and operating the expansion / contraction means, the expansion / contraction amount according to the calculation result is controlled. A chair-type massage machine that prevents the leg placement unit 4 from coming into contact with the floor surface F during rotation.

  The chair type massage machine includes a massage start operation unit (for example, a start button S3 provided on the remote controller R) for driving the massage mechanism unit, and the control means receives an input signal from the massage start operation unit. A chair-type massage machine that, when generated, executes control for causing the leg rest 4 to wait at a predetermined start standby position based on the position of the leg rest 4 at the time when the input signal is generated.

  In the chair type massage machine, the initial position of the leg placement unit 4 when the input signal from the massage start operation unit is generated is on the floor F with the leg placement unit 4 extended to the maximum extent. A chair-type massage machine that uses the initial position as the start standby position when it is in a movable range that can be rotated up and down without coming into contact.

  In the chair type massage machine, the initial position of the leg placement unit 4 when the input signal from the massage start operation unit is generated is on the floor F with the leg placement unit 4 extended to the maximum extent. When it is in a range below the movable range that can be rotated up and down without contacting, the lowest position in the movable range is set as the start standby position, and the leg placement portion 4 is extended at least from the initial position. A chair-type massage machine that rotates upward to the start standby position without causing it to move.

  In the chair-type massage machine, the chair-type massage machine that contracts the leg rest part 4 to the maximum at the start standby position.

  In the chair type massage machine, a reclining means for reclining the backrest part 3 (for example, a reclining motor m5) and a reclining operation part for driving the reclining means (for example, reclining up / down buttons S16 provided on the remote control R, S17) and a reclining position detection sensor (for example, a reclining position detection sensor G5) for detecting the reclining position of the backrest portion 3, and the control means includes the reclining position of the backrest portion 3 and the leg placement portion. 4 based on the relative positional relationship with the rotational position of 4, whether or not to permit the rotation of the leg resting portion according to the detection result of the reclining position detection sensor during the reclining operation of the backrest portion Interlocking permission determining means (for example, Only when the interlocking of the reclining operation of the backrest part 3 and the leg rest part 4 is permitted by the interlocking permission determination means. A chair-type massage machine that executes control to interlock the leg placement unit 4.

  In the chair type massage machine, the interlocking permission determining means (for example, the control unit G, the interlocking permission determining table) includes a tilt angle β of the backrest part and a flip-up angle α of the leg rest part with respect to a vertical position. A chair-type massage machine that permits the interlocking operation of the leg rest portion 4 when an operation of tilting the backrest portion 3 is performed when the difference between the leg rest portion 3 exceeds a predetermined value.

  In the embodiment described above, each routine whose control process is shown in the flowchart is executed by an interrupt process that is executed by interrupting the main process even when the main process is omitted. This is a subroutine corresponding to the operation of the remote controller R.

  As mentioned above, although this invention was demonstrated through embodiment, only the specific example was illustrated in embodiment, and this invention is not specifically limited. Further, the effects described in the embodiments are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments of the present invention.

It is a perspective view which shows the chair type massage machine which concerns on this embodiment. It is the same side view. It is explanatory drawing of the massage unit of the massage machine. It is a block diagram which shows the drive control system of the massage machine. It is explanatory drawing of the remote control with which the massage machine is provided. It is explanatory drawing by the side view which showed the rotation operation | movement of the backrest part and leg mounting part of the massage machine. It is a disassembled perspective view of a leg mounting part. It is explanatory drawing which shows a leg mounting part support frame and a sliding frame. It is a front view of the state which attached the leg mounting part support frame and the sliding frame. It is explanatory drawing of the contraction mechanism attached to the sliding frame. It is explanatory drawing of a leg mounting part rotation mechanism. It is explanatory drawing which shows the maximum expansion-contraction stroke of a leg mounting part, and the limit position of a leg mounting part. It is a flowchart which shows an example of a leg mounting part operation | movement control process. It is a flowchart which shows an example of a leg mounting part operation | movement control process. It is explanatory drawing which shows an example of a cooperation permission determination table. It is a flowchart which shows an example of a reclining defeat process. It is a flowchart which shows an example of a reclining raising process. It is a flowchart which shows an example of a leg mounting part expansion | extension control process. It is a flowchart which shows an example of a storage operation control process. It is a conceptual explanatory drawing of the relative angle of a leg mounting part and a backrest part. It is explanatory drawing which shows an example of the expansion-contraction operation | movement of the leg mounting part at the time of a reclining operation | movement. It is explanatory drawing which shows an example of the accommodation operation | movement of a leg mounting part and a backrest part. It is explanatory drawing which shows an example of the accommodation operation | movement of a leg mounting part and a backrest part. It is explanatory drawing which shows an example of the accommodation operation | movement of a leg mounting part and a backrest part.

Explanation of symbols

A Massage machine F Floor G Control unit R Remote control α Bounce angle β Tilt angle 1 Seat 2 Base 3 Backrest 4 Leg rest 11 Massage unit

Claims (5)

A chair body having a backrest and a seat;
A leg placement section provided with a sole receiving section capable of vertically rotating on the front side of the seat section and extending and contracting in the length direction of a user's leg, and capable of massaging a sole ;
A massage mechanism provided in at least one of the chair body or the leg placement unit; and
Rotating means for vertically rotating the leg placement portion on the front side of the seat portion;
Expansion and contraction means for expanding and contracting the leg placement part in the length direction of the legs of the user,
Control means for controlling operations of the turning means and the expansion / contraction means;
Bei to give a,
The rotation means has a rotation position detection sensor for detecting a rotation position when the leg placement portion is rotated up and down.
The expansion / contraction means has an expansion / contraction position detection sensor for detecting an expansion / contraction amount when the leg placement portion is expanded / contracted in the length direction of the user's leg,
The control means calculates in advance a distance to a position where the leg placement portion is in contact with the floor surface based on a detection value of the rotational position detection sensor, and operates the expansion / contraction means according to the calculation result. stretch amount become so controlled to the footrest part is a chair slave type massage machine which enables prevented that contact with the floor surface when rotating,
A massage start operation unit for driving the massage mechanism unit;
The control means includes
When an input signal from the massage start operation unit is generated, based on the rotation position of the leg placement unit at the time when the input signal is generated,
While performing control to make the leg placement unit stand by at a predetermined start standby position, the initial position of the leg placement unit at the time when the input signal from the massage start operation unit is generated, the leg placement unit is If it is in the range below the movable range that can be rotated up and down without contacting the floor surface in the fully extended state,
Wherein the footrest portion, the chair-type massage machine according to claim Rukoto is upwardly rotated to the start waiting position without extending from the initial position lowest position as the start waiting position of said movable range. The initial position of the leg rest when the input signal from the massage start operation section is generated is movable so that it can be turned up and down without contacting the floor surface with the leg rest extended to the maximum. 2. The chair type massage machine according to claim 1 , wherein the initial position is the start standby position when it is within a range . The start in the standby position, the chair-type massage machine according to claim 1 or 2, characterized in Rukoto is maximally contracted the footrest portion. A reclining means for reclining the backrest part, a reclining operation part for driving the reclining means, and a reclining position detection sensor for detecting the reclining position of the backrest part,
The control means includes
The reference angle defined in advance from the relative angle between the leg placement part and the backrest part in the mutually expanding direction, the detection result by the rotational position detection sensor, and the detection by the rotational position detection sensor Comparing the relative angle obtained from the result, and having an interlocking permission determining means for determining whether or not to permit the rotation of the leg rest portion during the reclining operation of the backrest portion,
The leg that rotates the leg mounting portion in conjunction with the reclining operation of the backrest only when the reclining operation of the backrest and the leg mounting portion are permitted to be interlocked by the interlocking permission determining means. chair-type massage machine according to claim 1, characterized that you perform a control to perform the linked motion with respect to the backrest portion of the mounting portion. The interlocking permission determining means is
If the operation of tilting the backrest portion is performed when the difference between the tilt angle of the backrest portion and the flip-up angle of the legrest portion exceeds a predetermined value, the interlocking of the legrest portion is performed. chair-type massage machine according to claim 4 Symbol mounting features that you allow operation.

Images