CN110063879B

CN110063879B - Massaging machine

Info

Publication number: CN110063879B
Application number: CN201910180593.7A
Authority: CN
Inventors: 稻田二千武; 原田永敏; 滨田美幸; 长光知己; 高塚启介; 福田知治
Original assignee: Family Inada Co Ltd
Current assignee: Family Inada Co Ltd
Priority date: 2014-10-24
Filing date: 2015-06-23
Publication date: 2022-01-07
Anticipated expiration: 2035-06-23
Also published as: CN110063879A; WO2016063574A1

Abstract

The invention provides a massager, aiming to improve the massage body feeling of the massager. A massage machine (1) of the present invention is provided with a plurality of massage mechanisms (31, 51) in the body length direction, and the massage mechanisms (31, 51) have treatment members (34, 54) paired right and left. The massage machine is provided with a1 st massage mechanism (31) arranged on the upper side and a2 nd massage mechanism (51) arranged on the lower side as massage mechanisms (31, 51), and a control member (23), wherein the control member (23) controls the actions of the 1 st massage mechanism (31) and the 2 nd massage mechanism (51). The control member (23) controls the advancing and retreating driving parts (15, 16) so that the treatment member (34) of the 1 st massage mechanism (31) and the treatment member (54) of the 2 nd massage mechanism (51) are extended or retreated at different time intervals.

Description

Massaging machine

The present application is a divisional application of the invention patent application having application number 201580055724.9 and entitled "massage machine".

Technical Field

The invention relates to a massager.

Background

Conventionally, there is known a massage apparatus in which an upper unit disposed on an upper side and a lower unit disposed on a lower side are provided on a backrest. The upper unit is provided with a shoulder unit and a shoulder carapace bone unit, and the lower unit is provided with a back unit and a waist unit. Further, since the shoulder unit massages by pressing the treatment members down on the shoulders by the expansion of the air bladder and the shoulder and nail unit massages by pushing the treatment members up on the shoulder and nail by the expansion of the air bladder, a massage effect can be obtained in which the treatment members of the shoulder unit and the treatment members of the shoulder and nail unit sandwich the shoulders or the shoulder and nail portion (for example, refer to patent document 1).

As another conventional technique, a massage apparatus is known in which an upper unit disposed on an upper side and a lower unit disposed on a lower side are provided on a backrest. The upper unit is provided with a shoulder unit and a shoulder carapace bone unit, and the lower unit is provided with a back unit and a waist unit. The shoulder unit and the waist unit can operate the pair of treatment members in the left-right direction to sandwich the treatment target portion and perform massage (see, for example, patent document 1).

As still another conventional technique, a massage machine is known in which a plurality of roller portions and a mechanical unit are provided in a body length direction. The plurality of roller portions and the mechanical unit are independently movable from the backrest portion to the leg rest portion. Further, the roller portions and the mechanical unit are prevented from colliding with each other by control of a control unit constituted by a substrate on which elements of a microcomputer are arranged (see, for example, fig. 9 of patent document 2).

Prior art documents

Patent document

Patent document 1: japanese patent laid-open publication No. 2002-209961

Patent document 2: japanese laid-open patent publication No. 2009-157

Disclosure of Invention

Technical problem to be solved by the invention

However, in the massage device described in patent document 1, for example, the upper unit is merely a monotonous massage in which the shoulder unit disposed on the upper side and the shoulder carapace unit disposed on the lower side sandwich the treatment site without changing the relative positions.

In the massage device described in patent document 1, the relationship between the pinching massage operation of the pair of treatment devices of the shoulder unit and the pinching massage operation of the pair of treatment devices of the waist unit is not clear, and it cannot be said that the kneading operation is appropriately performed depending on the treatment site.

Further, the massage machine described in patent document 2 is considered to operate according to a preset program so as not to cause the plurality of roller portions and the mechanical unit to collide with each other. However, the massage machine may require not only the operation of the massage unit according to a preset program but also the operation of the manipulator by the user to move the massage unit to a desired position (treatment site). Therefore, in the massage machine of patent document 2, the plurality of roller portions and the mechanical unit cannot maintain appropriate relative positions, and may not avoid collision with each other.

In contrast, the present invention has an object 1 to improve the feeling of massage in a massage machine. The invention provides a massage machine 2 capable of performing an effective kneading operation according to a treatment site. The 3 rd object of the present invention is to provide a massage machine in which a plurality of massage units can maintain appropriate relative positions.

Means for solving the technical problem

In order to achieve the above-described object 1, the present invention provides a massage machine provided with a plurality of massage mechanisms having a pair of right and left treatment implements along a body length direction, the massage machine including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side as the massage mechanisms, the massage machine further including a control means for controlling operations of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism including: a massage driving unit that causes the pair of treatment tools to perform at least one of a kneading operation in which the pair of treatment tools are moved closer to or away from each other and a tapping operation in which the pair of treatment tools are alternately advanced and retreated; and a forward/backward driving unit that advances and retreats the treatment member in the forward/backward direction with respect to the user, wherein the control member controls the forward/backward driving unit so that the treatment member of the 1 st massage mechanism and the treatment member of the 2 nd massage mechanism are extended or retreated with time being shifted from each other.

With this configuration, the treatment device of the 1 st massage mechanism and the treatment device of the 2 nd massage mechanism, which are capable of performing the kneading operation or the tapping operation, can be extended or retracted with a time shift from each other, and thus a feeling of presence can be obtained as if a masseur massages with both hands.

In order to achieve the above-described object 1, the present invention provides a massage machine including a plurality of massage mechanisms provided in a body length direction, the massage mechanisms including a pair of right and left treatment implements, the massage mechanisms including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control unit for controlling operations of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism including: a massage driving unit that causes the pair of treatment tools to perform at least one of a kneading operation in which the pair of treatment tools are moved closer to or away from each other and a tapping operation in which the pair of treatment tools are alternately advanced and retreated; and a forward/backward driving unit that advances and retreats the treatment member in the forward/backward direction with respect to the user, wherein the control member controls the forward/backward driving unit so that the treatment member of the 1 st massage mechanism and the treatment member of the 2 nd massage mechanism are advanced or retreated at different speeds from each other.

With this configuration, the treatment device of the 1 st massage mechanism and the treatment device of the 2 nd massage mechanism, which are capable of performing the kneading operation or the tapping operation, can be extended or retracted at different speeds from each other, and thus a feeling of presence can be obtained as if a masseur massages with both hands.

Further, it is preferable that the control means controls the forward/backward driving portion so that the treatment device of one of the 1 st massage mechanism and the 2 nd massage mechanism is extended and then the treatment device of the other massage mechanism is extended.

With this configuration, a feeling of presence can be obtained as if a masseur were to sequentially press the treatment site with the left and right hands.

Further, it is preferable that the control means controls the forward/backward driving unit to move the treatment device of one of the 1 st massage mechanism and the 2 nd massage mechanism backward and then move the treatment device of the other massage mechanism backward.

With this configuration, a user can feel a sense of presence as if the user had a relaxed left-hand massage and a relaxed right-hand massage in this order.

Further, it is preferable that the control means controls the forward/backward driving unit so that the treatment device of one of the 1 st and 2 nd massage mechanisms is extended and the treatment device of the other massage mechanism is retracted in synchronization with each other.

With this configuration, a feeling of presence can be obtained as if a massage engineer were to alternately switch the left hand and the right hand to perform a massage.

Further, it is preferable that the control means controls the forward/backward driving portion so as to retract the treatment element of one of the 1 st massage mechanism and the 2 nd massage mechanism in a state where the treatment element of the 1 st massage mechanism and the treatment element of the 2 nd massage mechanism are extended while the treatment element of the 1 st massage mechanism and the treatment element of the 2 nd massage mechanism are positioned in the left-right direction and are different from each other.

With this configuration, a feeling of presence can be obtained as if a masseur massages with both hands and with the thumb and other fingers. Further, the treatment target portion strongly abuts against the treatment member in the extended state, and a feeling like being pressed by a finger can be obtained.

Further, it is preferable that the control means controls the forward/backward driving portion so that the treatment device is repeatedly extended and retracted by one of the 1 st massage mechanism and the 2 nd massage mechanism while the treatment device is extended by the other massage mechanism.

With this configuration, a feeling of presence can be obtained as if a masseur had a finger pressure repeatedly with one hand while holding the other hand lightly on the treatment site.

Further, it is preferable that the control means controls the forward/backward driving section and the massage driving section so that the treatment device of at least one of the 1 st massage mechanism and the 2 nd massage mechanism is extended or retracted in synchronization with the kneading operation or the tapping operation of the one massage mechanism.

With this configuration, a sense of presence can be obtained as if the massager performs a kneading operation or a tapping operation by adjusting the force.

Further, it is preferable that the control means controls the forward/backward driving section and the massage driving section so that the treatment elements of at least one of the 1 st massage mechanism and the 2 nd massage mechanism are extended or retracted in synchronization with the movement of bringing the pair of treatment elements of the one massage mechanism closer to each other.

With this configuration, a feeling of presence can be obtained as if the masseur pinches and presses the treatment target portion or pinches and pulls the treatment target portion.

Preferably, the massage machine further includes a lifting motor for lifting at least one of the 1 st massage mechanism and the 2 nd massage mechanism in the body length direction, and the control means controls the advancing/retreating drive unit and the lifting motor so that the one massage mechanism is advanced and lifted or lowered in synchronization with each other.

With this configuration, a feeling of presence can be obtained as if a masseur pushes up or pushes down the treatment site.

In order to achieve the above-described object 1, the present invention provides a massage machine including a plurality of massage mechanisms provided in a body length direction, the massage mechanisms including a pair of right and left treatment implements, the massage mechanisms including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control unit for controlling operations of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism including: a massage driving unit that causes the pair of treatment tools to perform at least one of a kneading operation in which the pair of treatment tools are moved closer to or away from each other and a tapping operation in which the pair of treatment tools are alternately advanced and retreated; and a forward/backward driving unit that advances and retreats the treatment implement in the forward/backward direction with respect to the user, wherein the control member controls the forward/backward driving unit so that the treatment implement of the 2 nd massage mechanism is extended in a state where the 1 st massage mechanism is disposed on the shoulder and the 2 nd massage mechanism is disposed on the waist.

With this configuration, the upper body can be tilted backward, and the treatment implement of the 1 st massage mechanism can be strongly brought into contact with the shoulder.

In order to achieve the above-described 1 st object, the present invention provides a massage machine including a plurality of massage mechanisms provided in a body length direction, the massage mechanisms including a pair of right and left treatment tools, the massage mechanisms including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control member for controlling operations of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism including a massage drive unit for causing the pair of treatment tools to perform at least one of a kneading operation in which the pair of treatment tools are moved closer to or away from each other and a tapping operation in which the pair of treatment tools are alternately moved forward and backward, the massage machine further including a lift motor for causing at least one of the 1 st massage mechanism and the 2 nd massage mechanism to be lifted and lowered in the body length direction The control means controls the massage driving section and the lifting motor so that one massage mechanism performs the kneading operation or the tapping operation and the other massage mechanism is raised or lowered in the body length direction.

With this configuration, a user can feel a sense of presence as if the user were rubbing and stretching the body with one hand and then rubbing or tapping the treatment site with the other hand.

In order to achieve the above-described 1 st object, the present invention provides a massage machine including a plurality of massage mechanisms provided in a body length direction, the massage mechanisms including a pair of right and left treatment implements, the massage mechanisms including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control member for controlling operations of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism including a massage drive unit for causing the pair of treatment implements to perform at least one of a kneading operation in which the pair of treatment implements are moved closer to or farther from each other and a tapping operation in which the pair of treatment implements are alternately advanced and retreated, the massage machine further including a lifting motor for lifting at least one of the 1 st massage mechanism and the 2 nd massage mechanism in the body length direction And a control means for controlling the massage drive section and the lifting motor so as to raise or lower the other massage mechanism in the body length direction in a state where the pair of treatment members of the one massage mechanism are brought close to each other so as to sandwich the treatment target portion.

With this configuration, the user can feel a sense of presence like a massager holding his or her body with one hand and rubbing or stretching the treatment site with the other hand.

In order to achieve the above-described 1 st object, the present invention provides a massage machine including a plurality of massage mechanisms provided in a body length direction, the massage mechanisms including a pair of right and left treatment implements, the massage mechanisms including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control member for controlling operations of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism including a massage drive unit for causing the pair of treatment implements to perform at least one of a kneading operation in which the pair of treatment implements are moved closer to or farther from each other and a tapping operation in which the pair of treatment implements are alternately advanced and retreated, the massage machine further including a lifting motor for lifting at least one of the 1 st massage mechanism and the 2 nd massage mechanism in the body length direction And a control member for controlling the lifting motor to lift the 2 nd massage mechanism in the body length direction in a state where the 1 st massage mechanism is disposed on the shoulder.

With this configuration, the treatment device of the 1 st massage mechanism can be strongly brought into contact with the shoulder.

Further, in order to achieve the above-mentioned 1 st object, the present invention provides a massage machine provided with a plurality of massage mechanisms in a body length direction, the massage mechanisms including a pair of right and left treatment implements, the massage mechanism including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control member for controlling operations of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism including a forward/backward driving unit for advancing and retreating the treatment implements in a forward/backward direction with respect to a user, the massage machine further including a lifting motor for lifting and lowering the 1 st massage mechanism and the 2 nd massage mechanism in the body length direction, the control member controlling the lifting motor and the forward/backward driving unit, so that the 1 st massage mechanism and the 2 nd massage mechanism move along the body length direction and in the direction of approaching each other and the 1 st massage mechanism and the 2 nd massage mechanism extend out of the treatment member synchronously.

With this configuration, the upper body can be tilted backward while stretching the dorsal muscle.

Further, in order to achieve the above-mentioned 1 st object, the present invention provides a massage machine provided with a plurality of massage mechanisms in a body length direction, the massage mechanisms including a pair of right and left treatment implements, the massage mechanism including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control member for controlling operations of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism including a forward/backward driving unit for advancing and retreating the treatment implements in a forward/backward direction with respect to a user, the massage machine further including a lifting motor for lifting and lowering the 1 st massage mechanism and the 2 nd massage mechanism in the body length direction, the control member controlling the lifting motor and the forward/backward driving unit, so that the 1 st massage mechanism and the 2 nd massage mechanism move along the body length direction and in the direction away from each other and the treatment members of the 1 st massage mechanism and the 2 nd massage mechanism extend out synchronously.

With this configuration, the upper body can be pulled while leaning back.

Further, in order to achieve the above-described 1 st object, the present invention provides a massage machine in which a plurality of massage mechanisms having a pair of right and left treatment devices are provided in a body length direction in a backrest portion on which a user leans, the massage machine further includes a control means for controlling operations of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism include massage driving portions for causing the pair of treatment devices to perform at least one of a kneading operation in which the pair of treatment devices are moved closer to or away from each other and a tapping operation in which the pair of treatment devices are alternately moved forward and backward, the massage mechanism including a first massage mechanism disposed on an upper side and a second massage mechanism disposed on a lower side as the massage mechanisms, and the control means controls the massage driving portions, so that one massage mechanism performs the kneading action or the pair of treatment members of the one massage mechanism are brought close to each other to be sandwiched, and at the same time, the other massage mechanism performs an action including the tapping action.

With this configuration, it is possible to obtain a feeling of feeling that two or more massagers perform different types of massage on the upper body at the same time.

Further, in order to achieve the above-mentioned object 1, the present invention provides a massage machine provided with a plurality of massage mechanisms along a body length direction, the massage mechanism has a pair of right and left treatment members, and is characterized in that the massage mechanism comprises a1 st massage mechanism arranged at the upper side and a2 nd massage mechanism arranged at the lower side, the massage machine further comprises a control means for controlling the operation of the 1 st massage mechanism and the 2 nd massage mechanism, the 1 st massage mechanism and the 2 nd massage mechanism have massage driving portions that cause the pair of treatment devices to perform a kneading operation in which the pair of treatment devices are moved closer to or away from each other, and the control means controls the massage driving portions, so that the 1 st massage mechanism and the 2 nd massage mechanism perform the kneading action at different speeds from each other.

With this configuration, when the 1 st massage mechanism and the 2 nd massage mechanism continuously perform the kneading operation, the kneading operation in the vertical direction by the treatment device of the upper 1 st massage mechanism and the treatment device of the lower 2 nd massage mechanism can be changed with the passage of time, and the massage effect can be improved.

Further, it is preferable that the treatment devices of the 1 st and 2 nd massage mechanisms are caused to perform the kneading operation in a state where the 1 st and 2 nd massage mechanisms or the treatment device of the 1 st and 2 nd massage mechanism and the treatment device of the 2 nd massage mechanism are caused to approach each other in the body length direction.

With this configuration, the kneading operation in the vertical direction by the treatment device of the 1 st massage mechanism on the upper side and the treatment device of the 2 nd massage mechanism on the lower side can be further sensed.

In order to achieve the above 1 st object, the present invention provides a massage machine comprising: a seat part for seating a user; and a backrest portion which is provided at a rear portion of the seat portion so as to be capable of being tilted up and on which a user leans, and in which a plurality of massage mechanisms having a pair of right and left treatment tools are provided along a body length direction, wherein the massage mechanisms include a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, and the massage machine further includes a control member which controls an operation of the 1 st massage mechanism and the 2 nd massage mechanism and a tilting operation of the backrest portion, and the control member synchronizes: an action of pinching the neck by the treatment member of the 1 st massage mechanism; pressing the waist with the treatment member of the 2 nd massage mechanism; and an operation of lowering the backrest rearward.

With this configuration, the upper body can be prevented from being displaced with respect to the backrest portion as the backrest portion is laid down by holding the neck portion, and the upper body can be effectively tilted backward.

Preferably, the front portion of the seat unit includes a step which is provided to be swingable up and down and supports the lower limbs of the user, the step includes a1 st pressing and holding member which presses or holds the lower limbs of the user, and the control member synchronizes the synchronized operation with the operation of holding the lower limbs by the 1 st pressing and holding member and the operation of lowering the step.

By adopting such a structure, the whole body can be effectively stretched.

Further, it is preferable that the control means includes a2 nd pressing/holding means for pressing or holding the upper arm or the shoulder of the user, and the control means synchronizes the synchronized operation with the operation of holding the upper arm or the shoulder by the 2 nd pressing/holding means.

With this configuration, the upper body can be prevented from being displaced with respect to the backrest portion as the backrest portion is laid down by holding the upper arm or the shoulder, and the upper body can be effectively reclined.

In order to achieve the above-described object 2, the present invention provides a massage machine provided with a plurality of massage mechanisms in a body length direction, the massage mechanisms including a pair of right and left treatment tools, the massage mechanisms including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control means for controlling an operation of the massage mechanisms, the massage mechanisms being capable of performing a kneading operation by operating the pair of treatment tools at least in a right and left direction so as to be closer to or farther from each other, wherein operation ranges of the treatment tools in the kneading operation in the right and left direction are different from each other in the 1 st massage mechanism and the 2 nd massage mechanism.

With this configuration, an effective kneading operation can be performed according to the treatment site. For example, the 1 st massage means can be caused to perform a relatively fine kneading operation, and the 2 nd massage means can be caused to perform a powerful kneading operation.

In this case, it is preferable that the range of motion of the treatment device in the right-left direction in the kneading operation of the 1 st massage mechanism is narrower than the range of motion of the treatment device in the right-left direction in the kneading operation of the 2 nd massage mechanism.

With this configuration, it is preferable that the upper 1 st massage mechanism kneads the neck and the lower 2 nd massage mechanism kneads the treatment site below the neck.

In order to achieve the above-described object 2, the present invention provides a massage machine including a plurality of massage mechanisms provided in a body length direction, the massage mechanisms including a pair of right and left treatment devices, the massage mechanisms including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control member for controlling an operation of the massage mechanisms, the massage mechanisms being configured to be capable of performing a kneading operation by operating the pair of treatment devices at least in a right and left direction so as to move the pair of treatment devices closer to each other or away from each other, and a distance between the pair of treatment devices when the pair of treatment devices are closest to each other in the kneading operation is different between the 1 st massage mechanism and the 2 nd massage mechanism.

With this configuration, an effective kneading operation can be performed according to the treatment site.

In this case, it is preferable that the distance between the 1 st massage means is set to be narrower than the distance between the 2 nd massage means.

Further, in order to achieve the above-mentioned 2 nd object, the present invention provides a massage machine provided with a plurality of massage mechanisms along a body length direction, the massage mechanism has a pair of right and left treatment members, and is characterized in that the massage mechanism comprises a1 st massage mechanism arranged at the upper side and a2 nd massage mechanism arranged at the lower side, the massage machine further has a control member that controls the action of the massage mechanism, the massage mechanism can perform a kneading operation by moving the pair of treatment members at least in the left-right direction so as to move the treatment members closer to or away from each other, in the 1 st massage mechanism and the 2 nd massage mechanism, the action ranges of the treatment members in the right and left direction in the kneading action are set to be different from each other, and the distance between the pair of treatment members when the pair of treatment members are closest to each other in the kneading action is set to be different from each other.

With this configuration, an effective kneading operation can be performed according to the treatment site. For example, the 1 st massage means can perform a relatively fine kneading operation, and the 2 nd massage means can perform a powerful kneading operation.

In order to achieve the above-described object 2, the present invention provides a massage machine including a plurality of massage mechanisms provided in a body length direction, the massage mechanisms including a pair of right and left treatment tools, the massage mechanisms including a1 st massage mechanism disposed on an upper side and a2 nd massage mechanism disposed on a lower side, the massage machine further including a control unit for controlling an operation of the massage mechanisms, the massage mechanisms being configured to enable a kneading operation by operating the pair of treatment tools so as to draw an arc-shaped or circular trajectory having at least a right-left direction component and a vertical direction component, wherein vertical dimensions of the trajectory are different between the 1 st massage mechanism and the 2 nd massage mechanism.

In this case, it is preferable that the vertical dimension of the trajectory of the 1 st massage mechanism is smaller than the vertical dimension of the trajectory of the 2 nd massage mechanism.

Preferably, the 1 st massage mechanism and the 2 nd massage mechanism are movable up and down in the body length direction, and the 1 st massage mechanism or the 2 nd massage mechanism can massage the same treatment target portion by changing the positions of the 1 st massage mechanism and the 2 nd massage mechanism in the body length direction.

With this configuration, kneading motions with different body senses can be performed on the same treatment target portion.

Preferably, the control means controls the kneading operation of the treatment device and the elevation of the massage mechanism, and the control means controls the kneading operation and the elevation to be synchronized, thereby changing the vertical size of the kneading operation trajectory of the treatment device.

With this configuration, the body feeling of the kneading operation can be changed.

Preferably, the 1 st massage mechanism and the 2 nd massage mechanism may be independently lifted and lowered in the body length direction.

With this configuration, the range of selection of the plurality of treatment target portions to be massaged at the same time is increased.

Further, it is preferable that the massage machine further includes a sensor that detects a relative position between the 1 st massage mechanism and the 2 nd massage mechanism, the sensor including: a1 st sensor unit that detects approach of the 2 nd massage mechanism to the 1 st massage mechanism; and a2 nd sensor unit for detecting the approach of the 1 st massage mechanism to the 2 nd massage mechanism.

With this configuration, each massage mechanism detects the approach of the partner side massage mechanism, and therefore, the accuracy of detecting that the 1 st massage mechanism and the 2 nd massage mechanism are configured to have a predetermined relative position can be improved. This can improve the accuracy of preventing the massage mechanism from colliding, for example.

At this time, it is preferable that the sensor be capable of detecting the interval between the two massage mechanisms as the relative position in a plurality of stages.

With this configuration, the detection range of the relative position between the 1 st massage mechanism and the 2 nd massage mechanism becomes large. Further, the accuracy of detecting the state where the 1 st massage mechanism and the 2 nd massage mechanism are configured to have a predetermined relative position can be further improved, and for example, the accuracy of preventing collision of the massage mechanisms can be improved.

Also, preferably, the control means performs the following control: when the 1 st massage mechanism and the 2 nd massage mechanism ascend or descend in the same direction, the ascending and descending speed of the massage mechanism at the front side in the advancing direction is faster than the ascending and descending speed of the massage mechanism at the rear side in the advancing direction.

With this structure, the accuracy of preventing the massage mechanism from colliding can be further improved. Further, the two massage mechanisms can be smoothly raised or lowered in a state where they are brought close to each other.

Preferably, the 1 st and 2 nd massage mechanisms may advance and retreat the treatment implement in a front-rear direction with respect to the user, and the treatment implement of the 1 st massage mechanism and the treatment implement of the 2 nd massage mechanism may extend or retreat with time being shifted from each other.

With this configuration, a user can feel a sense of presence as if the user were massaging with both hands.

Preferably, the 1 st and 2 nd massage mechanisms are configured to advance and retreat the treatment device in the front-rear direction with respect to the user, and extend the treatment device of the 1 st and 2 nd massage mechanisms.

With this configuration, a feeling of presence can be obtained as if a masseur massages with both hands and with the thumb and other fingers.

Preferably, the 1 st and 2 nd massage mechanisms are capable of advancing and retracting the treatment tool in the front-rear direction with respect to the user, and the treatment tool of either the 1 st or 2 nd massage mechanism is advanced in a state where the treatment tool of the 1 st massage mechanism and the treatment tool of the 2 nd massage mechanism are different in position in the left-right direction and the treatment tool of the 1 st or 2 nd massage mechanism is extended.

With this configuration, the treatment target portion strongly abuts against the treatment member in the extended state, and a feeling of being pressed by a finger can be obtained.

Further, it is preferable that the treatment device of the 1 st massage mechanism and the treatment device of the 2 nd massage mechanism perform kneading operations at different speeds.

Further, it is preferable that the treatment devices of the 1 st and 2 nd massage mechanisms are kneaded while the 1 st and 2 nd massage mechanisms or the treatment device of the 1 st massage mechanism and the treatment device of the 2 nd massage mechanism are brought close to each other in the body length direction.

Preferably, the 2 nd massage mechanism is capable of advancing and retracting the treatment instrument in the front-rear direction with respect to the user, and the treatment instrument of the 2 nd massage mechanism is extended in a state where the 1 st massage mechanism is disposed on the shoulder and the 2 nd massage mechanism is disposed on the waist.

With this configuration, the upper body can be tilted backward, and the treatment device of the 1 st massage mechanism can be strongly brought into contact with the shoulder.

Preferably, the 2 nd massage mechanism is raised in the body length direction in a state where the 1 st massage mechanism is disposed on the shoulder.

Further, it is preferable that the 2 nd massage means is lowered in the body length direction in a state where the 1 st massage means sandwiches the neck.

By adopting such a structure, the neck portion can be stretched.

Preferably, the 1 st massage mechanism includes a pair of right and left arms to which the treatment members are attached, the treatment members include upper treatment members disposed on an upper side and lower treatment members disposed on a lower side, and the lower treatment members are disposed on both right and left sides of the arms with the arms interposed therebetween.

By adopting such a structure, the neck and the shoulder can be kneaded simultaneously by the upper treatment member and the lower treatment member. Also, when the pair of lower treatment members are close to each other, the inner lower treatment members effectively act on the shoulders, and when the pair of lower treatment members are far from each other, the outer lower treatment members effectively act on the shoulders.

In order to achieve the above 3 rd object, the present invention provides a massage machine in which a plurality of massage units for massaging a treatment target portion are provided in a body length direction, the massage machine including a1 st massage unit disposed on an upper side and a2 nd massage unit disposed on a lower side, the massage machine further including a control unit for controlling an operation of the massage units, at least one of the 1 st massage unit and the 2 nd massage unit being movable up and down in the body length direction, and a sensor for detecting a relative position between the 1 st massage unit and the 2 nd massage unit.

With this configuration, even if the massage unit moves to a position (treatment site) desired by the user, the sensor functions to detect that the 1 st massage unit and the 2 nd massage unit are at a predetermined relative position. Thus, for example, the 1 st massage unit and the 2 nd massage unit can be raised and lowered integrally while being set at predetermined relative positions, or the massage units can be prevented from colliding with each other appropriately.

Further, it is preferable that the 1 st massage unit and the 2 nd massage unit are independently movable up and down in the body length direction, and the positions of the 1 st massage unit and the 2 nd massage unit in the body length direction are changed, whereby the same treatment site can be massaged by the 1 st massage unit or the 2 nd massage unit.

Also, preferably, the sensor has: a1 st sensor unit that detects an approach of the 2 nd massage unit with respect to the 1 st massage unit; and a2 nd sensor unit for detecting the approach of the 1 st massage unit relative to the 2 nd massage unit.

With this configuration, since each massage unit detects the approach of the massage unit on the other side, it is possible to further improve the accuracy of detecting that the 1 st massage unit and the 2 nd massage unit are at predetermined relative positions. This can improve the accuracy of preventing the collision of the massage units, for example.

Also, preferably, the sensor has: a3 rd sensor unit for detecting a position of the 1 st massage unit in a vertical direction; and a4 th sensor unit for detecting a position of the 2 nd massage unit in a vertical direction, wherein the control means calculates a difference value between a detection value of the 3 rd sensor unit and a detection value of the 4 th sensor unit, and detects the relative position based on the difference value.

By adopting such a configuration, the detection range of the relative position between the 1 st massage unit and the 2 nd massage unit becomes large.

Also, preferably, the sensor is capable of detecting the interval between the two massage units as the relative position in a plurality of stages.

By adopting such a configuration, the detection range of the relative position between the 1 st massage unit and the 2 nd massage unit becomes large. Further, the accuracy of detecting that the 1 st massage unit and the 2 nd massage unit are at the predetermined relative positions can be further improved, and the accuracy of preventing collision of the massage units can be improved, for example.

Also, preferably, the control means performs the following control: when the 1 st massage unit and the 2 nd massage unit ascend or descend in the same direction, the ascending and descending speed of the massage unit at the front side in the advancing direction is faster than the ascending and descending speed of the massage unit at the rear side in the advancing direction.

By adopting such a structure, the accuracy of preventing the collision of the massage units can be further improved. Further, the two massage units can be smoothly raised or lowered in a state in which they are close to each other.

Also, preferably, the control means performs the following control: when the 1 st massage unit and the 2 nd massage unit ascend or descend in the same direction, the massage unit on the front side in the forward direction starts to move before the massage unit on the rear side in the forward direction starts to move.

Also, preferably, the control means performs the following control: when the distance between the two massage units is detected to be a predetermined distance when one massage unit ascends or descends in a direction approaching the other massage unit, the one massage unit is stopped or moved away from the other massage unit.

With this configuration, the collision of the massage unit can be reliably avoided.

Effects of the invention

According to the present invention, 1 st, the body feeling of the massage can be improved; 2, effective kneading action can be performed according to the treatment position; and 3. the plurality of massage units can maintain proper relative positions.

Drawings

Fig. 1 is a perspective view of a massage machine according to an embodiment of the present invention.

Fig. 2 is a functional block diagram of the massage machine.

Fig. 3 is a front view of the backrest part.

Fig. 4 is a perspective view of the 1 st massage unit.

Fig. 5 is a perspective view of the 1 st massage unit with a part of components omitted.

Fig. 6 is a front view of the 1 st massage unit.

Fig. 7 is a side view of the 1 st massage unit when the 1 st massage mechanism is in a retracted state.

Fig. 8 is a side view of the 1 st massage unit with the 1 st massage mechanism in an extended state.

Fig. 9 is a front view of the kneading and tapping shafts.

Fig. 10 is a perspective view of the 2 nd massage unit.

Fig. 11 is a perspective view of the 2 nd massage unit with a part of components omitted.

Fig. 12 is a front view of the 2 nd massage unit.

Fig. 13 is a side view of the 2 nd massage unit when the 2 nd massage mechanism is in a retracted state.

Fig. 14 is a side view of the 2 nd massage unit with the 2 nd massage mechanism in an extended state.

Fig. 15 is a perspective view of an arm of the 2 nd massage unit.

Fig. 16 is an explanatory view of the kneading operation.

Fig. 17 is an explanatory view of the kneading operation.

Fig. 18 is an explanatory view of the kneading operation.

Fig. 19 is an explanatory view of the kneading operation.

Fig. 20 is a flowchart of action 1.

Fig. 21 is an explanatory diagram of operation 1.

Fig. 22 is a flowchart of the

operations

2 and 3.

Fig. 23 is a diagram illustrating operation 2 and operation 3.

Fig. 24 is an explanatory diagram of act 4.

Fig. 25 is an explanatory diagram of operation 5.

Fig. 26 is an explanatory diagram of operation 6.

Fig. 27 is an explanatory diagram of act 7.

Fig. 28 is an explanatory diagram of act 8.

Fig. 29 is a flowchart of the

operations

9 and 10.

Fig. 30 is a front view of a massage unit according to another embodiment.

Fig. 31 is a front view of a massage mechanism according to another embodiment.

Fig. 32 is an explanatory diagram of a link according to another embodiment.

Fig. 33 is an explanatory diagram of a sensor according to another embodiment.

Fig. 34 is a flowchart of act 11.

Fig. 35 is an explanatory diagram of operation a.

Fig. 36 is an explanatory diagram of action B.

Fig. 37 is an explanatory diagram of operation C.

Fig. 38 is an explanatory diagram of operation D.

Fig. 39 is an explanatory diagram of action E.

Fig. 40 is an explanatory diagram of operation F.

Fig. 41 is an explanatory diagram of operation a.

Fig. 42 is an explanatory diagram of operation b.

Fig. 43 is an explanatory diagram of operation c.

Fig. 44 is an explanatory diagram of operation d.

Fig. 45 is an explanatory diagram of action e.

Fig. 46 is an explanatory diagram of action f.

Fig. 47 is an explanatory diagram of action g.

Fig. 48 is an explanatory diagram of action h.

Fig. 49 is an explanatory diagram of action i.

Fig. 50 is an explanatory diagram of action j.

Detailed Description

[ integral Structure ]

The overall structure of the massage machine 1 of the present invention will be described below. Fig. 1 is a perspective view of a massage machine 1 according to an embodiment of the present invention. Fig. 2 is a functional block diagram of the massage machine 1. Fig. 3 is a front view of the backrest 3. The concept of the direction used in the following description is the same as the concept of the visual direction of the user seated on the massage machine 1 in the standing posture shown in fig. 1, and other cases will be appropriately described.

As shown in fig. 1, a massage machine 1 of the present invention mainly includes: a seat 2 for seating a user; a backrest portion 3 which is provided at the rear portion of the seat portion 2 so as to be able to be tilted and on which a user leans; a step 4 which is provided at the front part of the seat 2 so as to be vertically swingable and supports the legs and feet of the user; armrest parts 5 provided on both left and right sides of the seat part 2 and on which upper limbs of a user are placed; a pillow 6 provided above the backrest 3 and supporting the head of the user; and a leg frame 7 which supports the seat section 2 and is installed on the floor. The backrest 3 is provided with a plurality of

massage units

8 and 9 that can be raised and lowered in the body length direction and massage the upper body of the user from behind.

An airbag 10 for pressing or holding the upper arm or the shoulder from the left-right direction is provided on the side portion of the backrest 3. The seat 2 is provided with an airbag 11 for pressing the buttocks or the thighs of the user from below and an airbag 12 for pressing or holding the buttocks or the thighs from the left-right direction. The step 4 is provided with an airbag 13 that presses or holds the leg and foot of the user from the left-right direction. The armrest portion 5 is provided with an airbag 14 that presses or holds the forearm from the up-down direction. These airbags 10 to 14 are expanded or contracted by air supply and exhaust of an air unit 20 (see fig. 2) provided below the seat, and the air unit 20 is constituted by a pump, a valve, and the like.

As shown in fig. 1 and 2, the backrest portion 3 is configured to be able to be tilted back and forth with respect to the seat portion 2 by an actuator 21 provided below the seat portion 2, and to be able to be stopped at any position between a standing posture shown in fig. 1 and a lying posture in which the backrest surface is substantially horizontal to the floor surface. The armrest portion 5 is configured to move rearward in conjunction with the reclining of the backrest portion 3 and to move forward in conjunction with the raising of the backrest portion 3. The step 4 is configured to be vertically swingable with respect to the seat 2 by an actuator 22 provided below the seat 2, and to be able to stop at any position between a hanging posture shown in fig. 1 and a rising posture for supporting the leg and foot in a knee-extended state.

As shown in fig. 2, an air unit 20 is provided below the seat 2, and the air unit 20 is constituted by a pump, a valve, and the like, and supplies gas to the airbags 10 to 14 and the advancing/retreating

airbags

15 and 16 described later, or discharges gas from the airbags 10 to 14 and the advancing/retreating

airbags

15 and 16 described later. The air cell 20 is preferably configured to be able to maintain the airbags 10 to 14 and the advancing-retreating

airbags

15 and 16 at arbitrary inflation amounts, and in this case, the inflation amounts of the airbags 10 to 14 and the advancing-retreating

airbags

15 and 16 can be adjusted. The massage machine 1 is provided with a control means 23, such as a programmable microcomputer, and the control means 23 is configured to control various operations of the

massage units

8 and 9, the air unit 20, and the

actuators

21 and 22 in accordance with a command from a user of the operator 27 or a predetermined program.

The control member 23 has: a main control unit 24 provided below the seat unit 2 and controlling various operations of the massage unit 8, the massage unit 9, the air unit 20, the actuator 21, and the actuator 22; and

sub-control units

25 and 26 provided in the

massage units

8 and 9 and controlling the elevation of the

massage units

8 and 9. The control means 23 stores a plurality of massage modes for automatically operating at least one of the massage unit 8, the massage unit 9, the air unit 20, the actuator 21, and the actuator 22 according to a predetermined program. When the user selects a desired massage mode, various operations are automatically performed until the set mode time elapses.

[ Structure of backrest ]

As shown in fig. 1 and 3, the backrest 3 is composed of: a back frame 3a which is door-shaped in front view and made of resin or the like; a guide mechanism 3b for guiding the

massage units

8 and 9 assembled to the back frame 3a to move up and down; and a back pad 3c disposed on the front side of the back frame 3a and having cushioning properties. The guide mechanism 3b is provided extending in the body length direction and is bent such that the upper and lower portions are located more forward than the middle portion (refer to fig. 21). Further, a rack is formed on the front side of the guide mechanism 3b, and a rail is formed on the rear side. The plurality of

massage units

8 and 9 are supported by the guide mechanism 3b so as to be movable up and down.

[ Structure of massage Unit ]

The structure of the

massage units

8 and 9 will be described below.

Fig. 4 is a perspective view of the 1 st massage unit 8. Fig. 5 is a perspective view of the 1 st massage unit 8 with a part of components omitted. Fig. 6 is a front view of the 1 st massage unit 8. Fig. 7 is a side view of the 1 st massage unit 8 when the 1 st massage mechanism 31 is in a retracted state. Fig. 8 is a side view of the 1 st massage unit 8 with the 1 st massage mechanism 31 in an extended state. Fig. 9 (a) is a front view of the kneading shaft 41, and fig. 9 (b) is a front view of the tapping shaft 42. Fig. 10 is a perspective view of the 2 nd massage unit 9. Fig. 11 is a perspective view of the 2 nd massage unit 9 with a part of components omitted. Fig. 12 is a front view of the 2 nd massage unit 9. Fig. 13 is a side view of the 2 nd massage unit 9 when the 2 nd massage mechanism 51 is in a retreated state. Fig. 14 is a side view of the 2 nd massage unit 9 with the 2 nd massage mechanism 51 in an extended state. Fig. 15 is a perspective view of the arm 60 of the 2 nd massage unit 9.

As shown in fig. 3 to 15, a plurality of

massage units

8, 9 are provided in the body length direction. In the present embodiment, the backrest 3 is provided with the 1 st massage unit 8 disposed on the upper side and the 2 nd massage unit 9 disposed on the lower side. Each of the

massage units

8 and 9 mainly includes: main body frames 30 and 50 supported by the guide mechanism 3b to be able to ascend and descend;

massage mechanisms

31, 51 having

treatment members

34, 54; support frames 32, 52 for supporting the

massage mechanisms

31, 51; a forward/backward driving

part

15, 16 for advancing/retreating the

massage mechanism

31, 51 relative to the treated part; and links 33, 53 connecting the

main frames

30, 50 and the support frames 32, 52 and swinging in the front-rear direction.

The structure of the upper 1 st massage unit 8 will be described in detail below.

As shown in fig. 4 to 8, the main body frame 30 is formed in a box shape with an open front side, including: a rear wall 30 a; side walls 30b erected from both left and right sides of the rear wall 30 a; a bottom wall 30c erected from a lower portion of the rear wall 30 a; and an upper wall 30d erected from the upper portion of the rear wall 30 a. Further, a lifting mechanism is housed above the inside of the main body frame 30, and the lifting mechanism is configured by: a lifting motor 35 for lifting the 1 st massage unit 8; a lift shaft 36 extending in the left-right direction; and a speed reducer 37 for reducing the speed of the rotation of the elevating motor 35 and transmitting the reduced speed to the elevating shaft 36. The lift shaft 36 is rotatably supported by the two side walls 30 b. A guide roller 38 and a pinion 39 attached to the elevating shaft 36 are provided on the upper portion of the side wall 30b, and the guide roller 38 and the pinion 39 are provided on the lower portion. The guide mechanism 3b is held between the pinion 39 and the guide roller 38, and the 1 st massage unit 8 can be moved up and down in the body length direction by driving the up-and-down motor 35. Since the elevation mechanism is disposed above the 1 st massage unit 8, the treatment tools 34 can be brought close to the treatment tools 54 (upper treatment tools 54a) of the 2 nd massage mechanism 51.

The 1 st massage mechanism 31 includes: a pair of right and left arms 40 having treatment members 34 supported at the front ends thereof; and a driving mechanism for driving the arm 40 to perform a massage. The drive mechanism includes: a kneading shaft 41 supporting the arm 40 and moving the pair of treatment members 34 closer to or away from each other in the left-right direction to perform a kneading action; a striking shaft 42 for alternately advancing and retracting the pair of treatment members 34 to perform a striking operation; a massage motor 43 as a massage driving unit for driving the kneading shaft 41 and the tapping shaft 42; and a speed reducer 44 for reducing the speed of the rotation of the massage motor 43 and transmitting the rotation to the kneading shaft 41 and the beating shaft 42. The drive mechanism is supported by a box-shaped frame 45. In the present embodiment, the 1 st massage unit 8 is provided with only one treatment tool 34 in the vertical direction.

As shown in fig. 9 (a), the kneading shaft 41 extends in the left-right direction, and inclined shafts 41a inclined with respect to the axial center 41b thereof are provided on both the left and right sides. The arm 40 is rotatably attached to the tilt shaft 41a via a bearing. The left and right tilt shafts 41a are not parallel to each other, and are tilted in a substantially "ハ" shape in front view. Further, a width sensor 46 that detects the interval between the pair of treatment members 34 is provided on the kneading shaft 41. As shown in fig. 9 (b), the striking shaft 42 extends in the left-right direction, and eccentric shafts 42a eccentric with respect to the axial center 42b thereof are provided on the left and right sides. As shown in fig. 5, a coupling member 47 that couples the striking shaft 42 and the rear portion of the arm 40 is rotatably provided on the eccentric shaft 42a via a bearing. The eccentric shafts 42a on the left and right have different eccentric phases from each other with respect to the axial center 42b of the striking shaft 42.

When the kneading shaft 41 rotates, the arm 40 rotates three-dimensionally while the rotation of the arm about the kneading shaft 41 is restricted by the connecting member 47. That is, as shown in fig. 16, when the kneading shaft 41 is rotated continuously in one direction, the treatment devices 34 are operated so as to draw a circular locus having at least a component in the left-right direction and a component in the up-down direction, and the pair of left and right treatment devices 34 are operated in the left-right direction so as to be close to or away from each other. Thereby performing a kneading operation. On the other hand, when the tapping shaft 42 rotates, the pair of arms 40 alternately advances and retreats about the kneading shaft 41 as a fulcrum by the vertical movement of the connecting member 47. Thereby performing a tapping operation. In the present embodiment, the kneading operation and the kneading and tapping operation can be switched by providing the clutch on the tapping shaft 42 and rotating the single massage motor 43 forward or backward, but the massage motor 43 may be provided separately to perform the kneading operation and the tapping operation independently.

The support frame 32 has a plate surface in the front-rear direction, and a frame 45 is fixed to the front surface side to support the 1 st massage mechanism 31. Between the main body frame 30 and the support frame 32, there is provided an advancing/retreating air bag 15 (as an advancing/retreating driving portion) which expands and contracts by the supply and discharge of air from the air unit 20, thereby advancing/retreating the 1 st massage mechanism 31 with respect to the treatment site. A link 33 that couples the main body frame 30 and the support frame 32 and swings in the front-rear direction is provided on a side of the support frame 32. The reason why the link 33 is disposed on the side of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be suppressed as compared with the case where it is disposed on the rear side of the support frame 32. The link 33 includes a1 st link portion 33a and a2 nd link portion 33b arranged in a front-rear direction, the 1 st link portion 33a being disposed on a rear side and the 2 nd link portion 33b being disposed on a front side. That is, the link 33 constitutes a four-link mechanism.

As shown in fig. 7 and 8, the length of the 1 st link part 33a is different from the length of the 2 nd link part 33b, and specifically, the length of the 1 st link part 33a is set to be shorter than the length of the 2 nd link part 33 b. The 1 st link 33a is pivotally supported at its upper portion near the lift shaft 36 to the side wall 30b of the main body frame 30 via a swing shaft a1, and at its lower portion to the upper portion of the support frame 32 via a pivot shaft a 2. The 2 nd link 33b has an upper portion pivotally supported by the side wall 30b of the main body frame 30 via a swing shaft A3 in the vicinity of the lift shaft 36, and a lower portion pivotally supported by the lower portion of the support frame 32 via a pivot shaft a 4. The swing axis a1 of the 1 st link part 33a is located slightly behind the swing axis A3 of the 2 nd link part 33 b. The pivot shaft a2 of the 1 st link part 33a is fitted into an arc-shaped guide part 30e provided in the side wall 30b and projecting downward, and the pivot shaft a4 of the 2 nd link part 33b is fitted into an arc-shaped guide part 30f (see fig. 4) provided in the side wall 30b and projecting downward, whereby the movement of the 1 st link part 33a and the 2 nd link part 33b is guided. As shown in fig. 7 and 8, a reinforcing portion 48 is further provided, and the reinforcing portion 48 is configured to reinforce the connecting portion between the 1 st link portion 33a and the 2 nd link portion 33b and the main body frame 30 by connecting the 1 st link portion 33a and the 2 nd link portion 33 b. In this way, the vicinity of the pivot axes a1, A3 of the load-receiving link 33 can be reinforced by the vertically movable shaft 36 and the reinforcing portion 48.

In the most retracted state of the 1 st massage mechanism 31, the coupling portion between the link 33 and the main body frame 30 is located forward of the coupling portion between the link 33 and the support frame 32. That is, the swing shaft a1 of the 1 st link part 33a is located at a position forward of the pivot shaft a2, and the swing shaft A3 of the 2 nd link part 33b is located at a position forward of the pivot shaft a 4. Therefore, when the advancing-retreating airbag 15 is inflated, the link 33 swings along an arc-shaped trajectory projecting downward, and therefore, the 1 st massage mechanism 31 can be advanced and retreated along a trajectory almost parallel to the direction facing the treatment site. Further, since the four-link mechanism is used, when the forward-backward movement airbag 15 is inflated in a state where the 1 st massage mechanism 31 is most backward, the 1 st link portion 33a swings forward around the swing shaft a 1. However, since the support frame 32 is pivotally supported by the 2 nd link part 33b, which is longer than the 1 st link part 33a, at the 2 nd link part 33b at a position forward and downward of the pivot axis a2 of the 1 st link part 33a, the swing of the 1 st massage mechanism 31 can be suppressed, and the 1 st massage mechanism 31 can be advanced and retreated along a trajectory more nearly parallel to the direction facing the treatment site.

Further, since the length of the 1 st link part 33a is different from the length of the 2 nd link part 33b, even if the 1 st link part 33a and the 2 nd link part 33b are provided so as to be close to each other in the front-rear direction, a sufficient protruding amount of the 1 st massage mechanism 31 can be secured, and the thickness of the 1 st massage unit 8 in the front-rear direction can be suppressed. Further, since the length of the 1 st link portion 33a disposed on the rear side is relatively short, the 1 st massage mechanism 31 can obtain a sufficient amount of movement of the front-rear direction component from immediately after the start of extension from the most retracted state as a starting point. Further, in the process of extending the 1 st massage mechanism 31, the 1 st link portion 33a abuts on the 2 nd link portion 33b from behind, whereby the extension of the 1 st massage mechanism 31 is restricted at a predetermined position in the front-rear direction. That is, since the 2 nd link part 33b functions as a stopper, it is not necessary to provide a separate stopper, and the number of components can be reduced.

The structure of the lower 2 nd massage unit 9 will be described in detail below.

As shown in fig. 9 to 15, the main body frame 50 is formed in a box shape with an open front side, including: a rear wall 50 a; side walls 50b erected from both left and right sides of the rear wall 50 a; a bottom wall 50c erected from a lower portion of the rear wall 50 a; and an upper wall 50d erected from the upper portion of the rear wall 50 a. Further, a lifting mechanism is housed below the inside of the main body frame 50, and the lifting mechanism is configured by: a lifting motor 55 for lifting the 2 nd massage unit 9; a lift shaft 56 extending in the left-right direction; and a speed reducer 57 for reducing the speed of rotation of the elevation motor 55 and transmitting the reduced speed to the elevation shaft 56. The lift shaft 56 is rotatably supported by the two side walls 50 b. A guide roller 58 and a pinion 59 attached to the elevating shaft 56 are provided at the lower part of the side wall 50b, and a guide roller 58 and a pinion 59 are provided at the upper part. The guide mechanism 3b is held between the pinion 59 and the guide roller 58, and the 2 nd massage unit 9 can be moved up and down in the body length direction by driving the up-and-down motor 55. Since the elevation mechanism is disposed at the lower portion of the 2 nd massage unit 9, the treatment tools 54 (upper treatment tools 54a) can be brought close to the treatment tools 34 of the 1 st massage mechanism 31.

The 2 nd massage mechanism 51 has: a pair of right and left arms 60 having treatment members 54 supported at the front ends thereof; and a driving mechanism for driving the arm 60 to perform a massage. The drive mechanism includes: a kneading shaft 61 supporting the arm 60 and moving the pair of treatment members 54 closer to or away from each other in the left-right direction to perform a kneading action; a massage motor 63 as a massage driving unit for driving the kneading shaft 61; and a speed reducer 64 for reducing the speed of the rotation of the massage motor 63 and transmitting the rotation to the kneading shaft 61. The drive mechanism is supported by a box-shaped frame 65. In addition, the arm 60 has an "く" shape when viewed from the side, and an upper treatment member 54a having a relatively large diameter is provided at the upper end of the arm 60, and a lower treatment member 54b having a relatively small diameter is provided at the lower end of the arm 60. That is, unlike the 1 st massage unit 8, two treatment members 54 are provided in the vertical direction.

As shown in fig. 9 (a), the kneading shaft 61 has the same structure as the kneading shaft 41 of the 1 st massage mechanism 31, that is, the kneading shaft 61 extends in the left-right direction, and inclined shafts 61a inclined with respect to the axial center 61b thereof are provided on both the left and right sides. The arm 60 is rotatably attached to the tilt shaft 61a via a bearing. The left and right tilt axes 61a are not parallel to each other, and are tilted in a substantially ハ shape in front view. As shown in fig. 15, a coupling member 67 having a ball joint at the rear end is provided behind the arm 60 in order to couple the arm 60 to the support frame 52. A groove 69 extending in the left-right direction is provided on the front surface side of the support frame 52, and the spherical hinge of the connecting member 67 is fitted in the groove 69. Further, a width sensor 66 that detects the interval between the pair of treatment members 54 is provided on the kneading shaft 61.

When the kneading shaft 61 rotates, the arm 60 rotates three-dimensionally while the rotation of the arm about the kneading shaft 61 is restricted by the connecting member 67. That is, as shown in fig. 16, when the kneading shaft 61 is continuously rotated in one direction, the treatment members 54 are operated so as to draw a circular trajectory having at least a component in the left-right direction and a component in the up-down direction. The pair of right and left treatment members 54 are operated in the right and left direction, and the lower treatment members 54b are moved away from each other when the upper treatment members 54a are moved closer to each other, and the lower treatment members 54b are moved closer to each other when the upper treatment members 54a are moved away from each other. Thereby performing a kneading operation. In the present embodiment, the 2 nd massage mechanism 51 is configured to perform only the kneading operation, but may be configured to perform a tapping operation as well as the 1 st massage mechanism 31.

The support frame 52 has a plate surface in the front-rear direction, and a frame 65 is fixed to the front surface side to support the 2 nd massage mechanism 51. Between the main body frame 50 and the support frame 52, there is provided an advancing/retreating air bag 16 (as an advancing/retreating driving portion) which expands and contracts by the supply and discharge of air from the air unit 20, thereby advancing/retreating the 2 nd massage mechanism 51 with respect to the treatment site. A link 53 that couples the main body frame 50 and the support frame 52 and swings in the front-rear direction is provided on a side of the support frame 52. The link 53 has a1 st link part 53a and a2 nd link part 53b arranged in a front-rear direction, the 1 st link part 53a being disposed on a rear side and the 2 nd link part 53b being disposed on a front side. That is, the links constitute a four-link mechanism.

The length of the 1 st link part 53a is different from the length of the 2 nd link part 53b, and specifically, the length of the 1 st link part 53a is set to be shorter than the length of the 2 nd link part 53 b. The 1 st link part 53a is pivotally supported at its lower portion near the lift shaft 56 to the side wall 50b of the main body frame 50 via a swing shaft a5, and at its upper portion to the lower portion of the support frame 52 via a pivot shaft a 6. The 2 nd link part 53b is pivotally supported at its lower portion near the lift shaft 56 via a swing shaft a7 to the side wall 50b of the main body frame 50, and at its upper portion via a pivot shaft A8 to the upper portion of the support frame 52. The swing axis a5 of the 1 st link part 53a is located slightly rearward of the swing axis a7 of the 2 nd link part 53 b. The pivot shaft a6 of the 1 st link part 53a is fitted into an arc-shaped guide part 50e provided on the side wall 50b and projecting upward, and the pivot shaft A8 of the 2 nd link part 53b is fitted into an arc-shaped guide part 50f (see fig. 10) provided on the side wall 50b and projecting upward, whereby the movement of the 1 st link part 53a and the 2 nd link part 53b is guided. As shown in fig. 13 and 14, a reinforcing portion 68 is further provided, and the reinforcing portion 68 is configured to reinforce the connecting portion between the 1 st link portion 53a and the 2 nd link portion 53b and the main body frame 50 by connecting the 1 st link portion 53a and the 2 nd link portion 53 b. In this way, the vicinity of the pivot axes a5, a7 of the load-receiving link 53 can be reinforced by the vertically movable shaft 56 and the reinforcing portion 68.

In the state where the 2 nd massage mechanism 51 is most retracted, the coupling portion between the link 53 and the main body frame 50 is located at a position forward of the coupling portion between the link 53 and the support frame 62. That is, the swing shaft a5 of the 1 st link part 53a is located at a position forward of the pivot shaft a6, and the swing shaft a7 of the 2 nd link part 53b is located at a position forward of the pivot shaft A8. Therefore, when the forward/backward movement airbag 16 is inflated, the link 53 swings along an arc-shaped trajectory that is convex upward, and therefore the 2 nd massage mechanism 51 can be moved forward and backward along a trajectory that is almost parallel to the direction facing the treatment site. Further, since the four-link mechanism is employed, when the advancing-retreating airbag 16 is inflated in the state where the 2 nd massage mechanism 51 is most retreated, the 1 st link portion 53a swings forward about the swing shaft a 5. However, since the support frame 52 is pivotally supported by the 2 nd link portion 53b at a position forward and upward of the pivot axis a6 of the 1 st link portion 53a by the 2 nd link portion 53b longer than the 1 st link portion 53a, the swing of the 2 nd massage mechanism 51 can be suppressed, and the 2 nd massage mechanism 51 can be advanced and retreated along a trajectory more nearly parallel to the direction facing the treatment site.

Further, since the length of the 1 st link portion 53a is different from the length of the 2 nd link portion 53b, even if the 1 st link portion 53a and the 2 nd link portion 53b are provided so as to be close to each other in the front-rear direction, a sufficient protruding amount of the 2 nd massage mechanism 51 can be secured, and the thickness of the 2 nd massage unit 9 in the front-rear direction can be suppressed. Further, since the length of the 1 st link portion 53a disposed on the rear side is relatively short, the 2 nd massage mechanism 51 can obtain a sufficient amount of movement of the front-rear direction component from immediately after the start of extension from the most retracted state as a starting point. In addition, in the process of extending the 2 nd massage mechanism 51, the 1 st link portion 53a abuts on the 2 nd link portion 53b from behind, whereby the extension of the 2 nd massage mechanism 51 is restricted at a predetermined position in the front-rear direction. That is, since the 2 nd link part 53b functions as a stopper, it is not necessary to provide a separate stopper, and the number of components can be reduced.

[ Structure of sensor ]

As shown in fig. 2, the massage machine 1 has a sensor 70 that detects the relative position between the 1 st massage unit 8 and the 2 nd massage unit 9. The sensor 70 will be described in detail below.

As shown in fig. 4, a magnet holder 73 to which a magnet is attached is provided on one side in the left-right direction of the lower portion (i.e., the bottom wall 30c) of the 1 st massage unit 8, and a1 st sensor portion 71 that detects the approach of the magnet and a sub-control portion 25 (refer to fig. 2) electrically connected to the 1 st sensor portion 71 are provided on the other side in the left-right direction. On the other hand, as shown in fig. 10, a2 nd sensor unit 72 for detecting the approach of the magnet and the sub-control unit 26 (see fig. 2) electrically connected to the 2 nd sensor unit 72 are provided on one side in the left-right direction of the upper portion (i.e., the upper wall 50d) of the 2 nd massage unit 9, and a magnet holder 74 having the magnet attached thereto is provided on the other side in the left-right direction. The sub-control unit 25 is electrically connected to the elevation motor 35, and the sub-control unit 26 is electrically connected to the elevation motor 55, thereby controlling the elevation of each of the

massage units

8 and 9. The

sub-control units

25 and 26 are also electrically connected to the main control unit 24.

The position of the 1 st sensor portion 71 in the direction orthogonal to the up-down direction substantially coincides with the position of the magnet holder 74 provided on the 2 nd massage unit 9 in the direction orthogonal to the up-down direction, and thus the 2 nd massage unit 9 can be detected as approaching the 1 st massage unit 8. On the other hand, the position of the 2 nd sensor portion 72 in the direction orthogonal to the up-down direction substantially coincides with the position of the magnet holder 73 provided in the 1 st massage unit 8 in the direction orthogonal to the up-down direction, so that it is possible to detect that the 1 st massage unit 8 is close to the 2 nd massage unit 9. That is, the sensor 70 is a non-contact sensor including the 1 st sensor unit 71 and the 2 nd sensor unit 72. As described above, by detecting the approach of each of the

massage units

8 and 9 to the other

side massage unit

9 or 8 and controlling the

elevation motors

33 and 55 by the sub-controllers 25 and 26, the accuracy of collision prevention can be improved.

In addition, the sensor 70 preferably detects the interval between the two

massage units

8, 9 as the relative position between the 1 st massage unit 8 and the 2 nd massage unit 9 in a plurality of stages. For example, it is preferable that the two

massage units

8 and 9 are in a state of two stages, i.e., a "close state" in which the distance between the two massage units approaches a predetermined distance and a "before close state" in which the distance between the two massage units approaches a predetermined distance, and the like, and the distance between the two massage units is slightly longer than the distance between the two massage units. Therefore, the detection range of the relative position between the 1 st massage unit 8 and the 2 nd massage unit 9 becomes large. Further, the two

massage units

8 and 9 may be set to a predetermined relative position (for example, an approaching state or a state before approaching) and may be integrally lifted and lowered while maintaining the relative position.

As shown in fig. 2, the backrest 3 includes: an upper limit sensor 75 for detecting an upper limit position of the lifting range of the 1 st massage unit 8; and a lower limit sensor 76 for detecting the lower limit position of the lifting range of the 2 nd massage unit 9, and the 1 st massage unit 8 and the 2 nd massage unit 9 are configured not to be separated from the backrest 3. The 1 st massage unit 8 has an elevation sensor 77 for detecting the position in the vertical direction by detecting the rotation speed of the elevation shaft 36, and the 2 nd massage unit 9 has an elevation sensor 78 for detecting the position in the vertical direction by detecting the rotation speed of the elevation shaft 56. The elevation sensor 77 detects that the elevation shaft 36 has rotated several times from the upper limit position, thereby detecting the position of the 1 st massage unit 8 in the up-down direction. The elevation sensor 78 detects that the elevation shaft 56 has rotated several times from the lower limit position, thereby detecting the position of the 2 nd massage unit 9 in the up-down direction.

[ action control for avoiding collision ]

When the two

massage units

8 and 9 are moved in the direction to approach each other, and it is detected that the two

massage units

8 and 9 are in a predetermined relative position (for example, an approaching state or a state before approaching), the sub-control unit 25 controls the elevation motor 35 to stop driving or reverse rotating, and the sub-control unit 26 controls the elevation motor 55 to stop driving or reverse rotating. The

sub-control units

25 and 26 transmit the control to the main control unit 24. Thereby, the two

massage units

8, 9 are prevented from colliding with each other.

When it is detected that one massage unit (for example, the 1 st massage unit 8) is in a predetermined relative position (for example, an approaching state or a state before approaching) while the other massage unit (for example, the 2 nd massage unit 9) is moving in a direction to approach the one massage unit in a state where the one massage unit stops moving up and down, the sub-control unit 26 controls the up-and-down motor 55 to stop driving or reverse. The

sub-control units

25 and 26 transmit the control to the main control unit 24. In addition, instead of or in addition to the above control, the sub-control unit 25 may perform the following control: the elevation motor 35 is driven to move the 1 st massage unit 8 in a direction away from the 2 nd massage unit 9. Thereby, the two

massage units

8, 9 are prevented from colliding with each other.

[ detection of shoulder position ]

The massage machine 1 is configured to be able to detect a shoulder position as a specific portion of a user. Hereinafter, a structure for detecting the shoulder position will be described.

The 1 st massage unit 8 is provided with a specific portion detection sensor (not shown) that detects that the 1 st massage mechanism 31 protrudes by a predetermined amount with respect to the main body frame 30. The shoulder position is detected while the 1 st massage unit 8 is being raised in the body length direction from the lumbar or back position in a state where a predetermined amount of air is supplied to the advancing-retreating air bag 15 or in a state where air is continuously supplied. During this detection, it is preferable to inflate the airbag 10 provided in the backrest portion 3 so as to hold the upper body of the user on the backrest portion 3.

When the treatment members 34 reach the shoulder positions during the ascent of the 1 st massage unit 8, the load from the user is removed, and the amount of protrusion of the 1 st massage mechanism 31 reaches a predetermined amount. The position of the shoulder of the user is detected based on the position of the 1 st massage unit 8 in the vertical direction when the specific portion detection sensor detects that the 1 st massage mechanism 31 is extended by a predetermined amount. Then, the positions of other parts such as the neck, the scapula, the back, the waist, and the hip are calculated based on the detected shoulder positions. The specific portion to be detected may be other than the shoulder position or other portions such as the waist.

In the massage mode, the 1 st massage unit 8 may perform a massage corresponding to the height of the user based on the position information of the shoulder and/or other parts detected by the specific part detection sensor. Further, during the massage mode, the 2 nd massage unit 9 may perform a massage corresponding to the height based on the position information detected by the specific portion detecting sensor of the 1 st massage unit 8. Further, the 2 nd massage unit 9 may be provided with a specific portion detection sensor so that the 2 nd massage unit 9 performs massage corresponding to the height of the user based on the position information of the shoulder and/or other portions detected by the specific portion detection sensor. Alternatively, the 2 nd massage unit 9 may operate based on predetermined positional information of each part. In this case, it is preferable that the control means 23 store position information of each part calculated based on the average height.

When the two

massage units

8, 9 are raised or lowered in the same direction, the two

massage units

8, 9 are controlled so that the raising/lowering speed of the massage unit on the front side in the forward direction is faster than the raising/lowering speed of the massage unit on the rear side in the forward direction, or so that the massage unit on the front side in the forward direction starts moving earlier than the massage unit on the rear side in the forward direction. This further improves the accuracy of collision prevention. Further, if the raising/lowering speed of the front massage unit is set to be slightly higher than the raising/lowering speed of the rear massage unit in the forward direction, or the front massage unit is moved slightly earlier than the rear massage unit in the forward direction, the two

massage units

8 and 9 can be smoothly moved in the same direction in a state of being close to each other. That is, it is possible to prevent the sensor 70 from frequently detecting the approaching state and frequently stopping or separating the massage unit on the rear side in the advancing direction.

[ massaging action ]

The kneading operation will be described in detail below.

Fig. 16 is an explanatory view of the kneading operation. Fig. 17 is an explanatory diagram of the kneading operation, and fig. 17 (a) shows the kneading operation with the massage unit 8 stopped moving up and down, fig. 17 (b) shows the kneading operation performed while moving down the massage unit 8, and fig. 17 (c) shows the kneading operation performed while moving up the massage unit 8. Fig. 18 is an explanatory diagram of the kneading operation, and fig. 18 (a) shows the kneading operation with the massage unit 8 stopped moving up and down, fig. 18 (b) shows the kneading operation performed while the massage unit 8 is moved up, and fig. 18 (c) shows the kneading operation performed while the massage unit 8 is moved down. Fig. 19 is an explanatory view of the kneading operation. Fig. 16 and 19 show a state in which the 1 st massage unit 8 is disposed at the neck position and the 2 nd massage unit 9 is disposed at the shoulder position.

As shown in fig. 16, when the

massage motors

43 and 63 are driven to rotate the kneading

shafts

41 and 61 continuously in one direction, the

treatment members

34 and 54 are operated so as to draw a circular path having a component in the left-right direction and a component in the up-down direction in a front view. On the other hand, when the kneading

shafts

41 and 61 are reversed before they rotate once, the

treatment members

34 and 54 operate so as to draw an arc-shaped locus having a horizontal component and a vertical component in a main view. In any case, the pair of right and left

treatment members

34, 54 are moved in the right and left direction and moved closer to or farther from each other. Thereby performing a kneading operation.

As shown in fig. 7 and 13, in the massage machine 1 according to the present embodiment, the distance d1 between the treatment elements 34 and the kneading shaft 41 of the 1 st massage mechanism 31 is set to be shorter than the distance d2 between the treatment elements 54 (upper treatment elements 54a) and the kneading shaft 61 of the 2 nd massage mechanism 51. Therefore, as shown in fig. 16, the operation range of the treatment devices 34 of the 1 st massage mechanism 31 in the left-right direction during the kneading operation is different from the operation range of the treatment devices 54 of the 2 nd massage mechanism 51 in the left-right direction during the kneading operation, and specifically, the operation range W1 of the treatment devices 34 is shorter than the operation range W2 of the treatment devices 54. The vertical dimensions of the kneading operation locus of the treatment elements 34 of the 1 st massage mechanism 31 and the vertical dimensions of the kneading operation locus of the treatment elements 54 of the 2 nd massage mechanism 51 are different, and specifically, the vertical dimension H1 of the locus of the treatment elements 34 is smaller than the vertical dimension H2 of the locus of the treatment elements 54. Further, the operation range and the vertical dimension of the trajectory may be made different by making the inclination angle of the inclined shaft 41a with respect to the axial center 41b of the kneading shaft 41 different from the inclination angle of the inclined shaft 61a with respect to the axial center 61b of the kneading shaft 61. Specifically, the larger the inclination angle of the

inclined shafts

41a, 61a with respect to the

axial centers

41b, 61b of the kneading

shafts

41, 61, the larger the vertical dimension of the movement range and the locus.

With the above configuration, the 1 st massage means 31 can perform a relatively fine kneading operation on the neck portion having a narrow treatment range, and the 2 nd massage means 51 can perform a powerful kneading operation on the treatment target portion (for example, the shoulder portion, the back portion, the waist portion, etc.) below the neck portion having a wide treatment range. That is, an effective kneading operation can be performed according to the treatment site. Further, since the two

massage units

8 and 9 can be raised and lowered, the 1 st massage unit 8 and the 2 nd massage unit 9 can be switched to perform different kneading operations on the same treatment site.

Further, the

massage units

8 and 9 are moved up and down in the body length direction in synchronization with the kneading operation, whereby the vertical size of the kneading operation trajectory can be changed. When the treatment device 34 is described as an example, as shown in fig. 17 (b), the 1 st massage unit 8 is lowered in synchronization with the downward movement of the kneading operation of the treatment device 34, the vertical dimension H1 of the trajectory of the kneading operation becomes large, and as shown in fig. 17 (c), the 1 st massage unit 8 is raised in synchronization with the downward movement of the kneading operation of the treatment device 34, the vertical dimension H1 of the kneading operation becomes small. Alternatively, as shown in fig. 18 (b), when the 1 st massage unit 8 is raised in synchronization with the upward movement of the kneading operation of the treatment device 34, the vertical dimension H1 of the trajectory of the kneading operation becomes larger, and as shown in fig. 18 (c), when the 1 st massage unit 8 is lowered in synchronization with the upward movement of the kneading operation of the treatment device 34, the vertical dimension H1 of the kneading operation becomes smaller.

With the above configuration, the body feeling of the kneading operation can be changed variously. For example, the operation range in the right and left direction of the kneading operation can be changed by switching the

massage units

8 and 9 for massaging the treatment site, and the vertical size of the trajectory of the kneading operation can be changed by raising and lowering the

additional massage units

8 and 9. Although only the treatment devices 34 of the 1 st massage mechanism 31 are illustrated in fig. 17 and 18, the treatment devices 54 of the 2 nd massage mechanism 51 can perform the same kneading operation. Further, if the kneading operation by the massage motor is configured such that the pair of right and left treatment devices are moved closer to or farther from each other only in the right and left direction, the movement of the treatment devices can be changed to a movement that draws an arc-shaped or circular trajectory having a component in the up and down direction by raising and lowering the additional massage unit.

As shown in fig. 19, in another embodiment, the distance between the pair of left and

right treatment devices

34, 54 may be different between the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 when the pair of left and

right treatment devices

34, 54 are closest to each other during the kneading operation. Specifically, the distance D1 between the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 is preferably set to be shorter than the distance D2. The spacing distance is caused by the spacing between the mounting positions of the paired

arms

40, 60 on the kneading

shafts

41, 61 or the inclination angles of the

inclined shafts

41a, 61a with respect to the

axial centers

41b, 61b of the kneading

shafts

41, 61. With the above configuration, the 1 st massage mechanism 31 can perform a reliable kneading operation on the neck, and the 2 nd massage mechanism 51 can perform a kneading operation on a treatment target portion (for example, the shoulder, the back, the waist, and the like) below the neck having a wide treatment range, while avoiding the vicinity of the body center line (for example, the spine). That is, an effective kneading operation can be performed according to the treatment site.

Hereinafter, the cooperative operation of the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 will be described.

[ action 1]

Fig. 20 is a flowchart of action 1. Fig. 21 is an explanatory view of the operation 1, in which fig. 21 (a) shows a state where the 1 st massage mechanism 31 is extended and the 2 nd massage mechanism 51 is retracted, and fig. 21 (b) shows a state where the 1 st massage mechanism 31 is retracted and the 2 nd massage mechanism 51 is extended.

The operation 1 is an operation of advancing and retracting the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 with a time shift from each other, and preferably includes an operation of the

treatment tools

34 and 54 by driving the

massage motors

43 and 63. Hereinafter, as shown in fig. 21, the case where the operation 1 is performed in a state where the 1 st massage unit 8 is disposed at the position of the neck and the 2 nd massage unit 9 is disposed at the position of the back surface of the shoulder will be exemplified.

As shown in fig. 20, first, the 1 st massage mechanism 31 is extended with respect to the 2 nd massage mechanism 51 (step S1). Next, the 2 nd massage mechanism 51 is extended while maintaining the position of the 1 st massage mechanism 31 in the front-rear direction (step S2). Next, the 1 st massage mechanism 31 is moved backward with respect to the 2 nd massage mechanism 51 while maintaining the position of the 2 nd massage mechanism 51 in the front-rear direction (step S3). Next, the 2 nd massage mechanism 51 is moved backward while maintaining the position of the 1 st massage mechanism 31 in the front-rear direction (step S4). The loop of steps S1 to S4 is repeated for a predetermined time. In steps S1 to S4, the 2 nd massage mechanism 51 may be extended first. The positions where the

massage units

8 and 9 are arranged are not particularly limited, and for example, the 1 st massage unit 8 may be arranged at the neck position and the 2 nd massage unit 9 may be arranged at the waist position.

In steps S1 to S4, the

massage motors

43 and 63 are preferably driven so that the

treatment devices

34 and 54 perform a massage including a kneading operation or a beating operation, and the massage can be performed all the time. Alternatively, the massage may be performed intermittently, for example, the massage may be performed with the

respective massage mechanisms

31, 51 extended, and the massage may be stopped with the

respective massage mechanisms

31, 51 retracted. Further, the massage may be performed in synchronization with the extension or retraction of the

massage mechanisms

31 and 51, and in this case, a sense of body feeling may be obtained as if the massage worker performs a kneading operation or a tapping operation by adjusting the force. Alternatively, the stretching or retracting of the

massage mechanisms

31 and 51 may be synchronized with the movement of bringing the pair of right and left

treatment tools

34 and 54 closer to each other, and in this case, a feeling like a masseur pinching and pressing the treatment target portion or pinching and pulling the treatment target portion can be obtained. Here, the term "synchronization" may be used to include a case where the forward/backward driving

units

15 and 16 for extending or retracting the

massage mechanisms

31 and 51 are driven simultaneously with the driving of the

massage motors

43 and 63 for performing the kneading operation, the tapping operation, or the operation for bringing the pair of treatment devices closer to each other, and a case where the

massage motors

43 and 63 are driven after the extension or retraction of the

massage mechanisms

31 and 51 is completed.

Further, the

massage mechanisms

31 and 51 may be alternately advanced and retracted, and, for example, the extension of one massage mechanism may be synchronized with the retraction of the other massage mechanism, so that a user can feel the same as a massager who performs a massage by alternately switching between the left hand and the right hand. Further, when one massage mechanism is extended and the other massage mechanism is repeatedly extended and retracted for a predetermined time, a feeling similar to a case where a masseur places one hand on a treatment site and repeatedly performs finger pressure with the other hand can be obtained.

In addition, in steps S1 to S4, the

elevation motors

35 and 55 may be driven to elevate the

massage units

8 and 9, and for example, the

massage mechanisms

31 and 51 may be extended in synchronization with the elevation or the lowering of the

massage units

8 and 9, so that the masseur can feel as if he pushes up or presses down the treatment site. Preferably, the operation is also synchronized with the operation of bringing the pair of right and left treatment applying members closer to each other.

In this manner, in the operation 1, since the

massage mechanisms

31 and 51 advance and retreat with time shift from each other to perform the massage, a body feeling with a realistic sensation can be obtained as if a masseur performs the massage with both hands. In particular, when the kneading operation is performed as the massage, the pair of right and left treatment devices of one massage mechanism can simulate the kneading operation performed by the left thumb and the other fingers of the masseur, and the pair of right and left treatment devices of the other massage mechanism can simulate the kneading operation performed by the right thumb and the other fingers of the masseur. Further, since the feeling of presence becomes conspicuous by performing the action 1 in a state where the two

massage mechanisms

31 and 51 are brought close to each other in the vertical direction, it is preferable to perform the action 1 in the above-described close state or the state before close according to the sensor 70.

In the above embodiment, the body feeling with the presence is realized by extending or retracting the

respective massage mechanisms

31 and 51 at different times from each other, but the same body feeling can be obtained by making the extending speeds or retracting speeds of the

respective massage mechanisms

31 and 51 different from each other. For example, when the extending speed of the 1 st massage mechanism 31 is set to be faster than the extending speed of the 2 nd massage mechanism 51, even if the extending of the

massage mechanisms

31 and 51 are started simultaneously, the treatment target portion is pressed by the treatment tool 34 of the 1 st massage mechanism 31 first and then by the treatment tool 54 of the 2 nd massage mechanism 51 later. Therefore, the user can feel the same as if the user were pressing the treatment site sequentially with the left hand and the right hand.

[ action 2]

Fig. 22 is a flowchart of the

operations

2 and 3. Fig. 23 is an explanatory view of the operation 2 and the operation 3, in which fig. 23 (a) shows a state where the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 are retracted, fig. 23 (b) shows a state where the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 are extended, and fig. 23 (c) shows a state where the 1 st massage mechanism 31 is extended and the 2 nd massage mechanism 51 is retracted. In fig. 23, the

treatment devices

34, 54a, and 54b indicated by diagonal lines are in an extended state, and the

treatment devices

34, 54a, and 54b not indicated by diagonal lines are in a retracted state.

The action 2 is an action of extending the treatment tool 34 of the 1 st massage mechanism 31 and the treatment tool 54 of the 2 nd massage mechanism 51 toward the treatment site. Hereinafter, as shown in fig. 23, the case of performing the operation 2 in a state where the 1 st massage unit 8 is disposed at the back surface position of the shoulder and the 2 nd massage unit 9 is disposed at the upper portion of the back will be exemplified.

As shown in fig. 22, first, the

massage units

8 and 9 are lifted and lowered so as to be brought into a state of being close to each other in the body length direction (step S1). In this example, the 1 st massage unit 8 is disposed at the back position of the shoulder, and the 2 nd massage unit 9 is disposed at the upper portion of the back. Therefore, as shown in fig. 23, the treatment members 34 and the upper treatment members 54a are brought into a state of being close to each other in the body length direction. Next, as shown in fig. 23 (a), the

massage motors

43, 63 are driven so that the positions of the treatment members 34 of the 1 st massage mechanism 31 in the left-right direction are different from the positions of the treatment members 54 of the 2 nd massage mechanism 51 in the left-right direction (step S2). Next, as shown in fig. 23 (b), the forward/backward driving

units

15 and 16 are driven to extend the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 (step S3).

In step S1, the vertical interval between the two

massage units

8 and 9 may be determined by the sensor 70, and may be set to the above-described approaching state or the state before approaching, for example. Also, in step S2, the positions of the

respective treatment members

34, 54 in the left-right direction may be determined from the

width sensors

46, 66. Step S1 and step S2 may be performed simultaneously. In step S3, the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 may be simultaneously extended or may be extended at different timings from each other.

In step S3, the

massage motors

43 and 63 may be driven to perform a kneading operation or a beating operation. For example, in the backrest 3, it is preferable that one massage mechanism is caused to perform a kneading operation and the other massage mechanism is caused to perform an operation including a beating operation at the same time. This makes it possible to obtain a feeling of feeling that two or more massagers perform different types of massage on the upper body at the same time. Further, although the massage worker can perform the kneading operation with one hand, the massage worker cannot perform the tapping operation with one hand, and therefore one massage worker cannot perform the kneading operation and the tapping operation at the same time.

In this way, in act 2, since the treatment devices 34 of the 1 st massage mechanism 31 and the treatment devices 54 (upper treatment devices 54a) of the 2 nd massage mechanism 51 are arranged in the left-right direction, a body feeling having a realistic sensation as a masseur massages (acupressure) with both hands and with the thumbs and other fingers can be obtained. That is, in the state shown in fig. 23, the treatment members 34 located on the left-right direction inner side correspond to the thumb, and the upper treatment members 54a or the lower treatment members 54b located on the left-right direction outer side correspond to the other fingers. In the above embodiment, the case where the action 2 is performed in the state where the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 are close to each other has been described, but the action 2 may be performed in the state where the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 are distant from each other. At this time, for example, the treatment members 54 (the upper treatment members 54a or the lower treatment members 54b) located on the lower side correspond to the thumbs, and the treatment members 34 located on the upper side correspond to the other fingers.

[ action 3]

The operation 3 is an operation of retracting the treatment elements of one massage mechanism in a state where the treatment elements 34 of the 1 st massage mechanism 31 are extended at positions different from the treatment elements 54 of the 2 nd massage mechanism 51 in the left-right direction. Hereinafter, as shown in fig. 22, a case where operation 3 is performed following operation 2 will be described as an example.

Subsequently to step S3 of action 2, the forward/backward driving unit is driven to move any one of the massage mechanisms backward (step S4). In the example shown in fig. 23, the forward/backward driving unit 16 is driven to move the 2 nd massage mechanism 51 backward. In this way, the treatment target portion strongly abuts against the treatment implement 34 of the 1 st massage mechanism 31 in the extended state, and a body feeling similar to that of finger pressure by the treatment implement 34 can be obtained. Since motion 3 is performed in a state where the two

massage mechanisms

31 and 51 are brought close to each other, the feeling of finger pressure becomes remarkable, and it is preferable that motion 3 is performed in the close state or the state before the close state by the sensor 70. In addition, in the

actions

2 and 3, the positions where the

respective massage units

8 and 9 are arranged are not particularly limited, and for example, the 1 st massage unit 8 may be arranged at the neck or back position and the 2 nd massage unit 9 may be arranged at the waist position.

[ action 4]

Fig. 24 is an explanatory diagram of act 4. In fig. 24, the lower treatment members 54b are not shown for ease of understanding.

The action 4 is an action in which the treatment device 34 of the 1 st massage mechanism 31 and the treatment device 54 of the 2 nd massage mechanism 51 perform kneading actions at different speeds, and the action 4 is preferably performed in a state in which the

massage mechanisms

31 and 51 are close to each other in the body length direction.

First, the

massage units

8 and 9 are lifted and lowered so as to be brought into a state of being close to each other in the body length direction. Then, the

massage motors

43 and 63 are driven in one direction continuously to knead the treatment elements 34 of the 1 st massage mechanism 31 and the treatment elements 54 of the 2 nd massage mechanism 51. The kneading operation is performed by driving the

massage motors

43 and 63 at different speeds to rotate the kneading

shafts

41 and 61 at different speeds. In the example shown in fig. 24, the rotation speed of the kneading shaft 41 is set to be relatively high. The vertical interval between the two

massage units

8 and 9 can be determined by the sensor 70, and for example, the above-described approaching state or the state before approaching can be set.

In this way, in act 4, the

treatment devices

34 and 54 of the

respective massage mechanisms

31 and 51 are repeatedly rotated by 1 cycle around the circular orbit to perform the kneading action, but if the treatment device of one massage mechanism is set as the viewpoint, the positional relationship between the treatment device of one massage mechanism and the treatment device of the other massage mechanism differs in each cycle. For example, when the treatment devices 34 of the 1 st massage mechanism 31 are viewed, the pair of treatment devices 54 of the 2 nd massage mechanism 51 are located at the upper end of the kneading movement locus in the state where the pair of treatment devices 34 of the 1 st cycle are farthest from each other, whereas the pair of treatment devices 54 of the 2 nd massage mechanism 51 are located at the lower end of the kneading movement locus in the state where the pair of treatment devices 34 of the 2 nd cycle are farthest from each other. In this way, in the action 4, the kneading action in the vertical direction by the treatment instrument 34 of the 1 st massage mechanism 31 and the treatment instrument 54 of the 2 nd massage mechanism 51 can be changed with the passage of time, and the massage effect can be improved.

[ action 5]

Fig. 25 is an explanatory view of the operation 5, in which fig. 25 (a) shows a state where the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 are retracted, and fig. 25 (b) shows a state where the 1 st massage mechanism 31 is retracted and the 2 nd massage mechanism 51 is extended.

As shown in fig. 25, the motion 5 is a motion in which the 2 nd massage mechanism 51 is extended in a state in which the 1 st massage unit 8 is disposed at the shoulder position and the 2 nd massage unit 9 is disposed at the waist position, and preferably includes a motion of the treatment tool 34 based on the driving of the massage motor 43. When the 2 nd massage mechanism 51 is extended at the lumbar position, the lumbar part is pushed forward, and the upper body is tilted backward. Therefore, the shoulder portions strongly abut against the treatment members 34 of the 1 st massage mechanism 31. In this case, the massage effect can be improved by causing the treatment devices 34 of the 1 st massage mechanism 31 to perform a kneading operation or a beating operation.

[ action 6]

Fig. 26 is an explanatory view of the operation 6, and fig. 26 (a) shows a state where the 1 st massage unit 8 is disposed at the shoulder position and the 2 nd massage unit 9 is disposed at the waist position, and fig. 26 (b) shows a state where the 1 st massage unit 8 is disposed at the shoulder position and the 2 nd massage unit 9 is raised to the back position.

As shown in fig. 26, the operation 6 is an operation of raising the 2 nd massage unit 9 in the body length direction in a state where the 1 st massage unit 8 is disposed at the shoulder position, and preferably includes an operation of the treatment tool 34 by the driving of the massage motor 43. By raising the 2 nd massage unit 9, the upper body is lifted. Therefore, the shoulder portions strongly abut against the treatment members 34 of the 1 st massage mechanism 31. In this case, the massage effect can be improved by causing the treatment devices 34 of the 1 st massage mechanism 31 to perform a kneading operation or a beating operation.

[ action 7]

Fig. 27 is an explanatory view of the operation 7, in which fig. 27 (a) shows a state in which the 1 st massage mechanism 31 is extended to sandwich the neck and the 2 nd massage mechanism 51 is disposed at the shoulder position, and fig. 27 (b) shows a state in which the 1 st massage mechanism 31 is extended to sandwich the neck and the 2 nd massage mechanism 51 is lowered to the waist position.

The operation 7 is an operation of raising or lowering the other massage mechanism in the body length direction while the treatment target portion is sandwiched between the pair of treatment members of the one massage mechanism. In the example shown in fig. 27, the 2 nd massage unit 9 is lowered in a state where the 1 st massage mechanism 31 is extended and the pair of treatment members 34 are brought close to each other to sandwich the neck. By lowering the 2 nd massage unit 9, the upper body is pulled downward. Thereby, since the neck is sandwiched by the treatment members 34 of the 1 st massage mechanism 31, a stretching effect of stretching the neck can be obtained. Further, by repeating the raising and lowering of the 2 nd massage unit 9 with the neck sandwiched by the 1 st massage mechanism, it is possible to obtain a body feeling like a masseur fixing the neck with one hand and rubbing or stretching the treatment site with the other hand.

In act 7, the positions where the

massage units

8 and 9 are arranged are not particularly limited. Further, a massage mechanism for sandwiching the treatment site and a massage mechanism for ascending or descending may be appropriately selected. For example, the 1 st massage unit 8 may be raised or lowered at the back position in a state where the 2 nd massage unit 9 is disposed at the waist position and the waist is sandwiched by the pair of treatment tools 54.

[ action 8]

Fig. 28 is an explanatory view of the operation 8, in which fig. 28 (a) shows a state in which the 1 st massage mechanism 31 performs the kneading operation and the 2 nd massage mechanism 51 is in the process of being raised, and fig. 28 (b) shows a state in which the 1 st massage mechanism 31 performs the kneading operation and the 2 nd massage mechanism 51 is in the process of being lowered. The operation 8 is an operation of causing one massage mechanism to perform a kneading operation or a tapping operation and causing the other massage mechanism to ascend or descend. Hereinafter, a case will be described in which the 1 st massage mechanism 31 is caused to perform a kneading operation as the one massage mechanism and the 2 nd massage mechanism 51 is caused to ascend or descend as the other massage mechanism, with reference to fig. 28.

As shown in fig. 28 (a), by raising the 2 nd massage mechanism 51 toward the 1 st massage mechanism 31 so as to approach the 1 st massage mechanism 31, the muscle of the treatment site is pressed toward the 1 st massage mechanism 31, and the pressed muscle can be kneaded by the pair of treatment implements 34 of the 1 st massage mechanism 31. On the other hand, as shown in fig. 28 (b), by lowering the 2 nd massage mechanism 51 from the 1 st massage mechanism 31 so as to gradually move away from the 1 st massage mechanism 31, the muscle of the treatment site is stretched, and the stretched muscle can be kneaded by the pair of treatment implements 34 of the 1 st massage mechanism 31. Further, when the treatment site is kneaded by the ascending or descending of the 2 nd massage mechanism 51, the blood circulation can be promoted, and the 1 st massage mechanism 31 can perform a kneading operation on the treatment site with the increased blood circulation, thereby further improving the massage effect. In the operation 8, the 1 st massage mechanism 31 may be moved up or down and the 2 nd massage mechanism 51 may be caused to perform a kneading operation or a beating operation.

[ action 9]

Fig. 29 is a flowchart of the

operations

9 and 10.

The operation 9 is an operation for synchronously performing the following operations: an operation of moving the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 in a direction of approaching each other in the body length direction; and an operation of extending the treatment tool 34 of the 1 st massage mechanism 31 and the treatment tool 54 of the 2 nd massage mechanism 51 toward the treatment site. As shown in fig. 29, first, the

respective massage units

8, 9 are moved in the direction to approach each other (step S1). The operation of step S1 is performed until the relative position of each

massage unit

8, 9 is brought into the close state or the close-before state. After the end of step S1 or simultaneously with step S1, the treatment pieces 34 of the 1 st massage mechanism 31 and the treatment pieces 54 of the 2 nd massage mechanism 51 are extended (step S2). By performing the above operation, the back muscle is stretched by the movement of the

massage mechanisms

31 and 51 in the body length direction, and the upper body can be tilted backward by the extension of the treatment implements 34 and 54, so that the massage effect can be improved. After step S2 is completed, the treatment elements 34 of the 1 st massage mechanism 31 and the treatment elements 54 of the 2 nd massage mechanism 51 are retracted (step S3). In step S1, it is preferable that the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 are gradually brought closer to each other with the waist position as the target position, and in this case, the effect of reclining the upper body can be improved.

[ action 10]

The operation 10 is an operation for synchronously performing the following operations: an operation of moving the 1 st massage mechanism 31 and the 2 nd massage mechanism 51 in a direction of separating from each other in the body length direction; and an operation of extending the treatment tool 34 of the 1 st massage mechanism 31 and the treatment tool 54 of the 2 nd massage mechanism 51 toward the treatment site. Hereinafter, as shown in fig. 29, a case where operation 10 is performed following operation 9 will be described as an example.

Subsequently to step S3 of action 9, the 1 st massage unit 8 and the 2 nd massage unit 9 in the approaching state or the before-approaching state are moved in the direction of separating from each other (step S4). The operation of step S4 is performed until the 1 st massage unit 8 reaches the neck position and the 2 nd massage unit 9 reaches the lower limit position of the elevating range. Next, simultaneously with step S4, the treatment elements 34 of the 1 st massage mechanism 31 and the treatment elements 54 of the 2 nd massage mechanism 51 are extended (step S5). By performing the above operation, the upper body can be tilted backward by the extension of the

treatment members

34 and 54, and the upper body can be stretched by the separating operation of the

massage mechanisms

31 and 51 in the body length direction, so that the massage effect can be improved.

[ action 11]

Fig. 34 is a flowchart of act 11.

The motion 11 is a motion of stretching the body of the user. In act 11, the following acts are performed in synchronization: an operation of driving the elevation motor 35 to position the treatment members 34 of the 1 st massage mechanism 31 on the neck and driving the massage motor 43 to bring the pair of treatment members 34 close to each other to pinch the neck; an operation of driving the elevation motor 55 to position the treatment member 54 of the 2 nd massage mechanism 51 at the lumbar region and driving the forward/backward driving unit 16 to extend the 2 nd massage mechanism 51 to press the lumbar region; an operation of holding the upper body in the backrest part 3 by a2 nd pressing and holding member (airbag 10) provided in the backrest part 3; an operation of holding the lower limbs on the step 4 by the 1 st pressing and holding member (airbag 13) provided on the step 4; an operation of driving the actuator 21 to lay down the backrest 3 rearward; and an operation of driving the actuator 22 to lower the step 4.

In act 11, at least the act of pinching the neck, the act of pressing the waist, and the act of laying down the backrest 3 rearward may be performed in synchronization. According to the above-described operation, the upper body can be prevented from being displaced from the backrest 3 by holding the neck, and the 2 nd massage mechanism 51 is pushed up the waist in this state while the upper body is kept from being displaced from the backrest 3 as the backrest 3 is laid down.

Further, when the operation of holding the upper arm or the shoulder by the airbag 10 is added, the upper arm or the shoulder can be held to further suppress the upper body from being displaced from the backrest 3 with the backrest 3 laid down, and a higher stretching effect can be expected. Further, when the operation of holding the lower limbs and the operation of lowering the step 4 are added, the backrest portion 3 and the step 4 can be operated while holding the neck and the lower limbs, and therefore the whole body can be stretched, and a higher stretching effect can be expected. Further, when the 1 st massage mechanism 31 in the extended state is moved backward by the driving of the forward/backward driving unit 15 in the same step as the reclining operation of the backrest 3, the neck is moved backward downward, and therefore a higher stretching effect can be expected. The term "synchronization" in the operation 11 means that the respective operations are performed simultaneously without any sequence, and includes a case where the 2 nd massage mechanism 51 is extended after the backrest 3 is laid down or the step 4 is lowered.

The following describes the respective operations of the 1 st massage mechanism 31 and the 2 nd massage mechanism 51. Fig. 35 is an explanatory diagram of operation a. Fig. 36 is an explanatory diagram of action B. Fig. 37 is an explanatory diagram of operation C. Fig. 38 is an explanatory diagram of operation D. Fig. 39 is an explanatory diagram of action E. Fig. 40 is an explanatory diagram of operation F. Fig. 41 is an explanatory diagram of operation a. Fig. 42 is an explanatory diagram of operation b. Fig. 43 is an explanatory diagram of operation c. Fig. 44 is an explanatory diagram of operation d. Fig. 45 is an explanatory diagram of action e. Fig. 46 is an explanatory diagram of action f. Fig. 47 is an explanatory diagram of action g. Fig. 48 is an explanatory diagram of action h. Fig. 49 is an explanatory diagram of action i. Fig. 50 is an explanatory diagram of action j.

The actions a to F are actions of the 1 st massage mechanism 31. The actions a to j are actions of the 2 nd massage mechanism 51. The actions a to F of the 1 st massage mechanism 31 and the actions a to j of the 2 nd massage mechanism 51 may be arbitrarily combined. That is, in the present embodiment, there are 60 combinations of the operation of the 1 st massage mechanism 31 and the operation of the 2 nd massage mechanism 51. By combining the actions a to F, a to j of the

massage mechanisms

31 and 51 provided in plurality in the body length direction in the backrest part 3, it is possible to perform a concentrated massage on a wide range of muscles such as the trapezius muscle M. Further, it is possible to simultaneously massage the parts distant from each other in the body length direction. In the operations a to j, the lower treatment members 54b of the treatment members 54 are not shown for the sake of easy understanding.

In the operations a to F, the massage position of the 1 st massage mechanism 31 is specified based on the position information of each part detected or calculated by the specific part detection sensor. On the other hand, in the operations a to j, the massage position of the 2 nd massage mechanism 51 is determined based on the position information of each part detected by the specific part detection sensor provided in the 1 st massage unit 8 or the 2 nd massage unit 9 or the position information stored in the control means 23 in advance.

[ action A ]

As shown in fig. 35, action a is an action of driving the massage motor 43 at the shoulder position to move the pair of treatment members 34 of the 1 st massage mechanism 31 closer to or away from each other to perform a kneading action. In action a, the treatment members 34 may act on any one of the upper or rear portions of the shoulders. When the treatment members 34 are applied to the rear part of the shoulder, they are preferably applied to the upper side of the shoulder carapace bone B. When the treatment tools 34 are applied to the scapula B, which is the back of the shoulder, it is preferable to avoid feeling excessive pain by performing a kneading operation in a state where the advancing/retreating airbag 15 is contracted to retreat the 1 st massage mechanism 31.

[ action B ]

As shown in fig. 36, the action B is an action of driving the massage motor 43 at the neck position to bring the pair of treatment members 34 of the 1 st massage mechanism 31 close to each other to pinch the neck. In this operation, the massage motor 43 is stopped for a predetermined time in a state where the pair of treatment members 34 are close to each other.

[ action C ]

As shown in fig. 37, the action C is an action of rubbing the treatment members 34 of the 1 st massage mechanism 31 from the neck to the shoulders. Specifically, the pair of treatment members 34 are brought close to each other at the neck position, and the elevation motor 35 and the massage motor 43 are driven to move the first massage mechanism 31 down and move the pair of treatment members 34 away from each other (act C-1). Alternatively, the pair of treatment members 34 are moved away from each other at the shoulder position, the elevation motor 35 and the massage motor 43 are driven, and the first massage mechanism 31 is raised and the pair of treatment members 34 are moved closer to each other (act C-2). It is also possible to repeat the actions C-1 and C-2 alternately.

[ action D ]

As shown in fig. 38, the operation D is an operation of lowering the 1 st massage mechanism 31 by driving the lifting motor 35 from a position above the shoulder position, and acupressure-pressing the shoulders from above with the pair of treatment implements 34. This operation is preferably performed in a state where the pair of treatment members 34 are separated from each other. It is preferable that this operation is performed in a state where a predetermined amount of air is supplied to the advancing-retreating balloon 15 to extend the treatment instrument 34.

[ action E ]

As shown in fig. 39, the action E is an action of driving the lifting motor 35 at the neck position to lift the 1 st massage mechanism 31, thereby rubbing the neck with the pair of treatment implements 34.

[ action F ]

As shown in fig. 40, the operation F is an operation of rubbing the shoulder or the back between the left and right scaphoid bones B with the treatment tool 34 of the 1 st massage mechanism 31. Specifically, at the shoulder or back position, the pair of arms 40 are brought into a state of being substantially parallel in the front view so that the treatment members 34 do not contact the shoulder bones B, and then the lifting motor 55 is driven to raise or lower the 1 st massage mechanism 31. In addition, the spaced distance between the pair of treatment members 34 in act F may be wider than the spaced distance between the pair of treatment members 34 in act E.

[ action a ]

As shown in fig. 41, the action "a" is an action of rubbing the back between the left and right scaphoid bones B by the treatment tool 54 of the 2 nd massage mechanism 51. In this operation, the range in the vertical direction in which the back is kneaded includes positions corresponding to the upper end and the lower end of the scapula B. Specifically, at the position of the scapula, the pair of arms 60 are brought into a state of being substantially parallel in the front view so that the treatment tools 54a and 54B do not contact the scapula B, and then the lifting motor 55 is driven to raise or lower the 2 nd massage mechanism 51. That is, the action "a" is an action of kneading the whole of the left and right shoulder bones over a wide range.

[ action b ]

As shown in fig. 42, the operation B is an operation of kneading the back between the left and right scaphoid bones B by the treatment tool 54 of the 2 nd massage mechanism 51. In this action, the range in the vertical direction in which the back is kneaded includes a position lower than the center of the scapula B and does not include a position corresponding to the upper end of the scapula B. Specifically, at the position of the scapula, the pair of arms 60 are brought into a state of being substantially parallel in the front view so that the treatment tools 54a and 54B do not contact the scapula B, and then the lifting motor 55 is driven to raise or lower the 2 nd massage mechanism 51. That is, the action B is an action of mainly kneading the lower part between the left and right scapulae B.

[ action c ]

As shown in fig. 43, the action c is an action of kneading the back between the left and right scaphoid bones B by the treatment tool 54 of the 2 nd massage mechanism 51. In this action, the range in the vertical direction in which the back is kneaded includes a position above the center of the scapula B and does not include a position corresponding to the lower end of the scapula B. Specifically, at the position of the scapula, the pair of arms 60 are brought into a state of being substantially parallel in the front view so that the treatment tools 54a and 54B do not contact the scapula B, and then the lifting motor 55 is driven to raise or lower the 2 nd massage mechanism 51. That is, the action c is an action of mainly kneading the upper part between the left and right scapulae B.

[ action d ]

As shown in fig. 44, the action d is an action of rubbing the range from the waist to the back with the treatment tool 54 of the 2 nd massage mechanism 51. Specifically, the pair of arms 60 are brought into a state of being substantially parallel to each other in the front view so that the treatment members 54a and 54B do not contact the shoulder bones B, and then the lifting motor 55 is driven to raise or lower the 2 nd massage mechanism 51. The lower limit of the lifting range of the 2 nd massage mechanism 51 may be determined by a limit sensor (not shown) provided at the lower portion of the backrest portion 3. Further, because the upper treatment members 54a of the 2 nd massage mechanism 51 act more strongly than the lower treatment members 54B for structural reasons, the respective actions a to d may be performed without making the arms 60 substantially parallel in the front view and in a state where the pair of upper treatment members 54a are closer to each other than the pair of lower treatment members 54B so that the upper treatment members 54a do not contact the shoulder bones B.

[ action e ]

As shown in fig. 45, the action e is an action of kneading the lower edge of the scaphoid B by the treatment tool 54 of the 2 nd massage mechanism 51. Specifically, the treatment members 54 (e.g., the upper treatment members 54a) are positioned slightly below the lower end of the shoulder carapace bone B, and then the massage motor 63 is driven to move the pair of treatment members 54 of the 2 nd massage mechanism 51 closer to or away from each other, thereby performing a kneading operation.

[ action f ]

As shown in fig. 46, the operation f is an operation of kneading the inner edge of the scaphoid B with the treatment tool 54 of the 2 nd massage mechanism 51. Specifically, the pair of treatment members 54 (e.g., the upper treatment members 54a) are brought close to each other between the left and right shoulder bones B, and then the elevation motor 55 and the massage motor 63 are driven to move the pair of treatment members 54 (e.g., the upper treatment members 54a) away from each other while the 2 nd massage mechanism 51 is lowered (act f-1). Alternatively, the pair of treatment members 54 (e.g., the upper treatment member 54a) is moved away from each other between the left and right shoulder bones B, and then the elevation motor 55 and the massage motor 63 are driven to move the pair of treatment members 54 (e.g., 54a) closer to each other while the 2 nd massage mechanism 51 is moved up (act f-2). The actions f-1 and f-2 may be repeated alternately.

[ action g ]

As shown in fig. 47, the operation g is an operation of kneading the back and/or the waist while kneading the back and/or the waist with the treatment tool 54 of the 2 nd massage mechanism 51. Specifically, the elevation motor 55 and the massage motor 63 are driven to move the 2 nd massage mechanism 51 up and down and simultaneously move the pair of treatment members 54 closer to and away from each other. In this operation, the range of the 2 nd massage mechanism 51 to be raised and lowered may be from the waist to the back, or may be only at the back or the waist.

[ action h ]

As shown in fig. 48, the action h is an action of kneading the rear part of the hip part (the part abutting against the backrest part 3) by the treatment tool 54 of the 2 nd massage mechanism 51. Specifically, the massage motor 63 is driven to move the pair of treatment members 54 of the 2 nd massage mechanism 51 closer to or away from each other at the hip position. The hip position can be determined by a limit sensor (not shown) provided at the lower portion of the backrest 3.

[ action i ]

As shown in fig. 49, the operation i is an operation of performing finger pressure on the rear portion of the hip (portion abutting against the backrest portion 3) by the treatment tool 54 of the 2 nd massage mechanism 51. Specifically, the massage motor 63 is driven so that the pair of treatment members 54 (e.g., the upper treatment members 54a) of the 2 nd massage mechanism 51 are brought close to each other at the hip position, and in this state, the massage motor 63 is stopped for a predetermined time. The hip position can be determined by a limit sensor (not shown) provided at the lower portion of the backrest 3.

[ action j ]

As shown in fig. 50, the operation j is an operation of rubbing the back part of the waist and/or the hip (the part abutting against the backrest part 3) by the treatment tool 54 of the 2 nd massage mechanism 51. Specifically, the lifting motor 55 is driven to raise or lower the 2 nd massage mechanism 51. In this operation, the range of the second massage mechanism 51 may be from the waist to the hip, or only the waist or the hip.

[ Structure of massage Unit according to other embodiments ]

The massage unit 100 according to another embodiment will be described below. Fig. 30 is a front view of the massage unit 100 according to another embodiment. The massage unit 100 is configured such that the massage mechanism 31 and the 2 nd massage mechanism 51 are collectively provided in a single main body frame 110. That is, since the structures of the

massage mechanisms

31 and 51 and the structures of the support frames 32 and 52 supporting the

massage mechanisms

31 and 51 are the same as those described above, the same reference numerals are used hereinafter and the description thereof will be omitted.

As shown in fig. 30, the massage unit 100 is provided in the backrest 3, and includes a1 st massage mechanism 31 disposed on the upper side and a2 nd massage mechanism 51 disposed on the lower side. The massage unit 100 is mainly composed of: a main body frame 110 supported by the guide mechanism 3b to be able to ascend and descend; the 1 st massage mechanism 31 and the 2 nd massage mechanism 51; support frames 32, 52 for supporting the

massage mechanisms

31, 51; a forward/backward driving

unit

15, 16 for advancing/retreating each of the

massage mechanisms

31, 51 relative to the treatment site; and links 33, 53 connecting the main body frame 110 and the support frames 32, 52 and swinging in the front-rear direction.

The massage unit 100 includes an elevation motor 111, an elevation shaft 112, and pinions 39 attached to both ends of the elevation shaft 112, and the elevation motor 111 is driven to rotate the elevation shaft 112, thereby elevating the massage unit 100 in the body length direction. The treatment elements 34 can perform a kneading operation or a beating operation by driving the massage motor 43, and the treatment elements 54 can perform a kneading operation by driving the massage motor 63.

[ Structure of massage mechanism according to other embodiment ]

The massage mechanism 200 according to another embodiment will be described below. Fig. 31 is a front view of a massage mechanism 200 according to another embodiment.

The essential difference from the 1 st massage mechanism 31 is that in the massage mechanism 200, the treatment devices 91 are provided above and below the arm 90, and the lower treatment devices 91 are provided on both the left and right sides across the arm 90. The other structures are the same as those of the 1 st massage mechanism 31, and therefore, the same reference numerals are given below and the description thereof is omitted.

The massage mechanism 200 includes a pair of right and left arms 90 to which treatment tools 91 are attached, and the arms 90 are connected to the kneading shaft 41 and the beating shaft 42. The treatment members 91 include upper treatment members 91a provided on the upper side of the arm 90 and lower treatment members 91b provided on the lower side of the arm 90. The lower treatment tools 91b are provided as a pair on the left and right across the arm 90. The lower treatment tools 91b are configured to have a smaller diameter than the upper treatment tools 91a, the lower treatment tools 91b simulate the thumb of the masseur, and the upper treatment tools 91a simulate the fingers other than the thumb of the masseur. By driving the massage motor 43, the pair of right and left treatment tools 91 can be moved closer to or away from each other to perform a kneading operation, and the pair of right and left treatment tools 91 can be alternately moved forward and backward to perform a beating operation. When this massage mechanism 200 is applied to the above-described massage machine 1, it is preferable to replace the 1 st massage mechanism 31 with the massage mechanism 200. That is, the massage mechanism 200 is disposed on the upper side of the backrest 3, and the 2 nd massage mechanism 51 is disposed on the lower side. The

massage mechanisms

51 and 200 can be independently raised and lowered in the body length direction.

The massage mechanism 200 is effective in kneading the neck and the vicinity of the shoulder. That is, the neck and the shoulder can be simultaneously kneaded by the upper treatment tool 91a and the lower treatment tool 91b, respectively. Also, the inner lower treatment members 91b effectively act on the shoulders while the pair of lower treatment members 91b are approaching each other, and the outer lower treatment members 91b effectively act on the shoulders while the pair of lower treatment members 91b are moving away from each other. In order to achieve this effect, it is not necessary to provide a plurality of massage mechanisms 200 in the body length direction, and a single massage mechanism 200 may be provided in the backrest 3 so as to be able to move up and down in the body length direction. Further, the lower treatment members 91b may be provided on either the inner side or the outer side of the arm 90.

[ Structure of connecting rod according to other embodiment ]

Hereinafter, a case where the link 93 according to another embodiment is applied to the 1 st massage unit 8 will be described as an example, but the link 93 according to another embodiment may be applied to the 2 nd massage unit 9. Fig. 32 is an explanatory view of the link 93 according to another embodiment, in which fig. 32 (a) shows a state in which the massage mechanism 31 is retracted, and fig. 32 (b) shows a state in which the massage mechanism 31 is extended. In the following, the same reference numerals are given to the components corresponding to the 1 st massage unit 8 including the link 33, and the description thereof will be omitted.

As shown in fig. 32, a link 93 that couples the main body frame 30 and the support frame 32 and swings in the front-rear direction is provided on a side of the support frame 32. The reason why the link 93 is disposed on the side of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be suppressed as compared with the case where the link is disposed on the rear side of the support frame 32. The link 93 is arranged in a front-rear direction, and includes a1 st link portion 93a disposed on a rear side and a2 nd link portion 93b disposed on a front side. That is, the link 93 constitutes a four-link mechanism. Unlike the link 33, the length of the 1 st link part 93a is the same as the length of the 2 nd link part 93b, and the link 93 constitutes a parallel link mechanism. Therefore, the 1 st massage mechanism 31 can be advanced and retreated in parallel and stably.

As described above, the 1 st massage unit 8 has: a main body frame 30; a massage mechanism 31 having a treatment member 34; a support frame 32 that supports the massage mechanism 31; a forward/backward driving unit 15 for advancing/retreating the massage mechanism 31 relative to the treatment site; and a link 93 that links the main body frame 30 and the support frame 32 and swings in the front-rear direction, and in a state where the massage mechanism 31 is most retracted, the connection portions a1, A3 of the link 93 and the main body frame 30 are positioned further forward than the connection portions a2, a4 of the link 93 and the support frame 32.

[ Structure of sensor according to other embodiment ]

Hereinafter, another embodiment of the sensor 80 for detecting the relative position between the 1 st massage unit 8 and the 2 nd massage unit 9 will be described with reference to fig. 33. Fig. 33 is an explanatory diagram of a sensor 80 according to another embodiment.

The sensor 80 is constituted by: a3 rd sensor unit (elevation sensor 77) for detecting the position of the 1 st massage unit 8 in the vertical direction; and a4 th sensor unit (elevation sensor 78) for detecting the position of the 2 nd massage unit 9 in the vertical direction. The relative position between the 1 st massage unit 8 and the 2 nd massage unit 9 is detected based on a difference value (the difference value is "1" in fig. 33) between a detection value (height "7" in fig. 33) indicating the position (height) of the 1 st massage unit 8 in the vertical direction detected by the elevation sensor 77 and a detection value (height "6" in fig. 33) indicating the position (height) of the 2 nd massage unit 9 in the vertical direction detected by the elevation sensor 78. That is, the smaller the difference value, the narrower the interval between the two

massage units

8, 9, and the larger the difference value, the wider the interval between the two

massage units

8, 9. For example, the relative position with the difference value "1" may be set to the approaching state, and the relative position with the difference value "2" may be set to the pre-approaching state.

As described above, the elevation sensor 77 detects that the elevation shaft 36 has rotated several times from the upper limit position to detect the position of the 1 st massage unit 8 in the up-down direction. The elevation sensor 78 detects that the elevation shaft 56 has rotated several times from the lower limit position to detect the position of the 2 nd massage unit 9 in the up-down direction. In the present embodiment, the difference value indicating the interval between the two

massage units

8 and 9 can be detected in nine stages, and the detection range of the relative position between the 1 st massage unit 8 and the 2 nd massage unit 9 is wider than that in the case of using the sensor 70.

The massage machine of the present invention is not limited to the illustrated embodiment, and other embodiments of the massage machine may be used within the scope of the present invention.

For example, the number of treatment tools is not limited, and the 1 st massage mechanism 31 may be provided with a plurality of treatment tools 34 in the vertical direction, as in the 2 nd massage mechanism 51. In the above embodiment, the arms supporting the treatment devices are provided as a pair of left and right arms, but a plurality of pairs of left and right arms may be provided with the center line of the body therebetween, and a plurality of treatment devices may be provided in the left-right direction on one arm. The number of the massage units provided in the body length direction is not limited, and may be three or more.

From the viewpoint of the above-described actions 1 to 8, it is sufficient to provide a plurality of

massage units

8 and 9 in the body length direction, and the action ranges W1 and W2 in the right and left direction in the kneading action, the vertical dimensions H1 and H2 of the kneading action trajectory, or the separation distances D1 and D2 between the pair of treatment devices when the pair of treatment devices are closest to each other in the kneading action may be the same in the 1 st massage mechanism 31 and the 2 nd massage mechanism 51.

Further, the seat 2 or the seat 2 and the pedals 4 may be provided with the guide mechanism 3b so that either the 1 st massage unit 8 or the 2 nd massage unit 9 is moved in the body length direction from the backrest 3 to the seat 2 or the pedals 4.

The sensor 70 that detects the relative position (approaching state or state before approaching) between the two

massage units

8 and 9 may be a touch sensor using a variable switch or the like. For example, instead of the

magnet holders

73 and 74, a variable switch may be provided at the tip of a spring that biases in the extending direction. Further, when a variable switch is additionally provided on the bottom wall 30c of the 1 st massage unit 8 or the upper wall 50d of the 2 nd massage unit 9, the "near-front state" can be detected by the variable switch provided at the tip of the spring being pressed, and the "near-state" can be detected by the variable switch provided on the bottom wall 30c or the upper wall 50d being pressed against the biasing force of the spring.

Industrial applicability

The present invention can be applied to a massage machine with improved feeling of massage. The present invention can be applied to a massage machine capable of performing an effective kneading operation depending on a treatment site. The present invention can be applied to a massage machine in which a plurality of massage units can maintain appropriate relative positions.

Description of the symbols

1-massage machine, 2-seat, 3-backrest, 4-step, 8-1 st massage unit (massage unit), 9-2 nd massage unit (massage unit), 10-air bag (2 nd press holding member), 13-air bag (1 st press holding member), 15-advance and retreat air bag (advance and retreat driving portion), 16-advance and retreat air bag (advance and retreat driving portion), 23-control member, 30-main body frame, 30 b-side wall, 31-1 st massage mechanism (massage mechanism), 32-supporting frame, 33-link, 33 a-1 st link portion, 33 b-2 nd link portion, 34-treatment member, 35-lifting motor, 36-lifting shaft, 40-arm, 43-massage motor (massage driving portion), 48-reinforcement part, 50-body frame, 50 b-side wall, 51-2 nd massage mechanism (massage mechanism), 52-support frame, 53-link, 53 a-1 st link part, 53 b-2 nd link part, 54-treatment member, 55-lifting motor, 56-lifting shaft, 63-massage motor (massage driving part), 68-reinforcement part, 70-sensor, 71-1 st sensor part, 72-2 nd sensor part, 77-lifting sensor (3 rd sensor part), 78-lifting sensor (4 th sensor part), 80-sensor, 90-arm, 91-treatment member, 91 a-upper treatment member, 91 b-lower treatment member, 93-link, 93 a-1 st link part, 93 b-2 nd link part, 100-massage unit, 200-1 st massage mechanism (massage mechanism), D1-separation distance between a pair of treatment elements when the pair of treatment elements are closest to each other in the kneading motion, D2-separation distance between a pair of treatment elements when the pair of treatment elements are closest to each other in the kneading motion, H1-up-down size of the kneading motion trajectory, H2-up-down size of the kneading motion trajectory, W1-motion range of the treatment elements in the kneading motion in the left-right direction, and W2-motion range of the treatment elements in the kneading motion in the left-right direction.

Claims

1. A massage machine, which is provided with a plurality of massage mechanisms along the body length direction, wherein the massage mechanisms are provided with left and right paired treatment components,

the massage mechanism comprises a1 st massage mechanism arranged at the upper side and a2 nd massage mechanism arranged at the lower side,

the massage machine further has a control member that controls the action of the massage mechanism,

the 1 st massage mechanism includes an arm supporting the treatment device and a kneading shaft supporting the arm, wherein the treatment device is operated to draw a circular path having at least a left-right direction component and an up-down direction component by continuously rotating the kneading shaft in one direction, and the pair of treatment devices are operated in the left-right direction to perform a kneading operation of approaching or separating from each other,

the 2 nd massage mechanism includes an arm supporting the treatment device and a kneading shaft supporting the arm, wherein the treatment device is operated to draw a circular path having at least a left-right direction component and an up-down direction component by continuously rotating the kneading shaft in one direction, and the pair of treatment devices are operated in the left-right direction to perform a kneading operation of approaching or separating from each other,

by making the distance from the treatment element of the 1 st massage mechanism to the kneading axis of the 1 st massage mechanism shorter than the distance from the treatment element of the 2 nd massage mechanism to the kneading axis of the 2 nd massage mechanism, the range of the circular path of the treatment element in the kneading action in the left-right direction is set to be different between the 1 st massage mechanism and the 2 nd massage mechanism.

2. The massager of claim 1,

the range of motion of the treatment device in the lateral direction in the kneading motion of the 1 st massage mechanism is set to be narrower than the range of motion of the treatment device in the lateral direction in the kneading motion of the 2 nd massage mechanism.

3. The massage machine according to claim 1 or 2,

the 1 st massage mechanism and the 2 nd massage mechanism can lift along the body length direction,

by changing the positions of the 1 st massage means and the 2 nd massage means in the body length direction, the same treatment site can be massaged by the 1 st massage means or the 2 nd massage means.

4. The massage machine according to claim 1 or 2,

the control component controls the kneading action of the therapy applying component and the lifting of the massage mechanism,

the control member controls the kneading motion and the lifting and lowering in synchronization, so that the vertical size of the kneading motion trajectory of the treatment member can be changed.

5. The massage machine according to claim 3 or 4,

the 1 st massage mechanism and the 2 nd massage mechanism can independently lift along the body length direction.

6. The massager of claim 5,

the massager is also provided with a sensor which detects the relative position between the 1 st massage mechanism and the 2 nd massage mechanism,

the sensor has: a1 st sensor unit that detects approach of the 2 nd massage mechanism to the 1 st massage mechanism; and a2 nd sensor unit for detecting the approach of the 1 st massage mechanism to the 2 nd massage mechanism.

7. The massager of claim 6,

the sensor is capable of detecting the interval between the two massage mechanisms as the relative position in a plurality of stages.

8. The massager of claim 5,

the control means performs the following control: when the 1 st massage mechanism and the 2 nd massage mechanism ascend or descend in the same direction, the ascending and descending speed of the massage mechanism at the front side in the advancing direction is faster than the ascending and descending speed of the massage mechanism at the rear side in the advancing direction.

9. The massage machine according to claim 1 or 2,

the 1 st massage mechanism and the 2 nd massage mechanism can make the treatment member advance and retreat along the front and back direction relative to the user,

the treatment member of the 1 st massage mechanism and the treatment member of the 2 nd massage mechanism are extended or retracted with a time shift therebetween.

10. The massage machine according to claim 1 or 2,

the treatment members of the 1 st massage mechanism and the 2 nd massage mechanism are extended.

11. The massage machine according to claim 1 or 2,

the treatment device of any one of the 1 st massage mechanism and the 2 nd massage mechanism is retracted in a state where the treatment device of the 1 st massage mechanism and the treatment device of the 2 nd massage mechanism are extended while the treatment device of the 1 st massage mechanism and the treatment device of the 2 nd massage mechanism are positioned in different positions in the left-right direction.

12. The massage machine according to claim 1 or 2,

the treatment member of the 1 st massage mechanism and the treatment member of the 2 nd massage mechanism perform kneading motions at different speeds from each other.

13. The massager of claim 12,

the treatment devices of the 1 st and 2 nd massage mechanisms are caused to perform a kneading operation in a state where the 1 st and 2 nd massage mechanisms, or the treatment device of the 1 st massage mechanism and the treatment device of the 2 nd massage mechanism are caused to approach each other in the body length direction.

14. The massage machine according to claim 1 or 2,

the No. 2 massage mechanism can make the therapy applying component advance and retreat along the front and back direction relative to the user,

the treatment tool of the 2 nd massage mechanism is extended in a state where the 1 st massage mechanism is disposed on the shoulder and the 2 nd massage mechanism is disposed on the waist.

15. The massage machine according to claim 1 or 2,

and raising the 2 nd massage means in the body length direction in a state where the 1 st massage means is disposed on the shoulder.

16. The massage machine according to claim 1 or 2,

and lowering the 2 nd massage means in the body length direction while the 1 st massage means is held between the neck portions.

17. The massage machine according to claim 1 or 2,

the 1 st massage mechanism is provided with a left arm and a right arm which are paired and provided with the therapy applying component,

the treatment component is provided with an upper treatment component which is relatively arranged at the upper side and a lower treatment component which is relatively arranged at the lower side,

the lower treatment members are disposed on both right and left sides of the arm with the arm therebetween.

18. A massage machine, which is provided with a plurality of massage mechanisms along the body length direction, wherein the massage mechanisms are provided with left and right paired treatment components,

the 1 st massage mechanism includes an arm supporting the treatment elements, a kneading shaft supporting the arm, and a tilting shaft provided to be tilted with respect to an axial center of the kneading shaft, wherein the treatment elements are operated so as to draw a circular locus having at least a left-right direction component and a vertical direction component when the kneading shaft is continuously rotated in one direction, and the pair of treatment elements are operated in the left-right direction to perform a kneading operation of moving the treatment elements closer to or away from each other,

the 2 nd massage mechanism includes an arm for supporting the treatment devices, a kneading shaft for supporting the arm, and a tilting shaft provided to be tilted with respect to an axial center of the kneading shaft, wherein when the kneading shaft is continuously rotated in one direction, the treatment devices are operated so as to draw a circular locus having at least a left-right direction component and a vertical direction component, and the pair of treatment devices are operated in the left-right direction to enable a kneading operation of moving the treatment devices closer to or away from each other,

by making the inclination angle of the inclined shaft provided at the 1 st massage mechanism different from the inclination angle of the inclined shaft provided at the 2 nd massage mechanism, the range of the circular locus of the treatment member in the kneading action in the left-right direction is made different between the 1 st massage mechanism and the 2 nd massage mechanism.

19. A massage machine, which is provided with a plurality of massage mechanisms along the body length direction, wherein the massage mechanisms are provided with left and right paired treatment components,

by making the distance from the treatment device of the 1 st massage mechanism to the kneading axis of the 1 st massage mechanism shorter than the distance from the treatment device of the 2 nd massage mechanism to the kneading axis of the 2 nd massage mechanism, the distance between the pair of treatment devices in the state where the pair of treatment devices are closest to each other on the circular trajectory in the kneading action is set to be different between the 1 st massage mechanism and the 2 nd massage mechanism.

20. The massager of claim 19,

the distance between the 1 st massage means is set to be narrower than the distance between the 2 nd massage means.

21. The massage machine according to claim 19 or 20,

22. The massage machine according to claim 19 or 20,

23. The massage machine according to claim 21 or 22,

24. The massager of claim 23,

25. The massager of claim 24,

26. The massager of claim 23,

27. The massage machine according to claim 19 or 20,

28. The massage machine according to claim 19 or 20,

29. The massage machine according to claim 19 or 20,

30. The massage machine according to claim 19 or 20,

31. The massager of claim 30,

32. The massage machine according to claim 19 or 20,

33. The massage machine according to claim 19 or 20,

34. The massage machine according to claim 19 or 20,

35. The massage machine according to claim 19 or 20,

36. A massage machine, which is provided with a plurality of massage mechanisms along the body length direction, wherein the massage mechanisms are provided with left and right paired treatment components,

by making the distance from the treatment elements of the 1 st massage mechanism to the kneading axis of the 1 st massage mechanism shorter than the distance from the treatment elements of the 2 nd massage mechanism to the kneading axis of the 2 nd massage mechanism, the ranges of the circular trajectories of the treatment elements in the kneading action in the left-right direction are made different from each other, and the separation distance between the pair of treatment elements in the state where the pair of treatment elements are closest to each other on the circular trajectories in the kneading action is made different from each other in the 1 st massage mechanism and the 2 nd massage mechanism.

37. The massager of claim 36,

38. The massager of claim 36,

39. The massager of claim 37 or 38,

40. The massager of claim 39,

41. The massager of claim 40,

42. The massager of claim 39,

43. The massager of claim 36,

44. The massager of claim 36,

45. The massager of claim 36,

46. The massager of claim 36,

47. The massager of claim 46 wherein,

48. The massager of claim 36,

49. The massager of claim 36,

50. The massager of claim 36,

51. The massager of claim 36,

52. A massage machine, which is provided with a plurality of massage mechanisms along the body length direction, wherein the massage mechanisms are provided with left and right paired treatment components,

the distance from the treatment element of the 1 st massage mechanism to the kneading axis of the 1 st massage mechanism is shorter than the distance from the treatment element of the 2 nd massage mechanism to the kneading axis of the 2 nd massage mechanism, so that the vertical dimensions of the circular path of the treatment element during the kneading action are set to be different between the 1 st massage mechanism and the 2 nd massage mechanism.

53. The massager of claim 52,

the vertical dimension of the trajectory of the 1 st massage mechanism is set to be smaller than the vertical dimension of the trajectory of the 2 nd massage mechanism.

54. The massager of claim 52 or 53,

55. The massager of claim 52 or 53,

56. The massager of claim 54 or 55,

57. The massager of claim 56,

58. The massager of claim 57,

59. The massager of claim 56,

60. The massager of claim 52 or 53,

61. The massager of claim 52 or 53,

62. The massager of claim 52 or 53,

63. The massager of claim 52 or 53,

64. The massager of claim 63,

65. The massager of claim 52 or 53,

66. The massager of claim 52 or 53,

67. The massager of claim 52 or 53,

68. The massager of claim 52 or 53,