JP2000300374A - Relaxing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve a relaxing effect by providing a driving means for rocking a human body supporting means and an amplitude variable means for changing the amplitude of rocking. SOLUTION: In a rocking chair 3 being a human body supporting means, its lower base part 30 is connected to two links 2 hung nearly in parallel from a base 1 to be supported in a swingable manner. A motor 5 being a driving source and a decelerator 50 for decelerating its power output are arranged on the base 1, and a crank 51 fixed to the output part of the decelerator 50 and the part 30 are connected to each other with a rod 52. When rotating the motor 5, the part 30 is moved forward and backward through the rod 52 by the rotation of the crank 50. At this time, the chair 3 hung by the links 2 is swung back and forth. By switching the rotating direction of the motor 5, the chair 3 is swung, an amplitude is changed by changing the switching timing of the rotating direction and a swinging period is changed by changing a rotational speed to obtain swinging like 1/f fluctuation.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a relaxation device for giving a relaxing effect to a human body by swinging.

[0002]

[Prior Art] Like a cradle or rocking chair,
It has long been known that shaking the human body can relax the human body.
Japanese Patent Application Publication No. 644 also discloses a chair suspended by a pair of links and capable of swinging back and forth. As for the oscillation, by setting the frequency to 1 / f fluctuation,
It is known that a high relaxing effect can be obtained.

[0003]

However, the above-mentioned publication does not include a driving source for swinging,
The user, or the person providing assistance, had to rock with his limbs. Accordingly, 1 / f
It is impossible to get a fluctuation like fluctuation,
In practice, it has not been possible to obtain an operation pattern in which the amplitude is gradually reduced with the passage of time so that the human body falls asleep smoothly.

Although there are examples provided with a driving source, they cannot obtain the above-mentioned operation pattern simply because they are made to be able to obtain fluctuations of a constant period and amplitude. Therefore, there is a problem that a high relaxing effect cannot be obtained.

[0005] The present invention has been made in view of the above points, and an object of the present invention is to provide a relaxation device that can reliably obtain a high relaxing effect.

[0006]

According to the present invention, a base, human body supporting means suspended by a pair of substantially parallel links pivotally supported by the base, and a link or a human body supporting means are driven. And a drive means for swinging the human body supporting means, and an amplitude changing means for changing the swing amplitude of the human body supporting means. A high relaxing effect can be obtained by changing the swing amplitude.

As the amplitude varying means, a means for controlling the operation of the driving source in the driving means or a means for changing the link or a power transmission section connecting the human body supporting means and the driving source in the driving means can be used. May be used. The connection point between the power transmission unit and the link or the human body supporting member may be changed.

It is also preferable that the apparatus further comprises a means for detecting any one of position, velocity and acceleration, and a control means for controlling a driving means by feeding back a signal from the detecting means.

It is also preferable to provide a means for preventing an overrun with respect to the swing of the human body supporting means, or a means for detecting the initial position of the human body supporting means. It may be provided with fixing means for fixing the human body supporting means.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail based on an example of an embodiment. The relaxing device shown in FIG. 1 is configured as a rocking chair by using a chair 3 as a human body supporting means. The chair 3 is connected to two links (a total of four on the left and right) 2 and 2 whose lower base portion 30 is suspended substantially in parallel from the base 1 and is swingably supported. By setting the distance between the fulcrums on the lower end side of the links 2 and 2 larger than the distance between the fulcrums on the upper end side, the swing of the chair 3 moves around the upper part of the human body sitting on the chair 3. As a result, favorable results can be obtained in terms of relaxing the human body.

The base 1 has a motor 5 as a drive source.
And a speed reducer 50 for reducing the output thereof,
The crank 51 fixed to the output portion of the speed reducer 50 and the lower base portion 30 are connected by a rod 52. If the motor 5 is rotated, the rotation of the crank 50 causes the lower base portion 30 to move in the front-rear direction via the rod 52, and at this time, the lower base portion 30 is suspended by the links 2 and 2. The chair 3 swings back and forth.

In this case, the motor 5 is of a type that can rotate forward and reverse and has a variable rotation speed, and a control means 4 for switching the rotation direction and controlling the timing and the rotation speed. It is connected. The chair 3 is not swung by the continuous rotation of the motor 5 in a fixed direction, but the chair 3 is swung by switching the rotation direction, and the amplitude of the swing is changed by changing the switching timing of the rotation direction. The swing cycle can be changed by changing the rotation speed and by changing the rotation speed. When the swing amplitude and the swing cycle are changed by controlling the motor 5 as described above in the case where the motor 5 is used as a drive source, in addition to the crank 51 and the rod 52, As described later, a cam mechanism, a feed screw mechanism, or the like may be used. Further, the swing cycle may be changed by acceleration control instead of speed control.

FIG. 2 uses a solenoid 53 whose output rod is connected to the lower base portion 30 of the chair 3 as a driving source, and further comprises a control means 4 capable of controlling the current supplied to the solenoid 53. Is shown. The chair 3 is pushed forward by the thrust generated in the solenoid 53, and is stopped and inverted by gravity. Since the thrust generated in the solenoid 53 is proportional to the current flowing through the coil, the swing amplitude of the chair 3 is changed by controlling the current flowing through the coil by the control means 4.

FIG. 3 shows a motor using a linear motor 54 as a drive source.
Linear motor 54 connected to the lower base 30
Is connected to a control means 4 capable of controlling the position of the output unit, and the swing amplitude of the chair 3 is variable by the control drive of the linear motor 54 by the control means 4.

FIG. 4 shows a motor that uses the motor 5 as a drive source and uses the crank 51, in which the rotation radius of the crank 51 is changed instead of changing the swing amplitude of the chair 3 by controlling the rotation of the motor 5. This shows that the swing amplitude is changed by the following. The crank 51 here is configured such that a portion to which the rod 52 is connected is formed as a slider 56, and the rotation of the screw shaft 58 by the motor 57 moves the slider 56 to change the radius of rotation.
The swing amplitude decreases as the rotation radius of the crank 51 decreases, and the swing amplitude increases as the crank rotation radius increases. In the figure, reference numeral 41 denotes a control unit for controlling the motor 57.

In FIG. 5, the eccentric amount of the cam 59 that causes the chair 3 to oscillate by rotating by the output of the motor 5 and pressing the link 2 or the lower base 30 is changed. The amplitude can be changed. A portion of the cam 59 fixed to the output shaft of the speed reducer 50 is formed as a slider 56. The rotation of the screw shaft 58 by the motor 57 causes the slider 5 to rotate.
The movement of 6 changes the amount of eccentricity. The swing amplitude increases as the amount of eccentricity increases, and the swing amplitude decreases as the amount of eccentricity decreases. Although the cam 59 in the figure has an elliptical shape, it is not limited to this shape.

FIG. 6 shows a chair 3 in which the fluid pressure supplied to the cylinder of the actuator 60 connected to the lower base 30 is increased or decreased by the cylinder pressure adjusting unit 61.
The cylinder cross section variable means 62 is provided between the actuator 60 and the cylinder pressure adjusting unit 61. Variable cylinder cross section area mechanism 21
Is to open and close the liquid input ports of a plurality of cylinders of the actuator 60 to change the total cross-sectional area of the cylinder connected to the cylinder pressure adjusting unit 61, and the total cross-sectional area is large (effective When there are many cylinders), the protrusion of the cylinder is small, and the chair swings with a small amplitude. When the total cross-sectional area is small (the number of effective cylinders is small), the cylinder protrusion is large, and the chair swings with a large amplitude. The fluid used for the actuator 60 may be a gas such as air or a liquid such as oil.

In FIG. 7, the motor 5 and the reduction gear 50 (entire drive unit), which are drive sources, are provided on the slide rail 63, and the offset screw 64 is rotated by the motor 65 to swing the chair 3. The position in the direction can be changed. When the chair 3 is swung back and forth by the drive of the motor 5, the entire drive unit is moved back and forth by the motor 65 in a state synchronized with the swing. By controlling the swing amplitude of the chair 3, the swing amplitude of the chair 3 is changed. During the swing, if the entire drive unit is moved in the same direction as the chair swing direction, the swing amplitude will increase, and if the entire drive unit is moved in the direction opposite to the chair swing direction, the swing will occur. The amplitude decreases. Such a swing amplitude change is possible even in a case where another drive mechanism is adopted.

FIG. 8 shows a configuration using a crank 51 and a rod 52, in which the swing amplitude can be changed by moving a connecting point 67 of the rod 52 with the link 2. In the figure, reference numeral 68 denotes a motor for moving the connection point 67 using the screw shaft 69. If the connection point 67 is close to the rotation fulcrum of the link 2, the swing angle of the link 2 increases even if the rotation of the crank 51 is constant, so that the amplitude of the chair 3 increases. Conversely, if the connecting point 67 is farther from the pivot point of the link 2, the swing angle of the link 2 becomes smaller, so that the amplitude of the chair 3 becomes smaller.

FIG. 9 shows a configuration in which a rotational position detecting means 70 is provided to detect the rotational position of the motor 5 so that feedback control of swing amplitude control can be performed. The motor 5 includes a disk 71 and an optical sensor 72 and counts slits.
Here, a rotational position detecting means 70 for detecting the rotational position is provided with a disk 71 fixed to the output shaft of the motor 5.
The disk 71 may be attached to the pivot of the link 2 as shown in FIG.

When the driving source is a brushless motor 5, a signal output from a Hall element of the motor 5 may be used for detecting the rotational position. Further, the rotation position may be detected by measuring the resistance value of the rotation unit using a rotation type resistor and converting the resistance value into a length.

The swing position of the chair 3 may be detected to perform feedback control. As a swing position detecting means 72, as shown in FIG. 11, a slide resistor whose resistance changes in proportion to the length is used, and the position of the chair is detected by converting the resistance into a length. Alternatively, a device that detects the position of the chair with an optical sensor can be used.

In the case where the swing cycle is also changed by changing the rotation speed of the motor 5, it is preferable that feedback of speed information can be given. For those that can be detected, the velocity can be obtained by differentiating the position information with time. The acceleration can also be obtained by differentiating the speed with time.

When the chair 3 swings, if the initial position of the chair 3 is shifted, if the swing amplitude is changed by the rotation control of the motor 5, the swing range is shifted and the chair 3 is swung. May cause run. FIG.
Numeral 2 shows a countermeasure to this point. A disk 73 rotating with the link 2 has a slit 7 for overrun detection.
4 is provided, and an overrun detecting means is provided so that the optical sensor 75 can detect the slit 74. When the link 2 rotates and reaches a predetermined swing amplitude, the overrun detecting means detects this, and restricts the operation of increasing the amplitude or the slope further. As the overrun detecting means, a limit switch or the like can be used.

The initial position may be detected and the position may be controlled based on that position. As the initial position detecting means 76, for example, as shown in FIG.
6 can be used. Of course, an optical sensor or the like may be used.

FIG. 14 shows a disk 73 of the overrun detecting means provided with a slit 74 for detecting an overrun and a slit 77 for detecting an initial position, and these can be detected by an optical sensor 75. Is shown.

FIG. 15 shows a structure in which the stop is performed at the initial position when the stop is performed by using the output of the initial position detecting means 76. When a stop command is input during the swinging, the initial position detecting means 76 is stopped. Operates in the direction to return the chair 3 to the initial position until the initial position is detected. When the initial position is detected, the driving source is stopped.

A fixing means 77 for fixing the chair 3 when the swing drive of the chair 3 is not performed may be provided. FIG. 16 shows an example of this fixing means 77, in which a friction pad 79 is provided on an arm 78 provided on the base 1 and the friction pad 79 is urged in the direction of the link 2 by a compression spring 80. The link 2 is pressed against the link 2 to fix it. Therefore, the chair 3 does not swing. When swinging the chair 3, the arm 78 is opened by the release means 81 to separate the friction pad 79 from the link 2.

FIG. 17 shows an example of a speed reducer 50 for reducing the rotation of the motor 5 as a drive source. In the illustrated speed reducer 50 as a worm speed reducer, a worm shaft 84 is connected to a worm wheel 85 on the output side. An elastic body 86 is provided to prevent the backlash by being pressed.

In each of the above examples, the human body supporting means is constituted by the chair 3. However, the present invention can be implemented by using other means such as a bed or a hammock which performs the same function.

[0031]

As described above, in the present invention, the base, the human body supporting means suspended by a pair of substantially parallel links supported by the base, and the link or the human body supporting means are driven. Since it has a driving means for swinging the human body support means and an amplitude changing means for changing the swing amplitude of the human body support means, a high relaxation effect can be obtained by changing the swing amplitude. is there.

As the amplitude varying means, means for controlling the operation of the driving source in the driving means can be used. In addition to a simple power transmission mechanism, it is possible to easily respond to changes in other parameters relating to swing.

In this case, if the drive source is a motor which can rotate forward and reverse and which causes the human body supporting means to swing by switching between forward rotation and reverse rotation of the motor, the amplitude variable means changes from forward rotation of the motor to forward rotation. The amount of rotation from reverse rotation and reverse rotation to normal rotation is changed. Motors are inexpensive and easy to get,
Since the control is relatively simple, it is easy to implement.

If the driving source is a solenoid, the amplitude varying means controls the stroke of the solenoid. Since there is no friction in the drive source and noise can be reduced, a relaxed state is not hindered. In addition, since the operation is a linear motion, the link or the human body supporting means can be directly rocked, and the structure of the power transmission mechanism can be simplified. May control the reciprocating stroke of the linear motor. In this case, a smooth swing can be performed, and the relaxed state is not hindered.

As the amplitude changing means, a means for changing the power transmission section connecting the link or the human body supporting means and the driving source of the driving means may be used. Control of the driving source can be easily performed.

At this time, if the power transmission mechanism is a crank mechanism, the amplitude varying means changes the crank rotation radius. Since the swing amplitude is determined by the rotation radius of the crank, the human body support means does not take a dangerous position and can be used safely, for example, even when the drive source becomes uncontrollable.

If the power transmission mechanism is a cam mechanism, the amplitude varying means changes the eccentric amount of the cam. Due to the cam curve, the swinging operation can be complicated while having a simple structure, and a higher relaxing effect can be obtained.

[0038] The power transmission mechanism may be an actuator having a cylinder, and the amplitude varying means may change the cross-sectional area of the cylinder. The damper effect can be obtained by the viscosity and compressibility of the fluid, and the fluid can be more smoothly swung, so that the relaxed state is not hindered.

The amplitude varying means may move the drive source and the power transmission section of the drive means in the swing direction in synchronization with the swing operation. Complex swinging can be performed, and a higher relaxing effect can be obtained.

Further, the amplitude changing means may change the connection point between the power transmission unit and the link or the human body supporting member. The drive source and the power transmission mechanism do not require the swing amplitude varying means, and as a result, the overall structure can be simplified.

It is also preferable that the apparatus further comprises a means for detecting any one of position, velocity and acceleration, and a control means for controlling the driving means by feeding back a signal from the detecting means. Control that is resistant to disturbance (load fluctuation) and has a small error from the target value becomes possible. In particular, when performing position detection, it is possible to accurately perform a predetermined swing that is not significantly affected by a load change, and to perform accurate positioning because a steady-state deviation of the position does not occur when stopping. When speed detection or acceleration control is performed, it is possible to accurately perform a predetermined swing that is not significantly affected by a load change.

If the apparatus is provided with an overrun preventing means for swinging the human body supporting means, the human body supporting means can be used safely without taking a dangerous position.

By providing the detection means for detecting the initial position of the human body supporting means, it is possible to prevent an overrun due to the initial position deviation.

In the apparatus provided with the control means for returning the human body supporting means to the initial position when the swing is stopped by referring to the output of the initial position detecting means, the swing automatically returns to the initial position when the swing is stopped halfway. It is safe when you leave your seat, and safe because your body support means is always in the initial position when you take your seat.

If a fixing means for fixing the human body supporting means is provided, the human body supporting means does not suddenly move while the swing is stopped, and it is safe at the time of seating or leaving the seat.

If the power transmission portion of the driving means is provided with a backlash prevention type reduction gear having an elastic body which presses the gears together, the swinging operation can be made smoother and the backlash can be caused. Discomfort can be prevented.

[Brief description of the drawings]

FIG. 1 is a side view of an example of an embodiment of the present invention.

FIG. 2 is a side view of another example.

FIG. 3 is a side view of still another example.

4A and 4B show another example, in which FIG. 4A is a side view and FIG. 4B is a front view of a crank.

FIG. 5 shows still another example, (a) is a side view, (b)
Is a front view of the cam.

FIG. 6 is a side view of a different example.

FIG. 7 is a side view of still another example.

FIG. 8 is a side view of another example.

9 shows still another example, (a) is a side view, (b)
FIG. 3 is a front view of a rotational position detecting means.

FIG. 10 is a side view of another example.

FIG. 11 is a side view of still another example.

12A and 12B show another example, in which FIG. 12A is a side view, and FIG. 12B is a front view of an overrun detecting means.

FIG. 13 is a side view of still another example.

FIG. 14 is a front view of the detection means.

FIG. 15 is a flowchart of an example of control when stopping.

FIG. 16 is a front view of the fixing means.

FIG. 17 is a sectional view of a speed reducer.

[Explanation of symbols]

 1 base 2 link 3 body support means

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Shosuke Akisada 1048 Kadoma Kadoma, Osaka Prefecture Matsushita Electric Works Co., Ltd. (72) Inventor Takayoshi Tanizawa 1048 Kazuma Kadoma, Kadoma-shi, Osaka F-term in Matsushita Electric Works, Ltd. (reference) 3B084 HA00 3B091 AA03 AB03 AC02 AD03

Claims (17)

[Claims] 1. A base, human body supporting means suspended by a pair of substantially parallel links pivotally supported by the base, and driving means for driving the link or the human body supporting means to swing the human body supporting means. And a variable amplitude means for changing the swing amplitude of the human body supporting means. 2. The relaxing apparatus according to claim 1, wherein the amplitude varying means controls an operation of a driving source in the driving means. 3. The motor according to claim 1, wherein the drive source is a motor capable of rotating forward and reverse, and the human body supporting means is caused to swing by switching between forward rotation and reverse rotation of the motor. 3. The relaxation device according to claim 2, wherein the amount of rotation from reverse rotation to forward rotation is changed. 4. The relaxation device according to claim 2, wherein the drive source is a solenoid, and the amplitude varying means controls a stroke of the solenoid. 5. The relaxation apparatus according to claim 2, wherein the drive source is a linear motor, and the amplitude varying means controls a reciprocating stroke of the linear motor. 6. The apparatus according to claim 1, wherein the amplitude changing means changes a power transmission unit connecting the link or the human body supporting means and the driving source of the driving means.
The relaxing device as described. 7. The relaxation device according to claim 6, wherein the power transmission mechanism is a crank mechanism, and the amplitude varying means changes a crank rotation radius. 8. The relaxation device according to claim 6, wherein the power transmission mechanism is a cam mechanism, and the amplitude varying means changes an eccentric amount of the cam. 9. The relaxation apparatus according to claim 6, wherein the power transmission mechanism is an actuator having a cylinder, and the amplitude varying means changes a cross-sectional area of the cylinder. 10. The relaxing device according to claim 6, wherein the amplitude varying means moves the drive source and the power transmission unit in the drive means in the swing direction in synchronization with the swing operation. 11. The relaxation apparatus according to claim 1, wherein the amplitude changing means changes a connection point between the power transmission unit and the link or the human body supporting member. 12. The apparatus according to claim 1, further comprising a detecting means for detecting any one of position, velocity and acceleration, and a control means for controlling a driving means by feeding back a signal from the detecting means. The relaxing device according to any one of the above items. 13. An apparatus according to claim 1, further comprising an overrun preventing means for swinging the human body supporting means.
13. The relaxation device according to any one of Items 12 to 12. 14. The relaxing apparatus according to claim 1, further comprising a detecting unit for detecting an initial position of the human body supporting unit. 15. The relaxing apparatus according to claim 14, further comprising control means for returning the human body supporting means to the initial position when the swing is stopped by referring to the output of the initial position detecting means. 16. The relaxation device according to claim 1, further comprising fixing means for fixing the human body supporting means. 17. The power transmission section of the drive means includes a backlash prevention type reduction gear having an elastic body for pressing the gears together.
The relaxation device according to any one of the above items.