JP2001120619A - Massaging machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To recognize detected values β1 and β2 being accurately detected by a position detecting means 38 as position of the shoulder on controlling being a standard of massaging action in a massaging machine. SOLUTION: Detected value β1 and β2 detected by a position detecting means 38 in a process wherein a therapeutic element 26 moves upward from the lower side than the shoulder S are recognized as a shoulder position on control being a standard of massaging action.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a massage machine, and more particularly to a massage machine capable of detecting a position of a user's shoulder or the like.

[0002]

2. Description of the Related Art Conventionally, a massage mechanism is provided so as to be movable up and down with respect to a back portion of a chair.
2. Description of the Related Art A chair-type massage machine that performs massage such as massaging and tapping on a shoulder, a back, and a waist is known. Also,
By holding the movement and the operation form of the treatment element as a program in advance, an automatic treatment mechanism for automatically executing a series of massage operations (such as continuous operations such as massaging and tapping) based on the program is provided, or the automatic treatment is performed. Prior to this, there is also known an apparatus having a function of automatically changing a height at which a treatment element performs a massage operation according to a sitting height of a user.

[0003] For example, a chair-type massage machine described in Japanese Patent No. 2511451 discloses a method of performing a massage prior to performing an automatic treatment.
Once the treatment element is moved to the upper limit position, the treatment element is lowered and brought into contact with the user's shoulder. At this time, the position of the shoulder is recognized by the detection signal from the pressure sensor built into the treatment element. Is set as the origin of the massage operation, and a series of massage operations programmed upward or downward with respect to the origin are sequentially executed. Therefore, this massage machine automatically detects the position of the user's shoulder without the troublesome task of manually adjusting the position of the treatment element to his / her body or inputting his / her height and sitting height data. The massage operation could be performed according to the physique.

[0004]

When using a chair-type massage machine as described above, immediately after sitting on the chair, massage is started by operating an operation switch provided on an armrest or the like. Is normal, but immediately after sitting, it is often an unstable posture such as a shallow sitting or a back rising from the backrest,
In addition, the posture is often broken, for example, the back is bent due to the operation of the operation switch. On the other hand, in the above-mentioned conventional chair-type massage machine, the treatment element can be set in the “storage” state in which the treatment element is retracted to the upper limit position (above the head of the user) when not in use. In many cases, the massage is started from the state. In this case, when the massage is started by operating the operation switch, the treatment element descends without going through the ascending process to detect the shoulder position.

Therefore, if the shoulder position is detected by lowering the treatment element immediately after the user is seated, an accurate detection value cannot be obtained because the seating state is unstable, and an erroneous detection value cannot be obtained. There is a disadvantage that effective massage cannot be performed because the massage operation proceeds with the shoulder position as the origin. The present invention has been made in view of the above circumstances, and recognizes a detection value accurately detected by a position detection unit that detects a position of a specific part of a body as a position of a specific part in control. Thus, an object of the present invention is to provide a massage machine that can perform an effective massage according to the physique of a user.

[0006]

The present invention employs the following technical means to achieve the above object. That is, the present invention is a massage machine in which a treatment element for massaging a user's body is movably provided in the height direction along the body, and a position for detecting a position of a specific part of the body. Detecting means is provided, and a detection value detected by the position detecting means in a process in which the treatment element moves upward from below the specific part is recognized as a position of the specific part. It is.

In this case, for example, when the treatment element is moved upward along the body from the waist side to the shoulder, the back muscles are stretched by the "rubbing" action of the treatment element, and in particular, the waist portion is "rubbed". By operating, the posture is corrected so that the back comes into close contact with the backrest portion or the like. In addition, since the user's body adapts to the massage machine by the "rubbing" action, the body is naturally left to the massage machine, and the posture is stabilized. It is considered that the detection value detected by the position detecting means in the process of moving the treatment element upward indicates an accurate position of the specific part obtained in a state where the posture is corrected or in a stable state. Therefore, by recognizing the detected value as the position of the specific part in the control, the user's physique can be accurately determined.

[0008] Therefore, it is possible to prevent as much as possible the recognition of an erroneous detection value due to the collapse of the user's posture or the like as the position of the specific part, and a massage corresponding to the physique based on the accurate detection value. Can be performed effectively.
The present invention recognizes the detection value detected by the position detecting means in the process of moving upside down and moving upward after the treatment element has moved downward below the specific part as the position of the specific part. It is characterized by having made it. According to this, the posture of the user is more reliably corrected by the “rubbing” operation by the reciprocating movement of the treatment element,
Further, since the posture becomes more stable, the detection value obtained in the process of the upward movement becomes more accurate.

In the present invention, the first detection value detected by the position detecting means when the treatment element moves downward from the upper side of the specific part, and the treatment element moves upward from the lower side of the specific part is The second detection value detected by the position detection means is compared with the second detection value.
The method is characterized in that the second detection value is recognized as the position of the specific part. According to this, the detection value detected during the upward movement of the treatment element (second
In recognizing (detected value) as the position of a specific part,
The detection value (first detection value) detected during the downward movement of the treatment element is compared, and when the two detection values substantially match, the second detection value is recognized as the position of the specific part. I have.

That is, by imposing a predetermined condition on the second detection value, a highly reliable and accurate position can be recognized, and the second detection value obtained in the process of simply moving upward is obtained.
Compared to the case where the detected value is recognized as the position of the specific part,
The user's physique can be determined more accurately. The present invention performs the upward movement of the treatment element a plurality of times, detects the position of a specific part by the position detecting means in the process of each upward movement, and finally detects when the respective detected values substantially coincide with each other. The detected value is recognized as the position of the specific part.

According to this, by comparing a plurality of detection values obtained in the process of moving the treatment element upward a plurality of times, more reliable and accurate position recognition can be performed. When the values are almost the same, the posture is more reliably corrected by the "rubbing" action by multiple upward movements, and the last detected value obtained in a stable state is recognized as the position of the specific part Thus, the physique of the user can be more accurately determined.

[0012]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 4 shows a massage machine 1 according to the present invention. The massage machine 1 has a chair body (treatment table) having a seat surface portion 2 on which a user sits and a backrest portion 3 for supporting the back of the user. ) 4 is provided as a chair-type massage machine. The backrest portion 3 of the chair body 4 is provided with a moving machine frame 6 provided inside the backrest portion 3 so as to be movable in a height direction by a movement driving unit 5, and a massage mechanism 7 is provided for the moving machine frame 6. Have been. The front side of the massage mechanism 7 is covered with a flexible cover member 15 made of cloth, leather, or the like.

The chair body 4 has a footrest 8 in addition to the backrest portion 3 and the seating surface portion 2, and a leg 10 integrally provided with an elbow rest portion 9 on both left and right sides of the seating surface portion 2. Have been. The angle of the backrest 3 and the footrest 8 with respect to the seat 2 can be changed by an appropriate electric drive mechanism for reclining, a fluid pressure drive mechanism, a manual structure, or the like. The moving drive unit 5 includes a vertical feed screw shaft 11 rotatably provided around an axis along the height direction of the backrest 3 and a speed reducer for driving the vertical feed screw shaft 11 so as to be able to rotate forward and reverse. A vertical feed screw shaft 11 is screwed up and down to an appropriate position on the massage mechanism 7 or the moving device frame 6. As shown in FIGS. 2 and 3, the mobile device frame 6 includes upper and lower frame members 6B, 6A at upper and lower ends of left and right frame members 6A, 6A.
B, a left and right frame 6
A pair of upper and lower traveling rollers 13 are provided on the outer portions of the A and 6A, and the traveling rollers 13 are rotatably mounted on two guide rails 14 provided in the height direction in the backrest 3. ing. Thus, the massaging mechanism 7 is moved in the height direction to the neck side or the waist side along the back of the upper body of the user seated on the seat surface section 2 by the operation of the movement driving section 5.

The upper limit of the massage mechanism 7 is set at a position retracted above the head of the user, and the lower limit of the movement is set at a position below the waist. As shown in FIG. 1, an upper limit switch S1 and a lower limit switch S2 are provided at the upper limit position A1 and the lower limit position A2, respectively. Accordingly, when the massage mechanism 7 reaches the upper limit position A1 or the lower limit position A2 by moving up and down, signals from the upper or lower limit switches S1 and S2 are input to a control unit (not shown), and the massage mechanism Controls such as stopping or reversing the vertical movement of 7 are performed.

The vertical movement position (movement amount) of the massage mechanism 7 is detected by a vertical position detection unit (not shown). In this embodiment, the vertical position detection unit includes a vertical feed screw. The rotation number and rotation angle of the shaft 11 or the driving unit 12 are pulsed by a rotary encoder or the like, and the movement amount is detected by counting the number of pulses.
Note that the moving drive unit 5 can be replaced with a winding drive mechanism, a meshing structure of a rack and a pinion, a lifting / lowering drive structure using a fluid pressure cylinder, or the like. The position in the vertical direction can be replaced by appropriate means such as a configuration in which the position in the vertical direction is optically detected by a photoelectric sensor or the like.

The massage mechanism 7 includes a driving unit 20 having a kneading operation shaft 21 and a hitting operation shaft 22 protruding to the left and right sides, a driving unit 23 composed of an electric motor connected to the driving unit 20, A pair of drive arms 24 held in the left-right direction (width direction of the user's body) held by the operating shafts 21 and 22, support arms 25 connected to the distal end of each drive arm 24, and upper and lower ends of the support arms 25 The portion has a roller-shaped treatment element 26 rotatably attached via a support shaft 30 in the left-right direction.

The kneading operation shaft 21 and the hitting operation shaft 22
Are arranged so as to be parallel to each other in the left-right direction at intervals in the up-down direction. The output from the driving unit 23 is input to a transmission shaft in the drive unit 20 via a belt transmission mechanism or the like, and is transmitted to the kneading operation shaft 21 or the hitting operation shaft 22 via gears, clutches, and the like in the unit 20. It can be selectively driven to rotate. At both ends of the kneading motion shaft 21,
An inclined shaft portion 21a inclined so as to be eccentric and deviated with respect to the rotation axis is provided, and the rear end of the drive arm 24 is attached to the inclined shaft portion 21a via a bearing. ing.

The support arm 25 includes a first support portion 25a projecting obliquely forward and upward toward the user,
And a second support portion 25b projecting obliquely downward and forward at an obtuse angle with respect to the support portion 25a.
4 is rotatably connected to the front end via a left-right support shaft 24a around the axis. Further, a tension coil spring 27 is provided under the support shaft 24a between the support arm 25 and the drive arm 24, and elasticity is provided in a direction in which the upper side of the support arm 25 projects forward.

A space X (a triangular area surrounded by a dotted line in FIG. 1) open to the user is formed between the upper and lower portions of the first and second support portions 25a and 25b. When the child 26 is performing a massage operation,
Care is taken so that the support arm 25 does not contact the user's back, shoulder, and the like. At the left and right ends of the hitting operation shaft 22, eccentric shaft portions 22a eccentric in directions opposite to each other with respect to the rotation axis thereof are provided.
The lower end of the connecting rod 28 is swingably connected via a bearing, and the upper end of the connecting rod 28 is
Is swingably connected to the lower surface portion of the lens via a ball joint or the like.

With the above configuration, when the driving portion 23 rotates the kneading operation shaft 21, the inclined shaft portions 21a at both ends of the kneading operation shaft 21 move left and right such that the treatment elements 26 corresponding to the left and right move toward and away from each other. Is performed, thereby performing a kneading operation. When the hitting operation shaft 22 is rotationally driven, the drive arm 24 is reciprocated up and down through the connecting arm 28 by the eccentric shaft portions 22a at both ends thereof, and through the support arm 25 pivotally connected to the drive arm 24. The treatment element 26 performs a beating operation. When the massage mechanism 7 is moved up and down by the movement drive unit 5 in a state where the rotation of the kneading operation shaft 21 and the beating operation shaft 22 is stopped,
The treatment element 26 performs "rubbing" massage (rolling massage) while pressing the back of the upper body of the user.

The power from the driving unit 23 is selectively transmitted to the kneading operation shaft 21 and the hitting operation shaft 22 via a clutch in the drive unit 20. An individual and dedicated prime mover may be provided for 21 and 22. The massage machine 1 according to the present invention includes a position detecting means 38 for detecting a position of a specific part of a user's body, and uses a detection value accurately detected by the position detecting means 38 as a reference for a massage operation. The control unit has a function of recognizing the position of a specific part in the control.

That is, prior to starting the massage operation, the position of the specific part is detected by the position detecting means 38, and whether or not the detected value is appropriate is determined. Recognizes the detected value as the position of the specific part and performs massage based on the position so that effective massage according to the user's physique can be performed. Specifically, the position detecting means 38 of the present embodiment is configured to detect the position of the user's shoulder S as a specific part of the body, and moves the treatment element 26 (massage mechanism 7) in the vertical direction. And a detector 40 for detecting the shoulder S.

As the detector 40, a microswitch that is turned on and off by directly touching the shoulder S of the user is employed. Part 25a
The contact 40a protrudes into the space X between the first and second support portions 25a and 25b. Then, when the micro switch 40 is turned on by the contact of the shoulder S with the contact 40a, the moving position of the treatment element 26 at this time corresponds to the position of the shoulder S. , This treatment child 26
Is detected as a detection value.

The flow charts shown in FIGS. 5 to 7 show the procedure for detecting the position of a specific part by the position detecting means 38 and for determining the detected value. I will explain. First, as an initial state, the massage machine 1 is in a state in which the massage mechanism 7 is retracted to the upper limit position A1, and at this time, the pulse count is reset to 0 in the vertical position detection unit. Further, since the load from the user side is not applied to the treatment element 26, the upper treatment element 26 projects forward by the tension coil spring 27,
On the other hand, the lower treatment element 26 is retracted.

In this state, when the operation switch of the massage machine 1 is turned on (step 1), the massage mechanism 7 starts downward movement by the operation of the movement drive unit 5 (step 2). Massage mechanism 7
The counting of the moving position is started (step 3). When the upper one of the upper and lower treatment elements 26 approaches or comes into contact with the upper part of the shoulder S of the user by the downward movement of the massage mechanism 7, the shoulder S of the user moves into the space X below the first support portion 25a. And directly into the contact 40a of the microswitch 40 (substantially directly through the cover member 15).
As a result, the microswitch 40 is switched from off to on (the M2 state in FIG. 1 and the state in FIG. 2; step 4).

The position detecting means 38 detects a moving position of the massage mechanism 7 when the micro switch 40 is turned on as a detected value (first detected value) α1, and this detected value α1 is stored in a memory in the control unit. (Step 5). The first detection value α1 detected here is not recognized as a shoulder position in control as a reference of the massage operation, and a second detection value β described later.
It is detected as a reference value for use in comparison with 1. After detecting the first detection value α1, the massage mechanism 7 is moved downward until it reaches the lower limit position A2, and the upper body (back) of the user is “rubbed” by this downward movement. At this time, the upper treatment element 26 comes into contact with the back,
The support arm 25 swings upward, the shoulder S comes out of the space X, and the microswitch 40 is switched from on to off (state M3 in FIG. 1).

When the massage mechanism 7 reaches the lower limit position A2, the movement drive unit 5 performs a reverse rotation operation in response to a signal from the lower limit switch S1, and reverses the movement of the massage mechanism 7 up and down. In addition, as the massage mechanism 7 starts moving upward, the vertical position detector starts counting down the moving position (steps 6 to 8).
By the upward movement of the massage mechanism 7, the treatment element 26 massages the “back” again on the back, and when the treatment element 26 on the upper side moves up to a position where it comes off from the back, the lower treatment element 26 receives a push from the back. The support arm 25 swings downward by pressure and by the urging of the tension coil spring 27, and the upper treatment element 26 comes into contact with or approaches the upper part of the shoulder S.

At this time, when the shoulder S enters the space X again, it comes into contact with the contact 40a of the microswitch 40, and the microswitch 40 is switched from off to on (step 9).
Is a detection value (second detection value) of the movement position of the massage mechanism 7 when the microswitch 40 is turned on.
Detected as β1. Then, the second detection value β1 is
It is stored in a memory in the control unit (step 10). By the way, when the massager 26 reciprocates up and down and massages the back of the user by “rubbing”, the back muscles of the user are stretched. By moving upward along the body from the lower waist side, the posture is corrected so that the back is in close contact with the backrest 3 by the time the microswitch 40 detects the shoulder S.

Further, by performing the “rubbing” massage, the body of the user is adapted to the chair body 4.
The back leans naturally against the backrest 3, thereby stabilizing the posture. Therefore, since the second detection value β1 is detected in a state where the posture is corrected or in a stable state, the second detection value β1 indicates a more accurate shoulder position than the first detection value α1 detected earlier. Conceivable. Here, by recognizing the second detection value β1 as a control shoulder position serving as a reference for the massage operation,
Although the physique of the user can be determined more accurately than in the past, in the present invention, in order to further increase the reliability, a determination is made to compare the two detected values α1 and β1, and both the values α1 and β1 are determined. Are substantially matched, control is performed to recognize the second detection value β1, which is considered to be more accurate, as the shoulder position (decision 1, step 11).

Thus, a more accurate shoulder position can be obtained, and by performing a massage operation based on this position, a more effective massage according to the user's physique can be performed. Note that the fact that the first and second detection values α1 and β1 substantially match means that both α1 and β1
This refers to a state where the second detection value β1 is within a predetermined range including the first detection value α1 (approximate state), as well as a state where 1,1 and β1 completely match. Specifically, in the present embodiment, the value of the second detection value β1 is ± 5P of the first detection value α1.
In the case of (P = number of pulses), the determination is made assuming that the first and second detection values α1 and β1 substantially match.

However, this comparison range is not limited to the above and can be changed as appropriate. Further, it is determined whether the first detection value α1 is within a predetermined range including the second detection value β1. The determination may be made. First and second detection values α
In the case where 1,1 and β1 substantially coincide with each other, the second detection value β1 is recognized as a control shoulder position serving as a reference of the massage operation, and the massage operation based on the shoulder position β1 is started, and the detection of the shoulder position is performed. End the determination process (Step 1
2).

If the first and second detection values α1 and β1 do not substantially coincide with each other, that is, if the position of the shoulder S cannot be determined in the determination 1, in the present embodiment, the above operation is repeatedly performed. The detection and determination of the shoulder position are performed again. That is, after detecting the second detection value β1, the pulse count in the vertical position detector is reset to 0 again by raising the massage mechanism 7 to the upper limit position A1 (steps 13 and 14). The downward movement of the massage mechanism 7 is started by the reverse rotation operation, and the counting of the movement position is started in the vertical position detection unit (steps 15 and 16).

The first operation is performed by the same operation as described above.
The detected value α2 is detected and stored in the memory (steps 17 and 18), and the back of the user is “rubbed” from top to bottom by the treatment element 26. When the massage mechanism 7 reaches the lower limit position A2, the signal from the lower limit switch S1 causes the movement drive unit 5 to perform a reverse rotation operation, invert the massage mechanism 7 up and down, and start moving upward. Also,
The vertical position detector starts counting down the moving position (steps 19 to 21).

In the course of the massager 26 “rubbing” the waist and back from bottom to top, the position detecting means 3
8, the second detection value β2 is detected, and the second detection value β2
2 is stored in the memory (steps 22 and 23). Next, whether the first and second detection values α2 and β2 substantially match,
That is, it is determined whether or not the second detection value β2 is within a predetermined range including the first detection value α2 (determination 2), and when they substantially match, the second detection value β2 is recognized as a shoulder position. , Start a massage operation based on the position (step 2)
4, 25).

In this determination 2, the value of the second detection value β2 is ± 5P of the first detection value α1,
When it is within the range of (P = number of pulses), the first and second detection values α1 and β1 are assumed to substantially match, but the present invention is not limited to this condition. . First and second detection values α2,
When β2 does not substantially match, that is, when the shoulder position cannot be determined, the first second detection value β1 detected in the process of moving the massage mechanism 7 upward and the second (last) second detection value β1 The detected value β2 is compared with the detected value β2 (judgment 3), and when they substantially match, the last second detected value β2 is recognized as the shoulder position (step 26).

Here, the second detection values β1 and β2 detected during the upward movement of the massage mechanism 7 are detected in a state where the posture is corrected or in a stable state, as described above. Since it is considered highly likely that an accurate shoulder position is indicated, if these two detected values β1 and β2 are compared with each other, the two detected values β
1, β2 can be determined to indicate an almost accurate position of the shoulder S. Then, the second detection value β2 of the second detection, which is more reliably corrected or detected in a stable state by the vertical movement of the treatment element 25 a plurality of times, is determined by the shoulder S.
By recognizing the position of the user, the user's physique can be determined more accurately.

In the present embodiment, the determination 3 is for determining whether or not the last second detection value β2 is within a predetermined range including the first second detection value β1. , The last second detection value β2 is ± 5P of the first second detection value β1.
(P = number of pulses) is determined. However, this condition is not particularly limited and can be changed as appropriate. As described above, in the present invention, instead of the first detection values α1 and α2 obtained in the process of the downward movement of the treatment element 26, the accurate second detection values obtained in the process of the upward movement are obtained.
By recognizing the detected values β1 and β2 as the position of the shoulder S in the control, the user's physique can be accurately determined and effective massage can be performed.

In the determination 3, when the first second detection value β1 and the last second detection value β2 do not substantially match, that is, when the shoulder position cannot be recognized, in this embodiment, The shoulder position data γ1 is calculated by applying the detected values α1, β1, α2, β2 to a predetermined arithmetic expression (step 27). As a method of calculating the shoulder position data γ1, for example, each detection value α
A method of taking the average value of 1, β1, α2, β2 (Equation 1),
For each detection value α1, β1, α2, β2, the order considered to be accurate (β2-β1-α2-α1, or β2-β1
“Weight” (δ1 to δ) that is larger in the order of α2−β1−α1
4), a method of dividing the sum by the sum of “weights” (Equation 2), or the like, or other statistical methods may be employed as appropriate.

After calculating the shoulder position data γ1, the massage operation is started based on the shoulder position data γ1 (step 28), and the shoulder position detection process ends. 8 to 15 show other embodiments relating to the position detecting means 38. FIG. In particular, the one shown in FIGS. 8 to 10 uses a contact-type sensor such as a microswitch as the detector 40 of the position detecting means 38 as in the above-described embodiment. Or, the configuration is different. The detector 40 shown in FIGS. 11 to 15 detects the load that the treatment element 26 receives from the body of the user, and the detector 40 (40A) shown in FIG.
-40D) uses a non-contact type sensor.

Hereinafter, each embodiment will be described in detail. In the embodiment shown in FIG. 8, the microswitch 40 is provided corresponding to the treatment element 26 on the upper side of the support arm 25. The base end of the support shaft 30 having a horizontal axis in the long hole 45 is attached to the mounting member 4.
6 is attached. This mounting member 46 is
A cylindrical portion 46a that is vertically movably inserted into the long hole 45.
And flange portions 46b formed at both ends of the cylindrical portion 46a. The flange portions 46b prevent the elongated holes 45 from falling off.

At the upper end of the support arm 25, a microswitch 40 with the contact 40a facing downward is attached, and at the upper end of the flange 46b, a contact piece 46c capable of contacting the contact 40a is provided. It is provided. In the center of the treatment element 26, a boss body 31 having a cylindrical portion 31a rotatably fitted on the support shaft 30, and a flange portion 31b sandwiching the treatment element 26 on both left and right sides of the cylindrical portion 31a. Further, a mounting nut 32 for stopping the treatment element 26 is screwed to a tip of the support shaft 30 via a washer or the like.

In the above configuration, when the treatment element 26 is moved downward from the user's head side, when the treatment element 26 is on the upper surface of the shoulder S, it moves upward along the elongated hole 45 and 46c is in contact with the contact 40a and
Turn on. Therefore, the movement position of the treatment element 26 when the microswitch 40 is turned on indicates the shoulder position, and the position detection means 38 determines this position as the first detection value α.
1, α2. Further, when the treatment element 26 is moved upward from the waist side, the treatment element 26 is in a state in which the treatment element 26 has moved to the lower side of the long hole 45 due to resistance or own weight received from the back,
The microswitch 40 is turned off, but when the shoulder S enters the lower side of the treatment element 26, the treatment element 26 is lifted, and the contact piece 46c contacts the contact 40a to turn on the microswitch 40. Therefore, when the microswitch 40 is turned on, the moving position of the treatment element 26 is the shoulder S.
And this position is referred to as the second detection value β1,
It is designed to be detected as β2.

In the embodiment shown in FIG.
The first support portion 25a and the second support portion 25b are divided above the support shaft 24a, and the two are connected by a connection shaft 50 so as to be rotatable around the left and right axes. Further, a tension coil spring 49 is provided on the front side of each of the support portions 25a and 25b, and is urged in the direction of rotating to the front side, and the rotation is regulated at a predetermined position by the stopper member 47. I have. And the second
A microswitch 40 with the contact 40a facing upward is mounted on the rear side of the upper end of the support portion 25b, and a contact piece 48 capable of contacting the contact 40a is mounted on the rear side of the lower end of the first support portion 25a. It is formed integrally.

With this configuration, when the upper and lower treatment elements 26 receive a load from the user's body in the process of moving upward or downward, the first and second support portions 25 are moved.
The a and 25b rotate rearward each other against the tension coil spring, and the contact piece abuts on the contact 40a to turn on the microswitch 40. Conversely, when one of the treatment elements 26 is detached from the body (the upper treatment element 26 is detached from the shoulder), the first support portion 25a is rotated forward by the bias of the tension coil spring 49, and the microswitch 40 is turned off. It has become.

Therefore, in the process of moving the treatment element 26 downward, when the microswitch 40 is switched from off to on, in the process of moving upward, the movement position of the treatment element 26 when switching from on to off is changed to the shoulder S. And the position detecting means 38 detects this position as the first and second detection values α1, α2, β1, β2. In FIG. 10, a contact type sensor 40 is built in between the upper treatment element 26 and its support shaft 30, and a cylindrical slip collar 63 is provided on the inner periphery of the treatment element 26. Are fitted, and the slip collar 63
Are fitted to the boss 64 externally. The boss body 64 is formed of a synthetic resin material or the like, and includes an inner cylindrical body 64a into which the support shaft 30 is inserted, and an inner cylindrical body 6a.
A plurality of elastic plates 64 radially protruding from the outer peripheral portion of 4a
b and an outer cylindrical body 64 connected to an outer end of the elastic plate 64b.
c on the outer peripheral surface of the outer cylindrical body 64c.
A ridge 64d is formed, and the slip collar 63 is fitted around the outer periphery of the ridge 64d so as to be rotatable around its axis.

The elastic plate 64 has an arcuate blade shape in a side view. When a load perpendicular to the axial direction is applied to the treatment element 26, the elastic plate 64b is elastically deformed. The space between the cylindrical body 64a and the outer cylindrical body 64c can be made close to and separated from each other, and the inner and outer cylindrical bodies 64a and 64c can be held coaxially by elastic return in the state where there is no load. The sensor 40 has an inner electrode 40a fitted on the outer periphery of the inner cylinder 64a and an outer electrode 40b fitted on the inner periphery of the outer cylinder 64c.
0b are formed in a comb shape so that they can be inserted between the respective elastic plates 64b, and the inner or outer electrodes 40a, 40b
b has a contact 40c protruding in the facing direction at the tip end.

The support shaft 30 is formed in the shape of a square such as a hexagon, and the inside of the inner cylinder 64a is
The boss 64 and the sensor 40 around the support shaft 30 are prevented from rotating. The treatment element 2 is provided at the tip of the support shaft 30.
6. A holding plate 65, such as a boss body 64, for preventing the removal is fixed by the mounting nut 32. In the present embodiment, when the upper treatment element 26 receives a load from the body of the user in the process of moving upward or downward, the inner cylindrical body 64.
a and the space between the outer cylindrical body 64c are partially reduced, and the contact 40c formed on the inner or outer electrode 40a contacts the other electrode 40b, and the sensor 40 is turned on. Conversely, when the upper treatment element 26 comes off the body, the sensor 40 is turned off by the elastic return of the elastic plate 64b.

Therefore, during the downward movement of the treatment element 26, when the sensor 40 is switched from off to on,
In the upward movement process, the movement position of the treatment element 26 at the time of switching from ON to OFF indicates the position of the shoulder S, and the position detection means 38 determines this position as the first and second detection values α1, α2, β1 and β2 are detected. The embodiment shown in FIGS.
5 and a treatment element 26 provided above the support arm 25
A detector (pressure sensor) 40 for detecting the load in the left-right direction applied to the treatment element 26 is provided between the left and right of the treatment element 26.

In FIGS. 12 and 13 showing the mounting structure of the treatment element 26, a support shaft 30 provided on the support arm 25 is shown.
The boss body 31 of the treatment element 26 is rotatably fitted in the
The outer peripheral surface of the treatment element 26 is formed as an arc-shaped inclined surface 26a that moves radially inward toward the left and right inward sides. As the detector 40, for example, FIG.
As shown in (b), a pressure-sensitive conductive elastomer 4 in which conductive particles are blended with an elastic material such as rubber as an insulator.
0a is applied between a pair of electrodes 40b, and a pressure (pressure-sensitive) sensor is used.
Is formed in a donut disk shape so as to fit over the support shaft 30 between the support arm 25 and the boss body 31 of the treatment element 26, and the left and right outer surfaces thereof are in contact with the left and right inner surfaces of the support arm 25. Has become.

The left and right inner surfaces of the pressure sensor 40 are:
While being covered by the donut disk type cover plate 36,
The left and right inner side surfaces of the cover plate 36 are in contact with the boss body 31. A plurality of detent projections 42 project from the outer surface of the cover plate 36, and are inserted through insertion holes 43 formed in the support arm 25 movably in the axial direction of the support shaft 30. Thereby, the cover plate 36 can press the pressure sensor 40 to the left and right outside in a state where the rotation about the support shaft 30 is restricted. The cover plate 36 is provided with a pressure sensor 40.
Not only does it have a function as a pressing member that presses, but also has a function as a protective member that prevents direct contact between the rotating treatment element 26 and the pressure sensor 40 to prevent wear and the like of the pressure sensor 40. .

Between the boss body 31 and the washer 32a, spacer members 35, 4 for maintaining a space therebetween are provided.
1 is provided so as to be fitted on the support shaft 30. The spacer members 35 and 41 include a first member 35 formed in a donut disk shape from a synthetic resin material such as polyethylene, and a second member 41 formed from an elastic material such as polyethylene rubber or sponge rubber. The left and right inner side surfaces of the first member 35 come into contact with the boss body 31. Second member 41
Is compressed in the axial direction by tightening the mounting nut 32 on the support shaft 30, and presses the pressure sensor 40 via the first member 35, the boss body 31 and the cover plate 36 by the elastic restoring force. It is like
Accordingly, pressure is applied to the pressure sensor 40 in advance even when the treatment element 26 is not receiving an external force in the left-right direction.

The first member 35 and the cover plate 36 are
It is preferable that the support shaft 30 of the treatment element 26 be made of a material having a small frictional resistance, or to have a structure in which at least a contact surface with the boss body 31 is subjected to a low friction treatment.
Around rotation can be performed smoothly. With the above configuration, when the treatment element 26 is moved downward from the head side, when the treatment element 26 comes into contact with the upper surface of the shoulder S, the load F is applied to the treatment element 26 as a reaction force of the pressing force acting on the shoulder S. Granted.

The load F mainly has a vertical component. Since the treatment element 26 is supported in a cantilever manner on the left and right outer sides, a moment indicated by an arrow M is generated. Furthermore, the moment M causes the support shaft 30
A force is generated such that the upper side of the treatment element 26 is inclined right and left outward through a gap or the like with the boss body 31. The load F is substantially as shown by a two-dot chain line due to factors such as an inclined surface 26a on the outer periphery of the treatment element 26 and a slight inclination applied to the support shaft 30 and elastic deformation of the treatment element 26 itself. This includes a left-right component that presses the treatment element 26 left and right outward.

The force for tilting the treatment element 26 and the force for pressing the treatment element 26 to the left and right are detected by the pressure sensor 40 via the cover plate 36, and the movement position of the massage mechanism 7 (treatment element 26) when the force is detected. Indicates the user's shoulder position, the position detecting means 38 detects this position as the first detection values α1, α2. Further, when the treatment element 26 is moved upward from the waist side, the load received by the treatment element 26 from the back or the like is detected by the pressure sensor 40,
When the treatment element 26 comes off from the shoulder S, the load on the treatment element 26 is not detected by the pressure sensor 40.

Therefore, the moving position of the treatment element 26 when the load is no longer detected indicates the shoulder position, and the position detecting means 38 detects this position as the second detected values β1, β2. I have. As mentioned above,
By applying pressure to the pressure sensor 40 in advance, it is possible to prevent the accuracy of detecting the load in the left and right direction received by the treatment element 26 due to backlash or the like between the support arm 25 and the treatment element 26 to be prevented. As a result, accurate pressure detection and shoulder position detection can be performed.

In the present embodiment, the pressure sensor 40
Is a donut type and is disposed around the entire circumference of the support shaft 30, but the pressure sensor 40 may be partially provided below or above the support shaft 30. FIG.
4 shows a treatment element 26 on the upper side of the support arm 25.
An axial groove 51 is formed in the upper surface portion of the support shaft 30 that supports the support shaft 30, and a strain sensor as the detector 40 is provided in the groove 51. Thirty strains are detected by a strain sensor 40.

Therefore, while the treatment element 26 is in contact with the shoulder S and the back and is receiving a load, the load is detected by the strain sensor 40, and when the treatment element 26 comes off from the shoulder S, the load is reduced. Since the detection is not performed, the position of the treatment element 26 at the time of switching the presence or absence of the load indicates the position of the shoulder S, and the position detection unit 38 detects this position as the detection value α1, α2, β1, β2. It has become. Note that the strain sensor 40 as described above may be provided on the side surface of the support arm 25 as shown by a two-dot chain line.

In FIG. 15, the treatment element 26 is formed of a hollow elastic material, and a passage 52 penetrating in the axial direction is formed inside the support shaft 30.
A communication tube 53 formed integrally with the treatment element 26 is connected in a sealed state, and the hollow portion 54 in the treatment element 26 and the passage 52 communicate with each other through the communication tube 53. . One end of a hose 55 is connected to the proximal end of the passage 52, and the other end of the hose 55 is connected to a pressure sensor as the detector 40 that detects the air pressure in the hollow portion 54.

With such a structure, the treatment element 26 is
When the load comes into contact with the back and receives a load, the air pressure in the hollow portion 54 increases, and when the treatment element 26 comes off the shoulder S, the air pressure in the hollow portion 54 decreases. The vertical position of the child 26 indicates the shoulder position, and the position detecting means 38 determines this position as the detected value α1, α
2, β1, β2. The position detecting means 38 shown in FIG. 11 to FIG.
It is also possible to detect not only the position of the shoulder S but also the position of the waist and the like by detecting the pressure at 0 and obtaining the pressure distribution in the vertical direction and analyzing the pressure distribution.

FIG. 16 shows a plurality of examples in which a non-contact sensor is used as the detector 40. The detector indicated by 40A is constituted by a pyroelectric infrared sensor that detects infrared rays emitted by heat from a user and a reflective ultrasonic sensor that receives reflected waves of ultrasonic waves radiated toward the body. It is mounted eccentrically on one of the left and right sides of the mobile device frame 6 so as to pass vertically on the rear side of the shoulder of the user. According to this, by moving the massage mechanism 7 upward or downward, when the detector 40A is located on the back side of the body, heat or reflected waves from the body are detected, and the detector 40A is located above the shoulder. , No heat or reflected wave is detected.

Therefore, the vertical position of the massage mechanism 7 when the presence or absence of the detection of heat or reflected waves is switched corresponds to the position of the shoulder S, and the position detecting means 38
This position is detected as detection values α1, α2, β1, β2. The detector denoted by reference numeral 40B is a light-receiving type optical sensor, which is eccentrically attached to one of the left and right sides of the upper part of the mobile device frame 6 so as to pass up and down the rear side of the shoulder of the user. I have. In addition, the cover member 15 provided on the backrest 3 receives light from the outside on the backrest 3.
A large number of slits 58 are formed in the vertical direction so that they can be taken in.

According to this, by moving the massage mechanism 7 upward or downward, when the detector 40B is located on the back side of the body, light from the outside is blocked by the body, and the detector 40B is located above the shoulder. When in the upper position, the light that has entered the backrest 3 through the slit 58 is detected by the detector 40B.
Therefore, the movement position of the massage mechanism 7 when the presence or absence of the detection of the external light is switched indicates the position of the shoulder S, and the position detection means 38 determines this position as the detection value α1,
It can be detected as α2, β1, β2.

The detector denoted by 40C is a proximity sensor for detecting the marker 60 attached to a specific part of the body. The proximity sensor 40C is designed to be as close to the user's body as possible. It is attached to the upper end side surface of the support arm 25. As the proximity sensor 40C,
A magnetic sensor for detecting the magnetism of the marker 60 constituted by a magnet or the like, a high-frequency coil antenna type sensor for detecting the marker 60 constituted by a dielectric coil sheet, or the like is used. According to this, since the vertical position of the massage mechanism 7 when the detector 40C detects the marker 60 indicates the position of the specific part, the position detecting means 38 determines this position as the detected value α1. , Α
2, β1, β2.

In this embodiment, by changing the part to which the marker 60 is attached, the specific part can be changed freely, and the position of not only the shoulder S but also the back, the waist, etc. can be detected. . The detector indicated by 40D is a transmissive photoelectric sensor including a light emitting device D1 and a light receiving device D2, and the light emitting device D1 and the light receiving device D1 face each other in the left-right direction so as to sandwich the user's body from left and right. It is provided on the mobile device frame 6 in a state where it is in a state where it is in a state where it is in a state where it is in a state of being removed. According to this configuration,
When the photoelectric sensor 40D is located on the side of the user's neck, light passes through the recessed portion of the back of the neck to turn on, and when the photoelectric sensor 40D is located on the side of the portion below the shoulder, light is emitted by the body. Is shut off and becomes off. Therefore, the position of the massage mechanism 7 when the on / off of the photoelectric sensor 40D is switched corresponds to the position of the shoulder S, and the position detecting means 38 detects this position as the detection values α1, α2, β1, β2. It has become.

The present invention is not limited to the above embodiment, but can be appropriately designed and changed. For example, in the flowcharts shown in FIGS. 5 to 7, the process of detecting the first and second detection values and comparing and judging the both is performed twice, but may be repeated three or more times. In this case, the judgment 3 is
It may be determined whether or not the three or more second detection values substantially match. Alternatively, by detecting only a plurality of second detection values without detecting the first detection value, the determinations 1 and 2 may be omitted, and the position of the specific portion may be determined by the determination 3.

The detector is not limited to those described in the above embodiments, but can be changed as appropriate. The driving mechanism of the treatment element is, for example, a support arm and a treatment element which are expanded and contracted by air supply and exhaust. It can be replaced with something that drives a child. The massage machine is not limited to the chair type and can be changed to another form.

[0067]

As described above in detail, according to the present invention, the detection value accurately detected by the position detecting means is recognized as the control position of the specific part, thereby obtaining an effect corresponding to the user's physique. You will be able to perform a traditional massage.

[Brief description of the drawings]

FIG. 1 is a principle diagram for detecting a position of a shoulder according to an embodiment of the present invention.

FIG. 2 is a side view of a massage mechanism.

FIG. 3 is a perspective view of a massage mechanism.

FIG. 4 is an overall perspective view of the massage machine.

FIG. 5 is a flowchart showing a procedure for detecting and determining a shoulder position.

FIG. 6 is a flowchart showing a procedure for detecting and determining a shoulder position.

FIG. 7 is a flowchart showing a procedure for detecting and determining a shoulder position.

FIG. 8 is a front sectional view showing another embodiment of the position detecting means.

FIG. 9 is a side view showing another embodiment of the position detecting means.

10A is a front sectional view showing another embodiment of the position detecting means (detector), and FIG. 10B is an exploded perspective view.

FIG. 11 is a side view showing another embodiment of the position detecting means (detector).

12 is a front sectional view of the position detecting means (detector) shown in FIG.

13A is an exploded perspective view of the position detecting means shown in FIG. 11, and FIG. 13B is an exploded perspective view of the detector.

FIG. 14 is a front sectional view showing another embodiment of the position detecting means (detector).

FIG. 15 is a front sectional view showing another embodiment of the position detecting means (detector).

FIG. 16 is a front view showing another embodiment of the position detecting means (detector).

[Explanation of symbols]

 Reference Signs List 1 massager 26 treatment element 38 position detection means 40 detector α1 detection value (first detection value) α2 detection value (first detection value) β1 detection value (second detection value) β2 detection value (second detection value)

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 4C100 AD11 AD21 BA01 BA03 BA10 BB03 CA06 DA04 DA05 DA06 EA12 EA13

Claims (4)

[Claims] 1. A massage machine in which a treatment element (26) for massaging a body of a user is provided so as to be movable in a height direction along the body, and a position of a specific part (S) of the body is determined. A position detecting means (38) for detecting, and a detection value (β1) detected by the position detecting means (38) while the treatment element (26) moves upward from below the specific portion (S). , Β2) with the specific site (S)
A massage machine characterized in that it is recognized as a position. 2. The detection value (38) detected by the position detecting means (38) in a process in which the treatment element (26) moves downward below the specific portion (S) and then moves upside down. β1, β2) by the specific site (S)
The massage machine according to claim 1, wherein the massager is recognized as a position. 3. A first detection value (α1, α1) detected by the position detecting means (38) while the treatment element (26) moves downward from above the specific portion (S).
2) is compared with the second detection value (β1, β2) detected by the position detection means (38) in the process of moving upward from the lower side of the specific portion (S). 2. The massage machine according to claim 1, wherein the second detection value (β1, β2) is recognized as a position of the specific portion (S). 4. The upward movement of the treatment element (26) is performed a plurality of times, and the position of the specific portion (S) is detected by the position detecting means (38) during each upward movement.
2. The method according to claim 1, wherein when the respective detected values (.beta.1, .beta.2) substantially match, the last detected value (.beta.2) is recognized as the position of the specific portion (S). Massage machine.