JP2001149436A - Massage machine - Google Patents

Abstract

(57) [Summary] [PROBLEMS] To provide a massage machine capable of performing a variety of massages. A treatment element is provided at a distal end of an L-shaped treatment element arm. The base end of one treatment element arm on each side is the first
The rotary shaft is rotatably supported via an inclined sleeve.
One end of a link rotatably supported by the second rotation shaft is rotatably supported by a shaft portion of an operating arm of the treatment element arm. The bracket provided with the second rotation axis is rotatably supported about the third rotation axis. By rotating the third rotation axis, the bracket is rotated forward and backward,
The type and number of the treatment elements that come into contact with the body are switched, or acupressure operation is performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a massager for performing massage by driving a plurality of treatment elements.

[0002]

2. Description of the Related Art Conventionally, as this type of massage machine,
For example, Japanese Patent Publication No. 1-49496 discloses a technique in which an arm provided with a pair of treatment elements is swung around a main shaft to perform massage, and the strength is changed by changing an angle of the arm around the main shaft. Has been described.

In addition, Japanese Utility Model Application Laid-Open No. 56-125232 discloses that
A pair of fir wheels are attached to the first rotary shaft in an inclined and eccentric manner, and a pair of fir wheels are provided at the tip of an arm that is swingably mounted on the first rotary shaft via an eccentric cam disk.
There is disclosed a massage machine in which the tip of a lever that is swingably attached to a rotating shaft via an eccentric cam disk is pivotally supported in the middle of the arm. In this massage machine, the second
By changing the rotation angle of the eccentric cam disk attached to the rotary shaft, the amount of projection of the fir attached to the arm via the lever is changed, and only a pair of fir wheels or a pair of fir wheels and a pair of fir Are brought into contact with the human body.

Japanese Patent Publication No. 61-44027 has a pair of wheels mounted eccentrically on a main shaft and side lifting rollers, and the strength of the wheels is adjusted by rotating the main shaft to change the amount of protrusion of the wheels. In addition, there is disclosed a massage machine in which only the wheel body or both the wheel body and the side elevating roller contact the human body.

[0005]

However, in the case of the above-described prior art, the following problems have occurred.

[0006] The direction of operation of the tapping stimulus on the human body is constant, and the stimulus is monotonous. The difference between stimuli is small because fir and tapping are realized by the same treatment element. The stimulus of acupressure cannot be realized.

[0007] The present invention has been made to solve the above-mentioned problems of the prior art, and an object of the present invention is to provide a massage machine capable of performing a variety of massages.

[0008]

In order to achieve the above object, the present invention provides a first rotating shaft and a pair of left and right eccentrically or inclinedly mounted on the outer periphery of the first rotating shaft. An arm arranged two by two, a treatment element attached to the arm, a second rotation axis provided in parallel with the first rotation axis, and a second rotation axis attached to the second rotation axis; A pair of eccentric members whose eccentric directions with respect to the axis of the rotation shaft are opposite to each other, and one end rotatably mounted on the outer periphery of the eccentric member and the other end rotatably mounted on each of the arms; And a member.

Further, each of the pair of eccentric members is
It has two eccentric portions having different eccentric positions at different phases, and each of the link members connected to each of the arms is rotatably connected to each of the eccentric portions.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a side view showing a schematic configuration of a massage machine 100 according to an embodiment of the present invention, in which a side surface of a backrest portion 101 is partially removed. Figure 2 shows the massage mechanism 1
FIG. 3 is a perspective view showing an internal configuration of the device.

The massage machine 100 has a massage mechanism 1 incorporated in a backrest 101 of a reclining free chair. A massager 21 protrudes from the massage mechanism toward the surface of the backrest to massage the human body.

The massage mechanism 1 is supported along a backrest 101 by a pair of rails 80 having a U-shaped cross section arranged so that the openings face each other.

FIG. 3 is a perspective view of the entire massage mechanism including the housing 7. FIG. 4 is a front view of the same.

An elevating pinion 82 and an elevating roller 83 project from both sides of the housing. Lifting pinion 82
Engages with a rack provided inside the rail 80. By transmitting the rotation of an elevating motor 88 (not shown) to a gear provided on a rotating shaft, rotating the elevating pinion 82 and rolling the elevating roller 83 along the rail 80, the massage mechanism 1 is moved to the backrest 101. Go up and down along with massage the neck, shoulders, back and waist. A disc-shaped elevating position detecting plate 84 having a plurality of slits on the periphery is attached to the rotating shaft 80, and an elevating position detecting sensor 85 (photo interrupter) attached to the housing 7 as the rotating shaft 80 rotates. ) To open and close the optical path. The elevating position detecting sensor 85 is an elevating position detecting plate 8.
The ascending / descending position is detected by counting the number of opening / closing of the optical path by 4. Here, an ascending and descending upper limit sensor 86 and an ascending and descending limit sensor 87 for detecting a limit position are provided on the rail 80.

FIG. 5 is a front view of the massage mechanism 1 including the fir drive unit 3, the beating drive unit 4 and the angle adjusting means 6, and FIG. 6 is a perspective view of the main part of the massage mechanism including the treatment element 21. FIG. 7A is a side view showing a support structure of the treatment element arm 22 and the link 49 with respect to the first rotation shaft 36 and the second rotation shaft 46, and FIG. 7B is a diagram showing attachment of the inclined sleeve 37 to the first rotation shaft 36. Diagram showing the structure, FIG.
(C) is a diagram showing a mounting structure of the eccentric sleeve 47 to the second rotation shaft 46.

With respect to the first rotating shaft 36, two pairs of upper and lower, a total of 4
The individual treatment elements 21 are supported. The treatment element is a treatment element arm 2 formed at one branch portion of the substantially L-shaped member.
2 is rotatably supported at its tip. Treatment arm 2
2 are mounted on the left and right sides of the first rotating shaft 36, respectively. On each of the left and right sides of the first rotating shaft 36, two cylindrical inclined sleeves 37 are fixed to be inclined with respect to the axial direction, respectively. The inclination of each of the two left and right inclined sleeves 37 with respect to the axial direction is set so as to be left-right symmetric. A bearing case 39 provided integrally with the base of the treatment element arm 22 via a bearing 38 is rotatably fitted on the outer periphery of the inclined sleeve 37.
The other branch of the substantially L-shaped member forms an operating arm 24,
One end of a link 49 is supported by the operation arm 24 so as to be swingable in a direction orthogonal to the first rotation axis. The substantially L-shaped members on either side are supported such that the outer member branches downward, and the inner member is supported such that the inner member branches upward.

On the back side of the first rotating shaft 36, a second rotating shaft 46 parallel to the first rotating shaft 36 is provided. A cylindrical eccentric sleeve 47 eccentric in the radial direction is fixed at a position corresponding to the inclined sleeves 37 on both left and right sides of the second rotating shaft 46. The left and right eccentric sleeves 47 are mounted so as to be eccentric with respect to the second rotation shaft 46 in directions opposite to each other. Each of the eccentric sleeves 47 is attached to each of the treatment element arms 22.
A part 4 so as to support a link 49 connected to
7A and B portion 47B, and as shown in FIG. 8, the two adjacent portions A portion 47A and B portion 47B
The phase of the eccentricity with respect to the rotation shaft 46 is different. An annular base end 49a of a link 49 is fitted on the outer periphery of the eccentric sleeve 47 via a bearing, and the link 49
It is supported eccentrically rotatable with respect to the rotation shaft 46. A rod 49 b is supported by a base end 49 a of the link 49 so as to be swingable in the axial direction of the second rotation shaft 46.

FIG. 9 shows a first rotating shaft 36 and a second rotating shaft 46.
It is a perspective view which shows the support structure of FIG.

As shown in FIG. 9, the first rotating shaft 36 is rotatably supported via plate bearings 52 on plate-like supports 51 attached to the left and right sides of the housing 7. The second rotating shaft 46 is inserted through holes formed in both arms 541 and 542 of the U-shaped bracket 54 so as to cross the opening, and is rotatably supported by the bracket 54 via bearings 52 and 52. Have been. The bracket 54 has an opening on the front side, a third rotation shaft 658 protruding outward on both ends of the open ends of the arms 541 and 542, and the second rotation shaft 46 is supported on the back of the arms. The third rotating shaft 658 is formed integrally with the bracket 54, and is rotatably supported by the columns 51, 51 via bearings 52, 52.

FIG. 10 is a side view of the fir driving unit 3. FIG. 11 is a perspective view showing a partially omitted internal configuration of the speed reduction mechanism 35 of the fir drive unit.

The speed reduction mechanism 35 is fixedly supported on the housing 7 of the massage mechanism 1 by a plate-shaped support member 358. A small pulley 32 is provided at an end of a drive shaft 310 protruding from the motor 31, and a large pulley 34 is attached to a rotary shaft 350 protruding from the support member 358 in parallel with the drive shaft. Is wound around the belt 33. In the housing 7, the rotating shaft 350 to which the large pulley 34 is attached is a bearing 3.
A worm gear 351 is formed on the outer periphery while being rotatably supported by 52 and 352. The worm 351 is a worm wheel 353 stored in a gear case 354 (the gear case is partially omitted).
Is engaged. And the worm wheel 353 is
It meshes with a gear 355 attached to the outer periphery of the end of the first rotating shaft 36 outside the column 51. Accordingly, the rotation of the drive shaft 310 of the motor 31 is transmitted to the first rotating shaft 36 while reducing the speed in the order of the small pulley 32 → the belt 33 → the large pulley 34 → the rotating shaft 350 → the worm gear 351 → the worm wheel 353 → the gear 355. Is done.

FIG. 12 is a perspective view showing the structure of the driving unit 4.

At the lower left side of the housing 7 of the massage mechanism 1, a tapping drive unit 4 is arranged. The tapping motor 41 uses the support plates 411 and 411 to move the massage mechanism 1.
Is fixedly supported by the housing 7. The small pulley 43 is attached to the tip of the drive shaft 410 protruding from the support plate 411. A cylindrical bearing 58 is provided between the bracket 54 of the third rotating shaft 658 and the column 51 (not shown in the drawing).
The two-stage pulley 45 is rotatably mounted via the. A belt 44 is wound around the large pulley 451 and the small pulley 43 of the two-stage pulley 45. Bracket 54
A large pulley 49 is provided on the outer periphery of the left end portion of the second rotary shaft 46 protruding from the large pulley 49, and the belt 48 is also wound around the large pulley 49 and the small pulley 452 of the two-stage pulley 45. Therefore, the rotation of the drive shaft 410 of the beating motor 41 is transmitted in the order of the small pulley 43 → the belt 44 → the two-stage pulley 45 → the belt 48 → the large pulley 49 → the second rotary shaft 46.

FIG. 13 is a perspective view showing the angle adjusting means 6 (in FIG. 13, the support columns 51 for supporting the first rotating shaft 36 and the third rotating shaft are omitted). The motor 61 is fixedly supported on the housing 7 of the massage mechanism 1 by a support plate (not shown). Drive shaft 61 projecting from motor 61
A small pulley 62 is provided at an end of the pulley 62, a large pulley 64 is attached to a rotating shaft 650 protruding from the support plate, and a belt 63 is wound around the small pulley 62 and the large pulley 64. Rotary shaft 650 to which large pulley 64 is attached
Is rotatably supported by a gear case (a part of the gear case is omitted) 655 by a bearing 654, and a worm gear 651 is formed on the outer periphery. The worm gear 651 meshes with the worm wheel 652. A small gear 656 is provided coaxially with the worm wheel 652, and meshes with a large gear 657 provided on the outer periphery of the third rotation shaft 658. Here, the third rotating shaft 6
The 58 large gear 657 is provided outside the support 51 (not shown). Therefore, the rotation of the drive shaft 610 of the motor 61 is performed by the small pulley 62 → the belt 63 → the large pulley 64 → the rotary shaft 6
50 → worm gear 651 → worm wheel 652 →
The power is transmitted in the order of the small gear 656 → the large gear 657 → the third rotating shaft 658.

FIG. 14 shows the structure of the angle adjustment detecting means for detecting the angle of the bracket 54. An upper ball protrusion limit sensor 691 above the bracket 54, a lower ball protrusion limit sensor 693, and an upper ball protrusion limit sensor 691 below the bracket 54.
A ball center point sensor 692 is arranged at a position substantially intermediate in the height direction between the lower ball protrusion limit sensor 693 and the lower ball protrusion limit sensor 693. An angle detection plate 694 is provided at the rear end of the left arm 542 of the bracket 54 toward the rear. Each of these sensors is a transmission type photo interrupter, and generates a signal when the angle detection plate 694 moves with the rotation of the bracket and interrupts the optical path of the sensor, so that the rotation angle of the bracket can be detected. .

FIG. 15 is a diagram for explaining the switching operation of the treatment element 21.

FIG. 15A shows a fir ball midpoint sensor 692.
Is turned on, and the first rotating shaft 36, the second
The rotating shaft 46 and the third rotating shaft 658 (shown by a chain line)
The four treatment elements 21 are arranged on a straight line substantially orthogonal to the surface of the treatment site, and all four treatment elements 21 abut on the treatment region. FIG.
In (b), the third rotating shaft 658 is rotationally driven such that the bracket 54 and the second rotating shaft 46 rotate counterclockwise with respect to the third rotating shaft 658. At this time, as compared with the state of FIG.
1a, the bracket 54 is rotated such that the distance between the second rotating shaft 46 and the operating arm 24 of the lower treatment element 21b is increased.
The upper treatment element 21a protrudes, the lower treatment element 21b is retracted, and only the upper treatment element 21a is in contact with the treatment site. In FIG. 15C, the third rotating shaft 658 is rotationally driven such that the second rotating shaft 46 rotates clockwise with respect to the third rotating shaft 658. At this time, the distance between the axis of the second rotating shaft 46 and the operating arm 24 of the lower treatment element 21b is smaller than that in the state of FIG. 15A, and the distance between the second rotation shaft 46 and the upper treatment element 21a is smaller. Since the bracket 54 is rotating so that the distance from the operating arm 24 becomes large, the lower treatment element 21b protrudes, the upper treatment element 21a retracts, and only the lower treatment element 21b comes into contact with the treatment site. ing. In this manner, the motor 61 is rotated forward or backward, the rotation direction and the angle of the bracket 54 are adjusted, and the type (upper or lower) of the treatment element contacting the body and the number thereof can be switched. In FIG. 15, the four treatment elements 21 are in contact with the body at the position where the fir ball midpoint sensor 692 is activated.
The angle formed by the rail (or the rail 80) differs depending on each part of the body. Therefore, the body part with which the treatment element 21 contacts is estimated from the movement amount of the massage mechanism 1 along the rail 80, and the bracket 54 in which the four treatment elements 21 come into contact with each other is estimated.
May be calculated to correct the position of the midpoint.

FIG. 16A is a side view showing the positional relationship between the treatment element arm 22 and the bracket 54, and FIG.
Indicates the locus of the center of the upper treatment element 21a during the tapping operation with the horizontal axis being X and the vertical axis being Y, and FIG. 16C similarly shows the path of the center of the lower treatment element 21b. 16 (b) and 1
As shown in FIG. 6 (c), the treatment elements 21a and 21b move from the beating start position to approach each other. The tapping motion can be realized by rotating the second rotation shaft 46. However, when the second rotation shaft 46 is driven in this way, the treatment elements move so as to approach each other, that is, the “scissors” motion. Do.

FIG. 17 is a block diagram showing a schematic configuration of the massage machine 100. Massage machine 100 has a CPU
The control circuit 9 issues a command to the motor control circuit 12 based on an instruction from the operation unit 11 and information from each sensor to drive each motor or display information on the operation unit. In the massage machine 100, “scissors” operation is set in addition to massage operations such as fir and tapping.

Next, the operation of the massage machine when performing a massage will be described. FIG. 18 shows the massage machine 10
5 is a flowchart for explaining a basic operation of the first embodiment.

First, a power on / off switch is turned on in the operation unit 11 shown in FIG. 17 (step 1). At this time, the LED of the power on / off switch is turned on to notify that the power switch is on (step 2).

Next, the lifting / lowering motor, the firs motor 31, and the firs ball adjusting motor 61 are respectively operated in the initial position direction (step 3). It is determined whether or not each motor has completed the movement to the initial position (Step 4). If not completed, the process returns to Step 3, and if completed, the elevating motor, the firs motor 31, the firs ball adjusting motor 61. Is stopped (step 5).

Next, it is determined whether the manual mode or the automatic course is selected (step 6).

If the manual mode has been selected, it is determined which operation of the manual mode has been selected (step 7), and various manual operations are performed according to the selection (step 8). The manual modes include "Rise Up", "Ride Down", "Striking", "Shiatsu", "Spine Stretch",
It can be selected from “partial streak extension”, “up”, and “down”. Various manual operations are performed for 15 minutes (step 9), and when 15 minutes have elapsed, the various manual operations are terminated (step 10), the power ON / OFF switch is turned off, and the LED is turned off (step 11).

If the automatic mode has been selected, it is determined which of the automatic courses has been selected (step 12).

If the upper body automatic course is selected, the operation according to the menu of the upper body automatic course is performed (step 13), and when the menu is completed (step 1).
4) Go to step 11. Here, the upper body automatic course is, for example, a course of appropriately combining back stretching, fir, tapping, and acupressure movements over the entire upper body from the neck to the shoulder, the back, and the waist. If the automatic shoulder-and-shoulder course is selected, the operation according to the automatic shoulder-and-shoulder course menu is performed (step 15). When the menu is completed (step 16), the process proceeds to step 11. Here, the neck-and-shoulder automatic course is, for example, a course in which the back stretching, fir, tapping, and acupressure operations are appropriately combined in a region from the neck to the shoulder. If the automatic waist course is selected, the operation according to the menu of the automatic waist course is performed (step 17). When the menu is completed (step 18), the process proceeds to step 11. Here, the automatic waist course is a course in which the back muscles are stretched, fir, hit, and acupressure operations are appropriately combined around the waist.

(Fir Ball Adjustment Operation) FIG. 19 is a flowchart for explaining the procedure of the fir ball adjustment operation.

In the massage machine 100, the rice ball adjustment can be performed at any time during the above-described basic operation by operating the switch of the operation unit 11.

If the ball adjusting switch is pressed during various operations, the type of the selected switch is first determined (step 21).

If the "up" switch is pressed, various operations are temporarily stopped (step 22). next,
The rice ball adjusting motor 61 is rotated forward (step 23).
It is determined whether the "upper ball" switch is still pressed (step 24). If the "upper ball output" switch is still pressed, steps 23 and 24 are repeated until the upper ball protrusion limit sensor 691 is turned on (step 25), and when the upper ball protrusion limit sensor 691 is turned on, the rice ball adjusting motor 61 is stopped. (Step 26), various operations are restarted (Step 2)
7). If it is determined in step 24 that the “upper ball” switch has not been pressed, the process proceeds to step 26.

If the "four ball" switch is pressed, various operations are temporarily stopped (step 28). next,
It is determined whether or not the firs ball midpoint sensor 692 is ON (step 29). If the fir ball middle point sensor 692 is ON, the process proceeds to step S27. If the rice ball midpoint sensor 692 is not on, the rice ball adjustment motor 61 is reversed (step 3).
0), it is determined whether or not the lower ball protrusion limit sensor 693 is ON (step 31). If the lower ball protrusion limit sensor 693 is not on, it is determined whether the fir ball middle point sensor 692 is on (step 32). If the rice ball center point sensor 692 is ON, the rice ball adjustment motor 61 is stopped (step 33), and various operations are restarted (step 27). If the rice ball center point sensor 692 is not ON, the process returns to step 30. The ball adjustment motor 61 is reversed. If the lower ball protrusion limit sensor 693 is ON in step 31, the fir ball adjustment motor 61 is rotated forward (step 34), and the fir ball middle point sensor 6
It is determined whether or not 92 is on (step 35). If the rice ball midpoint sensor 692 is on, the rice ball adjustment motor 61
Is stopped (step 33), and the fir ball middle point sensor 692 is stopped.
If is not ON, the process returns to step 34 to further rotate the rice ball adjusting motor 61 forward.

If the "lower ball output" switch is pressed, various operations are temporarily stopped (step 36). next,
The rice ball adjusting motor 61 is reversed (step 37).
Next, it is determined whether the "lower ball output" switch has been pressed (step 38). If the "lower ball output" switch is pressed, it is determined whether or not the lower ball protrusion limit sensor 693 is ON (step 39). Here, the lower ball protrusion limit sensor 6
If 93 is on, the rice ball adjusting motor 61 is stopped (step 40), and various operations are resumed (step 4).
1). If the lower ball protrusion limit sensor 693 is not on, the flow returns to step S37 to further rotate the rice ball adjusting motor 61. If the "lower ball output" switch has not been pressed in step 38, the process proceeds to step 40, where the rice ball adjusting motor 6
Stop 1

Hereinafter, details of various massage operations by the massage mechanism will be described. (Fir operation) During the fir operation, the rotation of the second rotation shaft 46 is stopped, and only the first rotation shaft 36 is rotated. The treatment element arm 22 is rotatably supported on the outer circumference of an inclined sleeve 37 attached to the first rotation shaft 36 at an angle, and supported by the second rotation shaft 46 at the shaft portion 25 of the operation arm 24. The first rotating shaft 36 via the link 49
The rotation around is regulated. Therefore, the treatment element 21 swings in the axial direction of the first rotation shaft 36 while changing the distance from the axis of the first rotation shaft 36. FIG. 20 shows a view of the movement of such a treatment element as viewed from the front. At this time, since the distance between the left and right treatment elements changes, such a movement can realize a “fir movement” that involves the body. Also,
Since the treatment element arm 22 can slightly swing around the first rotation shaft 36, the treatment element can move in the vertical direction.
When performing the fir operation as described above, the direction of movement of the treatment element can be reversed by switching the rotation direction of the fir motor 31, thereby realizing two types of operations of “fir raising” and “fir downward”. be able to.

(Tapping Operation) In the tapping operation, the rotation of the first rotating shaft 36 is stopped and the second rotating shaft 46 is rotated. At this time, the rotation direction position of the inclined sleeve 37 is controlled so that the treatment element arm 22 is substantially perpendicular to the first rotation shaft 36 and the treatment element is held substantially perpendicular to the back (the position of the fir origin). By providing the fir origin sensor 391 that detects the rotation angle of the first rotation shaft 36, the treatment element arm 22 can be held at the above-described position. Since the link 49 is rotatably supported via the eccentric sleeve 47 which rotates eccentrically with the rotation of the second rotation shaft 46,
By rotating the second rotating shaft 46, the second rotating shaft 4
The distance between the shaft center of No. 6 and the shaft portion 25 of the working arm 24 which is loosely inserted in the hole of the link 49 changes. Treatment child arm 22
Is rotatably supported around the first rotating shaft 36, and by driving the beating motor to rotate the second rotating shaft 46 at an appropriate speed, the treatment element arm 22 Swings around to realize the tapping motion.

(Shiatsu operation) The procedure during the shiatsu operation will be described below. Figures 21, 22, and 23 show massage machine 1
It is a flowchart explaining the procedure at the time of the shiatsu operation of zero.

First, the operation in the manual mode is selected (step 51), and the vertical position of the fir ball is adjusted (step 52). At this time, the user presses the “up” switch or the “down” switch on the operation unit 11 (step 53). In response, the elevator motor is operated in the designated direction (step 54). When the treatment element 21 has moved to the desired position, the user releases the "up" switch or the "down" switch with the lifting roller (step 55). Next, the user presses the acupressure switch (step 56). In response to this, the ball adjusting motor 61 is rotated forward at low speed (step 57), and it is determined whether or not the upper ball protrusion limit sensor 691 is ON (step 58). If the upper ball protrusion limit sensor 691 is not on, the flow returns to step 57 to further rotate the paddle ball adjusting motor 61 forward at a low speed. If the upper ball protrusion limit sensor 691 is ON, the rice ball adjusting motor 61 is stopped (step 59) and waits for a predetermined time (step 6).
0) Then, the rice ball adjusting motor 61 is reversely rotated at a high speed (step 61). Next, it is determined whether or not the rice ball center point sensor 692 is ON (step 62). If the rice ball center point sensor 692 is not ON, the process returns to step 61 to rotate the rice ball adjustment motor 61 at a higher speed. If the rice ball midpoint sensor 692 is ON, the rice ball adjustment motor 61 is stopped (step 63), and a predetermined time is waited (step 6).
4) It is determined whether or not to switch the fir ball (whether or not the fir ball adjustment switch is pressed) (step 6).
5). Step 5 if you do not want to switch the fir balls
7, the fir ball adjustment motor 61 is rotated forward at a low speed. When switching the massage ball (treatment element), it is determined which one of the massage ball adjustment switches is selected (step 66).

If the "upper ball" switch is selected at step 66, the rice ball adjusting motor 61 is stopped (step 67) and waits for a predetermined time (step 68).
The fir ball adjusting motor 61 is rotated forward at a low speed (step 6).
9). Next, it is determined whether or not the upper ball protrusion limit sensor 691 is ON (step 70). Upper ball protrusion limit sensor 691
If is not ON, the routine returns to step 69, and the rice ball adjusting motor 61 is further rotated forward at a low speed. If the upper ball protrusion limit sensor 691 is ON, the rice ball adjusting motor 61 is stopped (step 71), and waits for a predetermined time (step 72).
Next, the rice ball adjusting motor 61 is reversed at a high speed (step 73). Next, it is determined whether or not the fir ball middle point sensor 692 is ON (step 74), and the fir ball middle point sensor 692 is determined.
If is not ON, the flow returns to step 73 to reverse the rice ball adjusting motor 61 at a higher speed. Fir ball midpoint sensor 69
If 2 is on, the rice ball adjusting motor 61 is stopped (step 75), and waits for a predetermined time (step 76).
It is determined whether the acupressure switch has been pressed again (step 77). If the acupressure switch is pressed again, the acupressure operation ends (step 78). If the acupressure switch has not been pressed again, the process returns to step 69, and the rice ball adjusting motor 61 is further rotated forward at a low speed.

If the "four ball" switch has been selected in step 66, the rice ball adjusting motor 61 is stopped (step 79) and waits for a predetermined time (step 80).
The fir ball adjusting motor 61 is rotated forward at low speed (step 8).
1). Next, it is determined whether or not the upper ball protrusion limit sensor 691 is ON (step 82). Upper ball protrusion limit sensor 691
If is not ON, the routine returns to step 81, and the rice ball adjusting motor 61 is further rotated forward at low speed. If the upper ball protrusion limit sensor 691 is ON, the rice ball adjusting motor 61 is stopped (step 83), and waits for a predetermined time (step 84).
Next, the rice ball adjusting motor 61 is reversely rotated at a high speed (step 85). Next, it is determined whether or not the fir ball middle point sensor 692 is ON (step 86), and the fir ball middle point sensor 692 is determined.
If is not ON, the flow returns to step 85 to rotate the rice ball adjusting motor 61 at a higher speed. Fir ball midpoint sensor 69
If the switch 2 is turned on, the rice ball adjusting motor 61 is stopped (step 87), and waits for a predetermined time (step 8).
8) The rice ball adjusting motor 61 is reversely rotated at a low speed (step 89). Next, it is determined whether or not the lower ball protrusion limit sensor 693 is ON (step 90). If the lower ball protrusion limit sensor 693 is not on, the process returns to step 89, and the paddle ball adjusting motor 61 is further rotated at a low speed. If the lower ball protrusion limit sensor 693 is ON, the rice ball adjusting motor 61 is stopped (step 91) and waits for a predetermined time (step 9).
2) Then, the rice ball adjusting motor 61 is rotated forward at high speed (step 93). Next, it is determined whether or not the rice ball center point sensor 692 is ON (step 94). If the rice ball center point sensor 692 is not ON, the flow returns to step 93 to rotate the rice ball adjustment motor 61 at a higher speed. If the rice ball midpoint sensor 692 is on, the rice ball adjustment motor 61 is stopped (step 95), and a predetermined time is waited (step 9).
6) It is determined whether the acupressure switch has been pressed again (step 97). If the acupressure switch is pressed again, the acupressure operation ends (step 78). If the acupressure switch is not pressed again, the flow returns to step 79 to stop the rice ball adjusting motor 61.

If the "lower ball output" switch has been selected in step 66, the rice ball adjusting motor 61 is stopped (step 98), and waits for a predetermined time (step 99).
The fir ball adjusting motor 61 is reversely rotated at a low speed (step 1).
00). Next, it is determined whether or not the lower ball protrusion limit sensor 693 is ON (step 101). Lower ball protrusion limit sensor 6
If 93 is not on, the flow returns to step 100 to further rotate the rice ball adjusting motor 61 at a low speed. If the lower ball protrusion limit sensor 693 is ON, the rice ball adjusting motor 61 is stopped (step 102), and waits for a predetermined time (step 103). Then, the rice ball adjustment motor 61 is rotated forward at high speed (step 104). ). Next, the fir ball midpoint sensor 69
It is determined whether or not 2 is on (step 105). If the middle ball sensor 692 is not on, the process returns to step 104 to rotate the rice ball adjusting motor 61 forward at a higher speed. If the rice ball midpoint sensor 692 is ON, the rice ball adjustment motor 61 is stopped (step 106), and waits for a predetermined time (step 107), and it is determined whether or not the acupressure switch is pressed again (step 108). If the acupressure switch is pressed again, the acupressure operation ends (step 78). If the acupressure switch has not been pressed again, the process returns to step 100, and the rice ball adjusting motor 61 is further rotated at a low speed.

(Stretching of Back Muscle) During the stretching operation of the back muscle, both the first rotating shaft 36 and the second rotating shaft 46 are stopped, the treatment element arm 22 is held at the fir origin position, and the lifting motor is driven to drive the massage mechanism 1. Move the whole up and down along the rail. At this time, the type (upper or lower) of the treatment element to be used, the number, and the protrusion amount are appropriately switched by a fir ball adjustment switch.

(Scissors Operation) FIGS. 24 and 25 are flowcharts for explaining the procedure of the scissors operation.

First, the operation in the manual mode is selected (step 111), and the "scissors" switch is pressed (step 1).
12). In response, the knocking motor 41 is rotated forward at a low speed (step 113). Next, the rice ball adjusting motor is rotated forward at a low speed (step 114), and it is determined whether the rice ball center point sensor 692 is ON (step 11).
5). If the rice ball midpoint sensor 692 is ON, the rice ball adjustment motor 61 is stopped (step 121). If the firs ball midpoint sensor 692 is not on, it is determined whether the upper ball protrusion limit sensor 691 is on (step 11).
6). If the upper ball protrusion limit sensor 691 is not on, the flow returns to step 114 to further rotate the rice ball adjusting motor 61 forward at a low speed. If the upper ball protrusion limit sensor 691 is ON, the rice ball adjusting motor 61 is stopped (step 11).
7) After waiting for a predetermined time (step 118), the rice ball adjusting motor 61 is reversely rotated at a low speed (step 119). Next, it is determined whether or not the fir ball midpoint sensor 692 is ON (step 120). If the firs ball midpoint sensor 692 is not on, the process returns to step 119, and the firs ball adjusting motor 61 is further rotated at a low speed. Fir ball midpoint sensor 69
If 2 is on, the rice ball adjusting motor 61 is stopped (step 121). With the beating motor operating at a low speed (step 122), the treatment element (fir ball) is adjusted to the shoulder position (step 123). At this time, the user keeps pressing the "up" switch (step 124). In response, the lifting motor operates in the upward direction (step 1).
25). The pulses of the elevation position detection sensor are counted (step 126), and it is determined whether or not the number of pulses corresponding to the shoulder position has been exceeded (step 127). If the number of pulses corresponding to the shoulder position has not been exceeded, the flow returns to step 124 to operate the lifting motor in the upward direction. If the number of pulses corresponding to the shoulder position is exceeded, the elevating motor is stopped (step 128). Next, the rice ball adjusting motor 61 is rotated forward at low speed (step 129), and the upper ball projection limit sensor 691 is rotated.
It is determined whether or not is ON (step 130). If the upper ball protrusion limit sensor 691 is not on, the flow returns to step 129 to further rotate the rice ball adjusting motor 61 forward. If the upper ball protrusion limit sensor 691 is ON, the rice ball adjusting motor 61 is stopped (step 131). With this configuration, the scissoring operation can be performed on the shoulder with the upper treatment element protruding. Next, when the scissor switch is pressed again (step 132), the knocking motor 41 is pressed.
Is stopped (step 133), and the scissor operation ends.

The upper and lower treatment elements 21 of the massage machine 100
a and 21b are supported by independent treatment element arms 22, respectively. The inclined sleeves 37 whose base ends of the treatment element arms 22 swing along the outer circumference are also independent, and the operating arm 24 and the second rotating shaft 46 are also independent. With respect to each other. Therefore, when the first rotating shaft 36 is stopped and the second rotating shaft 46 is rotated at a low speed, the upper and lower treatment elements 21a and 21b perform an operation of approaching and separating from each other as shown in FIG. Can be realized.

FIG. 27 is a front view of the trajectory of the treatment element during the fir operation. The trajectory of the upper treatment element 21a has a shape descending inward, and the trajectory of the lower treatment element 21b draws a trajectory descending inward. FIG. 28 shows a first rotating shaft 36 and a second rotating shaft 46.
FIG. 7 is a view of the trajectory of the treatment element 21 when the and are simultaneously rotated, as viewed from the front. 28 (a) to 28 (d), the treatment element 21 performs a fir operation, but in the process of (b) to (c), the distance between the upper treatment element 21a and the lower treatment element 21b is small. It is also performing a pinching operation at the same time. That is, according to the massage machine of the present embodiment,
It is possible to realize the "scissors and firs" operation.

FIG. 29 shows the operation of the treatment element and the bracket during the acupressure operation. At this time, in the massage machine according to the present embodiment, the retreat amount of the treatment element 21b retracted with respect to the projecting amount of the projecting treatment element 21a may be small. Therefore, the first
As compared with the embodiment, the rotation angle of the bracket 54 required for projecting the treatment element 21a by the same amount is large, but the retracted amount of the retracted treatment element 21b is small, so that the effective space in the housing 7 is small. Can be widely taken.

In this embodiment, the chair type massage machine has been described, but the present invention is also applicable to a bed type massage machine.

[0058]

As described above, according to the present invention,
It is possible to provide a massage machine that performs not only a fir and tapping motion but also a pinching motion to perform more effective treatment.

[Brief description of the drawings]

FIG. 1 is a side view showing a schematic configuration of a massage machine according to an embodiment of the present invention.

FIG. 2 is a perspective view showing an internal configuration of a massage mechanism.

FIG. 3 is a perspective view of the entire massage mechanism including a housing.

FIG. 4 is a front view of the whole massage mechanism including a housing.

FIG. 5 is a front view of a massage mechanism including a fir driving unit, a beating driving unit, and an angle adjusting unit.

FIG. 6 is a perspective view of a main part of a massage mechanism including a treatment element.

7 (a) is a side view showing a support structure of a treatment element arm and a link with respect to a first rotation shaft and a second rotation shaft, and FIG. 7 (b) shows a mounting structure of an inclined sleeve with respect to the first rotation shaft. FIG. 7 (c) is a diagram showing a mounting structure of the eccentric sleeve to the second rotation shaft.

FIG. 8 is a diagram showing a phase relationship between the eccentricity of the A portion and the B portion of the eccentric sleeve.

FIG. 9 is a perspective view showing a support structure of a first rotation shaft and a second rotation shaft.

FIG. 10 is a side view of the fir driving unit.

FIG. 11 is a perspective view showing a partially omitted internal configuration of a speed reduction mechanism of the fir drive unit.

FIG. 12 is a perspective view showing a configuration of a beating driving unit.

FIG. 13 is a perspective view showing an angle adjusting means.

FIG. 14 is a diagram illustrating a configuration of an angle adjustment detecting unit that detects an angle of a bracket.

FIG. 15 is a diagram illustrating a treatment element switching operation.

16 (a) is a side view showing the positional relationship between a treatment element arm and a bracket, and FIG. 16 (b) is a view of the upper treatment element at the time of tapping operation with the horizontal axis being X and the vertical axis being Y. FIG. 16C similarly shows the locus of the center of the lower treatment element.

FIG. 17 is a block diagram showing a schematic configuration of a massage machine.

FIG. 18 is a flowchart illustrating a basic operation of the massage machine.

FIG. 19 is a flowchart illustrating a procedure of a rice ball adjusting operation.

FIG. 20 is a front view showing the movement of the treatment element during the fir operation.

FIG. 21 is a flowchart illustrating a part of a procedure at the time of acupressure operation of the massage machine.

FIG. 22 is a flowchart illustrating a part of a procedure at the time of acupressure operation of the massage machine.

FIG. 23 is a flowchart illustrating a part of a procedure at the time of acupressure operation of the massage machine.

FIG. 24 is a flowchart illustrating a part of a procedure of a scissor operation;

FIG. 25 is a flowchart illustrating a part of a procedure of a scissor operation;

FIG. 26 is a diagram illustrating the operation of upper and lower treatment elements.

FIG. 27 is a front view of the trajectory of the treatment element during the fir operation.

FIG. 28 is a front view of the trajectory of the treatment element when the first rotation axis and the second rotation axis are simultaneously rotated.

FIG. 29 is a diagram showing the operation of the treatment element and the bracket during the acupressure operation.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Massage mechanism 3 Fir drive part 4 Tapping drive part 6 Angle adjusting means 9 CPU control circuit 11 Operation part 21 Treatment element 22 Treatment arm 36 First rotation axis 37 Inclined sleeve 46 Second rotation axis 49 Link 691 Upper ball protrusion limit sensor 692 Fir ball midpoint sensor 693 Lower ball protrusion limit sensor 100 Massager 658 Third rotation axis

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Koichi Tanaka, inventor, Omron Life Science Research Laboratories, 24, Yamanouchi Yamanouchi, Kyoto, Kyoto, Japan 24 Address OMRON Life Science Research Institute, Inc. F term (reference) 4C100 AA10 AD11 AD23 AD25 AE07 AF02 AF06 BA01 BA05 BB04 BC04 BC08 CA06 CA13 DA04 DA05 DA06 EA10 EA12 EA13 EA20 4C101 BA01 BB05 BB06 BB07 BC12 BC22 BD02 BE07

Claims (2)

[Claims] A first rotating shaft; a pair of left and right arms eccentrically or inclinedly mounted on an outer periphery of the first rotating shaft; two arms disposed on each of right and left; and mounted on the arm. A treatment element, a second rotation axis provided in parallel with the first rotation axis, and an eccentric direction with respect to the axis of the second rotation axis, which is attached to the second rotation axis. A pair of eccentric members, one end of which is rotatably attached to the outer periphery of the eccentric member,
A link member rotatably attached to each of the arms at the other end; 2. Each of the pair of eccentric members has two eccentric portions having different eccentric positions at different phases, and each of the link members connected to each of the arms is rotatably connected to each of the eccentric portions. The massage machine according to claim 1, wherein the massage machine is used.