JP2002045408A - Massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To easily perform a massage operation closer to the massage of rubbing and finger pressuring, etc., by manual work by easily and finely adjusting the strength and speed, etc., of the massage operation of rubbing and finger pressuring, etc., by a manual operation. SOLUTION: In this massage machine provided with treaters 20L and 20R for performing the massage operation and a drive part 7 for driving the treaters 20L and 20R, an operation tool 41 for operating the treaters 20L and 20R is provided and a control means for controlling the drive part 7 so as to make the treaters 20L and 20R act on a user side corresponding to the manipulated variable of the operation tool 41 is provided.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a massage machine provided with a massager for performing a massage operation.

[0002]

2. Description of the Related Art A chair-type mechanical massage machine as shown in FIG. 15 is known as a conventional massage machine.
In this massage machine, a kneading ball 122 driven by a massage mechanism 121 is held by a swing arm 123 inside a backrest portion 120, and performs a horizontal rubbing motion or a vertical reciprocating motion. Then, a massage of the back of the user is performed. Also, as another conventional massage machine, an air bag is provided on the backrest along the user's back, and compressed air is supplied and discharged from the air pump to the air bag, thereby expanding and contracting the air bag. In some cases, the back of the user is stimulated with pressure to relieve muscle pain.

[0003]

Generally, the user is required to
Utility to expect massage effect by massage machine
The effects include relief of neck stiffness, stiff shoulders, and back pain. However, in either the conventional chair-type mechanical massager or the air bag inflating and deflating massager, the motor or the motor is controlled by a signal from the control circuit in accordance with a programmed procedure called an automatic course in advance. It was common that massages were applied sequentially in time by driving an air pump. It is also possible to manually operate a favorite course, but it is far from massage, such as a massaging operation performed by a human, and the speed can be adjusted in three stages, for example. These movements do not provide so-called human-like fuzzy or 1 / f fluctuations, and are monotonous machine movements.

[0004] In view of the above problems, the present invention can easily and delicately adjust the strength and speed of a massage operation such as kneading and acupressure by manual operation, and perform a massage operation closer to manual kneading and acupressure. It is made easy to do.

[0005]

The technical means of the present invention for solving the above problems is a massager 20L, which performs a massage operation.
In a massage machine provided with a driving unit 7 for driving the treatment elements 20L, 20R, the treatment elements 20L, 20R
Is provided, and control means for controlling the drive unit 7 is provided so that the treatment elements 20L and 20R act on the user side in accordance with the operation amount of the operation tool 41. On the point.

Another technical means of the present invention is to operate the treatment elements 20L, 20R in a massage machine including the treatment elements 20L, 20R for performing a massage operation and the driving section 7 for driving the treatment elements 20L, 20R. Operating tool 41 is provided, and the treatment element 20 has a strength corresponding to the operation amount of the operating tool 41.
The point is that a pressure control unit 91 for controlling the drive unit 7 is provided so as to press the L and 20R toward the user.
Another technical means of the present invention is provided with an operation amount detector 47 for detecting the operation amount of the operation tool 41.
Operating amount storage means 9 for sequentially storing the detected operating amounts detected by
The driving unit 7 is provided so that the detected operation amount stored by the operation amount storage unit 92 is called, and the treatment elements 20L and 20R are pressed toward the user with the strength corresponding to the called detection operation amount. The point is that a regeneration pressure control means 93 for controlling is provided.

Another technical means of the present invention is the operation tool 41
The operation amount detector 47 for detecting the operation amount of the user is provided, and the pressing amount detector 84 for detecting the pressing amount of the treatment elements 20L and 20R to the user side is provided. That is, the feedback control is performed such that the value corresponds to the detected operation amount detected by the operation amount detector 47. Another technical means of the present invention is the driving unit 7
Is an air cell 19 that expands and contracts by supplying and discharging air.
L, 19R, the massager 20L, 20R is configured to perform a massaging operation by the inflation / contraction operation of the air cells 19L, 19R, and the air pressure of the air to be output between the air cells 19L, 19R and the air supply source. Is connected so as to input air from the air supply source side and output air to the air cells 19L and 19R, and to output air from the air regulator 101 in accordance with the amount of operation of the operation tool 41. The point is that the air pressure is changed.

Another technical means of the present invention is to operate the treatment elements 20L and 20R in a massage machine including the treatment elements 20L and 20R for performing a massage operation and the driving section 7 for driving the treatment elements 20L and 20R. Operating tool 41 is provided, and the treatment element 2 has a protrusion amount corresponding to the operation amount of the operating tool 41.
0L and 20R so as to protrude toward the user side.
Is provided with a position control means 94 for controlling the operation. Another technical means of the present invention is provided with an operation amount detector 47 for detecting the operation amount of the operation tool 41,
Projection amount detectors 34L and 34R for detecting the amount of protrusion of the L and 20R toward the user are provided.
The point is that feedback control is performed so that the detected protrusion amount of 4R becomes a value corresponding to the detected operation amount detected by the operation amount detector 47.

Another technical means of the present invention is the operation tool 41
The operation amount detector 47 for detecting the operation amount of the operation amount is provided, the operation amount storage means 95 for sequentially storing the operation amount detected by the operation amount detector 47 is provided, and the detection operation amount stored in the operation amount storage means 95. And the playback position control means 96 for controlling the drive unit 7 is provided so that the treatment elements 20L and 20R protrude toward the user with a protrusion amount corresponding to the called detection operation amount. Another technical means of the present invention is an operating tool for operating the treatment elements 20L and 20R in a massage machine including the treatment elements 20L and 20R that perform a massage operation and the drive unit 7 that drives the treatment elements 20L and 20R. A pressure control means 91 for controlling the drive unit 7 so as to press the treatment elements 20L and 20R toward the user with a strength corresponding to the operation amount of the operation tool 41, and an operation amount of the operation tool 41 Treatment element 20L, 20R with the protrusion amount corresponding to
Position control means 94 for controlling the drive unit 7 so as to protrude toward the user side, and switching means 55 for switching between control of the drive unit 7 by the pressure control means 91 and control of the drive unit 7 by the position control means 94. Is provided.

Another technical means of the present invention is the operation tool 41
An operation amount detector 47 for detecting the operation amount of the operation amount is provided, and operation amount storage means 92 and 95 for sequentially storing the operation amounts detected by the operation amount detector 47 are provided.
2 and 95, the stored detected operation amount is called, and the treatment elements 20L, 20L are set with the strength corresponding to the called detected operation amount.
A reproduction pressure control means 93 for controlling the drive unit 7 is provided so as to press R toward the user side.
2, 95, the detected operation amount is called, and the treatment elements 20L, 2L are projected with the protrusion amount corresponding to the detected operation amount.
Reproduction position control means 96 for controlling the drive unit 7 is provided so as to make the 0R protrude to the user side. Control of the drive unit 7 by the reproduction pressure control means 93 and control of the drive unit 7 by the reproduction position control means 96 are performed. Is provided in a switching means 55 for switching between.

Another technical means of the present invention is the operation tool 41
Has an operating portion 45 supported swingably against the urging force of a spring 46, and the amount by which the operating portion 45 is rocked against the urging force of the spring 46 is the operating tool 41. Operation amount. Another technical means of the present invention resides in that the operating tool 41 has a grip portion 105, and the strength of gripping the grip portion 105 is the amount of operation of the operating tool 41. Note that, in addition to the above technical means of the present invention, an operation body 51 is provided in a massage machine including a treatment element 20L, 20R that performs a massage operation and a movement mechanism 21 that moves the treatment element 20L, 20R. A control means for controlling the moving mechanism 21 so that the treatment elements 20L and 20R move in response to the operation of 51 may be provided. In addition, the massager 20L that performs massage operation,
In the massage machine provided with 20R and the moving mechanism 21 for moving the treatment elements 20L and 20R, the operating body 51
It is provided so as to swing from the neutral position N, and when the operating body 51 swings from the neutral position N, the treatment elements 20L, 20R
May move, and when the operating body 51 is returned to the neutral position N, a control means for controlling the moving mechanism 21 so that the treatment elements 20L and 20R stop moving may be provided. In addition, the massager 20L that performs massage operation,
In the massage machine provided with 20R and the moving mechanism 21 for moving the treatment elements 20L and 20R, the operating body 51
The operating element 51 is provided to swing from the neutral position N, and when the operating body 51 is swung in one direction from the neutral position N, the treatment element 20
L, 20R move in a predetermined direction, and when the operating tool 51 is swung from the neutral position N in another direction, the treatment elements 20L, 2R
Control means for controlling the moving mechanism 21 is provided so that when the OR moves in the opposite direction to the predetermined direction and returns the operating body 51 to the neutral position N, the treatment elements 20L and 20R stop moving. May be a feature.

A pair of left and right treatment elements 20L and 20R for performing a massage operation and a pair of left and right treatment elements 20L and 20R are provided.
When the operating body 51 is provided to swing from the neutral position N, and the operating body 51 is swung in the first direction from the neutral position N in the massage machine including the moving mechanism 21 for moving the , A pair of left and right treatment elements 20L, 20R
Is moved in the predetermined direction and the operating body 51 is swung in the second direction from the neutral position N, the pair of left and right treatment elements 20
When the other of L and 20R moves in the predetermined direction and swings the operating body 51 from the neutral position N in the third direction, the pair of left and right treatment elements 20L and 20R both move in the predetermined direction, and the operating body 51 Is swung in the fourth direction from the neutral position N, the pair of left and right treatment elements 20L and 20R move so as to return to their original positions, and when the operating body 51 is returned to the neutral position N, the pair of left and right A control means for controlling the moving mechanism 21 so that both the treatment elements 20L and 20R stop moving may be provided. The air cell 1 includes massagers 20L and 20R that perform a massage operation, and air cells 17L and 17R that perform an expansion and contraction operation by supplying and discharging air.
In a massage machine configured to cause the treatment elements 20L and 20R to advance to the user side by expansion of the 7L and 17R and to retract the treatment elements 20L and 20R from the user side by contraction of the air cells 17L and 17R, the operating body 51 is used. Is provided so as to be swingable from the neutral position N.
Is swung in one direction from the neutral position N, the treatment element 20
Air cell 17 so that L and 20R advance to the user side.
When the operating body 51 is swung in the other direction from the neutral position N by supplying air to the L, 17R, the treatment elements 20L, 20R
The air cells 17L, 17R are retracted from the user side.
When the operating body 51 is returned to the neutral position N and the movement of the treatment elements 20L and 20R is stopped, control means for stopping supply and discharge of air to the air cells 17L and 17R is provided. It may be characterized.

A pair of left and right treatment cells 20L and 20R that perform a massage operation are provided.
0L, 20R, and air cells 17L, 1
In a massage machine configured to cause the corresponding treatment elements 20L, 20R to advance to the user side by expansion of the 7R, and to retract the corresponding treatment elements 20L, 20R from the user side by contraction of the air cells 17L, 17R. Body 51
Are provided so as to be swingable from the neutral position N, and when the operating body 51 is swung in the first direction from the neutral position N, one of the treatment elements 20L and 20R advances to the user side. And supply air to one of the air cells 17L and 17R.
When the operating body 51 is swung from the neutral position N in the second direction, air is supplied to the other air cells 17L, 17R so that the other treatment elements 20L, 20R advance toward the user,
When the operating body 51 is swung in the third direction from the neutral position, air is supplied to both the air cells 17L and 17R so that the pair of left and right treatment elements 20L and 20R both advance toward the user. When swinging 51 from the neutral position in the fourth direction, both air cells 17L, 17R are moved so that the pair of left and right treatment elements 20L, 20R retreat from the user side.
When the operating body 51 is returned to the neutral position N and the operation body 51 is returned to the neutral position N, the control means for stopping the supply and discharge of air to the air cells 17L and 17R so that the pair of left and right treatment elements 20L and 20R both stop moving. It may be characterized by being provided. In addition, the treatment elements 20L and 20R are moved together with the massage driving section 7 and the backrest section 2 in response to the operation of the operation body 51.
May be raised and lowered. Also,
The operating body 51 is supported rotatably around the support shaft 104, and when the operating body 51 is twisted and rotated, the treatment elements 20L and 20R move in accordance with the operation of the operating body 51. It may be characterized.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. In FIG. 1, reference numeral 1 denotes a chair-type massage machine, which has a backrest portion 2, a seat portion 3, and a pair of left and right armrest portions 4. A lifting mechanism 5 is provided in the backrest portion 3.
And a massage drive unit 7 provided so as to be movable in the vertical direction. The elevating mechanism 5 includes a vertical feed screw shaft 9 provided along the height direction of the backrest 3, an elevating motor 10 that enables the vertical feed screw shaft 9 to rotate forward and reverse around its axis. have. The vertical feed screw shaft 10 is screwed into a nut 11 provided at the rear of the massage drive unit 7 in a vertically penetrating manner.

2 and 3, the massage drive 7 includes a drive base 13 and a positioning base 14.
And a pair of left and right rocking plates 15L and 15R, a pair of left and right positioning air cells 17L and 17R, a pair of left and right massage air cells 19L and 19R, and a pair of left and right treatment elements (rubbing balls, massage rollers) 20L and 20R. And A pair of rotating wheels 2 on the left and right sides of the drive base 13
2 and 23 are provided. The rotating wheels 22 and 23 are vertically movably held by a pair of left and right support rails (not shown) arranged in the backrest portion 2.
3 to the massage drive unit 7 are supported via the rotating wheels 22 and 23 so as to be vertically movable. Therefore, by rotating the elevating motor 10 of the elevating mechanism 5, the massage driving unit 7 moves up and down along the support rail, and the massage driving unit 7 moves along the body of the user in the backrest unit 3. It moves to the user's neck or waist (linear movement) and can be stopped at any position.

A pair of left and right positioning air cells 17L, 1
7R is disposed between the drive base 13 and the positioning base 14, and a pair of left and right massage air cells 19L,
19R is a positioning base 14 and a pair of left and right swing plates 15
L, 15R. The pair of left and right treatment elements 20L and 20R are attached to the pair of left and right swing plates 15L and 15R via a bracket 25, respectively. The pair of left and right positioning air cells 17L and 17R and the pair of left and right massage air cells 19L and 19R are, for example, bellows-shaped cylinders, and when compressed air is supplied from an air supply source described later, the user (front). It is configured to expand to the side, contract when exhausted, and return to the original position.

As shown in FIG. 2, the positioning base 14
Is supported on the drive base 13 via a link or the like so as to be swingable back and forth around a horizontal axis 27. The positioning base 14 has a left plate portion 29L and a right plate portion 29R which are bent relative to each other so as to be swingable about a vertical axis 30. The positioning base 14 has a left plate portion 29L and a right plate portion 29R which are bent relative to each other so as to be swingable about a vertical axis 30. The positioning base 14 has a horizontal axis 2
7 is urged toward the drive unit base 13 around the horizontal axis 27 by a spring or the like (not shown) incorporated in the positioning unit 7, and the left and right plate portions 29L and 29R of the positioning base 14 are also urged by a spring and the like (not shown). It is urged to the drive base 13 side around the vertical axis 30.

Accordingly, the left positioning air cell 17L
When only the inflates, the left plate portion 29L of the positioning base 14
When only the left positioning air cell 17L shrinks around the vertical axis 30 and only the left positioning air cell 17L contracts, only the left plate portion 29L of the positioning base 14 swings rearward about the vertical axis 30. When only the right positioning air cell 17L inflates, only the right plate portion 29R of the positioning base 14 swings around the vertical axis 30 toward the user (front), and only the right positioning air cell 17R contracts. Only the right plate portion 29R of the positioning base 14 is configured to swing rearward around the vertical axis 30.

Further, a pair of left and right positioning air cells 17 is provided.
When both L and 17R expand, the positioning base 14 swings to the user (front) side around the horizontal axis 27, and when both of the pair of left and right positioning air cells 17L and 17R contract, the positioning base 14 becomes horizontal. It swings backwards around 27. Therefore, the moving mechanism 21 for moving the massagers 20L, 20R performing the massage operation includes the positioning air cells 17L, 17R, the positioning base 14,
The positioning base 14 is constituted by a first solenoid valve 81 and a second solenoid valve 82 to be described later. A massage position suitable for a sitting posture is determined, and a positioning air cell 17L,
By expanding only one of the 17Rs, it is possible to massage only one of the left and right sides.

The oscillating plates 15L and 15R are swingable about left and right oscillating shafts 33L and 33R, respectively, and the oscillating plates 37 are provided with the oscillating plates 15L and 15R on the positioning base 14 side. A biasing spring is fitted. The left swing shaft 33L is arranged such that its axis is directed toward the upper right, and the right swing shaft 3L
3R is arranged such that its axis is directed to the upper left. Therefore,
When the left massage air cell 19L is inflated, the left treatment element 20L advances toward the user while pointing downward and to the right. When the massage air cell 19R on the right side extends, the treatment element 20R on the right side advances toward the user while pointing downward and to the left.

A pair of left and right massage air cells 1
The piping for 9L and 19R is common as shown in FIG. 3, so the massage air cells 19L and 19R do not move left and right independently, but the left and right massage air cells 19L and 19R do not move.
Since the same pressure is applied to L and 19R, massage can be performed with the same strength on the left and right. Variable resistors (projection detectors) are provided on the swing shafts 33L and 33R of the swing plates 15L and 15R.
34L and 34R are incorporated. Each variable resistor 34
L and 34R are swing plates 15 with respect to the positioning base 14.
The resistance value is configured to change (in proportion to) the swing angle of L, 15R. Therefore, each variable resistor 3
4L and 34R are protrusion amount detectors for detecting the protrusion amounts of the treatment elements 20L and 20R toward the user.

Reference numeral 41 denotes an operating tool for operating the pair of left and right treatment elements 20L and 20R, which is housed in a housing 42 provided in the armrest 4, for example. As shown in FIG. 7, the operation tool 41 includes a support portion 43 and an operation portion 45 supported by the support portion 43 so as to swing (open and close) around a support shaft 44, and is not shown. The stopper 45 restricts the operation unit 45 from opening beyond the opening / closing angle θ indicated by a solid line in FIG. 7 with respect to the support unit 43, and the operation unit 45 is supported by the support unit 43 by a spring 46. It is urged to open about the axis 44. Therefore, when the operating tool 41 grips the support portion 43 and the operating portion 45, the opening / closing angle θ changes according to the grip force. A variable resistor (operation amount detector) 47 is incorporated in the support shaft 44. The variable resistor 47 is configured so that the resistance value changes (in proportion to) the opening / closing angle θ of the operation unit 45 with respect to the support unit 43.

Therefore, the operating tool 41 is supported by the operating section 45 supported to be able to open and close (swing) against the urging force of the spring 46.
The amount by which the operating part 45 is swung in opposition to the urging force of the spring 46 (opening / closing angle θ) is the amount of operation of the operating tool 41,
The variable resistor 47 is an operation amount detector that detects the operation amount of the operation tool 41. Reference numeral 51 denotes an operating body (joystick), which protrudes from, for example, the upper surface of one armrest 4. The operating body 51 has a shaft portion 52 and a grip portion 53 provided at an upper end of the shaft portion 52. As shown in FIGS. 5 and 8, the operating body 51 has a base (lower portion) of the shaft portion 52. With fulcrum as
It is configured to swing back and forth and left and right from the neutral position N, and is configured to automatically return to the neutral position N by a spring or the like (not shown). As shown in FIG. 5, a left switch S1, a right switch S2, a front switch S3, and a rear switch S4 are provided around the base side of the shaft 52, and the operation body 51 is swung to the left. When only the left switch S1 is turned on, only the right switch S2 is turned on when the operating body 51 is swung rightward, and only when the operating body 51 is swung forward, only the front switch S3 is turned on. When the operator 51 swings rearward, only the rear switch S4 is turned on, and when the operating body 51 returns to the neutral position N, all the switches S1, S
2, S3 and S4 are turned off.

In FIG. 5, reference numeral 55 denotes switching means for switching the control mode of the massage operation, and includes a pressure control storage switch 56 and a pressure control regeneration switch 57.
, A position control storage switch 58, and a position control reproduction switch 59, and a switch operating body 60 shown in FIG.
By rotating, the control mode of the massage operation is selectively switched between a storage mode by pressure control, a reproduction mode by pressure control, a storage mode by position control, and a reproduction mode by position control. I have.

That is, when the dial 61 shown in FIG. 8 is rotated to adjust the index portion 63 to the pressure side memory, the pressure control storage switch 56 is turned on, and the memory mode is set to the pressure control storage mode. When the unit 63 is set to the pressure side regeneration, the pressure control regeneration switch 57 is turned on, and the mode is set to the pressure control regeneration mode. When the index unit 63 is adjusted to the position-side storage, the position control storage switch 58 is turned on, and a storage mode based on position control is set.
When 3 is set to the position-side reproduction, the position control reproduction switch 59 is turned on, and a reproduction mode based on position control is set. Here, the pressure control is a control for pressing the treatment elements 20L and 20R toward the user with an intensity (pressure) corresponding to the operation amount of the operation tool 41, and the position control is the operation tool 41.
This is control for making the treatment elements 20L and 20R protrude toward the user with a protruding amount corresponding to the operation amount. In this way, two types of control modes, pressure control and position control, can be selected because the body part to be massaged by the user has a hard part and a soft part, and for example, position control is performed on a hard part of the body. When the massage is performed by the massager, the body is hardly depressed by the pressure of the treatment elements 20L and 20R, and therefore tends to be pressed too strongly. When the soft part of the body is massaged by the pressure control, the body is treated. There is a tendency that the pressure is excessively deeply pressed due to the deep depression due to the pressing of the sub-elements 20L and 20R. Therefore, two types of control modes, ie, pressure control and position control, can be selected, so that the user can be more informed. It is a massage that can be done.

In FIG. 5, reference numeral 66 denotes an up button, 67 denotes a down button, and 68 denotes a stop button. These buttons are provided on a remote control or the like. The lowering button 67 is for driving the elevating motor 10 by manual operation to lower the massage driving unit 7, and the stop button 68 is for manually operating the massage driving unit 7 This is for stopping the massage operation. 71 is an upper limit switch,
Numeral 72 denotes a lower limit switch. As shown in FIG. 1, an upper limit switch 71 is provided at an upper limit position where the massage driving unit 7 moves up and down, and a lower limit switch 72 is provided at a lower limit position. The drive unit 7 is controlled by a sequencer 87 described later so as to move up and down between the upper limit position and the lower limit position.

FIG. 3 shows the configuration of the air control system, and FIG. 4 shows the configuration of the electric control system. 3 and 4,
An air control mechanism for expanding and contracting the positioning air cells 17L, 17R and the massage air cells 19L, 19R includes an air pump 77, a pump drive motor 78, a first solenoid valve 81, a second solenoid valve 82, and a third solenoid valve 83. And The air pump 77 is an air supply source that supplies compressed air to the pair of left and right positioning air cells 17L and 17R and the pair of left and right massage air cells 19L and 19R. The pump drive motor 78 drives the air pump 77. The first solenoid valve 81 is interposed between the air pump 77 and the left positioning air cell 17L. The second solenoid valve 82 is interposed between the air pump 77 and the right positioning air cell 17R. 83 is an air pump 77 and a pair of left and right air cells for massage 19L, 19
And R.

On one massage air cell 19L, a pressure sensor (pressing amount detector) 84 for detecting the internal pressure of the massage air cells 19L and 19R is provided.
The pressure detected by the pressure sensor 84 is determined by the treatment elements 20L, 20L.
R corresponds to the pressing force pressed toward the user by the expansion of the massage air cells 19L and 19R. Therefore,
The pressure sensor 84 is a pressing amount detector that detects the pressing amount of the treatment elements 20L and 20R toward the user. 3 and 4, reference numeral 87 denotes a sequencer, 88 denotes a digital converter, 89 denotes a stabilized power supply, and 90 denotes a drive circuit.

Under the control of the sequencer 87, the digital converter 88 controls the variable resistor 47 and the swing plate 1 of the operating tool 41.
The variable resistance voltage values indicated by the 5L and 15R variable resistors 34L and 34R are converted into 12-bit digital values and transferred to the sequencer 87. The analog values indicating the variable resistance voltage values of the variable resistors 47 are converted into analog values. Sequentially converted to digital values,
The converted digital value is used as the designated pressure / position data D70.
The data is transferred to the sequencer 87 as (designated pressure data D70 or designated position data D70). Variable resistor 3
The analog values indicating the variable resistance voltage values of 4L and 34R are sequentially converted into digital values, and the converted digital values are converted into the detected position data D200 of the left rocking plate 15L and the right rocking plate 15L.
It is transferred to the sequencer 87 as the detection position data D210 of L. Further, the digital converter 88 is provided with the pressure sensor 8.
The analog voltage values indicating the detected internal pressures of the massage air cells 19L and 19R are sequentially converted into digital values, and the converted digital values are transferred to the sequencer 87 as detected pressure data D80.

The control drive circuit 70 is controlled by the sequencer 87 to control the lifting motor 10 and the pump drive motor 58.
Drive etc. The sequencer 87 controls the first solenoid valve 41 and the second solenoid valve 42 according to the swing operation of the operating body (joystick) 51 as follows. That is,
When the operation body 51 is swung to the right and the left switch S1 is turned on, a drive current flows from the sequencer to the solenoid 81a of the first electromagnetic valve 81, whereby the air pump 77 is used for positioning via the first electromagnetic valve 81. The compressed air is supplied to the air cell 17L. When the operating body 51 returns to the neutral position N and the left switch S1 is turned off, the drive current to the solenoid 81a of the first electromagnetic valve 81 is stopped, thereby returning the first electromagnetic valve 81 to the neutral position, and the positioning air cell 17L
Stop the air supply and exhaust to the air. When the operating body 51 is swung to the right and the right switch S2 is turned on, a control current is passed from the sequencer 87 to the solenoid 82a of the second electromagnetic valve 82, whereby the air pump 77 sends the second electromagnetic valve 82
The compressed air is supplied to the positioning air cell 17R via the. When the operating body 51 returns to the neutral position N and the right switch S2 is turned off, the drive current to the solenoid 82a of the second electromagnetic valve 82 is stopped, thereby returning the second electromagnetic valve 82 to the neutral position, and positioning the air cell. The supply and exhaust to 17R are stopped. When the operating body 51 is swung forward and the upper switch S3 is turned on, a control current flows from the sequencer 87 to the solenoid 81a of the first solenoid valve 81, and a control current flows to the solenoid 82a of the second solenoid valve 82. To supply compressed air from the air pump 77 to the positioning air cells 17L and 17R via the first solenoid valve 81 and the second solenoid valve 82. When the operating body 51 returns to the neutral position N and the upper switch S3 is turned off, the drive current to the solenoid 81a of the first solenoid valve 81 is stopped, and at the same time, the drive current to the solenoid 82a of the second solenoid valve 82 is stopped. As a result, the first solenoid valve 81 and the second solenoid valve 82 are returned to the neutral position, and the supply and exhaust of air to the positioning air cells 17L and 17R are stopped. Further, when the operating body 51 is swung to the rear side and the lower switch S4 is turned on, a drive current flows from the sequencer 87 to the solenoid 82b of the first solenoid valve 81 and the drive current is driven to the solenoid 82b of the second solenoid valve 82. An electric current is caused to flow, whereby the first electromagnetic valve 81 and the second electromagnetic valve 82 are exhausted, and the air in the positioning air cells 17L and 17R is exhausted through the first electromagnetic valve 81 and the second electromagnetic valve 82.

Therefore, the positioning air cells 17L, 17
R, the moving mechanism 21 composed of the positioning base 14 and the like, the operating elements 20L, 2
Control means for controlling the movement of the 0R is constituted by the sequencer 87 and the like. The sequencer 87 also controls the third solenoid valve 4 according to the operation amount of the operation tool 41 and the like.
As shown in FIG. 4, in order to control the pressure control unit 3, the pressure control unit 91 and the operation amount storage unit 9 for pressure control are controlled.
2, a reproduction pressure control means 93, a position control means 94, an operation amount storage means 95 for position control, and a reproduction position control means 96.

The pressure control means 91 controls the massage driving section 7 so as to press the treatment elements 20L, 20R toward the user with a strength corresponding to the operation amount of the operation tool 41. That is, when the switching unit 55 is set to the storage mode by the pressure control (when the pressure control storage switch 56 is on), the pressure control unit 91 of the sequencer 87 transmits the indicated pressure data D70 from the variable resistor 47 While sequentially reading through the digital converter 88, the detected pressure data D80 from the pressure sensor 84 is sequentially read through the digital converter 88, and the pressure deviation D90 between the indicated pressure data D70 and the detected pressure data D80 is obtained (D90 = D7
0-D80), and compares the pressure deviation D90 with the allowable fluctuation range value (-T to T).

When the pressure deviation D90 is smaller than the allowable fluctuation range value (-T to T) (D90 <-T), a drive current is supplied to the solenoid 83b of the third solenoid valve 83, whereby the third solenoid valve 83 Is exhausted, and the air in the massage air cells 19L and 19R is exhausted. Pressure deviation D
When 90 is larger than the variation allowable range value (−T to T) (T
<D90), a drive current is supplied to the solenoid 83a of the third electromagnetic valve 83, whereby the third electromagnetic valve 83 is supplied with air, and compressed air is supplied to the massage air cells 19L and 19R. When the pressure deviation D90 is within the allowable fluctuation range (−T to
T) (−T ≦ D90 ≦ T), the third solenoid valve 8
3 to stop the drive current to the solenoids 83a and 83b,
This stops the supply and exhaust of air to the massage air cells 19L and 19R.

The operation amount storage means 92 for pressure control includes:
As described above, the massage driving unit 7 is controlled by the pressure control unit 91.
Are controlled, the detected operation amounts detected by the variable resistor 47 of the operating tool 41 are sequentially stored. That is, when the switching unit 55 is set to the storage mode by the pressure control (when the pressure control storage switch 56 is turned on), the operation amount storage unit 92 for pressure control of the sequencer 87 is transmitted through the digital converter 88. The command pressure data D70 from the variable resistor 47 sequentially read from the variable resistor 47 is sequentially stored in the data register every minute time.

The regenerating pressure control means 93 calls up the detected operation amount stored from the operation amount storage means 92 for pressure control, and operates the treatment element 2 with a strength corresponding to the detected operation amount.
The massage drive unit 7 is controlled so that 0L and 20R are pressed toward the user. That is, when the switching unit 55 is set to the regeneration mode by the pressure control (when the pressure control regeneration switch 57 is ON), the designated pressure data D70 stored in the data register in the storage mode by the pressure control is sequentially stored. And the pressure sensor 84
Is sequentially read through the digital converter 88, and a pressure deviation D90 between the indicated pressure data D70 and the detected pressure data D80 is obtained (D90 = D90).
70-D80), and compares the pressure deviation D90 with the allowable fluctuation range value (-T to T).

Then, similarly to the case of the storage mode by the pressure control, the pressure deviation D90 is changed to the allowable fluctuation range value (−T to
T) (D90 <-T), the third solenoid valve 83
Of the massage air cells 19L and 19R by exhausting the drive current through the solenoid 83b of the
When 90 is larger than the variation allowable range value (−T to T) (T
<D90), When a drive current is supplied to the solenoid 83a of the third solenoid valve 83 to supply compressed air to the massage air cells 19L and 19R, and the pressure deviation D90 is within the allowable fluctuation range value (-T to T). (−T ≦ D90 ≦ T), the drive current to the solenoids 83a and 83b of the third solenoid valve 83 is stopped, and the supply and exhaust to the massage air cells 19L and 19R are stopped.

The position control means 94 controls the massage driving section 7 so that the treatment elements 20L and 20R project toward the user with a projection amount corresponding to the operation amount of the operation tool 41. That is, when the switching means 55 is set to the storage mode by the position control (when the position control storage switch 58 is turned on), the position control means 94 of the sequencer 87 reads the designated position data D70 from the variable resistor 47. The data is sequentially read through the digital converter 88 and the variable resistor 34 is read.
L, 34R, the detection position data D200 and the detection position data D210 are sequentially read via the digital converter 88, and the detection position data D200 and the detection position data D2 are read.
Then, the average detection position data D230 is calculated from the following equation (10). (D200) + (D210) = (D220) (D220) / 2 = (D230) Then, the average detection position data D230 is set to the zero point adjustment value A.
After obtaining the zero-point adjusted average detection position data D250, the position deviation D260 between the designated position data D70 and the average detection position data D250 is calculated (D260 = D70-D250). Deviation D26
0 is compared with a variation allowable range value (−T to T). In addition,
The above-mentioned zero point adjustment means that the rocking plates 15L and 15R are most moved to the positioning base 14 side in order to make the variable resistance voltage values of the variable resistors 34L and 34R correspond to the rocking positions of the rocking plates 15L and 15R. In the retracted swing position, the variable resistor 47
Is adjusted with a preset zero-point adjustment value A so that the variable resistance voltage value of the above becomes zero.

When the position deviation D260 is smaller than the allowable fluctuation range value (-T to T) (D260 <-T), a drive current is supplied to the solenoid 83b of the third solenoid valve 83, whereby the third solenoid valve 83 Is exhausted, and the air in the massage air cells 19L and 19R is exhausted. When the position deviation D250 is larger than the fluctuation allowable range value (−T to T) (T <D260), the solenoid 83 of the third solenoid valve 83
A drive current is passed through a, whereby the third solenoid valve 83 is supplied with air, and compressed air is supplied to the massage air cells 19L and 19R. When the position deviation D260 is within the variation allowable range value (−T to T) (−T ≦ D260 ≦ T),
The drive current to the solenoids 83a and 83b of the third solenoid valve 83 is stopped, and thereby the massage air cell 19L,
The supply and exhaust to 19R are stopped.

The operation amount storage means 95 for position control sequentially stores the detected operation amount detected by the variable resistor 47 of the operation tool 41 when the massage driving section 7 is controlled by the position control means 94 as described above. Remember. That is, the switching means 55
Is set to the storage mode by position control (when the position mode storage switch 58 is on), the operation amount storage means 95 for position control of the sequencer 87 reads the variable read sequentially through the digital converter 88. The designated position data D70 from the resistor 47 is sequentially stored in the data register every minute time.

The reproduction position control means 96 calls the detected operation amount stored by the position control operation amount storage means 95, and causes the treatment elements 20L and 20R to protrude with a protrusion amount corresponding to the detected operation amount. The massage drive unit 7 is controlled so as to project out. That is, when the switching unit 55 is set to the reproduction mode by the position control (when the position control reproduction switch 59 is turned on), the designated position data D70 stored in the data register in the storage mode by the position control is sequentially read. At the same time, the detected position data D200 and the detected position data D210 from the variable resistors 34L and 34R are sequentially read via the digital converter 88, and the detected position data D200, the detected position data D210, and the designated position data called from the data register are read. From D70, a position deviation D260 is obtained (D260 = D70) as in the case of the reproduction mode by the position control.
-D250), and compares the position deviation D260 with the allowable variation range value (-T to T).

Further, similarly to the case of the reproduction mode by the position control, the position deviation D260 is changed to the allowable fluctuation range value (−T to
T) (D260 <−T), the third solenoid valve 8
When the position deviation D260 is larger than the allowable variation range (-T to T) (T <D260), the third solenoid valve is driven by supplying a drive current to the solenoid 83b of No. 3 to exhaust the air of the massage air cells 19L and 19R. 83 solenoid 83a
A driving current is supplied to the massage air cell 19L, 1
9R is supplied with compressed air, and the position deviation D260 is within the allowable variation range (-T to T) (-T ≦ D260 ≦
T), the drive current to the solenoids 83a and 83b of the third solenoid valve 83 is stopped, and the massage air cell 19L, 1
The supply and exhaust to 9R are stopped.

According to the above-described embodiment, when the user sits down on the massage machine 1 and performs a massage, first, the up button 66 or the down button 67 provided on the remote controller or the like is used.
To move the massage drive unit 7 up and down, and adjust the treatment elements 20L and 20R of the massage drive unit 7 to desired positions of the body such as shoulders, hips, and back where massage is desired. After that, the operating body 51 is operated, and the left and right treatment elements 20L, 2L are operated.
The treatment elements 20L and 20R are brought into contact with the user's body by projecting 0R toward the user. In this case, the operating tool 5
When the operator 1 swings to the left, air is supplied to the positioning air cell 17L only while the operating body 51 is swinging to the left, and the positioning air cell 17L expands, thereby causing the left plate portion of the positioning base 14 to expand. 29L swings around the vertical axis 30 toward the user (front), and only the left treatment element 20L protrudes toward the user.

When the operating body 51 is swung to the right, air is supplied to the positioning air cell 17R only while the operating body 51 is swung to the right, and the positioning air cell 17R expands. Only the right plate portion 29R of the positioning base 14 swings around the longitudinal axis 30 toward the user (front), and as a result, only the right treatment element 20R protrudes toward the user. When the operating body 51 is swung forward, compressed air is supplied from the air pump 77 to the positioning air cells 17L and 17R via the first electromagnetic valve 81 and the second electromagnetic valve 82, and the left and right positioning air cells 17L and 17R are supplied. Inflates at the same time. Therefore, the positioning base 14 swings to the user (front) side around the horizontal axis 27, and both the treatment elements 20L, 20L
0R protrudes to the user side.

When the operating body 51 is swung rearward, the air in the positioning air cells 17L and 17R is released only when the operating body 51 is swung leftward. Exhausted through the positioning air cell 17
Both L and 17R contract, and the positioning base 14 is
It swings backward about seven times, and as a result, the treatment element 20L, 2
0R moves backward. Therefore, by simply swinging the operating body 51 back and forth and left and right about the neutral position N, the positioning base 14 is swung back and forth and left and right, regardless of the user's physique and sitting posture. 20L, 20R
Can be reliably brought into contact with the body part of the user who wants to massage with appropriate strength. For example, even when the user sits with a large inclination with respect to the massage machine 1 so that the front and rear positions of the body right and left are different from each other, each of the treatment elements 20L and 20R can easily and satisfactorily contact the body of the user. Can be done.

Next, the operating tool 41 is operated to
The massage operation by operating the operation tool 41 that causes the L and 20R to perform the massage operation will be described with reference to the flowcharts shown in FIGS. In step 1, a zero point adjustment value A and a fluctuation allowable range value T are set in advance. In step 2, it is determined whether the control mode is pressure control (regeneration mode by pressure control or storage mode by pressure control) or position control (storage mode by position control or regeneration mode by position control). If the control mode is the position control, the process proceeds to step 4.

In step 3, it is determined whether the control mode is the storage mode (storage mode by pressure control) or the regeneration mode (storage mode by pressure control). If the control mode is the storage mode, the process proceeds to step 11 in FIG. If the control mode is the reproduction mode, the process proceeds to step 19 in FIG.
Therefore, if the switching means 55 is set to the storage mode by the pressure control, the process proceeds to step 11, and if the switching means 55 is set to the regeneration mode by the pressure control, the process proceeds to step 19. If the switching means 55 is set to the storage mode by the pressure control, step 11
Then, the command pressure data D70 from the variable resistor 47 is read via the digital converter 88, and in step 12, the read command pressure data D70 is stored in the data register, and the process proceeds to step 13. In step 13, the detected pressure data D80 from the pressure sensor 84 is
8, and in step 14, steps 12,
A pressure deviation D90 between the designated pressure data D70 read in step 13 and the detected pressure data D80 is determined (D90 = D70
-D80), and proceed to step 15.

In step 15, the pressure deviation D90 is compared with the allowable fluctuation range value (-T to T). If the pressure deviation D90 is smaller than the fluctuation allowable range value (−T to T), (D90
<−T), the process proceeds to step 16, in which a drive current is supplied to the solenoid 83 b of the third solenoid valve 83 to exhaust the air from the massage air cells 19 L and 19 R, and the process returns to step 3. If the pressure deviation D90 is larger than the fluctuation allowable range value (−T to T) (T <D90), the process proceeds to step 18, where a drive current is passed through the solenoid 83a of the third solenoid valve 83,
The compressed air is supplied to the massage air cells 19L and 19R, and the process returns to Step 3. When the pressure deviation D90 is within the fluctuation allowable range value (−T to T) (−T ≦ D90 ≦ T),
Proceeding to step 17, the solenoid 83 of the third solenoid valve 83
a, the drive current to 83b is stopped, and the supply and exhaust of air to the massage air cells 19L, 19R are stopped.
Return to

Therefore, if the switching means 55 is set to the storage mode by pressure control, the treatment elements 20L, 20R
The detected pressing amount (detected pressure data D80) of the pressing amount detector (pressure sensor 84), which is the pressing amount on the user side, is the detected operating amount (indicated pressure) detected by the operating amount detector (variable resistor 47). Feedback control is performed so that the value corresponds to the data D70). Therefore, by gripping the support portion 43 and the operation portion 45 of the operation tool 41, the opening / closing angle θ of the operation portion 45 with respect to the support portion 43 changes against the urging force of the spring 46, and the changed opening / closing angle θ The treatment elements 20L and 20R can be pressed against the user's body with the strength (pressure) corresponding to (proportional to) the above.

As a result, the operation amount of the operation tool 41 is determined by the amount by which the operation tool 45 is swung in response to the urging force of the spring 46 while holding the operation tool 41 (changed opening / closing angle θ). ,
By repeating the gripping operation of the operating tool 41, the treatment elements 20L, 2L are interlocked with the gripping operation of the operating tool 41 by the user.
0R repeats the pressing operation on the body, and massages the user's body at an arbitrary strength corresponding to the operation of the operation tool 41 and at an arbitrary speed corresponding to the operation of the operation tool 41. Can be. Next, if the switching means 55 is set to the regeneration mode by pressure control, step 1
At 9, the indicated pressure data D stored in the data register
Call 70. Thereafter, the process proceeds to step S13, where the detected pressure data D80 from the pressure sensor 84 is determined.
Is read via the digital converter 88, and step 14 is executed.
The command pressure data D70 called in step 19
And a pressure deviation D90 between the detected pressure data D80 read in step 13 and (D90 = D70−D8)
0), proceed to step 15;

Subsequently, as in the case of the pressure control storage mode, in step 15, the pressure deviation D90 is compared with the allowable fluctuation range value (-T to T), and the pressure deviation D90 is determined as the allowable fluctuation range value (-T ~ T) (D90 <-T),
In step 16, massage air cells 19L, 19R
Is exhausted, and the process returns to the step 3 where the pressure deviation D9
If 0 is larger than the variation allowable range value (−T to T), (T
<D90), Step 18: Massage air cell 1
The compressed air is supplied to 9L and 19R, and the process returns to step 3. When the pressure deviation D90 is within the allowable variation range (−T to T) (−T ≦ D90 ≦ T), in step 17, the massage air cell The supply / exhaust to 19L and 19R is stopped, and the process returns to step 3.

Therefore, if the switching means 55 is set to the regeneration mode by pressure control, the treatment elements 20L, 20R
The amount of pressure (detection pressure data D80) detected by the pressure amount detector (pressure sensor 84), which is the amount of pressure applied to the user, is stored in the data register during the previous massage in the storage mode by pressure control. Feedback control is performed so that the value corresponds to the indicated command pressure data D70, and the massage operation performed in the storage mode by the previous pressure control is reproduced. As a result, the massage at the speed and intensity most suitable for the user, which was performed during the previous massage in the memory mode by the pressure control, can be repeatedly performed.

If the switching means 55 is set to a storage mode by position control or a reproduction mode by position control,
The process proceeds from step 2 to step 4 in FIG.
And the detection position data D from the variable resistors 34L and 34R.
200, the detected position data D210 is converted to a digital
Via the detection position data D200 and the detection position data D210.
Calculate 30. In step 5, the average detection position data D
230 is zero-adjusted with a zero-point adjustment value A to obtain zero-point-adjusted average detection position data D250. Step 6
It is determined whether the control mode is the storage mode (storage mode by position control) or the reproduction mode (reproduction mode by position control). If the control mode is the storage mode, the process proceeds to step 21 in FIG. If so, the process proceeds to step 28 in FIG. Therefore, the switching means 55
If is set to the storage mode by position control, the process proceeds to step 21, and if the switching unit 55 is set to the reproduction mode by position control, the process proceeds to step 28.

If the switching means 55 has been set to the storage mode by position control, at step 21, the variable resistor 4
7 is read via the digital converter 88, and the read indicated position data D70 from the variable resistor 47 is stored in a data register. In step 23, the indicated position data D70 and the average detection position are read. The position deviation D260 from the data D250 is obtained (D260 = D
70-D250), and in step 24, the position deviation D260
And the variation allowable range value (−T to T). If the position deviation D260 is smaller than the variation allowable range value (−T to T) (D260 <−T), at step 25, the third solenoid valve 8
A drive current is supplied to the solenoid 83b of No. 3 to exhaust the air from the massage air cells 19L and 19R, and the process returns to step S4. The position deviation D260 is equal to the variation allowable range value (−T
To T) (T <D260), step 27
Then, a drive current is supplied to the solenoid 83a of the third solenoid valve 83 to supply compressed air to the massage air cells 19L and 19R, and the process returns to step 4. Further, the position deviation D26
If 0 is within the variation allowable range value (−T to T), (−T ≦ D
260 ≦ T), the process proceeds to step 26, in which the drive current to the solenoids 83a, 83b of the third solenoid valve 83 is stopped, the supply and exhaust to the massage air cells 19L, 19R are stopped, and the process returns to step 4.

Therefore, if the switching means 55 is set to the storage mode by the position control, the treatment elements 20L, 20R
Detected by the protrusion detectors (variable resistors 34L and 34R), which is the amount of protrusion of the user on the user side (detection position data D20).
0, the detected position data D210) is the detected manipulated variable (instructed position data D) detected by the manipulated variable detector (variable resistor 47).
Feedback control is performed so as to obtain a value corresponding to (70). For this reason, the support portion 43 of the operation tool 41 and the operation portion 4
5, the operation unit 4 with respect to the support unit 43
5, the opening / closing angle θ changes against the urging force of the spring 46, and the treatment elements 20L and 20R are pressed against the user's body by a (proportional) projection amount (position) corresponding to the changed opening / closing angle θ. be able to.

As a result, the operation amount of the operation tool 41 is the amount by which the operation tool 41 is held and the operation section 45 is rocked against the urging force of the spring 46 (the changed opening / closing angle θ). ,
By repeating the gripping operation of the operating tool 41, the treatment elements 20L, 2L are interlocked with the gripping operation of the operating tool 41 by the user.
0R repeats the pressing operation on the body, and massages the user's body at an arbitrary amount of protrusion corresponding to the operation of the operation tool 41 and at an arbitrary speed corresponding to the operation of the operation tool 41. Can be. If the switching means 55 is set to the reproduction mode by position control, step 28
The designated position data D7 stored in the data register
Call 0, and proceed to step 23. In step 23,
The position deviation D26 between the designated position data D70 called from the data register in step 28 and the average detected position data D250 read in step 4 and zero-adjusted.
0 (D260 = D70-D250, step 2)
Proceed to 4.

Thereafter, as in the case of the storage mode by the position control, in step 24, the position deviation D260 is compared with the variation allowable range value (-T to T) to obtain the position deviation D260.
Is smaller than the allowable variation range value (−T to T), (D2
60 <−T) In step 25, the air in the massage air cells 19L and 19R is exhausted, and the process returns to step 4. If the position deviation D260 is larger than the allowable variation range (−T to T), (T < D260) In step 27, compressed air is supplied to the massage air cells 19L and 19R, and the process returns to step 4. If the position deviation D260 is within the allowable variation range (−T to T), (−T ≦ D260 ≦ T),
In step 26, massage air cells 19L, 19R
The supply / exhaust of air is stopped, and the process returns to step 4.

Therefore, if the switching means 55 is set to the reproduction mode by position control, the treatment elements 20L, 20R
Detected by the protrusion detectors (variable resistors 34L and 34R), which is the amount of protrusion of the user on the user side (detection position data D20).
0, the detected position data D210) is feedback-controlled so that the value corresponding to the designated position data D70 stored in the data register at the time of the massage in the storage mode by the previous position control is performed. The massage operation performed by the storage mode according to is reproduced. As a result, the massage at the speed and intensity most suitable for the user, which was performed during the previous massage in the storage mode by the position control, can be repeatedly performed.

FIGS. 12 and 13 show another embodiment.
The pressure sensor 84 is omitted, and an air regulator (electropneumatic regulator) 101 and a D / A converter 102 are provided. The air regulator 101 includes the third solenoid valve 8
3 and a pair of left and right massage air cells 19L, 19R. The air regulator 101 changes the air pressure on the output side by adjusting the input control current or the control voltage by setting the pressure of the air pressure on the input side to the maximum pressure, and the supplied control signal (control current or control voltage). Increases, the pilot pressure rises, the main valve opens, and the output ports (massage air cells 19L, 19L) increase.
Increase the pressure on the R) side. Air regulator 1
01 indicates that when the input control current or control voltage is lowered and the air pressure inside the massage air cells 19L, 19R is higher than the air pressure output from the air regulator 101, the air inside the massage air cells 19L, 19R is reduced by the air regulator 101. Through the exhaust port. Therefore, the air regulator 1
01 outputs an air pressure proportional to the magnitude of a control signal (control current, control voltage) to an output port (massage air cell 1).
9L, 19R), and the air regulator 101 responds (substantially in proportion) to the input control current or control voltage within the range of the input air pressure. It is configured so that the air pressure of the output air can be adjusted.

The D / A converter 102 is controlled by the sequencer 87 so as to use, for example, eight stages of the output voltage that changes in sixteen stages in three bits. An output signal variably set to a voltage value is output as an input signal to the air regulator 101. That is, the D / A converter 102 controls the sequencer 87 to control, for example, the number of bits 1101 to 0110,
The air regulator 101 is configured to output to the air regulator 101 an output signal S1 that can be variably set to eight voltage levels from 0.58V to 0.87V. The other points are the same as those in the above embodiment.

In the case of this embodiment, of the massage operation by operating the operation tool 41, the massage operation in the storage mode by pressure control or the reproduction mode by pressure control is as shown in the flowchart of FIG. That is, if the switching means 55 is set to the storage mode by the pressure control, the command pressure data D70 from the variable resistor 47 is read through the digital converter 88 in step 11, and the command pressure data read in step 12 is read. Data D
70 is stored in the data register, and the routine proceeds to step 13. In step 13, the solenoid 83 of the third solenoid valve 83
a, the compressed air is supplied from the air pump 77 to the air regulator 101 side via the third solenoid valve 83, and the output voltage value or the output current value corresponding (proportional) to the operation amount of the operation tool 41. The output signal S1 which becomes
The output is sequentially output to the air regulator 101 via the A converter 102. Thereby, the massage air cells 19L and 19R are inflated and contracted by the air pressure following the operation amount of the operation tool 41, and the pair of left and right treatment elements 20L and 20R are moved by the user with the strength corresponding to the operation amount of the operation tool 41. Let the body press.

Therefore, if the switching means 55 is set to the storage mode by the pressure control, the support portion 4 of the operating tool 41
3 and the operation unit 45, the opening / closing angle θ of the operation unit 45 with respect to the support unit 43 changes against the urging force of the spring 46, and the strength corresponding to the changed opening / closing angle θ (in proportion to). With (pressure), the treatment elements 20L and 20R can be pressed against the body of the user. As a result, the operation tool 4
The amount by which the operation unit 45 is rocked against the urging force of the spring 46 (the changed opening / closing angle θ) is regarded as the operation amount of the operation tool 41, and the grip operation of the operation tool 41 is performed. Is repeated, the treatment elements 20L and 20R repeat the pressing operation on the body in conjunction with the gripping operation of the operation tool 41 by the user, and the user's body corresponds to the operation of the operation tool 41. Massage can be performed at any strength and at any speed corresponding to the operation of the operation tool 41.

Next, if the switching means 55 is set to the regeneration mode by pressure control, at step 14, the designated pressure data D70 stored in the data register is called, and the routine proceeds to step 13, where at step 13, the third pressure is set. A drive current is supplied to the solenoid 83a of the solenoid valve 83, and the air regulator 1 is supplied from the air pump 77 through the third solenoid valve 83.
01, and supplies an output signal S1 having an output voltage value or an output current value corresponding (proportional) to the indicated pressure data D70 stored in the data register via the D / A converter 102 to the air regulator. 101 is output. Thereby, the air cells 19L and 19R for massage are inflated and contracted by the air pressure following the command pressure data D70, and the left and right pairs are operated with the strength corresponding to the operation amount of the operation tool 41 at the time of the massage in the memory mode by the previous pressure control. The treatment elements 20L and 20R are pressed against the body of the user.

Therefore, if the switching means 55 is set to the regeneration mode by the pressure control, the massage operation performed in the previous storage mode by the pressure control is reproduced.
As a result, the massage at the speed and intensity most suitable for the user, which was performed during the previous massage in the memory mode by the pressure control, can be repeatedly performed. Note that, of the massage operation by operating the operation tool 41 in this embodiment, the massage operation other than the storage mode by the pressure control or the reproduction mode by the pressure control is the same as the massage operation shown in FIGS. And the operation shown in the flowchart of FIG.

FIG. 14 shows another embodiment in which the operating tool 41 and the operating body 51 are shared by one joystick, and the grip portion 105 of the joystick is used.
Is provided with a conductive pressure sensor (a device whose resistance value changes in proportion to the force).
The resistance value of the conductive pressure sensor changes, and the control board 106 drives the proportional control valve 108 via the D / A converter 107. That is, the pressure of the compressed air from the air pump 77 is adjusted by the proportional control valve 107,
Air cell 1 for massage through valves 113 and 114
9L and 19R, the movement of the treatment elements 20L and 20R is controlled by the grip portion 10 of the joystick (the operation tool 41).
It is proportional to the force of gripping five. as a result,
The strength of gripping the grip 105 is defined as the operation amount of the operating tool 41,
The treatment elements 20L and 20R are pressed toward the user with a strength corresponding to the operation amount.

The joystick (operating body 51) is swingably supported back and forth and right and left.
For example, when the joystick (operating body 51) is swung to the right, the treatment elements 20L and 20R move down together with the massage drive unit 7 and move to the left. When swung, the treatment element 2
0L and 20R move up together with the massage drive unit 7,
When the joystick (operating body 51) swings forward,
Compressed air is supplied from the air pump 77 to the positioning air cells 17L, 17R via the valves 111, 112, and both treatment elements 20L, 20R protrude toward the user.
When the joystick (operating body 51) swings rearward,
The air in the positioning air cells 17L and 17R is
The air is exhausted through 1,112, and the treatment elements 20L, 20R recede to the rear side. In addition, the joystick (operation body 5
When 1) is twisted to the right, the valve 111
The air is supplied to the positioning air cell 17L via the, and the positioning air cell 17L expands, so that only the left treatment element 20L protrudes toward the user. When the joystick (operating body 51) is twisted to the left, the air pump 77
Through the valve 112 to the positioning air cell 17R
, The positioning air cell 17R expands, and only the right treatment element 20R protrudes toward the user.

The other points are the same as those in the above embodiment. In the embodiment of FIG. 14, when the joystick (operating body 51) swings rightward, the treatment elements 20L and 20R move down together with the massage driving section 7, and when swinging leftward, the treatment element 20L. , 2
In the case where the OR moves up together with the massage driving unit 7, the moving mechanism 21 for moving the treatment elements 20L and 20R
Is constituted by a lifting mechanism 5 having a lifting motor 10 and the like. In the above-described embodiment, a pair of left and right treatment elements 20L and 20R are operated by operating one operation tool 41. However, instead of this, a treatment performed by operating one operation tool 41 is performed. The number of children may be one, or three or more. Further, one operating tool 41 for operating each of the treatment elements 20L and 20R may be provided corresponding to the pair of left and right treatment elements 20L and 20R. Further, a plurality of operating tools 41 for operating one treatment element may be provided.

In the above embodiment, the invention of the present application is
Although the present invention is applied to a chair-type massage machine, the massage machine to which the present invention is applied is not limited to the chair-type massage machine, and can be applied to a bed-type massage machine and other massage machines.

[0068]

According to the present invention, by operating the operating tool 41, the intensity and speed of the massaging operation such as massaging and acupressure can be easily and finely adjusted by manual operation. It is possible to easily perform a massage operation closer to the massage operation. Further, the massage operation by the operation of the operation tool 41 can be repeatedly reproduced.

[Brief description of the drawings]

FIG. 1 is an overall perspective view of a massage machine showing one embodiment of the present invention.

FIG. 2 is a perspective view schematically showing a massage driving unit.

FIG. 3 is a configuration diagram of an air control system.

FIG. 4 is a configuration diagram of an electric control system.

FIG. 5 is an enlarged circuit diagram of a part of FIG. 4;

FIG. 6 is a plan sectional view for explaining a swinging operation of the operating body.

FIG. 7 is a front view of the operation tool.

FIG. 8 is a front view of a switch operating body of a switching unit.

FIG. 9 is a flowchart showing a massage operation by the operating tool.

FIG. 10 is a flowchart showing a massage operation by the operation tool.

FIG. 11 is a flowchart showing a massage operation by the operation tool.

FIG. 12 is a configuration diagram of an air control system showing another embodiment.

FIG. 13 is a flowchart showing a massage operation by the operation tool.

FIG. 14 is a configuration diagram showing another embodiment.

FIG. 15 is a perspective view of a massage machine showing a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Massager 7 Massage drive part 17L Positioning air cell 17R Positioning air cell 19L Massage air cell 19R Massage air cell 20L Treatment element 20R Treatment element 34L Variable resistor (projection amount detector) 34R Variable resistor (projection amount detector) 41 Operating tool 45 Operating section 46 Spring 47 Variable resistor (operating amount detector) 84 Pressure sensor (pressing amount detector) 91 Pressure control means 92 Operating amount storage means for pressure control 93 Regeneration pressing force control means 94 Position control means 95 Operation amount storage means for position control 96 Regeneration pressing force control means 101 Air regulator 105 Handle

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 4C100 AD01 AD11 AE01 BA02 BB03 BB05 BC13 CA06 DA04 DA05 DA06

Claims (12)

[Claims] 1. A massager (20L, 2)
0R) and a driving unit (7) for driving the treatment elements (20L, 20R), the operating tool (4) for operating the treatment elements (20L, 20R).
1) is provided, and control means for controlling the drive unit (7) is provided so that the treatment elements (20L, 20R) act on the user side in accordance with the operation amount of the operation tool (41). A massage machine characterized in that: 2. A massager (20L, 2
0R) and a driving unit (7) for driving the treatment elements (20L, 20R), the operating tool (4) for operating the treatment elements (20L, 20R).
Pressure control means (91) for controlling the drive unit (7) so as to press the treatment element (20L, 20R) toward the user with a strength corresponding to the operation amount of the operation tool (41). )
A massage machine characterized by having a massager. 3. An operation amount detector (47) for detecting an operation amount of the operation tool (41) is provided.
An operation amount storage means (92) for sequentially storing the detected operation amounts detected in 7) is provided, and the detected operation amount stored by the operation amount storage means (92) is called, and the strength corresponding to the called detected operation amount is provided. The massage according to claim 2, wherein a regeneration pressure control means (93) for controlling the drive section (7) is provided so as to press the treatment element (20L, 20R) toward the user. Machine. 4. An operation amount detector (47) for detecting an operation amount of the operation tool (41) is provided, and a treatment element (20L, 2L) is provided.
0R) to the user side is provided with a pressing amount detector (84) for detecting the pressing amount, and the detected pressing amount of the pressing amount detector (84) is detected by the operation amount detector (47). 4. The massage machine according to claim 2, wherein feedback control is performed so as to be a value corresponding to the amount. 5. The drive unit (7) includes air cells (19L, 19R) that perform expansion and contraction operations by supplying and discharging air, and the treatment elements (20L, 20R) are operated by the expansion and contraction operations of the air cells (19L, 19R). ) Is configured to perform a massaging operation. An air regulator (101) capable of adjusting the air pressure of the output air is input between the air cells (19L, 19R) and the air supply source. Connected to the air cells (19L, 19R) so as to output air, and the air pressure output from the air regulator (101) changes in accordance with the operation amount of the operation tool (41). The massage machine according to claim 2 or 3, wherein 6. A massager (20L, 2
0R) and a driving unit 7 for driving the treatment elements (20L, 20R), the operating tool (4) for operating the treatment elements (20L, 20R).
1) is provided, and a position control means (94) for controlling the drive unit 7 so that the treatment element (20L, 20R) projects to the user side with a projection amount corresponding to the operation amount of the operation tool (41). A massage machine characterized by being provided. 7. An operation amount detector (47) for detecting an operation amount of the operation tool (41) is provided, and a treatment element (20L, 2L) is provided.
0R) to the user side is provided with a protrusion amount detector (34L, 34R), and the protrusion amount detector (34) is provided.
L, 34R) is detected by the operation amount detector (4).
So as to be a value corresponding to the detected manipulated variable detected in 7).
The massage machine according to claim 6, wherein feedback control is performed. 8. An operation amount detector (47) for detecting an operation amount of the operation tool (41) is provided.
A manipulated variable storage means (95) for sequentially storing the detected manipulated variables detected in 7) is provided, and the detected manipulated variable stored in the manipulated variable storage means (95) is called, and the protrusion amount corresponding to the called detected manipulated variable is provided. The massage according to claim 7, wherein a playback position control means (96) for controlling the drive unit (7) is provided so that the treatment element (20L, 20R) protrudes toward the user. Machine. 9. A massager (20L, 2
0R) and a driving unit 7 for driving the treatment elements (20L, 20R), the operating tool (4) for operating the treatment elements (20L, 20R).
Pressure control means (91) for controlling the drive unit (7) so as to press the treatment element (20L, 20R) toward the user with a strength corresponding to the operation amount of the operation tool (41). )
And position control means (94) for controlling the drive unit (7) so that the treatment element (20L, 20R) projects toward the user with a projection amount corresponding to the operation amount of the operation tool (41),
A massage machine comprising a switching unit (55) for switching between control of a driving unit (7) by a pressure control unit (91) and control of a driving unit (7) by a position control unit (94). 10. An operation amount detector (47) for detecting an operation amount of the operation tool (41) is provided.
Operation amount storage means (92, 95) for sequentially storing the detected operation amounts detected in 7) is provided, and the operation amount storage means (92, 95) is provided.
95), and the treatment element (20L, 20L) is called up with the strength corresponding to the called detection operation amount.
R) is provided for controlling the drive unit (7) so that the user presses R), and the detected operation amount stored by the operation amount storage means (92, 95) is called up. In order to make the treatment element (20L, 20R) protrude to the user side with a protrusion amount corresponding to the called detection operation amount,
Reproduction position control means (96) for controlling the driving section (7) is provided, and the driving section (7) is controlled by the reproduction pressure control means (93).
(7) by means of control of reproduction and reproduction position control means (96)
9. The massage machine according to claim 8, further comprising switching means (55) for switching between the control and the control. 11. The operating tool (41) includes a spring (46).
Operating unit (45) swingably supported against the urging force of
The operation amount of the operation tool (41) is characterized in that the operation amount of the operation tool (41) is the amount of swing operation of the operation portion (45) against the urging force of the spring (46). The massage machine according to any one of 1 to 10. 12. The operating tool (41) is provided with a grip (10).
The massage machine according to any one of claims 1 to 10, further comprising (5), wherein a strength of gripping the grip portion (105) is set as an operation amount of the operation tool (41).