JP2002369852A - Massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a massage machine capable of accurately and enjoyably performing massage by enabling a user to visually recognize the massage conditions. SOLUTION: The massage machine is provided with a display means displaying the massage conditions. To put it more concretely, the massage is enabled by making rubbing balls (5) and (6) touch the body, and the display means detects the positions of the rubbing balls (5) and (6) and the pressurizing force of the rubbing balls (5) and (6) to the body and displays the massage conditions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

TECHNICAL FIELD The present invention relates to a massage machine.

[0002]

2. Description of the Related Art Conventionally, as this kind of massage machine, there has been one described in Japanese Patent Application Laid-Open No. Hei 5-161682.

[0003] This is a chair-type massage machine, which is a main drive source for kneading the kneading balls, a front-back driving source for driving the kneading balls in the front-back direction, and a vertical driving unit for driving the kneading balls in the vertical direction. A plurality of driving sources such as a power source, a control circuit capable of independently controlling each driving source, and further, a pressing force detecting circuit for detecting a pressing force on the back of the massaging ball, and a shoulder of the user. A shoulder position detection circuit for detecting a position is provided.

[0004] The shoulder position detecting circuit gives the control circuit a command to move the kneading ball upward from the vicinity of the waist of the user, and detects a change in the pressing force detection signal of the pressing force detecting circuit. The position of the shoulder is detected.

That is, since the kneading balls do not come into contact with the body and generate no pressing force above the shoulder position, the position of the shoulder can be determined by detecting the pressing force. By performing such detection, the shoulder position can be used as a reference, and the movement of the kneading balls to the massage location desired by the user can be performed smoothly.

[0006]

However, in the above-mentioned conventional massage machine, there is no display means for displaying the detected shoulder position and the like, and moreover, the massage condition cannot be displayed.

[0007] Therefore, the user cannot know the position of the shoulder recognized by the massage machine without actually starting the massage, and frequently adjusts the shoulder position after starting the massage. However, it is inconvenient to use, and the user cannot visually recognize the massage situation and enjoy the massage.

An object of the present invention is to provide a massage machine that can solve the above-mentioned problems.

[0009]

Therefore, according to the present invention, there is provided a display means for displaying a massage state.

According to a second aspect of the present invention, there is provided a massager which is capable of massaging a massage ball by contacting the body with the massage ball. Display means for detecting and displaying the massage status is provided.

Further, according to the present invention, in a chair type having a seat body and a backrest, a massaging ball driving unit for driving massaging balls is provided, and the massaging ball driving unit is connected to the backrest. And the kneading ball drive unit is capable of moving forward and backward with respect to the backrest.

[0012]

BEST MODE FOR CARRYING OUT THE INVENTION A massage machine according to the present invention has a display means for displaying a massage state.

[0013] That is, the user can receive a massage while visually recognizing the state of the massage, and can enjoy an unprecedented massage, thereby relaxing the body and mind and improving the massage effect. Further, when there is a difference between the actual massage and the displayed massage situation, the user can practice an appropriate massage program of the massage machine by changing his or her own posture.

Although the display means is not particularly limited, a display screen such as a liquid crystal may be provided on a remote controller or the like, or a display for display may be separately provided on the massage machine.

Further, the massage machine may be configured so that massage can be performed by bringing a massage ball into contact with the body. The display means displays the position of the massage ball and the pressing force of the massage ball on the body. Is detected and the massage status is displayed.

That is, the massage condition can be accurately displayed, and the moving image such as an animation display can be displayed based on the position of the massage ball and the pressing force of the massage ball on the body. Thus, the user can easily view and enjoy the display.

Further, the massage machine can be configured as a chair having a seat body and a backrest.

A massaging ball driving unit for driving the massaging balls is provided, and the massaging ball driving unit is disposed so as to be able to move up and down along the backrest. On the other hand, it is possible to move forward and backward.

With this configuration, the massage can be received while sitting comfortably, and the massage can be enjoyed in a relaxed and enjoyable state while visually recognizing the massage situation, thereby increasing the massage effect.

The data for displaying the massage condition is obtained by a control unit capable of electrically detecting the load generated by bringing the massage ball into contact with the body and the driving force of each motor for moving the massage ball. What is necessary is just to make it into an electrical signal by calculating, and to output this to a display means.

[0021]

1 is a schematic explanatory view of a massage machine according to the present invention, and FIGS. 2 to 7 show massage units provided in the massage machine.

As shown in FIG. 1, the massage machine 1 according to the present embodiment is of a chair type, and a seat body 2 in which an air cell (not shown) is housed and arranged so that the buttocks can be air-massed.
And a backrest 3 connected to the seat body 2 in a reclineable manner. In the figure, M is a user, 1a is a foot holding portion for holding the foot of the user M, 1b is an armrest, and an air cell (not shown) is housed in the foot holding portion 1a. The feet can be air massaged. In addition, R is turned on after turning on the power to the massage machine 1,
And a remote control that enables the operation of the entire massage machine. As will be described later, various switch buttons S1.
, And a display unit A made of a liquid crystal screen, and is wirelessly connected to a control unit 16 disposed below the seat body 2. Reference numeral 19 denotes a remote control storage unit provided on the front side of the armrest 1b.

In the backrest 3, a massage unit 4 which is a main function part of the present massage machine 1 is provided so as to be able to move up and down along the backrest 3, and is provided in the massage unit 4. By the kneading ball drive unit 9,
Various massages are available.

That is, the kneading ball driving unit 9 is the same as that shown in FIG.
7, a beating mechanism 7 for performing a beating operation by swinging a pair of left and right massaging balls 5, 6 in the front-rear direction, and massaging by rotating the massaging balls 5, 6 eccentrically. It has a rubbing mechanism 8 for performing the operation, and the rubbing ball drive unit 9 is configured to be able to move forward and backward toward the front side (the side in contact with the user) of the backrest 3.

In this embodiment, a so-called chair-type massage machine in which the back 3 supports the user's body is described as an example. However, the present invention is not limited to this. A so-called bed-type massage machine may be used. In addition, the kneading ball drive unit 9 necessarily includes the hitting mechanism 7 and the kneading mechanism 8 as long as the kneading ball driving unit 9 is configured to be able to advance and retreat toward the front side (the side in contact with the user) of the backrest 3. Instead, one having one of them or one having a structure in which the kneading balls 5 and 6 are protruded may be used. Further, the air massage function may be omitted.

Further, the remote controller R may be detachably mounted on the upper surface of the armrest 1b.

Hereinafter, the structure of each part of the massage machine 1 according to the present embodiment and the operation thereof will be specifically described.

[Seat Body 2 and Backrest 3] As shown in FIG. 1, the seat body 2 includes seating detecting means for detecting that a user is seated inside the seating portion 14 by pressure. A weight detection sensor 15 which is also used is mounted, and the weight detection sensor 15 is connected to the control unit 16. In the figure, reference numeral 17 denotes a leg seat provided on the lower surface of the seat body 2, which holds the entire massage machine 1 on the floor.

A backrest 3 is connected to the seat body 2 by a reclining mechanism (not shown) so that the backrest 3 can be freely reclined. A pair of left and right racks 10 and 11 are attached to the back side inside the backrest 3 along the backrest 3. At the same time, a pair of left and right guide rails 12, 13 having a U-shaped cross section are attached along the racks 10, 11. The reclining mechanism is provided with a reclining angle detection sensor 18 for detecting the inclination angle of the backrest 3, which is also connected to the control unit 16.

[Massage Unit 4] The massage unit 4 is, as shown in FIGS. 1 to 7, a lifting drive unit for raising and lowering the massage unit 4 at the lower right side of a substantially rectangular box-shaped massage unit casing 22. And a drive gear 25 is mounted on a drive shaft 24 of the lift motor 23, a drive gear 26 is meshed with the drive gear 25, and a drive worm is mounted on the drive gear 26.
27 are linked.

On the other hand, an elevating shaft 28 extending in the left-right width direction is rotatably attached to a lower portion of the massage unit casing 22, and a gear portion formed on the right outer surface of the elevating shaft 28 and the driving worm 27, and the left and right ends of the elevating shaft 28 are projected outward of the massage unit casing 22.Furthermore, pinion gears 30, 31 are attached to the projected left and right ends, and the pinion gears 30, 31 are supported by the back. 3 are engaged with the racks 10 and 11 attached thereto.
The rotary shaft 91 is provided with a rotary encoder 91 as a vertical drive amount detecting means for detecting an amount (angle) of driving (rotation) of the vertical shaft 28 by the vertical motor 23. In the figure, reference numeral 32 denotes a motor casing that houses the elevating motor 23 attached to the lower right portion of the massage unit casing 22. Note that the lifting motor 23 and the rotary encoder 91 are connected to the control unit 16 disposed below the backrest 3, as shown in FIG.

The massage unit 4 has a pair of left and right guide shafts 33, 34 rotatably mounted on the upper left and right sides of the massage unit casing 22, and the ends of the respective guide shafts 33, 34 are attached to the outside of the massage unit casing 22. The guide rollers 35 and 36 are rotatably mounted on the ends of the protruded guide shafts 33 and 34, respectively. The guide rollers 35 and 36 are mounted on the backrest 3 in a U-shaped cross section. It is slidably inserted into the guide rails 12,13.

The massage unit 4 swings a massage ball drive unit 9 having massage balls 5 and 6 for abutting against the body of the user M via the surface of the backrest 3 to massage. It is arranged as possible.

That is, the massage unit 4 is provided at the center of the elevating shaft 28 disposed in the lower part of the massage unit casing 22 so as to extend in the left-right width direction. The unit casing 37 is swingably mounted in the front-rear direction, and the kneading ball drive unit 9 can swing in the front-rear direction with the elevating shaft 28 as a swing fulcrum. Due to the swing in the front-rear direction, the kneading ball drive unit 9 and, eventually, the kneading balls 5, 6 move back and forth in the front-rear direction.

An advancing / retracting movement mechanism for swinging the kneading ball drive unit 9 in the front-rear direction to move the kneading ball drive unit 9 forward and backward is provided on the upper left side of the massage unit casing 22 for moving the kneading ball drive unit 9 forward / backward. And the drive shaft 39 of the motor 38
A drive gear 40 is mounted on the drive gear 40, and the drive gear 40 is meshed with the drive gear 40, and a drive worm 42 is operatively connected to the drive gear 40.

A reciprocating shaft 43 extending in the left-right direction is rotatably mounted on the upper part of the massage unit casing 22, and a gear portion (shown in FIG. The drive worm 42 is meshed with the drive worm 42. Further, a pair of left and right pinion gears 44, 45 is attached to the middle part of the advance / retreat shaft 43, while the pinion gears 44, 45 A corresponding pair of left and right arcuate racks 46, 47 are attached, and the pinion gears 44, 45 are meshed with the racks 46, 47. A rotary encoder 92 is provided on the reciprocating shaft 43 as a reciprocating drive amount detecting means for detecting an amount (angle) of the reciprocating shaft 43 driven (rotated) by the reciprocating motor 38. In the figure, 48 is a motor casing for accommodating the reciprocating motor 38 attached to the upper left portion of the massage unit casing 22, and 49 is a bearing for rotatably supporting the reciprocating shaft 43. The forward / backward motor 38 and the rotary encoder 92 are connected to the control unit 16 as shown in FIG.

The above-mentioned kneading ball drive unit 9 is the same as that shown in FIG.
As shown in FIG. 4, a pair of left and right rack support pieces 50, 51 are formed on the upper side of the box-shaped kneading ball drive unit casing 37 so as to face outward, and While the arc-shaped racks 46 and 47 are respectively attached, a substantially U-shaped elevating shaft support piece 52 in a front view is formed at the lower front side of the kneading ball drive unit casing 37, and bearings are provided on the left and right sides of the elevating shaft support piece 52. The lifting shaft 28 is rotatably inserted into the bearings 53 and 54, respectively.

Further, the kneading ball driving unit 9 is provided with a hitting mechanism 7 disposed inside a kneading ball driving unit casing 37.
And a kneading mechanism 8.

The striking mechanism 7 is, as shown in FIGS.
At the lower left side of the kneading ball drive unit casing 37, the hitting motor 57 as a hitting drive unit for hitting the kneading balls 5 and 6 to the kneading ball drive unit 9 with the drive shaft 58 protruding upward. While the driving worm 59 for tapping is interlockingly connected to the driving shaft 58, a turning shaft 60 for tapping extending in the left-right width direction is rotatably mounted on the upper part of the kneading ball drive unit casing 37. .

A hitting driven worm wheel 61 is fixed to the left side of the hitting rotary shaft 60, and the hitting driven worm wheel 61 is engaged with the hitting drive worm 59, and the hitting rotary worm wheel 61 is rotated. The tapping eccentric shafts 62 and 63 are connected to the left and right ends of the shaft 60 in a state where the axes of the tapping eccentric shafts 62 and 63 are respectively eccentric up and down from the axis of the tapping rotation shaft 60, and the tapping is performed. Kneading ball mechanisms 64 and 65 are interlockingly connected to the eccentric shafts 62 and 63, respectively. A rotary encoder 93 serving as a beating drive amount detecting means for detecting the amount (angle) of driving (rotation) of the beating rotary shaft 60 by the beating motor 57 is arranged on the beating rotating shaft 60. Has been established. In the figure, reference numeral 66 denotes a bearing for rotatably supporting the drive shaft 58 of the hitting motor 57. The hitting motor 57 and the rotary encoder 93 are connected to a control unit 16 disposed below the backrest 3, as shown in FIG.

On the other hand, as shown in FIGS. 2 to 6, the kneading mechanism 8 includes a kneading drive for causing the kneading ball drive unit 9 to knead the kneading balls 5, 6 at the lower right side of the kneading ball drive unit casing 37. The kneading motor 67 as a part is mounted with the drive shaft 68 protruding upward, and the kneading drive worm 69 is interlockedly connected to the drive shaft 68 while the kneading motor 67 is attached to the right side of the hitting rotary shaft 60. The driven worm wheel 70 is rotatably loosely fitted, and the rubbing driven worm wheel 70 is meshed with the rubbing drive worm 69. Is rotatably attached to the lower part of the kneading ball drive unit casing 37, a kneading rotary shaft 72 extended in the left-right width direction, and a kneading driven pulley 73 on the right side of the kneading rotary shaft 72.
And a transmission belt 74 is suspended between the driven pulley 73 for kneading and the driving pulley 71 for kneading. Further, kneading ball mechanisms 64 and 65 are interlockingly connected to left and right ends of the kneading rotary shaft 72, respectively. A rotary encoder 94 serving as a lifting drive amount detecting means for detecting the amount (angle) of rotation (rotation) of the kneading rotary shaft 72 by the kneading motor 67 is provided on the kneading rotary shaft 72. Has been established. In the figure, reference numeral 75 denotes a bearing for rotatably supporting the drive shaft 68 of the kneading motor 67. The kneading motor 67
The rotary encoder 94 is connected to the control unit 16 disposed below the backrest 3, as shown in FIG.

As shown in FIGS. 2 to 6, the kneading ball mechanisms 64 and 65 are provided with a pair of left and right kneading ball arm supports 76 and 77 at the left and right ends of the rotary shaft 72 for kneading. With the upper parts of the supports 76 and 77 facing outward, they are attached in an inclined manner, and the tip of the interlocking arms 78 and 79 are interlocked and connected to the rear of the kneading ball arm supports 76 and 77, respectively. Attach the base end of 78,79 to the eccentric shaft 62,63 for hitting, and further attach the base end of the kneading ball support arm 80,81 to the front upper part of the kneading ball arm support 76,77. Kneading balls at the end of support arms 80 and 81
5 and 6 are rotatably mounted. In the figure, reference numerals 84 and 85 denote connectors for rotatably attaching the kneading ball arm supports 76 and 77 to the left and right ends of the kneading rotary shaft 72 in an inclined state. The distal ends of the interlocking arms 78, 79 and the kneading ball arm supports 76, 77 are connected by a free joint structure.

In this embodiment, when the forward / backward motor 38 is driven via the control unit 16 using the remote controller R, the forward / backward shaft 43 is rotated via the drive gear 40, the speed change gear 41, and the drive worm 42. Accordingly, the pinion gears 44, 45 rotate and move along the racks 46, 47, whereby the kneading ball drive unit casing 37 swings in the front-rear direction about the elevating shaft 28, and the kneading balls 5 , 6 move back and forth (see FIG. 7).

In the present embodiment, as shown in FIG. 8, the kneading balls 5, 6
In the backrest 3 (in FIG. 8, the tips of the kneading balls 5 and 6 are located on the line indicated by the symbol L1), and the rubbing position for performing an extremely weak massage (FIG. 8).
In, the tips of the kneading balls 5, 6 are located on the line indicated by the reference symbol L2. ), A weak position for performing a weak massage (in FIG. 8, the tips of the kneading balls 5 and 6 are located on a line indicated by reference symbol L3), and a middle position for performing a moderate massage (in FIG. 8, the kneading balls 5 and 6). Is located on the line indicated by reference symbol L4.), A strong position for performing a strong massage (in FIG. 8,
The tips of the kneading balls 5, 6 are located on the line indicated by the symbol L5. ),
6 at a deep position (in FIG. 8, the tips of the kneading balls 5 and 6 are located on a line indicated by reference numeral L6) at which an extremely strong massage is performed.
It is possible to advance and retreat to the stage.

The massage machine 1 according to the present embodiment is configured as described above, and is operated by the operation unit S provided on the remote controller R, so that the control unit 16 controls the rotary encoder 91, The following operations are performed by driving the motors 23, 38, 57, 67 as drive units while detecting the drive amounts (rotation angles) of the shafts 28, 43, 60, 72 at 92, 93, 94. I do.

That is, when the control unit 16 drives the elevating motor 23 as an elevating drive unit, the elevating shaft 28
Is rotated, and the pinion gears 30, 31 are accordingly moved to the rack 10,
Travel along 11 and massage unit 4
Move up and down along. At that time, the control unit 16
Rotary encoder 91 as drive amount detecting means for lifting
Detects the rotation angle of the elevating shaft 28 to detect the elevating amount of the massage unit 4. This operation enables a rolling massage.

When the control unit 16 drives the forward / backward motor 38 as a forward / backward drive unit, the drive gear 40
Drive worm 42, pinion gears 44 and 45 via reciprocating shaft 43
Rotates, and accordingly the kneading ball drive unit casing
The racks 46, 47 attached to the 37 move, and the kneading ball drive unit casing 37 moves forward and backward in the front-rear direction, and the kneading balls 5, 6
Moves forward and backward (see FIG. 6). At that time, the control unit 16 detects the rotation angle of the advance / retreat shaft 43 with the rotary encoder 92 as the advance / retreat drive amount detection means, and detects the advance / retreat amount of the kneading ball drive unit 9 (kneading balls 5, 6). are doing. This operation enables shiatsu massage.

When the hitting motor 57 as a hitting drive unit is driven by the control unit 16, the hitting rotary shaft 60 is turned via the hitting drive worm 59 and the hitting driven worm wheel 61, Accompanying eccentric shaft for tapping 62, 63
Are rotated alternately up and down, whereby the interlocking arms 78 and 79
Function as a crank, the kneading ball arm supports 76, 77 swing back and forth, and the kneading balls 5, 6 alternately swing back and forth to perform a hitting operation. At this time, the control unit 16 detects the swing angle of the kneading balls 5 and 6 by detecting the rotation angle of the hitting rotary shaft 60 with the rotary encoder 93 as the driving amount detector for hitting. With this operation, a beating massage can be performed.

When the control unit 16 drives the kneading motor 67 as a kneading drive section, the kneading drive worm 69, the kneading driven worm wheel 70, the kneading drive pulley 71, the transmission belt 74, the kneading driven pulley The rotary shaft 72 for kneading is rotated via 73, and the kneading ball arm supports 76, 77 are rotated accordingly, and the kneading balls 5, 6 are eccentrically rotated in the front-rear direction to perform the kneading operation. At that time, the control unit 16
Rotary encoder 94 as kneading drive amount detection means
By detecting the rotation angle of the kneading rotary shaft 72, the amount of eccentric rotation of the kneading balls 5, 6 is detected. By this operation, massaging massage can be performed.

In the massage machine 1, the control units 16 detect the drive amounts (rotation angles) of the shafts 28, 43, 60, 72 with the rotary encoders 91, 92, 93, 94 as drive amount detecting means. Motors 23, 38, 57, 6
By driving 7, the position of the kneading balls 5, 6 can be finely controlled, and by combining the basic operations described above, the shoulders, back,
The waist and the like can be massaged in various modes as described in detail below.

Here, the body shape detection operation will be described with reference to FIGS. 10 to 12 along with a case where the massage machine 1 is actually used. 10 to 12, the massage unit 4 is omitted for easy understanding, and only the massage balls 5, 6 are displayed.

[Body Shape Detection and Massage] Here, a case where an automatic massage course programmed in advance in the massage machine 1 is selected will be described. In addition,
In the present embodiment, the automatic massage course is divided into the following five courses, and any of these courses can be arbitrarily selected.

"Whole body course" This is a course in which both the upper body and lower body are massaged uniformly, and the lower body is subjected to the air massage in the above-mentioned foot holding section 1a and seating section 14.

"Shoulder / neck course" This course mainly focuses on the neck and shoulders, and includes the waist, but does not include the lower body.

"Waist course" Mainly waist, lower body (lower limb)
This course focuses on massage.

[Surface Stretching Course] This course is mainly for back muscle stretching, and includes lower body massage.

"Shiatsu course" This course mainly involves the acupressure movement and does not include the lower body.

The feature of the present massage machine having a plurality of automatic massage courses is that the massage machine is provided with a display means for displaying a massage state.

That is, in this embodiment, when a desired course is selected from any of the automatic massage course buttons S2 to S6, “fade-in massage as break-in massage” → “body shape detection” → “a plurality of various massage modes”
→ Massage is automatically performed in the order of "Fade-out massage as a cooling down massage". In addition, the "plurality of various massage modes" means, for example, that the massage at the waist position is performed for 30 seconds and the acupressure at the shoulder position is performed for 3 seconds.
Each massage mode such as 0 second and the time required for the massage mode are programmed in advance in an appropriately combined state.

When the above-mentioned automatic massage course is selected, the massage state at that time is displayed on the display section A of the remote controller R as the display means. The display of the massage status will be described later in detail.

First, fade-in massage and fade-out massage will be described.

For example, when the “shoulder course” is selected from the automatic massage course, a fade-in massage is performed first.

That is, when the massage unit 4 at the upper storage position in the initial state descends toward the waist position, after the massage unit 4 has descended at least to the shoulder position, the massage unit 4
5 and 6 are set to the "rubbing position" described above, and a rolling massage is performed so as to touch the entire back and stops at the waist position. This rolling massage is a fade-in massage that is a break-in massage.

Next, body shape detection, which will be described in detail later, is performed. In the operation up to this point, each operation step is switched at the coordinate positions of the kneading balls 5 and 6.

After the end of the body shape detection, various massages such as a shoulder position tapping massage, a shoulder position massage massage, a shoulder position acupressure massage, and a massage in a previously programmed mode are performed. Before the body shape is detected, the position of each massage performed is determined based on the standard body shape data, but after the body shape is detected, the massage ball position of each massage is controlled based on the detected body shape data. Is done. In this massage mode, the operation steps are switched according to time, not at the coordinate positions of the kneading balls 5, 6.

Finally, a fade-out massage is performed. At this time, the massage unit 4 moves upward from the waist position, and performs massage by rubbing and rolling in the same manner as the fade-in massage. It is stored in a certain upper storage position. In the fade-out massage, each operation step is switched according to the coordinate position of the kneading balls 5, 6.

In this way, all the “shoulder courses” selected by the user M are completed.

The above-mentioned fade-in massage,
For fade-out massage, massage unit 4
Is a one-way movement, but is not limited to this, and can be set as appropriate, such as reciprocating or reciprocating a plurality of times.
The form of the fade-in / fade-out massage is not limited to the rolling massage, but may be a combination of a massage massage and a shiatsu massage, for example.

By the way, the massage machine 1 according to the present embodiment
Is controlled so that one user M cannot use it continuously for 30 minutes or more in total so that unhealthy excessive massage cannot be performed.

Therefore, for example, when an automatic massage course including the above-mentioned “shoulder course” is set for 15 minutes, if another massage mode is mixed for several minutes and two or more sets of automatic massage courses are performed, this state is not changed. However, since the total time exceeds 30 minutes, there is a possibility that the course ends in the middle of the course.

Therefore, in this embodiment, the massage machine 1 is provided with a time adjusting function, and in the case of a combination that naturally exceeds 30 minutes as described above, the mode in the course is skipped (thinning operation), By shortening the massage time of each mode (mode shortening) and compressing and operating each operation step, even if multiple automatic massage courses are combined, the course massage can be completed without discomfort within 30 minutes I have.

This is the massage mode during each course,
Or each operation step of the single massage mode,
As described above, this is possible because the time is managed and switched.

Hereinafter, the case where the user M selects the automatic massage course will be described in more detail including the gist of the present invention.

When the user M sits on the seating section 14 and the remote control R
When the power switch S1 (see FIG. 14) is turned on, the weight detection sensor 15 also serving as the seating detecting means detects the seating of the user M, thereby performing the initial setting of the massage unit 4. That is, the lifting motor 23 is driven to lower the massage unit 4 to the lowermost position, which is the waist position of the user M (f1), and the advance / retreat motor 38 is driven to move the kneading ball drive unit 9 to the rearmost position. (F2), and the driving motor 57 and the kneading motor 67 are driven to move the kneading balls 5, 6 to the neutral position. At this time, each motor 38,
57 and 67 are controlled by a rotary encoder 92 as a drive amount detecting means for forward / backward movement.

Next, the control unit 16 controls the forward / backward motor 38.
In FIG. 8, the tip of the kneading balls 5 and 6
The kneading ball drive unit 9 is advanced slightly (for example, about 10 mm) so as to be located on the line indicated by, and the lifting / lowering motor 23 is driven to move while performing rolling massage upward.

As described above, the above-mentioned advanced position of the kneading ball drive unit 9 is referred to herein as a “rubbing position”,
A soft touch massage that warms the back of the user M can be performed, and a fade-in massage is provided as a break-in massage for a full-scale massage to be started later.

In this fade-in massage,
I rub the whole body and do it by rolling,
As described above, for example, a massage massage or a shiatsu massage may be combined.

Further, regarding the “fade-out massage”, similar to the fade-in massage, the massage balls 5, 6
The massage is performed at the "rubbing position" where the contact force between the and the treated part is the weakest, and then, at a position where the contact force is stronger than the "rubbing position", a low to moderate massage is performed. .

When the fade-in massage is over,
Next, the body shape detection process is started.

That is, the body shape of the user M, such as the height of the shoulders of the user M, that is, the shoulder position and width, the shape of the back (spine), and the like, is detected. An operation of giving an abutting action to the back serving as a treatment target is included.

Further, in this embodiment, as the body shape detecting means, a load current detecting means for detecting a load current during massage, a coordinate detecting means for detecting a vertical position coordinate of the massaging ball, and data from the coordinate detecting means. And storage means for storing the information.

That is, as shown in FIG. 11, the control unit 16 drives the elevating motor 23 to lower the massage unit 4 to the lowermost position, which is the waist position of the user M (f1), The motor 38 is driven to move the kneading ball drive unit 9 backward to the rearmost position (f2).

Then, at that position, the motor 38 is driven forward and backward to gradually move the kneading ball drive unit 9 forward (toward the back of the user to be treated) (f3), and the control unit When the load current detecting means detects that a predetermined load (for example, a load current) is applied to the forward / backward motor 38 by the use of the forward / backward motor 38, the forward / backward motor 38 is stopped and its position is stored in the control unit 16 in the storage means. Remember by
(Specifically, the detection output of the rotary encoder 92 as the forward / backward drive amount detecting unit is coordinate-converted by the coordinate detecting unit via the control unit 16 and stored by the storage unit.) The motor 38 is driven to move the kneading ball drive unit 9 backward to the rearmost position (f4). These operations (f3) and (f4) are defined as one body shape detection step. The memory of the position where the motor 38 is stopped is stored as the amount of movement of the massage ball drive unit 9 when the motor 38 is operated when the massage ball drive unit 9 is moved from the rearmost position to the stop position. You may make it memorize | store.

Next, the lifting motor 23 is driven, and the massage unit 4 is raised by a predetermined distance based on the detection of the rotary encoder 91 as the lifting drive amount detecting means (f5). The moving motor 38 is driven to gradually move the kneading ball drive unit 9 forward (f6). Note that the control of the moving distance may be performed by a control method in which the motor 23 is driven for a predetermined time (for example, one second).

By repeating these operations up to the position of the shoulder of the user (f7), the height and width of the shoulder of the user M,
The body shape of the user such as the shape of the back is detected. In addition,
After the detection is completed, the massage unit 4 is in the initial state (FIG. 1).
(F2 position in 1).

After the end of the body shape detection process, the process immediately shifts to the next step, that is, various programmed massage modes, according to the contents of the selected automatic massage course. Before performing the body shape detection, the position of each massage performed at this time is determined based on standard body shape data, but after the body shape detection, the massage ball position of each massage is controlled based on the detected body shape data. You.

As described above, the above-described body shape detection includes the operation of causing the kneading ball drive unit 9 (the kneading balls 5 and 6) to advance toward the user M as described above. It is repeated for each ascending operation consisting of the movement amount, and in the arithmetic means built in the control unit 16, the position where the kneading balls 5, 6 abut on the back of the user M is coordinated, and the coordinates are traced to form the body shape line. Detection is performed (see FIG. 14).

Further, in the present embodiment, the detected body shape line is corrected and recognized, and can be displayed.

That is, the kneading balls 5 and 6 are
Pushing the back of the user M by advancing with a predetermined force by the rotation of the, the kneading balls 5, 6 at the position where the kneading balls 5, 6 abut against the back, the kneading balls 5, 6 and the state that is slightly pressed into the body Has become.

That is, the actual body shape line is located outside the detected line, and by correcting the actual body shape line, a more accurate body shape line is detected, and the massage according to the detection result is performed. Also, try not to get an overly strong massage.

The correction method according to the present embodiment is adapted to correct according to the weight of the user M and the reclining angle when the body shape is detected.

That is, since the body shape detection method uses the load current at the time of contact, an error occurs in the detection accuracy due to the dependence of the weight on the size or the backrest. Based on the weight value obtained and the degree of increase in the load current described above, how much the body is pressed against the massage unit 4 is estimated, and only the estimated width D is added to the outside of the detection line and corrected (FIG. 14). reference). In particular, in the present embodiment, since the reclining angle detection sensor 18 is provided, both the sensors 15, 1
According to 8, the load applied to the backrest 3 of the user M can be calculated, and the correction value can be determined based on the calculation result, so that an accurate body shape line can be obtained.

[0093] In addition, in the case of reclining and massaging in a desired posture, even if the load on the kneading balls 5 and 6 changes during reclining, if the reclining angle is constantly monitored, the change in the load can be prevented. It is also possible to correct the corresponding appropriate advance amount at any time.

As another correction method, for example, a simple correction of adding a predetermined amount of deviation (estimated width D) to the body shape line detected in the body shape detection step is also possible. That is, the standard deviation obtained experimentally is added.

As described above, by obtaining the body shape line of the user M before performing the massage, various massages can be performed.
It is possible to realize the optimum strength and position for the user M.

Note that the detected body line is the control unit.
In the case where the same user uses the massage machine 1 continuously, it is preferable that the user can select whether or not to perform the body shape detection in order to reduce the time when the massager 1 is used continuously. Such a selection operation may be performed by a switch operation by displaying whether or not to make a selection on the remote controller R.

In the present embodiment, the above-described body shape line detection processing is displayed on the display unit A provided on the remote controller R.

That is, FIG. 12 shows a remote controller R, in which a display section A comprising a liquid crystal screen is provided as a display means on the upper side, and an operation section S is provided below it.

When the power of the massage machine 1 is turned on, as shown in the figure, a basic diagram for displaying the operation of detecting the body shape line is displayed on the display section A. B is a body shape line displayed as a thick line in the human body display representing the user M, and L is a kneading ball.
This is a rectangular lamp that is lit and displayed corresponding to the symbols representing positions 5 and 6.

When the body shape line detection process starts, FIG.
As shown in (5), the state of the body shape line detection processing is displayed.

That is, FIG. 13A shows the start of detection, and the lowermost rectangular lamp L is lit. And
As shown in FIG. 13 (b), as the massaging balls 5, 6 rise, the rectangular lamps L indicating the positions of the massaging balls 5, 6 are sequentially turned on.

When the detection is completed, a body shape line B is displayed as shown in FIG. At the same time, the outline of the automatic massage course starting from now on is displayed in the margin of the display section A. The display of the body shape line B may be indicated by a thick broken line, or the vertebrae may be deformed. Alternatively, the human body can be displayed three-dimensionally. In this case, the body shape detecting means can also detect in the width direction (in this embodiment, the position in the width direction of the kneading ball can be detected from the rotating shaft rotation position detecting means for kneading. Is provided, and a three-dimensional human body display is performed based on data from the width direction and the vertical direction. The three-dimensional display may be a wire frame display as shown in FIG.

In the present embodiment, if the detection result of the body shape line B is abnormal, as shown in FIG. 13D, the user is prompted to display some abnormal message and perform the detection process again. I encourage M.

The body shape line B shown in FIG.
Is a case of a relatively standard body shape line. For example, even if the shape of a short person or a child is large, the waist is bent, and the shape of a stoop is considerable, FIG.
(e), as shown in FIG. 13 (f), the detection result is displayed as a body line B outside the basic diagram.

In FIG. 12, S1 is a start switch also serving as a power switch, and S2 to S6 are the aforementioned automatic massage course buttons. S7 is a gentleness button. By operating the button S7, the massage operation can be partially weakened during automatic massage. S8 is a primary stop button, S9 to S12 are other function switches including those for air massage and heater function, S13
Is a shoulder position fine adjustment button to be described later.

As described above, when the automatic massage course is selected, the body shape of the user is detected and stored while massaging, and the motors are driven and massaged in accordance with the stored body shape data. As a result, the massage location and the massage intensity are accurate according to the user, and a comfortable massage can be performed.

In addition, since the body shape of the user is detected and stored during the massage process, a process for detecting the body shape is not required, and the user is not troubled.

Further, by performing the body shape detection during a time period avoiding the start of the massage, not only is there no complication, but also with the present massage machine 1, the user is aware that his or her body shape is detected. It is possible to massage comfortably in a relaxed state from the beginning to the end without having to do so, to be able to recover fatigue and refresh both mind and body, and to perform a certain amount of massage, and the posture of receiving the massage of the user is stable Since the body shape is detected after the state, the body shape can be stably and accurately detected.

Further, since the body shape detection operation itself has a massage action, the massage effect of the entire automatic massage course is improved, and the user is not irritated during the period without the massage action.

Further, the present massage machine 1 determines the shoulder position of the user M at the time of detecting such a body shape.

That is, as shown in FIGS. 11 and 14, the massage unit 4 (massaging ball drive unit 9 including massaging balls 5 and 6) moves upward from the initial state where the user M is at the waist position to the uppermost position. When the interval is a body shape detection process, in each body shape detection step in the body shape detection process,
The step at which the amount of advance of the kneading ball drive unit 9 is maximum is defined as a shoulder position detection step St1 (f7 in FIG. 11), and before and after the shoulder position detection step St1, a unit movement amount (the motor 23 was driven for a predetermined time). The massaging unit 4 is moved up and down by a smaller amount than the moving amount at the time, and new body shape detection steps St2 and St3 are executed, and the amount of advance of the massaging ball drive unit 9 detected in the same steps St2 and St3 and the shoulder The control unit 16 compares the advance amount of the kneading ball drive unit 9 in the position detection step St1, and determines the coordinates obtained in the step with the larger advance amount as the shoulder position of the user M.

In FIG. 14, the shoulder position detecting step St
Since the amount of advance of the massaging ball drive unit 9 is larger at the time of the new body shape detection step St3 than at 1, the coordinates (height and advancement position) of the massaging balls 5 and 6 at the time of the new body shape detection step St3 are the shoulder positions. Will be determined. Here, the shoulder position can be finely adjusted by operating the remote control R by the user M as described above.

As described above, when the detection of the body shape line and the shoulder position is completed, the massage is performed based on the selected course.

The kneading balls 5, 5 in the body shape detection step
6, the retreating operation and the ascending operation are substantially linearly moved obliquely upward from the advanced position to the raised position in the retreated position as shown by a broken line G in FIG. You may make it do. This has the effect of shortening the time required for the body shape detection step.

Further, when detecting the shoulder position, as another embodiment, it can be performed by the process shown in FIG.

That is, here, instead of performing new body shape detection steps St2 and St3 before and after the shoulder position detection step St1 as shown in FIG. 14, as shown in FIG.
After the final shoulder position detection step St1 'in the body shape detection process is completed, the massage unit 4 is descended an appropriate number of times with a movement amount smaller than the unit movement amount (movement amount when the elevating motor 23 is driven for a predetermined time). Then, new body shape detection steps St2 ', St3' are executed, and the kneading ball drive unit 9 detected by these new body shape detection steps St2, St3 is executed.
And the control unit 16 compares the advance amount of the kneading ball drive unit 9 in the shoulder position detection step St1, and obtains the coordinates obtained by the step with the larger advance amount as the shoulder position of the user M. Judge.

According to this method, the shoulder position of the user M can be accurately determined.

As a feature of the present massage machine 1, as described above, the massage state is displayed on the display section A of the remote controller R.

For example, when acupressure massage is performed, as shown in FIG. 16, a rectangular lamp L indicating a massage site is divided into a plurality of sections, and the blinking display is moved back and forth in each section, so that the massage balls 5 are moved. , 6 can be displayed as an image of shiatsu massage, or as shown in FIG. 17, an animated representation of the image of moving the symbols representing the kneading balls 5, 6 back and forth to express shiatsu massage. Taken.

Alternatively, as shown in FIG. 18, the massage location and the type of massage can be displayed three-dimensionally by a wire frame W showing the human body and a pattern for displaying the massage balls 5 and 6 in three dimensions.

In any case, since the massage state can be displayed as an action, the user M can visually recognize the state of the massage that is currently being performed.

In this embodiment, the display section A is provided on the remote controller R. However, as shown in FIG. 19, the hood type display section C is mounted on the upper part of the backrest 3 so as to be freely openable and closable. A large screen C1 may be provided on the inner front surface of the hood-type display unit C so that the user M can watch a moving image while sitting comfortably without holding the remote controller R.

In this case, not only the massage state and the above-mentioned body shape detection processing state are displayed as moving images, but also by switching the screen, for example, a relaxing moving image such as a state of nature, or a TV tuner or video. It is also possible to incorporate a device or the like so that the user can watch a favorite moving image. Further, the hood type display section C
Speakers CL and CR can be attached to the inside so that mentally relaxing music and sound waves can be output.

If the hood type display section C is provided, massage can be performed in a more relaxed state, and the massage effect is increased. In the figure, C2 is a pivot.

Next, various massage patterns of the massage machine 1 according to this embodiment will be described in detail.

The massage machine 1 has a massage unit 4 which can move up and down and a massage ball drive unit 9 which can move forward and backward.
By moving back and forth, a massage operation different from the conventional one can be performed, the types of massage can be increased, and the massage effect is improved.

In particular, the massage machine 1 has a control unit
The drive amount (rotation angle) of each axis 28, 43, 60, 72 by the rotary encoders 91, 92, 93, 94 as drive amount detection means by 16
By driving each motor 23, 38, 57, 67 as a drive unit while detecting the position, the position of the kneading balls 5, 6 can be finely controlled, and the driving of each motor 23, 38, 57, 67 By combining them appropriately, the shoulders, back,
It can massage the waist etc. in various modes.

Moreover, the kneading ball drive unit 9 is connected to the kneading balls 5,
By retracting until 6 is located behind the surface of the body support (backrest 3), there is included an operation in which the massage balls 5, 6 do not contact the user's body during the massage operation,
The intensity of the massage can be sharpened, and the massage effect can also be improved.

That is, as shown in FIG. 20, the kneading ball drive unit 9 is advanced at the lowermost end of the backrest 3, and thereafter, the kneading ball drive unit 9 is raised along the body shape of the user M, and By moving the kneading ball drive unit 9 backward at the shoulder position, and then lowering the kneading ball drive unit 9, the massage operation in only one direction can be performed.

The operation of the massage machine 1 in this massage method will be specifically described.
First, the lifting / lowering motor 23 and the forward / backward motor 38 are driven to move the kneading ball drive unit 9 to the lowermost end of the backrest 3 in a retracted state, and then the forward / backward motor 38 is driven to drive the kneading ball. The drive unit 9 is moved forward, and then the elevating motor
By driving the motor 23 and the forward / backward motor 38, the kneading ball drive unit 9 is raised to the shoulder position along the previously measured body shape of the user M, and then the forward / backward motor is moved at the shoulder position of the user M. Driving 38 and kneading ball drive unit 9
Is moved back to the last part, and further, the kneading ball drive unit 9 is lowered to the lowermost end of the backrest 3 by driving the elevating motor 23. The operation of the massaging ball drive unit 9 is repeated.

If the control unit 16 does not drive the hitting motor 57 or the kneading motor 67 when raising the kneading ball drive unit 9, the rolling operation in only one direction is performed. Further, when the hitting motor 57 and the kneading motor 67 are driven by the control unit 16, the hitting operation and the kneading operation in only one direction are performed.

In the embodiment shown in FIG. 20, the kneading ball drive unit 9 is raised with the kneading ball drive unit 9 advanced, and then the kneading ball drive unit is moved with the kneading ball drive unit 9 retracted. Unit 9 is lowered,
Conversely, the massaging ball drive unit 9 may be lowered with the massaging ball drive unit 9 advanced, and then the massaging ball drive unit 9 may be raised with the massaging ball drive unit 9 retracted.

As described above, with the massaging ball driving unit 9 advanced, the massaging ball driving unit 9 is moved upward or downward, and then the massaging ball driving unit 9 is moved.
By moving the kneading ball drive unit 9 in the reverse direction in a state where 5, 6 are retracted to the rear from the surface of the backrest 3, massage operations such as rolling in one direction (upward or downward) and hitting or kneading are performed. Can be done. Also, with the massaging ball drive unit 9 advanced, the massaging ball drive unit 9 is moved upward or downward, and then the massaging ball drive unit 9 is moved so that the massaging balls 5, 6 are lightly placed on the back of the user M. With retracted to the contact position,
By moving the kneading ball drive unit 9 in the reverse direction, it is possible to add strength to the massage operation for each traveling direction of the kneading ball drive unit 9, and to perform a varied massage operation.

As described above, the massaging ball drive unit 9 is moved up and down with the massaging ball drive unit 9 advanced, and then the massaging ball drive unit 9 is moved with the massaging ball drive unit 9 retracted. By moving in the opposite direction, a rolling operation in only one direction (upward or downward), or a massage operation such as tapping or rubbing can be performed.

As shown in FIGS. 21 to 23, the kneading ball drive unit 9 is advanced at the lowermost end of the backrest 3, and
Thereafter, the kneading ball drive unit 9 is moved along the body shape of the user M
By moving the kneading ball drive unit 9 forward and backward while raising the arm, the kneading ball drive unit 9 is retracted at the shoulder position of the user M, and then the kneading ball drive unit 9 is lowered, so that it is directed in one direction. It is possible to perform a repetitive massage operation.

The operation of the massage machine 1 in this massage method will be specifically described.
First, the lifting / lowering motor 23 and the forward / backward motor 38 are driven to move the kneading ball drive unit 9 to the lowermost end of the backrest 3 in a retracted state, and then the forward / backward motor 38 is driven to drive the kneading ball. The drive unit 9 is moved forward, and then the elevating motor
By driving the motor 23 and the forward / backward motor 38, the kneading ball drive unit 9 is raised to the shoulder position along the body shape of the user M, and at that time, the forward / backward motor 38 is driven to move from the body shape of the user M. After the massaging ball drive unit 9 is retracted to the rear, the operation of moving the massaging ball drive unit 9 forward again to the body shape of the user M is repeatedly performed, and thereafter, the advance / retreat motor 38 is driven at the user M's shoulder position. The kneading ball drive unit 9 is retracted to the last part, and further, the kneading ball drive unit 9 is lowered to the lowermost end of the backrest 3 by driving the elevating motor 23. The operation of the massaging ball drive unit 9 is repeated.

Here, when the kneading ball drive unit 9 is raised, as shown in FIG. 21, the control unit 16 does not drive the hitting motor 57 or the kneading motor 67 but drives the lifting / lowering motor.
When the drive unit 23 is driven and the kneading ball drive unit 9 is raised and then lowered, a massage method of repeatedly performing acupressure is performed. It becomes a massage method that performs strong tapping and massaging.

Also, as shown in FIG.
When the 16 continues to raise the kneading ball drive unit 9 by driving the elevating motor 23 without driving the beating motor 57 or the kneading motor 67, a massage method of performing a wave rolling that repeatedly performs a rolling. Become.

Also, as shown in FIG.
When the 16 drives the elevating motor 23 and the advancing / retreating motor 38 without driving the beating motor 57 and the kneading motor 67 and moves the kneading ball drive unit 9 forward while raising, the thrust is performed. Massage method, control unit 16
When the beating motor 57 and the kneading motor 67 are driven, a massage method of performing a beating or kneading while pushing up is provided.

The massaging ball driving unit 9 is raised with the massaging ball driving unit 9 advanced, and then the massaging ball driving unit 9 is lowered with the massaging ball driving unit 9 retracted. Conversely, kneading ball drive unit 9
Is moved forward, the kneading ball drive unit 9 is lowered,
Thereafter, the kneading ball drive unit 9 may be raised with the kneading ball drive unit 9 retracted.

As described above, since the massaging ball drive unit 9 is repeatedly moved forward and backward while the massaging ball drive unit 9 is being moved up and down, it is possible to perform a massage operation such as wave rolling, reverse shiatsu, thrusting kneading and thrusting shiatsu. it can.

Further, as shown in FIGS. 24 and 25, the massaging ball drive unit moves forward and backward while the massaging ball drive unit performs a hitting operation or a massaging operation, thereby performing a massaging operation with various strengths. Can be.

The operation of the massage machine 1 in this massage method will be specifically described.
The kneading ball drive unit 9 is driven by driving the elevating motor 23 and the forward / backward motor 38 so that the kneading balls 5,
The kneading ball drive unit 9 is moved forward / backward and upward / downward so that the abutment 6 comes in contact with the hitting motor 57 or the kneading motor 57.
By driving 67, the kneading ball drive unit 9 performs a beating operation or a kneading operation. The operation of the massaging ball drive unit 9 is repeated.

Here, as shown in FIG. 24, the kneading balls driving unit 9 is controlled by the control unit 16 so that the kneading balls 5, 6 abut substantially horizontally on a specific portion of the back of the user M from behind.
Is moved, a specific portion is repeatedly hit and rubbed while giving strength to the massage method.

Also, as shown in FIG.
When the kneading balls drive unit 9 is moved so that the kneading balls 5 and 6 abut the specific part on the back of the user M by pushing upward from below, the specific part is repeatedly pushed up with strength. It becomes a massage method of tapping or rubbing while doing.

As described above, by moving the kneading ball drive unit 9 forward and backward while the kneading ball drive unit 9 is hitting or kneading, a sharp massage operation in which the strength of hitting and kneading is greatly changed is performed. Can be made.

Further, as shown in FIG. 26, after the kneading ball drive unit 9 is moved forward or backward while the kneading ball drive unit 9 is hitting or kneading, the kneading ball drive is stopped in a state where the hitting operation or kneading operation is stopped. By moving the unit 9 forward and backward, a massage operation involving acupressure can be performed.

The operation of the massage machine 1 in this massage method will be specifically described.
The kneading ball drive unit 9 is driven by driving the elevating motor 23 and the forward / backward motor 38 so that the kneading balls 5,
The kneading ball drive unit 9 is moved forward / backward and upward / downward so that the abutment 6 comes in contact with the hitting motor 57 or the kneading motor 57.
By driving 67, the kneading ball drive unit 9 performs a beating operation or a kneading operation, and thereafter, a beating motor 57 and a kneading motor
The stop 67 is driven and the motor 38 is driven to move the kneading ball drive unit 9 forward. The operation of the massaging ball drive unit 9 is repeated.

As described above, the massaging ball drive unit 9 is moved forward and backward while the massaging ball drive unit 9 is hitting or massaging, and then the massaging ball drive unit 9 is moved forward and backward with the striking operation or massaging operation stopped. Because of this, it is possible to perform a massage operation of beating or kneading with acupressure.

Further, as shown in FIG. 27, the kneading balls drive unit 9 is advanced while the kneading balls 5, 6 are left and right opened, and after the kneading balls 5, 6 abut on the back of the user M. When the massage balls 5 and 6 are closed, the massage ball drive unit 9 is then retracted, and when the massage balls 5 and 6 are opened again to the left and right, a massage operation such as squeezing the back of the user M is performed. Can be done.

The operation of the massage machine 1 in this massage method will be specifically described.
After driving the lifting motor 23 and the forward / backward motor 38 to move the kneading ball drive unit 9 behind a specific portion on the back of the user M, the kneading motor 67 is driven to drive the kneading balls 5, 6. The kneading balls drive unit 9 is moved forward by moving the kneading balls drive unit 9 forward and the kneading balls 5, 6 are brought into contact with the back of the user M, and then the kneading motor 67 is driven. After moving the kneading balls 5, 6 toward the inside (center), the kneading balls 5, 6 are closed, the advancing / retreating motor 38 is driven again, and the kneading ball drive unit 9 is retracted. The motor 67 is driven to open the kneading balls 5, 6 left and right. The operation of the massaging ball drive unit 9 is repeated.

In this way, with the massaging ball drive unit 9 advanced, the massaging ball drive unit 9 is moved to the left and right massaging balls 5, 5.
Since the kneading operation is performed in the direction to decrease the interval of 6, the massage operation for squeezing can be performed.

Further, as shown in FIG. 28, the kneading balls drive unit 9 is advanced while the kneading balls 5, 6 are closed, and after the kneading balls 5, 6 abut on the back of the user M, the kneading is performed. When the balls 5, 6 are opened to the left and right, the massaging ball driving unit 9 is retracted, and when the massaging balls 5, 6 are closed again, a massage operation is performed to stretch the back of the user M. be able to.

The operation of the massage machine 1 in this massage method will be specifically described.
After driving the lifting motor 23 and the forward / backward motor 38 to move the kneading ball drive unit 9 behind a specific portion on the back of the user M, the kneading motor 67 is driven to drive the kneading balls 5, 6. The kneading balls by moving the
6 is closed, the advancing / retracting motor 38 is driven as it is, the kneading ball drive unit 9 is advanced to bring the kneading balls 5, 6 into contact with the back of the user M, and then the kneading motor 67 is driven. After moving the massaging balls 5, 6 toward the left and right, the massaging balls 5, 6 are opened, the advancing / retreating motor 38 is driven again, and the massaging ball drive unit 9 is retracted, and then the massaging motor 67 is driven. To close massage balls 5,6. The operation of the massaging ball drive unit 9 is repeated.

In this way, with the massaging ball driving unit 9 advanced, the massaging ball driving unit 9 is moved to the left and right massaging balls 5, 5.
Since the kneading operation is performed in the direction in which the interval 6 is widened, the massage operation for performing stretching can be performed.

Further, as shown in FIG. 28, the massage ball drive unit 9 is advanced with only one massage ball 5 advanced, and only one side (left side) of the back of the user M is subjected to acupressure. One of the massaging balls 5 is retracted and the other massaging ball 6 is advanced, and in that state, the massaging ball drive unit 9 is again operated.
Is advanced, and only one side (right side) of the back of the user M is subjected to the acupressure, so that a massage operation of alternately applying the acupressure to the back of the user M can be performed.

The operation of the massage machine 1 in this massage method will be specifically described.
After driving the lifting / lowering motor 23 and the forward / backward motor 38 to move the kneading ball drive unit 9 behind a specific portion on the back of the user M, the driving motor 57 is driven to drive the kneading ball 5 on the left side.
Is moved forward (the massaging ball 6 on the right side retreats with this), and the motor 38 for advancing and retreating is moved as it is to advance the massaging ball drive unit 9 to put the massaging ball 5 on the back of the user M. , And then drive the forward / backward motor 38 to retract the kneading ball drive unit 9 and strike the motor.
57 is driven to move the right massaging ball 6 forward (the left massaging ball 5 is retracted accordingly), and the advancing / retreating motor 38 is driven in this state to advance the massaging ball drive unit 9. The massaging ball 6 is pressed against the back of the user M. The operation of the massaging ball drive unit 9 is repeated while the massaging ball drive unit 9 is raised along the body shape of the user M as shown in FIG.

As described above, by moving the kneading ball drive unit 9 forward and backward with only one of the left and right kneading balls 5, 6 protruding, a massage operation is performed in which the back of the user M is pressed with the left and right alternately. be able to.

The user M can individually select and operate various massage patterns by operating the remote controller R without selecting an automatic course, including the above-mentioned massage patterns.

At this time, the position of the kneading balls 5 and 6, that is, the coordinates, can be determined by applying a current load to the contact force between the kneading balls 5 and 6 and the treatment target. The detection can also be performed in parallel while performing various massages.

Therefore, when the automatic massage course is not selected, the body shape is detected in parallel with various massages, and an optimal massage suitable for the user M can be performed thereafter.

On the other hand, when the automatic massage course is selected, even after the body shape is detected after the break-in massage, the body shape is detected each time various massages are performed, thereby updating the previously obtained body shape line. Becomes possible.

In particular, in acupressure massage,
Since the operations 5 and 6 are substantially the same as the body shape detection process, there is an advantage that data on the body shape is easily obtained.

For example, the neck, shoulder,
Select back, waist, or whole, etc., arbitrarily select from various massage patterns such as tapping, massaging, etc.
Furthermore, the degree of massage, for example, speed, strength, width, etc., is selected.

The massage machine 1 performs a massage based on the content selected by the user M.
Before starting the main massage, the above-mentioned break-in massage is performed, and the body shape line and the shoulder position can be detected during the break-in massage.

For example, when performing a beating massage at the shoulder position, as described above (see FIGS. 11 and 14),
In response to a command from the control unit 16, the body line and the shoulder position are first detected.

Thereafter, the control unit 16 drives the elevating motor 23 and the advancing / retreating motor 38 to detect the massage unit 4 and the kneading ball drive unit 9 when the user M detects the body line of the user M. It is moved up and down to the shoulder position, and then the driving motor 57 is driven to alternately swing the kneading balls 5, 6 in the front-back direction.

At this time, the advancing / retreating motor 38 is driven to move the kneading ball drive unit 9 behind the shoulder position of the user M, and the kneading balls 5, 6 are moved behind the shoulder position of the user M. Position, the shoulder of the user M is lightly hit, and conversely,
When the kneading ball drive unit 9 is moved forward of the shoulder position of the user M by driving the forward / backward motor 38, and the kneading balls 5, 6 are positioned ahead of the shoulder position of the user M, the user M Will be knocked hard.

Therefore, by moving the kneading ball drive unit 9 forward and backward by the forward / backward motor 38 in the front-rear direction, it is possible to add strength to the massage operation, whereby the massage is sharpened and the massage is performed. Since an appropriate massage can be performed according to the state of the site, the massage effect can be significantly improved.

In addition, since the shoulder position is accurately detected in advance, the shoulder tapping massage desired by the user M can be effectively performed.

For example, when performing acupressure massage on the entire back, the shoulder position and the body shape line are also detected. When the massage is performed consecutively with the previous massage, the user M may be allowed to select whether or not to detect the shoulder position and the body shape line.

At the time of shifting to the acupressure massage, the control unit 16 drives the elevating motor 23 and the advancing / retreating motor 38, and the waist position of the user M who has detected the massage unit 4 and the kneading ball drive unit 9 by the body line detection. , And then, at that position, only the advance / retreat motor 38 is driven to move the kneading ball drive unit 9 forward, and the kneading balls 5, 6
Is pressed against the back of the user M, and then the massaging ball drive unit 9 is retracted, and the elevating motor 23 and the advance / retreat motor 38 are driven to slightly raise the massage unit 4 and the massaging ball drive unit 9. Are repeatedly performed up to the shoulder position of the user M.

As described above, the advancing / retreating motor 38 is driven at the stop position of the massage unit 4 to
By moving only the user forward, the back of the user M can be acupressured.

When such acupressure massage is performed, since the body shape line can be effectively detected simultaneously as described above, the body shape line and the shoulder position can always be automatically updated.

As described above, in the massage machine 1 according to the present embodiment, the number of types of massage can be increased and a variety of massages can be performed.
Since an appropriate massage can be performed according to the body shape, the massage effect can be greatly improved.

In the present embodiment, while performing the massage as described above, in the present embodiment, the control unit 16 detects the time during which the user M is continuously seated by the weight detection sensor 15 also serving as the seating sensor. For a predetermined time (for example, 7
Minutes) If the massage is performed continuously for more than
A warning is issued to the user M. As a means for notifying a warning, the warning is displayed on the display section A of the remote controller R, and an alarm, a sound, or the like is emitted.

[0177] Thus, it is possible to prevent the occurrence of poor physical condition due to excessive massage.

By the way, the various types of massage that can be executed by the massage machine 1 according to the present embodiment described above can be further enhanced by varying the intensity, the number of times, the time, and the like according to the degree of stiffness of the body of the user M. Can be improved.

Therefore, in the massage machine 100 shown in FIG. 30 and FIG. 31, the contact sensor 101
Are arranged so as to be able to advance and retreat, and the contact sensor 101 is used to detect the condition of the body of the user M.

The contact sensor 101 has an upper end of a bracket 102 attached to the upper inside of the massage unit casing 22, a motor 103 for movement attached to a lower part of the bracket 102, and a drive gear 104 attached to a drive shaft 104 of the motor 103 for movement.
105, and on the other hand, while extending in the front-rear direction on the upper part of the bracket 102 and attaching the rod 106 so that it can move forward and backward,
A male screw 107 is engraved at the rear of the rod 106, and the male screw 107
The driven gear 108 and the driven gear 105 and the driven gear
And 108 with a transmission belt 109, and a rod
A sensor body 110 composed of a vibration element using a piezoelectric ceramic element and a detection element is attached to the tip of 106, and a hard nylon ball as a contact 111 is attached to the tip of the sensor body 110. In the figure, 112 is a key groove, 113 is a rotation stop, and 114 is a cable connecting the sensor main body 110 and the control unit 16.

Then, the contact sensor 101 is
By driving 03, the rod 106 is advanced, and the contact 111 is brought into contact with the body of the user M in a state where the sensor main body 110 is vibrated at a constant frequency and amplitude.
By measuring the resonance frequency and the amplitude at the time of resonance at 10, the degree of stiffness of the body of the user M is detected.

As a method of measuring the degree of stiffness of the body using the contact sensor 101, a stiff part (FIG. 31)
Reference numeral 115 denotes the middle. ) (Fig. 31)
The reference numeral 116 indicates the middle. ), The resonance frequency and the amplitude at resonance differ, and such changes correspond to the amount of lactate in the blood (published by the Physical Fitness Society of Japan in 1997).
It has been found that the body stiffness can be measured by measuring the resonance frequency and the amplitude at resonance while the body 101 is in contact with the body.

In the various massages described above, the body shape of the user M is three-dimensionally measured, and the massage balls 5 and 6 are moved based on the three-dimensional body shape, thereby further improving the massage effect. Can be improved.

For this reason, the massage machine 117 shown in FIG.
In the figure, a body shape detecting means 118 for three-dimensionally measuring the body shape of the user M is provided.

In the body shape detecting means 118, a plurality of optical fibers 119 extending in the left-right width direction are attached to the inside of the backrest 3 with a vertical interval therebetween. Openings 120 (cracks) are formed at intervals in the left-right width direction, and the light emitting element 12
The LED as 1 is connected, a phototransistor as a light receiving element 122 is connected to the right end, the light emitting element 121 and the light receiving element 122 are connected to the control unit 16, and the light emission of each optical fiber 119 is controlled by the control unit 16. The element 121 emits light, and the amount of received light is detected by the light receiving element 122, and the curvature of each optical fiber 119 is calculated from the amount of received light to obtain the curvature at each height of the body of the user M. The body shape of the user M is three-dimensionally measured from the curvature.

That is, as shown schematically in FIGS. 33 and 34, when the body of the user M is relatively flat,
The curvature of the optical fiber 119 is large (the state in FIG. 33), so that the light emitted from the light emitting element 121 reaches the light receiving element 122 almost without leaking from the opening 120, and the amount of light received by the light receiving element 122 is large. On the other hand, as the body of the user M becomes rounder, the curvature of the optical fiber 119 becomes smaller (the state shown in FIG. 33), and the light emitted by the light emitting element 121 leaks out of the opening 120 and the light receiving element 12
The amount of light received at 2 becomes smaller.

As a means for three-dimensionally measuring the body shape of the user M, a back pressure sensor provided with a sheet-shaped pressure sensor as the body shape detection means 124 may be used as in a massage machine 123 shown in FIG. .

As described above, when the body shape of the user M is measured three-dimensionally, as shown in FIG.
By raising and lowering the kneading balls 5, 6 back and forth and left and right based on the three-dimensional body shape, a massage operation by three-dimensional meandering rolling along the body shape of the user M can be performed.

When a sheet-shaped pressure sensor is used as the body shape detecting means 124, the position of the kneading balls 5, 6 or the treatment position can be detected from the pressure value in each detection area of the pressure sensor. .

[0190]

The present invention is embodied in the form described above, and has the following effects.

(1) According to the present invention described in claim 1, claim 1
In the present invention described, by having a display means for displaying the massage situation, it becomes possible for the user to receive a massage while visually recognizing the massage situation, it is possible to enjoy a massage that has never been before, The body and mind can be relaxed and the massage effect can be enhanced. Further, when there is a difference between the actual massage and the displayed massage situation, the user can practice an appropriate massage program of the massage machine by changing his or her own posture.

(2) According to the second aspect of the present invention, there is provided a massage machine capable of massaging a massage ball by contacting the massage ball with the body, wherein the position of the massage ball and the pressing force of the massage ball against the body are provided. Is provided with a display means for detecting the massage status and displaying the massage status, it is possible to accurately display the massage status. In addition, based on the position of the massage ball and the pressing force of the massage ball on the body, it is possible to display a moving image such as an animation display, so that the user can easily view and enjoy the display. it can.

(3) According to the third aspect of the present invention, in addition to a chair type having a seat body and a backrest, a massaging ball driving unit for driving massaging balls is provided, and the massaging ball driving unit is Arranged up and down along the back,
In addition, the massaging ball drive unit is capable of moving back and forth with respect to the backrest, so that the display of the massage situation can be viewed in a relaxed state while sitting, and a more relaxed massage can be achieved. The massage effect can be further increased.

[Brief description of the drawings]

FIG. 1 is a side view of a massage machine according to the present invention.

FIG. 2 is an overall explanatory view of a massage unit.

FIG. 3 is an explanatory diagram as viewed from the front.

FIG. 4 is an explanatory view in the same plan view.

FIG. 5 is an explanatory view showing a hitting mechanism in a side view.

FIG. 6 is an explanatory view showing the kneading mechanism in a side view.

FIG. 7 is an explanatory diagram showing advance and retreat movements of a kneading ball drive unit.

FIG. 8 is an explanatory diagram showing advance / retreat positions of a kneading ball.

FIG. 9 is a block diagram showing a control unit.

FIG. 10 is an explanatory diagram of a break-in massage.

FIG. 11 is an explanatory diagram of a body shape line detection process.

FIG. 12 is a front view of the remote controller.

FIG. 13 is an explanatory diagram showing a display mode on a display unit of the remote controller.

FIG. 14 is an explanatory diagram showing a display form of a shoulder position detection process.

FIG. 15 is an explanatory diagram showing an example of a change in the display form of the shoulder position detection process.

FIG. 16 is an explanatory diagram showing a display mode of a massage state.

FIG. 17 is an explanatory diagram showing a display mode of a massage state.

FIG. 18 is an explanatory diagram showing a display mode of a massage state.

FIG. 19 is an explanatory diagram showing another embodiment of the display unit.

FIG. 20 Massage method (only one-way massage)
FIG.

Fig. 21 Massage method (massage with return)
FIG.

FIG. 22 is a schematic diagram illustrating a massage method (massage by wave rolling).

FIG. 23 is a schematic view showing a massage method (massage with push-up).

Fig. 24 Massage method (massage with strength)
FIG.

FIG. 25 is a schematic view showing a massage method (massage with push-up).

FIG. 26 is a schematic view showing a massage method (massage accompanied by acupressure).

FIG. 27 is a schematic view showing a massage method (massage by squeezing).

FIG. 28 is a schematic view showing a massage method (massage by stretching).

FIG. 29 is a schematic view illustrating a massage method (alternately using acupressure).

FIG. 30 is an explanatory side view showing a massage machine including a contact sensor.

FIG. 31 is an explanatory side view showing the contact sensor.

FIG. 32 is an explanatory perspective view showing a massage machine including a body shape detecting unit for detecting a body shape three-dimensionally.

FIG. 33 is an explanatory diagram schematically showing a method of three-dimensionally detecting a body shape.

FIG. 34 is an explanatory diagram showing the relationship between the curvature and the amount of received light.

FIG. 35 is an explanatory perspective view showing a massage machine including a body shape detecting unit for detecting a body shape three-dimensionally.

FIG. 36 is an explanatory diagram showing movement of a kneading ball based on a body shape detected three-dimensionally.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Massager 2 Seat main body 3 Backrest 4 Massage unit 5,6 Massage ball 9 Massage ball drive unit

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Yosuke Matsuki 5-5-21, Nihonbashi, Naniwa-ku, Osaka-shi, Osaka Fuji Medical Device Co., Ltd. (72) Inventor Ichiiso Kumagaya 5-chome, Nihonbashi, Naniwa-ku, Osaka, Osaka No. 5-21 Fuji Medical Device Co., Ltd. (72) Inventor Akira Abeta 4680 Ikata, Fukuoka-machi, Fagawa Prefecture Fukuoka Prefecture Inside Kyushu Hitachi Maxell Co., Ltd. (72) Inventor Masahiro Tokito Fukuoka Prefecture, Fukuoka Fukuoka Town 4680 Ikata Inside Kyushu Hitachi Maxell Co., Ltd. (72) Inventor Masahiro Hosono 4680 Ikata, Ogata-machi, Fagawa-gun, Fagawa Prefecture F-term inside Kyushu Hitachi Maxell Co., Ltd. AD11 AD21 BA01 BA03 BA09 BB04 BC04 BC06 CA03 DA06 EA12 EB03

Claims (3)

[Claims] 1. A massage machine comprising a display means for displaying a massage state. 2. A massage machine in which a massage ball is brought into contact with a body to enable massage, wherein a position of the massage ball and a pressing force of the massage ball on the body are detected to display a massage state. A massage machine comprising means. 3. A chair type having a seat body and a backrest, and a massaging ball drive unit for driving massaging balls, wherein the massaging ball drive unit is arranged so as to be able to move up and down along the backrest. The massaging machine according to claim 1, wherein the massaging ball drive unit is movable back and forth with respect to the backrest.