JP2005130879A - Massage machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a massage machine executing a massaging operation by pushing with a therapy element. <P>SOLUTION: This massage machine 1 is provided with a seat part 1a on which a person to be treated sits and a backrest part 1b. The backrest part 1b is provided with the therapy element 3 executing the therapy by being brought in contact with the body of the person to be treated; a spherical contraposition part 10 comprising a spherical part 8 fixing the therapy element 3 and a sphere receiving part 9 rotationally retaining the spherical part 8; a massaging part 2 comprising an electromagnet 11 and a pedestal 12 attached and fixed with the electromagnet 11; and a drive body 6 having a first drive part moving the massaging part 2 to freely project/retreat the therapy part 3 of the massaging part 2 relative to the backrest part 1b, and a second drive part 5 moving the massaging part 2 to move the therapy part 3 of the massaging part 2 in the width direction of the backrest part 1b. The drive body 6 is disposed along with a third drive part 7 which moves the drive body 6 in the height direction of the backrest part 1b. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a massage machine that performs massage by pressing with a treatment element.

  A conventional massage machine presses a treatment element called a fir ball against the human body and moves the fir ball so as to draw a predetermined trajectory while applying pressure to the human body.

As such a massage machine, the operation speed of a pair of fir balls that are motor-driven so as to repeat the fir operation in one cycle by combining the operations that are close to each other and the operations that are separated from each other so that the operation speed changes during one cycle. There is provided one that is driven (Patent Document 1).
Japanese Patent Laid-Open No. 2001-258773 (FIGS. 1, 2 and 10)

  In the massage machine like the above-mentioned, since the rotational speed of the motor when the fir ball moves close and away is constant, the massaging operation is performed at a constant speed. Such a thing with a constant massage motion has a problem that the variety of massages is poor, and a massage feeling that satisfies the user cannot be obtained sufficiently.

  With respect to such a problem, in the latter case described above, in order to obtain a sensation close to that of a human hand massage, massage is performed by changing the speed of the massage operation.

  However, since both of the above move the fir ball itself, which is a treatment element pressed against the human body, to draw a predetermined trajectory, the fir ball abuts the acupoint (tenderness point) and feels comfortable when pressed. However, there is a problem that uncomfortable pains are often felt when coming off the acupuncture points, especially when coming into contact with bones.

  In addition, one of the techniques frequently used in the treatment of professional masseurs that are highly requested by customers is called acupuncture. This acupuncture is a massage performed by moving the vicinity of the wrist in a circle or a line while pressing the human body against the supporting point (surface) with the thumb or palm as a supporting point (surface). I couldn't.

  The present invention has been made in view of the above points, and an object thereof is to provide a massage machine capable of performing a heel operation.

  In order to solve the above-described problems, in the invention of claim 1, an electromagnet, a treatment element for treatment in contact with the body of the user, and the treatment element are fixed and disposed at least on the magnetic path. The part is composed of a sphere part formed of an iron-based material, and a sphere receiving part that rotatably holds the sphere part, and includes a collar part that includes a ball pair part arranged on the magnetic path of the electromagnet. The massaging machine includes a control unit that controls a current from a power source that flows through a coil for generating a magnetic field wound around the electromagnet.

  According to the first aspect of the present invention, by generating a magnetic field in the electromagnet, a magnetic attractive force can be generated in the ball pair disposed on the magnetic path of the electromagnet, and a predetermined amount is generated between the sphere and the ball receiver. The frictional force can be generated. For this reason, the masseur is frequently used by bringing the treatment element into contact with the body of the user in a state in which frictional force is generated and moving the buttocks using the part of the treatment element in contact with the body of the user as a fulcrum. You can realize a technique called sushi.

  In addition to the structure of invention of Claim 1, in invention of Claim 2, it arrange | positions in the backrest part of the chair part on which the said user sits, The said heel part and the said treatment element of the said heel part are said. A first driving unit that moves the collar part so as to be able to protrude and retract from a backrest part, and the collar part so that the treatment element of the collar part moves in the width direction of the backrest part. A driving body including a second driving section to be moved; a third driving section for moving the driving body disposed in the backrest section in a height direction of the backrest section; the driving sections; and the control. The massage machine is characterized by comprising an operation unit for instructing the operation of the unit.

  According to the second aspect of the present invention, in addition to the effect of the first aspect of the invention, the operation of each drive unit can be freely instructed by the operation unit with respect to the collar provided in the drive body disposed on the backrest. Can be operated.

  The invention of claim 3 is characterized in that, in addition to the configuration of the invention of claim 1 or 2, a fluid layer made of a magnetic viscous fluid is interposed between the spherical body portion and the ball receiving portion. It was a massage machine.

  According to the invention of claim 3, in addition to the effect of the invention of claim 1 or 2, since the fluid layer made of a magnetorheological fluid is interposed between the spherical body part and the ball receiving part, the magnetic resistance is While decreasing, the adhesiveness of a spherical body part and a ball receiving part improves, and a viscous reaction force increases. Furthermore, since the fluid layer also functions as a lubricating oil, the deterioration of the sliding portion can be reduced.

  According to a fourth aspect of the present invention, in addition to the configuration of any of the first to third aspects, a hole portion having an inner diameter substantially equal to a diameter at which a cross-sectional area of the portion of the spherical portion protruding from the ball receiving portion is maximum is provided. Having an annular part formed of an iron-based member or a flexible member in which iron powder is kneaded so that the hole is in contact with a part of the spherical part protruding from the ball receiving part. It was set as the massage machine characterized by arrange | positioning at the ball receiving part.

  According to the invention of claim 4, in addition to the effect of the invention of any one of claims 1 to 3, the annular part is formed so that the hole part of the annular part is in contact with the part of the spherical part protruding from the ball receiving part. Since it was arrange | positioned at the ball receiving part, the clearance gap between a spherical body part and a ball receiving part can be sealed with an annular part.

  According to a fifth aspect of the invention, in addition to the configuration of any of the first to fourth aspects of the invention, the operation unit controls each of the drive units to draw a curved locus at least on the collar unit. The massage machine is characterized in that it has a function of switching between a mode for operating the heel part and a mode for operating the buttocks so as to draw a linear trajectory.

  According to the invention of claim 5, in addition to the effect of the invention of any one of claims 1 to 4, the operation unit includes a switching device for switching the operation mode of the massage, and the operation mode controls each drive unit. Since at least the mode is such that the buttock is operated so as to draw a curved or linear locus, the operator is operated so as to draw a curved locus or the buttock is linearly operated. The operation can be switched to draw a locus of a shape.

  According to a sixth aspect of the present invention, in addition to the configuration of any of the first to fifth aspects, the electromagnet is embedded with a permanent magnet that constantly applies a magnetic field to the ball pair. It was.

  According to the invention of claim 6, in addition to the effect of the invention of any one of claims 1 to 5, since the permanent magnet is embedded in the electromagnet and the magnetic field is always applied to the ball pair, the electromagnet is turned off. The treatment element can be held so as not to move due to its own weight and the power consumption can be reduced.

  According to a seventh aspect of the invention, in addition to the configuration of the sixth aspect of the invention, the electromagnet is wound with a magnetic field measuring coil for measuring a magnetic field generated inside the electromagnet in addition to the magnetic field generating coil. The massaging machine is characterized in that feedback control is performed on the current flowing through the magnetic field generating coil in accordance with the induced voltage value obtained by the magnetic field measuring coil.

  According to the invention of claim 7, in addition to the effect of the invention of claim 6, a desired magnetic field can be stably supplied to the electromagnet by feedback control, so that the magnetic attraction force generated at the ball pair is reduced. Stabilize.

  In the invention of claim 8, in addition to the structure of any one of the inventions of claims 1 to 7, the column-shaped support post projecting from the sphere is provided in at least two places of the non-sliding part other than the sphere. The massaging machine is characterized in that it is engaged using a flexible connector.

  According to the invention of claim 8, in addition to the effect of the invention of any one of claims 1 to 7, the columnar support provided on the sphere is provided with a non-sliding part and at least two flexible connectors. Since it engaged using, a treatment element can be returned to a desired position with the restoring force of a connector.

  In the ninth aspect of the invention, in addition to the configuration of any of the first to seventh aspects of the invention, the sphere portion is formed by cutting along two parallel planes having the same normal distance from the center of the sphere. It was set as the massage machine of description.

  According to the invention of claim 9, in addition to the effect of the invention of any one of claims 1 to 7, since the sphere portion is cut by two parallel planes having the same normal distance from the center thereof, a magnetic field is applied to the sphere portion. By applying, the treatment element can be returned to a desired position.

  In the invention of claim 10, in addition to the configuration of the invention of claim 9, in the spherical part, the treatment element is fixed to one plane, and a permanent magnet is arranged in the direction of the spherical part in the vicinity of the other plane. The massage machine is characterized by being installed close to and away from each other.

  According to the invention of claim 10, in addition to the effect of the invention of claim 9, since the permanent magnet is installed in the vicinity of the collar part so as to be able to be separated and separated, the treatment element can be placed at a desired position using this permanent magnet. Can be reliably restored.

  According to the invention of claim 11, in addition to the structure of any one of the inventions of claims 1 to 10, the spherical body part provided with a columnar detected part made of a permanent magnet and a non-sliding part other than the spherical body part And at least three Hall elements, a calculation unit for calculating the position of the tip of the detected part from the output obtained from each Hall element, and the calculation unit The massage machine is characterized by comprising a display unit for displaying the position of the tip of the detected part.

  According to the invention of claim 11, in addition to the effect of the invention of any one of claims 1 to 10, at least three Hall elements are arranged on the detected part made of a permanent magnet on the sphere and the non-sliding part. Since it has a calculation unit that calculates the position of the detected part using the output from each hall element and a display unit that displays the position of the treatment element according to the calculation result, the operator confirms the position of the treatment element can do.

  According to the invention of claim 12, in addition to the configuration of the invention of claim 11, the position of the tip of the detected part calculated by the calculator and the position of the treatment element instructed by the operation part According to the deviation, a massage machine is provided that includes a control unit that feedback-controls the operation of each driving unit.

  According to the invention of claim 12, in addition to the effect of the invention of claim 11, according to the deviation between the position of the detected part based on the calculation result of the calculation part and the position of the treatment element designated from the operation part, Since the function of feedback controlling the operation of each drive unit is provided, the treatment element can be moved to a desired position regardless of the external force received by the treatment element.

  According to a thirteenth aspect of the invention, in addition to the configuration of any of the first to twelfth aspects of the invention, the flange portion is placed on a pedestal provided with a columnar eccentric shaft portion protruding therefrom, and the pedestal is provided with the eccentricity. An eccentric joint portion having a fitting hole to be fitted with the shaft portion, a rotation drive portion that rotates the eccentric joint portion, and an Oldham joint portion that operates in accordance with the rotation of the eccentric joint portion, It was a massage machine.

  According to the invention of claim 13, more complex and various treatment methods can be realized by placing the collar on the pedestal having the function of operating the Oldham joint in accordance with the rotation of the eccentric joint.

  In the present invention, by generating a magnetic field in the electromagnet, a magnetic attractive force can be generated in the ball pair disposed on the magnetic path of the electromagnet, and a predetermined frictional force is generated between the sphere and the ball receiver. Can be made. For this reason, the masseur is frequently used by bringing the treatment element into contact with the body of the user in a state in which frictional force is generated and moving the buttocks using the part of the treatment element in contact with the body of the user as a fulcrum. There is an effect that it is possible to realize a technique called “Sushi”.

  An embodiment of the present invention will be described with reference to FIGS.

(Embodiment 1)
The massage machine 1 of this embodiment is a chair type massage machine provided with the seat part 1a and the backrest part 1b where a user sits, as shown to Fig.1 (a).

  In this backrest 1b, a heel part 2 (see FIGS. 1B and 1C) to be described later and a treatment element 3 to be described later of the heel part 2 move so as to protrude and retract from the backrest part 1b. The first drive unit 4 (see FIG. 2 (b)) that moves the heel part 2 and the treatment part 3 of the heel part 2 are moved in the width direction of the backrest part 1b. A drive body 6 including a second drive section 5 to be moved is disposed together with a third drive section 7 that moves the drive body 6 in the height direction of the backrest section 1b. Moreover, the operation part 14 for operating the massage machine 1 is provided.

  The heel part 2 includes the treatment element 3 for treatment in contact with the body of the user, a sphere part 8 to which the treatment element 3 is fixed, and a ball receiving part for freely holding the sphere part 8. 9 is composed of a ball pair 10 composed of 9, an electromagnet 11, and a base 12 to which the electromagnet 11 is attached and fixed. The treatment element 3 is formed, for example, in the shape of a thumb, and has a screw portion 3a for screwing and fixing into a screw hole (not shown) of the spherical portion 8. The spherical portion 8 is formed in a spherical shape made of an iron-based member, and opens the screw hole. The ball receiving portion 9 has a holding portion 9a which is a substantially spherical space substantially the same as the outer shape of the sphere portion 8, and is formed in a substantially cylindrical shape. Thus, the ball pair 10 is configured by freely fitting the spherical portion 8 to which the treatment element 3 is fixed to the holding portion 9 a of the ball receiving portion 9.

  The electromagnet 11 is composed of a substantially U-shaped iron core 11a around which a magnetic field generating coil 13 is wound, and the ball pair 10 is disposed between the opposing magnetic poles of both side pieces 11b of the iron core 11a. The pedestal 12 is formed in an L shape, and the electromagnet 11 is fixedly disposed on the horizontal piece 12c in FIG. 1C in a state where the lower front portion of the electromagnet 11 is in contact with the electromagnet holding plate 12b formed upward at the tip. The portion of the magnetic field generating coil 13 protruding downward from the electromagnet 11 is housed in a notch 12a formed at the center of the lateral side 12c.

The operation unit 14 includes an operation switch group for instructing operation of each of the drive units 4, 5, and 7 and for operating the drive of the electromagnet 11, for example, as shown in FIG. A switch for switching on and off the operation mode of the massage machine 1 as well as each switch SW ₁ and SW ₂ for “on” and “off” for turning on / off the energization of the massage machine 1 including the energization of the electromagnet 11 S _{1 to} S ₄ are provided, and further, a variable resistance operation knob ST for changing the exciting current flowing from the power source E to the electromagnet 11 is provided. Said annular揉捏mode can be set by operating the switch S ₁ as the operation mode, linear揉捏mode set by the operation of the switch S _2, finger pressure mode can be set by the operation of the switch S _3, set by the operation of switch S ₄ There is a beat mode that can be done.

As shown in FIG. 2B, the circuit for performing the control of the present embodiment includes an operation unit 14, a control function for controlling the exciting current of the electromagnet 11 based on the resistance value of the variable resistor, and the switches S ₁ to S ₁ . and a signal processing unit 16 for a microcomputer to implement a control function and a program for obtaining a predetermined operation mode to control the driving of the driving unit 4, 5, and 7 in response to the operation of S ₄ .

Next, the operation of the massage machine 1 when each operation mode is selected will be described. First, when the “ON” switch SW ₁ is selected, the massage machine 1 is turned on, a direct current magnetic field is generated in the electromagnet 11 by direct current, and a magnetic field is generated between the magnetic poles of both side portions 11 b of the electromagnet 11. Thus, a magnetic attractive force is generated at the ball pair 10 and a frictional force is generated. Further, the strength of the magnetic field generated in the electromagnet 11 can be arbitrarily adjusted with the operation knob ST of the operation unit 14 as described above.

Thus, after the “ON” switch SW ₁ is turned on, when the ring-shaped saddle mode is selected by the switch S ₁ , the operation unit 14 sends an operation instruction signal for the ring-shaped rod mode to the signal processing unit 16. Then, the second drive unit 5 and the third drive unit 7 are controlled so that the collar unit 2 draws a circular locus that is a curve with respect to a plane substantially parallel to the back of the user. Move.

When the linear揉捏mode is selected by the switch S ₂ in the same manner, the operation unit 14 controls the third driving unit 7 sends an operation instruction signal of the linear揉捏mode to the signal processor 16 Then, the heel part 2 is moved so as to draw a linear trajectory in the vertical direction with respect to the back of the user.

When finger pressure mode is selected by the switch S ₃ in the same manner, the operation unit 14 controls the first driving unit 4 sends an operation instruction signal acupressure mode signal processing section 16, the揉捏2 It protrudes from the backrest 1b so as to press the back of the user.

Similarly, when the hit mode is selected by the switch S ₄ , the operation unit 14 sends an operation instruction signal for the hit mode to the signal processing unit 16 to control the first drive unit 4, and It is moved so as to protrude intermittently against the back of the user.

According to the present embodiment, by generating a magnetic field in the electromagnet 11, a magnetic attractive force can be generated in the ball pair 10 disposed on the magnetic path of the electromagnet 11. A predetermined frictional force can be generated between them. Therefore, the treatment element 3 is protruded from the backrest part 1 b by the first driving part 4 and pressed against the body of the user, and the heel part 2 is backed by the second driving part 5 and the third driving part 7. If the ball 1 is moved in the width direction and the height direction of the part 1b, the ball pair part 10 will move together with the heel part 2 with the part of the treatment element 3 that contacts the user being treated as a fulcrum. This technique can be used to implement a technique called cocoon. Furthermore, the strength of the magnetic field generated in the electromagnet 11 can be arbitrarily adjusted by operating the operation knob ST of the operation unit 14. Further, the operation unit 14 because a switch S ₁ to S ₄ for switching the operation mode of the massager 1, it is possible to switch the operation mode of the massager 1 freely.

  Note that the operation mode of the massage machine 1 is not limited to the above four types, and the treatment element 3 is not limited to the thumb shape, and may be, for example, a roller shape. The part 8 does not have to be formed entirely of an iron-based material, and the object of the present embodiment can be achieved as long as at least a portion disposed between both side pieces 11b of the electromagnet 11 is formed of an iron-based material. .

(Embodiment 2)
Next, Embodiment 2 of the present invention will be described with reference to FIG. The present embodiment is characterized by the configuration of the ball pair 10 and the other configurations are the same as those of the first embodiment. Therefore, common portions are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 3A, the ball pair 10 of the present embodiment is magnetized with increased viscosity by being placed in a magnetic field between the sphere 8 and the inner surface of the holding portion 9 a of the ball receiver 9. A fluid layer 17 made of a viscous fluid (MR fluid) is interposed.

Thus, by interposing the fluid layer 17 made of a magnetic viscous fluid between the spherical portion 8 and the inner surface of the holding portion 9a of the ball receiving portion 9, the magnetic attractive force of the ball pair 10 can be improved. . In particular, when the gap between the spherical body portion 8 and the inner surface of the holding portion 9a of the ball receiving portion 9 is on the order of several μm to several tens of μm, it is magnetic compared to the case where the fluid layer 17 made of a magnetic viscous fluid is not interposed. According to the present embodiment, the suction force is improved several times. Since the fluid layer 17 made of a magnetic viscous fluid is interposed between the spherical body portion 8 and the inner surface of the holding portion 9a of the ball receiving portion 9, the flange portion 2 The frictional force of the ball pair 10 required for operating the ball can be generated in the ball pair 10 by flowing a small amount of current through the electromagnet 11, thereby saving power. Since the magnetic viscous fluid uses oil as a medium, it is possible to dramatically reduce deterioration due to friction between the spherical portion 8 and the ball receiving portion 9.

  Further, as shown in FIG. 3B, in addition to the above-described configuration, an annular portion 18 for preventing the magnetic viscous fluid constituting the fluid layer 17 from flowing out is provided in the ball receiving portion 9 in FIG. Are disposed on the upper and lower surfaces. The annular portion 18 is formed in a flat plate shape using an iron-based member or a flexible member in which iron powder is kneaded, and a circular cross-sectional shape having a diameter d in the plane direction is formed at a substantially central portion thereof. It has a hole 18a which is a through-hole having a shape. The annular portion 18 is formed so that the diameter d of the hole portion 18a has a value substantially equal to the diameter D at which the cross-sectional area of the projecting sphere portion 8 is maximized.

  By disposing such an annular portion 18 on both surfaces of the ball receiving portion 9 as described above, it is possible to prevent the fluid layer 17 made of the magnetic viscous fluid from flowing out from the ball pair 10 to the outside. it can.

(Embodiment 3)
The present embodiment is characterized by the structure of the collar portion 2, particularly the electromagnet 11, and the other configurations are almost the same as those of the above-described first embodiment. Therefore, common portions are denoted by the same reference numerals and description thereof is omitted. To do.

  As shown in FIG. 4A, the electromagnet 11 of the present embodiment has a neody-based or ferrite-based permanent magnet 19 embedded in a lateral side portion between both side portions 11 b of the iron core 11 a of the electromagnet 11.

  According to the present embodiment, by embedding the permanent magnet 19 in the electromagnet 11, it is possible to continuously apply a magnetic field to the ball pair 10, so that the treatment element 3 is caused by its own weight or the like when the power is off. Moving can be suppressed, and as a result, power saving can be achieved. Further, if a current is passed through the magnetic field generating coil 13 so that the magnetic field of the electromagnet 11 is generated in the opposite direction to the magnetic field generated by the permanent magnet 19, the frictional force acting on the ball pair 10 can be reduced.

(Embodiment 4)
The present embodiment is characterized by the structure of the collar portion 2, particularly the electromagnet 11, and the other configurations are almost the same as those of the above-described third embodiment, so that common portions are denoted by the same reference numerals and description thereof is omitted. To do.

  The electromagnet 11 according to the present embodiment has a permanent magnet 19 embedded in a lateral portion between both side pieces 11b of the iron core 11a as in the above-described third embodiment. Further, as shown in FIG. In addition to the coil 13, a secondary coil 20 for taking out an induced voltage corresponding to the magnitude of the magnetic field of the electromagnet 11 is provided, and the induced voltage V generated in the secondary coil 20 is converted into a signal processing unit 16 (see FIG. 2). Takes the deviation of the value of the induced voltage V, feedback controls the voltage (excitation current) applied to the magnetic field generating coil 13 of the electromagnet 11 according to the magnitude of the induced voltage V, and sets the excitation current value to the operation set. It is designed to stabilize.

  According to the present embodiment, the excitation current flowing through the magnetic field generating coil 13 of the electromagnet 11 is stabilized by feedback control, so that the desired current can be obtained without being affected by changes over time caused by heat generation of the magnetic field generating coil 13. A magnetic field can be supplied stably. Therefore, the magnetic field attractive force of the ball pair 10 is stabilized.

(Embodiment 5)
The present embodiment is characterized by the configuration of the collar portion 2 and the other configurations are substantially the same as those of the above-described first embodiment. Therefore, common portions are denoted by the same reference numerals and description thereof is omitted.

  In the present embodiment, as shown in FIG. 5, a columnar column 23 is projected from a portion on the opposite side to the portion to which the treatment element 3 of the spherical body 8 is screwed. Further, a columnar hooking portion 25 that engages with a coil spring 24, which will be described later, protrudes from both side portions 11b of the electromagnet 11 on the side from which the column portion 23 of the spherical portion 8 protrudes and the lateral side portion. Has been established.

  The column portion 23 protruding from the spherical portion 8 is engaged with one end of the three coil springs 24, and the other end of the three coil springs 24 protrudes from the electromagnet 11 which is a non-sliding portion. Each of the three hooks 25 provided is engaged. Thereby, the spherical body part 8 is pulled from three directions.

  According to the present embodiment, the struts 23 projecting from the sphere 8 are engaged with the hooks 25 projecting from the three electromagnets 11, which are non-sliding parts, using the three coil springs 24. Therefore, if no load is applied to the treatment element 3, it can be returned to a desired position by the elastic force of the coil spring 24.

  In the present embodiment, the coil spring 24 is used as the coupling tool. However, the coupling tool only needs to be a flexible member, and even if an elastic body or a viscous body is used, it does not depart from the gist of the present invention. Can be implemented.

(Embodiment 6)
The present embodiment is characterized by the configuration of the heel part 2, particularly the shape of the ball pair 10, and other configurations are almost the same as those of the above-described first embodiment, and therefore common portions are denoted by the same reference numerals. The description is omitted.

  In the first embodiment described above, the spherical portion 8 is formed in a spherical shape using an iron-based member. In the present embodiment, as shown in FIG. 6A, the spherical portion 8 formed in a spherical shape. , The normal distance from the center of the spherical shape is the same, and only the substantially spherical body portion 8 'which is a portion between two parallel plane portions 26 and 27 is left, and the other plane portions are two parallel plane portions. Cut at 26 and 27.

  According to the present embodiment, the spherical sphere portion 8 is cut at the two plane portions 26 and 27 as described above to obtain a substantially sphere portion 8 ′. Therefore, when a magnetic field is applied to the sphere pair 10, the substantially spherical body portion 8 ′ moves so that the curvature portion, which is a side surface portion thereof, moves in the vicinity of the magnetic field so that the magnetic gap becomes uniform. If no load is applied, the state shown in FIG. 6 (a) is changed to the state shown in FIG. 6 (b). Therefore, the treatment element 3 can be returned to a desired position.

  In order to return the treatment element 3 to a desired position by using the substantially spherical portion 8 ', as shown in FIG. 7A, a permanent magnet 28 is attached to one end of the cylinder with respect to the substantially spherical portion 8'. In addition, a cylinder drive unit 29 that is installed so as to be close to and away from each other can be used. In this case, as shown in FIG. 7B, by driving the cylinder of the cylinder driving portion 29, the permanent magnet 28 is brought close to the vicinity of the substantially spherical portion 8 ', so that the treatment element 3 can be brought to a desired position more stably. Can be restored.

(Embodiment 7)
The present embodiment is characterized by the configuration of the collar portion 2 and the other configurations are substantially the same as those of the above-described first embodiment. Therefore, common portions are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 8 (a), the collar portion 2 of the present embodiment is a columnar detected object made of a permanent magnet at a site opposite to the site where the treatment element 3 of the spherical body 8 is screwed. Hall element 31, 32, 33 at each part of the side part 11 b and the side part of the iron core 11 a of the electromagnet 11 on the side where the detected part 30 of the sphere part 8 protrudes, and the spherical part 8 provided with the part 30. And an electromagnet 11 provided with a protrusion. Further, as shown in FIG. 8C, the signal processing unit 16 of the massage machine 1 calculates the position of the tip of the detected unit 30 based on the outputs from the hall elements 31, 32, and 33. A calculation function unit 16b and a display unit 34 for displaying the position of the tip of the detected unit 30 calculated by the calculation function unit 16b are added.

  Next, a method for detecting the position of the detected portion 30 will be described with reference to FIGS. As shown in FIG. 8B, each Hall element 31, 32, 33 detects distances r1, r2, r3 between the detected portion 30 that is a permanent magnet and itself. Each Hall element 31, 32, 33 outputs outputs V1, V2, V3 corresponding to the detected distances r1, r2, r3 to the signal processing unit 16, as shown in FIG. The calculation function unit 16b of the signal processing unit 16 obtains the distances r1, r2, and r3 from the detected units 30 corresponding to the outputs V1, V2, and V3 from the outputs V1, V2, and V3, as shown in FIG. ) To be detected 30 indicating the position of the treatment element 3 by obtaining the intersection of circles having the corresponding distances r1, r2 and r3 as radii around the hall elements 31, 32 and 33 as the center. It is possible to detect the position of the distal end of the display, and display the detection result on the display unit 34. Thereby, the user can check the position of the treatment element 3.

  Furthermore, the operation unit 14 of the massage machine 1 of the present embodiment has a function of operating and instructing a target value corresponding to the position of the treatment element 3, and the signal processing unit 16 is operated as shown in FIG. The target value (x0, y0, z0) corresponding to the position of the treatment element 3 instructed for operation by the unit 14, and the position (x, y, z) of the tip of the detected portion 30 obtained from the calculation function unit 16b A feedback control function unit 16a that performs feedback control of the operation of each of the drive units 4, 5, and 7 according to the deviation and controls the treatment element 3 to perform a desired operation may be added. In this case, the position of the treatment element 3 can be controlled to a desired position regardless of the external force received by the treatment element 3.

(Embodiment 8)
The present embodiment is characterized in that the pedestal 12 on which the collar unit 2 is placed is provided with an Oldham operation unit 41 which will be described later, and the rest of the configuration is substantially the same as that of the above-described fifth embodiment, so that the description thereof is omitted.

  As shown in FIG. 9, the flange portion 2 of the present embodiment is placed on a pedestal 12 in which a columnar eccentric shaft portion 35 projects from the vertical side portion 12 d on the other end side of the pedestal 12. Yes.

  The pedestal 12 has a columnar eccentric joint portion 36 having a fitting hole 36a fitted to the eccentric shaft portion 35 and a cylindrical bearing portion 36b fitted to a shaft portion 37a of the rotation drive portion 37 described later. The shaft portion 37a is fitted to the bearing portion 36b of the eccentric joint portion 36 to rotate the eccentric joint portion 36, and the hole 38a having an inner diameter substantially the same as the outer diameter of the eccentric joint portion 36. And a ring portion 38 having convex portions 38b formed on both surfaces, and an insertion hole 39a having an inner diameter substantially the same as the outer diameter of the eccentric joint portion 36, and the convex portion 38b of the ring portion 38 on one surface. An Oldham joint part 40 constituted by a cylindrical part 39 in which a recessed part 39b to be fitted is formed is provided.

  The Oldham operation part 41 arranges the eccentric joint part 36 in the space part formed by the insertion hole 39a and the hole part 38a of the Oldham joint part 40 communicating, and the eccentric shaft part 35 of the base 12 and the fitting hole 36a. And the shaft portion 37a of the rotation drive portion 37 and the bearing portion 36b are fitted together.

  In such Oldham operation part 41, when the eccentric joint part 36 is rotated using the rotation drive part 37, the Oldham joint part 40 is operated along with this rotation, so that the collar part 2 is placed. The pedestal 12 can be operated in a complicated manner.

  According to the present embodiment, the collar portion 2 is placed on the pedestal 12 including the Oldham operation portion 41 in which the Oldham joint portion 40 operates in accordance with the rotation of the eccentric joint portion 36, so that more complicated and diverse A treatment method can be realized.

  In the present embodiment, the collar part 2 of the above-described fifth embodiment is used. Of course, the collar part 2 of the other embodiments described above may be used.

(A) is a perspective view of the massage machine of Embodiment 1 of this invention, (b) is a perspective view of a buttock same as the above, (c) is an exploded perspective view of a buttock same as the above. It is. (A) is a schematic explanatory drawing of the operation part of a massage machine same as the above, (b) is a block diagram of operation control of a massage machine same as the above. (A) is a fragmentary sectional view of the collar part of Embodiment 2 of this invention, (b) is a fragmentary sectional view of the other collar part of the same as the above. (A) is a schematic explanatory drawing of the collar part of Embodiment 3 of this invention, (b) is a schematic explanatory drawing of the collar part of Embodiment 4 of this invention. It is a perspective view of the collar part of Embodiment 5 of the present invention. (A) is a fragmentary sectional view of the collar part of Embodiment 6 of this invention, (b) is a fragmentary sectional view which shows the standard position of a treatment element in the figure (a). (A) is a fragmentary sectional view of the other collar part same as the above, (b) is a fragmentary sectional view which shows the standard position of a treatment element in the figure (a). (A) is a perspective view of the collar part of Embodiment 7 of this invention, (b) is a schematic explanatory drawing which shows the position detection method of a collar part same as the above, (c) is the same as the above. It is a block diagram of operation control of a massage machine. It is a disassembled perspective view of the Oldham action part of Embodiment 8 of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Massage machine 1a Seat part 1b Backrest part 2 Grow part 3 Treatment element 3a Screw part 4 1st drive part 5 2nd drive part 6 Drive body 7 3rd drive part 8 Sphere part 9 Sphere receiving part 9a Holding part
DESCRIPTION OF SYMBOLS 10 Sphere pair part 11 Electromagnet 11a Iron core 11b Side piece 12 Base 12a Notch part 12b Electromagnet holding plate 12c Horizontal piece 13 Magnetic field generating coil 14 Operation part 16 Signal processing part

Claims (13)

  An electromagnet, a treatment element for treatment in contact with the body of the user, a sphere part that is fixed to the treatment element, and at least a part disposed on the magnetic path is formed of an iron-based material, and the sphere part From a power supply that flows through a coil for generating a magnetic field wound around the electromagnet, and includes a collar portion that includes a ball pair disposed on a magnetic path of the electromagnet. A massage machine comprising a control unit for controlling the current of the body.   It is arrange | positioned at the backrest part of the chair part in which the said user sits, and moves the said heel part so that the said heel part and the said treatment element of the said buttock part can move freely from the said backrest part. A drive body including a first drive unit, and a second drive unit that moves the buttocks so as to move the treatment element of the buttocks in the width direction of the backrest; and the backrest A third drive unit that moves the disposed drive body in the height direction of the backrest unit, and an operation unit that instructs the operation of each of the drive units and the control unit. The massage machine according to claim 1.   The massage machine according to claim 1 or 2, wherein a fluid layer made of a magnetorheological fluid is interposed between the spherical body portion and the ball receiving portion.   It is formed of an iron-based member or a flexible member in which iron powder is kneaded, having a hole portion with an inner diameter substantially equal to the diameter at which the cross-sectional area of the portion of the spherical portion protruding from the ball receiving portion is maximum. The annular ring part is arrange | positioned in the said ball receiving part so that the said hole part may contact | connect the site | part of the said spherical body part protruded from the said ball receiving part. Massage machine.   The operation unit controls each of the driving units to operate at least a mode in which the collar unit operates to draw a curved locus, and to operate the collar unit to draw a linear locus. The massage machine according to any one of claims 1 to 4, further comprising a function of switching between modes.   The massage machine according to claim 1, wherein a permanent magnet that constantly applies a magnetic field to the ball pair is embedded in the electromagnet.   In addition to the magnetic field generating coil, the electromagnet is wound with a magnetic field measuring coil for measuring a magnetic field generated in the electromagnet, and the magnetic field generating coil is generated according to the induced voltage value obtained by the magnetic field measuring coil. The massaging machine according to claim 6, wherein the current flowing through the coil is feedback-controlled.   The column-like support | pillar part protrudingly provided in the said spherical body part is engaged with the at least 2 location of non-sliding parts other than the said spherical body part using the flexible connector. The massage machine according to any one of 1 to 7.   The massage machine according to any one of claims 1 to 7, wherein the sphere portion is formed by cutting along two parallel planes having the same normal distance from the center of the sphere.   The said spherical body has the said treatment element adhering to one plane, and the permanent magnet is installed in the vicinity of the other plane so that it can approach and separate in the direction of the said spherical body. Massage machine.   At least three hall elements arranged at different positions of the spherical part projecting a columnar detected part made of a permanent magnet, and a non-sliding part other than the spherical part, and the respective hall elements A calculation unit that calculates the position of the tip of the detected part from the output obtained, and a display unit that displays the position of the tip of the detected part calculated by the calculation unit, The massage machine according to any one of claims 1 to 10.   A control unit that feedback-controls the operation of each drive unit according to a deviation between the position of the tip of the detected unit calculated by the calculation unit and the position of the treatment element instructed by the operation unit; The massage machine according to claim 11, wherein the massage machine is provided.   The flange portion is placed on a pedestal provided with a columnar eccentric shaft portion, and the pedestal rotates an eccentric joint portion having a fitting hole to be engaged with the eccentric shaft portion, and the eccentric joint portion. The massage machine according to any one of claims 1 to 12, further comprising a rotation drive unit and an Oldham coupling unit that operates in accordance with the rotation of the eccentric coupling unit.

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