JP2006175025A - Massage machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To apply various kinds of massage by a massage machine with a hand-shaped massaging part like a human hand capable of applying strength-adjustable resistance in the opposite direction from the direction of adjacent driving of grasping of a pair of massaging elements. <P>SOLUTION: The massage machine applies kneading massage with a pair of a first massaging element 1a and a second massaging element 1b as massage rollers by driving the first and second massaging element 1a and 1b attached to a massaging element arm block 1 by a massaging element driving part A in the direction of approaching/separating. The massage machine also has a resistance strength adjustable member B for applying the strength-adjustable resistance in the direction opposite from the direction of driving at least either the first massaging element 1a or the second massaging element 1b by the massaging element driving part A. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a massage machine, and more specifically, a first treatment element and a second treatment element which are paired by driving a first treatment element and a second treatment element attached to a treatment element arm block in a direction of approaching and separating. The present invention relates to a massage machine that massages massagers using massagers.

  2. Description of the Related Art Conventionally, as a massage machine for massaging a user by operating a treatment element by a drive unit, a structure for driving a treatment element provided to be inclined with respect to a drive shaft that rotates using a motor as a power source (known example) However, even if the width and strength adjustment mechanisms are variable, only a specific trajectory is drawn if the stagnation is due to mechanical limitations.

  In recent years, as shown in Patent Document 1, although a motor is also used as a drive source, an intensity drive unit that operates a treatment element in a protruding direction toward the human body, a width drive unit that operates in a width direction, and a vertical direction At least one of a sensor for detecting the position due to the operation of the treatment element due to the drive of each drive part, and a sensor for detecting the speed of the treatment element due to the drive of each drive part. Each of the drive units independently, a control unit that controls to perform a massage operation by operating one of the drive units or a massage operation by linking two or more drive units There are structures provided, but it does not realize gripping action like a human hand.

In recent years, there are several types of products that have a structure in which a pair of treatment elements that are paired to perform a gripping action such as a human hand are closely spaced and gripped. These patent applications include Patent Document 2, Patent Document 3, Patent Document 4, and the like.
JP 2004-16525 A Japanese Patent Laid-Open No. 10-258103 JP 2001-111282 A JP 2002-238967 A

  As described above, there is a conventional structure in which a pair of treatment elements grips and squeezes the shoulder by approaching and separating from each other, but all of them have only a constant gripping operation. As an example, a device that uses the force generated by the air bag to separate the pair of treatment elements uses the force of the air exhaust and the spring when close to each other, and it is possible to give a variable resistance in the direction of separation. Instead, it only performs certain operations.

  In addition to massaging the massage machine by rotating a rotating shaft with an eccentric inclination, there are massage machines that realize the paired treatment elements approaching and separating, but the action of the treatment element Can only move on a certain trajectory, and the speed can be changed by the number of rotations of the motor on that trajectory. A variable resistance force cannot be applied, and only a certain operation is performed. Further, since the treatment cannot be performed while the treatment elements are separated from each other, treatment such as that with the hands spread out cannot be performed.

  In addition, Patent Document 2 to Patent Document 4, etc., which are conventional examples of a structure in which a pair of treatment elements approach and separate from each other and grab and hold the shoulder, also give a resistance force that is variable in the direction of separation as in the above example. It cannot be performed, and only a certain operation is performed.

  In addition, as described above, not only the approach / separation operation of the treatment element becomes a constant operation, but also the treatment with the treatment element separated is performed as a weak point of the structure in which the pair of treatment elements approach / separate. In some cases (such as hand-rubbing treatment with the hands spread out), the treatment elements come close to each other due to reaction force from the human body or friction with the cloth on the surface of the massage machine. There is a possibility. As a means for solving this, it is possible to set a large force (for example, a spring force) for holding the treatment elements in a separated state, but in that case, when the treatment elements are close to each other, The generated force becomes weak, and the generated force in the grasping operation (for example, shoulder grip) on the human body becomes unsatisfactory. Or, in order to prevent it, increasing the generated force to further approach them causes the massage machine to become complicated and large, and is difficult to realize. For this reason, in the structure with the approach / separation operation | movement of the conventional treatment element, it was not able to perform the treatment to a human body, maintaining the state which extended between treatment elements.

  The present invention has been invented in view of the above-described conventional problems, and is contrary to the direction in which the pair of treatment elements are driven so as to grip each other in a massage machine having a hand-type treatment unit such as a human hand. It is an object of the present invention to provide a changeable massage force that can be changed in strength in the direction of movement.

  In order to solve the above-mentioned problem, the massage machine according to claim 1 of the present invention is driven by the treatment element driving unit in the direction of approaching and separating the first treatment element and the second treatment element attached to the treatment element arm block. In a massage machine that massages with a first treatment element and a second treatment element as a massage ball, the direction in which at least one of the first treatment element or the second treatment element is driven by the treatment element drive unit is opposite. It is characterized by comprising a resistance force variable member that gives a variable resistance force in the direction of movement.

  According to the above configuration, when changing the position of the treatment element, the treatment element can be driven with a small force by the treatment element drive unit by reducing the resistance force of the resistance strength variable member. When it is not desired to change the position of the treatment element, it can be held with a large force so that the position of the treatment element does not change by increasing the resistance force of the resistance strength variable member. This makes it possible to perform massages such as driving the pair of treatment elements with the treatment element drive unit and grasping the shoulder or changing the position of the treatment element, and giving the patient a sharp massage. .

  The massage machine according to claim 2 of the present invention is characterized in that, in claim 1, when the operation of driving the first treatment element and the second treatment element by the treatment element driving unit is an outward movement, the resistance strength is reduced. The variable member is used for driving the return path operation of the first treatment element or the second treatment element. In this case, by using the resistance strength variable member for driving the return path for returning the treatment element, another return path drive mechanism is not required and can be configured at low cost.

  The massage machine according to claim 3 of the present invention is the massage machine according to claim 1, wherein the force of the resistance strength variable member is set to a force at which the first treatment element or the second treatment element does not move due to a load on the body of the user. It is characterized by. In this case, in order to perform such massage, the pair of treatment elements is kept away from each other even when the treatment elements are likely to receive a load from the human body or the cloth of the massage machine in the direction in which the pair of treatment elements are brought close to each other. Massage is possible.

  The massage machine according to claim 4 of the present invention is the massaging device driving unit according to claim 1, wherein the operation of driving the first treatment element and the second treatment element by the treatment element driving unit is an outward operation. When applying a force so as to move in the forward direction, a force is also applied to the resistance variable member. In this case, the treatment element can be stopped at a position where the balance between the force of the treatment element drive unit and the force of the resistance force variable member is balanced, and the position of the treatment element can be maintained at positions other than the adjacent position and the two positions apart from each other. Can change the massage sensation.

  Further, the massage machine according to claim 5 of the present invention is based on claim 1, when the operation for driving the treatment element drive unit to bring the first treatment element and the second treatment element close to each other is defined as the outward movement force. It is characterized in that the force of the resistance strength variable member can be set larger. In this case, the treatment element does not move in the state where the treatment element drive unit is driven and the force is applied in a state where resistance is applied with the resistance strength variable member, but if the resistance force of the resistance strength variable member is released in this state, The treatment element can move in a direction close to each other at a stretch, enabling quick grasping. For example, when the resistance strength variable member or the treatment element drive unit is an airbag, the internal pressure of the airbag as the treatment element drive unit is increased after the internal pressure of the airbag as the resistance strength variable member is increased. Since the force of the airbag as the force strength variable member is made stronger than the force of the airbag as the treatment element drive unit, the treatment element is located at a separated position. Therefore, if the air of the airbag as the resistance strength variable member is pulled out at a stretch, the airbag as the treatment element drive section will grow vigorously, so the internal pressure of the airbag as a treatment element drive section will be reduced from zero by the normal pump operation. Rather than raising, the treatment element is driven in the direction closer to the treatment element and can go quickly.

  The massage machine according to claim 6 of the present invention is characterized in that, in claim 1, an air bag is used for the resistance strength variable member. In this case, the strength of the force can be easily applied and an inexpensive and light member can be obtained.

  The massage machine according to claim 7 of the present invention is the massage machine according to claim 1 or claim 6, wherein the operation of driving the treatment element so that the first treatment element and the second treatment element are brought close to each other in the treatment element drive unit An air bag is used for the treatment element driving unit that is driven to perform the forward movement. The treatment element can be relatively easily expanded and contracted in the moving direction, and can be a cheap and light mechanism.

  The massage machine according to claim 8 of the present invention is the massage machine according to claim 1, wherein both the first treatment element and the second treatment element are movable, and an air bag as a treatment element drive unit and resistance strength can be varied for each treatment element. An air bag as a member is provided, respectively. The distance between the treatment elements can be greatly changed by moving both of the pair of treatment elements away from each other, moving one of the treatment elements in the approaching direction, or moving both in the approaching direction, and As for the gripping operation, the gripping stroke can be made longer by greatly changing the interval, and even a person with a thick shoulder can grip the shoulder.

  The massage machine according to claim 9 of the present invention is the massage machine according to claim 1, wherein when the movement of the treatment element is a circular movement, the position of the resistance strength variable member and the position of the treatment element driving portion serve as a fulcrum of the circular movement. It is characterized by being located on the same radius as the center. In this case, the arm length according to the lever principle is substantially the same by arranging the resistance strength variable member and the treatment element drive portion at the position of substantially the same force relationship, and the extension stroke of the actuator including the air bag can be reduced. You don't have to take it big, and you can save space.

  The massage machine according to claim 10 of the present invention is characterized in that, in claim 1, a spring member of a shape memory alloy is used as the resistance strength variable member. In this case, the driving sound of the resistance strength variable member can be reduced.

  The massage machine according to claim 11 of the present invention is the massage machine according to claim 1, wherein a spring member of a shape memory alloy is used for the treatment element driving portion that drives the first treatment element and the second treatment element so as to approach each other. It is characterized by. In this case, the driving sound of the treatment element driving unit can be reduced.

  The massage machine according to claim 12 of the present invention is characterized in that, in claim 1, the resistance strength variable member is provided with a mechanical lock mechanism that mechanically stops the driving of the treatment element. The resistance value of the resistance strength variable member can be increased to the breaking strength of the material. If the mechanical lock mechanism is a metal, a large resistance force can be applied in a small space.

  The massage machine according to claim 13 of the present invention is the massage machine according to claim 12, wherein the mechanical lock mechanism has a structure in which a pin or the like is inserted and removed, and is locked when the pin is inserted, and is unlocked when the pin is removed. It is a structure. In this case, the mechanical lock mechanism can be realized with an inexpensive and simple structure.

  In the massage machine according to claim 14 of the present invention, when the movement of the treatment element is a circular movement in claim 13, the position where the pin or the like is inserted or removed is farther from the fulcrum of the circular movement than the position of the treatment element drive unit. It is characterized by that. In this case, the pin diameter can be reduced, and the size can be reduced at a lower cost by arranging the pin at a more distant position according to the principle of the lever.

  The massage machine according to claim 15 of the present invention is characterized in that, in claim 1, the moving speed of the treatment element is controlled by controlling only the resistance force of the resistance strength variable member. For example, when the resistance strength variable member or the treatment element drive unit is an airbag, the internal pressure of the airbag as the resistance strength variable member is maintained even when the internal pressure of the airbag as the treatment element drive unit is maintained in a predetermined state. The moving speed of the treatment element can be changed by changing the speed, and the moving speed of the treatment element can be increased. Even if a relatively small and inexpensive pump with a small flow rate is used, the flow rate is relatively large and expensive. The same effect as the pump can be obtained and fast gripping can be performed.

  The massage machine according to claim 16 of the present invention is characterized in that, in claim 1, the moving speed of the treatment element is controlled by controlling the resistance force of the resistance strength variable member and the outward drive force of the treatment element drive unit. . For example, when the resistance strength variable member or the treatment element drive unit is an airbag, the moving speed of the treatment element is changed by changing the internal pressure of the airbag as the resistance strength variable member and the airbag as the treatment element drive unit. Therefore, the moving speed of the treatment element can be further increased than that of the fifteenth aspect, and even if a relatively small pump with a small flow rate is used, the same effect as a relatively large and expensive pump with a large flow rate can be obtained. It can be obtained and fast gripped.

  The massage machine according to claim 17 of the present invention is characterized in that, in claim 1, the force by which the treatment element moves is controlled by controlling only the resistance force of the resistance strength variable member. In this case, after gripping the shoulder or the like, the force can be controlled by increasing the resistance so as not to grip too strongly.

  The massage machine according to claim 18 of the present invention is characterized in that, in claim 1, the force of movement of the treatment element is controlled by controlling the resistance force of the resistance strength variable member and the outward drive force of the treatment element drive unit. To do. In this case, the range of adjustment of the force of the treatment element can be made wider than that of the seventeenth aspect.

  As described above, the present invention is capable of performing massage such as driving a pair of treatment elements with a treatment element drive unit to grasp the shoulder or changing the position of the treatment element, and gives the patient a sharpness. The effect is that you can massage.

  Hereinafter, the present invention will be described based on embodiments shown in the accompanying drawings. FIG. 2 shows a mechanism unit in the massage machine of the present invention. This mechanism unit is, for example, arranged in a backrest 90 of a chair 9 as shown in FIG. A vertical drive shaft 51 and a strong and weak drive shaft 61 are installed between the left and right side plates 91, 91, and the movable unit shown in FIG. 3 is disposed between the side plates 91, 91.

  As shown in FIG. 4, the vertical drive shaft 51 is rotationally driven when the output of the vertical drive motor 50 fixed to one side plate 91 is transmitted through a gear group in the gear box 52. The pinions 53 and 54 are attached to both ends thereof. The roller 54 rolls in the rail disposed on the backrest 90 together with the roller 55 shown in FIG. 2, and the pinion 53 meshes with a rack (not shown) attached to the rail.

  As shown in FIG. 5, the strength driving shaft 61 is rotationally driven when the output of the strength driving motor 60 fixed to the other side plate 91 is transmitted through the gear group in the gear box 62. The gears 63, 63 for rotating the movable unit are attached to both ends thereof.

  The movable unit has a width drive shaft 31, two slide guide shafts 32, 32, and a striking drive shaft 41 installed between a pair of left and right gear plates 30, 30, and a pair of left and right treatment element arm blocks 1, 1 (see FIG. 2 and 3 show only one treatment element arm block 1). Both ends of the width drive shaft 31 that can freely rotate around the shaft with respect to both the gear plates 30 and 30 are supported by the pair of side plates 91 and 91 so as to be disposed between the side plates 91 and 91. The tooth portions 300 and 300 on the outer peripheral surfaces of the gear plates 30 and 30 are meshed with the gears 63 and 63 described above. One end of the width driving shaft 31 is connected to a pulley 38 to which the output of the width driving motor 35 attached to one side plate 91 is transmitted via a pulley 36 and a belt 37. The drive shaft 31 rotates around the axis by the output of the width driving motor 35.

  A knocking drive motor 40 is mounted on one gear plate 30 of the movable unit. The output of the motor 40 is transmitted to the hitting drive shaft 41 by a pulley and a belt 43. The tapping drive shaft 41 is formed as a crankshaft having different eccentric directions on the left and right.

  As shown in FIG. 6, the treatment element arm block 1 comprises an arm base plate 10 as a treatment element support member, a first arm 13, a second arm 14, a roller-type first treatment element 1a, a second treatment element 1b, and the like. The arm base plate 10 is provided with a feed nut 33 screwed into the threaded portion of the width drive shaft 31 and sliders 34, 34 slidably fitted to the slide guide shaft 32. The position of the width drive shaft 31 and the slide guide shaft 32 in the axial direction is changed by the above, and since the screw portion formed on the width drive shaft 31 is formed with a reverse screw on one side, a pair of left and right The arm base plates 10 and 10 in the treatment arm block 1 are moved closer to and away from each other by the rotation of the width drive shaft 31.

  The first arm 13 provided with the first treatment element 1a and the second arm 14 provided with the second treatment element 1b are directly attached to the arm base plate 10 by the same shaft 100. Further, the link 45 connecting one end of the drive shaft 41 is connected to the first arm 13 at the other end, and the shaft at the other end is engaged with a long hole 48 provided in the first arm 13. The swinging is not disturbed.

  An airbag 21 as an example of a treatment element driving unit A described later is interposed between a receiving plate 20a of the first arm 13 and a receiving plate 20b of the second arm 14, and the first treatment element 1a and the second treatment element A The treatment element 1b can be driven in the direction of approaching. An airbag 22 as an example of a resistance strength variable member B described later is interposed between a receiving plate 20b of the second arm 14 and a support portion 20c of the first arm 13, and the first treatment element 1a The second treatment element 1b is biased so as to be separated. The airbag 23 as the float means C is interposed between the link 45 and the first arm 14 so that the first and second treatment elements 1a and 1b come into contact with the body by the airbag 23. Spring is biased. In the figure, reference numeral 95 denotes an air drive unit in which an air pump and an electromagnetic valve for operating the air bags 21, 22, and 23 are housed.

  The operation of the massage machine configured as described above will be described. First, when the vertical drive shaft 51 is driven by the vertical drive motor 50, the movable unit self-runs up and down in the backrest of the chair described above. The positions of 1a and 1b are changed up and down. Further, when the strong and weak driving shaft 61 is driven by the strong and weak driving motor 60, the gear 63 provided in the strong and weak driving shaft 61 rotates the gear plate 30 around the axis of the width driving shaft 31, so that the arm base plate is attached to the gear plate 30 and one end. 30 is rotating, and it is possible to obtain a state in which the amount of protrusion of the treatment element 1a toward the backrest is small and a state in which the amount of protrusion of the treatment element 1a is large. That is, the strength adjustment can be performed by changing the forward protrusion amount of the treatment element 1a. When the width driving shaft 31 is rotated by the width driving motor 35, the pair of left and right treatment element arm blocks 1 and 1 are moved closer to and away from each other in the width direction (left and right direction), as described above, and the left and right treatment elements 1a and 1b. The interval between 1a and 1b is changed.

  By the way, this massage machine realizes so-called massage massage by combining the operations of the three motors 50, 60, and 35. In addition, in order to enable drive control to perform such massage, in addition to the vertical position sensor S2, the width position sensor S1, etc., as shown in FIG. 8, the strength position, the rotational speed (rotational angle) of each motor, as shown in FIG. A sensor for detecting the above is provided to perform feedback control. 8 in FIG. 8 is a control circuit comprising a microcomputer.

  Further, when the treatment element driving unit A is driven, the second arm 14 is rotated with respect to the first arm 13 around the shaft 100, and the treatment elements 1a and 1b are moved closer to or away from each other, and the treatment element 1a is moved. , Massage massage to grab shoulders between 1b.

  By the way, in the example of the embodiment of the present invention shown in FIG. 1, the airbag 21 is used as the treatment element driving unit A, and the airbag 21 includes the receiving plate 20 a of the first arm 13 and the receiving plate 20 b of the second arm 14. Between the first treatment element 1a and the second treatment element 1b. Further, in the present invention, there is provided a resistance force variable member B that applies a resistance force in a variable direction in a direction opposite to the direction driven by the treatment element driving unit A. In the case of this example, the airbag 22 is used as the resistance strength variable member B, and the airbag 22 is interposed between the receiving plate 20b of the second arm 14 and the support portion 20c of the first arm 13, The first treatment element 1a and the second treatment element 1b are biased so as to be separated from each other. The air bag 22 can apply a large resistance force by supplying air and extending it, and can apply a resistance force by extracting and contracting the air.

  When air is supplied to the airbag 22 as the resistance strength variable member B and the airbag 22 is extended, the resistance increases, and the position does not change even when an external force is applied to the second treatment element 1b. The separated state as shown in FIG. 1 (a) is maintained. When the air of the air bag 22 is extracted and contracted, the resistance value decreases, and the second arm 14 together with the second treatment element 1b is supplied by supplying air to the air bag 21 with the treatment element driving unit A and extending it. As shown in FIG. 1 (b), the first treatment element 1a and the second treatment element 1b can be brought close to each other without any resistance to grip the shoulder or the like. Therefore, when it is not desired to change the position of the treatment element 1b, it is possible to hold the treatment element 1b with a large force so that the position of the treatment element 1b does not change by increasing the resistance force of the airbag 22 as the resistance strength variable member B. When the position of is changed, the treatment element 1b can be driven with a small force by the airbag 21 as the treatment element drive unit A by reducing the resistance force of the airbag 22 as the resistance force variable member B. As a result, the massager 1b can be massaged by driving with the airbag 21 as the therapy element drive unit A and grasping the shoulder, or without changing the position of the therapy element 1b. Massage with sharpness can be done.

  In the example of the embodiment of FIG. 1, the airbag 21 serving as the treatment element drive unit A performs an outward operation for driving the first treatment element 1a and the second treatment element 1b closer to each other. Thus, the airbag 22 as the resistance strength variable member B can be used for driving a backward operation that separates the first treatment element 1a and the second treatment element 1b. That is, when the pair of treatment elements 1a and 1b are driven in the forward direction, air is supplied to the airbag 21 to be expanded, and the airbag 22 is evacuated and contracted, while the pair of treatment elements 1a and 1b are separated from each other. When the inward drive is performed, the air is extracted from the airbag 21 and contracted, and the airbag 22 is supplied with air to be expanded. In this case, by using the airbag 22 as the resistor strength variable member B for driving the return operation for returning the treatment element 1b, another return drive mechanism becomes unnecessary, and the configuration can be reduced.

  By the way, when the first treatment element 1a and the second treatment element 1b are separated from each other, the second treatment element 1b moves in the proximity direction without applying a resistance force with the resistance force variable member B as described above. As shown in FIG. 9, when the treatment element arm block 1 is moved from the top to the bottom, the second treatment element 1b is moved in the direction (upward direction) close to the first treatment element 1a due to the load of the human body or the fabric, Normal massage cannot be performed. Therefore, in the present invention, the force of the airbag 22 as the resistance strength variable member B is set to a force that does not move the second treatment element 2b due to the load on the body of the user. In this case, the pair of treatment elements 1a, 1b is also used when the treatment element 1b is easily subjected to a load from the human body or the cloth of the massage machine in the direction in which the pair of treatment elements 1a, 1b are brought close to each other. Massage can be performed while keeping the distance of

  It is also preferable to set the effective pressure receiving area (force = internal pressure × effective pressure receiving area) of the airbag 22 as the resistance force variable member B so as to be larger than the effective pressure receiving area of the airbag 21 on the forward drive side. That is, the force of the resistance variable member B can be set larger than the force of the forward drive. In this case, if the internal pressure of the airbag 21 as the treatment element driving unit A is increased after increasing the internal pressure of the airbag 22 as the resistance strength variable member B, the force of the airbag 22 as the resistance strength variable member B is increased. Is made stronger than the force of the airbag 21 as the treatment element driving unit A, the treatment elements 1a and 1b are located at positions separated from each other. Therefore, when the air of the airbag 22 as the resistance strength variable member B is pulled out at a stretch, the airbag 21 as the treatment element driving unit A stretches vigorously, so that the airbag as the treatment element driving unit A is operated by a normal pump operation. Rather than raising the internal pressure of 21 from zero, the treatment element 1b is driven faster in the approaching direction, and can go quickly.

  In addition, the airbag 21 is used as the treatment element driving unit A and the airbag 22 is used as the resistance strength variable member B, and control is performed to apply force to the airbag 22 in a state in which force is applied to the airbag 21. It is also preferable to stop the position of the 2 treatment element 1b on the way. That is, an arbitrary position in the middle between the closest position and the farthest position as shown by an imaginary line in FIG. You can stop at. In this case, the positions of the treatment elements 1a and 1b can be held at positions other than the position where the pair of treatment elements 1a and 1b are close to each other or two positions apart from each other, and the massage feeling can be changed.

  Moreover, when the airbag 22 is used for the resistance strength variable member B, the strength of the force can be easily applied and the member can be made inexpensive and light. At this time, if the airbag 21 is used for the treatment element drive unit A, the treatment element 1b can be expanded and contracted in the moving direction relatively easily, and can be made inexpensive and light.

  Next, an example of the embodiment shown in FIG. 11 will be described. In the case of this example, the first arm 13 having the first treatment element 1a and the second arm 13 having the second treatment element 1b are rotatably connected to the arm base plate 10 by separate axes 100 ′ and 100 ″. Thus, both the first treatment element 1a and the second treatment element 1b move so as to approach and separate from each other, and the airbag 21 and the resistance strength of the treatment element drive unit A are attached to each of the treatment elements 1a and 1b. Each of the airbags 22 is provided as a variable member B. In this case, both the pair of treatment elements 1a and 1b are moved away from each other as shown in FIG. Or the distance between the treatment elements 1a and 1b can be greatly changed by moving both in the direction of approaching each other as shown in FIG. 11 (b). Changing More gripping stroke take long, even in thick person of the shoulder of the thickness you can grab the shoulder.

  Further, when the movement of the treatment elements 1a and 1b is a circular motion, the position of the airbag 22 as the resistance variable member B and the position of the airbag 21 as the treatment element drive unit A are as shown in FIG. It is also preferable that they are located on the same radius R centering on the fulcrum of the circular motion (axis 100). In this case, by arranging the airbag 22 as the resistance strength variable member B and the airbag 21 as the treatment element drive unit A at substantially the same force-related positions, the length of the arm according to the principle of the lever becomes substantially the same, It is not necessary to increase the stroke of the actuator including the airbags 21 and 22, and the space can be reduced.

  Next, an example of the embodiment shown in FIG. 13 will be described. In the case of this example, the airbag 21 is used as the treatment element drive unit A that drives in the forward direction, but the shape memory alloy spring member 22 ′ is used as the resistance strength variable member B. The shape memory alloy spring member 22 'changes its temperature and its spring constant when an electric current is passed. When the resistance force is increased by increasing the spring force of the shape memory alloy spring member 22 'as the resistance strength variable member B, the second treatment element 1b can be strongly held in the separated state as shown in FIG. When the spring force of the shape memory alloy spring member 22 'is weakened to reduce the resistance force, the air bag 21 is driven as shown in FIG. 13B to bring the pair of treatment elements 1a and 1b close to each other. Can do. The shape memory alloy spring member 22 'can also be used to drive the return path. If the shape memory alloy spring member 22 ′ is used for the resistance strength variable member B in this way, the driving sound of the resistance strength variable member B can be reduced.

  Next, an example of the embodiment shown in FIG. 14 will be described. In the case of this example, a shape memory alloy spring member 21 ′ is used for the treatment element driving portion A that drives the first treatment element 1 a and the second treatment element 1 b so as to approach each other. This shape memory alloy spring member 21 'also changes its temperature and its spring constant when an electric current is passed. In the case of this example, the shape memory alloy spring member 22 ′ is also used as the resistance strength variable member B. Also in this case, the pair of treatment elements 1a and 1b are brought close to each other as shown in FIG. 14A by the action of the shape memory alloy spring member 21 'and the shape memory alloy spring member 22', or FIG. Thus, the pair of treatment elements 1a and 1b can be separated from each other. Thus, when the shape memory alloy spring member 22 ′ is used as the treatment element drive unit A, the drive sound of the treatment element drive unit A can be reduced.

  Next, an example of the embodiment shown in FIG. 15 will be described. In the case of this example, the mechanical lock mechanism 24 is used as the resistance strength variable member B. This mechanical lock mechanism 24 is a solenoid 24a, and the pin 24b comes in and out when energization is turned on and off so that the tip of the pin 24b hits the receiving plate 20b of the second arm 14 when the pin 24b comes out. It has become.

  Then, when the pin 24b is protruded with the first driver element 1a and the second driver element 1b being separated from each other and applied to the receiving plate 20b, the second driver element 1b is moved as shown in FIG. It is held so as not to move. Further, when the pin 24b is retracted and separated from the receiving plate 20b and the airbag 21 is operated as the treatment element drive unit A, the pair of treatment elements 1a and 1b are driven so as to approach each other as shown in FIG. . When the mechanical lock mechanism 24 that mechanically stops is provided, the resistance value as the resistance strength variable member B can be increased to the breaking strength of the material. If the mechanical lock mechanism 24 is a metal, It can give a great resistance in a small space.

  Next, an example of the embodiment shown in FIGS. 16 and 17 will be described. This example is basically the same as the example shown in FIG. 15 except for the following points. In this example as well, the mechanical locking means 24 is a solenoid 24a, and the pin 24b goes in and out, but the pin 24b is inserted and removed through the through hole 24c in a direction orthogonal to the expansion and contraction direction of the airbag 21. It has become.

  Then, when the pin 24b is protruded with the first driver element 1a and the second driver element 1b being separated from each other and applied to the receiving plate 20b, as shown in FIG. 16 (a) and FIG. The driver 1b is held so as not to move. Further, when the pin 24b is retracted and separated from the receiving plate 20b and the airbag 21 is operated as the treatment element driving portion A, the pair of treatment elements 1a and 1b are brought close to each other as shown in FIGS. 16 (b) and 17 (b). To be driven. In this case, the pin 24b is locked when the pin 24b is inserted, and the lock is released when the pin 24b is pulled out. Thus, the mechanical lock mechanism 24 can be realized at a low cost and with a simple structure.

  Further, in the case of the above embodiment, when the movement of the treatment element 1b is a circular movement, the position where the pin 24b is inserted and removed is separated from the fulcrum of the circular movement as the treatment element driving part A from the position of the airbag 21. In this case, by arranging the pin 24b at a more distant position according to the principle of the lever, the diameter of the pin 24b can be reduced, and the size can be reduced at a lower cost.

  Further, as shown in FIG. 1, the airbag 21 is used as the treatment element driving unit A, the airbag 22 is used as the resistance strength variable member B, and the airbag 21 and the airbag 22 are connected in series to perform a stagnation operation. Sometimes, it is also preferable to control the moving speed of the treatment element 1b by controlling only the resistance force of the airbag 22 as the resistance strength variable member A. That is, as shown in FIG. 18, in the state where supply / exhaust of air to the airbag 21 is stopped, only the airbag 22 is supplied / exhausted and the internal pressure of the airbag 22 is controlled to control the moving speed of the treatment element 1b. The treatment element 1b can be moved closer or the treatment element 1b can be moved away. Thus, when the movement of the treatment element 1b is controlled by changing the internal pressure only by supplying and exhausting air to the airbag 22, the movement speed of the treatment element 1b can be increased, and a relatively small and inexpensive pump with a small flow rate. Even if is used, the same effect as that of a relatively large and expensive pump with a large flow rate can be obtained, and fast gripping can be performed.

  Further, as shown in FIG. 1, the airbag 21 is used as the treatment element driving unit A, the airbag 22 is used as the resistance strength variable member B, and the airbag 21 and the airbag 22 are connected in series to perform a stagnation operation. Sometimes, it is also preferable to control the moving speed of the treatment element 1b by controlling the resistance force of the airbag 22 as the resistance force variable member B and the outward drive force of the airbag 21 of the treatment element drive unit A. That is, as shown in FIG. 19, the air pressure is supplied to and exhausted from the airbag 21 to control the internal pressure, and the air pressure is supplied to and exhausted from the airbag 22 to control the internal pressure, thereby causing the treatment element 1b to move closer to and away from each other. be able to. At this time, when air is exhausted from the airbag 21 and air is supplied to the air bag 22, it can be quickly separated, and when air is exhausted from the air bag 22 and air is supplied to the air bag 21 at the same time, quick approach can be achieved. Thereby, the moving speed of the treatment element 1b can be further increased, and even if a relatively small pump having a small flow rate is used, the same effect as that of a relatively large and expensive pump having a large flow rate can be obtained and fast gripping can be performed. .

  Further, as shown in FIG. 1, the airbag 21 as the treatment element driving unit A is used, the airbag 22 is used as the resistance strength variable member B, and the airbag 21 and the airbag 22 are connected in series, and the stagnation operation is performed. In this case, it is also preferable that the moving force of the treatment element 1b is controlled by controlling only the resistance force of the airbag 22 as the resistance strength variable member B. That is, as shown in FIG. 20, in the state where supply / exhaust of air to the airbag 21 is stopped, only the airbag 22 is supplied / exhausted and the internal pressure of the airbag 22 is controlled to control the moving force of the treatment element 1b. You can change the gripping force. In this case, after gripping the shoulder or the like, the force can be controlled by increasing the resistance so as not to grip too strongly.

  Further, as shown in FIG. 1, the airbag 21 is used as the treatment element driving unit A, the airbag 22 is used as the resistance strength variable member B, and the airbag 21 and the airbag 22 are connected in series to perform a stagnation operation. Sometimes, it is also preferable to control the moving force of the treatment element 1b by controlling the resistance force of the airbag 22 as the resistance force variable member B and the outward drive force of the airbag 21 as the treatment element drive unit A. That is, as shown in FIG. 21, the gripping force can be changed by supplying and exhausting air to the airbag 21 to control the internal pressure and also supplying and exhausting air to the airbag 22 to control the internal pressure. In this case, the range of adjustment of the gripping force can be made wider than that described above.

BRIEF DESCRIPTION OF THE DRAWINGS It is a side view of the treatment element arm block part of the massage machine of an example of embodiment of this invention, Comprising: (a) is in the state which a pair of treatment element separated, (b) is in the state where a pair of treatment element adjoined. is there. It is a perspective view of the mechanism unit of a massage machine same as the above. It is a perspective view of a movable unit same as the above. It is a perspective view of the up-and-down drive part same as the above. It is a perspective view of the same strength driving part. (A) is the disassembled perspective view of the treatment element arm block same as the above, (b) is the disassembled perspective view further disassembled and seen from the other direction. It is a perspective view of the chair which incorporated the mechanism unit same as the above in the backrest. It is a block circuit diagram same as the above. It is a side view for demonstrating operation | movement same as the above. It is a side view of the treatment element arm block explaining operation | movement of the other example same as the above. It is a side view of the treatment element arm block of the other example same as the above, (a) is a state where a pair of treatment elements are separated, and (b) is a state where a pair of treatment elements are close to each other. It is a side view of the treatment element arm block explaining another example same as the above. . It is a side view of the treatment element arm block of the other example same as the above, (a) is a state where a pair of treatment elements are separated, and (b) is a state where a pair of treatment elements are close to each other. It is a side view of the treatment element arm block of another example same as the above, (a) is a state where a pair of treatment element arms are separated, and (b) is a state where a pair of treatment element arms are close. It is a side view of the treatment element arm block of the other example same as the above, (a) is a state where a pair of treatment elements are separated, and (b) is a state where a pair of treatment elements are close to each other. It is a side view of the treatment element arm block of the other example same as the above, (a) is a state where a pair of treatment elements are separated, and (b) is a state where a pair of treatment elements are close to each other. (A) is the XX sectional view taken on the line of Fig.16 (a), (b) is the YY sectional view taken on the line of FIG.16 (b). It is a graph which shows operation | movement of the other example same as the above. It is a graph which shows operation | movement of the other example same as the above. It is a graph which shows operation | movement of the other example same as the above. It is a graph which shows other example operations same as the above.

Explanation of symbols

A Treatment element drive part B Resistance strength variable member
DESCRIPTION OF SYMBOLS 1 Treatment element arm block 1a 1st treatment element 1b 2nd treatment element 21 Air bag 22 Air bag

Claims (18)

  The first and second treatment elements attached to the treatment element arm block are driven by the treatment element drive unit in the direction of approaching and separating, and the first treatment element and the second treatment element that are paired are massaged as a grudge ball. The massage machine for massaging includes a resistance strength variable member that gives a resistance force that is variable in a direction opposite to the direction in which at least one of the first treatment element or the second treatment element is driven by the treatment element driving unit. This is a massage machine.   When the operation for driving the first treatment element and the second treatment element to approach each other in the treatment element drive unit is an outward movement, the resistance strength variable member is driven for the return movement of the first treatment element or the second treatment element. The massage machine according to claim 1, wherein the massage machine is used for a massage.   2. The massage machine according to claim 1, wherein the force of the resistance strength variable member is set to a force at which the first treatment element or the second treatment element does not move due to a load on the body of the user.   When the operation for driving the first treatment element and the second treatment element to approach each other in the treatment element driving unit is the forward movement, the resistance strength variable member is applied when a force is applied so that the treatment element driving unit performs the forward movement. The massage machine according to claim 1, wherein force is also applied.   When the operation for driving the first treatment element and the second treatment element to approach each other in the treatment element drive unit is an outward movement, the force of the resistance variable variable member can be set larger than the force of the forward movement. The massage machine according to claim 1, wherein   The massaging machine according to claim 1, wherein an air bag is used as the resistance strength variable member.   When the operation that drives the first treatment element and the second treatment element to approach each other in the treatment element drive unit is the forward movement, the airbag is used for the treatment element drive unit that is driven to perform the forward movement. The massage machine according to claim 1 or 6, characterized in that.   The first treatment element and the second treatment element are both movable, and each treatment element is provided with an airbag as a treatment element drive unit and an airbag as a resistance strength variable member. The massage machine according to 1.   When the movement of the treatment element is a circular motion, the position of the resistance force variable member and the position of the treatment element drive unit are positioned on the same radius centered on the fulcrum of the circular movement. The massage machine according to claim 1.   The massaging machine according to claim 1, wherein a spring member of a shape memory alloy is used for the resistance strength variable member.   The massaging machine according to claim 1 or 10, wherein a spring member made of a shape memory alloy is used for a treatment element driving unit that drives the first treatment element and the second treatment element so as to approach each other.   2. The massage machine according to claim 1, wherein the resistance strength variable member includes a mechanical lock mechanism that mechanically stops driving of the treatment element.   13. The massage machine according to claim 12, wherein the mechanical lock mechanism has a structure in which a pin or the like is inserted and removed, and is locked when the pin or the like is inserted, and is unlocked when the pin or the like is removed.   14. The massage machine according to claim 13, wherein, when the movement of the treatment element is a circular movement, the position where the pin or the like is inserted or removed is farther from the fulcrum of the circular movement than the position of the treatment element drive unit.   The massage machine according to claim 1, wherein the moving speed of the treatment element is controlled by controlling only the resistance force of the resistance force variable member.   2. The massage machine according to claim 1, wherein the moving speed of the treatment element is controlled by controlling the resistance force of the variable resistance force variable member and the outward drive force of the treatment element drive unit.   2. The massage machine according to claim 1, wherein the force for moving the treatment element is controlled by controlling only the resistance force of the resistance force variable member.   2. The massage machine according to claim 1, wherein the force of the treatment element moving is controlled by controlling the resistance force of the resistance strength variable member and the outward drive force of the treatment element drive unit.

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