JP2006204666A - Massage machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a massage machine capable of performing the acupressure massage with high treatment effects and performing effective massage full of variety. <P>SOLUTION: The massage machine has a massage unit 30 for massaging an affected part of a treated person. The massage unit 30 comprises a pair of treatment fingers 40 and 40, a massaging shaft 52 attached with the treatment fingers in the inclined state, and a massaging motor 51 for rotating the massaging shaft 52. When the massaging motor 51 is rotated, the treatment fingers 40 and 40 reciprocate in the direction to increase/decrease the distance between the treatment fingers while tracing oval trajectories respectively. The massaging motor 51 is controlled by a control means 70 so that the massaging motor 51 repeatedly rotates forward and backward at a position where the distance between the treatment fingers 40 and 40 is widest and/or at a position where the distance between the treatment fingers 40 and 40 is narrowest. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to the operation of a treatment finger of a massage machine, and specifically relates to a massage machine that can further enhance the massage effect of the treatment finger.

  Conventionally, a chair-type or bed-type massage machine that massages an affected area such as a shoulder or a waist of a user is known. In this type of device, a massage unit having a pair of treatment fingers is provided inside the back contact portion where the back of the user hits, and the treatment finger is reciprocated in the vertical direction and the lateral direction including the front and rear, Rolling massage from the neck to the waist is performed by performing a tapping massage and massage massage, or by moving the massage unit up and down by a motor that reciprocates in the longitudinal direction of the backrest.

  In order to increase the massage effect on the user, start the lifting / lowering operation of the massage unit and start the approaching operation of the treatment finger almost simultaneously so that the locus of the treatment finger becomes X-shaped or Z-shaped A massage machine is disclosed that controls and performs a substantially uniform massage over the entire back of the user.

JP-A-10-99392

Acupressure has a high therapeutic effect. Therefore, acupressure massage is desired as a massage operation, but the hitting massage has a short stroke, and the X-shaped massage and the Z-shaped massage are massage massages, so there is no acupressure movement. For this reason, it was not possible to receive a sharp acupressure massage with a high therapeutic effect.
In addition, massage and stab massage are performed at the same time, and the position of the slap is continuously changed in the left-right direction.

  An object of the present invention is to provide a massage machine that can perform acupressure massage with a high therapeutic effect, and can perform an effective and effective massage rich in variations that do not impair the bodily sensation. That is.

In order to solve the above problems, the massage machine of the present invention is
A pair of treatment fingers;
A kneading shaft attached with the treatment finger tilted;
A kneading motor for rotating the kneading shaft,
By rotating the massage motor, each treatment finger draws an elliptical trajectory, reciprocatingly moves the treatment fingers in a narrow and narrow direction, and a massage machine comprising a massage unit that massages the affected area of the user,
The stagnation motor is controlled by the control means,
The control means performs control so that forward rotation and reverse rotation of the kneading motor are repeated at the position where the interval between the treatment fingers is the widest and / or the position where the interval between the treatment fingers is the narrowest.

The massage machine of the present invention
A pair of treatment fingers;
A kneading shaft attached with the treatment finger tilted;
A kneading motor for rotating the kneading shaft,
By rotating the massage motor, each treatment finger draws an elliptical trajectory, reciprocatingly moves the treatment fingers in a narrow and narrow direction, and a massage machine comprising a massage unit that massages the affected area of the user,
The stagnation motor is controlled by the control means,
The control means controls the massage motor to repeat normal rotation and reverse rotation in a range in which the treatment finger reciprocates in the wide and narrow direction on the side close to the affected part of the elliptical trajectory.

Furthermore, the massage machine of the present invention
A pair of treatment fingers;
A kneading shaft attached with the treatment finger tilted;
A kneading motor for rotating the kneading shaft,
A hitting shaft attached with the treatment fingers being eccentric,
A tapping motor for rotating the tapping shaft,
By rotating the kneading motor, the treatment fingers reciprocate in the narrow and narrow directions while drawing the elliptical trajectory, and by rotating the tapping motor, the treatment fingers are reciprocated in the front-rear direction, In a massage machine with a massage unit that strikes and massages the affected area of the user,
The kneading motor and the tapping motor are controlled by the control means,
The control means controls the kneading motor and the hitting motor to alternately rotate forward or reverse.

  According to the massage machine of the present invention, the position where the interval between the treatment fingers is the widest and / or the position where the interval between the treatment fingers is the narrowest is a small change in the elliptical orbit of the treatment finger, and the amount of protrusion of the treatment finger Since the change is large, massage such as acupressure can be performed by controlling the squeezing motor to repeat normal rotation and reverse rotation at this position.

  Further, according to the massage machine of the present invention, the position close to the affected part is moved in the elliptical orbit of the treatment finger, and the treatment finger is moved to the affected part by repeating normal rotation and reverse rotation of the massage motor in this range. Since it slides while hitting strongly, it can give an effective massage.

  Furthermore, according to the massage machine of the present invention, when performing a hitting massage by alternately rotating the kneading motor and the hitting motor alternately, the position in the left-right direction is constant, so the feeling of the hitting massage is impaired. It is possible to give a sharp and effective massage.

  An example in which the present invention is applied to a chair-type massage machine (10) will be described. In addition, this invention is not limited to a chair type | mold, For example, it can apply also to a bed type massage machine, a nursing bed, etc.

<Description of structure>
As shown in FIG. 1, the chair (11) of the massage machine (10) includes a seat portion (12) on which a user sits and a backrest portion formed upward from the rear end of the seat portion (12) ( 13) and an armrest portion (14) formed upward on the left and right sides of the seat portion (12). The seat (12), backrest (13), and armrest (14) are each formed by connecting a metal pipe, frame, plate, etc. inside, and the outer periphery is surrounded by a patch or cushion. The

As shown in FIG. 1, the back contact portion (13) is provided with an upper frame (16) and a lower frame (17) at the upper and lower portions, respectively, and left and right of the upper and lower frames (16) and (17). Both end portions are connected by a pair of left and right guide rails (18) and (18) extending parallel to the vertical direction. The upper ends of the guide rails (18) and (18) extend upward beyond the upper frame (16), and the tip of the guide rails (18) and (18) is a head rest that the head of the user hits. (15) is attached. The lower portions of the guide rails (18) and (18) are pivotally supported by a frame forming the seat portion (12). The lower frame (17) is connected to a known reclining mechanism (19), and the backrest portion (13) can swing with respect to the seat portion (12).
The guide rails (18) and (18) have a U-shaped cross section and are arranged so that the grooves face each other, so that the massage unit (30) can be raised and lowered along the guide rails (18) and (18). It is attached.

Inside the backrest portion (13), there is a screw shaft (22) pivotally supported in parallel with the guide rails (18) (18), and a lifting motor (21) that rotates the screw shaft (22). Means (20) are provided. A pulley (23) is provided at the lower end of the screw shaft (22), and is linked to the rotating shaft of the lifting motor (21) via a belt.When the lifting motor (21) is driven, the screw shaft (22) is positive. Rotate or reverse.
The screw shaft (22) is provided with an encoder (24) electrically connected to the control means (70) described later, and the rotation of the screw shaft (22) is transmitted to the control means (70) as a pulse signal. Sent.

Limit switches (33) and (34) are respectively provided above and below one of the guide rails (18) .When the massage unit (30) reaches the upper or lower movement limit, a signal is transmitted to the control means (70 ).
The height position of the massage unit (30) is detected by counting the encoder pulse signal of the screw shaft (22) from the state where the upper or lower limit switch (33) (34) detects the massage unit (30). be able to.

  As shown in FIGS. 1 to 3, the massage unit (30) includes a pair of rollers (31) (31) (31) (31) that fit into the grooves of the guide rails (18) and (18). The pivoted chassis (32) is provided with treatment fingers (40) and (40), squeezing means (50) for operating the treatment fingers (40) and (40), and striking means (60). The chassis (32) has a screw cylinder (35) that is screwed onto the screw shaft (22). As described above, when the screw shaft (22) is rotated, the massage unit (30) is moved up and down by screw thrust. To do.

  The treatment fingers (40) and (40) are provided with a pair of kneading balls (41) and (41) at the upper and lower ends of a plate-like arm (42) bent in a substantially center-shaped shape, and the arms (42) are bent. The part is pivotally supported by a plate-like lever (43). The lever (43) is rotatably supported by the kneading means (50), and a connecting rod (45) is attached to the rear end of the lever (43) via a ball joint (44). (45) is linked to the hitting means (60).

The rubbing means (50) includes a rubbing shaft (52) that pivotally supports the levers (43) and (43) of the treatment fingers (40) and (40), and a rubbing motor that rotates the rubbing shaft (52). (51) Specifically, each lever (43) is pivotally supported by a cam body (52 ′) fixed to the stagnation shaft (52) in an eccentric and symmetrical manner with respect to each other. The power from the stagnation motor (51) is transmitted to the stagnation shaft (52) via the speed reduction mechanism (53).
The massage fingers (40) and (40) are pivotally supported on the kneading shaft (52) in an inclined state, and the levers (43) and (43) are connected to the connecting rods (45) and (45), respectively. Therefore, when the kneading shaft (52) is rotated, the left and right kneading balls (41) and (41) reciprocate while repeating the approach and separation while drawing an elliptical trajectory to perform the kneading operation. (See FIG. 7). In FIG. 7, the amount of change in the front-rear direction of the elliptical trajectory can be greatly increased because the cam body (52 ′) is not only inclined but also eccentric.

As shown in FIGS. 2 and 4, a magnet (55) is attached to the stagnation shaft (52). The magnet (55) and each magnet (55) face the rotational transition path and face the chassis. The rotation of the stagnation shaft (52) is detected by the provided reed switch (56). The reed switch (56) is electrically connected to the control means (70) described later, and transmits the detection of the magnet (55) to the control means (70) as a pulse signal. The reed switch (56) is adjusted in position so that the magnet (55) is detected when the distance between the treatment fingers (40) and (40) is the longest.
The rotation of the stagnation motor (51) is detected by the encoder (54) and transmitted to the control means (70) as a pulse signal.
The treatment is performed by counting the number of encoder pulses of the stagnation motor (51) from the state in which the reed switch (56) detects the magnet (55), that is, the state in which the treatment finger (40) (40) is farthest apart. The distance between the fingers (40) and (40) can be known.
For example, if the reduction ratio of the stagnation motor (51) and the stagnation shaft (52) is set to 40: 1, for example, the reed switch (56) of the stagnation shaft (52) detects the magnet (55), and then the magnet Before detecting (55), the encoder (54) of the stagnation motor (51) detects the rotation of the stagnation motor (51) 40 times. Therefore, the interval between the treatment fingers (40) and (40) is determined by assuming that the position where the reed switch (56) of the kneading shaft (52) detects the magnet (55) is the origin (the state where the treatment finger interval is the most separated). When the kneading motor (51) is rotated 10 times, the treatment finger interval becomes the closest state in the middle and 20 rotations, returns to the origin in 30 rotations and again in the middle and 40 rotations.

The hitting means (60) includes a hitting shaft (62) for supporting the connecting rods (45) and (45) of the treatment fingers (40) and (40) while being shifted from each other by 180 degrees, and the hitting shaft is rotated. A tapping motor (61) is provided. The power from the hitting motor (61) is transmitted to the hitting shaft (62) via the speed reduction mechanism (63).
When the tapping motor (61) is rotated, the treatment fingers (40) and (40) are moved in the vertical direction (including the front and rear direction) via the connecting rods (45) and (45) eccentrically connected to the tapping shaft (62). Move back and forth to perform a hitting action.
Similarly, the hit motor (61) is also provided with an encoder (64), and the rotation of the hit motor (61) is transmitted to the control means (70) as a pulse signal from the encoder (64).

The control means (70) for the operation of the massage machine (10) will be described.
FIG. 5 shows the control means (70) mainly composed of the microcomputer (71). The control means (70) is provided at a proper position of the massage machine (10).
In the microcomputer (71), each motor drive circuit (72), (73), (74) that controls the drive of the kneading motor (51), the tapping motor (61) and the lifting motor (21), and the user massage operation An operation unit I / F circuit (76) that receives a signal from the operation unit (79) that selects the recliner control circuit (75) that controls the reclining mechanism (19), and the above-described stagnation motor (51), Encoders (54) (64) (24) that detect the rotation of the tapping motor (61) and the lifting motor (21), the reed switch (56) of the kneading shaft (52), and the guide rail (18) Limit switches (33) and (34) are connected.
In the control means (70), when the user operates the operation unit (79) and selects, for example, massage, hitting or rolling massage, each motor drive circuit (72) (73) ) (74) transmits an operation command to the motors (51) (61) (21), and massage is performed.

The basic massage operation of the massage machine (10) will be described with reference to the timing chart.
<Operation 1 (Massage massage)>
When the user selects massage massage at the operation unit (79), only the massage motor (51) rotates forward as shown in FIG. 6, and as shown in FIG. The treatment fingers (40) and (40) (actually, the massaging balls (41) and (41) (hereinafter the same)) approach and separate while drawing an elliptical trajectory on a substantially horizontal plane. Thereby, a massage is given to the affected part of a user.
In the timing chart of FIG. 6 and the like, “treatment finger rotation angle” represents the rotation angle of the elliptical orbit of the treatment fingers (40) and (40) shown in FIG. For example, the treatment finger rotation angle of 0 ° means that the treatment fingers (40) and (40) are farthest from each other, and the treatment finger rotation angle of 90 ° means that the treatment fingers (40) and (40) are on the affected area of the user. The closest approach, the treatment finger rotation angle of 180 °, means the treatment fingers (40, 40) are closest to each other, and the treatment finger rotation angle is 270 °, the treatment finger (40) (40) is the most from the affected area. It shows a distant state. As described above, the rotation angle of the treatment finger (40) (40) is obtained by counting the number of encoder pulses of the stagnation motor (51) from the state where the reed switch (56) detects the magnet (55). be able to.
The rotation directions (indicated by arrows) of the treatment fingers (40) and (40) in FIG. 7 indicate the rotation directions of the treatment fingers (40) and (40) when the kneading motor (51) is rotated forward. When the kneading motor (51) is reversely rotated, the rotation direction of the treatment fingers (40) and (40) is opposite to the arrow in FIG.

<Operation 2 (Battering massage)>
When the user selects hitting massage with the operation unit (79), as shown in FIG. 8, only the hitting motor (61) rotates, and the treatment finger (40) (40 ) Reciprocates back and forth (including top and bottom). Thereby, a hit massage is given to the affected part of a user. FIG. 8 shows a case where the treatment finger rotation angle is 45 °.

<Operation 3 (Mapping and massage massage)>
When the user selects tapping and massage massage with the operation unit (79), as shown in FIG. 9, both the tapping motor (61) and the kneading motor (51) rotate, and the treatment fingers (40) (40 ) Is approached and separated while performing a hitting operation, and a hit and a massage that combines hit and itch are applied to the affected area of the user.

<Operation 4 (Narrow acupressure massage)>
Narrow acupressure is a massage in which acupressure massage is performed by repeating normal rotation and reverse rotation of the massage motor (51) near the position where the interval between the treatment fingers (40) and (40) is the narrowest.
Specifically, as shown in FIG. 10, in the state where the treatment fingers (40) and (40) are closest to each other in FIG. 7, that is, in the range indicated by A in FIG. It is a massage that repeats reversal. In the range indicated by A in FIG. 7, as can be seen from the figure, the change in the interval between the treatment fingers (40) and (40) is small, and conversely, the protrusion amount changes most greatly. Therefore, massage such as acupressure can be performed by repeating normal rotation and reverse rotation of the massage motor (51) within this range.
In FIG. 10, forward rotation and reverse rotation are repeated with a certain interval. This is to increase the acupressure effect by increasing the time that the treatment finger (40) (40) hits the affected area of the user and making the treatment finger (40) (40) contact the affected area longer. It is.
Other examples of this massage include those in which forward rotation and reverse rotation are repeated continuously, and those in which the treatment fingers (40) and (40) protrude forward and the interval from reverse rotation to normal rotation is increased.

<Operation 5 (wide shiatsu massage)>
Wide acupressure is a massage that performs acupressure massage by repeating normal rotation and reverse rotation of the massage motor (51) near the position where the interval between the treatment fingers (40) and (40) is the widest.
Specifically, as shown in FIG. 11, in the state where the treatment fingers (40) and (40) are farthest in FIG. 7, that is, in the range indicated by B in FIG. It is a massage that repeats reversal. In the range indicated by B in FIG. 7, as can be seen from the figure, the change in the interval between the treatment fingers (40) and (40) is small, and conversely, the protrusion amount changes most greatly. Therefore, massage such as acupressure can be performed by repeating normal rotation and reverse rotation of the massage motor (51) within this range.
In FIG. 11, the forward rotation and the reverse rotation are repeated at a constant interval. This is to increase the acupressure effect by increasing the time that the treatment fingers (40) and (40) hit the affected area of the user.
Other examples of this massage include one that repeats normal rotation and reverse rotation continuously, and the treatment finger (40) (40) is extended forwardly and reversely with the treatment finger (40) protruding forward. 40) (40) can be exemplified by making the affected time longer.

<Operation 6 (Tapping massage while changing the interval between treatment fingers)>
FIG. 12 shows an elliptical trajectory (see FIG. 7) of the treatment fingers (40) and (40), and the massage fingers (40) and (40) are massaged in a trajectory (about 45 ° to 135 °) close to the user. This is a massage in which the tapping motor (61) is driven to perform tapping massage when the kneading motor (51) is stopped while rotating (51) forward and backward at predetermined time intervals.
In the massage shown in FIG. 12, the kneading motor (51) alternately repeats the forward rotation twice and the reverse rotation twice, and when the rotation of the kneading motor (51) is stopped, the tapping motor (61) is driven. ing.
According to this massage, the treatment finger (40) (40) slides while strongly hitting the affected area, and when it stops, the hit massage is given, so that the sense of hit massage is not impaired and effective. Can give a special massage.

<Operation 7 (Tapping massage while changing the interval between treatment fingers)>
FIG. 13 shows the massage of the action 6 (FIG. 12) in which the speed of forward and reverse rotation of the massage motor (51) is reduced and the speed of the wide change of the treatment fingers (40) and (40) is reduced. is there.
According to the present massage, the treatment fingers (40) and (40) slide slowly while strongly hitting the affected area, and the hitting massage is performed when stopped, so that an effective massage can be performed.

<Operation 8 (Continuous strike massage while changing the interval between treatment fingers)>
FIG. 14 shows the massaging operation 6 (FIG. 12) in which the tapping motor (61) is driven continuously regardless of the rotation and stop of the kneading motor (51).
According to the present massage, the treatment fingers (40) and (40) slide while strongly hitting the affected area, and it is possible to always perform a comfortable and highly effective hitting massage.

  Action 7 and action 8 can be selected as appropriate depending on the load applied to the treatment finger, that is, the weight of the person to be treated and the difference in the reclining angle. The action 7 is when the load is small, and the action 8 is when the load is large. By doing, it can be set as an effective massage.

<Operation 9 (Shiatsu and lifting massage)>
FIG. 15 shows a massage in which the elevating operation of the massage unit (30) is combined with the narrow acupressure massage of the operation 4 (FIG. 10). By lifting and lowering the massage unit (30) every predetermined time by the lift motor (21), the massage unit (30) can be applied to a wide range along the spine of the user without impairing the massage feeling of narrow acupressure massage.
In the wide acupressure massage of the operation 5 (FIG. 11), the lift motor (21) may be lifted and lowered every predetermined time as in FIG.

<Operation 10 (Tapping and lifting massage while changing the interval between treatment fingers)>
FIG. 16 is a massage in which the massage in the above operation 6 (FIG. 12) is combined with the lifting operation of the massage unit (30).
By lifting and lowering the massage unit (30) every predetermined time by the lifting motor (21), it gives effective and effective massage over a wide range of affected areas without impairing the massage feeling of massage and hitting massage be able to.

  The above description of the embodiments is for explaining the present invention, and should not be construed as limiting the invention described in the claims or reducing the scope thereof. Moreover, each part structure of this invention is not restricted to the said Example, A various deformation | transformation is possible within the technical scope as described in a claim.

  For example, in the above embodiment, the moving speed of the treatment finger is controlled by the rotation and stop of the kneading motor (51), the tapping motor (61), and the lifting motor (21), but the magnitude of the power supplied to the motor The same control can be performed by changing the voltage or changing the voltage applied to the motor.

  INDUSTRIAL APPLICABILITY The present invention is useful as a massage machine that can perform acupressure massage with a high therapeutic effect and can perform a variety of effective and effective massages.

It is sectional drawing of the massage machine of this invention. It is a front view of a massage unit (however, the line visible beyond the chassis is also represented by a solid line). It is a principal part sectional top view of a massage unit. It is explanatory drawing which shows the relationship between rotation of a stagnation axis | shaft and a stagnation motor rotation pulse. It is a block diagram of a control means. FIG. 6 is a timing chart diagram of operation 1; It is explanatory drawing which shows the locus | trajectory of the treatment finger at the time of massage massage. FIG. 6 is a timing chart diagram for operation 2; FIG. 10 is a timing chart diagram of operation 3; FIG. 10 is a timing chart diagram of operation 4; FIG. 9 is a timing chart diagram for the operation 5; FIG. 12 is a timing chart diagram of the operation 6; FIG. 10 is a timing chart diagram of the operation 7; FIG. 10 is a timing chart diagram of operation 8; FIG. 10 is a timing chart for the operation 9; FIG. 10 is a timing chart of the operation 10.

Explanation of symbols

(10) Massage machine
(20) Lifting means
(30) Massage unit
(40) Treatment finger
(50) Itching means
(60) Tapping means

Claims (6)

A pair of treatment fingers (40) (40);
A massage shaft (52) to which the treatment finger (40) (40) is attached in an inclined state;
A stagnation motor (51) for rotating the stagnation shaft (52),
By rotating the kneading motor (51), the treatment fingers (40) and (40) reciprocate in the narrow and narrow directions while drawing the elliptical orbit, respectively, and the affected area of the patient is treated. In the massage machine with a massage unit (30) that massages
The stagnation motor (51) is controlled by the control means (70),
The control means (70) is a position where the interval between the treatment fingers (40) and (40) is the widest and / or the position where the interval between the treatment fingers (40) and (40) is the narrowest. A massage machine that is controlled to repeat. A pair of treatment fingers (40) (40);
A massage shaft (52) to which the treatment finger (40) (40) is attached in an inclined state;
A stagnation motor (51) for rotating the stagnation shaft (52),
By rotating the kneading motor (51), the treatment fingers (40) and (40) reciprocate in the narrow and narrow directions while drawing the elliptical orbit, respectively, and the affected area of the patient is treated. In a massage machine with a massage unit (30) that massages
The stagnation motor (51) is controlled by the control means (70),
The control means (70) repeats normal rotation and reverse rotation of the massage motor (51) within a range in which the treatment fingers (40) and (40) reciprocate in the narrow and narrow directions on the side close to the affected part of the elliptical orbit. A massage machine characterized by controlling. A pair of treatment fingers (40) (40);
A massage shaft (52) to which the treatment finger (40) (40) is attached in an inclined state;
A stagnation motor (51) for rotating the stagnation shaft (52),
The tapping shaft (62) to which the treatment fingers (40) and (40) are attached in an eccentric state,
A tapping motor (61) for rotating the tapping shaft (62),
By rotating the kneading motor (51), the treatment fingers (40) and (40) reciprocate in the narrow and narrow directions while the treatment fingers (40) and (40) each draw an elliptical orbit, and the tapping motor (61) In the massage machine comprising the massage unit (30) for reciprocating the treatment fingers (40) and (40) in the front-rear direction and rotating the affected area of the user to massage,
The kneading motor (51) and the hitting motor (61) are controlled by the control means (70),
The control means (70) controls the massage motor (51) and the hitting motor (61) so as to alternately rotate forward or reverse alternately.   The control means (70) rotates the stagnation motor (51) forward and backward within a range in which the treatment finger (40) (40) reciprocates in the wide and narrow direction on the side close to the affected part of the elliptical orbit. The massage machine described in. A pair of treatment fingers (40) (40);
A massage shaft (52) to which the treatment finger (40) (40) is attached in an inclined state;
A stagnation motor (51) for rotating the stagnation shaft (52),
The tapping shaft (62) to which the treatment fingers (40) and (40) are attached in an eccentric state,
A tapping motor (61) for rotating the tapping shaft (62),
By rotating the kneading motor (51), the treatment fingers (40) and (40) reciprocate in the narrow and narrow directions while drawing the elliptical orbit, respectively, and the affected area of the patient is treated. The massage unit (30) is applied to massage the affected area of the user by reciprocating the treatment fingers (40) and (40) by rotating the tapping motor (61). In the prepared massage machine,
The kneading motor (51) and the hitting motor (61) are controlled by the control means (70),
The control means (70) is a massage machine characterized in that the kneading motor (51) is controlled to rotate forward and reverse at predetermined time intervals while continuously rotating the hitting motor (61). It has a lifting motor (21) that reciprocates the massage unit (30) up and down,
The lifting motor (21) is controlled by the control means (70),
The control means (70) controls the kneading motor (51) and the lifting motor (21) or the kneading motor (51), the tapping motor (61) and the lifting motor (21) to rotate alternately. The massage machine according to claim 5.