JP2009072355A - Automatic massage device and automatic massage method using automatic massage device - Google Patents

Automatic massage device and automatic massage method using automatic massage device Download PDF

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JP2009072355A
JP2009072355A JP2007243791A JP2007243791A JP2009072355A JP 2009072355 A JP2009072355 A JP 2009072355A JP 2007243791 A JP2007243791 A JP 2007243791A JP 2007243791 A JP2007243791 A JP 2007243791A JP 2009072355 A JP2009072355 A JP 2009072355A
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rail
massaging
bed
driving
motor
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Sokun Yo
宗 勳 楊
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Sokun Yo
宗 勳 楊
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Abstract

PROBLEM TO BE SOLVED: To provide an automatic massage apparatus capable of automatically performing whole body massage based on the operation of a massage engineer and automatically responding to a user's body shape, and an automatic massage method using the automatic massage apparatus.
An automatic massaging apparatus for automatically massaging a user, the bed means having a bed surface which is formed on a substantially horizontal plane facing upward and on which the user can lie, A massaging means that is movably disposed above the bed surface and automatically stimulates the body lying on the bed surface. A first drive mechanism for controlling movement in the direction, a second drive mechanism, a drive means having a third drive mechanism, and a controller and a control for controlling the drive means and the agitation means in accordance with an operation by the controller And control means having a unit.
[Selection] Figure 4

Description

  The present invention relates to an automatic massaging apparatus and an automatic massaging method using the automatic massaging apparatus, and in particular, an automatic massaging apparatus capable of automatically massaging a user's whole body by introducing an automatic control method and the automatic massaging apparatus. The present invention relates to an automatic Satsuma method that automatically performs Satsuma using a Satsuma device.
  FIG. 1 shows a Satsuma device posted in Patent Document 1 which is an example of a conventional Satsuma device. As shown in the figure, the massaging device 1 is disposed next to the seat means 12, the massaging means 13 arranged inside / outside the seat means 12, and the armrest of the seat means 12. The operation panel 11 is used. The massage means 13 receives an instruction from the operation panel 11 and pushes or massages the muscles of the user sitting on the seat means 12 such as the back, thighs, buttocks and soles of the user.
Acupuncture Satsuma is one of the folk remedies that has been passed down since ancient times in China, and it is said that the disease can be treated by pushing the acupuncture points scattered on the meridians running on the surface of the human body with a fingertip and applying stimulation.
Taiwan Patent No. 89106865
  However, the conventional massaging apparatus is limited by the chair-like configuration, and can only be applied to the back of the human body. In addition, the whole body must be relied on by hand, and it can cope with different body shapes depending on the person. Lacks.
  In addition, acupuncture points can not be performed without relying on a handful of special engineers, and the number of people who can receive acupuncture points is limited by the limited physical strength of the special engineers.
  In other words, any type of Satsuma currently requires a professional Satsuma engineer to receive effective Satsuma, and the Satsuma service is inefficient, as a professional Satsuma engineer can only deal with one person at a time. Cannot solve the shortcomings.
  In view of this problem, the present invention can automatically perform whole body massage based on the operation of the Satsuma engineer, and provides a stimulation method for a specific position of the human body such as acupuncture point massage. However, an object of the present invention is to provide an automatic massaging apparatus capable of adjusting the position of the massaging according to the body shape of the user and an automatic massaging method using the automatic massaging apparatus.
  In order to achieve the above object, the present invention is an automatic massaging apparatus for automatically massaging a user, the bed having a bed surface which is formed on a substantially horizontal surface facing upward and on which the user can lie. Means, and an agitation means that is movably disposed above the bed surface of the bed means and that automatically stimulates and massages the body lying on the bed surface; A first drive mechanism that controls movement in the left-right and up-down three-dimensional directions, a second drive mechanism, a drive means having a third drive mechanism, a controller, and the drive means according to an operation by the controller; Control means having a control unit for controlling the agitation means, and a power source means for supplying power necessary for the drive means, the agitation means, and the control means. To provide a dynamic massage equipment.
  As for the detailed configuration of the automatic massaging apparatus of the present invention, the bed means and the bed frame means for supporting the entire automatic massaging apparatus are supported by two pillars fixed upright on both front and rear ends of one side of the bed surface. The first drive mechanism further includes a first rail spanned between the two pillars in parallel with the bed surface, and a first motor, and the second drive The mechanism is slidably attached to the first rail and can reciprocate in the front-rear direction (X direction in the drawing) along the first rail by driving the first motor. A second rail provided on the first sliding seat and extending so as to cross over the bed surface in a direction orthogonal to the first rail in the same horizontal plane, and a second rail And the third drive mechanism includes the second drive mechanism. A second sliding seat which is slidably attached to the rail and can reciprocate in the left-right direction (Y direction in the figure) along the second rail by driving the second motor; An elevating rod that is slidably inserted in the second sliding seat in the vertical direction and is arranged so as to stand upright above the bed surface perpendicular to the second rail, and the second sliding of the elevating rod A third motor for driving and controlling sliding along the vertical direction (Z direction in the figure) with respect to the moving seat, and the abrading means is attached to a lower end portion of the elevating rod, and the first driving It is preferable that the position can be moved three-dimensionally above the bed means by the operation of the mechanism, the second drive mechanism, and the third drive mechanism.
  For a more detailed configuration of the automatic grinding apparatus of the present invention, the first driving mechanism is disposed near one end of the first rail and is driven to rotate by the first motor; A first driven roller disposed near the other end of the first rail; spanned between the first main driving roller and the first driven roller; and the first sliding seat A first endless belt fixed so as to reciprocate along the first rail by forward and reverse rotation of the first main driving roller driven by the first motor; The second drive mechanism is disposed near one end of the second rail and is driven to rotate by the second motor, and near the other end of the second rail. Second follower row located at And the second main driving roller is driven between the second main driving roller and the second driven roller, and the second sliding seat is driven by the second motor. And a second endless belt fixed so as to be able to reciprocate along the second rail by counter-rotation, and the third drive mechanism includes the second sliding mechanism. A third main driving roller rotatably attached to the moving seat and driven to rotate by the third motor, and a screw hole rotatably attached next to the third main driving roller and inserted through the elevating rod A third driven roller, a third endless belt stretched between the third driven roller and the third driven roller, and the third driven roller formed on the outer peripheral surface of the lifting rod. Threaded hole of the driven roller A male screw that enables the elevating rod to reciprocate up and down with respect to the second sliding seat by forward and reverse rotation of the third main driving roller driven by the third motor. Further, it is preferable to have a configuration.
  Furthermore, in the automatic massaging apparatus of the present invention, the bed frame means includes two columns that are fixed upright at both front and rear ends on the opposite side of the bed surface, corresponding to the two columns, and the bed. Two supporters that are connected so as to straddle two pairs of pillars respectively arranged at the front and rear ends of the surface, and are perpendicular to the first rail, and the first drive mechanism includes the first drive mechanism A first support rail attached in parallel with the first rail so as to straddle the two pillars on the opposite side of the rail, and the first sliding seat is slidably attached; The first support rail or the first support rail so as to be disposed at both ends of the sliding path of the first sliding seat as the front and rear end points of the first sliding seat with respect to the first rail Attached to the second rail Two first stop blocks that are provided at both front and rear ends of the first sliding seat corresponding to the two first stop blocks, respectively, and contact with either of the two first stop blocks. Then, it further includes two first limit switches for transmitting a first brake signal to the control means so as to stop the first motor, and the second drive mechanism is disposed on the opposite side of the second rail. The first slide and the first support rail are straddled and attached to the first slide seat in parallel with the second rail, and the second slide seat is slidable. The left and right end points of the attached second support rail and the left and right sliding of the second sliding seat with respect to the second rail, respectively at both ends of the sliding path of the second sliding seat Position the second support rail Are provided at the left and right end portions of the second sliding seat respectively corresponding to the two second stopping blocks attached to the second rail and the two second stopping blocks. Two second limit switches for transmitting a second brake signal to the control means to stop the second motor when contacted with any one of the two stopping blocks, and the third drive mechanism includes Up and down sliding of the lifting rod relative to the second sliding seat, two restriction flanges provided respectively on the upper and lower sides of the male screw of the lifting rod as the lower end point, and corresponding to the two restriction flanges, respectively. Provided at both upper and lower ends of the second sliding seat, a third brake signal is transmitted to the control means so as to stop the third motor when contacted with one of the two restriction flanges. It is preferable to further comprise two third limit switches.
  Furthermore, in the automatic massaging apparatus of the present invention, it is preferable that a plurality of human body contours showing the correct recumbent position corresponding to various body shapes are drawn on the bed surface of the bed means.
  In addition, the present invention provides the above-described automatic massaging device, and in advance according to the user's preference or physical condition, decides the massaging location and the massaging sequence in advance, the user lies on the bed surface of the bed means, and the controller of the control means The massaging means is moved, control data relating to the position is read in accordance with at least one or more predetermined positions on the user's body, and the massaging is performed based on the control data relating to the at least one predetermined position. The control data relating to the location of the location is calculated, and based on the calculated control data relating to the location of the location of the massage, the massaging means is moved, and several locations randomly selected according to the location of the predetermined location are selected. Perform a test massage to give a stimulus by moving to the position, whether the massage means has been moved to the correct position, and in the test massage Repeat the test grinding / adjustment operation to check if the pressure applied by the massaging means is appropriate and adjust the control data for the improper massaging position and pressure until all the massaging position and pressure are correct or appropriate The massaging means is moved based on the appropriate control data obtained by the test massaging / adjusting operation, and the massaging is performed according to the predetermined massaging location and massaging sequence for the user's body. Also, the present invention provides an automatic massaging method characterized in that when the massaging is completed, the appropriate control data and the user name or registration number are recorded in association with each other.
  According to the above configuration, since the present invention is configured such that the position of the massager means can be moved three-dimensionally above the bed means, a body that is supine or prone under the control or instruction of the massager engineer. The Satsuma method that gives a stimulus to a specific position of the human body, such as acupuncture point Satsuma, can be used to automatically set the Satsuma position in three dimensions according to the user's body shape. An automatic massaging apparatus that can be adjusted and an automatic massaging method using the automatic massaging apparatus can be provided.
  In the following, referring to FIGS. 2 to 10, a preferred embodiment of the automatic massaging apparatus and the automatic massaging method using the automatic massaging apparatus of the present invention will be described.
  FIG. 2 shows the configuration of the bed means 2 in the acupuncture abrading device 10 constructed as an embodiment of the automatic abrading device of the present invention, and the bed means 2 and the bed frame means 3 for supporting the acupuncture abrading device 10 as a whole. It is a perspective view.
  The acupuncture point massage device 10 is a device for automatically stimulating the user to perform acupuncture point massage.
  As shown in the figure, the bed means 2 has a rectangular bed surface 21 which is formed in a substantially horizontal plane facing upward and on which the user can lie. The bed surface 21 further has a human body for indicating the correct lying position to the user. An outline 211 is drawn. The human body outline 211 can be drawn simply to indicate the recumbent position as shown in FIG. 4, or the human body acupuncture point distribution map 211a and various body shapes as shown in FIG. 8 and FIG. It can be drawn as a plurality of human body outlines 211b indicating the correct lying position.
  Further, in the following description, the head / foot direction of the human body lying on the bed surface 21 so that the human body outline 211 indicates the front-rear direction, the left / right direction is the left / right hand direction of the human body, and the vertical direction is It points as the up / down direction of the human body.
  The bed frame means 3 includes four pillars 31, 32, 33, 34 that are respectively fixed upright on the squares of the rectangular bed surface 21, and two pairs of pillars 31 that are respectively disposed on the upper and lower ends of the bed surface 21. There are two supporters 35 and 35 connected so as to straddle 33, 32 and 34, respectively. The other two supporters that connect the two pairs of pillars 31, 32, 33, and 34 disposed at the left and right ends of the bed surface 21, respectively, are included in the first driving means 5 described later. The first rail 51 and the first support rail 52 are arranged.
  3 is a side view of the acupuncture point polishing apparatus 10 as viewed from the left side, FIG. 4 is a top view of the acupuncture point polishing apparatus 10 as viewed from above, and FIG. It is the side view which looked at the apparatus 10 from the front side.
  As shown in FIGS. 3 to 5, the acupuncture acupuncture device 10 is provided with a massaging means 4 for automatically stimulating the body 100 lying on the bed surface 21, and each of the massaging means with respect to the bed surface. A drive means having a first drive mechanism 5, a second drive mechanism 6, and a third drive mechanism 7 for controlling movement in the front-rear, left-right, and up-down three-dimensional directions, a controller 81, and a controller 81 A control means 8 having a control unit 82 for controlling the driving means and the massaging means 7 according to the operation; and a power supply means 9 for supplying the driving means and the massaging means 7 and the control means 8 with necessary power. Yes.
  As shown in FIG. 4, the first drive mechanism 5 includes a first rail 51 that is connected to straddle a pair of pillars 31 and 32 disposed at the left end of the bed surface 21, and a right end of the bed surface 21. A first support rail 52 connected so as to straddle a pair of disposed pillars 33, 34; a first motor 53 that is controlled by being electrically connected to the control means 8 and the power supply means 9; The first main driving roller 54 disposed near the end of the pillar 32 of the first rail 51 and driven to rotate by the first motor 53, and the first follower disposed near the end of the pillar 31 of the first rail 51 It has a roller 55 and a first endless belt 56 that is stretched between the first main driving roller 54 and the first driven roller 55.
  As shown in FIG. 4, the second drive mechanism 6 is slidably attached to the first rail 51 and has a left base portion 611 fixed to the first endless belt 56 and a first base portion 611. A first slide seat 61 comprising a right base portion 612 slidably attached to one support rail 52, and crossing between the first rail 51 and the first support rail 52. The left base portion 611 and the right base portion 612 are connected to each other, the second rail 62 and the second support rail 63 are arranged in parallel to each other, and the control means 8 and the power supply means 9 are arranged on the left base portion 611. A second motor 64 that is controlled by being electrically connected to the second main roller 65, and a second main roller 65 that is disposed next to the second rail 62 of the left base portion 611 and is driven to rotate by the second motor 54. And the right base A second driven roller 66 disposed adjacent to the 12 second rails 62, and a second endless belt 67 spanned between the second main driving roller 65 and the second driven roller 66, ,have.
  As shown in FIGS. 4 and 5, the third drive mechanism 7 is arranged between the second rail 62 and the second support rail 63 so as to cross the second rail 62 and the second support rail 63. A second slide seat 71 that is slidably attached and is fixed to the second endless belt 67, and a second rail 62 that is slidably inserted through the second slide seat 71. And the second slide of the lifting rod 72 under control by being electrically connected to the control means 8 and the power supply means 9 and arranged vertically to be above the bed surface 21. A third motor 73 that drives and controls sliding along the vertical direction with respect to the seat 71 and a third motor 73 that is rotatably mounted next to a position inserted by the lifting rod 72 of the second sliding seat 71. A third main driving roller 74 driven to rotate by A third driven roller 75 having a screw hole 751 which is rotatably attached to a position inserted by the lifting rod 72 of the second sliding seat 71 and is inserted by the lifting rod 72; A third endless belt 76 that is stretched between the third driven rollers 75 and transmits the movement of the third driven roller 74 to the third driven rollers 75, and formed on the outer peripheral surface of the lifting rod 72. And a male screw 721 screwed into the screw hole 751 of the third driven roller 75.
  As shown in FIG. 5, the agitation means 4 that is controlled by being electrically connected to the control means 8 and the power supply means 9 is attached to the lower end of the lifting rod 72 in the third drive means, so that the first The three-dimensional operation of the first drive mechanism 5, the second drive mechanism 6 and the third drive mechanism 7 can change the position three-dimensionally above the bed surface 21 of the bed means 2, so that the bed Satsuma can be performed while changing the position of the acupuncture point on the body 100 lying on the surface 21.
  FIG. 6 and FIG. 7 are perspective views in which the configurations and connection relationships of the first, second, and third drive mechanisms 5, 6, and 7 are partially omitted. As shown in FIG. 5, the left base portion 611 of the first sliding seat 61 in the second drive mechanism 6 is fixed to the endless first continuous belt 56 of the first drive mechanism 5. The first main driving roller 54 driven by the motor 53 can be moved back and forth along the first rail 51 by forward and reverse rotation. Further, as shown in FIG. 7, the second sliding seat 71 in the third driving mechanism 7 is also fixed to the second endless belt 67 of the second driving mechanism 6, and therefore the second motor 64. Can be reciprocated left and right along the second rail 62 by forward and reverse rotation of the second main driving roller 65 driven by. The elevating rod 72 in the third drive mechanism 7 includes the forward and reverse rotations of the third main driving roller 75 driven by the third motor 73, the screw holes 751 of the third main driving roller 75, and the elevating rod 72. By meshing with the male screw 721, the second sliding seat 71 can be reciprocated up and down.
  Further, as shown in FIGS. 4 and 5, the first drive mechanism 5 includes the first drive seat 6 in the second drive mechanism 6 before and after the front and rear sliding with respect to the first rail 51. The two first stop blocks 57, 57 attached to the first support rail 52 so as to be arranged at both ends of the slide path of the first slide seat 61, respectively, and the two first stop blocks The first motor 53 is provided at both front and rear ends of the right base portion 612 of the first sliding seat 61 so as to correspond to 57 and 57, respectively, and comes into contact with one of the two first stop blocks 657 and 57. Two first limit switches 58, 58 for transmitting a first brake signal to the control means 8 to be stopped are further provided.
  Further, the second drive mechanism 5 includes left and right end points of left and right sliding of the second sliding seat 71 with respect to the second rail 62 at both ends of the sliding path of the second sliding seat 71, respectively. Two second stop blocks 68 and 68 attached to the second rail 62 so as to be disposed, and both left and right ends of the second sliding seat 71 so as to correspond to the two second stop blocks 68 and 68, respectively. Two second limit switches 69, which are provided in the section and transmit a second brake signal to the control means 8 so as to stop the second motor 64 when contacting either of the two second stop blocks 68, 68. 69.
  The third drive mechanism 7 includes two restricting flanges provided on the upper and lower sides of the male screw 721 of the lifting rod 72 as the lower end point after sliding up and down with respect to the second sliding seat 71 of the lifting rod 72. 722, 722 and the two restricting flanges 722, 722, respectively, corresponding to the two restricting flanges 722, 722, provided at both upper and lower end portions of the second sliding seat 71, and contact with either of the two restricting flanges 722, 722 Two third limit switches 77 and 77 for transmitting a third brake signal to the control means 8 so as to stop 73 are further provided.
  The control means 8 moves the massaging means 4 by controlling the first, second, and third motors 53, 64, 73 included in the first, second, and third drive mechanisms 5, 6, and 7, respectively. And a controller 81 that can be used by an operator as a user interface of the control unit 82. The controller 81 can be fixedly installed in a housing containing the control unit 82 or can be movably installed by connecting to the control unit 82 in a wired / wireless manner.
  Hereinafter, an acupuncture method as an embodiment of the automatic grinding method of the present invention will be described with reference to the flowchart shown in FIG.
  Since this acupuncture method is a method of performing acupuncture polishing using the acupuncture device 10, it is necessary to prepare the acupuncture device 10 in advance.
  Then, before performing the acupuncture massage using the acupuncture massager 10, first, in accordance with the preference or physical condition of the user 100, the acupuncture acupuncture specialists are discussed to determine the acupuncture points and the massage order in advance (step 1). ).
  Then, the procedure of acupuncture point agitation is entered using the acupuncture point polishing device 10, and first, the user 100 lies on the bed surface 21 of the bed means 2, moves the agitation means 4 by the controller 81 of the control means 8, and uses the control means 8 for the use. According to at least one or more predetermined positions on the body of the person 100, control data relating to the positions (for example, coordinates of the predetermined positions) is read, and the control means 8 then reads the at least one or more predetermined positions. A control data input operation (step 2) for calculating and inputting control data related to the position of each acupuncture point is performed based on the control data related to. Here, in order to calculate the position of the acupuncture point in the body of the user 100 more correctly, it is preferable that the predetermined position for reading the control data is two or more. If it is the control data regarding two or more predetermined positions, the position coordinates of each acupuncture point can be calculated based on the coordinates of these predetermined positions and the relative relationship.
  Next, the control means 8 moves the agitation means 4 based on the calculated control data relating to the position of each acupuncture point, and moves from the predetermined acupuncture point to a plurality of positions selected at random. A test massage operation for applying a stimulating force is performed (step 3). During the test massage operation, whether or not the massage device 4 has been moved to the exact position of the selected acupuncture point, and the massage device in the test massage operation. Confirm that the stimulating force applied by is appropriate. If an incorrect massage position or an inappropriate stimulation force is confirmed in the test massage operation, the adjustment operation is entered and the control data is adjusted (step 4). When the adjustment is completed, the test massage operation is resumed. This test massage operation (step 3) and adjustment operation (step 4) are repeated until the massage position and stimulation force are all accurate or appropriate.
  If all the massage positions and stimulation forces are correct and appropriate in the test massage operation (step 3), the present massage operation (step 5) is entered. In the main agitation operation, the control means 8 moves the agitation means 4 on the basis of the appropriate control data obtained by the above process, and follows the predetermined acupuncture acupuncture points and the agitation order for the user 100 body. Do Satsuma.
  When this Satsuma operation is completed, the control means 8 performs a control data storing operation for recording the relevant control data and the name or registration number of the user 100 in association with each other (Step 6). As a result, when the user 100 wishes to re-activate the user, the user can access the existing data and quickly procure appropriate control data.
  According to the above configuration, the present invention is configured such that the position of the massager means can be three-dimensionally changed above the bed means, so that the user who is supine or prone under the control or instruction of the massager engineer. In contrast, the whole body massage can be performed automatically, and even the massage method that stimulates a specific position of the human body, such as acupuncture point massage, can adjust the massage position in three dimensions according to the user's body shape. An automatic massaging apparatus and an automatic massaging method using the automatic massaging apparatus can be provided. The automatic massaging apparatus and the automatic massaging method using the automatic massaging apparatus of the present invention are not limited to acupuncture point massaging, and can deal with various types of massaging on the human body, and therefore do not depend on the physical strength of the massaging engineer. Furthermore, if a large number of automatic massaging apparatuses of the present invention can be prepared, the massaging service can be simultaneously provided to as many users as the number of automatic massaging apparatuses based on the operation of a single massaging engineer.
It is a partial perspective view which shows the structure of the Satsuma apparatus which is a conventional Satsuma apparatus example. It is a perspective view which shows a partial structure of the acupuncture point polishing apparatus comprised as an Example of the automatic polishing apparatus of this invention. It is the side view which looked at the same acupuncture massager apparatus from the left side. It is the upper side figure which looked at the same acupuncture polishing machine from the upper surface. It is the side view which looked at the same acupuncture massager apparatus from the front side. It is the perspective view which abbreviate | omitted one part which shows the structure and connection relation of a 1st, 2nd, 3rd drive mechanism. It is the perspective view which abbreviate | omitted partially which shows the structure and connection relation of a 2nd, 3rd drive mechanism. It is a top view which shows the example of the human body outline drawn on the bed surface. It is a top view which shows the example of the human body outline drawn on the bed surface. It is a flowchart which shows the acupuncture point grinding method as an Example of the automatic grinding method of this invention.
Explanation of symbols
2 Bed means 21 Bed surface 3 Bed frame means 31, 32, 33, 34 Pillar 35, 35 Supporter 4 Satsuma means 5 First drive mechanism 51 First rail 52 First support rail 53 First motor 54 First Main driving roller 55 first driven roller 56 first endless belt 57, 57 first stop block 58, 58 first limit switch 6 second drive mechanism 61 first sliding seat 611 left base portion 612 right Base portion 62 Second rail 63 Second support rail 64 Second motor 65 Second main driving roller 66 Second driven roller 67 Second endless belt 68, 68 Second stop block 69, 69 Second Limit switch 7 Third drive mechanism 71 Second sliding seat 72 Lifting rod 721 Male screws 722 and 722 Limiting flange 73 Third motor 74 Third main rotor Roller 75 Third driven roller 751 Screw hole 76 Third endless belt 77, 77 Third limit switch 81 Controller 8 Control means 82 Control unit 9 Power supply means

Claims (6)

  1. An automatic massaging device that automatically masses a user.
    Bed means having a bed surface formed in a generally horizontal plane facing upwards and on which a user can lie;
    A massaging means for automatically stimulating and massaging the body lying on the bed surface movably disposed above the bed surface of the bed means;
    A driving means having a first driving mechanism, a second driving mechanism, and a third driving mechanism for controlling movements of the abrading means in the front, rear, left and right, three-dimensional directions relative to the bed surface;
    A control means having a controller and a control unit for controlling the driving means and the agitation means in accordance with an operation by the controller; and a power supply means for supplying power necessary for the driving means, the agitation means and the control means. This is an automatic Satsuma device.
  2. A bed frame means for supporting the bed means and the entire automatic massaging apparatus by two pillars fixed upright at both front and rear ends of one side of the bed surface;
    The first drive mechanism has a first rail spanned in parallel with the bed surface across the two pillars, and a first motor.
    The second driving mechanism is slidably attached to the first rail, and can be reciprocated back and forth along the first rail by driving the first motor. A moving seat, a second rail provided on the first sliding seat and extending so as to cross over the bed surface in a direction orthogonal to the first rail in the same horizontal plane, and a second motor Have
    The third driving mechanism is slidably attached to the second rail, and can be reciprocated in the left-right direction along the second rail by the driving of the second motor. A moving seat, a lifting rod that is slidably inserted in the second sliding seat in the vertical direction, and is arranged so as to stand upright above the bed surface perpendicular to the second rail; and A third motor that drives and controls sliding along the vertical direction (Z direction in the figure) with respect to the second sliding seat;
    The massaging means is attached to the lower end of the lifting rod, and the position of the massaging means is three-dimensionally above the bed means by the operation of the first driving mechanism, the second driving mechanism, and the third driving mechanism. The automatic massaging device according to claim 1, characterized in that it can be moved.
  3. The first driving mechanism is disposed near one end of the first rail and is rotated near the other end of the first rail, and is driven near the other end of the first rail. The first driven roller, and the first driven roller and the first driven roller, and the first sliding seat is driven by the first motor. A first endless belt fixed so as to be able to reciprocate along the first rail by forward and reverse rotation of the main driving roller;
    The second drive mechanism is disposed near one end of the second rail and is rotated near the other end of the second rail, and is driven by the second motor. The second driven roller, and the second driven roller and the second driven roller, and the second sliding seat is driven by the second motor. A second endless belt fixed so as to be able to reciprocate along the second rail by forward / reverse rotation of the two main driving rollers,
    The third driving mechanism is rotatably attached to the second sliding seat and is rotatably driven by the third motor, and is rotatable adjacent to the third main driving roller. A third driven roller having a screw hole inserted through the lifting rod, and a third endless belt stretched between the third main driving roller and the third driven roller, By being formed on the outer peripheral surface of the elevating rod and screwing into the screw hole of the third driven roller, the elevating rod is rotated by the forward and reverse rotation of the third main driving roller driven by the third motor. 3. The automatic grinding apparatus according to claim 2, further comprising a male screw that allows the second sliding seat to reciprocate up and down.
  4. The bed frame means is disposed at two front and rear ends respectively opposite to the bed surface corresponding to the two pillars, and at both front and rear ends of the bed surface. Two supporters that are connected so as to straddle two pairs of pillars and are perpendicular to the first rail;
    The first drive mechanism is mounted in parallel with the first rail so as to straddle the two columns on the opposite side of the first rail, and the first sliding seat is slidable. The first support rail attached to the first slide seat, and the first slide seat before and after the front and rear slides with respect to the first rail, at the both ends of the slide path of the first slide seat as a rear end point Two first stop blocks attached to the first support rail or the second rail so as to be respectively disposed, and the first sliding seats corresponding to the two first stop blocks, respectively. Two first limit switches that are provided at both front and rear end portions and that transmit a first brake signal to the control means so as to stop the first motor when contacted with either of the two first stop blocks; Prepared,
    The second drive mechanism is on the opposite side of the second rail, straddling the first rail and the first support rail, and in parallel with the second rail, the first sliding seat. And a second support rail to which the second sliding seat is slidably attached, and left and right end points of left and right sliding of the second sliding seat with respect to the second rail Two second stop blocks attached to the second support rail or the second rail at positions on both ends of the slide path of the second slide seat, and the two second stop blocks, respectively. A second brake is provided at each of the left and right ends of the second sliding seat corresponding to each block, and stops the second motor when it comes into contact with either of the two second stopping blocks. Two second sending signals Further comprising a limit switch,
    The third drive mechanism includes two restricting flanges provided on the upper and lower sides of the male screw of the lifting rod as upper and lower end points on the vertical sliding of the lifting rod with respect to the second sliding seat, A third brake signal is provided to the control means to stop the third motor when it comes into contact with one of the two restriction flanges. The automatic massaging apparatus according to claim 3, further comprising two third limit switches that transmit
  5.   The automatic massaging apparatus according to any one of claims 1 to 4, wherein a plurality of human body contours indicating correct recumbent positions corresponding to various body shapes are drawn on the bed surface of the bed means.
  6. An automatic massaging device according to any one of claims 1 to 5 is prepared,
    According to the user's preference or physical condition, determine the Satsuma location and Satsuma order in advance,
    A user lies on the bed surface of the bed means, moves the massaging means with the controller of the control means, reads control data relating to the position according to at least one predetermined position on the user's body,
    Based on the control data regarding the at least one predetermined position, the control data regarding the position of the Satsuma location is calculated,
    Based on the calculated control data relating to the position of the Satsuma location, the test is performed by moving the Satsuma means and moving and pressing to a predetermined number of locations selected at random by the Satsuma location. Perform control and check whether the massaging means has been moved to the correct position, and whether the pressure applied by the massaging means in the test massaging is appropriate, and control data on the improper mass position and pressure. Repeat the test massaging / adjustment operation to adjust the mass until all the mass position and pressure are correct or appropriate,
    The massaging means is moved based on the appropriate control data obtained by the test massaging / adjusting operation, and the massaging is performed according to the predetermined massaging location and massaging sequence for the user's body,
    An automatic massaging method characterized in that when the main massaging is completed, the appropriate control data and the user name or registration number are recorded in association with each other.
JP2007243791A 2007-09-20 2007-09-20 Automatic massage device and automatic massage method using automatic massage device Pending JP2009072355A (en)

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WO2011143885A1 (en) * 2010-05-20 2011-11-24 Fang Xianyue Intelligent shower and working manner thereof
CN102641200A (en) * 2012-02-28 2012-08-22 山东建筑大学 Massage robot and realization of massage manipulation thereof
KR101222519B1 (en) * 2011-08-01 2013-01-15 (주)서흥메가텍 Auto multiplex massager for bed type
KR101373884B1 (en) 2013-01-18 2014-03-12 주식회사 인포피아 Finger pressure device
CN103646599A (en) * 2013-12-04 2014-03-19 上海理工大学 Kneading simulation system used for experiment
KR101444004B1 (en) * 2013-01-18 2014-09-23 주식회사 인포피아 Finger pressure device and and method for controlling
KR200475916Y1 (en) 2013-01-25 2015-01-14 정관주 Bed for massage
KR101484800B1 (en) * 2010-02-23 2015-01-20 충-선 양 Massaging apparatus
KR101505607B1 (en) * 2012-10-05 2015-03-25 (주)릴렉스테크 massage device
KR101541863B1 (en) 2014-03-03 2015-08-06 강대영 Body massage device
CN105596201A (en) * 2016-01-29 2016-05-25 巢湖学院 Adjustable traditional Chinese medical massage device
CN106491326A (en) * 2016-12-27 2017-03-15 郑州搜趣信息技术有限公司 A kind of single back of the body psoas muscle circulation massage couch for driving automatic synchronization massage
KR101800399B1 (en) 2015-01-16 2017-12-20 정문희 Apparatus of massaging
TWI609683B (en) * 2016-09-21 2018-01-01 林士紘 Rehabilitation device of pelvis and spine
KR101886636B1 (en) * 2017-11-22 2018-08-09 오레스트 주식회사 User-configurable massage chair on remote control
CN109646264A (en) * 2019-02-15 2019-04-19 西安雁塔天佑儿童医院有限公司 A kind of paediatrics Massage Manipulator of gravitational load formula laser three-D positioning
CN110051515A (en) * 2019-04-19 2019-07-26 广东白云学院 Massage mechanism, massage machine and its control method
KR102226593B1 (en) * 2020-12-17 2021-03-15 주식회사 쓰리에이치 Acupoint moving type spine acupressure bed and user control terminal

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Publication number Priority date Publication date Assignee Title
KR101484800B1 (en) * 2010-02-23 2015-01-20 충-선 양 Massaging apparatus
WO2011143885A1 (en) * 2010-05-20 2011-11-24 Fang Xianyue Intelligent shower and working manner thereof
KR101222519B1 (en) * 2011-08-01 2013-01-15 (주)서흥메가텍 Auto multiplex massager for bed type
CN102641200A (en) * 2012-02-28 2012-08-22 山东建筑大学 Massage robot and realization of massage manipulation thereof
KR101505607B1 (en) * 2012-10-05 2015-03-25 (주)릴렉스테크 massage device
KR101373884B1 (en) 2013-01-18 2014-03-12 주식회사 인포피아 Finger pressure device
KR101444004B1 (en) * 2013-01-18 2014-09-23 주식회사 인포피아 Finger pressure device and and method for controlling
KR200475916Y1 (en) 2013-01-25 2015-01-14 정관주 Bed for massage
CN103646599A (en) * 2013-12-04 2014-03-19 上海理工大学 Kneading simulation system used for experiment
KR101541863B1 (en) 2014-03-03 2015-08-06 강대영 Body massage device
KR101800399B1 (en) 2015-01-16 2017-12-20 정문희 Apparatus of massaging
CN105596201B (en) * 2016-01-29 2017-11-07 巢湖学院 A kind of adjustable Chinese traditional massage device
CN105596201A (en) * 2016-01-29 2016-05-25 巢湖学院 Adjustable traditional Chinese medical massage device
TWI609683B (en) * 2016-09-21 2018-01-01 林士紘 Rehabilitation device of pelvis and spine
CN106491326A (en) * 2016-12-27 2017-03-15 郑州搜趣信息技术有限公司 A kind of single back of the body psoas muscle circulation massage couch for driving automatic synchronization massage
KR101886636B1 (en) * 2017-11-22 2018-08-09 오레스트 주식회사 User-configurable massage chair on remote control
CN109646264A (en) * 2019-02-15 2019-04-19 西安雁塔天佑儿童医院有限公司 A kind of paediatrics Massage Manipulator of gravitational load formula laser three-D positioning
CN110051515A (en) * 2019-04-19 2019-07-26 广东白云学院 Massage mechanism, massage machine and its control method
CN110051515B (en) * 2019-04-19 2021-07-06 广东白云学院 Massage mechanism, massage device and control method thereof
KR102226593B1 (en) * 2020-12-17 2021-03-15 주식회사 쓰리에이치 Acupoint moving type spine acupressure bed and user control terminal

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