JP2013027649A - Actuator and massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an actuator which can take out various outputs, and a massage machine provided with the same.SOLUTION: The actuator 11 includes stators 16-19 generating a magnetic force by being excited, movable members 21-24 moving by the magnetic force generated by the stators, a bag-like body 20 arranged within a movable member's moving range in a state of enclosing a fluid and deformable to form a localized expansion site when externally pressed by the moving movable member, and a controller for controlling the excitation of the stators. The actuator 11 gains the expansion power of the expansion site in the bag-like body as an output, wherein three or more displacement sections that can be the expansion site by displacing are arranged side by side on a side, and the controller controls the excitation of each stator so that a direction in which a displacement section among the respective displacement sections that has displaced and become the expansion site appear in turn is two or more directions including one direction connecting one displacement section and another displacement section by a straight line.

Description

  The present invention relates to an actuator using an electromagnet and a massage machine including the actuator.

  2. Description of the Related Art Conventionally, there is known an actuator that obtains an output for operating a treatment element of a massage machine by moving a mover with a magnetic force generated from a stator constituting an electromagnet. For example, in Patent Document 1, two stators are arranged in parallel on the lower surface side of one bag-like body enclosing a fluid, while two movers that are paired with both stators are arranged on the upper surface side of the bag-like body. An installed actuator is disclosed. In this conventional actuator, when the two movers are alternately moved to the stator side by the magnetic force generated alternately from the two stators, and a part of the bag-like body is pressed and deformed along with the movement. The swollen output of the swollen part in the bag-like body is acquired as an output for operating the treatment element of the massage machine.

JP 2010-227257 A

  By the way, in the conventional actuator, the 1st site | part by which one movable element is arrange | positioned in the upper surface of a bag-like body, and the 2nd site | part by which the other movable element is arrange | positioned become an bulging site | part alternately. That is, the bulging part formed on the upper surface side of the bag-like body with the movement of each mover appears only in one direction in a straight line connecting the first part and the second part. Only an output corresponding to the bulging output of the two bulging sites whose appearance positions were alternately changed in one direction was obtained. Therefore, in the conventional actuator, from the viewpoint of obtaining the output used for the operation of the treatment element in the massage machine, there is a problem that only a monotonous output with little change can be obtained and various outputs cannot be taken out.

  The present invention has been made in view of such circumstances, and an object thereof is to provide an actuator capable of taking out various outputs and a massage machine including such an actuator.

  In order to achieve the above object, an actuator of the present invention includes a stator core and a coil that generate a magnetic force when excited by energization of the coil, and a magnetic force generated by the stator. The movable element is moved within the range of movement of the movable element sealed with a fluid, and can be deformed so as to form a local bulge when the movable element is pressed from the outside. And a control unit that controls the excitation of the stator, and an actuator that obtains an output of an expansion of the bulging portion of the bag-like body as an output. The stator and the plurality of movable elements are provided, and three or more displacement portions that can be the bulging portion by being displaced are arranged in parallel on one side, and the control portion is displaced among the displacement portions. The bulge Wherein each of the stators is subjected to excitation control so that a direction in which the parts appear in order is a plurality of directions including one direction in which one displacement part and another one displacement part are linearly connected. To do.

  In the actuator of the present invention, three or more pairs of the stator and the movable element are provided in one bag-like body, and three or more displacement portions are provided on one surface side of the one bag-like body. It is preferable that they are arranged side by side.

  In the actuator of the present invention, it is preferable that a fixed region at a position outside the moving range of each mover in the bag-like body is a blocking region that blocks the fluid flow.

  Further, in the actuator of the present invention, the movers are paired with each other in a state where the distance between the movers adjacent to each other and the movers adjacent to each other is not controlled by the control unit to be excited. It is preferable that the distance is set to be equal to or less than the distance between the stator and the movable element.

  In the actuator according to the aspect of the invention, it is preferable that the control unit can change the number of stators to be excited among the plurality of stators provided in one bag-like body for each excitation timing. .

  The actuator of the present invention includes a plurality of displacement units including the stator, the mover, and the bag-like body, and each of the displacement units has a displacement unit that is adjacent to each other. Are preferably arranged so as to be in a juxtaposed state on one side.

In the actuator of the present invention, the fluid is preferably a magnetic fluid.
Furthermore, in order to achieve the above object, the massage machine of the present invention is characterized in that the user's body is treated using the output obtained from the actuator having the above-described configuration.

  According to the present invention, various outputs can be taken out.

The schematic diagram which shows the outline of the face massage machine which concerns on 1st Embodiment of this invention. The schematic diagram of the main component of the actuator in the same face massage machine. (A) is a top view of the actuator of 1st Embodiment, (b) is 3b-3b arrow sectional drawing in (a), (c) is 3c-3c arrow sectional drawing in (a). (A) is a top view of the actuator in an output state, (b) is a cross-sectional view taken along line 4b-4b in (a), and (c) is a cross-sectional view taken along line 4c-4c in (a). (A) (b) (c) (d) is a plan view of the actuator showing a state in which the appearance position of the bulging portion changes in order. (A) (b) (c) (d) is a top view of an actuator when the output mode is varied. (A) and (b) are plan views of the actuator when the output mode is further varied. The graph which shows the relationship between the number of the non-excitation stators in an actuator, and a displacement amount. The top view of the actuator in the face massage machine of 2nd Embodiment. The top view of the actuator in the face massage machine of 3rd Embodiment. (A) is a top view of the actuator of 4th Embodiment, (b) is the 11b-11b arrow directional cross-sectional view in (a). The top view of the actuator of 5th Embodiment. The top view of the actuator of 6th Embodiment. (A) (b) (c) (d) is a top view of the actuator of 7th Embodiment which shows the state in which the appearance position of a bulging part changes in order.

(First embodiment)
Hereinafter, a first embodiment in which the present invention is embodied in a face massage machine which is a type of massage machine and an actuator for obtaining an output for operating a treatment element of the massage machine will be described with reference to FIGS. .

  As shown in FIG. 1, the face massage machine 10 of this embodiment includes an actuator 11 that obtains an output from its displacement operation, a control device (control unit) 12 that controls the operation of the actuator 11, and the actuator 11 and the control device 12. A power supply 13 is provided for supplying power. The actuator 11 includes a plurality (four in this embodiment) of displacement portions 14a to 14d arranged in parallel on one surface side. And the face massage machine 10 uses a part of a user's body using the output obtained by displacing so that each displacement part 14a-14d may become a bulging part selectively based on control of the control apparatus 12. FIG. It is possible to perform massage (treatment) of the face F.

  As shown in FIGS. 2 and 3, the actuator 11 includes four stators 16 to 19 arranged in a matrix of 2 rows and 2 columns on a rectangular substrate 15, and upper sides of the stators 16 to 19. And four movable elements 21 to 24 arranged in parallel so as to be paired with the respective stators 16 to 19 on the upper side of the bag-shaped body 20. Then, four portions corresponding respectively to the juxtaposed positions of the four movable elements 21 to 24 on one surface side of the bag-like body 20 are individually displaced to obtain an output for operating the treatment element of the face massage machine 10. Four possible displacement parts 14a-14d are comprised. In addition, when displacing each displacement part 14a-14d, the control apparatus 12 which is a component of the actuator 11 similarly to the stators 16-19, the bag-like body 20, the movers 21-24, etc., makes each stator 16 By controlling the excitation of -19, the movable elements 21-24 are moved by the suction force, and the bag-like body 20 is pressed and deformed.

  Each of the stators 16 to 19 includes a small rectangular stator core 16a to 19a obtained by dividing the substrate 15 into four equal parts, and annular coils 16b to 19b accommodated in the stator cores 16a to 19a, respectively. It is configured. Electric power is supplied to each coil 16b-19b from the power supply 13 by control of the control apparatus 12, when exciting each stator 16-19. And each stator 16-19 generate | occur | produces a magnetic force by being excited by the electricity supply to each coil 16b-19b. In addition, since each coil 16b-19b is formed so that it may have the center holes 16c-19c, it is also possible to arrange a fixed iron core in these center holes 16c-19c. It is possible to increase the generated magnetic force.

  The bag-like body 20 is a flat, flexible bag made of, for example, silicon rubber or the like, which has a rectangular shape that is substantially the same size as the substrate 15. A colloidal solution in which ferromagnetic fine particles having a surface-active agent adsorbed on a surface are dispersed in a solvent) is enclosed. In the state in which the magnetic fluid is sealed in such a manner, the bag-like body 20 is arranged on the upper side of the four stators 16 to 19 arranged side by side on the substrate 15, and the four stators 16 to It arrange | positions so that all 19 may be covered. The amount of magnetic fluid enclosed in the bag-like body 20 is such that the bag-like body 20 can be deformed when a part of the bag-like body 20 is pressed from the outside. The enclosed amount is adjusted to such an extent that it can flow inside 20 and bulge out other parts.

  Each of the movable elements 21 to 24 is configured by a metal plate member having magnetism such as iron, for example, which has a rectangular shape slightly smaller than each of the stator cores 16a to 19a. And each mover 21-24 makes a pair with each stator 16-19 arranged in parallel by the lower surface side of the bag-shaped body 20, and adjoins the upper surface side (one surface side) of the bag-shaped body 20. It is fixed so as to be arranged in a matrix of 2 rows and 2 columns with a distance L between the movable elements. Note that the interval L in this case is the distance between the stators 16 to 19 and the movers 21 to 24 that are paired with each other when the control device 12 does not perform excitation control of the stators 16 to 19 ( For example, it is set to be equal to or less than the thickness H of the bag-like body 20 in the normal state shown in FIGS.

  Therefore, when each of the movers 21 to 24 is attracted to the magnetic force generated by each of the stators 16 to 19 excited by energizing the coils 16b to 19b, the movers 21 to 24 are individually provided. It moves to the direction approaching the corresponding stators 16 to 19, and the bag-like body 20 is locally pressed and deformed. Therefore, at this point, the bag-like body 20 which is pressed and deformed by the moved movable elements 21 to 24 is within the movement range of the movable elements 21 to 24 (that is, between the stators 16 to 19 and the movable elements 21 to 24). Between the two).

  Next, the operation of the face massage machine 10 configured as described above will be described below with a focus on the operation of the actuator 11 that is displaced to obtain an output when massaging the user's face F.

  In the following, for convenience of explanation, the displacement portions 14a to 14d respectively corresponding to the juxtaposed positions of the movers 21 to 24 are referred to as first displacement portion 14a to fourth displacement portion 14d, respectively. It may be called differently for each operating position. In the case of the actuator 11 according to the first embodiment, as shown in FIG. 4A, the first displacement portion is a displacement portion located at the upper left corner in a plan view from one side where the movable elements 21 to 24 are arranged in parallel. 14a, the displacement part located in the upper right corner is called the second displacement part 14b, the displacement part located in the lower right corner is called the third displacement part 14c, and the displacement part located in the lower left corner is called the fourth displacement part 14d. Further, the stators 16 to 19 and the movers 21 to 24 that correspond to the respective displacement portions 14a to 14d also correspond to the first displacement portion 14a to the fourth displacement portion 14d, respectively. These are called the child 16 to the fourth stator 19 and the first movable element 21 to the fourth movable element 24.

  Now, when the coil 16b-19b of any one of the four stators 16-19 is energized, the actuator 11 has a stator having the coils 16b-19b. A magnetic force is generated in 16-19. Then, the movers 21 to 24 paired with the stators 16 to 19 that generate the magnetic force are attracted by the magnetic force and moved to the stators 16 to 19 side. Then, the moved movable elements 21 to 24 locally press and deform the bag-shaped body 20, whereby predetermined displacement portions 14 a to 14 d in the bag-shaped body 20 (at that time, the movable elements 21 to 24 are pressed). A bulging portion bulging upward is formed by the non-displacement portion). And the bulge output of the bulging part in that case is utilized as an output for operating the treatment element of the face massage machine 10.

  First, a case will be described in which the bulging site is formed by changing one of the four displacing portions 14a to 14d while sequentially changing the appearance position, and then a plurality (for example, two or three). A case will be described in which a plurality of bulging portions are formed by changing the appearance position in order by the displacement portion.

  First, as shown in FIGS. 4A, 4B, and 4C, when the bulging portion is formed by the first displacement portion 14a at the upper left corner as one displacement portion, the first displacement portion 14a is excluded. Three stators (second stator 17 to fourth stator 19) respectively corresponding to the other three displacement parts (second displacement part 14b to fourth displacement part 14d) are energized to the coils 17b to 19b. Excited. Then, a magnetic force is generated in the three stators 17 to 19, and the three movable members that are paired with the three stators 17 to 19 (the second movable member indicated as “excitation” in FIG. 4A). The child 22 to the fourth mover 24) are attracted by the magnetic force of the corresponding stators 17 to 19 and moved to the lower side corresponding to the stators 17 to 19 side.

  And if the three movers 22-24 moved to the lower side locally press the three places (in this case, the second displacement portion 14b to the fourth displacement portion 14d) of the upper surface (one surface) of the bag-like body 20, The bag-like body 20 is deformed by the pressing force, and the magnetic fluid sealed in the bag-like body 20 flows. That is, the magnetic fluid gathers in the bag-like body 20 so as to gather in a region below the first displacement portion 14a where the first movable element 21 marked “non-excited” in FIG. To flow.

  Then, the first displacement portion 14a in the bag-like body 20 is pushed upward from the lower side by the magnetic fluid inside, and the first displacement portion 14a is moved to another displacement as shown in FIGS. Displaces upward from the portions 14b to 14d. And in the actuator 11, the bulging site | part which bulged greatly from the position of an upper left corner to the output side (upper side in FIG.4 (b) (c)) is formed by the 1st displacement part 14a displaced in that way, The bulging output of the bulging part is used as an output for operating the treatment element of the face massage machine 10.

  Then, from the state shown in FIG. 5 (a) in which only the first displacement portion 14a in the upper left corner is bulged at that time, only the second displacement portion 14b in the upper right corner is bulged. The stators 16 to 19 in the actuator 11 are subjected to excitation control by the control device 12 so as to change the appearance position of the bulging part to the state shown in FIG. That is, this time, three stators (first stators) respectively corresponding to the other three displacement parts (first displacement part 14a, third displacement part 14c, and fourth displacement part 14d) except for the second displacement part 14b. 16, the third stator 18 and the fourth stator 19) are excited by energizing the coils 16b, 18b and 19b. Then, a magnetic force is generated in the three stators 16, 18, and 19, and the three movers that are paired with the three stators 16, 18, and 19 (indicated as “excitation” in FIG. 5B). Further, the first movable element 21, the third movable element 23, and the fourth movable element 24) are attracted by the magnetic force of the corresponding stators 16, 18, and 19 to become the stators 16, 18, and 19 side. Move to the side.

  Then, the three movable elements 21, 23, 24 moved to the lower side are three places on the upper surface (one surface) of the bag-like body 20 (this time, the first displacement portion 14a, the third displacement portion 14c, and the fourth displacement portion 14d). Is locally pressed, the bag-like body 20 is deformed by the pressing force, and the magnetic fluid sealed in the bag-like body 20 flows. That is, in the magnetic fluid, the second mover 22 indicated as “non-excited” in FIG. 5B is arranged from the region below the first displacement portion 14a where most of the magnetic fluid stayed at that time. In addition, in the same figure, the inside of the bag-like body 20 flows in the left-right direction from the left side to the right side, toward the region below the second displacement portion 14b.

  Then, the second displacement portion 14b in the bag-like body 20 is pushed upward from the lower side by the internal magnetic fluid, and this time, the second displacement portion 14b is moved above the other displacement portions 14a, 14c, and 14d. Displace. That is, on the one surface side of the bag-like body 20, the position where the displacement part that has been displaced from the plurality of (four) displacement parts 14a to 14d and becomes the bulging portion appears is one displacement part. It changes in the left-right direction, which is one direction that linearly connects the displacement portion 14a and the second displacement portion 14b, which is another displacement portion. And in the actuator 11, the bulging part which bulged greatly from the position of the upper right corner to the output side is formed by the second displacement part 14b thus displaced, and the bulging output of the bulging part is the It is used as an output for operating the treatment element.

  Then, from the state shown in FIG. 5B in which only the second displacement portion 14b in the upper right corner is bulged at that time, only the third displacement portion 14c in the lower right corner is bulged. The stators 16 to 19 in the actuator 11 are subjected to excitation control by the control device 12 so as to change the appearance position of the bulging part to the state shown in FIG. That is, this time, three stators (first stators) respectively corresponding to the other three displacement parts (first displacement part 14a, second displacement part 14b, fourth displacement part 14d) except for the third displacement part 14c. 16, the second stator 17 and the fourth stator 19) are excited by energizing the coils 16b, 17b and 19b. Then, a magnetic force is generated in the three stators 16, 17, and 19, and the three movable members that are paired with the three stators 16, 17, and 19 ("excitation" in FIG. 5C) are described. Further, the first movable element 21, the second movable element 22, and the fourth movable element 24) are attracted by the magnetic force of the corresponding stators 16, 17, and 19 to become the stators 16, 17, and 19 side. Move to the side.

  Then, the three movable elements 21, 22, and 24 that have moved downward are three places on the upper surface (one surface) of the bag-like body 20 (this time, the first displacement portion 14a, the second displacement portion 14b, and the fourth displacement portion 14d). Is locally pressed, the bag-like body 20 is deformed by the pressing force, and the magnetic fluid sealed in the bag-like body 20 flows. That is, in the magnetic fluid, the third mover 23 marked “non-excited” in FIG. 5C is arranged from the lower side of the second displacement portion 14b where most of the magnetic fluid stays at that time. In addition, in the same figure, it flows in the bag-like body 20 in the vertical direction from the upper side to the lower side, toward the region on the lower side of the third displacement portion 14c.

  Then, the third displacement part 14c in the bag-like body 20 is pushed upward from the lower side by the internal magnetic fluid, and this time, the third displacement part 14c is located above the other displacement parts 14a, 14b, 14d. Displace. That is, on the one surface side of the bag-like body 20, the position where the displacement portion that is displaced among the plural (four) displacement portions 14 a to 14 d and becomes the bulging portion appears is one displacement portion. It changes in the up-down direction, which is one direction that linearly connects the displacement portion 14b and the third displacement portion 14c, which is another displacement portion. In the actuator 11, the third displacement portion 14 c thus displaced forms a bulging portion that bulges greatly from the position of the lower right corner to the output side. It is used as an output for operating the treatment element.

  Then, from the state shown in FIG. 5 (c) in which only the third displacement portion 14c in the lower right corner is bulged at that time, only the fourth displacement portion 14d in the lower left corner is bulged. The stators 16 to 19 in the actuator 11 are subjected to excitation control by the control device 12 so as to change the appearance position of the bulging part to the state shown in FIG. That is, this time, three stators (first stator 16 to third stator) respectively corresponding to the other three displacement parts (first displacement part 14a to third displacement part 14c) except for the fourth displacement part 14d. 18) is excited by energizing the coils 16b to 18b. Then, a magnetic force is generated in the three stators 16 to 18, and the three movable elements that are paired with the three stators 16 to 18 (the first movable element indicated as “excitation” in FIG. 5D). The child 21 to the third mover 23) are attracted by the magnetic force of the corresponding stators 16 to 18 and move downward to the stators 16 to 18 side.

  And when the three movers 21 to 23 moved downward press the three portions (the first displacement portion 14a to the third displacement portion 14c) on the upper surface (one surface) of the bag-like body 20 locally, The bag-like body 20 is deformed by the pressing force, and the magnetic fluid sealed in the bag-like body 20 flows. That is, in the magnetic fluid, the fourth mover 24 marked “non-excited” in FIG. 5D is arranged from the lower side of the third displacement portion 14 c where most of the magnetic fluid stayed at that time. Further, in the same figure, in the left-right direction from the right side to the left side, the inside of the bag-like body 20 flows toward the region below the fourth displacement portion 14d.

  Then, the 4th displacement part 14d in the bag-like body 20 is pushed upwards from the lower side by the internal magnetic fluid, and the 4th displacement part 14d is displaced above the other displacement parts 14a to 14c this time. . That is, on the one surface side of the bag-like body 20, the position where the displacement portion that is displaced among the plurality of (four) displacement portions 14 a to 14 d and becomes the bulging portion appears is one displacement portion. It changes in the left-right direction, which is one direction that linearly connects the displacement portion 14c and the fourth displacement portion 14d, which is another displacement portion. And in the actuator 11, the bulging part which bulged from the position of the lower left corner to the output side is formed by the 3rd displacement part 14c which displaced in that way, The bulging output of the bulging part is treatment of the face massage machine 10 Used as output to operate the child.

  As described above, in the actuator 11 of the present embodiment, the direction in which the displacement portion that is displaced and becomes the bulging portion on one surface side of the bag-like body 20 appears in order is, for example, the first displacement portion 14a and the second displacement portion. Not only the left and right direction (one direction) that linearly connects the displacement portion 14b, but also, for example, a plurality of directions including the vertical direction that linearly connects the second displacement portion 14b and the third displacement portion 14c. That is, in the example of FIG. 5, the position where the displacement part that has been displaced to become the bulging portion appears is the fourth displacement part from the first displacement part 14a via the second displacement part 14b and the third displacement part 14c. It changes in order in the clockwise direction up to 14d. That is, the direction in which the displacement portion that has become a bulging portion by displacing is a direction including a rotation component that combines the left-right direction (one direction) and the up-down direction (the other direction). Therefore, the position where the output can be obtained from the actuator 11 is rotationally displaced, and various outputs can be obtained as compared with the case where the appearance position is alternately changed in one linear direction.

  In addition, each stator 16-19 which the excitation control of the control apparatus 12 in order to obtain an output from the actuator 11 can be suitably selected according to each position where the bulge part should appear in order to obtain an output at that time. The Therefore, even in the case of FIG. 5, the stator that is not excited to form the bulging portion by the one displacement portion is not limited to the case where the stator is sequentially switched in the clockwise direction (one rotation direction), It can be changed as appropriate, for example, in the counterclockwise direction, or in the diagonal direction, or in the reverse direction.

  Next, in the case where two bulging portions are formed by changing any appearance position in order by any two displacement portions among the four displacement portions 14a to 14d, for example, as shown in FIGS. 6 (a) to (d). As described above, two stators respectively corresponding to two displacement portions adjacent in the left-right direction, the up-down direction, or the diagonal direction are excited by energizing each coil. Then, a magnetic force is generated in the two stators, and two movers that are paired with the two stators (two movers marked “excitation” in FIGS. 6A to 6D). However, it is attracted by the magnetic force of each corresponding stator and moves to the lower side which is the side of each stator.

  Then, the two movers that have moved to the lower side are located at two locations on the upper surface (one surface) of the bag-like body 20 (in this case, two displacement portions where the two movers marked “excitation” are arranged). When locally pressed, the bag-like body 20 is deformed by the pressing force, and the magnetic fluid sealed in the bag-like body 20 flows. That is, the magnetic fluid is a bag-like body toward the respective regions on the lower side of the two displacement portions in which the two movers marked “non-excited” in FIGS. 20 flows.

  Then, the two displacement parts in the bag-like body 20 are pushed upward from the lower side by the internal magnetic fluid, and the two displacement parts are displaced above the other two displacement parts. And in the actuator 11, the bulging part which bulged to the output side is formed by the two displacement parts displaced as described above, and the bulging output of the two bulging parts operates the treatment element of the face massage machine 10. Used as output of Even in the case where the two bulging sites are formed by sequentially changing the appearance position by two displacement portions as described above, the appearance position is sequentially changed by one displacement portion as described above. Similarly to the case of forming the bulging portion, the stator that is not excited to form the bulging portion can be appropriately changed by the excitation control of the control device 12.

  Furthermore, when forming three bulging portions by changing the appearance position in order by any three of the four displacement portions 14a to 14d, as shown in FIGS. 7A and 7B, for example. The three stators respectively corresponding to the three displacement portions adjacent in the left-right direction and the vertical direction are excited by energizing each coil. Then, a magnetic force is generated in the three stators, and three movable elements (one movable element indicated as “excitation” in FIGS. 7A and 7B) paired with the three stators. Then, it is attracted by the magnetic force of the corresponding one of the stators and moves downward on the stator side.

  Then, one mover that has moved downward moves one place on the upper surface (one surface) of the bag-like body 20 (in this case, one displacement portion where one mover marked “excitation” is arranged) locally. When pressed, the bag-like body 20 is deformed by the pressing force, and the magnetic fluid enclosed in the bag-like body 20 flows. That is, the magnetic fluid has a bag-like body 20 toward each region below the three displacement portions where the three movers marked “non-excited” in FIGS. 7A and 7B are respectively arranged. Flows inside.

  Then, the three displacement portions in the bag-like body 20 are pushed upward from the lower side by the internal magnetic fluid, and the three displacement portions are displaced upward from the remaining one displacement portion. And in the actuator 11, the bulging site | part which bulged to the output side is formed by the three displacement parts which were displaced in this way, and the bulging output of the three bulging sites operates the treatment element of the face massage machine 10 Used as output of Even when three bulging sites are formed by changing the appearance position in order by three displacement portions as described above, one or two bulging portions are sequentially repeated by one or two displacement portions described above. As in the case of forming while changing the appearance position, the stator that is not excited to form the bulging portion can be appropriately changed by the excitation control of the control device 12.

  As described above, in the actuator 11 of the present embodiment, the number of stators 16 to 19 to be excited by the control device 12 among the plurality (four in this case) of stators 16 to 19 can be appropriately changed. The In addition, the number of stators 16 to 19 to be excited can be changed at every excitation timing in a plurality of consecutive excitation timings. For example, the change mode of the excitation target can be arbitrarily selected such that only one of the stators is to be excited in the first time, and the number of stators to be excited is increased by one after the second time.

  Note that changing the number of stators to be excited in this way changes the number of stators that are not excited in the opposite sense. Since the number of non-excited stators is different, as shown in FIG. 8, in the actuator 11 of this embodiment, the upward displacement amount at the displacement portions 14 a to 14 d that are bulging portions at that time is as follows. Change.

  That is, for example, as shown in FIGS. 4 and 5, when the number of stators that are not excited is one, a relatively large displacement is shown as an arrow A as a point A on the graph line in FIG. A quantity is obtained. Therefore, when it is desired to obtain a locally strong output, the control device 12 sets the number of stators to be excited to all the stators 16 to 16 so that the number of stators that are not excited is one. The number may be changed to a number obtained by subtracting one from the number of 19 (4-1 = 3 in the present embodiment).

  Further, for example, as shown in FIG. 6, when the number of stators that are not excited is two, a relatively moderate amount of displacement is shown as an arrow B as a point B on the graph line in FIG. Is obtained. For this reason, when it is desired to obtain a medium output locally, the control device 12 sets the number of stators to be excited to all the stators so that the number of stators that are not excited is about half. It may be changed to a number obtained by dividing the number of 16 to 19 by 2 (4/2 = 2 in the present embodiment).

  Similarly, for example, as shown in FIG. 7, when the number of non-excited stators is three, a relatively small displacement amount is obtained as indicated by an arrow C as a point C on the graph line in FIG. can get. Therefore, when it is desired to obtain a weak output locally, the control device 12 sets the number of stators to be excited to all the stators 16 to 16 so that the number of stators that are not excited is three. The number may be changed to a number obtained by subtracting three from the number of 19 (in the present embodiment, 4-3 = 1).

  Further, since the fluid enclosed in the bag-like body 20 sandwiched between the stators 16 to 19 and the movers 21 to 24 from both upper and lower sides is a magnetic fluid, each of the movers 21 to 24 corresponds. When the stators 16 to 19 that generate the magnetic force generate a magnetic force, the fluid is suppressed from becoming a magnetic resistance, and is attracted to the generated magnetic force and is favorably moved to the stators 16 to 19 side.

  In addition, when the actuator of the face massage machine 10 is an actuator by a motor or an air bag unlike the actuator 11 of this embodiment, there are the following problems. That is, in the case of an actuator using a motor, the weight increases, and unpleasant vibrations and sounds are generated due to fluctuations in the rotation speed of the motor. In the case of an actuator using an air bag, the response speed is slow, it can not realize a fast operation like a human being, it is heavy, it makes noises, and it feels uncomfortable when used near the face. End up. Unlike actuators using such motors and airbags, in the actuator 11 of the present embodiment, the magnetic fluid in the bag-shaped body 20 is deformed by the movable elements 21-24 being deformed by the excitation control of the stators 16-19. A soft output can be obtained easily.

According to the face massage machine 10 and the actuator 11 of the first embodiment configured as described above, the following effects can be obtained.
(1) Among the displacement portions 14a to 14d arranged in parallel on one surface side of the actuator 11, the direction in which the displacement portions that are displaced and become bulging portions appear in succession is, for example, the first displacement portion 14a and the first displacement portion. In addition to the left and right direction (one direction) that linearly connects the two displacement portions 14b, there are a plurality of directions including the vertical direction that linearly connects the second displacement portion 14b and the third displacement portion 14c. Therefore, in the actuator 11 that obtains the bulge output of the bulge part as an output, the rotation component that combines the left and right direction (one direction) and the vertical direction (the other direction) is used as the direction in which the displacement portion that has become the bulge part appears. It is possible to make the direction included, and it is possible to obtain a variety of outputs rich in change as compared with the conventional case in which they appear alternately in one linear direction.

  (2) Three or more displacement portions 14a to 14d that can become bulging portions by being displaced are juxtaposed on one surface side of the same bag-like body 20. Therefore, if the number of stators to be excited among the stators 16 to 19 respectively corresponding to the respective displacement portions 14a to 14d arranged in parallel in the one bag-like body 20 is changed, As a result of being able to change the number of corresponding displacement portions, the amount of upward displacement in the displacement portions 14a to 14d that have become bulged portions by being displaced can be changed in a plurality of stages.

  (3) Displacement portions that are displaced as bulging portions by selectively exciting the respective stators 16 to 19 individually corresponding to the three or more displacement portions 14a to 14d arranged in parallel on one side. As a result of the increase / decrease adjustment, the area where the bulging output is output with the displacement of the displacement portion, that is, the area where the pressing force can be applied to the face F during massage can be changed.

  (4) Since the number of stators 16 to 19 to be excited by the control device 12 can be changed for each excitation timing in a plurality of consecutive excitation timings, If the number of the displacement parts 14a to 14d is changed at every excitation timing, finer and more diverse outputs can be obtained.

  (5) Since the fluid enclosed in the bag-like body 20 is a magnetic fluid, each of the movable elements 21 to 24 has a magnetic resistance when the corresponding stators 16 to 19 generate magnetic force. To be suppressed. Accordingly, each of the movable elements 21 to 24 can be favorably moved toward the stators 16 to 19 by the magnetic force generated by the corresponding stators 16 to 19.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIG.
The second embodiment is different from the first embodiment in the shapes of the substrate, the stator, the bag-like body, and the mover in the actuator 11, and the number of stators, movers, and displacement parts. Is the same as in the first embodiment. Therefore, differences from the first embodiment will be mainly described below, and the same components are simply denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 9, the substrate (not shown) and the bag-like body 20 in the actuator 11 of the present embodiment are formed in a triangular shape. Then, three stators (not shown) are arranged side by side in a three-point arrangement state on the lower surface side of the bag-like body 20 in which the magnetic fluid is sealed, and on the upper surface side (one surface side) of the bag-like body 20. The three movable elements 21, 22, and 23 corresponding to each stator individually are arranged in a three-point arrangement. And three parts which respectively correspond to the juxtaposition position of each movable element 21-23 in the bag-like body 20, and in order to obtain the output which operates the treatment element of the face massage machine 10, can be individually displaced. The parts 14a to 14c are configured.

  Also in the present embodiment, when the three stators are selectively excited by the control device 12, the movers 21 to 23 individually corresponding to the excited stators move to locally move the bag-like body 20. Press on. Then, the bag-like body 20 is deformed in response to the pressing force, and the magnetic fluid sealed in the bag-like body 20 is arranged with the movers 21 to 23 individually corresponding to the non-excited stator. By flowing toward the lower region of the displacement portions 14a to 14c, the displacement portions 14a to 14c corresponding to the non-excited stator are pushed upward.

  As a result, the one or two displacement portions 14a to 14c corresponding to the position of the non-excited stator are displaced upward and displaced upward, and the one or two displacement portions 14a to 14a thus displaced are displaced. The bulge output of the bulge part which consists of 14c is utilized as an output which operates the treatment element of the massage machine 10. Therefore, also in this embodiment, the same effects as (1) to (5) in the first embodiment can be obtained.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIG.
The third embodiment is different from the first embodiment in the number of stators, movers, and displacement portions in the actuator 11, and is otherwise the same as the first embodiment. Therefore, differences from the first embodiment will be mainly described below, and the same components are simply denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 10, nine stators (not shown) are arranged in a matrix of 3 rows and 3 columns on the lower surface side of the bag-like body 20 in the actuator 11 of the present embodiment. On the upper surface side (one surface side), nine movable elements 21 to 29 each paired with each stator are arranged in a matrix of 3 rows and 3 columns. Nine displacements at which nine portions corresponding to the juxtaposed positions of the movable elements 21 to 29 in the bag-like body 20 can be individually displaced in order to obtain an output for operating the treatment element of the face massage machine 10. The parts 14a to 14i are configured.

  Also in this embodiment, when the nine stators are selectively excited by the control device 12, the movers 21 to 29 corresponding to the excited stators individually move to locally move the bag-like body 20. Press on. Then, the bag-like body 20 is deformed in response to the pressing force, and the magnetic fluid sealed in the bag-like body 20 is arranged with the movers 21 to 29 individually corresponding to the non-excited stator. By flowing toward the lower region of the displacement portions 14a to 14i, the displacement portions 14a to 14i corresponding to the non-excited stator are pushed upward.

  As a result, the 1 to 8 displacement portions 14a to 14i corresponding to the non-excited stator are displaced upward as bulge portions, and the 1 to 8 displacement portions 14a to 14 thus displaced are displaced upward. The bulge output of the bulge part which consists of 14i is utilized as an output which operates the treatment element of the massage machine 10. Moreover, in this embodiment, since the number of the displacement portions 14a to 14i that can become the bulging portion by displacement is as many as nine, the position options for causing each of the displacement portions to be displaced in order to become the bulging portion and appear. Will be rich. Therefore, in this embodiment, in addition to the same effects as (1) to (5) in the first embodiment, the following effects can be further obtained.

  (6) In this embodiment, the number of stators, movers, and displacement parts is nine each, and there are more than in the case of the first embodiment where there are four each, so that it becomes a bulging part and is displaced. It is possible to change the positions at which the displacement parts 14a to 14i appear in order in a variety of ways, and to obtain a more detailed and detailed output.

(Fourth embodiment)
Next, a fourth embodiment of the present invention will be described with reference to FIGS. 11 (a) and 11 (b).
The fourth embodiment is different from the first embodiment in the internal structure of the bag-like body in the actuator 11 and the relative sizes of the stator and the mover with respect to the bag-like body. It is the same as the form. Therefore, differences from the first embodiment will be mainly described below, and the same components are simply denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIGS. 11A and 11B, each of the movers 21 to 24 in the actuator 11 of the present embodiment has a quadrangular shape that is smaller than a quadrangular shape obtained by dividing the square flat bag-like body 20 into four equal parts. Is formed. When the four movers 21 to 24 are arranged in a matrix of 2 rows and 2 columns on the upper surface side of the bag-like body 20, the distance L between other movers adjacent in the row direction and the column direction. However, it is configured to have a wider interval than in the case of the first embodiment, for example, a length interval equal to or more than half of the length of one side of each mover having a rectangular shape.

  Further, in the bag-like body 20, from the moving ranges of the movable elements 21 to 24 that are moved by the magnetic force generated from the respective stators 16 to 19 (only the stators 16 and 17 are shown in FIG. 11B). A fixed region at the position where it is removed (in FIG. 11A and FIG. 11B, the substantially central portion of the bag-like body 20) is constituted by a welded portion 30 in which inner surfaces facing each other in the vertical direction of the bag-like body 20 are welded. Yes. That is, the welded portion 30 is a bag in which the magnetic fluid bypasses the welded portion 30 when the bag-like body 20 is locally pressed from the outside by the movers 21 to 24 to flow the magnetic fluid inside. In a certain region where the welded portion 30 is formed so as to flow in the state body 20, it functions as a blocking region that blocks the flow of the magnetic fluid.

  Also in this embodiment, based on the selective excitation control of the four stators by the control device 12, when the movable elements 21 to 24 corresponding to the excited stators individually move, the four displacement portions 14a to 14a. One to three displacement portions corresponding in position to the non-excited stator in 14d are displaced upward and displaced upward. As a result, the bulging output of the bulging portion composed of one to three displaced parts displaced as described above is used as an output for operating the treatment element of the massage machine 10.

  Moreover, in the present embodiment, when the bag-like body 20 is locally pressed from the outside by the movers 21 to 24 and the internal magnetic fluid flows, the magnetic fluid is welded 30 in the bag-like body 20. Since the flow is interrupted in a certain region where the is formed, it flows in the bag-like body 20 bypassing the welded portion 30. Therefore, also in this embodiment, while being able to acquire the same effect as (1)-(5) in 1st Embodiment, the following effects can also be acquired.

  (7) When the magnetic fluid flows in the bag-like body 20 as the bag-like body 20 is deformed, the magnetic fluid passes through a position outside the moving range of the movable elements 21 to 24 in the bag-like body 20. Without flowing, it flows between the lower regions of the adjacent displacement portions 14a to 14d. That is, even if the magnetic fluid flows into the region because it is out of the moving range of each of the movable elements 21 to 24, it does not make a detour that passes through a certain region that does not contribute to the displacement of the displacement portions 14a to 14d. Moreover, it flows in a short distance between each lower side area | region of adjacent displacement parts 14a-14d. Therefore, the direction in which the magnetic fluid flowing in the bag-like body 20 flows can be defined as a direction in which the displacement portions 14a to 14d can be quickly displaced, and various outputs used for the operation of the treatment element of the massage machine 10 can be used as the actuator 11. Can be taken out efficiently.

(Fifth embodiment)
Next, a fifth embodiment of the present invention will be described with reference to FIG.
The fifth embodiment is different from the first embodiment in the internal structure of the bag-like body in the actuator 11, and is otherwise the same as the first embodiment. Further, in contrast to the fourth embodiment, it differs from the fourth embodiment in that the distance L between the movers in the row direction and the column direction is narrow. Therefore, the following description will be mainly focused on differences from the first embodiment and the fourth embodiment, and the same components are simply denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 12, the bag-like body 20 in the actuator 11 of the present embodiment is located outside the moving range of the movers 21 to 24 that are moved by the magnetic force generated from each stator (not shown) ( In FIG. 12, a certain region (substantially central portion of the bag-like body 20) is constituted by a welded portion 30 in which inner surfaces facing each other in the vertical direction of the bag-like body 20 are welded. That is, as in the case of the fourth embodiment, a certain region at a position outside the moving range of the movable elements 21 to 24 in the bag-like body 20 is a blocking region that blocks the flow of the magnetic fluid. Further, each of the movable elements 21 to 24 has an interval L between other movable elements adjacent in parallel on the upper surface (one surface) of the bag-like body 20, so that the excitation control of each of the stators 16 to 19 is performed by the control device 12. The distance between the stators 16 to 19 and the movers 21 to 24 that are paired with each other when not in the state (for example, the thickness H of the bag-like body 20 in the normal state shown in FIGS. 3B and 3C) ) It is set to be as follows.

  Therefore, also in this embodiment, when the bag-like body 20 is locally pressed from the outside by the movers 21 to 24 and deformed, the magnetic fluid does not pass through the region where the welded portion 30 is formed. It flows so that it may pass between each lower area | region of adjacent displacement parts 14a-14d by the distance (= space | interval L) still shorter than the case of 4th Embodiment. Therefore, also in this embodiment, the same effects as (1) to (5) in the first embodiment and (7) in the fourth embodiment can be obtained, and the following effects can also be obtained. .

  (8) When the magnetic fluid in the bag-like body 20 flows between the lower regions of the adjacent displacement portions 14a to 14d, the movers 21 to 24 corresponding to the displacement portions 14a to 14d are adjacent to each other. Since the space | interval L with another needle | mover is narrow, when deform | transforming the bag-like body 20, a magnetic fluid can be made to flow between each lower area | region of adjacent displacement parts 14a-14d much faster.

(Sixth embodiment)
Next, a sixth embodiment of the present invention will be described with reference to FIG.
The sixth embodiment is different from the first embodiment in the number of stators, movers, displacement portions, and bag-like bodies in the actuator 11, and the other points are the same as those in the first embodiment. Therefore, the following description will be mainly focused on differences from the first embodiment, and the same components are simply denoted by the same reference numerals and redundant description is omitted.

  As shown in FIG. 13, the actuator 4 of the present embodiment has a structure in which four stators (not shown), four movable elements 21 to 24, and one bag-like body 20 are provided on the substrate 15. Two displacement units 31 to 34 are arranged in a matrix of 2 rows and 2 columns. That is, the displacement units 31 to 34 are adjacent to each other in the row direction and the column direction so that the movable elements 21 to 24 included in the displacement units are arranged in parallel on the upper surface side (one surface side) of the actuator 11. Has been placed. The stators in the displacement units 31 to 34 are subjected to excitation control by the common control device 12.

  Now, for example, in the actuator 11 shown in FIG. 13, it is assumed that all 16 movers 21 to 24 arranged in parallel in each of the displacement units 31 to 34 are arranged in parallel in the same bag-like body 20. In this case, in order to obtain an output obtained by displacing only one displacement portion 14a in the upper left corner as shown in FIG. 13, it is necessary to excite each of the stators corresponding to the other 15 displacement portions. In other words, in this case, the number of stators to be excited increases, resulting in an increase in power consumption.

  In this regard, in the case of the present embodiment, in a broad sense, each of the four displacement units 31 to 34 can be regarded as a displacement unit that can be individually controlled. In that case, as shown in FIG. 13, the other three displacement portions (second displacement portion 14b to fourth displacement portion 14d) other than the first displacement portion 14a in the one displacement unit 31 in the upper left corner, Only three corresponding stators are excited by energizing each coil. Then, a total of twelve stators arranged in parallel with the other three displacement units 32 to 34 other than the one displacement unit 31 at the upper left corner may be de-energized. For this reason, power consumption is sufficient to excite only the three stators in the single displacement unit 31 in the upper left corner, so that an output can be efficiently obtained in terms of energy saving.

  In the present embodiment as well, when the movable elements 21 to 24 individually corresponding to the excited stators are moved based on the selective excitation control of each stator by the control device 12, the non-excited stators are moved. The displacement portions 14a to 14d corresponding to the positions of the bulges are displaced upward and the bulge output of the bulges is used as an output for operating the treatment element of the massage machine 10. Therefore, also in this embodiment, while being able to acquire the same effect as (1)-(5) in 1st Embodiment, the following effects can also be acquired.

  (9) Each of a plurality (four as an example, four in this embodiment) of the displacement units 31 to 34 is regarded as a individually controllable displacement unit, and any one of the displacement units is replaced by any one of the displacement units. Is displaced so as to be a bulging part by excitation control of the corresponding stator, and in the other displacement units, if all the stators are not excited, a desired output can be obtained while saving energy.

(Seventh embodiment)
Next, a seventh embodiment of the present invention will be described with reference to FIG.
The seventh embodiment is different from the first embodiment in the form and number of bag-like bodies in the actuator 11 and the number of stators and movers provided in one bag-like body, and the other points are the first. This is the same as the embodiment. Therefore, the following description will be mainly focused on differences from the first embodiment, and the same components are simply denoted by the same reference numerals and redundant description is omitted.

  As shown in FIGS. 14A to 14D, two stators (not shown) and two movable elements 21, 22 (23, 24) and 1 are provided on the substrate 15 in the actuator 11 of the present embodiment. Two displacement units 41 and 42 each having a single bag-like body 20 are arranged side by side. That is, the displacement units 41 and 42 are arranged side by side so that two flat bag-like bodies 20 having a rectangular shape obtained by dividing the substrate 15 into substantially equal parts are in contact with each other.

  A plurality (two in this embodiment) of movable elements 21 and 22 are provided on the upper surface (one surface) of the bag-like body 20 in one (for example, the upper side in FIG. 14A) of the bag-like body 20. They are arranged in parallel in the longitudinal direction at a predetermined interval. In addition, a plurality (two in this embodiment) of movable elements 23 and 24 are provided on the upper surface (one surface) of the bag-like body 20 in the displacement unit 42 on the other side (for example, the lower side in FIG. 14A). Are arranged in parallel at a predetermined interval in the longitudinal direction.

  And each site | part in which the 1st needle | mover 21 and the 2nd needle | mover 22 22 are arrange | positioned in the bag-shaped body 20 of one displacement unit 41 is the bag of the 1st displacement part 14a and the 2nd displacement part 14b, and the other displacement unit 42. Each part in the shape body 20 where the third movable element 23 and the fourth movable element 24 are arranged constitutes a third displacement part 14c and a fourth displacement part 14d. That is, similarly to the case of the sixth embodiment already described in the present embodiment, the movable elements 21 to 24 provided in the adjacent displacement units 41 and 42 are all the upper surfaces of the actuator 11. It arrange | positions so that it may become a juxtaposition state in the side (one surface side).

  On the lower surface side of each bag-like body 20 on the substrate 15, stators 16, 17 (18, 19) paired with the movable elements 21, 22 (23, 24) arranged side by side on the upper surface side. Two are arranged side by side. When each of the stators 16 and 17 (18, 19) is selectively excited and controlled by the control device 12, one of the movable elements paired with the stator that is the excitation target forms the bag-like body 20. By causing the magnetic fluid in the bag-like body 20 to flow by being locally pressed and deformed, the displacement portions 14a to 14d at positions corresponding to the other mover are displaced to form a bulge portion. It has become.

  That is, the case of FIG. 14A is a case where the bulging portion is formed by the first displacement portion 14a in the upper left corner. In this case, each stator of the second displacement unit 42 is not excited, Only the stator paired with the second movable element 22 corresponding to the second displacement portion 14b in the one displacement unit 41 is excited. Then, the second mover 22 moves and locally presses the bag-like body 20 to deform the bag-like body 20, so that the magnetic fluid inside flows toward the lower region of the first displacement portion 14a. Then, the first displacement portion 14a is pushed upward. As a result, only the first displacement portion 14a at the upper left corner becomes the bulging portion, and the bulging output is used as an output for operating the treatment element of the face massage machine 10.

  Thereafter, when the bulging portion is formed by the second displacement portion 14b in the upper right corner, the first displacement unit 41 in the first displacement unit 41 is similarly left unexcited. Only the stator paired with the first movable element 21 corresponding to the displacement portion 14a is excited. Thereafter, when the bulging portion is formed by the third displacement portion 14c at the lower right corner, each stator of the first displacement unit 41 is left unexcited, and the fourth displacement portion 14d in the second displacement unit 42 is left unexcited. Only the stator paired with the corresponding fourth movable element 24 is excited. Thereafter, when the bulging portion is formed by the fourth displacement portion 14d at the lower left corner, similarly, the third displacement portion in the second displacement unit 42 is left with the respective stators of the first displacement unit 41 left unexcited. Only the stator paired with the third mover 23 corresponding to 14c is excited.

Therefore, according to the present embodiment, it is possible to obtain the same effects as the effects shown in (1) and (5) in the first embodiment and (9) in the sixth embodiment.
In addition, you may change said each embodiment into another embodiment as follows.

In each of the above embodiments, the fluid sealed in the bag-like body 20 may be a liquid such as oil or water in addition to the magnetic fluid, and may be a gas such as air.
In the sixth embodiment and the seventh embodiment, the actuator 11 may be configured to include three or five or more displacement units 31 to 34, 41, 42 in addition to two or four.

  -In the said 1st-3rd embodiment and 5th-7th embodiment, the space | interval L between each needle | mover 21-24 arranged in parallel by the one surface side of the bag-shaped body 20 is from thickness H of the bag-shaped body 20. FIG. May be wide.

  -In the said 4th Embodiment and 5th Embodiment, the interruption | blocking area | region which interrupt | blocks the flow of the fluid in the bag-like body 20 is not based on the welding part 30 which welded the inner surfaces which the bag-like body 20 opposes, You may make it form by pinching the fixed area | region of the position which remove | deviated from the movement range of the needle | mover 21-24 in the bag-shaped body 20 from the both sides of the thickness direction of the bag-shaped body 20. FIG.

-In each said embodiment, the structure by which five or more pairs of a stator and a movable element are provided in one bag-like body 20 may be sufficient.
In each of the above embodiments, the shape of the movers 21 to 29 is not limited to a square shape or a circular shape, and may be an arbitrary shape.

  In each of the above-described embodiments, the actuator 11 is not limited to the face massage machine 10 and obtains an output for operating the treatment element to a massage machine that treats a part of the body other than the face F such as the back and legs. The structure provided for this may be sufficient.

  DESCRIPTION OF SYMBOLS 10 ... Face massage machine (massage machine), 11 ... Actuator, 12 ... Control apparatus (control part), 14a-14i ... Displacement part, 16-19 ... Stator, 16a-19a ... Stator core, 16b-19b ... Coil 20 ... bag-like body, 21-29 ... movable element, 30 ... welded part (blocking area), 31-34, 41, 42 ... displacement unit, L ... interval.

Claims (8)

A stator having a stator core and a coil and generating magnetic force by being excited by energization of the coil;
A mover that moves by the magnetic force generated by the stator;
A bag-like body that is disposed within a moving range of the mover in a state of enclosing a fluid, and is deformable so as to form a local bulge portion when pressed by the moved mover;
A control unit for controlling excitation of the stator;
With
An actuator that obtains as an output a bulge output of the bulge portion in the bag-like body,
A plurality of stators and a plurality of movable elements are provided in one bag-like body,
Three or more displacement parts that can become the bulging part by being displaced are arranged in parallel on one side,
In the control unit, the direction in which the displacement part that has been displaced and becomes the bulging part among the displacement parts appears in a straight line connects one displacement part and another displacement part in a straight line. An actuator that controls excitation of each of the stators so as to have a plurality of directions including directions. The actuator according to claim 1, wherein
Three or more pairs of the stator and the movable element are provided in one bag-like body, and three or more displacement portions are arranged in parallel on one surface side of the one bag-like body. Actuator. The actuator according to claim 1 or 2,
The actuator according to claim 1, wherein a fixed region at a position outside the moving range of each movable element in the bag-like body is a blocking region for blocking the flow of the fluid. In the actuator according to any one of claims 1 to 3,
Each of the movers is paired with each other in a state where an interval between other movers adjacent to each other is not controlled by the control unit. An actuator that is set to be equal to or less than the distance between the actuator and the actuator. In the actuator according to any one of claims 1 to 4,
The said control part can change the number of the stators made into excitation object among the several said stators provided in one said bag-like body for every excitation timing, The actuator characterized by the above-mentioned. In the actuator according to any one of claims 1 to 5,
A plurality of displacement units each including the stator, the mover, and the bag-like body are provided, and each displacement unit has a state in which adjacent displacement units are arranged side by side with each other. An actuator characterized by being arranged to do so. In the actuator according to any one of claims 1 to 6,
The actuator is characterized in that the fluid is a magnetic fluid.   The massage machine characterized by performing a user's body treatment using the output obtained from the actuator as described in any one of Claims 1-7.

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