JP2013198624A - Massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a massage machine capable of smoothly and securely disposing a backrest part and a leg support part at positions appropriately corresponding to the treatment by tilting the leg support part supporting legs in synchronization with the backrest part and tilting the leg support part independently from the backrest part.SOLUTION: An actuator 15d is disposed between a leg support part 15 and a lower part of a backrest frame 16 for the leg support part 15 to support legs on the front side of a seat 12. By moving the leg support part 15 with a backrest part 13 as a reference with the operation of the actuator 15d, the state of tilting the leg support part 15 to a base part 11 or the seat 12 independently from the backrest part 13 can be obtained. On the other hand, while the actuator is stopped, the leg support part 15 can be tilted synchronously with the connected backrest part 13. The treatment can be smoothly and appropriately performed by selecting an optimal tilting state of the leg support part 15 according to a mode of performing various kinds of treatment, and quickly adjusting the backrest part 13 and the leg support part 15 at suitable positions for the treatment.

Description

  The present invention relates to a massage machine that can support a user's leg by providing a leg support portion that tilts in front of the seat on which the user is seated.

  A chair-type massage machine that performs a massage operation while supporting the body of the user is usually a massaging ball as a treatment element provided on the backrest, and itching or hitting the user leaning on the backrest In addition to this, a leg support part (ottoman, footrest) with a built-in treatment mechanism is provided so that the prescribed treatment can be performed on the legs of the user. There is.

  Such massage machines are often designed to easily adjust the inclination angle of the backrest and leg support using an actuator, depending on the type of treatment and the preference of the posture of the user in the treatment state. . As examples of conventional massage machines that adjust the inclination angles of the backrest and the leg support with actuators as described above, there are those disclosed in Japanese Patent Application Laid-Open No. 2008-35875 and Japanese Patent Application Laid-Open No. 2008-80048.

  On the other hand, even in a normal chair that is not a massage machine, a chair that can adjust the angle of the backrest is used. In addition, some of these chairs use leg support portions to support the legs so that a seated person takes an appropriate posture when the backrest portion is tilted.

In such a chair, the leg support portion is generally used in a reclining state in which the backrest portion is tilted. For this reason, in the normal state where the backrest part stands, the leg support part is accommodated under the seat part, while when the backrest part is in the reclining state, the leg support part is attached to this in conjunction with the operation of tilting the backrest part. Conventionally, a mechanism for moving a leg to an appropriate position where it can be placed has been proposed.
One example of a chair using such a mechanism that interlocks the tilting of the backrest and the movement of the leg support is disclosed in Japanese Patent Application Laid-Open No. 2000-236978.

JP 2008-35875 A JP 2008-80048 A JP 2000-236978 A

  The conventional massage machine is configured as shown in Patent Documents 1 and 2, and when the backrest portion is in a reclining state during treatment, the leg support portion is determined from the relationship of the posture of the user receiving treatment. In many cases, the backrest and the leg support are tilted together such that the leg is moved to an appropriate position where the leg can be placed in front of the seat. However, if you try to move the backrest and leg support together with a conventional massage machine, the backrest and leg support are not linked to each other, so it is necessary to control the actuator to tilt each at the same time. It was.

  In the case of the above-mentioned chair, as shown in Patent Document 3, there is a mechanism for interlocking the backrest and the footrest, and each can be easily placed in an appropriate arrangement state. However, since it is a simple link mechanism in which the backrest and the footrest are connected via an intermediate node, the tilting of one side is merely linked to the tilting of the other side.

  And if such a mechanism is applied to a massage machine, even if the backrest portion and the leg support portion are interlocked, the backrest portion and the leg support portion are mutually restrained, and individual angle adjustment cannot be performed. In this case, troubles may occur depending on the type and combination of treatments, such as when it is necessary to significantly change the position of the backrest or leg support part in accordance with changes in treatment, and such an interlocking mechanism should be simply adopted. Had the problem of not being able to.

  On the other hand, in the conventional massage machine, the actuator for tilting the leg support portion is provided with both ends attached to a frame that supports the leg support portion from the inside and a frame that supports the seat portion from the inside. Moreover, the actuator which tilts the backrest part in the conventional massage machine was attached and arrange | positioned to the flame | frame of a seat part, and the frame which supports a backrest part from the inside, respectively.

  Among these, in the frame of the seat portion, the position where the end portion of the actuator for tilting the leg support portion is attached is based on the positional relationship for allowing the leg support portion to tilt to an inclination angle that is close to the horizontal. As shown in FIG. 2, it must be set to a projecting portion that is spaced downward from the seating surface portion of the seat portion, leading to an increase in the number of parts constituting the frame of the seat portion.

  In addition, a large load is applied through the actuator when supporting the leg portion of the user at the position where the actuator end is attached in the frame of this seat portion, so that the deformation of the frame is suppressed against the load, It is necessary to provide sufficient rigidity so that the function as a frame can be achieved without problems. In this way, the increase in the number of parts of the frame and the adoption of the configuration for increasing the frame strength overlap with each other, thereby increasing the cost of the frame forming the seat.

  The present invention has been made in order to solve the above-described problems. The back support and the leg support are provided by making both the tilt of the leg support supporting the leg interlock with the back and the tilt independent of the back support. It is an object of the present invention to provide a massage machine that can smoothly and reliably be disposed at a position appropriately corresponding to treatment, and that can simplify the structure of the seat portion by improving the connection position of the actuator to each frame.

  A massage machine according to the present invention includes a seat part and a backrest part supported on a base part, and a massage machine in which a leg support part for supporting a leg on the front side of the seat part is disposed. The backrest frame that supports the interior from the inside is pivotally supported by the base portion and can be tilted with respect to the base portion together with the backrest portion, and at least a part of the backrest frame is below the tilt center of the backrest frame. The leg support part frame that supports the leg support part from the inside is disposed so as to be tiltable with respect to the base part together with the leg support part with the end of the frame as a center of tilting. It is disposed between a predetermined location below the tilt center and a predetermined location that is a predetermined distance away from the tilt center of the leg support portion frame, and the length is changed by operation to change the backrest portion frame. Changing the distance between the predetermined portion of the predetermined portion and the leg support portion frame over arm, but with the leg support actuator for moving the leg support frame relative to the backrest frame.

  As described above, according to the present invention, the leg support actuator is disposed between the leg support and the lower part of the backrest frame with respect to the leg support that is disposed to be tiltable on the front side of the seat and supports the leg. The leg support part is moved with reference to the backrest part by the operation of the leg support part actuator. As a result, the leg support unit actuator is actuated to obtain a state in which the leg support unit is tilted with respect to the base part or the seat part independently of the backrest part. The leg support is tilted in conjunction with the tilting of the backrest connected via the actuator, and the optimal tilting state of the leg support is selected according to the execution mode of various treatments, and the backrest and the leg support are promptly selected. By adjusting the position to a position suitable for treatment, treatment to each part of the body of the user including the leg portion can be performed smoothly and appropriately, and an excellent treatment effect can be imparted to the user.

  In addition, the leg support unit actuator is arranged between the leg support unit and the lower part of the backrest frame, and the leg support unit is moved by changing the distance between them by the actuator. While ensuring, the seat portion does not need to be provided with a special structure that protrudes to attach the actuator end portion as in the prior art, so that the seat portion structure can be simplified and reduced in weight.

  Further, the massage machine according to the present invention is supported by the base part by attaching the seat part frame supporting the seat part from the inside to the base part as needed, and the backrest frame. One end is connected to the lower part of the lower side of the tilt center at the center, and the other end is connected to the front part of the seat frame, and the distance between both ends is changed within a predetermined range by operation. A backrest actuator that changes the distance between the lower portion of the backrest frame and the front portion of the seat frame and moves the backrest frame relative to the seat frame, and the backrest frame is one end of the backrest actuator in the lower portion. In the vicinity of the part to which the part is connected, a predetermined part having the same strength as the part is used as the predetermined part and connected to one end of the leg support actuator. It is.

  As described above, according to the present invention, with respect to the backrest portion that is disposed so as to be tiltable, one end portion of the backrest portion actuator is connected to the lower portion thereof, and the other end portion is connected to the front portion of the seat portion frame. The back portion is tilted relative to the seat portion by moving the lower portion of the seat portion by the operation of the back portion actuator with reference to the seat portion. As a result, the backrest that tilts with respect to the seat with the operation of the backrest actuator is also tilted with respect to the base, and the backrest actuator is operated according to the situation of treatment, etc. An appropriate inclination angle can be obtained. Also, if the seat tilts, if the backrest actuator is stopped, the backrest is linked to the tilt of the seat connected via this actuator, and the leg support actuator is stopped. In addition, both the leg support part and the backrest part are tilted in conjunction with the tilting of the seat part, and the tilted state of the backrest part and the leg support part can be adjusted at a time according to the adjustment of the seat part according to treatment.

  Further, the massage machine according to the present invention is configured so that the leg support portion actuator has a tilting center of the backrest portion frame that is lower than a portion where one end portion of the backrest portion actuator is connected to the lower portion of the backrest portion frame. The one end is connected to a predetermined part where the distance from the terminal becomes shorter.

  As described above, according to the present invention, the position where the leg support portion actuator end is connected to the backrest frame is closer to the tilting center of the backrest portion frame than the position where the backrest portion actuator end is connected to the backrest frame. The position is close, and the influence of the rotational moment around the center of tilt applied to the backrest frame from the leg support part side via the leg support part actuator is made smaller than the influence of the rotational moment applied to the backrest part frame from the backrest part actuator. As a result, even if the force applied to the backrest frame from the leg support side changes as the leg support actuator is tilted by operating the leg support actuator, the backrest has a greater influence on the backrest frame. The part actuator is able to counteract the force from the leg support part side with the force to maintain the position of the back part frame, and maintain the inclination angle of the back part as originally assumed by the back part actuator, The influence of the tilting of the leg support portion on the backrest portion is suppressed, and the user who is leaning on the backrest portion does not feel uncomfortable such as rattling.

  Moreover, the massage machine according to the present invention is configured such that the seat frame is pivotally supported by the base portion at the rear portion of the frame, and can be tilted with respect to the base portion together with the seat portion. It is arranged between the front part of the seat frame and the predetermined part of the base part, and the length is changed within a predetermined range by the operation, so that the distance between the front part of the seat part frame and the predetermined part of the base part is increased. In other words, a seat portion actuator for tilting the seat portion with respect to the base portion is provided.

  As described above, according to the present invention, one end of the seat actuator is connected to the front portion of the seat frame with respect to the seat disposed so as to be tiltable with respect to the base, and the operation of the seat actuator is performed. By changing the position of the front part of the seat part and tilting the seat part with respect to the base part, the seat part actuator is actuated according to the situation such as treatment to obtain an appropriate inclination angle of the seat part. Can do. In addition, when the backrest actuator is in a stopped state, the backrest connected to the tilting of the seat via the backrest actuator is interlocked, and if the leg support actuator is further stopped, the leg support and backrest Both of them can be tilted in conjunction with the tilt of the seat. In this case, even if the seat portion is tilted, the angle between the seat portion and the backrest portion and the angle between the seat portion and the leg support portion can be hardly changed, and the posture of receiving treatment by the user The contact strength between the user and the seat, the backrest, and the leg support is changed according to the interlocking tilting of each part, and the strength of treatment is adjusted.

It is a perspective view of a massage machine concerning one embodiment of the present invention. It is a top view of the internal mechanism of the massage machine concerning one embodiment of the present invention. It is a left view of the internal mechanism of the massage machine which concerns on one Embodiment of this invention. It is a block diagram of a massage machine concerning one embodiment of the present invention. It is arrangement | positioning explanatory drawing of the seat part actuator in the massage machine which concerns on one Embodiment of this invention. It is arrangement | positioning explanatory drawing of the backrest part actuator in the massage machine which concerns on one Embodiment of this invention. It is initial state explanatory drawing of the internal mechanism in the massage machine which concerns on one Embodiment of this invention. It is a 1st state explanatory view of an internal mechanism in a massage machine concerning one embodiment of the present invention. It is a 2nd state explanatory view of the internal mechanism in the massage machine concerning one embodiment of the present invention. It is a 3rd state explanatory view of the internal mechanism in the massage machine concerning one embodiment of the present invention. It is an independent operation state explanatory view of the seat part actuator in the massage machine concerning one embodiment of the present invention. It is an operation state explanatory view of each actuator at the time of seat part tilting of the massage machine concerning one embodiment of the present invention. It is an operation state explanatory view of each actuator of a backrest part and a leg support part at the time of backrest part tilting of a massage machine concerning one embodiment of the present invention.

Hereinafter, a massage machine according to an embodiment of the present invention will be described with reference to FIGS.
In each of the drawings, the massage machine 1 according to the present embodiment is a chair-like body that supports a seated user, and in detail, is a base that is placed on the floor and stably supports the entire chair. Part 11, a seat part 12 that supports the user's buttocks above the base part 11, a backrest part 13 that supports the user's back on the back side of the seat part 12, and both left and right sides of the seat part 12 The armrest 14 that supports the elbow and forearm of the user, the leg support 15 that supports the leg of the user on the front side of the seat 12, and the remote controller 30 that receives various operation inputs related to the massage operation. And a control unit 40 that controls the massage operation by the plurality of treatment mechanisms based on the contents of operation input, recorded information, and the like.

  The said base part 11 is mounted on the floor surface as a massage machine installation surface, and supports the said seat part 12, the backrest part 13, the armrest part 14, and the leg support part 15 which make each part of a chair. This base part 11 is a combination of a frame-like base frame 11a to which the seat part 12 and the backrest part 13 can be tilted, and an outer shell part 11b arranged to surround the base frame 11a. It is a configuration.

  The seat portion 12 is supported so that the inclination angle of the seat surface can be adjusted with respect to the base portion 11, and performs massage with a built-in treatment mechanism while supporting the buttocks and thighs of the user on the seat surface. As the treatment mechanism, a heel part air cell 71 and a thigh part air cell 72 that operate by supplying and discharging air are provided. An air pump 70 that operates these air cells by supplying and discharging air is disposed in a space below the seat portion 12.

  The seat 12 has a seat frame 12b that is located on the back side of the seat surface 12a and below each air cell and supports the entire seat. The rear part of the seat frame 12 b is pivotally supported on the upper part of the base frame 11 a of the base part 11. On the other hand, between the front part of the seat part frame 12b and the lower part of the base frame 11a of the base part 11, a seat part actuator 12d for tilting the seat part 12 is disposed.

  The seat frame 12b has a strength that does not deform against the load applied from the seated user and the force applied relatively from the lower front side to which the seat actuator 12d and the like is connected in the state where the massage machine is used. Thus, the structure as a frame can be achieved without problems.

  The seat actuator 12d is a known linear actuator having a mechanism for changing the length by expanding and contracting within a predetermined range as a whole by linearly moving the movable portion with respect to the fixed portion. The seat actuator 12d is located in a space formed below the seat 12 and inside the base 11, and is connected to the front portion of the seat frame 12b of the seat 12 so that one end can be tilted. On the other hand, the other end is connected to a predetermined position below the seat part below the base frame 11a of the base part 11 so as to be tiltable, and with the change in length due to expansion and contraction, the front part of the seat part frame 12b and This is a configuration in which the space between the lower portion of the base frame 11 a is changed and the seat portion 12 is tilted with respect to the base portion 11.

  As in the case of a general linear actuator, the seat actuator 12d is provided with detection means for detecting the amount of movement of the movable part relative to the fixed part, that is, the amount of expansion / contraction of the entire actuator, for example, an encoder.

  The seat 12 is a mechanism that tilts around the shaft support portion at the rear portion of the seat frame 12b and changes the tilt angle of the seat surface by expansion and contraction accompanying the operation of the seat actuator 12d. Since the displacement associated with the tilt of the seat portion 12 corresponds to the displacement due to the expansion and contraction of the seat portion actuator 12d, the control portion 40 detects the amount of expansion and contraction of the seat portion actuator 12d. The tilting state can be grasped.

  In addition, the seat portion 12 is configured such that, in the initial state, the front portion is positioned slightly higher than the rear portion, and the seat surface is inclined at a predetermined angle, for example, about 5 ° with respect to the horizontal plane. If the seat 12 is tilted greatly, it is not easy for the user to sit down or stand up from the seat 12, so that the user sits on the seat 12 as much as a general chair. The inclination angle in the initial state of the seat 12 where such an action is performed is set so that the act of standing up and away from the seat 12 can be performed smoothly.

  In addition, the tilting range of the seat 12 is limited by the operating range of the seat actuator 12d, and a part of the base frame 11a of the base 11 at a predetermined tilting position, for example, a position where the lower limit of tilting is desired. The tilting range may be set on the basis of the movable range of the seat portion itself, such as abutment with the seat portion frame 12b as a stopper. In this case, avoiding a situation in which an excessive force is concentrated and applied to the seat actuator 12d from the seat 12 to be lowered by placing a heavy object on the seat 12 by mistake, etc., leading to damage to the actuator. You can also.

  The backrest portion 13 has a surface shape that matches the shape of the human back and is arranged so that the inclination angle can be adjusted with respect to the base portion 11 and the seat portion 12, and a treatment mechanism for performing massage is provided therein. It is the composition provided.

  Inside the backrest part 13 is a mechanical unit 50 in which a pair of left and right kneading balls 51 as a treatment element and a drive mechanism part 60 for operating the same are integrated, and the mechanical unit 50 can be moved in the vertical direction of the backrest part 13. A frame-like backrest frame 16 that supports each part of the backrest portion from the inside while supporting, and a back air cell 73 and a waist air cell 74 that are operated by supplying and discharging air by the air pump 70 are provided. . Of these, the mechanical unit 50, the back air cell 73, and the waist air cell 74 each constitute a treatment mechanism for performing massage. In addition, left and right armrest portions 14 are integrally attached to the backrest portion 13, and the armrest portion 14 can be tilted with respect to the base portion 11 together with the backrest portion 13.

  In addition, a pair of side wall portions provided with a treatment mechanism such as an air cell on the inner surface facing the user is provided on both the left and right sides of the backrest portion 13 so as to protrude from the upper arm of the user. You can also make it possible to massage from the side.

  The backrest frame 16 includes a pair of left and right guide frames 20 that allow the mechanical unit 50 to move in the vertical direction of the backrest 13 and restrain and support movement in other directions, and a pair of upper and lower guide frames 20 that form a frame with the guide frame 20. The horizontal frame 16a and a reinforcing frame 16b installed between the left and right guide frames 20 at an intermediate position in the vertical direction.

  The backrest part frame 16 is pivotally supported by the lower part of the left and right guide frames 20 on the upper part of the base frame 11 a of the base part 11, and is supported to be tiltable with respect to the base part 11 as the entire backrest part frame 16. A backrest portion actuator 13d for tilting the backrest portion 13 is disposed between the horizontal frame 16a positioned below the tilt center of the backrest portion frame 16 and the seat frame front portion.

  The lower horizontal frame 16a of the backrest frame 16 is configured to apply a load applied to the backrest 13 from the user in a state where the massage machine is used based on the connection with the backrest actuator 13d. The force to push and contract this is transmitted to the backrest actuator 13d connected. For this reason, the horizontal frame 16a has sufficient strength not to be deformed with respect to the transmission of such force, and has a structure that can perform the function as a frame without any problem.

  It should be noted that in the backrest part frame 16, the pivotal support position of the base part 11 to the base frame 11a is the same as the pivotal support position of the seat part frame 12b in the base frame 11a, and the backrest part 13 is the base part. 11, the tilting center is the same as the tilting center of the seat 12, and is supported so as to be tiltable.

  Like the seat actuator 12d, the backrest actuator 13d is a known linear actuator having a mechanism that changes its length by expanding and contracting within a predetermined range as a whole by linearly moving the movable part relative to the fixed part. . The backrest actuator 13d is located in a space formed below the seat 12 and inside the base 11, and is connected to the horizontal frame 16a below the backrest frame 16 so that one end thereof can be tilted. On the other hand, the other end portion is connected to the front portion of the seat frame 12b of the seat portion 12 so as to be tiltable, and the distance between the lower portion of the backrest frame 16 and the front portion of the seat frame 12b is changed as the length changes due to expansion and contraction. As a result, the backrest 13 is tilted with respect to the seat 12, and as a result, the backrest 13 is tilted with respect to the base 11. As in the case of a general linear actuator, the backrest actuator 13d is provided with detection means such as an encoder that detects the amount of movement of the movable portion relative to the fixed portion, that is, the amount of expansion and contraction of the entire actuator.

  The backrest portion 13 tilts around the shaft support portion of the backrest portion frame 16 to the base frame 11a due to the expansion and contraction accompanying the operation of the backrest portion actuator 13d, and the inclination angle of the entire backrest portion 13, that is, the reclining angle. It is a mechanism to change. When the backrest 13 is tilted, the amount of expansion / contraction of the backrest actuator 13d is detected, so that the control unit 40 obtains the tilting state of the backrest 13 relative to the seat 12 and is obtained from this and the amount of expansion / contraction of the seat actuator 12d. By combining the inclination angle of the seat portion 12, the tilting state of the backrest portion 13 with respect to the base portion 11 can be grasped.

  The mechanical unit 50 includes a pair of left and right rubbing balls 51 as a treatment element that gives a user a stimulus such as rubbing and hitting, and a pair of left and right rubbing ball support arms 52 that respectively support the rubbing balls 51 in a protruding state. The drive mechanism 60 that drives the massage balls 51 in response to massage operations such as hitting and the like, and the axis of the backrest that is perpendicular to the vertical direction is tilted about the drive mechanism 60. It is the structure provided with the base part 54 supported so that it is possible.

  The drive mechanism section 60 strikes the kneading balls 51 based on the control of the kneading balls 51 based on the control of the kneading motors 51 that generate a driving force for causing the kneading balls 51 to perform the kneading actions based on the control of the control section 40. A hitting motor 64 that generates a driving force for performing the movement, and a kneading mechanism and a hitting mechanism (not shown) that transmit the motion from each motor to the kneading balls 51 via the kneading ball support arms 52. This mechanism is the same as that used in the massage machine, and will not be described in detail.

  The base portion 54 supports the drive mechanism portion 60 so as to be tiltable. In addition, based on the control of the control portion 40, a lift motor 57 that generates a drive force for lifting the mechanical unit, and a drive mechanism portion. And an advancing / retracting motor 58 for generating a driving force for tilting 60.

  The mechanical unit 50 is arranged in a state of being sandwiched between the guide frames 20 by supporting the side end portions of the base portion 54 on the pair of guide frames 20 so as to be able to run up and down, and the mechanical unit 50 as a whole along the guide frames 20. This configuration is movable. Then, based on the control by the control unit 40, the lifting motor 57 is actuated so that the base unit 54 travels along the guide frame 20, so that the entire mechanical unit 50 including the base unit 54 extends along the guide frame 20. This is a mechanism that moves up and down the backrest part 13 so that the position of the kneading balls 51 in the backrest part 13 (the treatment target site by the kneading balls) can be changed up and down.

  The mechanical unit 50 moves up and down the backrest 13 as described above under the control of the control unit 40 in accordance with the set massage content, and adjusts the vertical position of the kneading balls 51 and advances and retreats. The amount of protrusion of the kneading balls 51 toward the user is adjusted by the tilting of the kneading balls 51 and the drive mechanism 60 by the operation of the motor 58, and the kneading balls 51 are positioned at the massage target location. After the movement of the kneading balls 51 or in parallel with the movement of the kneading balls 51, the control unit 40 activates the motor for kneading and hitting the drive mechanism 60 in the mechanical unit 50 according to the type of massage. The movement corresponding to massage such as itchiness and hitting set in the kneading balls 51 is performed.

  The armrest portion 14 is located on both sides of the seat portion 12 and is integrally connected to the backrest portion 13, and moves as the backrest portion 13 tilts with respect to the base portion 11, so that the forearm of the user can be stabilized. It is the structure formed so that it may support. The armrest portion 14 may also be configured such that an air cell that operates by supplying and discharging air by the air pump 70 can be provided to massage the forearm portion of the user.

  The leg support portion 15 is positioned on the front side of the seat portion 12 and is disposed so as to be tiltable about the vicinity of the front end of the seat portion 12, and the tilt angle is adjusted by a leg support portion actuator 15d on the lower side of the seat portion. . Specifically, the leg support portion 15 includes a leg support portion frame 17 that is located on the back side of the leg support portion and supports the entire leg support portion, and the leg support portion frame 17 is a seat frame 12 b of the seat portion 12. It is a mechanism that is pivotally supported by the front end portion and enables the leg support portion 15 to tilt with respect to the seat portion 12 and the base portion 11. In addition, leg air cells 75, 76, 77, and 78 are disposed in the leg support portion 15 as a treatment mechanism that expands and contracts by supplying and discharging air by the air pump 70.

  Like the seat actuator 12d, the leg support actuator 15d has a mechanism for changing the length by extending and contracting within a predetermined range as a whole by linearly moving the movable part with respect to the fixed part. It is.

  The leg support portion actuator 15d is located in a gap portion formed below the seat portion 12 and inside the base portion 11, and is located at a predetermined position on the back side that is a predetermined distance away from the tilt center of the leg support portion frame 17. The other end is connected to the horizontal frame 16a below the backrest frame 16 so as to be tiltable. And the leg support part actuator 15d changes the space | interval of the leg support part frame 17 and the backrest part frame 16 lower part with the change of the length by expansion / contraction, and makes the leg support part 15 tilt with respect to the backrest part 13. As a result, the leg support portion 15 is also tilted with respect to the seat portion 12 and the base portion 11. As in the case of a general linear actuator, the leg support actuator 15d is provided with detection means such as an encoder that detects the amount of movement of the movable part relative to the fixed part, that is, the amount of expansion and contraction of the entire actuator.

  The other end of the leg support actuator 15d is connected to a horizontal frame 16a below the backrest frame 16. The horizontal frame 16a has a strength in consideration of load transmission based on the connection with the backrest actuator 13d. Since the structure is high, the leg support actuator 15d that receives the load from the leg support 15 can be supported without any problem. Thus, by connecting the end portion of the leg support portion actuator 15d to the lower portion of the backrest portion frame 16 in the same manner as the backrest portion actuator 13d, the seat frame 12b is released from the conventional support of the actuator for the leg support portion. Further, it is not necessary to provide a special structural portion such as a high-strength protruding portion for connecting the actuator end to the seat frame 12b, the frame structure can be simplified and reduced in weight, and the cost of the frame can be reduced.

  In addition, the position of the other end of the leg support actuator 15d connected to the backrest frame 16 is greater than the position of the one end of the backrest actuator 13d connected to the backrest frame 16. The position is close to the center of tilt (see FIGS. 7, 8, 9, and 10). Thus, the influence of the rotational moment around the tilt center applied to the backrest frame 16 from the leg support part side via the leg support part actuator 15d is made smaller than the influence of the rotational moment applied to the backrest part frame 16 from the backrest part actuator 13d. Can do.

  Thereby, even if the force applied to the backrest frame 16 from the leg support portion side changes as the leg support portion actuator 15d is actuated to tilt the leg support portion 15, the degree of influence of the force on the backrest portion frame 16 changes. The backrest portion actuator 13d having a larger length can sufficiently counteract the force from the leg support portion side with the force for maintaining the position of the backrest portion frame 16. As a result, the inclination angle of the backrest portion 13 is maintained at the originally assumed state generated by the backrest portion actuator 13d, and the influence of the tilting of the leg support portion 15 on the backrest portion 13 is suppressed, and the backrest portion 13 is leaned. It is possible to prevent the user from feeling discomfort such as rattling due to the tilting of the leg support 15.

  The leg support portion 15 is a mechanism that tilts around the pivotal support portion of the leg support portion frame 17 to the front end portion of the seat portion 12 by the expansion and contraction operation of the leg support portion actuator 15d to change the tilt angle. By detecting the amount of expansion / contraction of the leg support unit actuator 15d when the leg support unit 15 is tilted, the control unit 40 acquires the tilting state of the leg support unit 15 relative to the backrest unit 13, and the amount of expansion / contraction of the backrest unit actuator 13d. By combining the inclination angle of the backrest portion 13 obtained from the above and the inclination angle of the seat portion 12 obtained from the amount of expansion and contraction of the seat actuator 12d, the leg support portion 15 is tilted with respect to the seat portion 12 and the base portion 11. The state can be grasped.

  The seat portion actuator 12d, the backrest portion actuator 13d, and the leg support portion actuator 15d operate independently of each other. For example, the reclining angle of the backrest portion 13 can be changed while the seat portion 12 is tilted. it can. It is preferable that the respective actuators are simultaneously operated to promptly shift the respective parts to the desired tilted state because the time until the start of treatment can be shortened.

  Further, when the seat portion 12 is tilted by the seat portion actuator 12d, if the backrest portion actuator 13d is maintained in the operation stop state, not only the seat portion 12 is tilted but also the backrest portion 13 is moved with respect to the base portion 11. It tilts and the reclining angle of the backrest 13 changes while the relative positional relationship with the seat 12 remains unchanged (see FIG. 11). Similarly, when the leg support portion actuator 15d is maintained in the operation stop state, the leg support portion 15 is tilted together with the seat portion 12 and the backrest portion 13 without changing the distance from the lower portion of the backrest portion frame 16, thereby The inclination angle with respect to the base portion 11 is changed, and the angle of the leg support portion 15 with respect to the horizontal plane is changed.

  The remote controller 30 includes a large number of switches and display units for receiving various operation inputs to the massage machine, is detachably installed on the stand 31 on the side of the massage machine 1, and transmits operation inputs related to massage to the control unit 40. Is. Note that the position of the stand 31 can be adjusted so that the position of the switch and the display unit of the remote controller 30 is the optimum position for the user.

  The control unit 40 adjusts the other movable parts of the treatment mechanism and the massage machine to a state corresponding to the user based on the detection result obtained by detecting the positions of the body parts of the user in advance. At the same time, control for performing appropriate treatment is performed on the treatment mechanism and other movable parts based on the remote control operation, the treatment contents recorded and set in advance, and the information on the detection result.

  The control unit 40 is a computer including a CPU, a memory, an input / output interface, and the like as its hardware configuration, and is a mechanism that causes the computer to operate as the control unit 40 by a program stored in the memory or the like. The computer constituting the control unit 40 may be a microcomputer in which a CPU, a memory, a ROM, and the like are integrally formed.

  The computer unit constituting the control unit 40 is disposed in a predetermined space inside the massage machine 1 such as directly under the seat 12 and is in a state where it can communicate with the remote controller 30, and various motors of the mechanical unit 50, The seat 12, the backrest 13, the actuators for tilting the leg support 15, and the air pump 70 are electrically connected to each other, and the position of each part of the body of the user is detected based on a preset position detection program. The operation of these drive mechanisms is controlled by the control signal output and by the control signal output based on the set massage data at the time of massage execution.

  In addition, the control unit 40 is also electrically connected to signal output means such as an encoder that outputs the displacement amount of the mechanical unit 50 and each actuator, and the state of the mechanical unit 50, the seat portion 12, the backrest portion 13, In addition, the operation control of the driving means such as the motor and the actuator is performed while grasping the state of the leg support 15 such as the inclination.

  In addition, the control unit 40 controls the mechanical unit 50 to detect the position of each part of the body of the user prior to the massage, in the same manner as a known massage machine, and the guide unit 20 controls the mechanical unit 50 from the initial position in the backrest 13. In the process of moving the kneading balls 51 along the user, a change in pressure with respect to the kneading balls 51 from the user leaning against the backrest 13 and a change in the inclination of the kneading balls 51 are sequentially acquired. Based on this information, the shoulder position, spine line, and waist position of the user can also be detected.

  Next, the inclination angle adjustment process of the seat part, the backrest part, and the leg support part of the massage machine according to the present embodiment will be described. As a premise, the massage machine 1 is in a state in which the seat portion 12, the backrest portion 13, and the leg support portion 15 each have an inclination angle set as an initial state in a power-off state, for example, the inclination angle of the seat portion with respect to the horizontal plane. It is assumed that the angle between the seat portion and the backrest portion is 5 °, and the angle between the seat portion and the leg support portion is 95 ° (see FIG. 7).

  The user sits on the seat 12, leans his back against the backrest 13, puts his leg on the leg support 15, and places the forearm on the armrest 14. In this state, the main power of the massage machine 1 is turned on, the massage machine 1 is activated, and preparatory operations such as detection of the body weight and body shape of the user are performed.

  Thereafter, when the user inputs an inclination angle adjustment instruction such as reclining of the backrest part 13 or an operation state instruction such as a massage course from the remote controller 30, the control unit 40 that receives this inputs the operation of each mechanism part. Let it begin. Specifically, the control unit 40 operates the seat portion actuator 12d to extend with respect to the seat portion 12 in the initial position at the lowest tilting range, and the seat portion frame of the seat portion 12 at one end portion of the seat portion actuator 12d. The front part of 12b is pushed up, and the seat part 12 is tilted upward. When the seat 12 is tilted to the tilt completion position corresponding to the given instruction, the controller 40 stops the operation of the seat actuator 12d and ends the tilt of the seat 12.

  However, if only the seat actuator 12d is operated, for example, from the initial state (see FIG. 7), only the seat actuator 12d is operated to tilt the seat 12, and the tilt angle of the seat 12 with respect to the horizontal plane is Even in the first state of 15 ° (see FIG. 8), the seat portion 12 and the backrest portion 13, and the backrest portion 13 and the leg support portion 15 are interlocked with each other via the actuator, so the backrest portion 13 And the leg support part 15 will tilt while maintaining the relative positional relationship with the seat part 12.

  Further, the control unit 40 operates the backrest portion actuator 13d at the same time as the operation of the seat portion actuator 12d or with a time shift. That is, the backrest portion 13 whose relative positional relationship with the seat portion 12 remains in the initial state is actuated to contract the backrest portion actuator 13d, and the lower portion of the backrest portion 13 with respect to the front portion of the seat portion 12 by the backrest portion actuator 13d. , The backrest 13 is tilted rearward. When the backrest 13 tilts to the tilt completion position corresponding to the given instruction, the control unit 40 stops the operation of the backrest actuator 13d and ends the tilting of the backrest 13.

  However, if only the backrest actuator 13d is operated, for example, from the first state (see FIG. 8), only the backrest actuator 13d is operated to tilt the backrest 13 so that the seat 12 and the backrest 13 are moved. Even in the second state (see FIG. 9) in which the angle formed between the leg support 15 and the leg support 15 is interlocked via the leg support actuator 15d, the leg support 15 The backrest 13 is tilted according to the tilt of the backrest 13.

  Furthermore, the control unit 40 operates the leg support unit actuator 15d at the same time as or with a shift from the operation of the seat unit actuator 12d and / or the backrest unit actuator 13d. That is, the leg support 15 is operated and extended with respect to the leg support 15 whose distance from the lower part of the backrest frame 16 remains in the initial state, and the leg of the leg support 15 at one end of the leg support 15d. The back surface side of the support portion frame 17 is pushed to tilt the leg support portion 15 upward. When the leg support unit 15 tilts to the tilt completion position corresponding to the given instruction, the control unit 40 stops the operation of the leg support unit actuator 15d and ends the tilting of the leg support unit 15.

  If only the leg support actuator 15d is actuated, for example, from the first state (see FIG. 8), only the leg support actuator 13d is actuated to tilt the leg support 15, so that the seat 12 and the leg In the third state (see FIG. 10) in which the angle formed with the support portion 15 is 135 °, the leg support portion 15 is attached to the leg without affecting the inclination angle of the seat portion 12 and the backrest portion 13. It can be tilted by the support actuator 15d.

Thus, each part has an inclination angle desired by the user or an inclination angle corresponding to the treatment from the initial state. Thereafter, treatment is performed as necessary.
And when the inclination angle setting of each part differs for every new treatment, or when the inclination angle adjustment is newly instructed, the operation control of each actuator is executed and the inclination angle of each part is adjusted.

  For the seat part 12, the control part 40 operates the seat part actuator 12d to extend or contract, and moves the front part of the seat part frame 12b of the seat part 12 up or down at one end of the seat part actuator 12d. The seat 12 is tilted to the designated tilt angle.

  In addition, for the backrest 13, the control unit 40 operates the backrest actuator 13 d to expand or contract, and the backrest actuator 13 d moves the lower portion of the backrest 13 forward or backward relative to the front portion of the seat 12. Then, the backrest 13 is tilted until the designated tilt angle is reached. In addition, even if the inclination angle of the seat portion 12 and the backrest portion 13 with respect to the base portion 11 is adjusted, when the angle formed between the backrest portion 13 and the seat portion 12 can be expected to be unchanged before and after the adjustment, When the control unit 40 does not operate the backrest actuator 13d and stops only the seat actuator 12d, the backrest 13 is interlocked with the tilting of the seat 12 via the stopped backrest actuator 13d. The portion 13 can tilt while maintaining the relative positional relationship with the seat portion 12 to reach a desired angle (see FIG. 11).

  In addition, when only the seat 12 is tilted relative to the base 11 and the backrest 13 maintains the tilt angle, the tilt of the seat 12 is tilted via the backrest actuator 13d. Therefore, the control unit 40 operates the backrest actuator 13d so that the backrest 13 is placed in a direction opposite to the tilting direction of the seat 12 due to the operation of the seat actuator 12d. The backrest 13 is moved relative to the backrest 13, the tilting portion due to the interlocking of the backrest portion 13 with the seat portion 12 is canceled out, and the backrest portion 13 is not tilted with respect to the base portion 11 and is maintained in a stopped state. The part 13 and the seat part 12 are set to the designated inclination angles (see FIG. 12).

  Further, for the leg support 15, the control unit 40 operates the leg support actuator 15 d to expand or contract, and the leg support actuator 15 d causes the leg support 15 to move forward or backward relative to the lower portion of the backrest 13. The leg support 15 is moved and tilted until the specified tilt angle is reached.

  Even if the inclination angle of the backrest part 13 and the leg support part 15 with respect to the base part 11 is adjusted, the lower part of the backrest frame 16 and the leg support part frame 17 to which the respective ends of the leg support actuator 15d are respectively connected. If the controller 40 is expected to remain unchanged before and after the adjustment, the control unit 40 stops the leg support actuator 15d without operating the leg support actuator 15d, and operates only the backrest actuator 13d. The leg support 15 is interlocked with the tilt of the backrest 13 via the actuator 15d, and the leg support 15 can be tilted while maintaining a distance from the lower portion of the backrest frame 16 to reach a desired angle (FIG. 8). FIG. 9).

  In addition, while the relative positional relationship of the leg support portion 15 with respect to the seat portion 12 is maintained, when the backrest portion 13 is tilted with respect to the seat portion 12, the tilting of the backrest portion 13 is performed by the leg support portion actuator 15d via the leg support portion actuator 15d. Considering that the tilting of the support portion 15 is caused, the control portion 40 operates the leg support portion actuator 15d so that the direction in which the lower portion of the backrest portion 13 is moved by the operation of the backrest portion actuator 13d is reversed. The leg support part 15 is moved relative to the lower part of the backrest part 13 to cancel the tilting caused by the interlocking with the backrest part 13 of the leg support part 15, and the leg support part 15 does not tilt with respect to the seat part 12 and stops. In this manner, the leg support 15 and the backrest 13 are set to the instructed inclination angles (see FIG. 13).

  When all the treatments are completed and the massager is instructed to stop the operation of the massage machine, the control unit 40 operates the leg support unit actuator 15d and tilts the leg support unit 15 while moving the leg support unit actuator. The length of 15d, in other words, the distance between the lower part of the backrest frame 16 and the leg support frame 17 is returned to the distance in the initial state. At the same time, the backrest actuator 13d is operated to tilt the backrest 13 so that the angle formed between the backrest 13 and the seat 12 is returned to the initial angle. Similarly, the seat actuator 12d is actuated to tilt the seat 12 and return to the initial tilt angle. When the leg support unit 15, the backrest unit 13, and the seat unit 12 are tilted to the inclination angle in the initial state (see FIGS. 3 and 7), the control unit 40 completely stops the operation of each actuator and puts the massage machine in a standby state. And After the leg support part 15, the backrest part 13, and the seat part 12 stop, the user can stand up from the massage machine 1 smoothly and safely and leave the seat.

  As described above, the massage machine according to the present embodiment is configured such that the leg support portion actuator 15d and the leg support portion 15 are connected to the leg support portion 15 with respect to the leg support portion 15 that is tiltably disposed on the front side of the seat portion 12 and supports the leg. The leg support 15 is arranged between the lower portion of the frame 16 and the leg support 15 is moved with reference to the backrest 13 by the operation of the leg support actuator 15d. 15 can be obtained in a state of being tilted with respect to the base portion 11 and the seat portion 12 independently of the backrest portion 13, while the backrest portion 13 connected via this actuator is in a stopped state when the leg support portion actuator 15 d is stopped. The leg support 15 is tilted in conjunction with the tilting of the leg, and the optimal tilting state of the leg support 15 is selected according to the execution mode of various treatments, and the backrest 1 is promptly selected. And the leg support part 15 are adjusted to positions suitable for treatment, and the treatment of each part of the body of the user including the leg part can be performed smoothly and appropriately, and the treatment effect excellent for the user can be achieved. Can be granted.

  Further, the end of the leg support part actuator 15d is connected to the lower part of the backrest part frame 16, and the leg support part 15d is actuated to change the distance between the leg support part 15 and the lower part of the backrest part frame 16 so as to change the leg. Since the support portion 15 is moved, a special structure portion that is in a protruding state for attaching the actuator end portion is not provided on the frame of the seat portion as in the prior art while ensuring a sufficient tilting range of the leg support portion 15. Therefore, the frame structure of the seat portion can be simplified and reduced in weight.

  In the massage machine according to the above-described embodiment, the seat frame 12b of the seat 12 is pivotally supported with respect to the base 11 and the seat 12 is moved to a desired tilt angle by the operation of the seat actuator 12d. Although it is set as the structure which can be adjusted, it is not restricted to this, It can also be set as the structure which fixes a seat part to a base part and hold | maintains the inclination angle uniformly. In this case as well, the leg support unit actuator is actuated to obtain a state in which the leg support unit is tilted with respect to the base unit and the seat unit independently of the backrest unit. Further, when the leg support actuator is stopped, the leg support is tilted in conjunction with the tilt of the backrest connected via the actuator. In this way, the optimal tilting state of the leg support part can be selected according to the execution mode of various treatments, and the leg support part can be quickly adjusted to a position suitable for treatment, so that the treatment to the leg part can be performed smoothly and appropriately. Can be executed.

DESCRIPTION OF SYMBOLS 1 Massage machine 11 Base part 11a Base frame 11b Outer shell part 12 Seat part 12a Seat surface 12b Seat part frame 12d Seat part actuator 13 Backrest part 13d Backrest part actuator 14 Armrest part 15 Leg support part 15d Leg support part actuator 16 Backrest part Frame 16a Horizontal frame 16b Reinforcement frame 17 Leg support part frame 20 Guide frame 30 Remote control 31 Stand 40 Control part 50 Mechanical unit 51 Kneading ball 52 Kneading ball support arm 54 Base part 57 Lifting motor 58 Advancing / retracting motor 60 Drive mechanism part 62 Kneading motor 64 Tapping motor 70 Air pump 71 Thigh air cell 72 Thigh air cell 73 Back air cell 74 Lumbar air cell 75, 76 Leg air cell 77, 78 Leg air cell

Claims (4)

In the massage machine provided with a seat portion and a backrest portion supported on the base portion, and provided with a leg support portion for supporting the leg on the front side of the seat portion,
A backrest frame that supports the backrest portion from the inside is pivotally supported by the base portion, and can be tilted with respect to the base portion together with the backrest portion, and at least a part of the backrest portion frame is tilted from the tilt center of the backrest portion frame. Located on the lower side,
The leg support part frame that supports the leg support part from the inside is disposed so as to be tiltable with respect to the base part together with the leg support part with the end of the frame as the center of tilting.
It is disposed between a predetermined location below the tilt center of the backrest frame and a predetermined location separated from the tilt center of the leg support frame by a predetermined dimension, and the length is changed by operation, A massage machine comprising: a leg support actuator that changes a distance between the predetermined position of the backrest frame and the predetermined position of the leg support frame and moves the leg support frame relative to the backrest frame. The massage machine according to claim 1,
The seat is supported by the base by attaching the seat frame that supports the seat from the inside to the base.
One end is connected to the lower portion of the backrest frame below the center of tilt, and the other end is connected to the front portion of the seat frame. Changing the distance, changing the distance between the lower part of the back frame and the front part of the seat frame, and comprising a back actuator for moving the back frame relative to the seat frame;
In the vicinity of the portion where the backrest frame is connected to one end portion of the backrest actuator in the lower portion, a predetermined portion having the same strength as that portion is connected to one end portion of the leg support portion actuator as the predetermined portion A massage machine characterized by being performed. In the massage machine according to claim 2,
The leg support portion actuator has the one end portion at a predetermined portion where the distance from the tilting center of the backrest portion frame is shorter than a portion where the one end portion of the backrest portion actuator is connected to the lower portion of the backrest portion frame. A massage machine characterized by being connected. In the massage machine according to claim 2 or 3,
The seat frame is pivotally supported by the base at the rear of the frame, and can be tilted with respect to the base with the seat.
The distance between the front part of the seat frame and the predetermined part of the base part, the distance between the front part of the base part and the base part by changing the length within a predetermined range by operation. A massage machine comprising a seat portion actuator that changes the angle of the seat portion relative to the base portion.

Images