JP2019122881A - Massage machine - Google Patents

Abstract

To improve a body feel of massage by a massage machine.SOLUTION: A massage machine 1 includes massage mechanisms 31, 51 including right/left pairs of treatment elements 34, 54 and arranged plurally along a body height direction. The massage machine includes: a first massage mechanism 31 arranged on an upper side relatively and a second massage mechanism 51 arranged on a lower side relatively as the massage mechanisms 31, 51; and control means 23 controlling motion of the first and second massage mechanisms 31, 51. The control means 23 controls a forward/backward movement drive part 15, 16 so that the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 move forward/backward in shifted timings.SELECTED DRAWING: Figure 21

Description

  The present invention relates to a massager.

  BACKGROUND Conventionally, a massage device is known in which an upper unit disposed relatively on the upper side and a lower unit disposed relatively lower are provided in the backrest. The upper unit comprises a shoulder unit and a scapula unit, and the lower unit comprises a back unit and a lumbar unit. Also, the shoulder unit massages so that the treatment element depresses the shoulder due to the inflation of the air bag, and the shoulder blade unit massages so that the treatment element pushes up the shoulder blade due to the expansion of the air bag Therefore, it is possible to provide a massage effect such as sandwiching the shoulder and the scapula part by the treatment element of the shoulder unit and the treatment element of the scapula unit (for example, see Patent Document 1).

JP, 2002-20996, A

  However, in the massage device described in Patent Document 1, for example, when looking at the upper unit, the treatment is performed without changing the relative position of the upper shoulder unit and the lower shoulder blade unit. It is a monotonous massage to hold a club. Then, this invention is made in order to eliminate the problem mentioned above, and it aims at improvement of the bodily sensation of the massage by a massage machine.

The present invention relates to a massage machine in which a plurality of massaging mechanisms having a pair of massaging elements disposed on the left and right sides are provided along the height direction, wherein the massaging mechanism is relatively opposite to the first massaging mechanism disposed on the upper side. A second massaging mechanism disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising the treatment elements of the pair A massage drive unit that causes at least one of a massaging operation in which the treatment units approach or depart, or a tapping operation in which the treatment elements in the pair alternately move back and forth, and an advancement / retraction drive unit that moves the treatment elements forward and backward with respect to the user And the control means causes the treatment elements of the first massaging mechanism and the treatment elements of the second massaging mechanism to advance or retract at different timings. And controlling the withdrawal drive portion.
With such a configuration, the massagers of the first and second massage mechanisms capable of performing a massaging operation or a tapping operation can be advanced or retracted at different timings, so that the masseur can You can get a realistic sensation as if you massage with both hands.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: A massage drive unit for performing at least one of a massaging operation in which the treatment element approaches or departs or a tapping operation in which the pair of treatment elements alternately advances and retracts, and advancing and retracting the treatment element forward and backward with respect to the user A driving unit, and the control means advances or retracts the treatment element of the first massaging mechanism and the treatment element of the second massaging mechanism at different speeds. And controlling the serial reciprocating drive unit.
With this configuration, the massaging members of the first and second massaging mechanisms that can perform the massaging operation or the tapping operation can be advanced or retracted at different speeds, so that the masseur can You can get a realistic sensation as if you massage with both hands.

Further, the control means controls the advancing and retracting drive unit to advance the treatment element of the other massage mechanism after advancing the treatment element of one of the first and second massage mechanisms. Is preferred.
With such a configuration, it is possible to obtain a sense of presence as if a masseuse sequentially presses the left and right hands into the treatment site.

Further, the control means controls the advancing and retracting drive unit so as to retract the treatment element of the other massage mechanism after retracting the treatment element of one of the first and second massage mechanisms. Is preferred.
With such a configuration, it is possible to obtain a realistic sensation as if a masseur gradually loosens the massage by the left hand and the massage by the right hand.

Further, the control means controls the drive unit to retract the treatment element of the other massage mechanism in synchronization with the advancement of the treatment element of one of the first and second massage mechanisms. Is preferred.
With such a configuration, it is possible to obtain a realistic sensation as if a masseur alternates the left hand and the right hand to perform a massage.

Further, the control means changes the positions of the first and second massaging mechanisms in the left and right direction of the massaging elements, and causes the massaging elements of the first and second massaging mechanisms to advance. It is preferable to control the advancing and retracting drive unit so as to retract one of the massaging elements in the first or second massaging mechanism.
With such a configuration, it is possible to obtain a realistic sensation as if a masseur performs massage with his thumb and other fingers using both hands. In addition, the treated part is strongly in contact with the treatment child in the advanced state, and it is possible to obtain a physical sensation as if it were finger pressure.

Further, the control means is configured to cause the other massage mechanism to repeat advancing and retreating of the treatment element in a state where the treatment element of one of the first and second massage mechanisms is advanced. Preferably, the drive is controlled.
With such a configuration, it is possible to obtain a realistic sensation as if the masseur put one hand on the treatment site and the other hand would repeat the shiatsu.

Further, the control means synchronizes the advancing or retreating of the treatment element of the massaging mechanism of at least one of the first and second massaging mechanisms with the massaging operation or the tapping operation of the one massaging mechanism. It is preferable to control the forward and backward drive unit and the massage drive unit so as to cause
With such a configuration, it is possible to obtain a realistic sensation as if a masseuse performs a massaging operation or a tapping operation while changing the degree of force.

Further, the control means moves forward or backward of the treatment element of the massage mechanism of at least one of the first and second massage mechanisms, and an operation of bringing the treatment elements of the pair of the massage mechanism close to each other; It is preferable to control the forward and backward drive unit and the massage drive unit so as to synchronize with each other.
With such a configuration, it is possible to obtain a realistic sensation as if a masseur holds in and grips the treatment site or pulls while holding the treatment site.

In addition, an elevator motor is provided to raise and lower at least one of the first and second massaging mechanisms along the height direction, and the control means is configured to move the advancing and retracting of the one massaging mechanism in synchronization with the advancing or ascending. Preferably, the drive unit and the elevating motor are controlled.
With such a configuration, it is possible to obtain a realistic sensation as if the masseuse pushed up or pushed down the treatment site.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: A massage drive unit for performing at least one of a massaging operation in which the treatment element approaches or departs or a tapping operation in which the pair of treatment elements alternately advances and retracts, and advancing and retracting the treatment element forward and backward with respect to the user A driving unit, and the control means arranges the first massaging mechanism on a shoulder and the second massaging mechanism on a waist, the treatment of the second massaging mechanism And controlling the advancing drive unit so as to advance the.
With such a configuration, the upper body can be turned over and the treatment element of the first massage mechanism can be made to strongly abut on the shoulder.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: A massage driving unit for performing at least one of a massaging operation in which the treatment element approaches or departs or a tapping operation in which the pair of treatment elements alternately advances and retracts, and at least one of the first and second massaging mechanisms The control means causes one of the massaging mechanisms to perform the massaging operation or the tapping operation, and the other massaging mechanism is And controlling the massaging driver and the lift motor to raise or lower along the direction.
With such a configuration, it is a realistic sensation as if a masseuse massages or strikes the treatment site with one hand while stretching and extending the body with the other hand. You can get

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: A massage driving unit for performing at least one of a massaging operation in which the treatment element approaches or departs or a tapping operation in which the pair of treatment elements alternately advances and retracts, and at least one of the first and second massaging mechanisms The control unit is configured to move the pair of treatment elements of one of the massaging mechanisms in proximity to each other to hold the treatment target portion. And controlling the massaging driver and the lifting motor so as to increase or decrease along the over-di mechanism height direction.
With such a configuration, while the masseur puts one hand on the body and fixes the body, a sense of reality is obtained as if the other hand rubs or stretches the treatment site. be able to.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: A massage driving unit for performing at least one of a massaging operation in which the treatment element approaches or departs or a tapping operation in which the pair of treatment elements alternately advances and retracts, and at least one of the first and second massaging mechanisms The control unit is configured to move the second massaging mechanism along the height direction in a state where the first massaging mechanism is disposed on the shoulder. And controlling the elevating motor so as to rise.
With such a configuration, the treatment element of the first massage mechanism can be made to abut on the shoulder strongly.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , A second massaging mechanism relatively disposed on the lower side, and a control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising And a lift motor for moving the first and second massaging mechanisms up and down along the height direction, and the control means comprises: (2) The elevating motor and the advancing and retracting drive unit so as to synchronize the movement of the massaging mechanism in the direction approaching each other along the height direction and the advancement of the treatment elements of the first and second massaging mechanisms. And controlling.
With such a configuration, the upper body can be bent while stretching the spine.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , A second massaging mechanism relatively disposed on the lower side, and a control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising And a lift motor for moving the first and second massaging mechanisms up and down along the height direction, and the control means comprises: (2) The elevating motor and the advancing and retracting drive unit so as to synchronize the movement of the massaging mechanism in the direction away from each other along the height direction and the advancement of the treatment elements of the first and second massaging mechanisms. And controlling.
With such a configuration, the upper body can be stretched while being bent.

Further, according to the present invention, in the massager having a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction at a backrest where the user looks down, the massaging mechanism is relatively upper as the massaging mechanism. And a control means for controlling the operation of the first and second massaging mechanisms. The second massage mechanism includes a massage drive unit for performing at least one of a massaging operation in which the pair of treatment elements approaches or separates or a tapping operation in which the pair of treatment elements alternately advances and retracts, and the control unit , Causing one of the massage mechanisms to perform clamping by bringing the massaging operation or the pair of treatment elements close to each other, and at the same time causing the other massage mechanism to perform an operation including the tapping operation And controlling sales is the massage drive unit.
With such a configuration, it is possible to give a physical sensation as if different types of massage are being performed on the upper body by two or more masseurs.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: The massage driving unit includes a massage driving unit that causes the massager to perform a massaging operation in which the massaging operation approaches or separates, and the control unit causes the massage driving to cause the first massaging mechanism and the second massaging mechanism to perform the massaging operation at different speeds. Controlling the unit.
With such a configuration, when the massaging operation is continuously performed by the first and second massaging mechanisms, the treatment elements of the first massaging mechanism on the upper side and the treatment elements of the second massaging mechanism on the lower side are used. The massaging action from the vertical direction can be changed with the passage of time, and the massage effect is enhanced.

Further, the first and second massaging devices may be disposed in a state in which the massaging members of the first massaging mechanism and the second massaging mechanism or the massaging members of the first massaging mechanism and the massaging members of the second massaging mechanism are close to each other. It is preferable to perform the massaging operation by the massaging element of the massaging mechanism.
With such a configuration, it is possible to experience the massaging action in the vertical direction by the treatment element of the upper first massage mechanism and the treatment element of the lower second massage mechanism.

Further, the present invention has a seat on which the user sits and a backrest for recliningly provided at the rear of the seat and having a pair of left and right treatment elements. In the massager provided with a plurality of massage mechanisms along the height direction, as the massage mechanism, a first massage mechanism disposed relatively on the upper side, and a second massage mechanism disposed relatively on the lower side And control means for controlling the operation of the first and second massaging mechanisms and the reclining movement of the backrest, the control means having an operation of grasping a neck by the treatment element of the first massaging mechanism; The second massage mechanism is characterized in that an operation of pressing the hips by the massager and an operation of reclining the backrest portion in a synchronized manner are performed.
With such a configuration, the positional deviation of the upper body with respect to the backrest due to the reclining of the backrest is suppressed by holding the neck, and the upper body can be effectively warped.

The footrest has a footrest for supporting the lower limbs of the user, which can be pivoted up and down at the front of the seat, and the footrest has first pressing and holding means for pressing or holding the lower limbs of the user. It is preferable that the control means synchronizes the operation of holding the lower leg by the first pressing and holding means and the operation of lowering the footrest in the synchronized operation.
Such a configuration can effectively pull the entire body.

The second pressing and holding means for pressing and holding the upper arm or shoulder of the user, the control means may synchronize the operation for holding the upper arm or shoulder by the second pressing and holding means to the synchronized operation. preferable.
With such a configuration, positional deviation of the upper body with respect to the backrest due to reclining of the backrest can be suppressed by holding the upper arm or the shoulder, and the upper body can be effectively turned.

  According to the present invention, the bodily sensation of massage can be improved.

It is a perspective view of a massage machine concerning one embodiment of the present invention. It is a functional block diagram of a massage machine. It is a front view of a backrest part. It is a perspective view of a 1st massage unit. It is a perspective view of the 1st massage unit which omitted a part of member. It is a front view of a 1st massage unit. It is a side view of the 1st massage unit, and the state where the 1st massage mechanism retreated is shown. It is a side view of the 1st massage unit, and the state where the 1st massage mechanism advanced is shown. It is a front view of a massaging axis and a tapping axis. It is a perspective view of a 2nd massage unit. It is a perspective view of the 2nd massage unit which omitted a part of member. It is a front view of a 2nd massage unit. It is the side of the 2nd massage unit, and the state where the 2nd massage mechanism retreated is shown. It is the side of the 2nd massage unit, and the state where the 2nd massage mechanism advanced is shown. It is a perspective view of the arm of the 2nd massage unit. It is explanatory drawing of massaging operation. It is explanatory drawing of massaging operation. It is explanatory drawing of massaging operation. It is explanatory drawing of massaging operation. FIG. 6 is a flowchart of an operation 1; FIG. 7 is an explanatory diagram of an operation 1; FIG. 6 is a flowchart of an operation 2 and an operation 3; FIG. 10 is an explanatory diagram of an operation 2 and an operation 3; FIG. 18 is an explanatory diagram of an operation 4; FIG. 18 is an explanatory diagram of an operation 5; FIG. 18 is an explanatory diagram of an operation 6; FIG. 18 is an explanatory diagram of an operation 7; FIG. 18 is an explanatory diagram of an operation 8; 10 is a flowchart of an operation 9 and an operation 10. FIG. It is a front view of the massage unit which concerns on other embodiment. It is a front view of the massage mechanism which concerns on other embodiment. It is explanatory drawing of the link which concerns on other embodiment. It is explanatory drawing of the sensor which concerns on other embodiment. FIG. 10 is a flowchart of an operation 11; FIG. FIG. 18 is an explanatory diagram of an operation B. FIG. 16 is an explanatory diagram of an operation C. FIG. 10 is an explanatory diagram of an operation D. FIG. 18 is an explanatory diagram of an operation E. FIG. 16 is an explanatory diagram of an operation F. It is an explanatory view of operation a. It is explanatory drawing of operation | movement b. It is explanatory drawing of operation | movement c. It is explanatory drawing of operation | movement d. It is explanatory drawing of operation | movement e. It is an explanatory view of operation f. It is explanatory drawing of operation | movement g. It is explanatory drawing of operation h. It is explanatory drawing of operation | movement i. It is explanatory drawing of operation | movement j.

[overall structure]
Hereinafter, the whole structure of the massage machine 1 of this invention is demonstrated. FIG. 1 is a perspective view of a massager 1 according to an embodiment of the present invention. FIG. 2 is a functional block diagram of the massage machine 1. FIG. 3 is a front view of the backrest portion 3. In addition, the concept of the direction used in the following description shall be the same as the concept of the direction when viewed from the user sitting on the massage machine 1 in the standing posture shown in FIG. 1, and in other cases will be appropriately described. Do.

  As shown in FIG. 1, the massage machine 1 of the present invention mainly includes a seat 2 on which the user sits, a backrest 3 on the back of the seat 2 provided for reclining so as to be reclining, and a seat 3 Footrest 4 for supporting the user's legs and feet provided at the front of the part 2 so as to be able to swing up and down, and an armrest for mounting the arm on which the user is provided on the left and right sides of the seat 2 5, a pillow 6 for supporting the head of the user provided at the top of the backrest 3, and a leg frame 7 for supporting the seat 2 and installed on the floor. The backrest portion 3 is provided with a plurality of massage units 8 and 9 along the height direction for massaging the upper body of the user from behind.

  Further, an air cell 10 is provided on the side of the backrest 3 to press or hold the upper arm or the shoulder in the left-right direction. The seat portion 2 is provided with an air cell 11 for pressing the buttocks or thighs of the user from below and an air cell 12 for pressing or holding the buttocks or thighs from the left and right direction. The footrest 4 is provided with an air cell 13 for pressing or holding the legs and feet of the user in the left-right direction. The armrest 5 is provided with an air cell 14 for pressing or holding the forearm from above and below. The air cells 10 to 14 are expanded and contracted by air supply and exhaust from an air unit 20 (see FIG. 2) including a pump and a valve provided below the seat.

  As shown in FIGS. 1 and 2, the backrest portion 3 is configured to be reclineable in the front-rear direction with respect to the seat portion 2 by an actuator 21 provided below the seat portion 2, and is erected as shown in FIG. It can be stopped at any position between the posture and the reclining posture in which the back surface is substantially horizontal to the floor surface. The armrest 5 is configured to move rearward in conjunction with the reclining of the backrest 3 and to move forward in conjunction with the standing up of the backrest 3. The footrest 4 is configured to be pivotable in the vertical direction with respect to the seat portion 2 by an actuator 22 provided below the seat portion 2, and the leg portion in a state where the knee is extended from the hanging posture shown in FIG. And, it is possible to stop at any position between the uplifting posture in which the foot is supported.

  As shown in FIG. 2, below the seat portion 2, an air unit 20 is provided which comprises a pump and a valve for supplying and discharging air to the air cells 10 to 14 and forward and backward air cells 15 and 16 described later. The air unit 20 is preferably configured to maintain the air cells 10 to 14 and the advancing and retracting air cells 15 and 16 with an arbitrary expansion amount. In this case, the expansion amounts of the air cells 10 to 14 and the advancing and retracting air cells 15 and 16 are adjusted can do. In addition, the massaging machine 1 is provided with a control means 23 composed of a programmable microcomputer or the like, and the massage units 8, 9 and the air unit 20 according to an instruction from the operating device 27 by the user and a predetermined program. , And actuators 21, 22 are controlled.

  The control means 23 is provided below the seat portion 2 and controls the operations of the massage units 8 and 9, the air unit 20, and the actuators 21 and 22, and the massage units 8 and 9 are provided with a massage. And sub-control units 25 and 26 that control the elevation of the units 8 and 9. The control unit 23 also stores a plurality of massage courses for automatically operating at least one of the massage units 8 and 9, the air unit 20, and the actuators 21 and 22 according to a predetermined program. When the user selects a desired massage course, various operations are automatically performed until the set course time has elapsed.

[Structure of backrest section]
As shown in FIG. 1 and FIG. 3, the backrest 3 guides raising and lowering of a back frame 3 a made of resin or the like formed in a gate shape in a front view and the massage units 8 and 9 assembled to the back frame 3 a. It is comprised by the guide mechanism 3b and the back pad 3c which has a cushioning property arrange | positioned at the front side of the back frame 3a. The guide mechanism 3b is extended along the height direction, and is curved such that the upper and lower portions are positioned forward of the middle portion (see FIG. 21). Further, a rack is formed on the front side, and a rail is formed on the rear side. A plurality of massage units 8 and 9 are supported by the guide mechanism 3b as being movable up and down.

[Configuration of massage unit]
Hereinafter, configurations of the massage units 8 and 9 will be described.
FIG. 4 is a perspective view of the first massage unit 8. Drawing 5 is a perspective view of the 1st massage unit 8 which omitted a part of member. FIG. 6 is a front view of the first massage unit 8. FIG. 7 is a side view of the first massaging unit 8 and shows a state where the first massaging mechanism 31 is retracted. FIG. 8 is a side view of the first massaging unit 8 and shows a state in which the first massaging mechanism 31 has advanced. FIG. 9 is a front view of the stagnation shaft 41 shown in (a) and the tapping shaft 42 shown in (b). FIG. 10 is a perspective view of the second massage unit 9. Drawing 11 is a perspective view of the 2nd massage unit 9 which omitted a part of member. FIG. 12 is a front view of the second massage unit 9. FIG. 13 is a side view of the second massaging unit 9 and shows a state in which the second massaging mechanism 51 is retracted. FIG. 14 is a side view of the second massaging unit 9 and shows a state in which the second massaging mechanism 51 has advanced. FIG. 15 is a perspective view of the arm 60 of the second massage unit 9.

  As shown in FIGS. 3 to 15, a plurality of massage units 8 and 9 are provided in the height direction. In the present embodiment, the first massage unit 8 disposed relatively on the upper side and the second massage unit 9 disposed relatively on the lower side are provided in the backrest portion 3. Each of the massaging units 8 and 9 mainly supports the body frames 30 and 50 supported by the guide mechanism 3b so as to be lifted and lowered, the massaging mechanisms 31 and 51 having the treatment elements 34 and 54, and the massaging mechanisms 31 and 51 Links 32 and 52, advancing and retracting drive units 15 and 16 for advancing and retracting the massaging mechanisms 31 and 51 with respect to the treatment subject, and links for pivoting the body frames 30 and 50 and the support frames 32 and 52 in the longitudinal direction 33 and 53, and is comprised.

Hereinafter, the configuration of the upper first massage unit 8 will be described in detail.
As shown in FIGS. 4 to 8, the body frame 30 has a rear wall 30a, side walls 30b erected from the left and right sides of the rear wall 30a, a bottom wall 30c erected from the lower portion of the rear wall 30a, and An upper wall 30d erected from an upper portion of the wall 30a, and a box-like shape opened at the front side. Further, the rotation of the lifting motor 35 for lowering and lowering the first massage unit 8, the lifting shaft 36 extending in the left-right direction, and the rotation of the lifting motor 35 are reduced and transmitted to the lifting shaft 36 above the inside of the body frame 30. An elevator mechanism constituted by the reduction gear 37 is accommodated. The elevating shaft 36 is rotatably supported by the both side walls 30b. On the side wall 30b, a guide roller 38 and a pinion 39 attached to the elevating shaft 36 are provided at the top, and a guide roller 38 and a pinion 39 are provided at the bottom. The guide mechanism 3b is held between the pinion 39 and the guide roller 38, and when the elevating motor 35 is driven, the first massage unit 8 can move up and down along the height direction. Since the elevating mechanism is disposed above the first massaging unit 8, the treatment element 34 can be brought close to the treatment element 54 (upper treatment element 54 a) of the second massaging mechanism 51.

  The first massaging mechanism 31 has a pair of arms 40 supporting the massaging element 34 at the tip and a driving mechanism for driving the arm 40 to perform massage. The drive mechanism performs a tapping operation by alternately advancing and retracting the massaging shaft 41 that supports the arm 40 and causes the massaging elements 34 to move in the lateral direction as the massaging elements move close to each other. A tapping shaft 42, a massage motor 43 as a massage drive unit for driving the massaging shaft 41 and the tapping shaft 42, and a decelerator 44 for decelerating the rotation of the massage motor 43 and transmitting it to the massaging shaft 41 and the tapping shaft 42 Have. The drive mechanism is supported by a box-shaped frame 45. In the present embodiment, the treatment elements 34 of the first massage unit 8 are single in the vertical direction.

  As shown in FIG. 9A, the stagnation shaft 41 extends in the left-right direction, and inclined shafts 41a inclined with respect to the axial center 41b are provided on the left and right sides. The arm 40 is rotatably attached to the inclined shaft 41a via a bearing. The left and right tilt axes 41a are not parallel to each other, but are inclined so as to form a substantially C shape in front view. Further, the stagnation shaft 41 is provided with a width sensor 46 that detects the distance between the pair of treatment elements 34. As shown in FIG. 9B, the tapping shaft 42 is extended in the left-right direction, and an eccentric shaft 42a eccentric to the axis 42b is provided on both left and right sides. Further, as shown in FIG. 5, a connecting member 47 for connecting the tapping shaft 42 and the rear portion of the arm 40 is provided rotatably on the eccentric shaft 42a via a bearing. The left and right eccentric shafts 42a have different phases around the axis 42b of the tapping shaft 42.

  When the stagnation shaft 41 rotates, the arm 40 is three-dimensionally rotated while the rotation around the stagnation shaft 41 is restricted by the connection member 47. That is, as shown in FIG. 16, when the stagnation shaft 41 is continuously rotated in one direction, the treatment element 34 operates in a loop-like locus having at least left and right and vertical components, As 34, it moves to the left and right direction and approaches and separates. Thus, the massaging operation is performed. On the other hand, when the tapping shaft 42 rotates, the pair of arms 40 alternately advances and retracts with the kneading shaft 41 as a fulcrum by the vertical movement of the connecting member 47. A striking operation is performed in this manner. In the present embodiment, by providing a clutch on the tapping shaft 42 and reversing the single massaging motor 43, it is possible to switch the massaging operation / massaging operation, but separately the massaging motor 43 is provided for massaging The action and the striking action may be performed independently.

  The support frame 32 has a plate surface in the front-rear direction, and supports the first massage mechanism 31 by fixing the frame 45 to the front side. Between the main body frame 30 and the support frame 32, a forward / backward air cell 15 as a forward / backward drive unit that moves the first massaging mechanism 31 forward and backward with respect to the portion to be treated by expansion and contraction due to air supply and exhaust of air from the air unit 20 It is provided. Further, on the side of the support frame 32, a link 33 is provided which connects the main body frame 30 and the support frame 32 and swings in the longitudinal direction. The reason why the link 33 is disposed to the side of the support frame 32 is that the thickness in the front-rear direction of the massage unit 8 can be suppressed as compared to the case where the link 33 is disposed behind the support frame 32. The links 33 are juxtaposed in the front-rear direction, and have a first link portion 33a relatively disposed on the rear side, and a second link portion 33b relatively disposed on the front side. That is, the link 33 constitutes a four-bar link mechanism.

  As shown in FIGS. 7 and 8, the lengths of the first link portion 33a and the second link portion 33b are different. Specifically, the length of the first link portion 33a is greater than the length of the second link portion 33b. Is also set to be short. An upper portion of the first link portion 33a is pivotally supported by the side wall 30b of the main body frame 30 via the swing axis A1 in the vicinity of the elevation shaft 36, and a lower portion is pivotally supported at the upper portion of the support frame 32 through the pivot axis A2. It is done. An upper portion of the second link portion 33b is pivotally supported by the side wall 30b of the main body frame 30 via the swing axis A3 in the vicinity of the elevation shaft 36, and a lower portion is pivotally supported to the lower portion of the support frame 32 through the pivot axis A4. It is done. The swing axis A1 of the first link portion 33a is located slightly behind the swing axis A3 of the second link portion 33b. The first link portion 33a and the second link portion 33b are respectively formed by fitting the pivots A2 and A4 to the downwardly convex arc-shaped guide portions 30e and 30f (see FIG. 4) provided on the side wall 30b. , Its operation is guided. Further, as shown in FIG. 7 and FIG. 8, a reinforcing portion 48 is provided which connects and reinforces the first link portion 33 a and the second link portion 33 b at the connecting portion with the main body frame 30. As described above, the vicinity of the swinging shafts A1 and A3 of the link 33 to which the load is applied can be reinforced by the lifting shaft 36 and the reinforcing portion 48.

  The link 33 is positioned forward of the link with the support frame 32 in the state where the first massaging mechanism 31 is retracted most. That is, in the first link portion 33a, the swing axis A1 is positioned forward of the pivot axis A2, and in the second link portion 33b, the swing axis A3 is positioned forward of the pivot axis A4. Therefore, when the air cell 15 expands and contracts, the link 33 swings in a downward arc shape, so that the first massaging mechanism 31 moves forward and backward along a path parallel to the direction facing the treatment site. Can. Further, since the four-bar link mechanism is adopted, when the forward / backward air cell 15 expands from the state where the first massaging mechanism 31 is retracted most, the first link portion 33a pivots forward about the pivot axis A1. However, since the support frame 32 is pivoted forward and downward relative to the pivot A2 of the first link 33a by the second link 33b, which is longer than the first link 33a, the swing of the first massaging mechanism 31 And can be advanced and retracted in a locus close to parallel to the direction opposite to the treatment site.

  In addition, since the lengths of the first link portion 33a and the second link portion 33b are different from each other, even if the first link portion 33a and the second link portion 33b are provided close to each other in the front-rear direction The amount of advance can be secured, and the thickness in the front-rear direction of the first massage unit 8 can be suppressed. In addition, since the length of the first link 33a disposed on the rear side is relatively short, a sufficient amount of movement of the anteroposterior direction component can be obtained immediately after the start of advancing, with the state where the first massaging mechanism 31 retracts most. be able to. Further, in the process of advancing the first massaging mechanism 31, the first link portion 33a abuts on the second link portion 33b from behind, thereby restricting the advancement of the first massaging mechanism 31 at a predetermined front and rear position. That is, since the second link portion 33b functions as a stopper, it is not necessary to separately provide a stopper, and the number of parts can be reduced.

Hereinafter, the configuration of the lower second massage unit 9 will be described in detail.
As shown in FIGS. 9 to 15, the body frame 50 has a rear wall 50a, side walls 50b erected from the left and right sides of the rear wall 50a, a bottom wall 50c erected from the lower portion of the rear wall 50a, and An upper wall 50d erected from an upper portion of the wall 50a and a box-like shape opened at the front by the upper wall 50d. In the lower part inside the main body frame 50, the elevation motor 55 for raising and lowering the second massage unit 9, the elevation shaft 56 extending in the lateral direction, and the rotation of the elevation motor 55 are decelerated and transmitted to the elevation shaft 56. An elevating mechanism constituted by the speed reducer 57 is accommodated. The elevating shaft 56 is rotatably supported by the both side walls 56b. The side wall 56 b is provided with a guide roller 58 and a pinion 59 attached to the elevating shaft 56 at the top, and a guide roller 58 and a pinion 59 at the bottom. The guide mechanism 3b is held between the pinion 59 and the guide roller 58, and the second massaging unit 9 can move up and down along the height direction when the elevating motor 55 is driven. Since the elevating mechanism is disposed below the second massaging unit 9, the treatment element 54 (upper treatment element 54a) can be brought close to the treatment element 34 of the first massaging mechanism 31.

  The 2nd massaging mechanism 51 has arm 60 which makes a right-and-left pair which supports treatment element 54 at the tip, and a drive mechanism which drives arm 60 and performs massage. The drive mechanism includes a massaging shaft 61 for supporting the arm 60 and causing the massaging elements 54 in the pair to move in the lateral direction so as to perform massaging operation, and a massage motor 63 as a massage driving unit for driving the massaging shaft 61; And a decelerator 64 for decelerating the rotation of the massage motor 63 and transmitting it to the massaging shaft 61. The drive mechanism is supported by a box-shaped frame 65. The arm 60 is formed in a V-shape in a side view, a relatively large diameter upper treatment element 54a is provided at the upper end thereof, and a relatively small diameter lower treatment element 54b is provided at the lower end thereof. ing. That is, unlike the first massage unit 8, two treatment elements 54 are provided in the vertical direction.

  As shown in FIG. 9A, the massaging shaft 61 has the same structure as the massaging shaft 41 of the first massaging mechanism 31, extends in the left-right direction, and is inclined with respect to the axis 61b on both the left and right sides. An inclined shaft 61a is provided. The arm 60 is rotatably attached to the inclined shaft 61a via a bearing. The left and right inclined axes 61a are not parallel to each other, but are inclined so as to form a substantially C shape in front view. As shown in FIG. 15, at the rear of the arm 60, a connecting member 67 having a ball joint at the rear end is provided to connect the arm 60 and the support frame 52. A groove 69 extending in the left-right direction is provided on the front side of the support frame 52, and the ball joint of the connecting member 67 is fitted in the groove 69. In addition, a width sensor 66 for detecting the distance between the massaging elements 54 is provided on the massaging shaft 61.

  When the stagnation shaft 61 rotates, the arm 60 is three-dimensionally rotated while the rotation around the stagnation shaft 61 is restricted by the connection member 67. That is, as shown in FIG. 16, when the stagnation shaft 61 is continuously rotated in one direction, the treatment element 54 operates by drawing a loop-like locus having at least left and right and vertical components. The left and right treatment elements 54 operate in the left and right direction, the lower treatment element 54b separates when the upper treatment element 54a approaches, and the lower treatment element 54b approaches when the upper treatment element 54a separates. Thus, the massaging operation is performed. In the present embodiment, the second massaging mechanism 51 is configured to perform only the massaging operation, but may be configured to be able to perform the tapping operation as well as the first massaging mechanism 31.

  The support frame 52 has a plate surface in the front-rear direction, and supports the second massage mechanism 51 by fixing the frame 65 on the front side. Between the main body frame 50 and the support frame 52, an advancing and retracting air cell 16 as an advancing and retracting drive unit which is expanded and contracted by air supply and exhaust of air from the air unit 20 to move the second massaging mechanism 51 to the treated portion It is provided. Further, on the side of the support frame 52, a link 53 is provided which connects the main body frame 50 and the support frame 52 and swings in the front-rear direction. The links 53 are juxtaposed in the front-rear direction, and have a first link portion 53a relatively disposed on the rear side and a second link portion 53b relatively disposed on the front side. That is, the links constitute a four-bar linkage.

  The lengths of the first link portion 53a and the second link portion 53b are different, and specifically, the length of the first link portion 53a is set to be shorter than the length of the second link portion 53b. . The lower portion of the first link portion 53a is pivoted on the side wall 50b of the main body frame 50 via the pivot axis A5 in the vicinity of the elevating shaft 56, and the upper portion is pivoted on the lower portion of the support frame 52 via the pivot axis A6. It is done. The lower portion of the second link portion 53b is pivoted on the side wall 50b of the main body frame 50 via the pivot axis A7 in the vicinity of the lift shaft 56, and the upper portion is pivoted on the upper portion of the support frame 52 via the pivot axis A8. It is done. The swinging axis A5 of the first link portion 53a is located slightly behind the swinging axis A7 of the second link portion 53b. The first link portion 53a and the second link portion 53b are respectively formed by the pivots A6 and A8 being fitted on the upwardly convex arc-shaped guide portions 50e and 50f (see FIG. 10) provided on the side wall 50b. , Its operation is guided. Further, as shown in FIG. 13 and FIG. 14, a reinforcing portion 68 is provided which connects and reinforces the first link portion 53 a and the second link portion 53 b at the connecting portion with the main body frame 50. As described above, the vicinity of the swinging shafts A5 and A7 of the link 53 to which the load is applied can be reinforced by the raising and lowering shaft 56 and the reinforcing portion 68.

  In the link 53, the connection with the main body frame 50 is located forward of the connection with the support frame 62 in a state where the second massaging mechanism 51 is fully retracted. That is, in the first link portion 53a, the swing axis A5 is positioned forward of the pivot axis A6, and in the second link portion 53b, the swing axis A7 is positioned forward of the pivot axis A8. Therefore, when the air cell 16 is expanded and contracted, the link 53 swings in a convex arc shape by moving the second massage mechanism 51 forward and backward along a path parallel to the direction facing the treatment site. Can. Further, since the four-bar link mechanism is adopted, when the advancing and retracting air cell 16 expands from the state where the second massaging mechanism 51 is retracted most, the first link portion 53a pivots forward about the pivot axis A5. However, since the support frame 52 is pivotally supported by the second link portion 53b longer than the first link portion 53a in front of and above the pivot A6 of the first link portion 53a, the second massage mechanism 51 swings. And can be advanced and retracted in a locus close to parallel to the direction opposite to the treatment site.

  Further, since the lengths of the first link portion 53a and the second link portion 53b are different from each other, even if the first link portion 53a and the second link portion 53b are provided close to each other in the front-rear direction, sufficient The amount of advance can be secured, and the thickness of the second massage unit 9 in the front-rear direction can be suppressed. In addition, since the length of the first link 53a disposed on the rear side is relatively short, a sufficient amount of movement of the anteroposterior direction component is obtained immediately after the start of advancing, with the second massage mechanism 51 being at the most backward position as a starting point. be able to. Further, in the process of advancing the second massage mechanism 51, the first link portion 53a abuts on the second link portion 53b from behind, whereby the advancement of the second massage mechanism 51 is restricted at a predetermined front and rear position. That is, since the second link portion 53b functions as a stopper, it is not necessary to separately provide a stopper, and the number of parts can be reduced.

[Sensor configuration]
As shown in FIG. 2, the massage machine 1 has a sensor 70 that detects the relative position of the first massage unit 8 and the second massage unit 9. The sensor 70 will be described in detail below.

  As shown in FIG. 4, the bottom wall 30 c which is the lower part of the first massage unit 8 is provided with a magnet holder 73 attached with a magnet on one side in the left-right direction, and detects the proximity of the magnet on the other side in the left-right direction. A sub control unit 25 (see FIG. 2) electrically connected to the sensor unit 71 and the first sensor unit 71 is provided. On the other hand, as shown in FIG. 10, the upper wall 50d, which is the upper part of the second massage unit 9, is electrically connected to the second sensor unit 72 and the second sensor unit 72 that detect the proximity of the magnet on one side in the left-right direction. The sub control unit 26 (see FIG. 2) is provided, and a magnet holder 74 having a magnet attached to the other side in the left-right direction is provided. The sub control units 25 and 26 are electrically connected to the lifting motors 35 and 55, respectively, and can control the lifting and lowering of the massage units 8 and 9. In addition, the main control unit 24 is also electrically connected.

  The first sensor unit 71 substantially coincides with the position perpendicular to the magnet holder 74 provided in the second massage unit 9 in the vertical direction, and detects the proximity of the second massage massage unit 9 to the first massage unit 8. be able to. On the other hand, in the second sensor unit 72, the position perpendicular to the magnet holder 73 provided in the first massage unit 8 in the vertical direction substantially matches, and the proximity of the first massage massage unit 8 to the second massage unit 9 It can be detected. That is, the sensor 70 is a non-contact type sensor composed of the first sensor unit 71 and the second sensor unit 72. As described above, each of the massage units 8 and 9 detects the proximity of the massage units 9 and 8 on the other side, and the sub control units 25 and 26 control the lift motors 33 and 55, respectively. Accuracy increases.

  In addition, it is preferable that the sensor 70 can detect the space | interval of both the massage units 8 and 9 in multiple steps as a relative position of the 1st massage unit 8 and the 2nd massage unit 9. FIG. For example, it may be possible to detect a two-step state of “proximity state” in which the distance between both massage units 8 and 9 approaches to a predetermined distance and “pre-proximity state” slightly separated from this proximity state. Therefore, the detection range of the relative position of the 1st massage unit 8 and the 2nd massage unit 9 spreads. Moreover, both massage units 8 and 9 can also be integrally raised / lowered in the state which maintained this relative position as a predetermined relative position (for example, proximity | contact state or proximity | contact prior state).

  As shown in FIG. 2, the backrest portion 3 includes an upper limit sensor 75 that detects the upper limit position of the lifting and lowering range of the first massage unit 8, and a lower limit sensor 76 that detects the lower limit position of the lifting and lowering range of the second massage unit 9. , And the first and second massage units 8 and 9 are not separated from the backrest 3. In addition, the first and second massage units 8 and 9 respectively include elevation sensors 77 and 78 that detect the vertical position by detecting the number of rotations of the elevation shafts 36 and 56. The first massage unit 8 detects the upper and lower positions of the first massage unit 8 by detecting how many rotations of the elevating shaft 36 have been performed from the upper limit position. The second massage unit 9 detects the upper and lower positions of the second massage unit 9 by detecting how many rotations of the elevating shaft 56 have been performed from the lower limit position.

[Operation control of collision avoidance]
When it is detected that both massage units 8 and 9 have reached a predetermined relative position (for example, a proximity state or a proximity state) while both massage units 8 and 9 move in the direction in which they approach each other, The control unit 25 controls to stop or reverse the driving of the lifting motor 35, and the sub control unit 26 controls to stop or reverse the driving of the lifting motor 55. The sub control units 25 and 26 also notify the main control unit 24 that the above control has been performed. In this way, a collision of both massage units 8, 9 is avoided.

  When raising and lowering of one massage unit (for example, the first massage unit 8) is stopped, the other massage unit (for example, the second massage unit 9) is moving in the direction approaching the one massage unit When it is detected that both massage units 8 and 9 have reached a predetermined relative position (for example, a proximity state or a proximity state), the sub control unit 26 controls to stop or reverse the driving of the lifting motor 55. Do. The sub control units 25 and 26 also notify the main control unit 24 that the above control has been performed. Note that, instead of or in addition to the above control, the sub control unit 25 may drive the elevating motor 35 to move the first massage unit 8 away from the second massage unit 9. In this way, a collision of both massage units 8, 9 is avoided.

[Detection of shoulder position]
The massage machine 1 is configured to be able to detect a shoulder position as a specific part of the user. The configuration for detecting the shoulder position will be described below.
The first massaging unit 8 is provided with a specific part detection sensor (not shown) for detecting that the first massaging mechanism 31 has advanced by a predetermined amount with respect to the main body frame 30. The detection of the shoulder position is performed in the process of raising the first massage unit 8 along the height direction from the waist or back position in a state where the predetermined amount of air is supplied to the advancing / retracting air cell 15 or continuously supplied. In this detection process, it is preferable that the air cell 10 provided in the backrest 3 be inflated to hold the upper body of the user in the backrest 3.

  When the treatment element 34 reaches the shoulder position in the ascending process of the first massage unit 8, the load from the user is released, and the advancing amount of the first massage mechanism 31 reaches a predetermined amount. The shoulder position of the user is detected based on the upper and lower positions of the first massage unit 8 when the specific region detection sensor detects the advance of the predetermined amount of the first massage mechanism 31. Also, based on the detected shoulder position, other parts such as the neck, shoulder blade, back, waist, and hips are also calculated. In addition, the specific part to detect may not be a shoulder position, and may be other parts, such as a waist.

  During the massage course, the first massage unit 8 can perform a massage according to the height of the user based on the position information of the shoulder and / or other parts detected by the specific part detection sensor. In addition, during the massage course, the second massage unit 9 can perform a massage according to the height based on the position information detected by the specific part detection sensor of the first massage unit 8. The second massage unit 9 is also provided with a specific part detection sensor, and the second massage unit 9 also uses the height of the user based on the position information of the shoulder and / or other parts detected by the specific part detection sensor. You may be able to perform a massage according to your needs. Alternatively, the second massage unit 9 may be operated based on position information of each predetermined part. In this case, position information of each part based on the average height may be stored in the control means 23.

  When both massage units 8 and 9 move up or down in the same direction, the massage unit on the front side in the traveling direction is controlled so that the lifting speed is faster than the massage unit on the rear side in the traveling direction Is controlled to start moving earlier than the massage unit on the rear side in the direction of travel. By doing this, the accuracy of the collision prevention further increases. In addition, if the raising and lowering speed of the massaging unit on the front side in the traveling direction is made relatively faster, or if the movement of the massaging unit on the front side in the traveling direction is started slightly earlier, It can be moved smoothly in the same direction in the state. That is, the sensor 70 frequently detects the proximity state, and it is possible to prevent the massage unit on the rear side in the traveling direction from being stopped or separated little by little.

[Massage operation]
Hereinafter, the massaging operation will be described in detail.
FIG. 16 is an explanatory view of the kneading operation. FIG. 17 is an explanatory view of the massaging operation, in which (a) is a massaging operation with the massaging unit 8 stopped moving up and down, (b) is a massaging operation with the massaging unit 8 lowered, and (c) is a massaging unit It shows a stagnation operation while raising 8. FIG. 18 is an explanatory view of the massaging operation, wherein (a) is a massaging operation with the massaging unit 8 stopped to move up and down, (b) is a massaging operation with the massaging unit 8 lifted, and (c) is a massaging unit It shows a stagnation operation while lowering 8. FIG. 19 is an explanatory view of the kneading operation. In addition, in FIG.16 and FIG.19, the state which arrange | positioned the 1st massaging unit 8 in the neck position and has arrange | positioned the 2nd massaging unit 9 in the shoulder position is shown.

  As shown in FIG. 16, when the massage motors 43 and 63 are driven to continuously rotate the kneading shafts 41 and 61 in one direction, the treatment elements 34 and 54 have horizontal and vertical components in a front view. It operates by drawing a loop-like locus. On the other hand, if the massaging shafts 41 and 61 are inverted before being rotated one turn, the treatment elements 34 and 54 draw an arc-like locus having components in the left and right and up and down directions in front view. In any of the above cases, the treatment elements 34 and 54 in the left and right pair move in the left and right direction to approach and separate. Thus, the massaging operation is performed.

  As shown in FIGS. 7 and 13, in the massage machine 1 according to this embodiment, the distance d1 between the massaging element 34 of the first massaging mechanism 31 and the massaging shaft 41 is the massaging element 54 of the second massaging mechanism 51 (upper massaging element It is set to be shorter than the distance d2 between the mass axis 61 and the mass axis 54a. Therefore, as shown in FIG. 16, the treatment element 34 of the first massaging mechanism 31 and the treatment element 54 of the second massaging mechanism 51 have different operation ranges in the lateral direction in the massaging operation. Specifically, treatment elements The operating range W1 of 34 is narrower than the operating range W2 of the massaging element 54. In addition, the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 have different upper and lower dimensions of the locus of the kneading operation, and specifically, the upper and lower dimensions of the locus of the treatment element 34 H1 is smaller than the upper and lower dimension H2 of the trajectory of the treatment element 54. The upper and lower dimensions of the movement range and the locus can also be made different by changing the inclination angles of the inclination axes 41a and 61a with respect to the axial centers 41b and 61b of the stagnation axes 41 and 61. Specifically, the upper and lower dimensions of the movement range and the locus can be increased as the inclination angle of the inclination axes 41a and 61a with respect to the axial centers 41b and 61b of the stagnation axes 41 and 61 is increased.

  With such a configuration, the first massaging mechanism 31 performs a relatively fine massaging operation on the narrow neck of the treatment range, and the second massaging mechanism 51 of the portion to be treated below the wide neck of the treatment range ( For example, dynamic itching can be performed on the shoulders, back, waist, etc.). That is, it is possible to perform an effective massaging operation according to the treatment site. Moreover, since both massage units 8 and 9 can move up and down, it is possible to switch between the first massage unit 8 and the second massage unit 9 to perform different massaging operations on the same treated part.

  Further, by moving the massaging units 8 and 9 up and down along the height direction in synchronization with the massaging operation, the upper and lower dimensions of the locus of the massaging operation can be changed. To illustrate the treatment element 34, as shown in FIG. 17B, if the first massage unit 8 is lowered in synchronization with the downward movement of the treatment element 34 due to the kneading operation, the upper and lower dimensions of the locus of the kneading operation H1 increases, and as shown in FIG. 17C, if the first massage unit 8 is raised in synchronization with the downward movement of the massaging device 34, the upper and lower dimension H1 of the massaging operation decreases. Alternatively, as shown in FIG. 18B, if the first massage unit 8 is lifted in synchronization with the upward movement of the massaging device 34 due to the massaging operation, the upper and lower dimension H1 of the locus of the massaging operation becomes larger. As shown in c), if the first massage unit 8 is lowered in synchronization with the upward movement of the massaging device 34 due to the massaging operation, the upper and lower dimension H1 of the massaging operation becomes smaller.

  By adopting such a configuration, it is possible to change the bodily sensation of the massaging operation in various ways. For example, the movement range in the left and right direction of the massaging operation is performed by switching the massage units 8 and 9 for massaging the treatment site, and the upper and lower dimensions of the locus of the massaging operation are It is good. In addition, although illustrated about the treatment element 34 of the 1st massage mechanism 31 in FIG.17 and FIG.18, the same massaging operation can be performed also about the treatment element 54 of the 2nd massage mechanism 51. FIG. In addition, in a configuration in which the massaging operation by the massage motor causes the treatment elements of the left and right pair to move close to each other with only the left and right direction components, the treatment elements have a vertical direction component by adding the elevation of the massage unit. It can be changed to an operation of drawing an arc or loop trajectory.

  As shown in FIG. 19 as another embodiment, in the first massaging mechanism 31 and the second massaging mechanism 51, the separation distance between the left and right pair of treatment elements 34 and 54 when closest to each other in the massaging operation is set to be different. It may be Specifically, it is preferable that the separation distance D1 of the first massaging mechanism 31 be set to be smaller than the separation distance D2 of the second massaging mechanism 51. The separation distance is caused by the distance between the attachment positions of the arms 40, 60 forming the pair to the stagnation shafts 41, 61, or the inclination angle of the tilt axes 41a, 61a with respect to the axis 41b, 61b of the stagnation shafts 41, 61. With such a configuration, the first massaging mechanism 31 performs a firm massaging operation on the neck, and the second massaging mechanism 51 provides a treatment site (for example, a shoulder, a back) below the wide neck of the treatment range. , The hips etc.) can be performed away from the central line (eg spine) of the body. That is, it is possible to perform an effective massaging operation according to the treatment site.

  Hereinafter, collaboration between the first massaging mechanism 31 and the second massaging mechanism 51 will be described.

[Operation 1]
FIG. 20 is a flowchart of the operation 1. FIG. 21 is an explanatory view of the operation 1; (a) is a state in which the first massaging mechanism 31 is advanced and the second massaging mechanism 51 is retracted; (b) is a state in which the first massaging mechanism 31 is retracted; Indicates that the company has made inroads.
The operation 1 is an operation for advancing and retracting the first massaging mechanism 31 and the second massaging mechanism 51 at different timings, and it is preferable to include the operation of the massaging elements 34 and 54 by driving the massaging motors 43 and 63. Hereinafter, as shown in FIG. 21, the case where the operation 1 is performed in a state where the first massage unit 8 is disposed at the neck position and the second massage unit 9 is disposed at the back position of the shoulder will be illustrated.

  As shown in FIG. 20, first, the first massaging mechanism 31 is advanced relative to the second massaging mechanism 51 (step S1). Subsequently, the second massaging mechanism 51 is advanced while maintaining the front and rear position of the first massaging mechanism 31 (step S2). Subsequently, with the front and back position of the second massaging mechanism 51 maintained, the first massaging mechanism 31 is retracted relative to the second massaging mechanism 51 (step S3). Subsequently, in a state in which the front and rear position of the first massaging mechanism 31 is maintained, the second massaging mechanism 51 is retracted (step S4). The cycle of steps S1 to S4 is repeated for a predetermined time. In the steps S1 to S4, the second massage mechanism 51 may be advanced first. Moreover, the position which arrange | positions each massage unit 8 and 9 is not specifically limited, For example, you may arrange | position the 1st massage unit 8 in a neck position, and may arrange | position the 2nd massage unit 9 in a waist position.

  In steps S1 to S4, it is preferable to drive the massage motors 43 and 63 to cause the treatment elements 34 and 54 to perform a massage including a massaging operation or a tapping operation, and the massage may be performed constantly. Alternatively, the massage may be performed intermittently. For example, the massage is performed when each of the massage mechanisms 31 and 51 is advanced, and the massage is performed when each of the massage mechanisms 31 and 51 is retracted. It may stop. In addition, the advancing or retreating of the massaging mechanism 31, 51 may be synchronized with the above-mentioned massage, in this case, to obtain a feeling as if the masseuse performs a massaging operation or a tapping operation while changing the degree of force. Can. Alternatively, the advancing or retreating of the massaging mechanism 31, 51 may be synchronized with the operation of bringing the left and right pair of treatment elements 34, 54 into proximity, in which case the masseuse pushes while grasping the treatment site. Or, it is possible to obtain a sensation as if pulling while holding the treatment site. Here, “synchronization” refers to the advancing and retracting drive units 15 and 16 for advancing or retracting the massaging mechanisms 31 and 51, and a massage motor 43 for performing a massaging operation, a tapping operation, or an operation for bringing a pair of treatment elements close to each other. , 63 may be performed in parallel regardless of whether the mass transfer mechanism is driven or not, and further includes the case of driving the massage motors 43, 63 after the advancing or retreating of the massaging mechanisms 31, 51 is completed.

  Alternatively, the massaging mechanisms 31 and 51 may be alternately advanced and retracted so that the other massaging mechanism is retracted in synchronism with the advancement of one massaging mechanism, in which case the masseur alternates with the left hand and the right hand. You can get a physical sensation as if you switched to the massage. Also, with one of the massaging mechanisms advanced, the other massaging mechanism may repeat advancing and retracting for a predetermined period of time, in which case as if a masseuse attached one hand to the treatment site, the other massage You can get a sensation that feels like repeating acupressure with your hand.

  Further, in steps S1 to S4, the raising and lowering motors 35 and 55 may be driven to raise and lower each massage unit 8, 9. For example, advancing of the massage mechanism 31, 51 and raising or lowering of the massage unit 8, 9 Can be synchronized, and in this case, it is possible to obtain a sensation as if the masseuse pushes up or down the treatment site. In this operation, it is preferable to synchronize the operation of bringing the left and right pairs of treatment elements close to each other.

  As described above, in the operation 1, since the massaging mechanisms 31 and 51 shift the timing to advance and retreat to perform the massage, it is possible to obtain a realistic sensation as if the masseur perform the massage using both hands. it can. In particular, when the massaging operation is performed as the massage, the massaging child's left and right massaging members simulate the massaging operation with the thumb and the other finger of the masseur's left hand, and the other massaging element's left and right pair The treatment child can simulate the massaging operation with the thumb and other fingers of the masseur's right hand. Moreover, since the sense of reality becomes remarkable by performing the operation 1 in a state in which both the massaging mechanisms 31 and 51 are brought close to each other in the vertical direction, it is preferable to perform in the above-described proximity state or proximity state based on the sensor 70 .

  In the embodiment described above, the massage mechanisms 31 and 51 are advanced or retracted at different timings to achieve a realistic sensation, but the speeds at which the massage mechanisms 31 and 51 are advanced or retracted Even if they are different, the same sensation can be obtained. For example, if the advancing speed of the first massaging mechanism 31 is made relatively faster than the advancing speed of the second massaging mechanism 51, even if the respective massaging mechanisms 31, 51 start advancing simultaneously, After pushing the treatment site by the treatment element 34, the treatment section 54 is pushed by the treatment element 54 of the second massage mechanism 51 a little later. Therefore, it is possible to obtain a sensation as if the masseur successively pushed the left and right hands into the treatment site.

[Operation 2]
FIG. 22 is a flowchart of the operations 2 and 3. FIG. 23 is an explanatory view of the operations 2 and 3. (a) shows a state in which the first and second massage mechanisms 31 and 51 are retracted, and (b) shows that the first and second massage mechanisms 31 and 51 are advanced State (c) shows a state in which the first massaging mechanism 31 has advanced and the second massaging mechanism 51 has been retracted. In FIG. 23, the shaded treatment elements 34, 54a, 54b indicate advanced states, and the non-shaded treatment elements 34, 54a, 54b indicate retracted states.

  Operation 2 is an operation for causing the treatment element 34 of the first massaging mechanism 31 and the treatment element 54 of the second massaging mechanism 51 to advance to the treatment site. Hereinafter, as shown in FIG. 23, the case where the operation 2 is performed in a state where the first massage unit 8 is disposed at the back position of the shoulder and the second massage unit 9 is disposed at the upper back will be illustrated.

  As shown in FIG. 22, first, the massaging units 8 and 9 are moved up and down to bring them close in the height direction (step S1). In this example, the first massage unit 8 is disposed at the back of the shoulder, and the second massage unit 9 is disposed at the upper back. Therefore, as shown in FIG. 23, the treatment element 34 and the upper treatment element 54a are in the state of being close in the height direction. Subsequently, the massage motors 43 and 63 are driven to make the positions of the treatment elements 34 of the first massaging mechanism 31 and the treatment elements 54 of the second massaging mechanism 51 different in the left-right direction as shown in FIG. S2). Subsequently, the advancing and retreating drive units 15 and 16 are driven to cause the first massage mechanism 31 and the second massage mechanism 51 to advance as shown in FIG. 23 (b) (step S3).

  In addition, what is necessary is just to determine the up-and-down space | interval of both massage units 8 and 9 in step S1 based on the sensor 70, for example, what is necessary is just to be in the proximity state mentioned above or the state before proximity. In step S2, the left and right positions of the treatment elements 34 and 54 may be determined based on the width sensors 46 and 66. Also, step S1 and step S2 may be performed in parallel. Moreover, in step S3, the first massaging mechanism 31 and the second massaging mechanism 51 may be advanced simultaneously, or may be advanced at different timings.

  In step S3, the massage motors 43 and 63 may be driven to perform a massaging operation or a tapping operation. For example, in the backrest portion 3, it is preferable to cause one of the massaging mechanisms to perform a massaging operation, and at the same time, to cause the other massaging mechanism to perform an operation including a tapping operation. By operating in this manner, it is possible to give a sensation as if two or more masseurs are performing different types of massage on the upper body. Although the masseur can perform the massaging operation with one hand, but can not perform the massaging operation with one hand, one masseur can not perform the massaging operation and the massaging operation in parallel.

  As described above, in operation 2, since the treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 (upper treatment elements 54a) of the second massage mechanism 51 are aligned in the left-right direction, You can use it to get a realistic sensation, as if you were doing a massage (finger pressure) with your thumb and other fingers. That is, in the state shown in FIG. 23, the treatment elements 34 located on the left and right sides correspond to the thumb, and the upper treatment element 54a or the lower treatment element 54b located on the outer sides correspond to the other fingers. Moreover, although embodiment mentioned above demonstrated the case where the operation | movement 2 was performed in the state which the 1st massaging mechanism 31 and the 2nd massaging mechanism 51 approached, you may perform the operation | movement 2 in the separated state. In this case, for example, the treatment element 54 (upper treatment element 54a or lower treatment element 54b) located on the lower side corresponds to a thumb, and the treatment element 34 located on the upper side corresponds to the other finger.

[Operation 3]
Operation 3 is an operation of causing the treatment elements of one of the massage mechanisms to retract from a state in which positions of the treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 of the second massage mechanism 51 are different in the left and right direction. It is. Hereinafter, as shown in FIG. 22, the case where the operation 3 is performed following the operation 2 will be illustrated.

  Subsequent to step S3 of the operation 2, the advancing and retracting drive unit is driven to retract any one of the massage mechanisms (step S4). In the example shown in FIG. 23, the advancing and retracting drive unit 16 is driven to retract the second massage mechanism 51. As a result, the treated portion strongly abuts on the treatment element 34 of the first massaging mechanism 31 that has advanced, and it is possible to obtain a physical sensation as if the treatment element 34 is finger-pressing. In addition, since the bodily sensation of a finger pressure becomes remarkable by performing in the state which both massaging mechanisms 31 and 51 approached, it is preferable to perform the operation | movement 3 in the proximity state mentioned above or the state before proximity based on the sensor 70. Further, in the operations 2 and 3, the positions at which the massage units 8 and 9 are disposed are not particularly limited. For example, the first massage unit 8 is disposed at the neck or back position, and the second massage unit 9 is at the waist position. It may be located at

[Operation 4]
FIG. 24 is an explanatory diagram of the operation 4. In FIG. 24, the lower massaging element 54b is omitted to facilitate understanding.
Operation 4 is an operation to perform the massaging operation at different speeds for the treatment element 34 of the first massaging mechanism 31 and the treatment element 54 of the second massaging mechanism 51, in which the massaging mechanisms 31 and 51 are close in the height direction. It is preferable to perform as.

  First, the massaging units 8 and 9 are moved up and down so that they approach each other in the height direction. Subsequently, the massaging motors 43 and 63 are continuously driven in one direction, and the massaging operation is performed by the massaging elements 34 of the first massaging mechanism 31 and the massaging elements 54 of the second massaging mechanism 51. This massaging operation is performed by rotating the massaging shafts 41 and 61 at different speeds by driving the massaging motors 43 and 63 at different speeds. In the example shown in FIG. 24, the rotation of the stagnation shaft 41 is made relatively fast. In addition, what is necessary is just to determine the up-and-down space of both the massage units 8 and 9 based on the sensor 70, for example, what is necessary is just to set it as the close state mentioned above or the state before proximity.

  As described above, in the operation 4, the massaging elements 34 and 54 of the massaging mechanisms 31 and 51 perform the kneading operation by repeating the cycle in which the locus in the loop shape is repeated one round. Then, in each cycle, the positional relationship between the other massage mechanism and the treatment element is different. For example, assuming that the treatment element 34 of the first massage mechanism 31 is a viewpoint, in the state where the treatment elements 34 of the first cycle are most apart, the treatment elements 54 of the second massage mechanism 51 are on the locus of the massaging action. When positioned at the upper end but the treatment elements 34 of the second cycle are most separated, the treatment elements 54 of the second massaging mechanism 51 are located at the lower end on the locus of the massaging operation. As described above, the operation 4 can change the massaging operation from the vertical direction by the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 with the passage of time, and the massage effect is enhanced. .

[Operation 5]
FIG. 25 is an explanatory view of the operation 5, in which (a) is a state in which the first and second massaging mechanisms 31, 51 are retracted, and (b) is a state in which the first massaging mechanism 31 is retracted and the second massaging mechanism 51 is advanced It shows the state.
As shown in FIG. 25, the operation 5 is an operation for advancing the second massaging mechanism 51 in a state where the first massaging unit 8 is disposed at the shoulder position and the second massaging unit 9 is disposed at the waist position. It is preferable to include the operation of the treatment element 34 by 43 driving. By advancing the second massaging mechanism 51 at the waist position, the waist is pushed forward and the upper body is turned upside down. Therefore, the shoulder strongly abuts on the treatment element 34 of the first massaging mechanism 31. At this time, if the massager 34 of the first massaging mechanism 31 performs a massaging operation or a tapping operation, the massage effect is enhanced.

[Operation 6]
FIG. 26 is an explanatory view of the operation 6, in which (a) shows the state where the first massage unit 8 is arranged at the shoulder position and the second massage unit 9 is arranged at the waist position, (b) shows the first massage unit 8 The second massage unit 9 is placed at the shoulder position, and shows a state in which the second massage unit 9 is raised to the back position.
As shown in FIG. 26, the operation 6 is an operation to raise the second massage unit 9 in the height direction with the first massage unit 8 arranged at the shoulder position, and the operation of the treatment element 34 by the drive of the massage motor 43. Is preferred. By raising the second massage unit 9, the upper body is lifted. Therefore, the shoulder strongly abuts on the treatment element 34 of the first massaging mechanism 31. At this time, if the massager 34 of the first massaging mechanism 31 performs a massaging operation or a tapping operation, the massage effect is enhanced.

[Operation 7]
FIG. 27 is an explanatory view of the operation 7, in which (a) is a state in which the first massaging mechanism 31 is advanced to clamp the neck and the second massaging mechanism 51 is disposed at the shoulder position, and (b) is the first massaging mechanism 31 shows the state where the second massage mechanism 51 has lowered to the waist position by advancing the neck 31 by gripping the neck.
An operation 7 is an operation for raising or lowering the other massage mechanism in the height direction in a state where the treatment object is held by the massaging members of one of the massage mechanisms. In the example shown in FIG. 27, the second massaging unit 9 is lowered with the first massaging mechanism 31 advanced and the pair of treatment elements 34 brought close to sandwich the neck. By lowering the second massage unit 9, the upper body is pulled downward. Therefore, since the neck is held by the massaging elements 34 of the first massaging mechanism 31, it is possible to obtain a stretching effect of stretching the neck. In addition, if the second massage unit 9 is repeatedly lifted and lowered while holding the neck by the first massaging mechanism, the masseuse applies one hand and fixes the neck with the other hand. It is possible to obtain a sensation as if you were touching or stretching the treatment site.

  In the operation | movement 7, the position in which each massage unit 8 and 9 is arrange | positioned is not specifically limited. Moreover, the massage mechanism which clamps a to-be-treated part, and the massage mechanism to raise or lower can be selected suitably. For example, the first massage unit 8 may be raised or lowered at the back position in a state where the second massage unit 9 is disposed at the waist position and the waist is held by the pair of treatment elements 54.

[Action 8]
FIG. 28 is an explanatory view of the operation 8, where (a) is a state in which the first massaging mechanism 31 performs a massaging operation and the second massaging mechanism 51 is in a rising process, and (b) is a state where the first massaging mechanism 31 has massaging. The operation is performed, and the second massaging mechanism 51 shows the state of the lowering process. An operation 8 is an operation of causing one massaging mechanism to perform a massaging operation or a tapping operation and raising or lowering the other massaging mechanism. Hereinafter, based on FIG. 28, the case where the massaging operation is performed as the first massaging mechanism 31 as the one massaging mechanism and the second massaging mechanism 51 is raised or lowered as the other massaging mechanism will be illustrated.

  As shown in FIG. 28 (a), by raising the second massaging mechanism 51 toward the first massaging mechanism 31 and bringing it close to the muscle, the muscle of the portion to be treated is brought closer to the first massaging mechanism 31 side. The adjacent muscles of the first massaging mechanism 31 can squeeze the gathered muscles. On the other hand, as shown in FIG. 28 (b), the muscle of the treatment site is pulled by lowering and separating the second massage mechanism 51 from the first massage mechanism 31 and this pulled muscle is The pair of treatment elements 34 of the first massaging mechanism 31 can suck. In addition, blood circulation can be promoted by moving the treatment site by raising or lowering the second massage mechanism 51, and the first massage mechanism 31 performs a massaging operation on the treatment site with enhanced blood circulation. Massage effect is further enhanced. In operation 8, the first massaging mechanism 31 may be raised or lowered to cause the second massaging mechanism 51 to perform a massaging operation or a tapping operation.

[Action 9]
FIG. 29 is a flowchart of operations 9 and 10.
Operation 9 is an operation of moving the first massaging mechanism 31 and the second massaging mechanism 51 in directions approaching each other along the height direction, and the treatment elements 34 and 54 of the first and second massaging mechanisms 31 and 51 to be treated. It is an operation to synchronize with the operation to advance to the unit. As shown in FIG. 29, first, the massage units 8 and 9 are moved in the direction in which they approach each other (step S1). The operation of step S1 is continuously performed until the relative positions of the massage units 8 and 9 are in the proximity state or the proximity state. After completion of step S1, or in parallel with step S1, the treatment elements 34, 54 of the first and second massaging mechanisms 31, 51 are advanced (step S2). By operating in this manner, the spine can be stretched by the movement of the massaging mechanisms 31 and 51 along the height direction, and the upper body can be bent by the advancement of the treatment elements 34 and 54, thereby enhancing the massage effect. Then, after completion of step S2, the treatment elements 34, 54 of the first and second massaging mechanisms 31, 51 are retracted (step S3). In step S1, it is preferable to move the first and second massaging mechanisms 31 and 51 close to each other with the waist position as the target position. In this case, the effect of bending the upper body is enhanced.

[Operation 10]
In operation 10, an operation of moving the first massaging mechanism 31 and the second massaging mechanism 51 in the direction away from each other along the height direction, and the treatment elements 34, 54 of the first and second massaging mechanisms 31, 51 are treated. It is an operation to synchronize with the operation to advance to the unit. Hereinafter, as shown in FIG. 29, the case where the operation 10 is performed following the operation 9 will be illustrated.
Following step S3 of the operation 9, the first and second massage units 8 and 9 in the proximity state or the proximity state are moved in directions away from each other (step S4). The operation of step S4 is continuously performed until the first massage unit 8 is at the neck position and the second massage unit 9 is at the lower limit position of the elevation range. Then, in parallel with step S4, the treatment elements 34, 54 of the first and second massaging mechanisms 31, 51 are advanced (step S5). By operating in this manner, the upper body can be stretched by the separating operation along the height direction of the massaging mechanisms 31 and 51 while the upper body is warped by the advancement of the treatment elements 34 and 54, and the massage effect is enhanced.

[Operation 11]
FIG. 34 is a flowchart of the operation 11.
The action 11 is an action of stretching the body of the user. In operation 11, the treatment element 34 of the first massaging mechanism 31 is positioned at the neck by driving the elevation motor 35, and the pair of treatment elements 34 are brought close to each other by driving the massage motor 43; The treatment element 54 of the second massaging mechanism 51 is positioned at the waist by the driving of the second massaging mechanism 51, and the second massaging mechanism 51 is advanced by the driving of the advancing and retracting drive unit 16 to press the waist; 2) holding the upper body in the backrest 3 by the air cell 10 as the pressing holding means, holding the lower leg on the footrest 4 by the air cell 13 as the first pressing holding means provided on the footrest 4, and driving the actuator 21 Operation of causing the backrest 3 to recline backward and operation of lowering the footrest 4 by driving the actuator 22 Carried out to synchronize.

  In operation 11, it is sufficient to synchronize at least the operation of grasping the neck, the operation of pressing the waist, and the operation of reclining the backrest 3 backward. According to such an operation, since the second massaging mechanism 51 pushes up the waist in a state where the positional shift of the upper body with respect to the backrest 3 with reclining of the backrest 3 is suppressed by holding the neck, the upper body is effective. It is possible to warp in a high degree and expect high stretch effects.

  Moreover, if an operation to hold the upper arm or shoulder by the air cell 10 is added, the positional deviation of the upper body with respect to the backrest portion 3 accompanying the reclining of the backrest portion 3 is further suppressed by the retention of the upper arm or shoulder, and a higher stretching effect is achieved. I can expect it. Moreover, if the motion to hold the lower limbs and the motion to lower the footrest 4 are added, the backrest 3 and the footrest 4 are operated with the neck and the lower limbs held, so that the whole body can be pulled, which is higher Stretch effect can be expected. In addition, if the first massaging mechanism 31 in the advanced state is retracted by the drive of the advancing and retracting drive unit 15 in synchronization with the reclining of the backrest 3, the neck is drawn downward, so higher stretching effects can be expected. . In addition, the “synchronization” in the operation 11 may be performed as long as each operation is performed in parallel regardless of whether the second massage mechanism 51 is advancing or not by reclining the backrest portion 3 or the footrest 4. Also includes the case where it takes place after the completion of the descent.

  Hereinafter, each operation | movement of the 1st massaging mechanism 31 and the 2nd massaging mechanism 51 is demonstrated. FIG. 35 is an explanatory diagram of the operation A. FIG. 36 is an explanatory diagram of the operation B. FIG. 37 is an explanatory diagram of the operation C. FIG. 38 is an explanatory diagram of the operation D. FIG. 39 is an explanatory diagram of the operation E. FIG. 40 is an explanatory diagram of the operation F. FIG. 41 is an explanatory diagram of the operation a. FIG. 42 is an explanatory diagram of the operation b. FIG. 43 is an explanatory diagram of the operation c. FIG. 44 is an explanatory diagram of the operation d. FIG. 45 is an explanatory diagram of the operation e. FIG. 46 is an explanatory diagram of the operation f. FIG. 47 is an explanatory diagram of the operation g. FIG. 48 is an explanatory diagram of the operation h. FIG. 49 is an explanatory diagram of the operation i. FIG. 50 is an explanatory diagram of the operation j.

  Actions A to F are actions of the first massaging mechanism 31. The operations a to j are the operations of the second massaging mechanism 51. The operations A to F of the first massaging mechanism 31 and the operations a to j of the second massaging mechanism 51 can be arbitrarily combined. That is, in the present embodiment, there are 60 combinations of operations of the first massaging mechanism 31 and the second massaging mechanism 51. By combining the operations A to F and a to j of the massaging mechanisms 31 and 51 provided in the backrest 3 along the height direction, mass muscles covering a wide area like the mitral muscle M can be mass-collected be able to. In addition, it is possible to massage at the same time the parts separated in the height direction. In the operations a to j, in order to facilitate understanding, the treatment element 54 is illustrated with the lower treatment element 54b omitted.

  The position where the first massaging mechanism 31 massages in the operations A to F is determined based on the position information of each part detected or calculated by the specific part detection sensor. On the other hand, in the operations a to j, the position where the second massage mechanism 51 massages is position information of each part detected based on the specific part detection sensor possessed by the first massaging unit 8 or the second massaging unit 9, or It is determined based on the position information stored in the control means 23.

[Operation A]
As shown in FIG. 35, the operation A is an operation of driving the massaging motor 43 at the shoulder position to perform a massaging operation in which the massaging elements 34 of the first massaging mechanism 31 approach and separate. In operation A, the treatment element 34 may act on either the upper or the back of the shoulder. When acting on the back of the shoulder, the upper side is preferable to the scapula B. In addition, when acting on the scapula B as the rear of the shoulder, it is preferable to perform the kneading operation in a state in which the advancing and retracting air cell 15 is contracted and the first massage mechanism 31 is retracted so as not to feel excessive pain. .

[Operation B]
As shown in FIG. 36, the operation B is an operation of driving the massaging motor 43 at the neck position to bring the pair of treatment elements 34 of the first massaging mechanism 31 into close proximity and grasp the neck. In this operation, the massage motor 43 is stopped for a predetermined time in a state where the pair of treatment elements 34 are in proximity.

[Operation C]
As shown in FIG. 37, the action C is an action of pulling the treatment element 34 of the first massaging mechanism 31 from the neck to the shoulder. Specifically, the pair of treatment elements 34 are placed close to each other at the neck position, and the lifting motor 35 and the massage motor 43 are driven to separate the pair of treatment elements 34 while lowering the first massage mechanism 31 ( Operation C-1). Alternatively, the pair of treatment elements 34 are separated at the shoulder position, and the lift motor 35 and the massage motor 43 are driven to bring the pair of treatment elements 34 into close proximity while raising the first massage mechanism 31 (action C- 2). The operations C-1 and C-2 may be alternately repeated.

[Operation D]
As shown in FIG. 38, the operation D is an operation of driving the lift motor 35 from above the shoulder position to lower the first massaging mechanism 31 and causing the pair of treatment elements 34 to finger-press the shoulder from above. In this operation, it is preferable to perform the pair of treatment elements 34 in a separated state. Further, it is preferable that the treatment element 34 be advanced by supplying a predetermined amount of air to the advancing / retracting air cell 15 and advancing the treatment element 34.

[Operation E]
As shown in FIG. 39, the operation E is an operation of driving the elevating motor 35 at the neck position to raise and lower the first massaging mechanism 31 so that the pair of treatment elements 34 necks.

[Operation F]
As shown in FIG. 40, the action F is an action of putting the shoulder or back between the left and right shoulder blades B by the treatment element 34 of the first massaging mechanism 31. Specifically, with the pair of arms 40 substantially parallel in a front view at the shoulder or back position, the treatment element 34 is prevented from contacting the shoulder blade B, and the elevating motor 55 is driven to The massage mechanism 31 is raised or lowered. The separation distance of the pair of treatment elements 34 in the operation F may be wider than the separation distance of the pair of treatment elements 34 in the operation E.

[Operation a]
As shown in FIG. 41, the operation a is an operation of putting the back between the left and right shoulder blades B by the treatment element 54 of the second massaging mechanism 51. The upper and lower ranges that indicate the back in this operation include positions corresponding to the upper and lower ends of the scapula B. Specifically, the pair of arms 60 are substantially parallel in a front view at the scapula position so that the treatment elements 54a and 54b do not contact the scapula B, and the elevating motor 55 is driven to 2 Move the massage mechanism 51 up or down. That is, the action a is an action of widening between the entire left and right scapulae.

[Operation b]
As shown in FIG. 42, the operation b is an operation of putting the back between the left and right shoulder blades B by the treatment element 54 of the second massaging mechanism 51. The upper and lower range that indicates the back in this operation includes the lower side than the center of the scapula B and does not include the position corresponding to the upper end. Specifically, the pair of arms 60 are substantially parallel in a front view at the scapula position so that the treatment elements 54a and 54b do not contact the scapula B, and the elevating motor 55 is driven to 2 Move the massage mechanism 51 up or down. That is, the action b is an action centered on the lower portion between the left and right scapula B.

[Operation c]
As shown in FIG. 43, the action c is an action of putting the back between the left and right shoulder blades B by the treatment element 54 of the second massaging mechanism 51. The upper and lower range that indicates the back in this operation includes the upper side than the center of the scapula B and does not include the position corresponding to the lower end. Specifically, the pair of arms 60 are substantially parallel in a front view at the scapula position so that the treatment elements 54a and 54b do not contact the scapula B, and the elevating motor 55 is driven to 2 Move the massage mechanism 51 up or down. That is, the action c is an action centering on the upper part between the left and right scapula B.

[Operation d]
As shown in FIG. 44, the operation d is an operation of covering the range from the waist to the back by the treatment element 54 of the second massaging mechanism 51. Specifically, with the pair of arms 60 substantially parallel in a front view, the treatment elements 54a and 54b are prevented from contacting the scapula B, and the elevating motor 55 is driven to make the second massage mechanism 51 Up or down. The lower limit of the raising and lowering range of the second massaging mechanism 51 may be determined based on a limit sensor (not shown) provided at the lower part of the backrest 3. In the second massage mechanism 51, since the upper treatment element 54a acts stronger than the lower treatment element 54b due to the structure, the pair of upper treatment elements 54a is treated with the pair of upper treatment elements without making the arms 60 substantially parallel in front view. The operations a to d may be performed such that the upper treatment element 54a does not come in contact with the scapula B as being closer to the child 54b.

[Operation e]
As shown in FIG. 45, the operation e is an operation of performing a massaging operation on the lower edge of the scapula B by the treatment element 54 of the second massaging mechanism 51. Specifically, with the treatment element 54 (for example, the upper treatment element 54a) positioned slightly below the lower end of the scapula B, the massage motor 63 is driven, and the pair of treatment elements 54 of the second massage mechanism 51 is operated. Perform a massaging operation that approaches and separates.

[Operation f]
As shown in FIG. 46, the action f is an action of touching the inner edge of the scapula B by the treatment element 54 of the second massaging mechanism 51. Specifically, the pair of treatment elements 54 (for example, the upper treatment element 54a) are placed close to each other between the left and right shoulder blades B, and the elevating motor 55 and the massage motor 63 are driven to make the second massage mechanism. While lowering 51, the pair of treatment elements 54 (for example, the upper treatment element 54a) are separated (action f-1). Alternatively, the pair of treatment elements 54 (for example, the upper treatment element 54a) are separated from each other between the left and right shoulder blades B, and the raising and lowering motor 55 and the massage motor 63 are driven to raise the second massage mechanism 51. The pair of treatment elements 54 (e.g., 54a) are brought close to each other (action f-2). The operation f-1 and the operation f-2 may be alternately repeated.

[Operation g]
As shown in FIG. 47, the operation g is an operation of sucking by the treatment element 54 of the second massage mechanism 51 while rubbing the back and / or the hip. Specifically, the lift motor 55 and the massage motor 63 are driven to move the pair of treatment elements 54 close to and away from each other while raising or lowering the second massage mechanism 51. The range for raising and lowering the second massage mechanism 51 in this operation may be from the waist to the back, or may be only the back or the waist.

[Operation h]
As shown in FIG. 48, the operation h is an operation in which the treatment element 54 of the second massaging mechanism 51 sucks the rear part of the buttocks (the part in contact with the backrest 3). Specifically, the massaging motor 63 is driven to cause the pair of treatment elements 54 of the second massaging mechanism 51 to approach and separate at the buttocks position. The buttocks position may be determined based on a limit sensor (not shown) provided at the lower part of the backrest 3.

[Operation i]
As shown in FIG. 49, the operation i is an operation in which the treatment element 54 of the second massaging mechanism 51 applies finger pressure to the rear part of the buttocks (the part in contact with the backrest 3). Specifically, the massage motor 63 is driven to bring the pair of treatment elements 54 (for example, the upper treatment element 54a) of the second massaging mechanism 51 into close proximity at the buttocks position, and the massage motor 63 is stopped for a predetermined time in that state. . The buttocks position may be determined based on a limit sensor (not shown) provided at the lower part of the backrest 3.

[Operation j]
As shown in FIG. 50, the operation j is an operation of touching the back of the waist and / or buttock (the portion in contact with the backrest portion 3) by the treatment element 54 of the second massaging mechanism 51. Specifically, the lift motor 55 is driven to raise or lower the second massage mechanism 51. The range for raising and lowering the second massage mechanism 51 in this operation may be from the waist to the buttocks, or may be only the waist or the buttocks.

[Configuration of massage unit according to another embodiment]
Hereinafter, the massage unit 100 which concerns on other embodiment is demonstrated. FIG. 30 is a front view of a massage unit 100 according to another embodiment. The massaging unit 100 includes the massaging mechanism 31 and the second massaging mechanism 51 described above collectively in a single main body frame 110. That is, since the massaging mechanisms 31 and 51 and the support frames 32 and 52 which support the massaging mechanisms 31 and 51 are the same as the structure mentioned above, below, the same code | symbol is attached | subjected and the description is abbreviate | omitted.

  As shown in FIG. 30, the massage unit 100 includes the first massaging mechanism 31 disposed relatively upward and the second massaging mechanism 51 disposed relatively downward, and is provided to the backrest 3 ing. The massage unit 100 mainly includes a body frame 110 supported so as to be movable up and down by a guide mechanism 3b, a first massage mechanism 31 and a second massage mechanism 51, and support frames 32 and 52 for supporting the respective massage mechanisms 31 and 51. And advancing and retracting drive units 15 and 16 for advancing and retracting each massaging mechanism 31 and 51 with respect to the treatment site, and links 33 and 53 for connecting the main body frame 110 and the support frames 32 and 52 and swinging in the front and rear direction It is configured to have.

  The massage unit 100 includes a lift motor 111, a lift shaft 112, and pinions 39 attached to both ends of the lift shaft 112, and the lift shaft 112 is rotated by driving the lift motor 111 so that the massage unit 100 is rotated. Move up and down along the height direction. The treatment element 34 can perform a massaging operation or a tapping operation by driving the massaging motor 43, and the massaging element 54 can perform a massaging operation by driving the massaging motor 63.

[Configuration of massage mechanism according to another embodiment]
Hereinafter, a massage mechanism 200 according to another embodiment will be described. FIG. 31 is a front view of a massage mechanism 200 according to another embodiment.
Essentially different from the first massaging mechanism 31 described above, the massaging mechanism 200 is provided with treatment elements 91 on the upper and lower sides of the arm 90, and the lower treatment elements 91 are provided on the left and right sides of the arm 90. It is a point that The other configuration is the same as that of the first massaging mechanism 31, and hence the same reference numerals are given below and the description thereof is omitted.

  The massage mechanism 200 has a pair of left and right arms 90 for attaching the treatment element 91, and the arms 90 are connected to the kneading shaft 41 and the tapping shaft 42. The treatment element 91 has an upper treatment element 91 a provided on the upper side of the arm 90 and a lower treatment element 91 b provided on the lower side of the arm 90. Also, the lower massaging elements 91 b are provided in pairs on the left and right sides of the arm 90. The lower treatment child 91b is configured to have a smaller diameter than the upper treatment child 91a, the lower treatment child 91b simulates the thumb of the masseur, and the upper treatment child 91a simulates the other fingers except the thumb of the masseur. There is. Then, by driving the massage motor 43, it is possible to perform a massaging operation in which the left and right pair of treatment elements 91 move close to each other and a tapping operation in which the left and right pair of treatment elements 91 alternately move back and forth. When applying this massaging mechanism 200 to the massage machine 1 mentioned above, it is preferable to replace with the 1st massaging mechanism 31, and to provide the massaging mechanism 200. FIG. That is, in the backrest portion 3, the massaging mechanism 200 is disposed relatively on the upper side, and the second massaging mechanism 51 is disposed relatively on the lower side. And each massaging mechanism 51,200 becomes possible to rise / fall independently along a height direction.

  It is effective that this massaging mechanism 200 perform a massaging operation near the neck and shoulder positions. That is, the neck and the shoulder can be squeezed simultaneously by the upper treatment child 91a and the lower treatment child 91b, respectively. Furthermore, the inner lower treatment element 91b effectively acts on the shoulder in the proximity process of the paired lower massager 91b, and the outer lower treatment element 91b effectively acts on the shoulder in the separation process of the paired lower massager 91b. Do. From the viewpoint of exerting this effect, it is not necessary to provide a plurality of massaging mechanisms 200 along the height direction, and a single massaging mechanism 200 may be provided on the backrest portion 3 so as to be vertically movable along the height direction. Good. In addition, lower massager 91 b may be provided only on either the inside or the outside of arm 90.

[Configuration of link according to another embodiment]
Hereinafter, although the case where it applies to the 1st massage unit 8 is illustrated and explained about the link 93 which concerns on other embodiment, it is applicable also to the 2nd massage unit 9. FIG. FIG. 32 is an explanatory view of a link 93 according to another embodiment, in which (a) shows a state in which the massage mechanism 31 is retracted, and (b) shows a state in which the massage mechanism 31 is advanced. In addition, below, the same code | symbol is attached | subjected to the member corresponding to the 1st massage unit 8 provided with the link 33 mentioned above, and the description is abbreviate | omitted.

  As shown in FIG. 32, on the side of the support frame 32, a link 93 is provided which connects the main body frame 30 and the support frame 32 and swings in the front-rear direction. The reason why the link 93 is disposed to the side of the support frame 32 is that the thickness in the front-rear direction of the massage unit 8 can be suppressed as compared with the case where the link 93 is disposed behind the support frame 32. The link 93 is juxtaposed in the front-rear direction, and has a first link portion 93a relatively disposed on the rear side, and a second link portion 93b relatively disposed on the front side. That is, the link 93 constitutes a four-bar linkage. Further, unlike the link 33, the first link portion 93a and the second link portion 93b have the same length, and the link 93 constitutes a parallel link mechanism. Therefore, the first massaging mechanism 31 can be advanced and retracted in parallel and stably.

  As described above, the first massage unit 8 advances and retracts the main body frame 30, the massage mechanism 31 having the treatment element 34, the support frame 32 for supporting the massage mechanism 31, and the massage mechanism 31 with respect to the treatment site. The link 93 has a drive portion 15 and a link 93 that connects the main body frame 30 and the support frame 32 and swings in the front-rear direction. The portions A1 and A3 are located forward of the connecting portions A2 and A4 with the support frame 32.

[Configuration of Sensor According to Another Embodiment]
Hereinafter, another embodiment of the sensor 80 for detecting the relative position of the first massaging unit 8 and the second massaging unit 9 will be described based on FIG. FIG. 33 is an explanatory view of a sensor 80 according to another embodiment.
The sensor 80 includes a third sensor unit (elevating sensor 77) for detecting the vertical position of the first massage unit 8 and a fourth sensor unit (elevating sensor 78) for detecting the vertical position of the second massage unit 9. It is configured. Then, a detection value (height “7” in FIG. 33) indicating the upper and lower position (height) of the first massage unit 8 detected by the elevation sensor 77 and the second massage unit 9 detected by the elevation sensor 78 The first and second massage units 8, 9 are based on the difference value (the difference value "1" in FIG. 33) between the detection value (the height "6" in FIG. 33) indicating the upper and lower position (height). Detect relative position. That is, the smaller the difference value is, the narrower the distance between the massage units 8 and 9, and the larger the difference value, the wider the distance between the two massage units 8 and 9. For example, the relative position where the difference value is "1" may be set as the proximity state, and the relative position where the difference value is "2" may be set as the pre-proximity state.

  As described above, in the first massaging unit 8, the elevation sensor 77 detects how many rotations of the elevation shaft 36 have occurred from the upper limit position, whereby the vertical position is detected. The second massage unit 9 detects the upper and lower positions of the second massage unit 9 by detecting how many rotations of the elevating shaft 56 have been performed from the lower limit position. In the present embodiment, the difference value indicating the interval between both massage units 8 and 9 can be detected in nine stages, and compared with the case where the sensor 70 is used, relative positions of the first and second massage units 8 and 9 Detection range is expanded.

Moreover, the massaging machine of the present invention is not limited to the illustrated embodiment, but may be another embodiment within the scope of the present invention.
For example, the number of treatment elements is not limited, and the treatment elements 34 of the first massaging mechanism 31 may be plural in the vertical direction as in the case of the second massaging mechanism 51. In the embodiment described above, the arms for supporting the treatment elements are a pair of right and left, but a plurality of left and right pairs may be provided across the center line of the body, and a plurality of treatment elements in the left and right direction for one arm. You may provide. Moreover, there is no restriction | limiting in the number of objects of the massage unit provided along a height direction, Three or more may be sufficient.
Further, from the viewpoint of the actions 1 to 8 described above, it is sufficient to provide a plurality of massaging units 8 and 9 in the height direction, and the horizontal operation range W1 and W2 in the massaging operation and the upper and lower dimensions H1 of the massaging locus , H 2, or separation distance D 1, D 2 of the pair of treatment elements when closest to each other in the massaging operation may be the same in the first massaging mechanism 31 and the second massaging mechanism 51.
In addition, the guide mechanism 3b is also provided to the seat 2 or the seat 2 and the footrest 4, and at least one of the first and second massage units 8 and 9 can be mounted from the backrest 3 along the height direction. It may be movable to 2 or the footrest 4.

  Moreover, the sensor 70 which detects a proximity | contact state or a proximity | contact prior state as a relative position of both the massage units 8 and 9 may be a contact-type sensor using a volume switch etc. FIG. For example, in place of the magnet holders 73 and 74, a volume switch may be provided at the tip of the spring biased in the extension direction. Furthermore, if a volume switch is additionally provided on the bottom wall 30c of the first massage unit 8 or the upper wall 50d of the second massage unit 9, the "pre-proximity state" is obtained by pressing the volume switch provided on the tip of the spring. Can be detected, and the "proximity state" can be detected by pressing the volume switch provided on the bottom wall 30c or the upper wall 50d against the biasing force of the spring.

  The present invention can be applied to a massager in which the sensation of massage is improved.

1 massager 2 seat 3 backrest 4 footrest 8 1st massage unit (massage unit)
9 2nd massage unit (massage unit)
10 Air cell (second pressing and holding means)
13 Air cell (first pressing and holding means)
15 Advance / Retract Air Cell (Advance / Retraction Drive)
16 Advance / Retract Air Cell (Advance / Retraction Drive)
23 control means 30 body frame 30 b side wall 31 first massage mechanism (massage mechanism)
32 support frame 33 link 33a first link portion 33b second link portion 34 treatment element 35 lifting motor 36 lifting shaft 40 arm 43 massage motor (massage driver)
48 Reinforcement part 50 Body frame 50 b Side wall 51 Second massage mechanism (massage mechanism)
52 Support frame 53 Link 53a First link 53b Second link 54 Treatment element 55 Lifting motor 56 Lifting shaft 63 Massager motor (massage driver)
68 Reinforcement part 70 Sensor 71 First sensor part 72 Second sensor part 77 Elevation sensor (third sensor part)
78 Lifting sensor (4th sensor section)
80 sensor 90 arm 91 treatment child 91a upper treatment child 91b lower treatment child 93 link 93a 1st link section 93b 2nd link section 100 massage unit 200 1st massage mechanism (massage mechanism)
D1 Distance between the pair of treatment elements when closest to each other in the kneading operation D2 Distance between the pair of treatment elements when closest to each other in the kneading operation H1 upper and lower dimensions of the locus of mass movement H2 upper and lower dimensions of the locus of mass movement W1 Operation range W2 of the treatment element in the left and right direction in movement Operation range in the left and right direction of the treatment element in massaging movement

The present invention relates to a massage machine in which a plurality of massaging mechanisms having a pair of massaging elements disposed on the left and right sides are provided along the height direction, wherein the massaging mechanism is relatively opposite to the first massaging mechanism disposed on the upper side. A second massaging mechanism disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising the treatment elements of the pair And a massage drive unit for causing at least one of a massaging operation in which the pair of massagers move alternately, or the massaging operation in which the pair of treatment elements alternately move back and forth , and the control unit performs the massaging operation on one massage mechanism or to perform the holding by bringing close the treatment element of the pair, at the same time so as to perform an operation including the tapping operation to the other of the massaging mechanism controlling the massaging driver And wherein the Rukoto.
With such a configuration, it is possible to give a sensation as if two or more masseurs perform different types of massage.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: A massage drive unit for performing at least one of a massaging operation in which the treatment element approaches or separates or a tapping operation in which the pair of treatment elements alternately move back and forth, and at least one of the first and second massaging mechanisms in the height direction anda elevation motor for elevating along, said control means to perform the kneading operation or the tapping operation on one of the massage mechanism, only the other of the massaging mechanism And controlling the massaging driver and the lift motor to raise or lower along the direction.
With such a configuration, it is a realistic sensation as if a masseuse massages or strikes the treatment site with one hand while stretching and extending the body with the other hand. You can get

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: A massage drive unit for performing at least one of a massaging operation in which the treatment element approaches or separates or a tapping operation in which the pair of treatment elements alternately move back and forth, and at least one of the first and second massaging mechanisms in the height direction anda elevation motor for elevating along, said control means is brought close to treatment element of said pair of one massaging mechanism while holding the the treatment site, the other map And controlling the massaging driver and the lifting motor so as to increase or decrease along the over-di mechanism height direction.
With such a configuration, while the masseur puts one hand on the body and fixes the body, a sense of reality is obtained as if the other hand rubs or stretches the treatment site. be able to.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: A massage drive unit for performing at least one of a massaging operation in which the treatment element approaches or separates or a tapping operation in which the pair of treatment elements alternately move back and forth, and at least one of the first and second massaging mechanisms in the height direction anda elevation motor for elevating along, said control means, said first massaging mechanism in a state arranged on the shoulder, said second massaging mechanism along a height direction And controlling the elevating motor so as to rise.
With such a configuration, the treatment element of the first massage mechanism can be made to abut on the shoulder strongly.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , A second massaging mechanism relatively disposed on the lower side, and a control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising the has a reciprocating drive unit for advancing and retracting the front and rear direction relative to the user, and a lift motor for lifting along the height direction at least one of said first and second massaging mechanism, said control means, said The elevating motor is configured to synchronize the movement of the first and second massaging mechanisms in the direction approaching each other along the height direction and the advancement of the treatment elements of the first and second massaging mechanisms. And wherein the controller controls the reciprocating drive unit.
With such a configuration, the upper body can be bent while stretching the spine.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , A second massaging mechanism relatively disposed on the lower side, and a control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising the has a reciprocating drive unit for advancing and retracting the front and rear direction relative to the user, and a lift motor for lifting along the height direction at least one of said first and second massaging mechanism, said control means, said The control means synchronizes the movement of the first and second massaging mechanisms in the direction away from each other along the height direction and the advancement of the massaging elements of the first and second massaging mechanisms. And controlling sales is the elevation motor and the reciprocating drive unit.
With such a configuration, the upper body can be stretched while being bent.

Further, according to the present invention, in a massager provided with a plurality of massaging mechanisms having a pair of treatment elements forming left and right along the height direction, a first massaging mechanism relatively disposed above as the massaging mechanism , And a second massaging mechanism relatively disposed on the lower side, and control means for controlling the operation of the first and second massaging mechanisms, the first and second massaging mechanisms comprising: The massage driving unit causes the massager to perform a massaging operation in which the treatment device approaches or departs, and a sensor for detecting the proximity of the first massaging mechanism and the second massaging mechanism, and the control means includes the first massaging mechanism and The first massa with the second massaging mechanism or the massaging element of the first massaging mechanism and the massaging element of the second massaging mechanism in proximity in the height direction It is preferable to control the massage drive unit so as to perform the massaging operation to each other at different speeds to the di mechanism second massaging mechanism.
With such a configuration, it is possible to change the massaging operation from the vertical direction by the treatment element of the upper first massage mechanism and the treatment element of the lower second massage mechanism with the passage of time, Massage effect increases.

Hereinafter, the configuration of the lower second massage unit 9 will be described in detail.
As shown in FIGS. 9 to 15, the body frame 50 has a rear wall 50a, side walls 50b erected from the left and right sides of the rear wall 50a, a bottom wall 50c erected from the lower portion of the rear wall 50a, and An upper wall 50d erected from an upper portion of the wall 50a and a box-like shape opened at the front by the upper wall 50d. In the lower part inside the main body frame 50, the elevation motor 55 for raising and lowering the second massage unit 9, the elevation shaft 56 extending in the lateral direction, and the rotation of the elevation motor 55 are decelerated and transmitted to the elevation shaft 56. An elevating mechanism constituted by the speed reducer 57 is accommodated. The elevating shaft 56 is rotatably supported by the both side walls 50b . The side wall 50b, a pinion 59 which is mounted a guide roller 58 to lower the elevating shaft 56 is provided, the guide roller 58 and the pinion 59 is provided at the upper portion. The guide mechanism 3b is held between the pinion 59 and the guide roller 58, and the second massaging unit 9 can move up and down along the height direction when the elevating motor 55 is driven. Since the elevating mechanism is disposed below the second massaging unit 9, the treatment element 54 (upper treatment element 54a) can be brought close to the treatment element 34 of the first massaging mechanism 31.

The first sensor unit 71 is positioned perpendicular to the magnet holder 74 provided in the second massage unit 9 in the vertical direction is substantially coincident, detects the proximity of the second Ma Tsu surge unit 9 to the first massage unit 8 can do. The second sensor unit 72 is positioned perpendicular to the magnet holder 73 provided in the first massage unit 8 in the vertical direction is substantially coincident, close the first Ma Tsu surge unit 8 with respect to the second massage unit 9 Can be detected. That is, the sensor 70 is a non-contact type sensor composed of the first sensor unit 71 and the second sensor unit 72. As described above, each of the massage units 8 and 9 detects the proximity of the massage units 9 and 8 on the other side, and the sub control units 25 and 26 control the lift motors 33 and 55, respectively. Accuracy increases.

Claims (22)

In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include a massage driving unit that causes at least one of a massaging operation in which the pair of treatment elements approaches or separates or a tapping operation in which the pair of treatment elements alternately advances and retracts; An advancing and retracting drive unit for advancing and retracting the child in the forward and backward directions with respect to the user;
The control means controls the advancing and retracting drive unit to advance or retract the treatment elements of the first massaging mechanism and the treatment elements of the second massaging mechanism at different timings. . In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include a massage driving unit that causes at least one of a massaging operation in which the pair of treatment elements approaches or separates or a tapping operation in which the pair of treatment elements alternately advances and retracts; An advancing and retracting drive unit for advancing and retracting the child in the forward and backward directions with respect to the user;
A massager characterized in that the control means controls the advancing and retracting drive unit to advance or retract the treatment elements of the first massaging mechanism and the treatment elements of the second massaging mechanism at different speeds. .   The control means controls the advancing / retreating drive unit to advance the treatment element of the other massage mechanism after advancing the treatment element of one of the first and second massage mechanisms. The massage machine of Claim 1 or 2 characterized by the above-mentioned.   The control means controls the advancing and retracting drive unit to retract the treatment element of the other massage mechanism after retracting the treatment element of one of the first and second massage mechanisms. The massage machine in any one of the Claims 1-3 characterized by the above-mentioned.   The control means may control the drive unit to retract the treatment element of the other massage mechanism in synchronization with the advancement of the treatment element of one of the first and second massage mechanisms. The massage machine in any one of the Claims 1-4 characterized by the above-mentioned.   The control means changes the positions of the first and second massaging mechanisms in the left and right direction of the treatment elements, and causes the first and second massaging mechanisms to advance the first and second massaging mechanisms. The massage machine according to any one of claims 1 to 4, wherein the advancing and retracting drive unit is controlled to retract one of the massaging elements in the second massaging mechanism.   The control unit causes the advancing and retreating drive unit to cause the other massage mechanism to repeat advancing and retreating of the treatment element in a state where the treatment element of one of the first and second massage mechanisms is advanced. The massager according to claim 1 or 2, characterized in that:   The control means synchronizes the advancing or retreating of the massaging element of at least one of the first and second massaging mechanisms with the massaging operation or the tapping operation of the one massaging mechanism. The massage machine according to any one of claims 1 to 7, which controls the forward and backward drive unit and the massage drive unit.   The control means synchronizes advancing or retreating of the treatment element of the massage mechanism of at least one of the first and second massage mechanisms and an operation of bringing the treatment elements of the pair of the massage mechanism closer to each other. The massaging machine according to any one of claims 1 to 8, wherein the advancing and retracting drive unit and the massage drive unit are controlled to cause the movement. It has an elevating motor that raises and lowers at least one of the first and second massaging mechanisms along the height direction,
The massage machine according to any one of claims 1 to 9, wherein the control means controls the advancing and retracting drive unit and the elevating motor so as to synchronize advancing and rising or lowering of the one massage mechanism. In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include a massage driving unit that causes at least one of a massaging operation in which the pair of treatment elements approaches or separates or a tapping operation in which the pair of treatment elements alternately advances and retracts; An advancing and retracting drive unit for advancing and retracting the child in the forward and backward directions with respect to the user;
The control means controls the advancing and retracting drive unit to advance the treatment element of the second massaging mechanism in a state where the first massaging mechanism is disposed on the shoulder and the second massaging mechanism is disposed on the waist. A massage machine characterized by In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include a massage drive unit that causes at least one of a massaging operation in which the pair of treatment elements approaches or separates or a tapping operation in which the pair of treatment elements alternately advances and retracts,
It has an elevating motor that raises and lowers at least one of the first and second massaging mechanisms along the height direction,
The control means is characterized in that the massaging mechanism or the elevating motor is controlled to cause one of the massaging mechanisms to perform the massaging operation or the tapping operation and to raise or lower the other massaging mechanism along the height direction. Massage machine to be. In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include a massage drive unit that causes at least one of a massaging operation in which the pair of treatment elements approaches or separates or a tapping operation in which the pair of treatment elements alternately advances and retracts,
It has an elevating motor that raises and lowers at least one of the first and second massaging mechanisms along the height direction,
The control unit is configured to raise or lower the other massage mechanism along the height direction in a state where the pair of treatment elements of one massage mechanism are brought close to sandwich the treated portion. A massager characterized by controlling a motor. In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include a massage drive unit that causes at least one of a massaging operation in which the pair of treatment elements approaches or separates or a tapping operation in which the pair of treatment elements alternately advances and retracts,
It has an elevating motor that raises and lowers at least one of the first and second massaging mechanisms along the height direction,
The said control means controls the said raising / lowering motor so that a said 2nd massaging mechanism may be raised along a height direction in the state which arrange | positions a said 1st massaging mechanism on a shoulder. In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include an advancing and retracting drive unit for advancing and retracting the treatment element relative to the user in the forward and backward directions,
It has an elevating motor that raises and lowers the first and second massage mechanisms along the height direction,
The control means is configured to raise and lower the movement of the first and second massaging mechanisms in a direction approaching each other along the height direction and the advancing of the massaging elements of the first and second massaging mechanisms. A massaging machine characterized by controlling a motor and the forward and backward drive unit. In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include an advancing and retracting drive unit for advancing and retracting the treatment element relative to the user in the forward and backward directions,
It has an elevating motor that raises and lowers the first and second massage mechanisms along the height direction,
The control means is configured to raise and lower the movement of the first and second massaging mechanisms in the direction away from each other along the height direction of the massaging mechanism and the advancing of the massaging elements of the first and second massaging mechanisms. A massaging machine characterized by controlling a motor and the forward and backward drive unit. In a massager provided with a massaging mechanism having a pair of treatment elements forming a pair on the left and right along a height direction at a backrest where the user looks down,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include a massage drive unit that causes at least one of a massaging operation in which the pair of treatment elements approaches or separates or a tapping operation in which the pair of treatment elements alternately advances and retracts,
The control means causes the massaging mechanism to perform clamping by bringing the massaging mechanism or the pair of treatment elements close to one massaging mechanism, and at the same time causes the massage driving to cause the other massaging mechanism to perform an operation including the tapping operation. A massage machine characterized by controlling a department. In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms;
The first and second massage mechanisms include a massage drive unit that causes the pair of treatment elements to perform a massaging operation in which the massaging elements approach or separate from each other.
The said control means controls the said massage drive part so that the said 1st massaging mechanism and the said 2nd massaging mechanism may perform the said kneading operation at mutually different speed.   The first and second massaging mechanisms with the first massaging mechanism and the second massaging mechanism or the massaging elements of the first massaging mechanism and the massaging elements of the second massaging mechanism in close proximity in the height direction The massage machine according to claim 18, wherein said massaging operation is performed by said treatment element. A seat where a user sits down;
And a backrest for reclining users provided at the rear of the seat.
In a massaging machine provided with a plurality of massaging mechanisms having a pair of treatment elements forming a pair on the left and right along the height direction,
As the massaging mechanism, a first massaging mechanism disposed relatively upward, and a second massaging mechanism disposed relatively downward,
Control means for controlling the operation of the first and second massaging mechanisms and the reclining operation of the backrest;
The control means performs an operation of holding a neck by the treatment element of the first massage mechanism, an operation of pressing a waist by the treatment element of the second massage mechanism, and an operation of causing the backrest to recline backward. A massage machine characterized in that it performs a synchronized operation. It has a footrest for supporting the lower limbs of the user, which is vertically pivotably provided at the front of the seat,
The footrest has first pressing and holding means for pressing or holding the user's lower limbs,
21. The massage machine according to claim 20, wherein the control means synchronizes with the synchronized movement the movement of holding the lower leg by the first pressing and holding means and the movement of lowering the footrest. A second pressing and holding means for pressing or holding the user's upper arm or shoulder;
22. The massage machine according to claim 20, wherein said control means synchronizes an operation of holding the upper arm or the shoulder by said second pressing and holding means to said synchronized operation.

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