JP2022179657A - Massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: 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

COPYRIGHT: (C)2023,JPO&INPIT

Description

The present invention relates to massage machines.

2. Description of the Related Art Conventionally, there has been known a massage device in which an upper unit arranged relatively upward and a lower unit arranged relatively downward are provided in a backrest portion. The upper unit has a shoulder unit and a scapula unit, and the lower unit has a back unit and a waist unit. In addition, the shoulder unit massages the shoulder with the treatment element pushing down the shoulder due to the expansion of the air bag, and the shoulder blade unit massages the shoulder blade with the treatment element pushing up the scapula due to the expansion of the air bag. Therefore, the massager of the shoulder unit and the massager of the scapula unit can provide a massage effect that pinches the shoulder and scapula (see, for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 2002-209961

However, in the massage device described in Patent Document 1, for example, when looking at the upper unit, the shoulder unit arranged on the upper side and the scapula unit arranged on the lower side can be treated without changing their relative positions. It is a monotonous massage that pinches the buttocks. SUMMARY OF THE INVENTION Accordingly, the present invention has been made to solve the above-described problems, and an object of the present invention is to improve the feeling of massage by a massage machine.

The present invention provides a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction, wherein the massage mechanism is a first massage mechanism arranged relatively upward, and and a control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms are arranged on the pair of treatment elements. A massaging drive unit that performs at least one of a kneading motion in which the two approach or move away from each other, or a tapping motion in which the pair of treatment elements alternately advances and retreats; and wherein the control means controls the advancing/retreating driving section such that the treatment elements of the first massage mechanism and the treatment elements of the second massage mechanism advance or retreat at different timings. characterized by
With such a configuration, the treatment elements of the first and second massage mechanisms, each of which can perform a kneading action or a tapping action, can be advanced or retracted at different timings, so that it is as if a masseur It is possible to obtain a realistic sensation as if a massage is performed using both hands.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction, wherein the massage mechanism is a first massage mechanism arranged relatively upward. , a second massage mechanism disposed relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms A massaging driving unit that performs at least one of a kneading action in which the treatment elements approach or move away from each other, or a tapping action in which the pair of treatment elements alternately advances and retreats; and a drive unit, wherein the control means controls the advance/retreat drive unit so as to advance or retreat the treatment elements of the first massage mechanism and the treatment elements of the second massage mechanism at mutually different speeds. characterized by
By adopting such a configuration, the treatment elements of the first and second massage mechanisms, each of which can perform a kneading action or a tapping action, can be advanced or retracted at mutually different speeds. It is possible to obtain a realistic sensation as if a massage is performed using both hands.

Further, the control means controls the advance/retreat driving section so that after advancing the treatment elements of one of the first and second massage mechanisms, the treatment elements of the other massage mechanism are advanced. is preferred.
By adopting such a configuration, it is possible to obtain a realistic sensation as if a masseuse were to sequentially push the left hand and right hand into the treatment site.

Further, the control means controls the advance/retreat driving section so that after retracting the treatment elements of one of the first and second massage mechanisms, the treatment elements of the other massage mechanism are retracted. is preferred.
By adopting such a configuration, it is possible to obtain a realistic feeling as if a masseuse were relaxing the massage with the left hand and the massage with the right hand in sequence.

Further, the control means controls the driving section so as to retract the treatment elements of one of the first and second massage mechanisms in synchronization with the advancement of the treatment elements of the other massage mechanism. is preferred.
By adopting such a configuration, it is possible to obtain a realistic sensation as if a masseuse alternately switches between the left hand and the right hand to perform the massage.

Further, the control means changes the positions of the treatment elements of the first and second massage mechanisms in the left-right direction, and moves the treatment elements of the first and second massage mechanisms from a state in which the treatment elements are advanced to the first position. It is preferable to control the advance/retreat driving section so as to retreat one of the treatment elements of the first or second massage mechanism.
With such a configuration, it is possible to obtain a realistic sensation as if a masseuse were to use both hands to perform a massage with the thumb and other fingers. In addition, the treated part strongly abuts against the advanced treatment element, so that the user can feel as if he or she is being acupressured.

Further, the control means moves the treatment elements of one of the first and second massage mechanisms forward while causing the other massage mechanism to repeat advancing and retreating of the treatment elements. Preferably the drive is controlled.
By adopting such a configuration, it is possible to obtain a realistic sensation as if a masseuse puts one hand on the treatment site and repeats acupressure with the other hand.

Further, the control means synchronizes advancing or retreating of the treatment elements of at least one of the first and second massage mechanisms with the kneading motion or the tapping motion of the one massage mechanism. It is preferable to control the advancing/retreating driving section and the massage driving section so as to allow the movement of the body.
By adopting such a configuration, it is possible to obtain a realistic feeling as if a masseuse were performing a kneading motion or a beating motion while changing the amount of force applied.

Further, the control means advances or retreats the treatment elements of at least one of the first and second massage mechanisms, and moves the pair of treatment elements of the one massage mechanism closer to each other; It is preferable to control the advance/retreat driving section and the massage driving section so as to synchronize the .
By adopting such a configuration, it is possible to obtain a realistic sensation as if the masseuse were grasping and pushing the treatment site or pulling the treatment site while grasping it.

Further, an elevating motor is provided for elevating or lowering at least one of the first and second massage mechanisms along the height direction, and the control means is configured to synchronize the advancing and raising or lowering of the one massage mechanism. Preferably, the drive and the lift motor are controlled.
With such a configuration, it is possible to obtain a realistic sensation as if a masseuse were pushing up or down the treated area.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction, wherein the massage mechanism is a first massage mechanism arranged relatively upward. , a second massage mechanism disposed relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms A massaging driving unit that performs at least one of a kneading action in which the treatment elements approach or move away from each other, or a tapping action in which the pair of treatment elements alternately advances and retreats; and a drive unit, wherein the control means advances the treatment elements of the second massage mechanism with the first massage mechanism arranged on the shoulder and the second massage mechanism arranged on the waist. It is characterized by controlling the advance/retreat drive unit as follows.
With such a configuration, the upper body can be bent back and the treatment elements of the first massage mechanism can be brought into strong contact with the shoulders.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction, wherein the massage mechanism is a first massage mechanism arranged relatively upward. , a second massage mechanism disposed relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms A massage driving unit for performing at least one of a kneading action in which the treatment elements approach or move away from each other, or a tapping action in which the pair of treatment elements alternately advances and retreats, and at least one of the first and second massage mechanisms is provided. The control means has an elevating motor for elevating and lowering along the height direction, and the control means causes one of the massage mechanisms to perform the kneading operation or the hitting operation, and raises or lowers the other massage mechanism along the height direction. It is characterized by controlling the massage driving section and the lifting motor.
By adopting such a configuration, it is possible to experience a realistic feeling as if the masseuse were rubbing or stretching the body with the other hand while rubbing or beating the treatment site with one hand. can be obtained.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction, wherein the massage mechanism is a first massage mechanism arranged relatively upward. , a second massage mechanism disposed relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms A massage driving unit for performing at least one of a kneading action in which the treatment elements approach or move away from each other, or a tapping action in which the pair of treatment elements alternately advances and retreats, and at least one of the first and second massage mechanisms is provided. The control means has an elevating motor for moving up and down along the height direction, and the control means moves the other massage mechanism along the height direction with the pair of treatment elements of one of the massage mechanisms approaching and sandwiching the treatment target. and controlling the massage driving unit and the lifting motor so as to move the massager upward or downward.
By adopting such a configuration, it is possible to obtain a realistic sensation as if a masseuse were to fix the body with one hand and rub or stretch the treatment site with the other hand. be able to.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction, wherein the massage mechanism is a first massage mechanism arranged relatively upward. , a second massage mechanism disposed relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms A massage driving unit for performing at least one of a kneading action in which the treatment elements approach or move away from each other, or a tapping action in which the pair of treatment elements alternately advances and retreats, and at least one of the first and second massage mechanisms is provided. An elevating motor is provided for elevating the body along the height direction, and the control means controls the elevating motor so as to elevate the second massage mechanism along the body height direction while the first massage mechanism is placed on the shoulder. characterized by
With such a configuration, the treatment elements of the first massage mechanism can be brought into strong contact with the shoulders.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction, wherein the massage mechanism is a first massage mechanism arranged relatively upward. , a second massage mechanism disposed relatively lower, and a control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms are configured to operate with the treatment elements. with respect to the user in the front-rear direction, and an elevating motor for elevating the first and second massage mechanisms along the height direction. 2. controlling the elevating motor and the advance/retreat drive unit so as to synchronize the movement of the massage mechanisms in the direction toward each other along the height direction and the advancement of the treatment elements of the first and second massage mechanisms; characterized by
With such a configuration, it is possible to bend the upper body while stretching the back muscles.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction, wherein the massage mechanism is a first massage mechanism arranged relatively upward. , a second massage mechanism disposed relatively lower, and a control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms are configured to operate with the treatment elements. with respect to the user in the front-rear direction, and an elevating motor for elevating the first and second massage mechanisms along the height direction. 2. Controlling the elevating motor and the advance/retreat drive unit so as to synchronize the movement of the two massage mechanisms in directions away from each other along the height direction and the advancement of the treatment elements of the first and second massage mechanisms. characterized by
With such a configuration, it is possible to stretch the upper half of the body while curving it.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms having right and left pairs of treatment elements are provided along the height direction on a backrest on which a user leans, wherein the massage mechanism is arranged relatively upward. a first massage mechanism arranged on the lower side, a second massage mechanism arranged relatively on the lower side, and control means for controlling operations of the first and second massage mechanisms, wherein the first and The second massage mechanism has a massage drive unit that performs at least one of a kneading motion in which the pair of treatment elements approach or move away from each other, or a tapping motion in which the pair of treatment elements alternately advances and retreats, and the control means includes: and controlling the massage drive unit so that one of the massage mechanisms performs the kneading operation or pinches the pair of treatment elements by bringing them close to each other, and at the same time, causes the other massage mechanism to perform an operation including the tapping operation. It is characterized by
With such a configuration, it is possible to give a sensation as if two or more masseuses are performing different types of massage on the upper body.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction, wherein the massage mechanism is a first massage mechanism arranged relatively upward. , a second massage mechanism disposed relatively below, and control means for controlling the operation of the first and second massage mechanisms, wherein the first and second massage mechanisms A massaging drive section is provided for performing a kneading motion in which the treatment elements approach or move away from each other, and the control means drives the massager so as to cause the first massage mechanism and the second massage mechanism to perform the kneading motion at mutually different speeds. It is characterized by controlling the part.
With such a configuration, when the kneading motion is continuously performed by the first and second massaging mechanisms, the massaging elements of the first massaging mechanism on the upper side and the massaging elements of the second massaging mechanism on the lower side The kneading motion from the vertical direction can be changed with the lapse of time, and the massage effect is enhanced.

Further, the first and second massage mechanisms are arranged in a state in which the first massage mechanism and the second massage mechanism, or the treatment elements of the first massage mechanism and the treatment elements of the second massage mechanism are brought close to each other in the height direction. It is preferable to perform the kneading operation by the treatment element of the massage mechanism.
By adopting such a configuration, it is possible to further experience the kneading motion in the vertical direction by the treatment elements of the first massage mechanism on the upper side and the treatment elements of the second massage mechanism on the lower side.

In addition, the present invention has a seat on which the user sits, a backrest provided at the rear of the seat so that the user can recline, and a left and right pair of treatment elements. In a massage machine in which a plurality of massage mechanisms are provided along the height direction, the massage mechanisms include a first massage mechanism arranged relatively upward and a second massage mechanism arranged relatively downward. and control means for controlling the operations of the first and second massage mechanisms and the reclining operation of the backrest portion, wherein the control means controls the operation of grasping the neck by the treatment elements of the first massage mechanism. A motion of pressing the lower back with the treatment elements of the second massage mechanism and a motion of reclining the backrest portion are performed in synchronization with each other.
With such a configuration, displacement of the upper body with respect to the backrest due to reclining of the backrest is suppressed by holding the neck, and the upper body can be effectively bent.

Further, a footrest for supporting the lower legs of the user is provided on the front part of the seat so that it can swing up and down, and the footrest has a first pressing and holding means for pressing or holding the lower legs of the user. Preferably, the control means synchronizes the synchronized motion with the motion of holding the leg by the first pressing and holding means and the motion of lowering the footrest.
By setting it as such a structure, a whole body can be pulled effectively.

It has a second pressing and holding means for pressing or holding the upper arm or shoulder of the user, and the control means can synchronize the motion of holding the upper arm or shoulder by the second pressing and holding means with the synchronized motion. preferable.
With such a configuration, displacement of the upper body with respect to the backrest due to reclining of the backrest is suppressed by holding the upper arms or shoulders, and the upper body can be effectively bent.

ADVANTAGE OF THE INVENTION According to this invention, the bodily sensation of a massage can be improved.

1 is a perspective view of a massage machine according to one embodiment of the present invention; FIG. 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 first massage unit. Fig. 2 is a perspective view of the first massage unit with some members omitted; It is a front view of a first massage unit. It is a side view of the first massage unit, showing a state in which the first massage mechanism is retracted. It is a side view of a 1st massage unit, and has shown the state in which the 1st massage mechanism advanced. It is a front view of a kneading shaft and a beating shaft. Fig. 10 is a perspective view of a second massage unit; FIG. 4 is a perspective view of the second massage unit with some members omitted; It is a front view of a second massage unit. It is a side view of the second massage unit, showing a retracted state of the second massage mechanism. It is a side view of the second massage unit, showing a state in which the second massage mechanism has advanced. Fig. 10 is a perspective view of an arm of the second massage unit; It is explanatory drawing of kneading operation|movement. It is explanatory drawing of kneading operation|movement. It is explanatory drawing of kneading operation|movement. It is explanatory drawing of kneading operation|movement. FIG. 4 is a flow diagram of operation 1; FIG. 10 is an explanatory diagram of operation 1; FIG. 4 is a flow diagram of actions 2 and 3; FIG. 9 is an explanatory diagram of actions 2 and 3; FIG. 11 is an explanatory diagram of operation 4; FIG. 11 is an explanatory diagram of operation 5; FIG. 11 is an explanatory diagram of operation 6; FIG. 11 is an explanatory diagram of operation 7; FIG. 12 is an explanatory diagram of operation 8; FIG. 10 is a flow diagram of actions 9 and 10; FIG. 10 is a front view of a massage unit according to another embodiment; It is a front view of a massage mechanism according to another embodiment. FIG. 11 is an explanatory diagram of links according to another embodiment; It is explanatory drawing of the sensor which concerns on other embodiment. 11 is a flow diagram of operation 11; FIG. FIG. 11 is an explanatory diagram of an operation A; FIG. 10 is an explanatory diagram of operation B; FIG. 10 is an explanatory diagram of operation C; FIG. 11 is an explanatory diagram of operation D; FIG. 11 is an explanatory diagram of operation E; FIG. 11 is an explanatory diagram of an operation F; FIG. 11 is an explanatory diagram of an operation a; FIG. 11 is an explanatory diagram of operation b; FIG. 11 is an explanatory diagram of operation c; FIG. 11 is an explanatory diagram of operation d; FIG. 11 is an explanatory diagram of an operation e; FIG. 11 is an explanatory diagram of an operation f; FIG. 11 is an explanatory diagram of an operation g; FIG. 11 is an explanatory diagram of an operation h; FIG. 10 is an explanatory diagram of action i; FIG. 11 is an explanatory diagram of an operation j;

[overall structure]
The overall configuration of the massage machine 1 of the present invention will be described below. FIG. 1 is a perspective view of a massage machine 1 according to one embodiment of the present invention. FIG. 2 is a functional block diagram of the massage machine 1. As shown in FIG. FIG. 3 is a front view of the backrest portion 3. FIG. It should be noted that the concept of directions used in the following description is consistent with the concept of directions when viewed from the user seated on the massage machine 1 in the standing posture shown in FIG. do.

As shown in FIG. 1, the massage machine 1 of the present invention mainly includes a seat portion 2 on which the user sits, a backrest portion 3 provided at the rear portion of the seat portion 2 so that the user can recline, and a seat. Footrests 4 for supporting the legs and feet of the user, which are provided on the front part of the part 2 so as to be able to swing up and down, and armrests provided on both left and right sides of the seat part 2 on which the user rests his/her arms. 5, a pillow portion 6 that supports the user's head provided on the upper portion of the backrest portion 3, and a leg frame 7 that supports the seat portion 2 and is installed on the floor surface. The backrest portion 3 is provided with a plurality of massage units 8 and 9 along the height direction for massaging the user's upper body from behind.

Air cells 10 are provided on the sides of the backrest 3 to press or hold the upper arms or shoulders from the left and right. The seat 2 is provided with air cells 11 that press the buttocks or thighs of the user from below, and air cells 12 that press or hold the buttocks or thighs from the left and right. The footrest 4 is provided with an air cell 13 that presses or holds the legs and feet of the user from the left and right directions. The armrest 5 is provided with an air cell 14 that presses or holds the forearm from above and below. These air cells 10 to 14 are expanded and contracted by air supply and exhaust from an air unit 20 (see FIG. 2) comprising a pump, valves and the like provided below the seat.

As shown in FIGS. 1 and 2, the backrest portion 3 is configured to be reclined in the front-rear direction with respect to the seat portion 2 by an actuator 21 provided below the seat portion 2. It can be stopped at any position between the posture and the reclining posture in which the backrest surface is substantially horizontal with the floor surface. The armrest portion 5 is configured to move rearward in conjunction with the reclining of the backrest portion 3 and to move forward in conjunction with the erection of the backrest portion 3 . The footrest 4 is configured to be vertically swingable with respect to the seat portion 2 by an actuator 22 provided below the seat portion 2, and the leg portion can be moved from the hanging posture shown in FIG. and can be stopped at any position up to the raised position where the foot is supported.

As shown in FIG. 2, below the seat portion 2, an air unit 20 including a pump, valves, etc. for supplying and exhausting air to each of the air cells 10 to 14 and advancing/retreating air cells 15 and 16, which will be described later, is provided. The air unit 20 is preferably configured so that each of the air cells 10 to 14 and the forward and backward air cells 15 and 16 can be maintained at an arbitrary expansion amount. can do. Further, the massage machine 1 is provided with a control means 23 comprising a programmable microcomputer or the like, and the massage units 8, 9 and the air unit 20 are controlled according to the user's instructions from the operating device 27 or a predetermined program. , and actuators 21 and 22.

The control means 23 includes a main control section 24 provided below the seat section 2 for controlling each operation of the massage units 8 and 9, the air unit 20, and the actuators 21 and 22, and a massage unit provided in the massage units 8 and 9. It has sub-controllers 25 and 26 that control the elevation of the units 8 and 9 . The control means 23 also stores a plurality of massage courses for automatically operating at least one of the massage units 8, 9, the air unit 20, and the actuators 21, 22 according to a predetermined program. When the user selects a desired massage course, various operations are automatically performed until the set course time elapses.

[Structure of backrest]
As shown in FIGS. 1 and 3, the backrest 3 guides the elevation of a back frame 3a made of resin or the like and formed in a gate shape when viewed from the front, and massage units 8 and 9 assembled to the back frame 3a. It is composed of a guide mechanism 3b and a cushioning back pad 3c arranged on the front side of the back frame 3a. The guide mechanism 3b extends along the height direction, and is curved such that the upper and lower portions are positioned forward of the middle portion (see FIG. 21). 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 so as to be able to move up and down.

[Configuration of massage unit]
The configuration of the massage units 8 and 9 will be described below.
4 is a perspective view of the first massage unit 8. FIG. FIG. 5 is a perspective view of the first massage unit 8 with some members omitted. 6 is a front view of the first massage unit 8. FIG. FIG. 7 is a side view of the first massage unit 8, showing a state in which the first massage mechanism 31 is retracted. FIG. 8 is a side view of the first massage unit 8, showing a state in which the first massage mechanism 31 has advanced. FIG. 9 is a front view of the kneading shaft 41 shown in (a) and the hitting shaft 42 shown in (b). 10 is a perspective view of the second massage unit 9. FIG. FIG. 11 is a perspective view of the second massage unit 9 with some members omitted. 12 is a front view of the second massage unit 9. FIG. FIG. 13 is a side view of the second massage unit 9, showing a state in which the second massage mechanism 51 is retracted. FIG. 14 is a side view of the second massage unit 9, showing a state in which the second massage mechanism 51 has advanced. 15 is a perspective view of the arm 60 of the second massage unit 9. FIG.

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 backrest portion 3 is provided with a first massage unit 8 arranged relatively on the upper side and a second massage unit 9 arranged relatively on the lower side. Each of the massage units 8 and 9 is mainly composed of body frames 30 and 50 supported vertically by a guide mechanism 3b, massage mechanisms 31 and 51 having treatment elements 34 and 54, and supports for supporting the massage mechanisms 31 and 51. Frames 32, 52, advance/retreat drive units 15, 16 for advancing and retreating massage mechanisms 31, 51 with respect to the treated area, links connecting body frames 30, 50 and support frames 32, 52 to swing in the front-rear direction. 33 and 53.

The configuration of the upper first massage unit 8 will be described in detail below.
As shown in FIGS. 4 to 8, the body frame 30 includes a rear wall 30a, side walls 30b erected from both left and right sides of the rear wall 30a, a bottom wall 30c erected from a lower portion of the rear wall 30a, and a rear wall 30a. An upper wall 30d erected from the upper part of the wall 30a forms a box shape with an open front. Further, in the upper part of the body frame 30, an elevating motor 35 for elevating the first massage unit 8, an elevating shaft 36 extending in the horizontal direction, and the rotation of the elevating motor 35 are decelerated and transmitted to the elevating shaft 36. A lifting mechanism composed of a decelerator 37 is accommodated. The elevating shaft 36 is rotatably supported by the side walls 30b. The side wall 30b is provided with a guide roller 38 and a pinion 39 attached to an elevating shaft 36 at its upper portion, and a guide roller 38 and a pinion 39 at its lower portion. The guide mechanism 3b is held between the pinion 39 and the guide roller 38, and when the elevation motor 35 is driven, the first massage unit 8 can be elevated along the height direction. Since the elevating mechanism is arranged above the first massage unit 8 , the treatment elements 34 can be brought close to the treatment elements 54 (upper treatment elements 54 a ) of the second massage mechanism 51 .

The first massage mechanism 31 has a left and right pair of arms 40 that support the treatment elements 34 at the distal ends, and a drive mechanism that drives the arms 40 to perform massage. This driving mechanism includes a massaging shaft 41 that supports an arm 40 and causes a pair of treatment elements 34 to move toward and away from each other in the left-right direction to perform a massaging action, and a pair of treatment elements 34 that alternately move forward and backward to perform a beating action. A hitting shaft 42, a massage motor 43 as a massage drive unit that drives the kneading shaft 41 and the hitting shaft 42, and a decelerator 44 that decelerates the rotation of the massage motor 43 and transmits it to the kneading shaft 41 and the hitting shaft 42. have. The drive mechanism is supported by a box-shaped frame 45 . In addition, in this embodiment, the treatment element 34 of the first massage unit 8 is single in the vertical direction.

As shown in FIG. 9A, the kneading shaft 41 extends in the left-right direction, and is provided with inclined shafts 41a inclined with respect to the axis 41b on both left and right sides. An arm 40 is rotatably attached to the tilt shaft 41a via a bearing. Note that the left and right inclined shafts 41a are not parallel to each other, but are inclined so as to form a substantially inverted V shape when viewed from the front. Further, the kneading shaft 41 is provided with a width sensor 46 for detecting the interval between the pair of treatment elements 34 . As shown in FIG. 9(b), the striking shaft 42 extends in the left-right direction, and is provided with eccentric shafts 42a eccentric to the shaft center 42b on both left and right sides. Further, as shown in FIG. 5, a connecting member 47 connecting the striking shaft 42 and the rear portion of the arm 40 is rotatably provided on the eccentric shaft 42a via a bearing. The left and right eccentric shafts 42a have different phases around the axis 42b of the striking shaft 42. As shown in FIG.

When the kneading shaft 41 rotates, the arm 40 rotates three-dimensionally while the rotation around the kneading shaft 41 is restricted by the connecting member 47 . That is, as shown in FIG. 16, when the kneading shaft 41 is continuously rotated in one direction, the treatment elements 34 move along a loop-shaped trajectory having at least left-right and vertical direction components. As 34, it moves in the horizontal direction to approach and separate. The kneading motion is performed in this way. On the other hand, when the hitting shaft 42 rotates, the pair of arms 40 move forward and backward alternately with the kneading shaft 41 as a fulcrum due to the vertical movement of the connecting member 47 . The hitting motion is performed in this manner. In the present embodiment, a clutch is provided on the tapping shaft 42, and the single massage motor 43 is rotated forward and backward to switch between the kneading motion and the kneading and tapping motion. The action and the hitting action may be performed independently.

The support frame 32 has a plate surface in the front-rear direction, and supports the first massaging mechanism 31 by fixing a frame 45 to the front side. Between the body frame 30 and the support frame 32, there is an advancing/retreating air cell 15 as an advancing/retreating driving unit that is expanded and contracted by air supply/exhaust from the air unit 20 to advance/retreat the first massage mechanism 31 with respect to the treated area. is provided. A link 33 that connects the body frame 30 and the support frame 32 and swings in the front-rear direction is provided on the side of the support frame 32 . The reason why the link 33 is arranged on the side of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be reduced compared to the case where the link 33 is arranged behind the support frame 32 . The link 33 is arranged side by side in the front-rear direction, and has a first link portion 33a arranged relatively on the rear side and a second link portion 33b arranged relatively 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 longer than the length of the second link portion 33b. is set to be shorter. The first link portion 33a has its upper portion pivotally supported on the side wall 30b of the body frame 30 via the pivot shaft A1 in the vicinity of the elevation shaft 36, and its lower portion pivotally supported on the upper portion of the support frame 32 via a pivot shaft A2. It is The second link portion 33b has its upper portion pivotally supported on the side wall 30b of the body frame 30 via the pivot shaft A3 in the vicinity of the elevation shaft 36, and its lower portion pivotally supported on the lower portion of the support frame 32 via a pivot shaft A4. It is The swing axis A1 of the first link portion 33a is located slightly behind the swing axis A3 of the second link portion 33b. Further, the first link portion 33a and the second link portion 33b are respectively connected by fitting the pivots A2 and A4 into downwardly convex arcuate guide portions 30e and 30f (see FIG. 4) provided on the side wall 30b. , whose movement is guided. Further, as shown in FIGS. 7 and 8, a reinforcing portion 48 is provided to connect and reinforce the first link portion 33a and the second link portion 33b at the connecting portion with the body frame 30. As shown in FIG. In this manner, the vicinity of the swing axes A1 and A3 of the link 33 to which the load is applied can be reinforced by the elevation shaft 36 and the reinforcing portion 48. FIG.

When the first massaging mechanism 31 is in the most retracted state, the link 33 has a connecting portion with the body frame 30 located forward of a connecting portion with the support frame 32 . That is, the swing axis A1 of the first link portion 33a is located forward of the pivot axis A2, and the swing axis A3 of the second link portion 33b is positioned forward of the pivot axis A4. Therefore, when the advancing/retreating air cell 15 expands, the link 33 swings along an arcuate trajectory that is convex downward, so that the first massage mechanism 31 can be advanced and retreated along a trajectory nearly parallel to the direction facing the treatment site. can be done. Further, since a four-bar link mechanism is employed, when the advance/retreat air cell 15 expands from the state in which the first massaging mechanism 31 is most retracted, the first link portion 33a swings forward about the swing axis A1. However, since the support frame 32 is pivotally supported forward and below the pivot axis A2 of the first link portion 33a by the second link portion 33b which is longer than the first link portion 33a, the first massage mechanism 31 does not swing. can be suppressed, and can be advanced and retreated along a trajectory that is more parallel to the direction facing the treatment site.

Further, since the lengths of the first link portion 33a and the second link portion 33b are different, 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 first massage mechanism 31 can be sufficiently operated. A sufficient advance amount can be secured, and the thickness of the first massage unit 8 in the front-rear direction can be suppressed. In addition, since the length of the first link 33a arranged on the rear side is relatively short, a sufficient amount of movement in the front-rear direction component is obtained immediately after the start of advancing, starting from the state in which the first massaging mechanism 31 is most retracted. be able to. Further, in the process of advancing the first massage mechanism 31, the first link portion 33a abuts the second link portion 33b from behind, thereby restricting the advance of the first massage mechanism 31 at predetermined front and rear positions. That is, since the second link portion 33b functions as a stopper, there is no need to provide a separate stopper, and the number of parts can be reduced.

The configuration of the lower second massage unit 9 will be described in detail below.
As shown in FIGS. 9 to 15, the body frame 50 includes a rear wall 50a, side walls 50b standing from both left and right sides of the rear wall 50a, a bottom wall 50c standing from the lower portion of the rear wall 50a, and a rear wall 50a. An upper wall 50d erected from the upper portion of the wall 50a forms a box shape with an open front. Further, in the lower part of the body frame 50, an elevating motor 55 for elevating the second massage unit 9, an elevating shaft 56 extending in the horizontal direction, and the rotation of the elevating motor 55 are decelerated and transmitted to the elevating shaft 56. A lifting mechanism composed of a decelerator 57 is housed therein. The elevating shaft 56 is rotatably supported by both side walls 56b. The side wall 56b is provided with a guide roller 58 and a pinion 59 attached to the lifting shaft 56 at its upper portion, and a guide roller 58 and a pinion 59 at its lower portion. The guide mechanism 3b is sandwiched between the pinion 59 and the guide roller 58, and when the elevation motor 55 is driven, the second massage unit 9 can be elevated along the height direction. Since the elevating mechanism is arranged below the second massage unit 9 , the treatment elements 54 (upper treatment elements 54 a ) can be brought closer to the treatment elements 34 of the first massage mechanism 31 .

The second massage mechanism 51 has a left and right pair of arms 60 that support the treatment elements 54 at the distal ends, and a drive mechanism that drives the arms 60 to perform massage. This drive mechanism includes a massaging shaft 61 that supports an arm 60 and causes a pair of treatment elements 54 to approach and separate from each other in the left-right direction to perform a massaging motion, a massage motor 63 as a massage drive unit that drives the massaging shaft 61, and a decelerator 64 that decelerates the rotation of the massage motor 63 and transmits it to the kneading shaft 61 . The drive mechanism is supported by a box-shaped frame 65 . The arm 60 is formed in a doglegged shape when viewed from the side, and has an upper treatment element 54a with a relatively large diameter at its upper end and a lower treatment element 54b with a relatively small diameter at its lower end. 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 kneading shaft 61 has the same structure as the kneading shaft 41 of the first massage mechanism 31, extends in the left-right direction, and is inclined with respect to the axis 61b on both left and right sides. An inclined shaft 61a is provided. An arm 60 is rotatably attached to the tilt shaft 61a via a bearing. Note that the left and right inclined shafts 61a are not parallel to each other, but are inclined in a substantially V-shape when viewed from the front. As shown in FIG. 15 , a connecting member 67 having a ball joint at its rear end is provided behind the arm 60 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 . The kneading shaft 61 is also provided with a width sensor 66 for detecting the interval between the pair of treatment elements 54 .

When the kneading shaft 61 rotates, the arm 60 rotates three-dimensionally while the rotation around the kneading shaft 61 is restricted by the connecting member 67 . That is, as shown in FIG. 16, when the kneading shaft 61 is continuously rotated in one direction, the treatment element 54 moves along a loop-shaped trajectory having at least horizontal and vertical components. The left and right pair of treatment elements 54 move in the lateral direction, and when the upper treatment element 54a approaches, the lower treatment element 54b separates, and when the upper treatment element 54a separates, the lower treatment element 54b approaches. The kneading motion is performed in this way. In the present embodiment, the second massage mechanism 51 is configured to perform only kneading motions, but like the first massage mechanism 31, it may also be configured to perform tapping motions.

The support frame 52 has a plate surface in the front-rear direction, and supports the second massaging mechanism 51 by fixing the frame 65 to the front side. Between the body frame 50 and the support frame 52, there is an advancing/retreating air cell 16 as an advancing/retreating driving unit that is expanded and contracted by air supply/exhaust from the air unit 20 to advance/retreat the second massage mechanism 51 with respect to the treated area. is provided. A link 53 that connects the body frame 50 and the support frame 52 and swings in the front-rear direction is provided on the side of the support frame 52 . The link 53 is arranged side by side in the front-rear direction and has a first link portion 53a arranged relatively on the rear side and a second link portion 53b arranged relatively on the front side. That is, the links constitute a four-bar linkage mechanism.

The first link portion 53a and the second link portion 53b have different lengths. Specifically, the length of the first link portion 53a is set to be shorter than the length of the second link portion 53b. . The first link portion 53a has its lower portion pivotally supported on the side wall 50b of the body frame 50 via the pivot shaft A5 in the vicinity of the elevation shaft 56, and its upper portion pivotally supported on the lower portion of the support frame 52 via a pivot shaft A6. It is The second link portion 53b has its lower portion pivotally supported on the side wall 50b of the body frame 50 via the pivot shaft A7 in the vicinity of the elevation shaft 56, and its upper portion pivotally supported on the upper portion of the support frame 52 via a pivot shaft A8. It is The swing axis A5 of the first link portion 53a is located slightly behind the swing axis A7 of the second link portion 53b. Further, the first link portion 53a and the second link portion 53b are respectively formed by fitting the pivots A6 and A8 into upwardly convex arc-shaped guide portions 50e and 50f (see FIG. 10) provided on the side wall 50b. , whose movement is guided. Further, as shown in FIGS. 13 and 14, a reinforcing portion 68 is provided to connect and reinforce the first link portion 53a and the second link portion 53b at the connection portion with the body frame 50. As shown in FIGS. In this manner, the vicinity of the swing axes A5 and A7 of the link 53 to which the load is applied can be reinforced by the lift shaft 56 and the reinforcing portion 68. FIG.

The link 53 has a connecting portion with the body frame 50 located forward of a connecting portion with the support frame 62 when the second massaging mechanism 51 is in the most retracted state. That is, the swing axis A5 of the first link portion 53a is located forward of the pivot axis A6, and the swing axis A7 of the second link portion 53b is positioned forward of the pivot axis A8. Therefore, when the advancing/retreating air cell 16 expands, the link 53 swings along an upwardly convex arc-shaped trajectory, so that the second massage mechanism 51 can be advanced and retreated along a trajectory nearly parallel to the direction facing the treatment site. can be done. Further, since the four-bar link mechanism is employed, when the advancing/retreating air cell 16 expands from the most retracted state of the second massage mechanism 51, the first link portion 53a swings forward about the swing axis A5. However, since the support frame 52 is pivotally supported forward and above the pivot axis A6 of the first link portion 53a by the second link portion 53b longer than the first link portion 53a, the second massage mechanism 51 does not swing. can be suppressed, and can be advanced and retreated along a trajectory that is more parallel to the direction facing the treatment site.

In addition, since the lengths of the first link portion 53a and the second link portion 53b are different, even if the first link portion 53a and the second link portion 53b are provided close to each other in the front-rear direction, the second massage mechanism 51 can be operated sufficiently. A sufficient advance amount 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 arranged on the rear side is relatively short, a sufficient amount of movement in the front-rear direction component is obtained immediately after the start of advancing, starting from the state in which the second massage mechanism 51 is most retracted. be able to. Further, in the process of advancing the second massage mechanism 51, the first link portion 53a abuts the second link portion 53b from behind, thereby restricting the advance of the second massage mechanism 51 at predetermined front and rear positions. That is, since the second link portion 53b functions as a stopper, there is no need to provide a separate 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 positions 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 30c, which is the lower part of the first massage unit 8, is provided with a magnet holder 73 with a magnet attached on one side in the left-right direction, and a first magnet holder 73 for detecting 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 a second sensor section 72 for detecting the proximity of a magnet on one side in the left-right direction, and the second sensor section 72. A sub-controller 26 (see FIG. 2) is provided, and a magnet holder 74 to which a magnet is attached is provided on the other side in the left-right direction. The sub-controllers 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, respectively. It is also electrically connected to the main controller 24 .

The first sensor section 71 substantially coincides with the magnet holder 74 provided in the second massage unit 9 at a position orthogonal to the vertical direction, and detects the proximity of the second massage unit 9 to the first massage unit 8 . be able to. On the other hand, the second sensor section 72 is substantially aligned with the magnet holder 73 provided in the first massage unit 8 at a position orthogonal to the vertical direction, and detects the proximity of the first massage unit 8 to the second massage unit 9 . can be detected. That is, the sensor 70 is a non-contact sensor configured by a first sensor section 71 and a second sensor section 72 . As described above, the respective massage units 8, 9 detect the proximity of the mating massage units 9, 8, and the respective sub-controllers 25, 26 control the elevating motors 33, 55, thereby preventing collisions. Increased accuracy.

It is preferable that the sensor 70 can detect the distance between the first massage unit 8 and the second massage unit 9 in a plurality of steps as the relative position of the first massage unit 8 and the second massage unit 9 . For example, it is possible to detect two states of "close state" in which both massage units 8 and 9 are close to each other by a predetermined distance and "pre-close state" in which they are slightly separated from this close state. Therefore, the detection range of the relative positions of the first massage unit 8 and the second massage unit 9 is widened. Also, both massage units 8 and 9 can be set to a predetermined relative position (for example, a close state or a pre-close state) and integrally moved up and down while maintaining this relative position.

As shown in FIG. 2, the backrest 3 includes an upper limit sensor 75 for detecting the upper limit position of the lifting range of the first massage unit 8 and a lower limit sensor 76 for detecting the lower limit position of the lifting range of the second massage unit 9. , are provided so that the first and second massage units 8 and 9 do not separate from the backrest portion 3. As shown in FIG. Also, the first and second massage units 8 and 9 have elevation sensors 77 and 78 that detect the vertical position by detecting the number of rotations of the elevation shafts 36 and 56, respectively. The vertical position of the first massage unit 8 is detected by the vertical sensor 77 detecting how many times the vertical axis 36 rotates from the upper limit position. The vertical position of the second massage unit 9 is detected by the vertical sensor 78 detecting how many times the vertical axis 56 rotates from the lower limit position.

[Action control for collision avoidance]
When it is detected that both massage units 8 and 9 have reached a predetermined relative position (for example, a close state or a pre-close state) while both massage units 8 and 9 are moving toward each other, the sub The control unit 25 controls to stop or reverse driving the lifting motor 35 , and the sub-control unit 26 controls to stop or reverse driving the lifting motor 55 . Further, each of the sub-controllers 25 and 26 notifies the main controller 24 of the above control. Collisions of the two massage units 8, 9 are thus avoided.

When one massage unit (for example, the first massage unit 8) stops moving up and down, and the other massage unit (for example, the second massage unit 9) moves toward the other massage unit. Furthermore, when it is detected that both massage units 8 and 9 are in a predetermined relative position (for example, the proximity state or the pre-proximity state), the sub-controller 26 controls to stop or reverse the driving of the lifting motor 55. do. Further, each of the sub-controllers 25 and 26 notifies the main controller 24 of the above control. Instead of or in addition to the above control, the sub-controller 25 may drive the lift motor 35 to move the first massage unit 8 away from the second massage unit 9 . Collisions of the two massage units 8, 9 are thus avoided.

[Detection of shoulder position]
The massage machine 1 is configured so as to be able to detect the shoulder position as a specific part of the user. A configuration for detecting the shoulder position will be described below.
The first massage unit 8 is provided with a specific portion detection sensor (not shown) for detecting that the first massage mechanism 31 has advanced a predetermined amount with respect to the body frame 30 . The detection of the shoulder position is performed in the process of raising the first massage unit 8 from the waist or back position along the height direction while supplying or continuing to supply a predetermined amount of air to the retractable air cell 15 . In this detection process, it is preferable to inflate the air cell 10 provided in the backrest portion 3 to hold the user's upper body on the backrest portion 3 .

When the treatment element 34 reaches the shoulder position during the lifting process of the first massage unit 8, the load from the user is released and the advance amount of the first massage mechanism 31 reaches a predetermined amount. The shoulder position of the user is detected based on the vertical position of the first massage unit 8 when the specific portion detection sensor detects that the first massage mechanism 31 has advanced a predetermined amount. Other parts such as the neck, shoulder blades, back, hips, buttocks, etc. are also calculated based on the detected shoulder positions. Note that the specific part to be detected does not have to be the shoulder position, and may be other parts such as the waist.

During execution of the massage course, the first massage unit 8 can perform massage according to the height of the user based on the positional information of the shoulders and/or other parts detected by the specific part detection sensor. Also, during execution of 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 site detection sensor of the first massage unit 8 . The second massage unit 9 is also provided with a specific part detection sensor, and based on the position information of the shoulder and/or other parts detected by the specific part detection sensor, the second massage unit 9 also detects the height of the user. You may enable it to perform the massage according to. Alternatively, the second massage unit 9 may be operated based on predetermined position information of each part. In this case, it is preferable to store the position information of each part based on the average height in the control means 23 .

When both massage units 8 and 9 ascend or descend in the same direction, control is performed so that the ascending/descending speed of the massage unit on the front side in the direction of travel is faster than the massage unit on the rear side in the direction of travel, or the massage unit on the front side in the direction of travel is controlled. to start moving before the massage unit on the rear side in the direction of travel. By doing so, the accuracy of collision prevention is further enhanced. Also, if the ascending/descending speed of the massage unit on the front side in the traveling direction is relatively slightly increased, or if the movement of the massage unit on the front side in the traveling direction is started relatively slightly earlier, both massage units 8 and 9 can be brought closer. You can move smoothly in the same direction. That is, it is possible to prevent the sensor 70 from frequently detecting the proximity state and the massage unit on the rear side in the moving direction to stop or move away in small increments.

[Massage action]
The kneading motion will be described in detail below.
FIG. 16 is an explanatory diagram of the kneading motion. 17A and 17B are explanatory diagrams of the kneading operation, in which (a) is the kneading operation with the massage unit 8 stopped moving up and down, (b) is the kneading operation while the massage unit 8 is being lowered, and (c) is the massage unit. It shows a kneading motion while raising 8. 18A and 18B are illustrations of the kneading operation, in which (a) is the kneading operation with the massage unit 8 stopped moving up and down, (b) is the kneading operation while the massage unit 8 is being raised, and (c) is the massage unit. It shows a kneading motion while lowering 8. FIG. 19 is an explanatory diagram of the kneading motion. 16 and 19 show a state in which the first massage unit 8 is arranged at the neck position and the second massage unit 9 is arranged at the shoulder position.

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-shaped trajectory. On the other hand, when the kneading shafts 41 and 61 are reversed before being rotated once, the treatment elements 34 and 54 move along an arc-shaped trajectory having horizontal and vertical components when viewed from the front. In any of the above cases, the left and right pair of treatment elements 34 and 54 move in the left and right direction to move toward and away from each other. The kneading motion is performed in this way.

As shown in FIGS. 7 and 13, in the massage machine 1 according to the present embodiment, the distance d1 between the treatment elements 34 of the first massage mechanism 31 and the kneading shaft 41 is equal to the treatment elements 54 (upper treatment elements) of the second massage mechanism 51. 54a) and the kneading shaft 61 is set to be shorter than the distance d2. Therefore, as shown in FIG. 16, the treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 of the second massage mechanism 51 have different movement ranges in the left-right direction in the kneading operation. The operating range W1 of 34 is narrower than the operating range W2 of the treatment element 54. As shown in FIG. The treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 of the second massage mechanism 51 differ in the vertical dimension of the trajectory of the kneading motion. H1 is smaller than the vertical dimension H2 of the trajectory of the treatment element 54 . The vertical dimension of the movement range and the trajectory can also be varied by varying the tilt angles of the tilting shafts 41a and 61a with respect to the axial centers 41b and 61b of the kneading shafts 41 and 61. Specifically, the greater the tilt angle of the tilting shafts 41a and 61a with respect to the axial centers 41b and 61b of the kneading shafts 41 and 61, the greater the motion range and the vertical dimension of the trajectory.

With such a configuration, the first massage mechanism 31 performs a relatively fine kneading motion on the neck, which has a narrow treatment range, and the second massage mechanism 51 performs a wide treatment range of the treated area below the neck ( For example, a dynamic kneading motion can be performed on the shoulder, back, waist, etc.). That is, an effective kneading motion can be performed according to the treatment site. Further, since both massage units 8 and 9 can be moved up and down, the first massage unit 8 and the second massage unit 9 can be switched to perform different kneading operations on the same treated area.

In addition, by moving the massaging units 8 and 9 vertically along the height direction in synchronization with the kneading motion, the vertical dimension of the trajectory of the kneading motion can be changed. Taking the treatment element 34 as an example, as shown in FIG. H1 increases, and as shown in FIG. 17(c), if the first massage unit 8 is raised in synchronism with the downward motion of the massaging device 34, the vertical dimension H1 of the massaging motion becomes smaller. Alternatively, as shown in FIG. 18(b), if the first massage unit 8 is lifted in synchronism with the upward motion of the massaging motion of the treatment element 34, the vertical dimension H1 of the trajectory of the massaging motion becomes larger. As shown in c), if the first massage unit 8 is lowered in synchronism with the upward motion of the massaging device 34, the vertical dimension H1 of the massaging motion becomes smaller.

With such a configuration, it is possible to variously change the bodily sensation of the kneading motion. For example, the movement range in the left-right direction of the kneading motion can be changed by switching the massaging units 8 and 9 that massage the treated area. You can do it. Although FIGS. 17 and 18 illustrate the treatment elements 34 of the first massage mechanism 31, the treatment elements 54 of the second massage mechanism 51 can perform similar kneading operations. In addition, in the case where the massaging action by the massage motor is such that the left and right pair of treatment elements have only the horizontal direction component and move toward and away from each other, by adding up and down movement of the massage unit, the treatment elements move in a circle having the vertical direction component. The movement can be changed to draw an arc-shaped or loop-shaped trajectory.

As another embodiment, as shown in FIG. 19, the first massage mechanism 31 and the second massage mechanism 51 are set so that the separation distance between the right and left pair of treatment elements 34, 54 when they are closest to each other in the kneading motion is different. may be Specifically, the separation distance D1 of the first massage mechanism 31 is preferably set to be narrower than the separation distance D2 of the second massage mechanism 51 . The separation distance is due to the distance between the mounting positions of the paired arms 40, 60 on the kneading shafts 41, 61, or the inclination angle of the tilting shafts 41a, 61a with respect to the axial centers 41b, 61b of the kneading shafts 41, 61. With such a configuration, the first massaging mechanism 31 performs a firm kneading operation on the neck, and the second massaging mechanism 51 massages a wide area to be treated below the neck (for example, shoulders, back, etc.). , waist, etc.) while avoiding the vicinity of the center line of the body (for example, the spine). That is, an effective kneading motion can be performed according to the treatment site.

The cooperation between the first massage mechanism 31 and the second massage mechanism 51 will be described below.

[Action 1]
20 is a flow diagram of operation 1. FIG. 21A and 21B are explanatory diagrams of the operation 1, in which (a) shows a state in which the first massage mechanism 31 is advanced and the second massage mechanism 51 is retracted, and (b) is a state in which the first massage mechanism 31 is retracted and the second massage mechanism 51 is retracted. has advanced.
The operation 1 is an operation to move the first massage mechanism 31 and the second massage mechanism 51 forward and backward at different timings, and preferably includes the operation of the treatment elements 34 and 54 driven by the massage motors 43 and 63 . Hereinafter, as shown in FIG. 21, the case where the first massage unit 8 is arranged at the neck position and the second massage unit 9 is arranged at the back position of the shoulder, and the operation 1 is performed will be exemplified.

As shown in FIG. 20, first, the first massage mechanism 31 is advanced relative to the second massage mechanism 51 (step S1). Subsequently, the second massage mechanism 51 is advanced while maintaining the front-rear position of the first massage mechanism 31 (step S2). Subsequently, the first massage mechanism 31 is moved backward relative to the second massage mechanism 51 while maintaining the front-rear position of the second massage mechanism 51 (step S3). Subsequently, the second massage mechanism 51 is retracted while maintaining the front-rear position of the first massage mechanism 31 (step S4). This cycle of steps S1 to S4 is repeated for a predetermined time. In steps S1 to S4, the second massage mechanism 51 may be advanced first. Further, the positions at which the massage units 8 and 9 are arranged are not particularly limited. For example, the first massage unit 8 may be arranged at the neck position and the second massage unit 9 may be arranged at the 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 kneading action or a tapping action, and the massage may be performed all the time. Alternatively, the massage may be performed intermittently. For example, the massage is performed when the massage mechanisms 31 and 51 are advanced, and the massage is performed when the massage mechanisms 31 and 51 are retracted. You can stop. Also, the massage may be synchronized with the advance or retreat of the massage mechanisms 31, 51. In this case, it is possible to obtain a sensation as if the masseuse were performing a kneading motion or a tapping motion while changing the force level. can be done. Alternatively, the advance or retreat of the massage mechanisms 31, 51 may be synchronized with the action of bringing the left and right pair of treatment elements 34, 54 closer together. Alternatively, it is possible to obtain the sensation of pulling while grasping the treated area. The term "synchronization" as used herein refers to the advance/retreat drive units 15 and 16 that advance or retreat the massage mechanisms 31 and 51, and the massage motor 43 that performs a kneading operation, a tapping operation, or an operation to bring the pair of treatment elements closer to each other. , 63 and , may be driven in parallel regardless of the rear end, and further includes the case where the massage motors 43, 63 are driven after the advance or retreat of the massage 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 massage mechanism. It is possible to obtain a bodily sensation as if switching to and performing a massage. In addition, while one massage mechanism is advanced, the other massage mechanism may be advanced and retreated repeatedly for a predetermined period of time. You can get the sensation of repeating acupressure with your hands.

Further, in steps S1 to S4, the lift motors 35 and 55 may be driven to move the massage units 8 and 9 up and down. may be synchronized, and in this case, it is possible to obtain a bodily sensation as if the masseuse were pushing up or down the treated area. It is preferable that this operation is also synchronized with the operation of bringing the left and right pair of treatment elements close to each other.

As described above, in operation 1, the massage mechanisms 31 and 51 advance and retreat at different timings to perform massage, so that a realistic sensation can be obtained as if a masseuse were to perform a massage using both hands. can. In particular, when a kneading motion is performed as the massage, the left and right pair of treatment elements of one of the massage mechanisms imitate the massaging motion of the masseur's left thumb and other fingers, and the left and right pair of the other massaging mechanism. The massager can imitate the massaging action of the masseur's right thumb and other fingers. In addition, since operation 1 is performed with both massaging mechanisms 31 and 51 brought close to each other in the vertical direction, the sense of realism is enhanced. .

In the above-described embodiment, the massaging mechanisms 31 and 51 are advanced or retracted at different timings to achieve a realistic sensation. Even if it is made different, the same bodily sensation can be obtained. For example, if the advancement speed of the first massage mechanism 31 is relatively faster than the advancement speed of the second massage mechanism 51, even if the massage mechanisms 31, 51 start advancing at the same time, the first massage mechanism 31 does not move forward. After pressing the treated area with the treatment element 34, the treatment area is pushed with the treatment element 54 of the second massage mechanism 51 after a short delay. Therefore, it is possible to obtain a sensation as if a masseuse were to sequentially push the left hand and right hand into the treatment site.

[Action 2]
FIG. 22 is a flow diagram of actions 2 and 3. FIG. 23A and 23B are explanatory diagrams of operation 2 and operation 3, in which (a) is a state in which the first and second massage mechanisms 31 and 51 are retracted, and (b) is a state in which the first and second massage mechanisms 31 and 51 are advanced. State (c) shows a state in which the first massage mechanism 31 is advanced and the second massage mechanism 51 is retracted. In FIG. 23, the shaded treatment elements 34, 54a, 54b show the advanced state, and the non-slashed treatment elements 34, 54a, 54b show the retracted state.

Operation 2 is an operation for advancing the treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 of the second massage mechanism 51 toward the treated area. Hereinafter, as shown in FIG. 23, the case where the first massage unit 8 is arranged on the back of the shoulder and the second massage unit 9 is arranged on the upper back will be exemplified.

As shown in FIG. 22, first, the massage units 8 and 9 are raised and lowered so that they are close to each other in the height direction (step S1). In this example, the first massage unit 8 is arranged behind the shoulders, and the second massage unit 9 is arranged above the back. Therefore, as shown in FIG. 23, the treatment element 34 and the upper treatment element 54a are brought close to each other in the height direction. Subsequently, the massage motors 43 and 63 are driven to change the positions of the treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 of the second massage mechanism 51 in the horizontal direction as shown in FIG. S2). Subsequently, the advance/retreat drive units 15 and 16 are driven to advance the first massage mechanism 31 and the second massage mechanism 51 as shown in FIG. 23(b) (step S3).

In step S1, the vertical distance between the massaging units 8 and 9 may be determined based on the sensor 70. For example, the above-described proximity state or pre-proximity state may be set. Further, in step S2, the left and right positions of the treatment elements 34, 54 may be determined based on the width sensors 46, 66. FIG. Further, step S1 and step S2 may be performed in parallel. In step S3, the first massage mechanism 31 and the second massage 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 kneading action or a hitting action. For example, in the backrest portion 3, it is preferable to cause one massage mechanism to perform a kneading motion and, concurrently, to cause the other massage mechanism to perform a motion including a tapping motion. By operating in this way, it is possible to give a feeling as if two or more masseuses are performing different types of massage on the upper body. A masseuse can perform a massaging motion with one hand, but cannot perform a tapping motion with one hand.

In this way, in operation 2, 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. It is possible to obtain a realistic sensation as if a massage (shiatsu) is performed with the thumb and other fingers. That is, in the state shown in FIG. 23, the left and right inner treatment elements 34 correspond to the thumbs, and the left and right outer upper and lower treatment elements 54a and 54b correspond to other fingers. Further, in the above-described embodiment, the case where the operation 2 is performed while the first massage mechanism 31 and the second massage mechanism 51 are close to each other has been described, but the operation 2 may be performed while they are separated from each other. In this case, for example, the lower treatment element 54 (the upper treatment element 54a or the lower treatment element 54b) corresponds to the thumb, and the upper treatment element 34 corresponds to the other finger.

[Action 3]
Operation 3 is an operation of shifting the positions of the treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 of the second massage mechanism 51 in the left-right direction and retracting the treatment elements of one of the massage mechanisms from the advanced state. is. Hereinafter, as shown in FIG. 22, the case where the operation 3 is performed following the operation 2 will be exemplified.

Following step S3 of operation 2, the advance/retreat driving unit is driven to retreat one of the massage mechanisms (step S4). In the example shown in FIG. 23, the advance/retreat driving section 16 is driven to move the second massage mechanism 51 backward. As a result, the treated area strongly abuts against the treatment elements 34 of the first massage mechanism 31 that have advanced, and a sensation can be obtained as if the treatment elements 34 were acupressure. It should be noted that operation 3 is preferably performed in the above-described proximity state or pre-proximity state based on the sensor 70 because the physical sensation of acupressure becomes noticeable when both massaging mechanisms 31 and 51 are in close proximity. Further, in the motions 2 and 3, the positions where the massage units 8 and 9 are arranged are not particularly limited. can be placed in

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

First, the massaging units 8 and 9 are raised and lowered so that they are close to each other in the height direction. Subsequently, the massage motors 43 and 63 are continuously driven in one direction, and the massaging action is performed by the treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 of the second massage mechanism 51 . This kneading operation is performed by driving the massage motors 43 and 63 at different speeds to rotate the kneading shafts 41 and 61 at different speeds. In the example shown in FIG. 24, the rotation of the kneading shaft 41 is made relatively fast. The vertical distance between the massaging units 8 and 9 may be determined based on the sensor 70, for example, the proximity state or pre-proximity state described above.

As described above, in the operation 4, the massaging operation is performed by repeating the cycle in which the massaging elements 34, 54 of the respective massaging mechanisms 31, 51 go around the loop-shaped trajectory once. Then, the positional relationship with the treatment element of the other massage mechanism differs in each cycle. For example, when the treatment elements 34 of the first massage mechanism 31 are viewed from the point of view, when the pair of treatment elements 34 of the first cycle are in the most separated state, the pair of treatment elements 54 of the second massage mechanism 51 are on the trajectory of the kneading motion. Although positioned at the upper end, when the pair of treatment elements 34 in the second cycle are most separated, the pair of treatment elements 54 of the second massage mechanism 51 are positioned at the lower end on the trajectory of the kneading motion. In this manner, the operation 4 can change the kneading operation from the vertical direction by the treatment elements 34 of the first massage mechanism 31 and the treatment elements 54 of the second massage mechanism 51 with the lapse of time, thereby enhancing the massage effect. .

[Action 5]
25A and 25B are explanatory diagrams of operation 5, in which (a) is the state in which the first and second massage mechanisms 31 and 51 are retracted, and (b) is the state in which the first massage mechanism 31 is retracted and the second massage mechanism 51 is advanced. state.
As shown in FIG. 25, the operation 5 is an operation to advance the second massage mechanism 51 with the first massage unit 8 arranged at the shoulder position and the second massage unit 9 arranged at the waist position. It is preferable to include the operation of the treatment element 34 by driving 43 . By advancing the second massaging mechanism 51 at the waist position, the waist is pushed forward and the upper half of the body is bent backward. Therefore, the shoulder strongly abuts against the treatment element 34 of the first massage mechanism 31 . At this time, if the treatment elements 34 of the first massage mechanism 31 are caused to perform a kneading motion or a tapping motion, the massage effect is enhanced.

[Action 6]
26A and 26B are explanatory diagrams of operation 6, in which (a) shows a state in which the first massage unit 8 is arranged at the shoulder position and the second massage unit 9 is arranged at the waist position, and (b) shows the state in which the first massage unit 8 is It shows a state in which the second massage unit 9 is placed at the shoulder position and raised to the back position.
As shown in FIG. 26, the operation 6 is an operation of raising the second massage unit 9 in the height direction with the first massage unit 8 placed at the shoulder position, and the massage motor 43 is driven to operate the treatment element 34 . is preferably included. By raising the second massage unit 9, the upper half of the body is lifted. Therefore, the shoulder strongly abuts against the treatment element 34 of the first massage mechanism 31 . At this time, if the treatment elements 34 of the first massage mechanism 31 are caused to perform a kneading motion or a tapping motion, the massage effect is enhanced.

[Operation 7]
27A and 27B are explanatory diagrams of the operation 7, in which (a) is the state in which the first massage mechanism 31 advances to pinch the neck and the second massage mechanism 51 is arranged at the shoulder position, and (b) is the first massage mechanism. 31 advances to pinch the neck, and the second massage mechanism 51 descends to the waist position.
The operation 7 is an operation of raising or lowering the other massage mechanism in the height direction while holding the treated part between the pair of treatment elements of one of the massage mechanisms. In the example shown in FIG. 27, the second massage unit 9 is lowered while the first massage mechanism 31 is advanced and the pair of treatment elements 34 are brought close to pinch the neck. By lowering the second massage unit 9, the upper half of the body is pulled downward. Therefore, since the neck is clamped by the treatment elements 34 of the first massage mechanism 31, a stretching effect for stretching the neck can be obtained. In addition, if the second massage unit 9 is caused to repeatedly move up and down while the neck is held by the first massage mechanism, it will be as if the masseuse fixed the neck with one hand and then with the other hand. It is possible to obtain the sensation of rubbing or stretching the treated area.

In operation 7, the positions at which the massage units 8 and 9 are arranged are not particularly limited. Also, the massage mechanism that clamps the treated area and the massage mechanism that raises or lowers the area to be treated can be appropriately selected. For example, the first massage unit 8 may be raised or lowered at the back position while the second massage unit 9 is placed at the waist position and the waist is sandwiched between the pair of treatment elements 54 .

[Action 8]
28A and 28B are explanatory diagrams of operation 8, in which (a) shows a state in which the first massage mechanism 31 performs a kneading operation and the second massage mechanism 51 is in the rising process, and (b) shows a state in which the first massage mechanism 31 performs kneading. It shows a state in which the second massaging mechanism 51 is in the process of moving down. The operation 8 is an operation of causing one massage mechanism to perform a kneading operation or a hitting operation, and raising or lowering the other massage mechanism. Hereinafter, based on FIG. 28, a case where the first massage mechanism 31 is used as one of the massage mechanisms to perform a kneading operation, and the second massage mechanism 51 is used as the other massage mechanism for raising or lowering will be exemplified.

As shown in FIG. 28( a ), by raising the second massage mechanism 51 toward the first massage mechanism 31 and bringing it closer to the first massage mechanism 31 , the muscles of the treated area are brought closer to the first massage mechanism 31 side. , the gathered muscles can be massaged by the pair of treatment elements 34 of the first massage mechanism 31. - 特許庁On the other hand, as shown in FIG. 28(b), by lowering and separating the second massage mechanism 51 from the first massage mechanism 31, the muscles of the treated area are pulled, and the pulled muscles are pulled. Massage can be performed by the pair of treatment elements 34 of the first massage mechanism 31 . Moreover, by rubbing the treated area by raising or lowering the second massaging mechanism 51, blood circulation can be promoted, and the first massaging mechanism 31 performs a kneading operation on the treated area with increased blood circulation. The massage effect is further enhanced. In operation 8, the first massage mechanism 31 may be raised or lowered, and the second massage mechanism 51 may perform the kneading operation or the tapping operation.

[Action 9]
29 is a flow diagram of actions 9 and 10. FIG.
The operation 9 is an operation of moving the first massage mechanism 31 and the second massage mechanism 51 in the direction of the height to approach each other, and moving the treatment elements 34, 54 of the first and second massage mechanisms 31, 51 to be treated. It is an operation of advancing to the unit and an operation of synchronizing. As shown in FIG. 29, first, the massage units 8 and 9 are moved toward each other (step S1). The operation of step S1 is continued until the relative positions of the massage units 8 and 9 reach the close state or the pre-close state. After completing step S1 or in parallel with step S1, the treatment elements 34, 54 of the first and second massage mechanisms 31, 51 are advanced (step S2). By operating in this way, while the back muscles are stretched by the movement of the massage mechanisms 31 and 51 along the height direction, the treatment elements 34 and 54 advance to bend the upper body, thereby enhancing the massage effect. After step S2 is completed, the treatment elements 34, 54 of the first and second massage mechanisms 31, 51 are retracted (step S3). In step S1, it is preferable to bring the first and second massage mechanisms 31 and 51 closer to each other with the hip position as the target position, in which case the effect of curving the upper body is enhanced.

[Operation 10]
Operation 10 is an operation of moving the first massage mechanism 31 and the second massage mechanism 51 in directions away from each other along the height direction, It is an operation of advancing to the unit and an operation of synchronizing. Hereinafter, as shown in FIG. 29, the case where the operation 10 is performed following the operation 9 will be exemplified.
Following step S3 of operation 9, the first and second massage units 8, 9 in the close state or in the pre-close state are moved away from each other (step S4). The operation of step S4 is continued until the first massage unit 8 reaches the neck position and the second massage unit 9 reaches the lower limit position of the lifting range. Then, in parallel with step S4, the treatment elements 34, 54 of the first and second massage mechanisms 31, 51 are advanced (step S5). By operating in this manner, the upper body can be stretched by the separation motion of the massage mechanisms 31 and 51 along the height direction while the upper body is bent by advancing the treatment elements 34 and 54, thereby enhancing the massage effect.

[Operation 11]
FIG. 34 is a flow diagram of operation 11 .
Action 11 is an action of stretching the user's body. In operation 11, the lifting motor 35 is driven to position the treatment elements 34 of the first massage mechanism 31 on the neck, and the massage motor 43 is driven to bring the pair of treatment elements 34 closer to grab the neck. is driven to position the treatment elements 54 of the second massage mechanism 51 on the waist, and the forward/backward drive unit 16 is driven to advance the second massage mechanism 51 to press the waist; 2. The operation of holding the upper half of the body on the backrest portion 3 by the air cell 10 as the pressing and holding means, the operation of holding the lower leg on the footrest 4 by the air cell 13 as the first pressing and holding means provided in the footrest 4, and the driving of the actuator 21. The operation of reclining the backrest 3 rearward by , and the operation of lowering the footrest 4 by driving the actuator 22 are performed in synchronism.

In action 11, it is sufficient to synchronize at least the action of grasping the neck, the action of pressing the waist, and the action of reclining the backrest 3 backward. According to such an operation, the second massage mechanism 51 pushes up the lower back in a state in which displacement of the upper body relative to the backrest 3 due to the reclining of the backrest 3 is suppressed by holding the neck. You can expect a high stretch effect because you can bend it.

In addition, if the action of holding the upper arm or shoulder by the air cell 10 is added, the displacement of the upper body with respect to the backrest 3 due to the reclining of the backrest 3 is further suppressed by holding the upper arm or shoulder, resulting in a higher stretching effect. I can expect it. In addition, if the action of holding the lower leg and the action of lowering the footrest 4 are added, the backrest 3 and the footrest 4 are operated while the neck and the lower leg are held. A stretch effect can be expected. In addition, if the first massaging mechanism 31 in the advanced state is moved backward by driving the advancing/retreating driving portion 15 in synchronization with the reclining of the backrest portion 3, the neck is pulled downward, so that a higher stretching effect can be expected. . It should be noted that the "synchronization" referred to in the action 11 means that each action should be performed in parallel regardless of the back and front. including the case where it is performed after the completion of the descent of the

Individual operations of the first massage mechanism 31 and the second massage mechanism 51 will be described below. 35 is an explanatory diagram of operation A. FIG. 36 is an explanatory diagram of operation B. FIG. 37 is an explanatory diagram of operation C. FIG. 38 is an explanatory diagram of operation D. FIG. 39 is an explanatory diagram of operation E. FIG. 40 is an explanatory diagram of operation F. FIG. 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 operation d. FIG. 45 is an explanatory diagram of operation e. FIG. 46 is an explanatory diagram of the operation f. FIG. 47 is an explanatory diagram of operation g. FIG. 48 is an explanatory diagram of operation h. FIG. 49 is an explanatory diagram of action i. FIG. 50 is an explanatory diagram of operation j.

Operations A to F are operations of the first massage mechanism 31 . Actions a to j are actions of the second massage mechanism 51 . The operations A to F of the first massage mechanism 31 and the operations a to j of the second massage mechanism 51 can be arbitrarily combined. That is, in this embodiment, there are 60 combinations of operations of the first massage mechanism 31 and the second massage mechanism 51 . A wide range of muscles such as the trapezius muscle M is collectively massaged by combining the operations A to F and a to j of the massaging mechanisms 31 and 51 provided in the backrest part 3 along the height direction. be able to. Moreover, it is possible to simultaneously massage sites that are separated in the height direction. For ease of understanding, the lower treatment element 54b of the treatment element 54 is omitted in the figures of the operations a to j.

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

[Action A]
As shown in FIG. 35, operation A is an operation in which the massage motor 43 is driven at the shoulder position, and the pair of treatment elements 34 of the first massage mechanism 31 perform a kneading operation in which the pair approaches and separates. In action A, the treatment element 34 may act on either the top or the back of the shoulder. When acting on the rear portion of the shoulder, the upper side of the shoulder blade B is preferable. Further, in the case of acting on the scapula B as the rear portion of the shoulder, it is preferable to perform the kneading operation in a state in which the retractable air cell 15 is contracted and the first massaging mechanism 31 is retracted so as not to cause excessive pain. .

[Action B]
As shown in FIG. 36, the motion B is a motion of driving the massage motor 43 at the neck position to bring the pair of treatment elements 34 of the first massage mechanism 31 close to grab the neck. In this operation, the massage motor 43 is stopped for a predetermined time while the pair of treatment elements 34 are close to each other.

[Action C]
As shown in FIG. 37, the action C is an action of rubbing from the neck to the shoulder with the treatment elements 34 of the first massage mechanism 31 . Specifically, the pair of treatment elements 34 are kept close to each other at the neck position, and the elevating motor 35 and the massage motor 43 are driven to lower the first massage mechanism 31 while separating the pair of treatment elements 34 ( Operation C-1). Alternatively, the pair of treatment elements 34 are separated from each other at the shoulder position, and the elevating motor 35 and the massage motor 43 are driven to move the pair of treatment elements 34 closer together while elevating the first massage mechanism 31 (operation C- 2). The operations C-1 and C-2 may be performed alternately and repeatedly.

[Action D]
As shown in FIG. 38, operation D is an operation in which the lift motor 35 is driven from above the shoulder position to lower the first massage mechanism 31 and the pair of treatment elements 34 press the shoulder from above. This operation is preferably performed with the pair of treatment elements 34 separated from each other. Moreover, it is preferable to carry out the treatment while supplying a predetermined amount of air to the retractable air cell 15 and advancing the treatment element 34 .

[Action E]
As shown in FIG. 39, the action E is an action in which the lifting motor 35 is driven at the neck position to raise and lower the first massage mechanism 31 to rub the neck with the pair of treatment elements 34 .

[Action F]
As shown in FIG. 40, the motion F is a motion of rubbing the shoulder or back between the left and right shoulder blades B with the treatment elements 34 of the first massage mechanism 31 . Specifically, in the shoulder or back position, the pair of arms 40 are substantially parallel in front view, and the treatment element 34 is kept from contacting the scapula B, and the elevating motor 55 is driven to move the first The massage mechanism 31 is raised or lowered. The separation distance between the pair of treatment elements 34 in the action F may be larger than the separation distance between the pair of treatment elements 34 in the action E.

[Action a]
As shown in FIG. 41, the motion a is a motion of rubbing the back between the left and right shoulder blades B with the treatment elements 54 of the second massage mechanism 51 . The range in the vertical direction that refers to the back in this movement includes the positions corresponding to the upper and lower ends of the scapula B. As shown in FIG. Specifically, the pair of arms 60 are set in a state in which the pair of arms 60 are substantially parallel in a front view at the position of the scapula, and the treatment elements 54a and 54b are kept from coming into contact with the scapula B, and the lifting motor 55 is driven to 2 Raise or lower the massage mechanism 51 . That is, the motion a is a motion of rubbing a wide area between the left and right scapulae.

[Action b]
As shown in FIG. 42, the motion b is a motion of rubbing the back between the left and right shoulder blades B with the treatment elements 54 of the second massage mechanism 51 . In this motion, the range in the vertical direction that refers to the back includes the lower side than the center of the shoulder blade B and does not include the position corresponding to the upper end. Specifically, the pair of arms 60 are set in a state in which the pair of arms 60 are substantially parallel in a front view at the position of the scapula, and the treatment elements 54a and 54b are kept from coming into contact with the scapula B, and the lifting motor 55 is driven to 2 Raise or lower the massage mechanism 51 . In other words, the action b is an action to poke the lower part between the left and right shoulder blades B at the center.

[Action c]
As shown in FIG. 43, the action c is an action of rubbing the back between the left and right shoulder blades B with the treatment elements 54 of the second massage mechanism 51 . In this motion, the range in the vertical direction that indicates the back includes the upper side of the center of the scapula B and does not include the position corresponding to the lower end. Specifically, the pair of arms 60 are set in a state in which the pair of arms 60 are substantially parallel in a front view at the position of the scapula, and the treatment elements 54a and 54b are kept from coming into contact with the scapula B, and the lifting motor 55 is driven to 2 Raise or lower the massage mechanism 51 . In other words, the action c is an action to poke the upper part between the left and right shoulder blades B as a center.

[Action d]
As shown in FIG. 44, the motion d is a motion of rubbing the range from the waist to the back with the treatment elements 54 of the second massage mechanism 51 . Specifically, the pair of arms 60 are set to be substantially parallel in a front view, and the treatment elements 54a and 54b are kept from coming into contact with the scapula B. to raise or lower the The lower limit of the lifting range of the second massage mechanism 51 may be determined based on a limit sensor (not shown) provided at the lower portion of the backrest portion 3 . In the second massage mechanism 51, the upper treatment element 54a acts more strongly than the lower treatment element 54b due to its structure. Each of the actions a to d may be performed with the upper treatment element 54a not contacting the scapula B as a state closer than the element 54b.

[Action e]
As shown in FIG. 45, the action e is an action of performing a kneading action on the lower edge of the scapula B with the treatment elements 54 of the second massaging mechanism 51 . Specifically, the treatment elements 54 (for example, the upper treatment elements 54a) are 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 moved. performs a kneading motion that approaches and separates.

[Action f]
As shown in FIG. 46, the motion f is a motion of rubbing the inner edge of the scapula B with the treatment elements 54 of the second massage mechanism 51 . Specifically, between the left and right shoulder blades B, the pair of treatment elements 54 (for example, the upper treatment elements 54a) are kept in close proximity to each other, and the elevating motor 55 and the massage motor 63 are driven to operate the second massage mechanism. The pair of treatment elements 54 (for example, the upper treatment element 54a) is separated while the treatment element 51 is lowered (operation f-1). Alternatively, the pair of treatment elements 54 (for example, the upper treatment elements 54a) are separated from each other between the left and right shoulder blades B, and the elevating motor 55 and the massage motor 63 are driven to raise the second massage mechanism 51. The pair of treatment elements 54 (for example, 54a) are brought close to each other (operation f-2). The operation f-1 and the operation f-2 may be alternately and repeatedly performed.

[Action g]
As shown in FIG. 47, the motion g is a motion of rubbing and massaging the back and/or waist with the treatment elements 54 of the second massage mechanism 51 . Specifically, the elevating motor 55 and the massage motor 63 are driven to raise or lower the second massage mechanism 51 while moving the pair of treatment elements 54 toward and away from each other. In this operation, the range in which the second massage mechanism 51 is raised and lowered may be from the waist to the back, or may be only the back or the waist.

[Action h]
As shown in FIG. 48 , the motion h is a motion of massaging the rear portion of the buttocks (the portion that contacts the backrest 3 ) with the treatment elements 54 of the second massage mechanism 51 . Specifically, the massage motor 63 is driven to move the pair of treatment elements 54 of the second massage mechanism 51 toward and away from each other at the hip position. The position of the buttocks may be determined based on a limit sensor (not shown) provided in the lower portion of the backrest portion 3.

[Action i]
As shown in FIG. 49, the motion i is a motion of applying acupressure to the rear part of the buttocks (the portion in contact with the backrest 3) with the treatment elements 54 of the second massage mechanism 51. FIG. 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 massage mechanism 51 close to each other at the buttocks position, and the massage motor 63 is stopped for a predetermined time in this state. . The position of the buttocks may be determined based on a limit sensor (not shown) provided in the lower portion of the backrest portion 3.

[Action j]
As shown in FIG. 50, the motion j is a motion of rubbing the lower back and/or the rear portion of the buttocks (the portion that contacts the backrest portion 3) with the treatment elements 54 of the second massage mechanism 51. FIG. Specifically, the elevation motor 55 is driven to raise or lower the second massage mechanism 51 . In this operation, the range in which the second massage mechanism 51 is raised and lowered 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]
A massage unit 100 according to another embodiment will be described below. FIG. 30 is a front view of a massage unit 100 according to another embodiment. The massage unit 100 has the massage mechanism 31 and the second massage mechanism 51 described above collectively provided in a single body frame 110 . That is, since the massage mechanisms 31, 51 and the support frames 32, 52 that support the massage mechanisms 31, 51 have the same configuration as described above, the same reference numerals are attached and the description thereof will be omitted.

As shown in FIG. 30, the massage unit 100 is provided on the backrest portion 3 and includes a first massage mechanism 31 arranged relatively upward and a second massage mechanism 51 arranged relatively downward. ing. The massage unit 100 mainly includes a body frame 110 that is vertically supported by the guide mechanism 3b, a first massage mechanism 31 and a second massage mechanism 51, and support frames 32 and 52 that support the massage mechanisms 31 and 51. advance/retreat drive units 15 and 16 for advancing and retreating the massaging mechanisms 31 and 51 with respect to the treated area; It is configured with

The massage unit 100 includes an elevating motor 111, an elevating shaft 112, and pinions 39 attached to both ends of the elevating shaft 112. By driving the elevating motor 111, the elevating shaft 112 rotates and the massage unit 100 moves. Rise and fall along the height direction. The massager 34 is driven by the massage motor 43 to perform a kneading action or a tapping action, and the massager 54 is driven by the massage motor 63 to perform a kneading action.

[Configuration of massage mechanism according to another embodiment]
A massage mechanism 200 according to another embodiment will be described below. FIG. 31 is a front view of a massage mechanism 200 according to another embodiment.
The point essentially different from the first massage mechanism 31 described above is that the massage mechanism 200 is provided with treatment elements 91 above and below an arm 90, and the lower treatment elements 91 are provided on the left and right sides of the arm 90. The point is that Since other configurations are the same as those of the first massage mechanism 31, they are denoted by the same reference numerals and descriptions thereof are omitted.

The massage mechanism 200 has left and right pairs of arms 90 to which treatment elements 91 are attached. 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 . In addition, the lower treatment elements 91b are provided in pairs on the left and right with the arm 90 interposed therebetween. The lower treatment element 91b has a smaller diameter than the upper treatment element 91a. The lower treatment element 91b imitates the thumb of a masseur, and the upper treatment element 91a imitates fingers other than the thumb of the masseur. there is By driving the massage motor 43, a kneading action in which the left and right treatment elements 91 move toward and away from each other, and a tapping action in which the left and right treatment elements 91 alternately advance and retreat can be performed. When applying this massage mechanism 200 to the massage machine 1 described above, it is preferable to provide the massage mechanism 200 instead of the first massage mechanism 31 . That is, in the backrest portion 3, the massage mechanism 200 is arranged relatively on the upper side, and the second massage mechanism 51 is arranged relatively on the lower side. And each massage mechanism 51 and 200 becomes raise-lower independently along a height direction.

This massaging mechanism 200 is effective in performing a kneading motion near the neck and shoulder positions. That is, the neck and shoulders can be massaged simultaneously by the upper treatment element 91a and the lower treatment element 91b, respectively. Furthermore, in the process of approaching the pair of lower treatment elements 91b, the inner lower treatment element 91b effectively acts on the shoulder, and in the process of separating the pair of lower treatment elements 91b, the outer lower treatment element 91b effectively acts on the shoulder. do. From the viewpoint of exhibiting this effect, it is not necessary to provide a plurality of massage mechanisms 200 along the height direction. good. Also, the lower treatment element 91b may be provided only on either the inner side or the outer side of the arm 90. As shown in FIG.

[Configuration of link according to another embodiment]
Hereinafter, the link 93 according to another embodiment will be described by exemplifying the case where it is applied to the first massage unit 8 , but it can also be applied to the second massage unit 9 . 32A and 32B are explanatory diagrams of the 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 , a link 93 is provided on the side of the support frame 32 to connect the body frame 30 and the support frame 32 and swing in the front-rear direction. The reason why the link 93 is arranged on the side of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be reduced compared to the case where the link 93 is arranged behind the support frame 32 . The link 93 is arranged side by side in the front-rear direction and has a first link portion 93a arranged relatively on the rear side and a second link portion 93b arranged relatively on the front side. That is, the link 93 constitutes a four-bar link mechanism. Also, 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 includes the body frame 30, the massage mechanism 31 having the treatment elements 34, the support frame 32 that supports the massage mechanism 31, and the movement mechanism that advances and retreats the massage mechanism 31 with respect to the treated area. It has a drive unit 15 and a link 93 that connects the body frame 30 and the support frame 32 and swings in the front-rear direction. The portions A1 and A3 are positioned forward of the connecting portions A2 and A4 with the support frame 32 .

[Configuration of sensor according to another embodiment]
Another embodiment of the sensor 80 for detecting the relative positions of the first massage unit 8 and the second massage unit 9 will be described below with reference to FIG. FIG. 33 is an explanatory diagram of a sensor 80 according to another embodiment.
This sensor 80 consists of a third sensor section (elevating sensor 77) that detects the vertical position of the first massage unit 8 and a fourth sensor section (elevating sensor 78) that detects the vertical position of the second massage unit 9. It is configured. Then, the detection value indicating the vertical position (height) of the first massage unit 8 detected by the elevation sensor 77 (the height is "7" in FIG. 33), and the height of the second massage unit 9 detected by the elevation sensor 78. Based on the difference value (difference value "1" in FIG. 33) between the detection value (height "6" in FIG. 33) indicating the vertical position (height), the first and second massage units 8, 9 Detect relative position. That is, the smaller the difference value is, the narrower the distance between the massage units 8 and 9 is, and the larger the difference value is, the wider the distance between the massage units 8 and 9 is. For example, a relative position with a difference value of "1" may be set as the close state, and a relative position with a difference value of "2" may be set as the pre-approach state.

As described above, the vertical position of the first massage unit 8 is detected by the elevation sensor 77 detecting how many times the elevation shaft 36 rotates from the upper limit position. The vertical position of the second massage unit 9 is detected by the vertical sensor 78 detecting how many times the vertical axis 56 rotates from the lower limit position. In the present embodiment, the difference value indicating the distance between the two massage units 8 and 9 can be detected in nine steps, and the relative position of the first and second massage units 8 and 9 can be detected more than when the sensor 70 is used. Wider detection range.

Moreover, the massage machine of the present invention is not limited to the illustrated form, and may be of other forms within the scope of the present invention.
For example, there is no restriction on the number of treatment elements, and the number of treatment elements 34 of the first massage mechanism 31 may be vertically arranged in the same manner as the second massage mechanism 51 . In the above-described embodiment, a pair of left and right arms for supporting the treatment elements are provided, but a plurality of left and right pairs may be provided across the center line of the body. may be provided. Also, the number of massage units provided along the height direction is not limited, and may be three or more.
In addition, from the viewpoint of the above-described actions 1 to 8, it is sufficient to provide a plurality of massage units 8 and 9 in the direction of the height. , H2, or the separation distances D1 and D2 of the pair of treatment elements when they are closest in the kneading motion may be the same between the first massage mechanism 31 and the second massage mechanism 51 .
Further, the guide mechanism 3b is also provided on the seat portion 2 or the seat portion 2 and the footrest 4, and at least one of the first and second massage units 8 and 9 is guided along the height direction from the backrest portion 3 to the seat portion. 2 or footrest 4 may be movable.

Further, the sensor 70 for detecting the proximity state or the pre-proximity state as the relative position of both massage units 8 and 9 may be a contact sensor using a volume switch or the like. For example, instead of the magnet holders 73 and 74, a volume switch may be provided at the tip of a 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 top wall 50d of the second massage unit 9, the "pre-approach state" can be obtained by pressing the volume switch provided at the tip of the spring. is detected, and a volume switch provided on the bottom wall 30c or the top wall 50d is pressed against the biasing force of the spring to detect the "proximity state".

INDUSTRIAL APPLICABILITY The present invention can be applied to a massage machine that improves the feeling of massage.

1 massage machine 2 seat 3 backrest 4 footrest 8 first massage unit (massage unit)
9 Second massage unit (massage unit)
10 air cell (second pressure holding means)
13 Air cell (first pressing and holding means)
15 Advance/retreat air cell (advance/retreat drive unit)
16 Advance/retreat air cell (advance/retreat drive unit)
23 control means 30 body frame 30b 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 lift motor 36 lift shaft 40 arm 43 massage motor (massage drive unit)
48 Reinforcement part 50 Body frame 50b Side wall 51 Second massage mechanism (massage mechanism)
52 support frame 53 link 53a first link portion 53b second link portion 54 treatment element 55 lifting motor 56 lifting shaft 63 massage motor (massage drive unit)
68 reinforcing portion 70 sensor 71 first sensor portion 72 second sensor portion 77 elevation sensor (third sensor portion)
78 lift sensor (fourth sensor unit)
80 sensor 90 arm 91 treatment element 91a upper treatment element 91b lower treatment element 93 link 93a first link portion 93b second link portion 100 massage unit 200 first massage mechanism (massage mechanism)
D1 Separation distance of the pair of treatment elements when they are closest in the kneading motion D2 Separation distance of the pair of treatment elements when they are closest in the kneading motion H1 Vertical dimension of the trajectory of the massaging motion H2 Vertical dimension of the trajectory of the massaging motion W1 Kneading Left-right motion range W2 of the treatment element in motion Left-right motion range of the treatment element in kneading motion

Claims (22)

A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms include a massage driving unit that performs at least one of a kneading action in which the pair of treatment elements approach or move away from each other, or a tapping action in which the pair of treatment elements alternately advances and retreats; an advance/retreat drive unit for advancing/retreating the child with respect to the user in the front-back direction;
The massage machine, wherein the control means controls the advance/retreat driving section so that the treatment elements of the first massage mechanism and the treatment elements of the second massage mechanism advance or retreat at different timings. . A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms include a massage driving unit that performs at least one of a kneading action in which the pair of treatment elements approach or move away from each other, or a tapping action in which the pair of treatment elements alternately advances and retreats; an advance/retreat drive unit for advancing/retreating the child with respect to the user in the front-back direction;
The massage machine, wherein the control means controls the advance/retreat drive section so that the treatment elements of the first massage mechanism and the treatment elements of the second massage mechanism advance or retreat at mutually different speeds. . The control means controls the advance/retreat driving section so that after advancing the treatment elements of one of the first and second massage mechanisms, the treatment elements of the other massage mechanism are advanced. 3. A massage machine according to claim 1 or 2. The control means controls the advancing/retreating driving section such that after retracting the treatment elements of one of the first and second massage mechanisms, the treatment elements of the other massage mechanism are retracted. The massage machine according to any one of claims 1 to 3. The control means controls the driving section so as to retract the treatment elements of one of the first and second massage mechanisms in synchronism with the advancement of the treatment elements of the other massage mechanism. The massage machine according to any one of claims 1 to 4. The control means changes the positions of the treatment elements of the first and second massage mechanisms in the left-right direction, and moves the treatment elements of the first and second massage mechanisms from the advanced state to the first or second massage mechanism. 5. The massage machine according to any one of claims 1 to 4, wherein the advance/retreat driving section is controlled to retract one of the treatment elements of the second massage mechanism. The control means controls the advance/retreat drive unit so that, while the treatment elements of one of the first and second massage mechanisms are advanced, the other massage mechanism repeats advancing and retreating of the treatment elements. 3. The massage machine according to claim 1 or 2, characterized by controlling the The control means synchronizes the advance or retreat of the treatment element of at least one of the first and second massage mechanisms with the kneading motion or the tapping motion of the one massage mechanism. The massage machine according to any one of claims 1 to 7, wherein the forward/backward drive section and the massage drive section are controlled. The control means synchronizes advancing or retreating of the treatment elements of at least one of the first and second massage mechanisms with an operation of bringing the pair of treatment elements of one of the massage mechanisms closer to each other. 9. The massage machine according to any one of claims 1 to 8, wherein the advance/retreat driving section and the massage driving section are controlled so as to allow the movement. an elevating motor that elevates or lowers at least one of the first and second massage mechanisms along the height direction;
10. The massage machine according to any one of claims 1 to 9, wherein said control means controls said advance/retreat drive section and said elevating motor so as to synchronize advancing and raising or lowering of said one massage mechanism. A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms include a massage driving unit that performs at least one of a kneading action in which the pair of treatment elements approach or move away from each other, or a tapping action in which the pair of treatment elements alternately advances and retreats; an advance/retreat drive unit for advancing/retreating the child with respect to the user in the front-back direction;
The control means controls the advance/retreat drive unit to advance the treatment elements of the second massage mechanism in a state in which the first massage mechanism is arranged on the shoulder and the second massage mechanism is arranged on the waist. A massage machine characterized by: A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms have a massage drive unit for performing at least one of a kneading motion in which the pair of treatment elements approach or move away from each other, or a tapping motion in which the pair of treatment elements alternately advances and retreats,
an elevating motor that elevates or lowers at least one of the first and second massage mechanisms along the height direction;
The control means controls the massage driving section and the lifting motor so that one of the massage mechanisms performs the kneading motion or the tapping motion, and the other massage mechanism moves up or down along the height direction. massage machine. A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms have a massage drive unit for performing at least one of a kneading motion in which the pair of treatment elements approach or move away from each other, or a tapping motion in which the pair of treatment elements alternately advances and retreats,
an elevating motor that elevates or lowers at least one of the first and second massage mechanisms along the height direction;
The control means controls the massage drive unit and the lifting/lowering mechanism so as to move the other massage mechanism upward or downward along the height direction while the pair of treatment elements of one massage mechanism are brought close to each other to hold the treatment target. A massage machine characterized by controlling a motor. A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms have a massage drive unit for performing at least one of a kneading motion in which the pair of treatment elements approach or move away from each other, or a tapping motion in which the pair of treatment elements alternately advances and retreats,
an elevating motor that elevates or lowers at least one of the first and second massage mechanisms along the height direction;
The massage machine, wherein the control means controls the elevation motor so as to raise the second massage mechanism along the height direction in a state where the first massage mechanism is placed on the shoulder. A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms have forward and backward drive units for moving the treatment elements forward and backward with respect to the user,
a lifting motor for lifting and lowering the first and second massage mechanisms along the height direction;
The control means controls the lifting and lowering so as to synchronize movement of the first and second massage mechanisms in a direction toward each other along the height direction and advance of the treatment elements of the first and second massage mechanisms. A massage machine that controls a motor and the advance/retreat drive unit. A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms have forward and backward drive units for moving the treatment elements forward and backward with respect to the user,
a lifting motor for lifting and lowering the first and second massage mechanisms along the height direction;
The control means controls the lifting and lowering so as to synchronize the movement of the first and second massage mechanisms in directions away from each other along the height direction and the advancement of the treatment elements of the first and second massage mechanisms. A massage machine that controls a motor and the advance/retreat drive unit. A massage machine in which a plurality of massage mechanisms having right and left pairs of treatment elements are provided along the height direction on a backrest on which a user leans,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms have a massage drive unit for performing at least one of a kneading motion in which the pair of treatment elements approach or move away from each other, or a tapping motion in which the pair of treatment elements alternately advances and retreats,
The control means causes one of the massage mechanisms to perform the kneading motion or clamping by bringing the pair of treatment elements close to each other, and at the same time, causes the other massage mechanism to perform the motion including the tapping motion. A massage machine characterized by controlling a part. A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms;
The first and second massage mechanisms have a massage drive unit for performing a kneading motion in which the pair of treatment elements approach or move away from each other,
The massage machine, wherein the control means controls the massage driving section so that the first massage mechanism and the second massage mechanism perform the kneading motions at mutually different speeds. The first massage mechanism and the second massage mechanism, or the first and second massage mechanisms in a state in which the treatment elements of the first massage mechanism and the treatment elements of the second massage mechanism are brought close to each other in the height direction. 19. The massage machine according to claim 18, wherein said massaging action is performed by said treatment element. a seat on which the user sits;
a backrest portion provided reclinably on the rear portion of the seat portion on which the user leans,
A massage machine in which a plurality of massage mechanisms having left and right pairs of treatment elements are provided along the height direction,
As the massage mechanisms, a first massage mechanism arranged relatively on the upper side and a second massage mechanism arranged relatively on the lower side;
a control means for controlling the operation of the first and second massage mechanisms and the reclining operation of the backrest;
The control means includes an operation of grasping the neck with the treatment elements of the first massage mechanism, an operation of pressing the waist with the treatment elements of the second massage mechanism, and an operation of reclining the backrest portion backward. A massage machine characterized in that the movements are synchronized with each other. A footrest for supporting the user's lower legs is provided on the front part of the seat so that it can swing up and down,
The footrest has a first pressing and holding means for pressing or holding the lower leg of the user,
21. The massage machine according to claim 20, wherein the control means synchronizes the synchronized motion with the motion of holding the leg by the first pressing and holding means and the motion of lowering the footrest. Having a second pressing and holding means for pressing or holding the user's upper arm or shoulder,
22. A massage machine according to claim 20 or 21, wherein said control means synchronizes an action of holding the upper arm or shoulder by said second pressing and holding means with said synchronized action.

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