JP2024026638A - 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)2024,JPO&INPIT

Description

The present invention relates to a massage machine.

BACKGROUND ART Conventionally, a massage device is known in which a backrest is provided with an upper unit disposed relatively above and a lower unit disposed relatively below. The upper unit includes a shoulder unit and a shoulder blade unit, and the lower unit includes a back unit and a waist unit. In addition, the shoulder unit massages the shoulder blade in such a way that the massager pushes the shoulder down when the air bag expands, and the shoulder blade unit massages the shoulder blade in a way that pushes the shoulder blade up as the air bag expands. Therefore, the massage element of the shoulder unit and the treatment element of the shoulder blade unit can provide a massage effect that pinches the shoulder or shoulder blade (for example, see Patent Document 1).

JP2002-209961A

However, in the massage device described in Patent Document 1, for example, when looking at the upper unit, the shoulder unit disposed on the upper side and the shoulder blade unit disposed on the lower side can be treated without changing their relative positions. It is a monotonous massage that involves pinching the body parts. The present invention has been made to solve the above-mentioned problems, and aims to improve the experience of massage using a massage machine.

The present invention provides a massage machine in which a plurality of massage mechanisms each having a pair of left and right treatment elements are provided along the body height direction, in which the massage mechanism includes a first massage mechanism disposed relatively above, and a first massage mechanism disposed relatively upwardly. a second massage mechanism disposed on the lower side of the body; and a control means for controlling operations of the first and second massage mechanisms, wherein the first and second massage mechanisms a massage drive unit that performs at least one of a kneading motion in which the massagers approach or move away from each other, or a tapping motion in which the pair of treatment elements alternately move forward and backward, and an advancement and retreat drive unit that advances and retreats the massager elements in the front and rear directions with respect to the user. and the control means controls the advance/retreat drive unit to advance or retreat the treatment element of the first massage mechanism and the treatment element of the second massage mechanism at different timings. It is characterized by
With this configuration, the treatment elements of the first and second massage mechanisms, each of which can perform a kneading motion or a tapping motion, can be advanced or retreated at different timings, making it possible for the massager to advance or retreat at different times. You can get a realistic experience as if you were getting a massage using both hands.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms each having a left and right pair of treatment elements are provided along the body height direction, wherein the massage mechanism includes a first massage mechanism disposed at a relatively upper side; , a second massage mechanism disposed relatively below, and a control means for controlling operations of the first and second massage mechanisms, wherein the first and second massage mechanisms are arranged in the pair. a massage drive unit that performs at least one of a kneading operation in which the treatment elements approach or move away from each other, or a tapping operation in which the pair of treatment elements alternately advances and retreats; and a massage drive unit that moves the treatment elements forward and backward in the front and rear directions relative to the user. a drive section, the control means controls the advance/retreat drive section so that the treatment element of the first massage mechanism and the treatment element of the second massage mechanism advance or retreat at different speeds. It is characterized by
With this configuration, the treatment elements of the first and second massage mechanisms, each of which can perform a kneading motion or a tapping motion, can be advanced or retreated at different speeds, so it is as if the masseuse is You can get a realistic experience as if you were getting a massage using both hands.

Further, the control means controls the advancing/retracting drive unit so that after advancing the treatment element of one of the first and second massage mechanisms, the treatment element of the other massage mechanism is advanced. It is preferable.
With this configuration, it is possible to obtain a realistic experience as if the masseuse were sequentially pushing his left hand and right hand into the treated area.

Further, the control means controls the advancing/retreating drive unit so that after retracting the treatment element of one of the first and second massage mechanisms, the treatment element of the other massage mechanism is retracted. It is preferable.
With such a configuration, it is possible to obtain a realistic experience as if the masseuse were sequentially relaxing the massage with the left hand and the right hand.

Further, the control means controls the drive unit to retract the treatment element of the other massage mechanism in synchronization with the advance of the treatment element of one of the first and second massage mechanisms. It is preferable.
With this configuration, it is possible to obtain a realistic experience as if the masseuse were performing a massage by alternately switching between the left hand and the right hand.

Further, the control means may vary the positions of the treatment elements of the first and second massage mechanisms in the left-right direction, and change the position of the treatment elements of the first and second massage mechanisms from an advanced state to a state where the treatment elements of the first and second massage mechanisms are advanced. It is preferable that the advancing/retracting drive unit is controlled so as to cause one of the treatment elements of the first or second massage mechanism to retreat.
With this configuration, it is possible to obtain a realistic experience as if the masseuse were massaging using both hands with the thumb and other fingers. In addition, the treated area strongly contacts the advanced treatment element, making it possible to experience a feeling as if the treatment element is being subjected to acupressure.

Further, the control means is configured to cause the other massage mechanism to repeatedly advance and retreat the treatment element in a state in which the treatment element of one of the first and second massage mechanisms is advanced. Preferably, the drive is controlled.
With this configuration, it is possible to obtain a realistic experience as if the masseuse were placing one hand on the treated area and repeating acupressure with the other hand.

Further, the control means synchronizes the advancement or retreat of the treatment element of at least one of the first and second massage mechanisms and the kneading operation or the tapping operation of one of the massage mechanisms. It is preferable that the advance/retreat drive unit and the massage drive unit be controlled so as to cause the massage to occur.
With such a configuration, it is possible to obtain a realistic experience as if the masseuse were performing a kneading motion or a tapping motion while changing the amount of force.

Further, the control means advances or retreats the treatment element of at least one of the first and second massage mechanisms, and causes the pair of treatment elements of the one massage mechanism to approach each other; It is preferable to control the advance/retreat drive unit and the massage drive unit so as to synchronize the movement of the massage drive unit and the massage drive unit.
With such a configuration, it is possible to obtain a realistic sensation as if the masseuse were pushing in while grasping the treated area, or pulling while grasping the treated area.

Further, the control means includes an elevating motor that moves at least one of the first and second massage mechanisms up and down along the height direction, and the control means is configured to move the one massage mechanism up and down so as to synchronize the advancement and the ascent or descent of the one massage mechanism. Preferably, the drive unit and the lifting motor are controlled.
With such a configuration, it is possible to obtain a realistic sensation as if the masseuse were pushing up or down the treated area.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms each having a left and right pair of treatment elements are provided along the body height direction, wherein the massage mechanism includes a first massage mechanism disposed at a relatively upper side; , a second massage mechanism disposed relatively below, and a control means for controlling operations of the first and second massage mechanisms, wherein the first and second massage mechanisms are arranged in the pair. a massage drive unit that performs at least one of a kneading operation in which the treatment elements approach or move away from each other, or a tapping operation in which the pair of treatment elements alternately advances and retreats; and a massage drive unit that moves the treatment elements forward and backward in the front and rear directions relative to the user. a drive unit, the control means advances the treatment element of the second massage mechanism in a state where the first massage mechanism is placed on the shoulder and the second massage mechanism is placed on the waist. The invention is characterized in that the advance/retreat drive unit is controlled in such a manner.
With such a configuration, it is possible to make the upper body of the user look up and make the treatment elements of the first massage mechanism come into strong contact with the shoulders.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms each having a left and right pair of treatment elements are provided along the body height direction, wherein the massage mechanism includes a first massage mechanism disposed at a relatively upper side; , a second massage mechanism disposed relatively below, and a control means for controlling operations of the first and second massage mechanisms, wherein the first and second massage mechanisms are arranged in the pair. a massage drive unit that performs at least one of a kneading operation in which the treatment elements approach or separate from each other, or a tapping operation in which the pair of treatment elements alternately advances and retreats, and at least one of the first and second massage mechanisms; The controller has a lifting motor that moves up and down along the height direction, and the control means causes one of the massage mechanisms to perform the kneading operation or the hitting action, and raises or lowers the other massage mechanism along the height direction. It is characterized in that it controls a massage drive unit and the lifting motor.
With this configuration, you can experience a realistic experience as if the masseuse were rubbing or stretching the body with one hand while kneading or hitting the treated area with one hand. can be obtained.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms each having a left and right pair of treatment elements are provided along the body height direction, wherein the massage mechanism includes a first massage mechanism disposed at a relatively upper side; , a second massage mechanism disposed relatively below, and a control means for controlling operations of the first and second massage mechanisms, wherein the first and second massage mechanisms are arranged in the pair. a massage drive unit that performs at least one of a kneading operation in which the treatment elements approach or separate from each other, or a tapping operation in which the pair of treatment elements alternately advances and retreats, and at least one of the first and second massage mechanisms; The controller includes a lifting motor that moves up and down along the height direction, and the control means moves the other massage mechanism along the height direction while the pair of treatment elements of one massage mechanism are brought close to each other and the treated area is sandwiched between them. The massage drive unit and the lifting motor are controlled to raise or lower the massager.
This configuration provides a realistic experience as if the masseuse is holding one hand on the body while the other hand is rubbing or stretching the area to be treated. be able to.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms each having a left and right pair of treatment elements are provided along the body height direction, wherein the massage mechanism includes a first massage mechanism disposed at a relatively upper side; , a second massage mechanism disposed relatively below, and a control means for controlling operations of the first and second massage mechanisms, wherein the first and second massage mechanisms are arranged in the pair. a massage drive unit that performs at least one of a kneading operation in which the treatment elements approach or separate from each other, or a tapping operation in which the pair of treatment elements alternately advances and retreats, and at least one of the first and second massage mechanisms; It has a lifting motor that raises and lowers along the height direction, and the control means controls the lifting motor so as to raise the second massage mechanism along the height direction with the first massage mechanism placed on the shoulder. It is characterized by
With such a configuration, the treatment element of the first massage mechanism can be brought into strong contact with the shoulder.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms each having a left and right pair of treatment elements are provided along the body height direction, wherein the massage mechanism includes a first massage mechanism disposed at a relatively upper side; , a second massage mechanism disposed relatively below, and a control means for controlling operations of the first and second massage mechanisms, wherein the first and second massage mechanisms are arranged below the treatment element. an advancement/retraction drive unit for moving the massage mechanism forward and backward with respect to the user, and a lifting motor for raising and lowering the first and second massage mechanisms along the height direction of the user; controlling the elevating motor and the advancing/retreating drive unit so as to synchronize the movement of the two massage mechanisms toward each other along the height direction and the advancement of the treatment elements of the first and second massage mechanisms; It is characterized by
With such a configuration, it is possible to arch the upper body while stretching the back muscles.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms each having a left and right pair of treatment elements are provided along the body height direction, wherein the massage mechanism includes a first massage mechanism disposed at a relatively upper side; , a second massage mechanism disposed relatively below, and a control means for controlling operations of the first and second massage mechanisms, wherein the first and second massage mechanisms are arranged below the treatment element. an advancement/retraction drive unit for moving the massage mechanism forward and backward with respect to the user, and a lifting motor for raising and lowering the first and second massage mechanisms along the height direction of the user; 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; It is characterized by
With such a configuration, it is possible to stretch the upper body while bending it.

The present invention also provides a massage machine in which a plurality of massage mechanisms each having a left and right pair of treatment elements are provided in a backrest portion on which a user leans along the body height direction, in which a plurality of massage mechanisms each having a pair of left and right treatment elements are provided on a backrest portion on which a user leans, and in which a plurality of massage mechanisms are provided on a relatively upper side. a first massage mechanism disposed on the lower side; a second massage mechanism disposed relatively below; and a control means for controlling operations of the first and second massage mechanisms; The second massage mechanism includes a massage drive unit that performs at least one of a kneading operation in which the pair of treatment elements approaches or separates, or a tapping operation in which the pair of treatment elements alternately advances and retreats, and the control means , controlling the massage drive unit to cause one massage mechanism to perform the kneading operation or to clamp the pair of treatment elements by bringing them close together, and at the same time to cause 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 the user a feeling as if two or more masseuses are performing different types of massages on the upper body.

Further, the present invention provides a massage machine in which a plurality of massage mechanisms each having a left and right pair of treatment elements are provided along the body height direction, wherein the massage mechanism includes a first massage mechanism disposed at a relatively upper side; , a second massage mechanism disposed relatively below, and a control means for controlling operations of the first and second massage mechanisms, wherein the first and second massage mechanisms are arranged in the pair. The massage drive unit includes a massage drive unit that causes the massage elements to perform a kneading operation in which the treatment elements approach or move away from each other, and the control means controls the massage drive unit to cause the first massage mechanism and the second massage mechanism to perform the kneading operation at mutually different speeds. It is characterized by controlling the parts.
With such a configuration, when the first and second massage mechanisms perform continuous kneading operations, 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 are used. The kneading motion from the top and bottom can be changed over time, increasing the massage effect.

Further, in a state where the first massage mechanism and the second massage mechanism, or the treatment element of the first massage mechanism and the treatment element of the second massage mechanism are brought close to each other in the height direction, the first and second It is preferable that the massaging operation is performed by the treatment element of the massage mechanism.
With this configuration, it is possible to better experience the massaging operation from 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.

Further, the present invention has a seat portion on which a user sits, a backrest portion provided in a reclinable manner at the rear of the seat portion and on which the user can lean, and a pair of treatment elements on the left and right sides. 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 disposed relatively above, and a second massage mechanism disposed relatively below. , a control means for controlling the operations of the first and second massage mechanisms and the reclining operation of the backrest, the control means controlling the operation of grasping the neck with the treatment element of the first massage mechanism; , the operation of pressing the lower back with the treatment element of the second massage mechanism and the operation of reclining the backrest portion backward are performed in synchronization.
With this configuration, displacement of the upper body relative to the backrest due to reclining of the backrest is suppressed by holding the neck, and the upper body can be effectively warped.

Further, the seat has a footrest that supports the user's lower limbs and is provided in a vertically swingable manner in the front part of the seat, and the footrest has a first pressing and holding means that presses or holds the user's lower limbs. Preferably, the control means synchronizes the operation of holding the lower limb by the first pressing and holding means and the operation of lowering the footrest with the synchronized operation.
With such a configuration, the whole body can be stretched effectively.

It has a second pressing and holding means that presses or holds the user's upper arm or shoulder, and the control means is capable of synchronizing the operation of holding the upper arm or shoulder by the second pressing and holding means with the synchronized operation. preferable.
With this configuration, displacement of the upper body relative 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.

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

1 is a perspective view of a massage machine according to an embodiment of the present invention. It is a functional block diagram of a massage machine. It is a front view of a backrest part. It is a perspective view of a 1st massage unit. It is a perspective view of the 1st massage unit with some members omitted. It is a front view of a 1st massage unit. It is a side view of the 1st massage unit, and shows the state where the 1st massage mechanism retreated. It is a side view of the 1st massage unit, and shows the state where the 1st massage mechanism advances. It is a front view of a kneading shaft and a beating shaft. It is a perspective view of a 2nd massage unit. It is a perspective view of the 2nd massage unit with some members omitted. It is a front view of a 2nd massage unit. This is a side view of the second massage unit, showing a state in which the second massage mechanism is retracted. This is a side view of the second massage unit, showing a state in which the second massage mechanism is advanced. It is a perspective view of the arm of a 2nd massage unit. It is an explanatory diagram of a kneading operation. It is an explanatory diagram of a kneading operation. It is an explanatory diagram of a kneading operation. It is an explanatory diagram of a kneading operation. 3 is a flow diagram of operation 1. FIG. FIG. 2 is an explanatory diagram of operation 1; FIG. 3 is a flow diagram of operations 2 and 3; FIG. 3 is an explanatory diagram of operation 2 and operation 3; FIG. 4 is an explanatory diagram of operation 4; FIG. 6 is an explanatory diagram of operation 5; FIG. 6 is an explanatory diagram of operation 6; FIG. 7 is an explanatory diagram of operation 7; FIG. 8 is an explanatory diagram of operation 8; FIG. 9 is a flow diagram of operations 9 and 10; FIG. 7 is a front view of a massage unit according to another embodiment. FIG. 7 is a front view of a massage mechanism according to another embodiment. FIG. 7 is an explanatory diagram of links according to another embodiment. FIG. 7 is an explanatory diagram of a sensor according to another embodiment. 3 is a flow diagram of operation 11. FIG. It is an explanatory diagram of operation A. It is an explanatory diagram of operation B. It is an explanatory diagram of operation C. It is an explanatory diagram of operation D. It is an explanatory diagram of operation E. It is an explanatory diagram of operation F. It is an explanatory diagram of operation a. It is an explanatory diagram of operation b. It is an explanatory diagram of operation c. It is an explanatory diagram of operation d. It is an explanatory diagram of operation e. It is an explanatory diagram of operation f. It is an explanatory diagram of operation g. It is an explanatory diagram of operation h. It is an explanatory diagram of operation i. It is an explanatory diagram of 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 an embodiment of the present invention. FIG. 2 is a functional block diagram of the massage machine 1. FIG. 3 is a front view of the backrest part 3. The concept of the direction used in the following explanation is the same as the concept of the direction when viewed from the user seated on the massage machine 1 in the standing position shown in Fig. 1, and other cases will be explained as appropriate. do.

As shown in FIG. 1, the massage machine 1 of the present invention mainly includes a seat 2 on which a user sits, a backrest 3 that is reclinably provided at the rear of the seat 2 and on which the user can lean. A footrest 4 that supports the user's legs and feet is provided in the front part of the seat part 2 so as to be able to swing up and down, and armrest parts are provided on both left and right sides of the seat part 2 on which the user rests his or her arms. 5, a pillow part 6 which is provided on the upper part of the backrest part 3 and supports the user's head, and a leg frame 7 which supports the seat part 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 that massage the user's upper body from behind.

Furthermore, air cells 10 are provided on the sides of the backrest portion 3 to press or hold the upper arms or shoulders from the left and right directions. The seat portion 2 is provided with an air cell 11 that presses the user's buttocks or thighs from below, and an air cell 12 that presses or holds the buttocks or thighs from left and right directions. The footrest 4 is provided with air cells 13 that press or hold the user's legs and feet from left and right directions. The armrest portion 5 is provided with an air cell 14 that presses or holds the forearm from above and below. These air cells 10 to 14 expand and contract by supplying and discharging air from an air unit 20 (see FIG. 2), which includes a pump, a valve, etc. provided below the seat.

As shown in FIGS. 1 and 2, the backrest portion 3 is configured to be able to recline in the front and rear directions with respect to the seat portion 2 by an actuator 21 provided below the seat portion 2. It is possible to stop at any position between the posture and the reclining posture where the backrest surface is approximately parallel to 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 uprighting of the backrest portion 3. The footrest 4 is configured to be able to swing vertically with respect to the seat 2 by an actuator 22 provided below the seat 2, and when the footrest 4 is moved from the hanging position shown in FIG. It is possible to stop at any position between the height and the raised position where the feet are supported.

As shown in FIG. 2, an air unit 20 consisting of a pump, a valve, etc., which supplies and exhausts air to each of the air cells 10 to 14 and advancing and retracting air cells 15 and 16, which will be described later, is provided below the seat 2. It is preferable that the air unit 20 is configured such 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. In this case, the amount of expansion of each of the air cells 10 to 14 and the forward and backward air cells 15 and 16 can be adjusted. can do. The massage machine 1 is also provided with a control means 23 consisting of a programmable microcomputer, etc., and the massage units 8, 9, air unit 20, etc. , and each operation of the actuators 21 and 22.

The control means 23 includes a main control section 24 which is provided below the seat 2 and controls the operations of the massage units 8 and 9, the air unit 20, and actuators 21 and 22, and a main control section 24 which is provided in the massage units 8 and 9 and which controls the operations of the massage units 8 and 9, the air unit 20, and the actuators 21 and 22. It has sub-control parts 25 and 26 that control the lifting and lowering of the units 8 and 9. Further, the control means 23 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.

[Configuration of backrest]
As shown in FIGS. 1 and 3, the backrest part 3 guides the lifting and lowering 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 back pad 3c having cushioning properties and arranged on the front side of the back frame 3a. The guide mechanism 3b extends along the height direction, and is curved so that the upper and lower parts are located forward of the middle part (see FIG. 21). Also, 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 this guide mechanism 3b so as to be movable up and down.

[Massage unit configuration]
The configuration of the massage units 8 and 9 will be explained below.
FIG. 4 is a perspective view of the first massage unit 8. FIG. 5 is a perspective view of the first massage unit 8 with some members omitted. FIG. 6 is a front view of the first massage unit 8. 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 is advanced. FIG. 9 is a front view of the kneading shaft 41 shown in (a) and the beating shaft 42 shown in (b). FIG. 10 is a perspective view of the second massage unit 9. FIG. 11 is a perspective view of the second massage unit 9 with some members omitted. FIG. 12 is a front view of the second massage unit 9. 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 is advanced. FIG. 15 is a perspective view of the arm 60 of the second massage unit 9.

As shown in FIGS. 3 to 15, a plurality of massage units 8 and 9 are provided in the height direction. In this embodiment, the backrest portion 3 is provided with a first massage unit 8 disposed relatively above and a second massage unit 9 disposed relatively below. Each massage unit 8, 9 mainly includes a main body frame 30, 50 that is supported by a guide mechanism 3b so as to be movable up and down, a massage mechanism 31, 51 having massage elements 34, 54, and a support that supports the massage mechanism 31, 51. Frames 32, 52, forward/backward drive units 15, 16 that move the massage mechanisms 31, 51 forward and backward relative to the treated area, and links that connect the main body frames 30, 50 and the support frames 32, 52 and swing in the front and back direction. 33, 53.

The configuration of the upper first massage unit 8 will be described in detail below.
As shown in FIGS. 4 to 8, the main 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 the lower part of the rear wall 30a, and a rear wall 30b. The upper wall 30d stands up from the upper part of the wall 30a, and has a box-like shape with an open front. Further, inside and above the main body frame 30, there is a lifting motor 35 for raising and lowering the first massage unit 8, a lifting shaft 36 extending in the left-right direction, and a lifting shaft 36 that decelerates the rotation of the lifting motor 35 and transmits it to the lifting shaft 36. A lifting mechanism including a decelerator 37 is housed therein. The elevating shaft 36 is rotatably supported by both side walls 30b. The side wall 30b is provided with a guide roller 38 and a pinion 39 attached to the elevating shaft 36 at the upper part, and a guide roller 38 and the pinion 39 at the lower part. The guide mechanism 3b is held between a pinion 39 and a guide roller 38, and when the lifting motor 35 is driven, the first massage unit 8 can be moved up and down along the height direction. Since the elevating mechanism is disposed above the first massage unit 8, the treatment element 34 can be brought close to the treatment element 54 (upper treatment element 54a) of the second massage mechanism 51.

The first massage mechanism 31 has a pair of left and right arms 40 that support a treatment element 34 at the tip thereof, and a drive mechanism that drives the arms 40 to perform a massage. This drive mechanism includes a kneading shaft 41 that supports the arm 40 and causes the pair of treatment elements 34 to approach and separate from each other in the left-right direction to perform a massaging operation, and a massage shaft 41 that alternately advances and retreats the pair of treatment elements 34 to perform a tapping operation. A beating shaft 42, a massage motor 43 as a massage drive unit that drives the kneading shaft 41 and the beating 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 beating 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 1st massage unit 8 is single in the up-down direction.

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

When the kneading shaft 41 rotates, the arm 40 rotates three-dimensionally while its rotation around the kneading shaft 41 is restricted by the connecting member 47. That is, as shown in FIG. 16, when the massaging shaft 41 is continuously rotated in one direction, the treatment element 34 moves in a loop-like trajectory having at least horizontal and vertical components, and the left and right pair of treatment elements 34 moves in the left and right direction to move toward and away from each other. The kneading operation is performed in this manner. On the other hand, when the beating shaft 42 rotates, the pair of arms 40 alternately advance and retreat with the kneading shaft 41 as a fulcrum due to the vertical movement of the connecting member 47. The tapping operation is performed in this manner. In this embodiment, a clutch is provided on the beating shaft 42 and the single massage motor 43 is reversed in the normal direction to enable switching between the kneading operation and the kneading and tapping operation. The motion and the tapping motion may be performed independently.

The support frame 32 has a plate surface in the front-rear direction, and supports the first massage mechanism 31 by having a frame 45 fixed to the front side. Between the main body frame 30 and the support frame 32, there is an advancing/retracting air cell 15 as an advancing/retracting drive unit that expands and contracts by supplying and exhausting air from the air unit 20 and moves the first massage mechanism 31 forward and backward with respect to the treated area. It is provided. Further, a link 33 is provided on the side of the support frame 32 to connect the main body frame 30 and the support frame 32 and to swing in the front-rear direction. The reason why the links 33 are arranged on the sides of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be reduced compared to when the links 33 are arranged at the rear of the support frame 32. The links 33 are arranged in parallel in the front-rear direction and include a first link portion 33a located relatively to the rear side and a second link portion 33b relatively located to 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 part 33a and the second link part 33b are different. Specifically, the length of the first link part 33a is longer than the length of the second link part 33b. is also set to be shorter. The first link portion 33a has an upper portion pivoted to the side wall 30b of the main body frame 30 via a swing axis A1 in the vicinity of the lifting shaft 36, and a lower portion thereof pivoted to the upper portion of the support frame 32 via a pivot shaft A2. has been done. The second link portion 33b has an upper portion pivoted to the side wall 30b of the main body frame 30 via a swing axis A3 in the vicinity of the lifting shaft 36, and a lower portion thereof pivoted to a lower portion of the support frame 32 via a pivot shaft A4. has been done. Note that the swing axis A1 of the first link portion 33a is located slightly rearward than the swing axis A3 of the second link portion 33b. The first link part 33a and the second link part 33b are formed by fitting the pivot shafts A2 and A4 into downwardly convex arc-shaped guide parts 30e and 30f (see FIG. 4) provided on the side wall 30b, respectively. , its operation is guided. Further, as shown in FIGS. 7 and 8, a reinforcing portion 48 is provided that connects and reinforces the first link portion 33a and the second link portion 33b at the connection portion with the main body frame 30. In this manner, the vicinity of the swing axes A1 and A3 of the link 33, which is subject to a load, can be reinforced by the lifting shaft 36 and the reinforcing portion 48.

In the link 33, when the first massage mechanism 31 is in the most retracted state, the connecting portion with the main body frame 30 is located further forward than the connecting portion with the support frame 32. That is, in the first link part 33a, the swing axis A1 is located in front of the pivot axis A2, and in the second link part 33b, the swing axis A3 is located in front of the pivot shaft A4. Therefore, when the advancing/retracting air cell 15 expands, the link 33 swings in a downward convex arc-shaped trajectory, so that the first massage mechanism 31 can be advanced and retreated in a trajectory nearly parallel to the direction facing the treated area. I can do it. Further, since a four-bar link mechanism is employed, when the forward/backward air cell 15 expands from the state in which the first massage mechanism 31 is at its most backward position, the first link portion 33a swings forward about the swing axis A1. However, since the support frame 32 is pivotally supported in front and below the axis A2 of the first link part 33a by the second link part 33b, which is longer than the first link part 33a, the first massage mechanism 31 cannot be swung. It is possible to suppress this and move the treatment area forward and backward in a trajectory that is more parallel to the direction facing the treated area.

Moreover, since the lengths of the first link part 33a and the second link part 33b are different, even if the first link part 33a and the second link part 33b are provided close to each other in the front-rear direction, the first massage mechanism 31 can be A sufficient amount of advancement 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 disposed on the rear side is relatively short, a sufficient amount of movement in the front-back direction component can be obtained from immediately after the start of advancement, starting from the most backward state of the first massage mechanism 31. 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 the rear, thereby restricting the advancement of the first massage mechanism 31 at a predetermined front-back position. 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 main body frame 50 includes a rear wall 50a, side walls 50b erected from both left and right sides of the rear wall 50a, a bottom wall 50c erected from the lower part of the rear wall 50a, and a rear wall 50b. The upper wall 50d stands up from the upper part of the wall 50a, and is configured into a box shape with an open front. Further, inside and below the main body frame 50, there is a lifting motor 55 for raising and lowering the second massage unit 9, a lifting shaft 56 extending in the left-right direction, and a lifting shaft 56 that decelerates the rotation of the lifting motor 55 and transmits it to the lifting shaft 56. A lifting mechanism including 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 elevating shaft 56 at the top, and a guide roller 58 and a pinion 59 at the bottom. The guide mechanism 3b is held between a pinion 59 and a guide roller 58, and when the lifting motor 55 is driven, the second massage unit 9 can be moved up and down along the height direction. Since the elevating mechanism is disposed at the lower part of the second massage unit 9, the treatment element 54 (upper treatment element 54a) can be brought close to the treatment element 34 of the first massage mechanism 31.

The second massage mechanism 51 has a pair of left and right arms 60 that support the treatment element 54 at the tip thereof, and a drive mechanism that drives the arms 60 to perform the massage. This drive mechanism includes a kneading shaft 61 that supports the arm 60 and moves the pair of treatment elements 54 toward and away from each other in the left-right direction to perform a kneading operation, and a massage motor 63 as a massage drive unit that drives the kneading shaft 61. It has 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 into a dogleg 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. 9(a), the massaging shaft 61 has the same configuration as the massaging 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 the left and right sides. A tilted shaft 61a is provided. The arm 60 is rotatably attached to the tilting shaft 61a via a bearing. Note that the left and right tilting axes 61a are not parallel to each other but are tilted so as to form a substantially V-shape when viewed from the front. As shown in FIG. 15, a connecting member 67 having a ball joint at the rear end is provided at the rear of the arm 60 to connect the arm 60 and the support frame 52. A groove 69 along the left-right direction is provided on the front side of the support frame 52, and the ball joint of the connecting member 67 fits into the groove 69. Further, the massaging shaft 61 is provided with a width sensor 66 that detects the distance between the pair of treatment elements 54 .

When the kneading shaft 61 rotates, the arm 60 rotates three-dimensionally while its 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 in a loop-like trajectory having at least horizontal and vertical components. Further, the left and right pair of treatment elements 54 move in the left-right direction, and when the upper treatment element 54a approaches, the lower treatment element 54b moves away, and when the upper treatment element 54a moves away, the lower treatment element 54b approaches. The kneading operation is performed in this manner. In the present embodiment, the second massage mechanism 51 is configured to perform only a kneading operation, but like the first massage mechanism 31, it may also be configured to also perform a tapping operation.

The support frame 52 has a plate surface in the front-rear direction, and supports the second massage mechanism 51 by having a frame 65 fixed to the front side. Between the main body frame 50 and the support frame 52, there is an advancing/retracting air cell 16 as an advancing/retracting drive unit that expands and contracts by supplying and exhausting air from the air unit 20 and moves the second massage mechanism 51 forward and backward with respect to the treated area. It is provided. Furthermore, a link 53 is provided on the side of the support frame 52 to connect the main body frame 50 and the support frame 52 and to swing in the front-rear direction. The links 53 are arranged in parallel in the front-rear direction and include a first link portion 53a located relatively to the rear side and a second link portion 53b relatively located to the front side. That is, the links constitute a four-bar link mechanism.

The lengths of the first link portion 53a and the second link portion 53b are different, and specifically, the length of the first link portion 53a is set to be shorter than the length of the second link portion 53b. . The first link portion 53a has a lower portion pivoted to the side wall 50b of the main body frame 50 via a swing axis A5 in the vicinity of the lifting shaft 56, and an upper portion thereof pivoted to a lower portion of the support frame 52 via a pivot shaft A6. has been done. The second link portion 53b has a lower portion pivoted to the side wall 50b of the main body frame 50 via a swing axis A7 in the vicinity of the lifting shaft 56, and an upper portion thereof pivoted to the upper portion of the support frame 52 via a pivot shaft A8. has been done. Note that the swing axis A5 of the first link portion 53a is located slightly rearward than the swing axis A7 of the second link portion 53b. The first link part 53a and the second link part 53b are formed by fitting the pivots A6 and A8 into upwardly convex arc-shaped guide parts 50e and 50f (see FIG. 10) provided on the side wall 50b, respectively. , its operation is guided. Further, as shown in FIGS. 13 and 14, a reinforcing portion 68 is provided that connects and reinforces the first link portion 53a and the second link portion 53b at the connection portion with the main body frame 50. In this way, the vicinity of the swing axes A5 and A7 of the link 53, which is subject to a load, can be reinforced by the lifting shaft 56 and the reinforcing portion 68.

In the link 53, when the second massage mechanism 51 is in the most retracted state, the connecting portion with the main body frame 50 is located further forward than the connecting portion with the support frame 62. That is, in the first link part 53a, the swing axis A5 is located in front of the pivot axis A6, and in the second link part 53b, the swing axis A7 is located in front of the pivot axis A8. Therefore, when the advancing/retracting air cell 16 expands, the link 53 swings in an upwardly convex arcuate trajectory, so that the second massage mechanism 51 can be advanced or retreated in a trajectory nearly parallel to the direction facing the treated area. I can do it. Further, since a four-bar link mechanism is employed, when the forward/backward air cell 16 expands from the state in which the second massage mechanism 51 is at its most backward position, the first link portion 53a swings forward about the swing axis A5. However, since the support frame 52 is pivotally supported in front and above the pivot axis A6 of the first link part 53a by the second link part 53b, which is longer than the first link part 53a, the second massage mechanism 51 swings. It is possible to suppress this and move the treatment area forward and backward in a trajectory that is more parallel to the direction facing the treated area.

Moreover, since the lengths of the first link part 53a and the second link part 53b are different, even if the first link part 53a and the second link part 53b are provided close to each other in the front-back direction, the second massage mechanism 51 is not sufficiently The amount of advancement can be ensured, and the thickness of the second massage unit 9 in the front-rear direction can be suppressed. In addition, since the length of the first link 53a disposed on the rear side is relatively short, a sufficient amount of movement in the front-back direction component is obtained immediately after the second massage mechanism 51 starts advancing, starting from the most retreated state. 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 the rear, thereby restricting the advancement of the second massage mechanism 51 at a predetermined front-back position. 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 includes a sensor 70 that detects the relative positions of the first massage unit 8 and the second massage unit 9. This sensor 70 will be explained 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 having a magnet attached to one side in the left-right direction, and a first 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 that detects the proximity of a magnet on one side in the left-right direction. A sub-control unit 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-control units 25 and 26 are electrically connected to the lifting motors 35 and 55, respectively, and can control the lifting and lowering of each massage unit 8 and 9. It is also electrically connected to the main control section 24.

The first sensor section 71 has a vertically orthogonal position substantially aligned with the magnet holder 74 provided on the second massage unit 9, 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 on the first massage unit 8 in a vertically perpendicular position, 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 type sensor that includes a first sensor section 71 and a second sensor section 72. As described above, since each massage unit 8, 9 detects the proximity of the other massage unit 9, 8, and the respective sub-control parts 25, 26 control the lifting motors 33, 55, collision prevention is achieved. Increases accuracy.

Note that it is preferable that the sensor 70 is capable of detecting 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 may be possible to detect two states: a "proximity state" in which the distance between the massage units 8 and 9 is close to a predetermined distance, and a "pre-proximity state" in which the massage units 8 and 9 are slightly separated from this proximity state. Therefore, the detection range of the relative positions of the first massage unit 8 and the second massage unit 9 is expanded. Furthermore, both massage units 8 and 9 can be placed in a predetermined relative position (for example, in a close proximity state or in a pre-close state) and then raised and lowered together while maintaining this relative position.

As shown in FIG. 2, the backrest 3 includes an upper limit sensor 75 that detects the upper limit position of the lifting range of the first massage unit 8, and a lower limit sensor 76 that detects the lower limit position of the lifting range of the second massage unit 9. , so that the first and second massage units 8 and 9 do not separate from the backrest 3. Further, the first and second massage units 8 and 9 each have lift sensors 77 and 78 that detect the vertical position by detecting the rotational speed of the lift shafts 36 and 56, respectively. The vertical position of the first massage unit 8 is detected by the vertical sensor 77 detecting how many rotations the vertical axis 36 has rotated from the upper limit position. The vertical position of the second massage unit 9 is detected by the vertical sensor 78 detecting how many rotations the vertical axis 56 has rotated from the lower limit position.

[Operation control for collision avoidance]
When it is detected that both massage units 8 and 9 are in a predetermined relative position (for example, in a close state or a pre-close state) while both massage units 8 and 9 are moving in a direction approaching each other, the sub The control unit 25 controls the driving of the lifting motor 35 to be stopped or reversed, and the sub-control unit 26 controls the driving of the lifting motor 55 to be stopped or reversed. Further, each sub-control unit 25 and 26 transmits to the main control unit 24 that the above-mentioned control has been performed. In this way, collision between both massage units 8 and 9 is avoided.

When one massage unit (for example, the first massage unit 8) has stopped moving up and down, and the other massage unit (for example, the second massage unit 9) is moving in a direction approaching the one massage unit. When it is detected that both massage units 8 and 9 are in a predetermined relative position (for example, in a close state or a pre-close state), the sub-control unit 26 controls the driving of the lifting motor 55 to be stopped or reversed. do. Further, each sub-control unit 25 and 26 transmits to the main control unit 24 that the above-mentioned control has been performed. Note that instead of or in addition to the above control, the sub-control unit 25 may drive the lifting motor 35 to control the first massage unit 8 to move in the direction away from the second massage unit 9. In this way, collision between both massage units 8 and 9 is avoided.

[Detection of shoulder position]
The massage machine 1 is configured to be able to detect the shoulder position as a specific part of the user. The configuration for detecting the shoulder position will be described below.
The first massage unit 8 is provided with a specific region detection sensor (not shown) that detects when the first massage mechanism 31 advances a predetermined amount with respect to the main body frame 30. Detection of the shoulder position is performed in the process of raising the first massage unit 8 along the height direction from the waist or back position with a predetermined amount of air being supplied to the reciprocating air cell 15 or with the air being continuously supplied. In this detection process, it is preferable to inflate the air cell 10 provided in the backrest 3 so that the user's upper body is held in the backrest 3.

When the treatment element 34 reaches the shoulder position during the upward movement of the first massage unit 8, the load from the user is released and the amount of advancement of the first massage mechanism 31 reaches a predetermined amount. The user's shoulder position is detected based on the vertical position of the first massage unit 8 when the specific region detection sensor detects the advance of the first massage mechanism 31 by a predetermined amount. In addition, other body parts such as the neck, shoulder blades, back, hips, buttocks, etc. are also calculated based on the detected shoulder position. Note that the specific region to be detected does not have to be the shoulder position, but may be other regions such as the waist.

During execution of the massage course, the first massage unit 8 can perform a massage according to the user's height based on the positional information of the shoulder and/or other parts detected by the specific part detection sensor. Further, 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 part detection sensor included in the first massage unit 8. Note that the second massage unit 9 is also provided with a specific part detection sensor, and the second massage unit 9 also adjusts the user's height based on the position information of the shoulder and/or other parts detected by the specific part detection sensor. It may also be possible to perform a massage according to the user's needs. Alternatively, the second massage unit 9 may be operated based on predetermined position information of each region. In this case, it is preferable that the control means 23 store the positional information of each part based on the average height.

When both massage units 8 and 9 rise or fall in the same direction, the massage unit on the front side in the direction of movement is controlled to have a higher lifting speed than the massage unit on the rear side in the direction of movement, or the massage unit on the front side in the direction of movement The massage unit is controlled so that it starts moving before the massage unit on the rear side in the direction of travel. By doing so, the accuracy of collision prevention is further improved. Furthermore, if the lifting speed of the massage unit on the front side in the direction of travel is relatively slightly faster, or if the movement of the massage unit on the front side in the direction of travel is started relatively slightly earlier, both massage units 8 and 9 can be brought closer together. can be moved smoothly in the same direction. That is, it is possible to prevent the sensor 70 from frequently detecting the proximity state and causing the massage unit on the rear side in the direction of movement to stop or move away little by little.

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

As shown in FIG. 16, when the massaging shafts 41, 61 are continuously rotated in one direction by driving the massage motors 43, 63, each treatment element 34, 54 has horizontal and vertical components when viewed from the front. It operates by drawing a loop-shaped trajectory. On the other hand, when the kneading shafts 41, 61 are reversed before rotating once, each treatment element 34, 54 moves in an arcuate trajectory having horizontal and vertical components when viewed from the front. In any of the above cases, the pair of left and right treatment elements 34, 54 move in the left-right direction and move toward and away from each other. The kneading operation is performed in this manner.

As shown in FIGS. 7 and 13, in the massage machine 1 according to the present embodiment, the distance d1 between the treatment element 34 of the first massage mechanism 31 and the massaging shaft 41 is the same as the distance d1 between the treatment element 54 of the second massage mechanism 51 (the upper treatment element 54a) and the kneading shaft 61 is set to be shorter than the distance d2. Therefore, as shown in FIG. 16, the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 have different movement ranges in the left and right direction in the massaging operation. The operating range W1 of 34 is narrower than the operating range W2 of treatment element 54. Furthermore, the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 have different vertical dimensions of the locus of the massaging operation, and specifically, the upper and lower dimensions of the trajectory of the massage element 34. H1 is smaller than the vertical dimension H2 of the trajectory of the treatment element 54. Note that the operating range and the vertical dimension of the locus can also be varied by varying the inclination angles of the tilting shafts 41a, 61a with respect to the axes 41b, 61b of the kneading shafts 41, 61. Specifically, the larger the inclination angle of the tilting shafts 41a, 61a with respect to the axes 41b, 61b of the kneading shafts 41, 61, the larger the vertical dimensions of the operating range and the locus can be.

With this configuration, the first massage mechanism 31 performs a relatively fine massaging operation on the neck, which has a narrow treatment range, and the second massage mechanism 51 performs a relatively fine massaging operation on the neck, which has a wide treatment range ( For example, dynamic kneading motions can be performed on the shoulders, back, hips, etc. That is, an effective kneading motion can be performed depending on the treatment area. 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 massaging operations on the same treated area.

Moreover, by raising and lowering each of the massage units 8 and 9 along the height direction in synchronization with the massaging motion, it is possible to change the vertical dimension of the locus of the massaging motion. To explain the treatment element 34 by way of example, as shown in FIG. 17(b), if the first massage unit 8 is lowered in synchronization with the downward movement of the massage element 34 due to the massaging motion, the vertical dimension of the trajectory of the massaging motion will change. H1 increases, and as shown in FIG. 17(c), if the first massage unit 8 is raised in synchronization with the downward movement of the massaging element 34 due to the massaging motion, the vertical dimension H1 of the massaging motion becomes smaller. Alternatively, as shown in FIG. 18(b), if the first massage unit 8 is raised in synchronization with the upward movement due to the massaging motion of the treatment element 34, the vertical dimension H1 of the trajectory of the massaging motion increases, and as shown in FIG. As shown in c), if the first massage unit 8 is lowered in synchronization with the upward movement of the massaging element 34 due to the massaging motion, the vertical dimension H1 of the massaging motion becomes smaller.

With such a configuration, the sensation of the kneading motion can be varied in various ways. For example, the range of motion in the left and right direction of the massaging motion is determined by switching the massage units 8 and 9 that massage the treated area, and the vertical dimension of the trajectory of the massaging motion is determined by raising and lowering the massaging units 8 and 9. That's fine. Although FIGS. 17 and 18 illustrate the treatment element 34 of the first massage mechanism 31, the same massaging operation can also be performed for the treatment element 54 of the second massage mechanism 51. In addition, if the massaging operation by the massage motor has a configuration in which the left and right treatment elements move toward each other and move toward each other with only a left-right component, the massage elements can move in a circle having a vertical component by moving the massage unit up and down. The motion can be changed to draw an arc-shaped or loop-shaped trajectory.

As shown in FIG. 19 as another embodiment, the first massage mechanism 31 and the second massage mechanism 51 are set such that the distances between the left and right treatment elements 34, 54 when they are closest to each other during the massaging operation are different. You can leave it there. Specifically, it is preferable that the separation distance D1 of the first massage mechanism 31 is set to be narrower than the separation distance D2 of the second massage mechanism 51. The separation distance is caused by the distance between the mounting positions of the pair of arms 40, 60 on the kneading shafts 41, 61, or the inclination angle of the inclined shafts 41a, 61a with respect to the axes 41b, 61b of the kneading shafts 41, 61. With this configuration, the first massage mechanism 31 performs a firm kneading motion on the neck, and the second massage mechanism 51 applies a wide range of treatment to the areas to be treated below the neck (for example, shoulders, back). , lower back, 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 depending on the treatment area.

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

[Operation 1]
FIG. 20 is a flow diagram of operation 1. FIG. 21 is an explanatory diagram of operation 1, in which (a) shows a state in which the first massage mechanism 31 advances and the second massage mechanism 51 retreats, and (b) shows a state in which the first massage mechanism 31 retreats and the second massage mechanism 51 It shows the state in which it has advanced.
Operation 1 is an operation in which the first massage mechanism 31 and the second massage mechanism 51 are moved forward and backward at different timings, and preferably includes operation of the treatment elements 34 and 54 by driving the massage motors 43 and 63. Hereinafter, as shown in FIG. 21, a case will be described in which movement 1 is performed with the first massage unit 8 placed at the neck position and the second massage unit 9 placed at the back position of the shoulder.

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-back position of the second massage mechanism 51 (step S3). Subsequently, the second massage mechanism 51 is moved backward while maintaining the front and rear positions of the first massage mechanism 31 (step S4). This cycle of steps S1 to S4 is repeated for a predetermined period of time. Note that 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 placed are not particularly limited, and for example, the first massage unit 8 may be placed at the neck position, and the second massage unit 9 may be placed at the waist position.

In steps S1 to S4, it is preferable to drive the massage motors 43, 63 to cause the treatment elements 34, 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 each massage mechanism 31, 51 is advanced, and the massage is performed when each massage mechanism 31, 51 is retracted. You may stop. Further, the advance or retreat of the massage mechanisms 31, 51 and the massage may be synchronized, and in this case, the massager can experience the sensation as if he were performing a kneading or tapping motion while changing the amount of force. I can do it. Alternatively, the advancing or retracting of the massage mechanisms 31, 51 and the operation of bringing the left and right pair of treatment elements 34, 54 closer to each other may be synchronized. Alternatively, you can feel as if you are pulling the treated area while grasping it. Note that "synchronization" here refers to the forward/backward drive units 15, 16 that move the massage mechanisms 31, 51 forward or backward, and the massage motor 43 that performs a kneading action, a tapping action, or an action that brings a pair of treatment elements close to each other. , 63 may be driven in parallel irrespective of the rear or rear direction, and this also includes the case where the massage motors 43, 63 are driven after the massage mechanisms 31, 51 have completed advancing or retracting.

Furthermore, the massage mechanisms 31 and 51 may be alternately advanced and retreated so that one massage mechanism advances and the other massage mechanism retreats. You can experience the sensation of getting a massage by switching to . Furthermore, while one massage mechanism is advanced, the other massage mechanism may advance and retreat repeatedly for a predetermined period of time. You can experience the sensation of repeatedly applying shiatsu with your hands.

Further, in steps S1 to S4, each massage unit 8, 9 may be raised or lowered by driving the lifting motors 35, 55. For example, the massage mechanisms 31, 51 are advanced and the massage units 8, 9 are raised or lowered. may be synchronized, and in this case, it is possible to experience the feeling as if the masseur were pushing up or down the treated area. In addition, it is preferable that this operation also synchronizes the operation of bringing the left and right treatment elements close to each other.

In this way, in operation 1, each massage mechanism 31, 51 advances and retreats at different timings to perform the massage, so it is possible to obtain a realistic experience as if the masseuse were performing the massage using both hands. can. In particular, when performing a kneading motion as the massage, the left and right pair of treatment elements of one massage mechanism simulate the massaging motion with the thumb and other fingers of the masseuse's left hand, and the left and right pair of treatment elements of the other massage mechanism The massager can simulate the massaging motion between the thumb and other fingers of the masseuse's right hand. Further, since the sense of realism becomes more pronounced when the operation 1 is performed with both the massage mechanisms 31 and 51 brought close to each other in the vertical direction, it is preferable to perform the action 1 in the above-mentioned proximity state or pre-proximity state based on the sensor 70. .

In the embodiment described above, the massage mechanisms 31 and 51 are advanced or retreated at different timings to achieve a realistic experience, but the speed at which the massage mechanisms 31 and 51 are advanced or retreated is different from each other. You can get the same experience even if you change the settings. For example, if the advance speed of the first massage mechanism 31 is made relatively faster than the advance speed of the second massage mechanism 51, even if each massage mechanism 31, 51 starts advancing at the same time, the first massage mechanism 31 After the treatment target part is pushed in with the treatment element 34, the treatment target part is pushed in with the treatment element 54 of the second massage mechanism 51 a little later. Therefore, the user can experience the sensation as if the masseuse were sequentially pushing his left hand and right hand into the treated area.

[Operation 2]
FIG. 22 is a flowchart of operations 2 and 3. FIG. 23 is an explanatory diagram of operation 2 and operation 3, in which (a) is a state in which the first and second massage mechanisms 31, 51 are retracted, and (b) is a state in which the first and second massage mechanisms 31, 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 addition, in FIG. 23, the treatment elements 34, 54a, 54b with diagonal lines are shown in an advanced state, and the treatment elements 34, 54a, 54b without diagonal lines are shown in a retracted state.

Operation 2 is an operation of advancing the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 toward the treated area. Hereinafter, as shown in FIG. 23, a case will be described in which movement 2 is performed with the first massage unit 8 placed on the back of the shoulder and the second massage unit 9 placed on the upper back.

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 placed on the back of the shoulders, and the second massage unit 9 is placed on the upper back. Therefore, as shown in FIG. 23, the treatment element 34 and the upper treatment element 54a are in a state close to each other in the height direction. Subsequently, the massage motors 43 and 63 are driven to change the positions of the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 in the left-right direction as shown in FIG. 23(a) (step S2). Subsequently, the advance/retract 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 addition, in step S1, the vertical distance between both massage units 8 and 9 may be determined based on the sensor 70, and for example, the above-mentioned close state or pre-close state may be set. Further, in step S2, the left and right positions of each treatment element 34, 54 may be determined based on the width sensors 46, 66. Moreover, step S1 and step S2 may be performed in parallel. Moreover, in step S3, the first massage mechanism 31 and the second massage mechanism 51 may be advanced at the same time, or may be advanced at different timings.

In step S3, the massage motors 43 and 63 may be driven to perform a kneading operation or a tapping operation. For example, in the backrest portion 3, it is preferable that one massage mechanism performs a kneading operation, and in parallel, the other massage mechanism performs an operation including a tapping operation. By operating in this manner, it is possible to give the user the sensation as if two or more masseuses are performing different types of massages on the upper body. Note that even though a masseur can perform a kneading motion with one hand, he or she cannot perform a tapping motion with one hand, so a single masseuse cannot perform massaging motions and tapping motions in parallel.

In this way, in operation 2, the treatment element 34 of the first massage mechanism 31 and the treatment element 54 (upper treatment element 54a) of the second massage mechanism 51 are lined up in the left-right direction, so it is as if the masseuse is using both hands. You can use it to experience a realistic massage (shiatsu) with your thumb and fingers. That is, in the state shown in FIG. 23, the treatment element 34 located on the left and right inner sides corresponds to the thumb, and the upper treatment element 54a or the lower treatment element 54b located on the left and right outer sides correspond to the other fingers. Further, in the above-described embodiment, a case has been described in which the first massage mechanism 31 and the second massage mechanism 51 perform operation 2 in a state in which they are close to each other, but operation 2 may be performed in a state in which they are separated. In this case, for example, the treatment element 54 (upper treatment element 54a or lower treatment element 54b) located on the lower side corresponds to the thumb, and the treatment element 34 located on the upper side corresponds to the other fingers.

[Operation 3]
Operation 3 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 placed at different positions in the left-right direction, and the treatment elements of one massage mechanism are moved back from the advanced state. It is. Hereinafter, as shown in FIG. 22, a case where operation 3 is performed subsequent to operation 2 will be illustrated.

Following step S3 of operation 2, the forward/backward drive section is driven to move one of the massage mechanisms backward (step S4). In the example shown in FIG. 23, the forward/backward drive unit 16 is driven to move the second massage mechanism 51 backward. As a result, the treated area strongly contacts the treatment element 34 of the first massage mechanism 31 that has advanced, and the user can experience the feeling as if the treatment element 34 is applying acupressure. It should be noted that operation 3 is preferably performed in the aforementioned proximity state or pre-proximity state based on the sensor 70, since the sensation of acupressure becomes more noticeable when both massage mechanisms 31 and 51 are performed in close proximity. In addition, in operations 2 and 3, the positions at which the massage units 8 and 9 are placed are not particularly limited; for example, the first massage unit 8 is placed at the neck or back position, and the second massage unit 9 is placed at the waist position. It may be placed in

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

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

In this way, in operation 4, the massage elements 34 and 54 of each massage mechanism 31 and 51 perform a massaging operation by repeating a cycle in which the treatment elements 34 and 54 of each massage mechanism make one revolution around the loop-shaped trajectory. In this case, the positional relationship between the other massage mechanism and the treatment element differs in each cycle. For example, when looking at the treatment elements 34 of the first massage mechanism 31, when the pair of treatment elements 34 in 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 massaging operation. Although it is located 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 is located at the lower end on the trajectory of the massaging operation. In this manner, in operation 4, the massaging motion from the vertical direction by the treatment element 34 of the first massage mechanism 31 and the treatment element 54 of the second massage mechanism 51 can be changed over time, increasing the massage effect. .

[Operation 5]
FIG. 25 is an explanatory diagram of operation 5, in which (a) is a state in which the first and second massage mechanisms 31, 51 have retreated, and (b) is a state in which the first massage mechanism 31 has retreated and the second massage mechanism 51 has advanced. Indicates the condition.
As shown in FIG. 25, operation 5 is an operation of advancing the second massage mechanism 51 with the first massage unit 8 placed at the shoulder position and the second massage unit 9 placed at the waist position, and the massage motor It is preferable to include the operation of the treatment element 34 by driving the treatment element 43. By advancing the second massage mechanism 51 at the waist position, the waist is pushed forward, resulting in a posture in which the upper body is bent upward. Therefore, the shoulder strongly contacts the treatment element 34 of the first massage mechanism 31. At this time, if the treatment element 34 of the first massage mechanism 31 performs a kneading motion or a tapping motion, the massage effect will be enhanced.

[Operation 6]
FIG. 26 is an explanatory diagram of operation 6, in which (a) shows a state where the first massage unit 8 is placed at the shoulder position and a second massage unit 9 is placed at the waist position, and (b) shows a state where the first massage unit 8 is placed at the waist position. This shows a state in which the second massage unit 9 is placed at the shoulder position and has been raised to the back position.
As shown in FIG. 26, operation 6 is an operation in which the second massage unit 9 is raised in the height direction with the first massage unit 8 placed at the shoulder position, and the massage element 34 is operated by the drive of the massage motor 43. It is preferable to include. By raising the second massage unit 9, the upper body is lifted. Therefore, the shoulder strongly contacts the treatment element 34 of the first massage mechanism 31. At this time, if the treatment element 34 of the first massage mechanism 31 performs a kneading motion or a tapping motion, the massage effect will be enhanced.

[Operation 7]
FIG. 27 is an explanatory diagram of operation 7, in which (a) shows a state in which the first massage mechanism 31 advances and holds the neck and the second massage mechanism 51 is placed at the shoulder position, and (b) shows the first massage mechanism 31 has advanced to pinch the neck, and the second massage mechanism 51 has descended to the waist position.
Operation 7 is an operation of raising or lowering the other massage mechanism in the height direction while the treated area is held between the pair of treatment elements of one massage mechanism. 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 each other to sandwich the neck. By lowering the second massage unit 9, the upper body is pulled downward. Therefore, since the neck is held between the treatment elements 34 of the first massage mechanism 31, a stretching effect that stretches the neck can be obtained. In addition, if the second massage unit 9 is repeatedly raised and lowered while the neck is being held by the first massage mechanism, it will be as if the masseuse is holding the neck with one hand and using the other hand. You can experience the feeling of rubbing or stretching the treated area.

In operation 7, the positions at which the massage units 8 and 9 are placed are not particularly limited. Furthermore, the massage mechanism that holds the treated area and the massage mechanism that raises or lowers the treated area can be selected as appropriate. For example, the first massage unit 8 may be raised or lowered from the back position while the second massage unit 9 is placed at the lower back position and the lower back is held between the pair of treatment elements 54.

[Operation 8]
FIG. 28 is an explanatory diagram of operation 8, in which (a) shows a state in which the first massage mechanism 31 performs a massaging operation and the second massaging mechanism 51 is in the ascending process, and (b) shows a state in which the first massaging mechanism 31 performs a massaging motion. The second massage mechanism 51 is shown in the lowering process after the operation is performed. Operation 8 is an operation in which one massage mechanism performs a kneading operation or a tapping operation, and the other massage mechanism is raised or lowered. Hereinafter, based on FIG. 28, a case will be described in which the first massage mechanism 31 is used as one of the massage mechanisms to perform a massaging operation, and the second massage mechanism 51 is used as the other massage mechanism to be raised or lowered.

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

[Operation 9]
FIG. 29 is a flow diagram of operations 9 and 10.
Operation 9 is an operation of moving the first massage mechanism 31 and the second massage mechanism 51 in the direction of approaching each other along the height direction, and moving the treatment elements 34 and 54 of the first and second massage mechanisms 31 and 51 to be treated. This is an action that synchronizes the action of advancing against the part. 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 are in the proximate state or the pre-proximity state. After completion of 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 manner, the back muscles are stretched by the movement of the massage mechanisms 31, 51 along the height direction, and the upper body can be bent by advancing the treatment elements 34, 54, thereby increasing the massage effect. After completion of step S2, the treatment elements 34, 54 of the first and second massage mechanisms 31, 51 are moved back (step S3). In addition, in step S1, it is preferable to move the first and second massage mechanisms 31, 51 closer to each other with the waist position as the target position, and in this case, the effect of warping the upper body is enhanced.

[Operation 10]
Operation 10 includes 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, and an operation of moving the treatment elements 34 and 54 of the first and second massage mechanisms 31 and 51 to be treated. This is an action that synchronizes the action of advancing against the part. Hereinafter, as shown in FIG. 29, a case where operation 10 is performed subsequent to operation 9 will be illustrated.
Following step S3 of operation 9, the first and second massage units 8 and 9, which are in the close state or the pre-close state, are moved in a direction away from each other (step S4). The operation in step S4 is continued until the first massage unit 8 is at the neck position and the second massage unit 9 is at the lower limit position of the 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 movement of the massage mechanisms 31, 51 away from each other in the height direction while the upper body is warped by the advancement of the treatment elements 34, 54, and the massage effect is enhanced.

[Operation 11]
FIG. 34 is a flow diagram of operation 11.
Action 11 is an action that stretches the user's body. In operation 11, the lifting motor 35 is driven to position the treatment element 34 of the first massage mechanism 31 on the neck, and the massage motor 43 is driven to bring the paired treatment elements 34 close to each other to grasp the neck; The treatment elements 54 of the second massage mechanism 51 are positioned on the lower back by the drive of 2. An operation of holding the upper body on the backrest part 3 by the air cell 10 as a pressing holding means, an operation of holding the lower leg on the footrest 4 by the air cell 13 as a first pressing holding means provided on the footrest 4, and a driving of the actuator 21. The operation of reclining the backrest portion 3 rearward and the operation of lowering the footrest 4 by driving the actuator 22 are performed in synchronization.

In action 11, it is sufficient to synchronize at least the action of grasping the neck, the action of pressing the lower back, and the action of reclining the backrest 3 rearward. According to such an operation, the second massage mechanism 51 pushes up the lower back while the displacement of the upper body relative to the backrest 3 due to the reclining of the backrest 3 is suppressed by holding the neck, so that the upper body is effectively You can expect a high stretching effect as it can be warped.

Furthermore, by adding the action of holding the upper arm or shoulder using the air cell 10, the displacement of the upper body relative to the backrest 3 due to the reclining of the backrest 3 can be further suppressed by holding the upper arm or shoulder, resulting in a higher stretching effect. You can expect it. In addition, by adding the action of holding the lower limbs and the action of lowering the footrest 4, the backrest part 3 and footrest 4 are operated while the neck and lower limbs are held, so the whole body can be pulled up and higher. You can expect a stretching effect. Moreover, if the first massage mechanism 31 in the advanced state is moved backward by the drive of the advance/retreat drive section 15 in synchronization with the reclining of the backrest section 3, the neck is pulled downward, so that a higher stretching effect can be expected. . Note that "synchronization" as used in the operation 11 means that each operation is performed in parallel regardless of the direction afterward, and furthermore, the advancement of the second massage mechanism 51 may be caused by the reclining of the backrest 3 or the footrest 4. This includes cases where it is performed after the descent of the vehicle is completed.

The individual operations of the first massage mechanism 31 and the second massage mechanism 51 will be described below. FIG. 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. 41 is an explanatory diagram of operation a. FIG. 42 is an explanatory diagram of operation b. FIG. 43 is an explanatory diagram of 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 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 operation i. FIG. 50 is an explanatory diagram of operation j.

Operations A to F are operations of the first massage mechanism 31. Operations a to j are operations of the second massage mechanism 51. Operations A to F of the first massage mechanism 31 and 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. By combining the operations A to F and a to j of the massage mechanisms 31 and 51 provided in the backrest 3 along the height direction, a wide range of muscles such as the trapezius muscle M can be collectively massaged. be able to. Moreover, it is possible to simultaneously massage parts separated in the height direction. In addition, in operations a to j, the treatment element 54 is illustrated with the lower treatment element 54b omitted for ease of understanding.

The positions to be massaged by the first massage mechanism 31 in 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 based on the 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 based on 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 to perform a massaging operation in which the pair of treatment elements 34 of the first massage mechanism 31 approach and separate. In operation A, the treatment element 34 may act on either the upper or rear part of the shoulder. When acting on the rear part of the shoulder, it is preferable to apply it above the shoulder blade B. In addition, when acting on the shoulder blade B as the rear part of the shoulder, it is preferable to perform the massaging operation with the advancing/retracting air cell 15 contracted and the first massage mechanism 31 retracted so as not to cause excessive pain. .

[Operation B]
As shown in FIG. 36, operation B is an operation in which the massage motor 43 is driven at the neck position to bring the pair of treatment elements 34 of the first massage mechanism 31 close to each other to grasp the neck. In this operation, the massage motor 43 is stopped for a predetermined time while the paired treatment elements 34 are in close proximity.

[Operation C]
As shown in FIG. 37, motion C is a motion in which the massage element 34 of the first massage mechanism 31 rubs the body from the neck to the shoulder. Specifically, the pair of treatment elements 34 are kept close to each other at the neck position, and the lifting motor 35 and the massage motor 43 are driven to move the pair of treatment elements 34 apart while lowering the first massage mechanism 31 ( Operation C-1). Alternatively, the pair of treatment elements 34 are kept separated at the shoulder position, and the lifting motor 35 and the massage motor 43 are driven to move the pair of treatment elements 34 closer together while raising the first massage mechanism 31 (operation C- 2). Operation C-1 and operation C-2 may be repeated alternately.

[Operation D]
As shown in FIG. 38, operation D is an operation in which the lifting motor 35 is driven from above the shoulder position, the first massage mechanism 31 is lowered, and the paired massage elements 34 apply acupressure to the shoulder from above. This operation is preferably performed with the pair of treatment elements 34 separated from each other. Further, it is preferable to supply a predetermined amount of air to the advance/retreat air cell 15 and perform the treatment with the treatment element 34 advanced.

[Operation E]
As shown in FIG. 39, operation E is an operation in which the lifting motor 35 is driven at the neck position, the first massage mechanism 31 is raised and lowered, and the paired treatment elements 34 rub the neck.

[Operation F]
As shown in FIG. 40, operation F is an operation in which the treatment element 34 of the first massage mechanism 31 rubs the shoulder or back between the left and right shoulder blades B. Specifically, the pair of arms 40 are placed in a state in which they are approximately parallel when viewed from the front at the shoulder or back position, so that the treatment element 34 does not come into contact with the shoulder blade B, and the lifting motor 55 is driven to move the first The massage mechanism 31 is raised or lowered. Note that the separation distance between the pair of treatment elements 34 in operation F may be wider than the separation distance between the pair of treatment elements 34 in operation E.

[Action a]
As shown in FIG. 41, the motion a is a motion in which the massage element 54 of the second massage mechanism 51 rubs the back between the left and right shoulder blades B. The range in the vertical direction in which the back is rubbed in this motion includes positions corresponding to the upper and lower ends of the shoulder blades B. Specifically, the pair of arms 60 are placed in a state where they are approximately parallel to each other when viewed from the front at the shoulder blade position, and the treatment elements 54a and 54b are kept from contacting the shoulder blade B, and the lifting motor 55 is driven to 2. Raise or lower the massage mechanism 51. That is, motion a is a motion that touches a wide area between the entire left and right shoulder blades.

[Action b]
As shown in FIG. 42, motion b is a motion of rubbing the back between the left and right shoulder blades B using the treatment element 54 of the second massage mechanism 51. In this movement, the range in the vertical direction of rubbing the back includes the area below 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 placed in a state where they are approximately parallel to each other when viewed from the front at the shoulder blade position, and the treatment elements 54a and 54b are kept from contacting the shoulder blade B, and the lifting motor 55 is driven to 2. Raise or lower the massage mechanism 51. That is, motion b is a motion that mainly touches the lower part between the left and right shoulder blades B.

[Operation c]
As shown in FIG. 43, the motion c is a motion in which the massage element 54 of the second massage mechanism 51 rubs the back between the left and right shoulder blades B. In this motion, the range in the vertical direction of rubbing the back includes the upper side of the center of the shoulder blade B, and does not include the position corresponding to the lower end. Specifically, the pair of arms 60 are placed in a state where they are approximately parallel to each other when viewed from the front at the shoulder blade position, and the treatment elements 54a and 54b are kept from contacting the shoulder blade B, and the lifting motor 55 is driven to 2. Raise or lower the massage mechanism 51. That is, motion c is a motion that mainly touches the upper part between the left and right shoulder blades B.

[Operation d]
As shown in FIG. 44, operation d is an operation in which the massage element 54 of the second massage mechanism 51 rubs the range from the waist to the back. Specifically, the pair of arms 60 are set to be substantially parallel when viewed from the front, so that the treatment elements 54a and 54b do not contact the shoulder blade B, and the lifting motor 55 is driven to move the second massage mechanism 51. to raise or lower. Note that the lower limit of the vertical movement range of the second massage mechanism 51 may be determined based on a limit sensor (not shown) provided at the lower part of the backrest 3. Note that, due to the structure of the second massage mechanism 51, the upper treatment element 54a acts more strongly than the lower treatment element 54b. Each of the operations a to d may be performed with the upper treatment element 54a not coming into contact with the shoulder blade B in a state closer than the child 54b.

[Operation e]
As shown in FIG. 45, the operation e is an operation in which the treatment element 54 of the second massage mechanism 51 performs a massaging operation on the lower edge of the shoulder blade B. As shown in FIG. Specifically, the treatment element 54 (for example, the upper treatment element 54a) is positioned slightly below the lower end of the shoulder blade B, the massage motor 63 is driven, and the paired treatment element 54 of the second massage mechanism 51 is performs kneading motions that move closer and further away.

[Operation f]
As shown in FIG. 46, operation f is an operation in which the treatment element 54 of the second massage mechanism 51 rubs the inner edge of the shoulder blade B. As shown in FIG. Specifically, the pair of treatment elements 54 (for example, the upper treatment element 54a) are kept close to each other between the left and right shoulder blades B, and the lifting motor 55 and the massage motor 63 are driven to operate the second massage mechanism. While lowering the treatment element 51, the paired treatment elements 54 (for example, the upper treatment element 54a) are separated (operation f-1). Alternatively, the pair of treatment elements 54 (for example, the upper treatment element 54a) are kept separated between the left and right shoulder blades B, and the lifting motor 55 and the massage motor 63 are driven to raise the second massage mechanism 51. While doing so, the paired treatment elements 54 (for example, 54a) are brought close to each other (operation f-2). Operation f-1 and operation f-2 may be repeated alternately.

[Movement g]
As shown in FIG. 47, the motion g is a motion in which the massage element 54 of the second massage mechanism 51 rubs and massages the back and/or lower back. Specifically, the elevating motor 55 and the massage motor 63 are driven to move the pair of treatment elements 54 closer to each other and away from each other while raising or lowering the second massage mechanism 51. In this operation, the range in which the second massage mechanism 51 is moved up and down may be from the waist to the back, or may be only the back or waist.

[Operation h]
As shown in FIG. 48, the operation h is an operation in which the massage element 54 of the second massage mechanism 51 massages the rear part of the buttocks (the part that contacts the backrest 3). 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 buttocks position. Note that the hip position may be determined based on a limit sensor (not shown) provided at the lower part of the backrest portion 3.

[Operation i]
As shown in FIG. 49, operation i is an operation in which the massage element 54 of the second massage mechanism 51 applies acupressure to the rear part of the buttocks (the part that contacts the backrest 3). Specifically, the massage motor 63 is driven to bring the pair of treatment elements 54 (for example, the upper treatment element 54a) of the second massage mechanism 51 close to each other at the buttocks position, and in this state, the massage motor 63 is stopped for a predetermined period of time. . Note that the hip position may be determined based on a limit sensor (not shown) provided at the lower part of the backrest portion 3.

[Movement]
As shown in FIG. 50, operation j is an operation in which the treatment element 54 of the second massage mechanism 51 rubs the rear part of the waist and/or buttocks (the part that contacts the backrest 3). Specifically, the elevating 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 moved up and down may be from the waist to the buttocks, or may be only the waist or buttocks.

[Configuration of massage unit according to other embodiments]
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 includes the above-described massage mechanism 31 and second massage mechanism 51 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 will be used below and the explanation thereof will be omitted.

As shown in FIG. 30, the massage unit 100 is provided on the backrest 3, and includes a first massage mechanism 31 disposed relatively above and a second massage mechanism 51 disposed relatively below. ing. The massage unit 100 mainly includes a main body frame 110 supported so as to be movable up and down by a guide mechanism 3b, a first massage mechanism 31 and a second massage mechanism 51, and support frames 32 and 52 that support each massage mechanism 31 and 51. , forward and backward drive units 15 and 16 that move the massage mechanisms 31 and 51 forward and backward with respect to the treated area, and links 33 and 53 that connect the main body frame 110 and the support frames 32 and 52 and swing in the front and rear directions. 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 rotates. Go up and down along the height direction. The treatment element 34 can perform a massaging operation or a tapping operation by driving the massage motor 43, and the treatment element 54 can perform a massaging operation by driving the massage motor 63.

[Configuration of massage mechanism according to other embodiments]
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 essential difference from the first massage mechanism 31 described above is that the massage mechanism 200 has treatment elements 91 provided above and below an arm 90, and lower treatment elements 91 are provided on the left and right sides of the arm 90. The point is that Since the other configurations are the same as the first massage mechanism 31, the same reference numerals will be used below and the description thereof will be omitted.

The massage mechanism 200 has a pair of left and right arms 90 to which treatment elements 91 are attached, and the arms 90 are connected to the kneading shaft 41 and the beating shaft 42. This treatment element 91 has an upper treatment element 91a provided above the arm 90 and a lower treatment element 91b provided below the arm 90. Further, the lower treatment elements 91b are provided in pairs on the left and right sides with the arm 90 in between. The lower massager 91b has a smaller diameter than the upper massager 91a, and the lower massager 91b simulates the masseur's thumb, and the upper massager 91a simulates the masseur's fingers other than the thumb. There is. By driving the massage motor 43, it is possible to perform a kneading operation in which the left and right pairs of treatment elements 91 approach and separate from each other, and a tapping operation in which the left and right pairs of treatment elements 91 alternately advance and retreat. When applying this massage mechanism 200 to the massage machine 1 described above, it is preferable to provide the massage mechanism 200 in place of the first massage mechanism 31. That is, in the backrest portion 3, the massage mechanism 200 is disposed relatively above, and the second massage mechanism 51 is disposed relatively below. Then, each massage mechanism 51, 200 can be moved up and down independently along the height direction.

It is effective for this massage mechanism 200 to perform a massaging motion near the neck and shoulder positions. That is, the neck and shoulders can be massaged simultaneously by the upper massager 91a and the lower massager 91b, respectively. Furthermore, in the process of the pair of lower treatment elements 91b approaching, the inner lower treatment element 91b acts effectively 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. In addition, from the viewpoint of exhibiting this effect, it is not necessary to provide a plurality of massage mechanisms 200 along the height direction, but if a single massage mechanism 200 is provided in the backrest part 3 so that it can be raised and lowered along the height direction. good. Further, the lower treatment element 91b may be provided only on either the inside or the outside of the arm 90.

[Link configuration according to other embodiments]
Hereinafter, the link 93 according to another embodiment will be described by exemplifying a case where it is applied to the first massage unit 8, but it can also be applied to the second massage unit 9. FIG. 32 is an explanatory diagram 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 main body frame 30 and the support frame 32 and swing in the front-rear direction. The reason why the links 93 are arranged on the sides of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be reduced compared to when the links 93 are arranged at the rear of the support frame 32. This link 93 is arranged in parallel in the front-rear direction and has a first link part 93a disposed relatively to the rear side and a second link part 93b disposed relatively to the front side. That is, the link 93 constitutes a four-bar link mechanism. Further, unlike the link 33, the first link portion 93a and the second link portion 93b have the same length, and the link 93 constitutes a parallel link mechanism. Therefore, the first massage mechanism 31 can be moved forward and backward in parallel and stably.

As described above, the first massage unit 8 includes a main body frame 30, a massage mechanism 31 having a treatment element 34, a support frame 32 that supports the massage mechanism 31, and a movement that moves the massage mechanism 31 forward and backward with respect to the treated area. It has a drive part 15 and a link 93 that connects the main body frame 30 and the support frame 32 and swings in the front-back direction.The link 93 is connected to the main body frame 30 when the massage mechanism 31 is in the most backward state The portions A1 and A3 are located forward of the connecting portions A2 and A4 with the support frame 32.

[Configuration of sensor according to other embodiments]
Hereinafter, another embodiment of the sensor 80 that detects the relative position of the first massage unit 8 and the second massage unit 9 will be described based on FIG. 33. FIG. 33 is an explanatory diagram of a sensor 80 according to another embodiment.
This sensor 80 includes 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 lift sensor 77 (height "7" in FIG. 33) and the detection value of the second massage unit 9 detected by the lift sensor 78 are obtained. Based on the detected value indicating the vertical position (height) (height "6" in FIG. 33) and the difference value (difference value "1" in FIG. 33), the first and second massage units 8, 9 are 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 a close state, and a relative position with a difference value of "2" may be set as a pre-close state.

As described above, the vertical position of the first massage unit 8 is detected by the vertical sensor 77 detecting how many times the vertical axis 36 has rotated from the upper limit position. The vertical position of the second massage unit 9 is detected by the vertical sensor 78 detecting how many rotations the vertical axis 56 has rotated from the lower limit position. In this embodiment, the difference value indicating the distance between the two massage units 8 and 9 can be detected in nine stages, and compared to the case where the sensor 70 is used, the relative position of the first and second massage units 8 and 9 can be detected. Detection range is expanded.

Furthermore, the massage machine of the present invention is not limited to the illustrated form, but may have other forms within the scope of the present invention.
For example, there is no restriction on the number of treatment elements, and like the second massage mechanism 51, the number of treatment elements 34 of the first massage mechanism 31 may be plural in the vertical direction. In addition, in the above-described embodiment, the arms supporting the treatment elements are one pair on the left and right, but they may be arranged in multiple pairs on the left and right across the center line of the body, or a plurality of arms supporting the treatment elements can be placed in left and right directions with respect to one arm. It may be provided. Further, there is no restriction on the number of massage units provided along the height direction, and the number may be three or more.
In addition, from the viewpoint of the above-mentioned operations 1 to 8, it is sufficient to provide a plurality of massage units 8 and 9 in the height direction, the movement ranges W1 and W2 in the left and right directions in the massaging motion, and the vertical dimension H1 of the trajectory of the massaging motion. , H2, or the separation distances D1 and D2 between the pair of treatment elements when they are closest in the massaging operation may be the same for the first massage mechanism 31 and the second massage mechanism 51.
The guide mechanism 3b is also provided on the seat 2 or the seat 2 and the footrest 4, and at least one of the first and second massage units 8 and 9 is moved from the backrest 3 to the seat along the height direction. 2 or even the footrest 4 may be movable.

Further, the sensor 70 that detects the proximity state or pre-proximity state as the relative position of both massage units 8 and 9 may be a contact type 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 direction of extension. 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-proximity state" can be achieved by pressing the volume switch provided at the tip of the spring. The "proximity state" can be detected by detecting this and pressing the volume switch provided on the bottom wall 30c or the top wall 50d against the biasing force of the spring.

The present invention can be applied to a massage machine that improves the sensation of massage.

1 Massage machine 2 Seat part 3 Backrest part 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 pressure holding means)
15 Advance/retract air cell (advance/retract drive unit)
16 Advance/retract air cell (advance/retract drive unit)
23 Control means 30 Main body frame 30b Side wall 31 First massage mechanism (massage mechanism)
32 Support frame 33 Link 33a First link part 33b Second link part 34 Treatment element 35 Lifting motor 36 Lifting shaft 40 Arm 43 Massage motor (massage drive part)
48 Reinforcement part 50 Main frame 50b Side wall 51 Second massage mechanism (massage mechanism)
52 Support frame 53 Link 53a First link part 53b Second link part 54 Treatment element 55 Lifting motor 56 Lifting shaft 63 Massage motor (massage drive part)
68 Reinforcement part 70 Sensor 71 First sensor part 72 Second sensor part 77 Lifting sensor (third sensor part)
78 Lifting sensor (4th sensor part)
80 Sensor 90 Arm 91 Treatment element 91a Upper treatment element 91b Lower treatment element 93 Link 93a First link part 93b Second link part 100 Massage unit 200 First massage mechanism (massage mechanism)
D1 Separation distance between a pair of massagers when they are closest in a massaging motion D2 Separation distance between a pair of massagers when they are closest in a massaging motion H1 Vertical dimension of the trajectory of massaging motion H2 Vertical dimension of the trajectory of massaging motion W1 Massage Movement range W2 of the treatment element in the left and right direction during the movement Movement range of the treatment element in the left and right direction during the kneading movement

Claims (22)

In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms include a massage drive unit that performs at least one of a kneading operation in which the pair of treatment elements approaches or separates, or a tapping operation in which the pair of treatment elements alternately advances and retreats; an advancement/retraction drive unit for advancing and retracting the child in the front and back direction with respect to the user;
The massage machine is characterized in that the control means controls the advance/retreat drive unit so that the treatment element of the first massage mechanism and the treatment element of the second massage mechanism advance or retreat at different timings. . In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms include a massage drive unit that performs at least one of a kneading operation in which the pair of treatment elements approaches or separates, or a tapping operation in which the pair of treatment elements alternately advances and retreats; an advancement/retraction drive unit for advancing and retracting the child in the front and back direction with respect to the user;
The massage machine is characterized in that the control means controls the advance/retreat drive unit so that the treatment element of the first massage mechanism and the treatment element of the second massage mechanism advance or retreat at different speeds. . The control means may control the advance/retreat drive unit to advance the treatment element of one of the first and second massage mechanisms and then advance the treatment element of the other massage mechanism. The massage machine according to claim 1 or 2. The control means may control the advancing/retreating drive unit to move the treatment element of one of the first and second massage mechanisms backward and then move the treatment element of the other massage mechanism backward. The massage machine according to any one of claims 1 to 3. The control means may control the drive unit to retract the treatment element of the other massage mechanism in synchronization with the advancement of the treatment element of one of the first and second massage mechanisms. The massage machine 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 changes the position of the treatment elements of the first and second massage mechanisms from the advanced state to the position of the treatment elements of the first or second massage mechanisms. The massage machine according to any one of claims 1 to 4, characterized in that the advance/retreat drive unit is controlled to cause one of the treatment elements of the second massage mechanism to retreat. The control means is configured to control the advance/retreat drive unit so as to cause the other massage mechanism to repeat advancing and retreating of the treatment element in a state in which the treatment element of one of the first and second massage mechanisms is advanced. The massage machine according to claim 1 or 2, wherein the massage machine controls: The control means is configured to synchronize advancement or retreat of the treatment element of at least one of the first and second massage mechanisms with the kneading operation or the tapping operation of the one massage mechanism. The massage machine according to any one of claims 1 to 7, wherein the forward/backward drive unit and the massage drive unit are controlled. The control means synchronizes advancement or retreat of the treatment element of at least one of the first and second massage mechanisms and an operation of bringing the pair of treatment elements of the one massage mechanism closer together. The massage machine according to any one of claims 1 to 8, wherein the forward/backward drive unit and the massage drive unit are controlled so as to cause the massage machine to move. a lifting motor that raises and lowers at least one of the first and second massage mechanisms along the height direction;
The massage machine according to any one of claims 1 to 9, wherein the control means controls the advancement/retraction drive unit and the elevation motor so as to synchronize advancement and elevation or descent of the one massage mechanism. In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms include a massage drive unit that performs at least one of a kneading operation in which the pair of treatment elements approaches or separates, or a tapping operation in which the pair of treatment elements alternately advances and retreats; an advancement/retraction drive unit for advancing and retracting the child in the front and back direction with respect to the user;
The control means controls the advance/retreat drive unit to advance the treatment element of the second massage mechanism with the first massage mechanism disposed on the shoulder and the second massage mechanism disposed on the waist. A massage machine characterized by: In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms each include a massage drive unit that performs at least one of a kneading operation in which the pair of treatment elements approaches or separates, or a tapping operation in which the pair of treatment elements alternately advances and retreats;
a lifting motor that raises and 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 motor to cause one massage mechanism to perform the kneading operation or the tapping operation, and to raise or lower the other massage mechanism along the height direction. Massage machine. In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms each include a massage drive unit that performs at least one of a kneading operation in which the pair of treatment elements approaches or separates, or a tapping operation in which the pair of treatment elements alternately advances and retreats;
a lifting motor that raises and 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 elevating unit to raise or lower the other massage mechanism along the height direction while the pair of treatment elements of one massage mechanism are brought close to each other and the treated area is sandwiched between them. A massage machine characterized by controlling a motor. In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms each include a massage drive unit that performs at least one of a kneading operation in which the pair of treatment elements approaches or separates, or a tapping operation in which the pair of treatment elements alternately advances and retreats;
a lifting motor that raises and lowers at least one of the first and second massage mechanisms along the height direction;
The massage machine is characterized in that the control means controls the lifting motor to raise the second massage mechanism along the height direction with the first massage mechanism placed on the shoulder. In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms each include a forward and backward drive unit that moves the treatment element forward and backward relative to the user,
a lifting motor that raises and lowers the first and second massage mechanisms along the height direction;
The control means controls the elevation so as to synchronize the movement of the first and second massage mechanisms toward each other along the body height direction and the advancement of the treatment elements of the first and second massage mechanisms. A massage machine characterized by controlling a motor and the advance/retreat drive section. In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms each include a forward and backward drive unit that moves the treatment element forward and backward relative to the user,
a lifting motor that raises and lowers the first and second massage mechanisms along the height direction;
The control means controls the elevation so as to synchronize the movement of the first and second massage mechanisms in directions away from each other along the body height direction and the advancement of the treatment elements of the first and second massage mechanisms. A massage machine characterized by controlling a motor and the advance/retreat drive section. A massage machine in which a plurality of massage mechanisms each having a pair of left and right treatment elements are provided along the height direction of a backrest on which a user leans,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms each include a massage drive unit that performs at least one of a kneading operation in which the pair of treatment elements approaches or separates, or a tapping operation in which the pair of treatment elements alternately advances and retreats;
The control means controls the massage drive so as to cause one massage mechanism to perform the kneading operation or to clamp the pair of treatment elements by bringing them close together, and at the same time cause the other massage mechanism to perform an operation including the tapping operation. A massage machine characterized by controlling parts. In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling operations of the first and second massage mechanisms;
The first and second massage mechanisms each include a massage drive unit that causes the pair of treatment elements to perform a massaging motion in which they approach or move away from each other,
The massage machine is characterized in that the control means controls the massage drive unit to cause the first massage mechanism and the second massage mechanism to perform the kneading operation at different speeds. The first and second massage mechanisms, with the first massage mechanism and the second massage mechanism, or the treatment element of the first massage mechanism and the treatment element of the second massage mechanism being brought close to each other in the height direction. 19. The massage machine according to claim 18, wherein the massaging motion is performed by the massage element. a seat on which a user sits;
a backrest portion on which a user can lean, which is reclinably provided at the rear of the seat portion;
In a massage machine in which a plurality of massage mechanisms having left and right treatment elements are provided along the height direction,
As the massage mechanism, a first massage mechanism disposed relatively above, and a second massage mechanism disposed relatively below;
control means for controlling the operations of the first and second massage mechanisms and the reclining operation of the backrest;
The control means includes an action of grasping the neck with the treatment element of the first massage mechanism, an action of pressing the lower back with the treatment element of the second massage mechanism, and an operation of reclining the backrest portion rearward. A massage machine characterized in that the massagers perform synchronized movements. A footrest is provided in the front part of the seat part so as to be swingable up and down and supports the lower legs of the user;
The footrest has a first pressing and holding means that presses or holds the user's lower limbs,
21. The massage machine according to claim 20, wherein the control means synchronizes an operation of holding the lower limb by the first pressing and holding means and an operation of lowering the footrest with the synchronized operation. It has a second pressing and holding means that presses or holds the user's upper arm or shoulder,
The massage machine according to claim 20 or 21, wherein the control means synchronizes the operation of holding the upper arm or shoulder by the second pressing and holding means with the synchronized operation.

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