JP3485723B2 - Massage equipment - Google Patents

Description

Description: BACKGROUND OF THE INVENTION [0001] 1. Field of the Invention [0002] The present invention relates to a chair-type massage machine for giving a massage to a patient,
More specifically, the present invention relates to a massage device that can manually move a treatment finger that massages a user to a desired position. 2. Description of the Related Art There are known various massage devices for eliminating stiffness by pressing and stimulating a person's shoulder, waist and the like. These devices can be classified by type into chair type, bed type, and handy type.
An electrical stimulation type can be mentioned. Among these devices, a chair type massage machine (90) as shown in FIG.
Is widespread. This massage machine (90) is a chair (9
Two arms (93) and (93) protrude from the backrest (92) of (1), and the distal ends of the arms (93) and (93) have treatment fingers (94) in contact with the affected part of the user. ) (94). Arms (93) and (93)
The backrest (92) is connected to an arm drive unit (95) disposed inside, and the treatment fingers (94) and (94) perform a vertical tapping operation, a lateral kneading operation, and the like by the arm drive unit. , Giving a massage to the user. Arm drive unit is a motor for vertical movement
The inside of the backrest (92) can be moved up and down by the thrust of the chain or screw (97) driven by (96). [0003] Since the arm driving section receives a reaction force against the pressing force of the treatment fingers (94) and (94) on the affected area, the arm driving section does not easily move even if pulled by hand. The height of the treatment fingers (94) (94) can be adjusted only by driving the vertical movement motor (96). However, such electric control makes it difficult to make fine adjustments, so that the treatment fingers (94) and (94) cannot be moved to desired positions, and effective massage cannot be performed. [0004] It is an object of the present invention to provide a massage device that can grasp an arbitrary part of an arm or a movable part of a treatment finger and move it to a desired position. [0005] In order to solve the above-mentioned problems, the present invention provides a treatment finger which performs massage by contacting a user with respect to a plurality of axes each provided with a driving means. A massage device that slides or swings and moves to a desired position to perform a kneading and / or hitting operation of a user, and each shaft detects a force in a sliding or swinging direction. Equipped with sensors. The drive means of each axis is connected to a drive control unit that controls the operation of the drive means, and each sensor and each drive control unit are connected to the control unit (60).
The control unit (60) transmits a signal to the drive control unit when the treatment finger or the arm is slid and / or rocked with respect to each axis by applying an external force to the treatment finger or the arm. The driving means is driven in a direction in which the detected force value of the driving signal becomes zero. Embodiments of the present invention will be described. In the chair type massage machine (11) shown in FIG. 1, the arrow F side is the front, and the arrow R is the right. The “vertical plane” means a vertical plane parallel to the front-rear direction. FIG.
The part shaded with represents the upper body of the user (80). The chair (12) including the massage device (10)
As shown in FIGS. 1 and 2, a seat surface on which a user (80) sits.
(16), a backrest (13) formed upward from the rear end of the seat surface (16), and armrests (17) (17) formed upward from left and right sides of the seat surface (16). Consists of The backrest (13) includes a backrest (14) with which the back of the user (80) abuts, and the backrest (14).
And the side portions (15) and (15) that protrude forward from the backrest (14), respectively. The back contact (14) is formed to a position slightly lower than the shoulder of the user (80) when the user (80) sits down, and the side portions (15) and (15) are It is formed to a position slightly higher than the head of 80). [0008] A casing (18) opened forward and backward is fixed to the upper side of the back of the backrest (13), and massage devices (10) and (10) are housed one by one on the left and right sides of the casing (18). I have. 3 is a perspective view of the massage device (10) on the right side, FIG. 4 is a perspective view of the massage device (10) viewed from the opposite side, and FIGS. 5 and 6 are taken along line XX of FIG. FIG. 3 shows a plan view of a massage device (10) portion taken along a section. Hereinafter, only the right massage device (10) will be described, but the same massage device (10) is provided on the left. The massage device (10) includes a pair of treatment fingers (72) and (73) that touch the shoulder or the like of the
2) An arm (20) provided with (73) at the front end.
The massage operation for the user (80) is performed by moving the arm (20) up and down and back and forth, swinging the treatment fingers (72) and (73) in the vertical plane, and moving the treatment fingers (72) and (73) up and down. It is performed based on four movements of the contact and separation operations in the directions, and by combining them. The sensors (61a), (62a) and (63)
a) (64a) is explained by the arm (20) and the treatment finger (72)
This will be performed after the structural description of (73) is made. First, arm (2
0) will be described. The arm arm (20) pivotally supports the treatment fingers (72) and (73) at the front end and swings in a vertical plane an angle adjustment mechanism (50), and a back and forth movement mechanism (sliding the arm (20) back and forth) 30) and an elevating mechanism (40) for sliding the arm (20) up and down. [Elevating Mechanism] A lifting mechanism (40) is mounted on a frame (41) fixed to the casing (18) by a vertically moving screw shaft (45).
And two guide shafts (46) and (47). Screw shaft (45)
Is disposed between the two guide shafts (46) and (47). Both ends of the guide shafts (46) and (47) are fixed to the frame (41), respectively, and the screw shafts
(45) has a lower end pivotally supported, an upper end penetrating the frame (41), and a pulley (48) at the penetrating end. An elevating motor (49) is provided in the frame (41), and is connected to a pulley (48) of the screw shaft (45) via a belt (49a). Frame
(41) includes a lifting screw shaft (45) and two guide shafts (46) (4
The moving member (39) is provided by penetrating 7) in parallel with each other. When the lifting motor (49) is driven, the lifting screw shaft (45)
Is rotated, and the moving member (39) moves up and down by the screw thrust. The elevating motor (49) is electrically connected to the elevating motor drive controller (62), and is driven by a signal from the elevating motor drive controller (62). In addition,
The lifting motor drive control unit (62) will be described later. [Longitudinal Movement Mechanism] The longitudinal movement mechanism (30) includes a frame (3)
1) is provided with a screw shaft (34) for longitudinal movement in the longitudinal direction and two guide shafts (35) and (36) parallel to this. Guide shaft (35) (3
Both ends of 6) are fixed to the frame body (31), and the screw shaft for forward and backward movement (34)
Has a front end rotatably supported, a rear end penetrating the frame (31), and a pulley (37) at the penetrating end. In the frame (31),
A longitudinal movement motor (38) is provided, and is connected to a pulley (37) of the screw shaft (34) via a belt (38a). The forward / backward movement motor (38) is electrically connected to the forward / backward movement motor drive control unit (61), and is driven by a signal from the motor drive control unit (61). The longitudinal drive motor drive control section (61) will be described later in the same manner. In the frame (31),
The moving member (39) is provided by passing the screw shaft for forward and backward movement (34) and the two guide shafts (35) and (36) in parallel with each other, and when the motor for forward and backward movement (38) is driven, The screw shaft (34) rotates, and the moving member (39) moves in the front-rear direction by the screw thrust. [Angle Adjusting Mechanism] The frame body (31) is further provided with an angle adjusting mechanism (50) for swinging the treatment fingers (72) and (73) in a vertical plane. The angle adjusting mechanism (50) includes a screw shaft (53) for angle adjustment and two guide shafts (54) and (55) parallel to each other in the front-rear direction on the frame (31). The shafts (53), (54), (55) are arranged in parallel with the shafts (34), (35), (36) of the mechanism for moving back and forth (30) with the frame (31) interposed therebetween. The front end of the angle adjusting screw shaft (53) is rotatably supported by the frame, the other end penetrates the frame (31), and has a pulley (56) at the penetrating end. The frame (31) further includes an angle adjusting motor (57) connected to the pulley (56) via a belt (57a). Angle adjustment motor (57)
Is electrically connected to the angle adjustment motor drive control unit (63), and is driven by a signal from the motor drive control unit (63). The angle adjustment motor drive control unit (63)
Will be described later. Both ends of the guide shafts (54) and (55) are fixed to the frame (31), respectively. An angle adjusting member (58) is provided in the frame (31) by passing an angle adjusting screw shaft (53) and two guide shafts (54) and (55) in parallel with each other.
The angle adjusting member (58) is connected to a part of a wire (59) for performing an angle adjusting operation of the treatment section (70) described later. The wire (59) is connected to a pulley (59
a) (59b), both ends are fixed to a semicircular pulley (79) provided in the treatment section (70). Angle adjustment motor (57)
When the is driven, the angle adjusting screw shaft (53) rotates, and the angle adjusting member (58) moves back and forth by the screw thrust, and the wire is moved.
By pulling (59), the semicircular pulley (79) is swung in a vertical plane. Treatment section A treatment section (70) is provided at the front end of the frame (31) of the arm (20). The treatment section (70) includes a treatment finger drive section (74) that drives the first and second treatment fingers (72) and (73) that perform an up-and-down movement, and a treatment finger drive section (74). A semicircular pulley (79) fixed to the pulley. The semicircular pulley (79) is pivotally supported at the front end of the frame (31). A groove for guiding the wire (59) is formed in an arc portion of the semicircular pulley (79), and ends of the wire (79) connected to the angle adjusting member (58) are formed at both ends of the arc. Each is fixed. When the angle adjusting member (58) is moved rearward, the upper part of the semicircular pulley (79) is pulled rearward, and the semicircular pulley (79) swings in a direction to turn the treatment unit (70) upward. . Also, when the angle adjusting member (58) is moved forward, the lower part of the semicircular pulley (79) is pulled rearward, and the semicircular pulley (79) swings in a direction to turn the treatment section (70) downward. Move.
FIG. 11 is a cross-sectional view of the treatment section (70) taken along line YY in FIG. A treatment finger driving unit (74) that contacts the user (80) and drives a pair of treatment fingers (72) and (73) that rubs the affected part and squeezes the cover, swings integrally with the semicircular pulley (79). 77). As shown in FIG. 3, the treatment section (70) is provided at the distal end of the treatment finger arm (72a) bent in an L-shape with a first horizontally long contact section () which comes into contact with the affected part of the user (80). A first treatment finger (72) having a second treatment finger arm (72b) and a second contact portion (73b) at the tip of the second treatment finger arm (73a) contacting the affected part of the user (80). It has a treatment finger (73). First contact portion (72b)
As shown in FIG. 3, the contact area is formed large in order to reduce the pressing force on the affected part, and the second contact part (73b)
Are formed so that the contact area with the affected part is reduced in order to enhance the acupressure effect. The first contact part (72b) hits the upper part or the upper part of the shoulder (81) of the user (80) to the front, and the second contact part (73b) touches the back (82) of the user (80). ) Is positioned so as to hit the acupoint near the spine. The vicinity of the other end of each treatment finger arm (72a) (73a)
Each is supported by a cover (77), and a partial gear (75) is provided at the end.
(75a) is cut off. The treatment fingers (72) and (73) are driven by a treatment finger drive motor (76) provided on the cover (77). A pinion gear (76b) is fitted on a rotation shaft (76a) of the treatment finger drive motor (76), and the gear (76b) meshes with a worm wheel (76c) supported by a cover (77). are doing. The first intermediate gear (78) is attached to the worm wheel (76c).
The partial gear (75) of the first treatment finger (72) meshes with the first intermediate gear (78). Further, the first intermediate gear (78) meshes with a second intermediate gear (78a) supported by a cover (77), and the second intermediate gear (78a)
The partial gear (75a) of the second treatment finger (73) meshes with the second treatment finger (73). The treatment finger drive motor (76) is electrically connected to the treatment finger drive motor drive control section (64), and performs driving according to a signal from the motor drive control section (64). The treatment finger drive motor drive control unit (64) will be described later in the same manner. When the treatment finger drive motor (76) is driven, the first and second treatment fingers (72) and (73) operate in the directions of approaching or moving away through the respective gears, and by repeating this operation, the user The operation of (80) for rubbing the affected part can be performed. Sensors (61a), (62a), (63a), and (64a) capable of measuring a force applied in each moving direction are provided on the sensor arm (20) and the treatment section (70).
Are deployed respectively. First, the sensors (61a), (62a), and (63a) provided on the arm (20) will be described. FIG.
FIG. 8 is an exploded view of the moving member (39), and FIG.
9 is a perspective view of the angle adjusting member (58). As shown in FIGS. 7 and 8, the moving member (39)
Is the lifting block in which the screw shafts (34) and (45) are fitted respectively.
(39b), a forward / backward movement block (39a), and a slide block (66) connecting these blocks. Elevating block
Recesses (39c) and (39c) are formed on the opposing surfaces of (39b) and the block for forward and backward movement (39a), and the slide block (66) is fitted into the recesses (39c) and (39c). Slide block
As shown in FIG. 7, (66) is formed by combining cylindrical bodies extending in the up-down direction and the front-back direction. As shown in FIG. 8, two sensors (62a) (62a) are provided inside the cylindrical body. The sensors are arranged such that their tips project from the ends of the cylindrical body. Similarly, sensors (61a) and (61a) are provided in the vertical direction. Sensor (61a)
As (62a), a pressure sensor can be mentioned. The pressure sensor has a strain gauge inside, and when it receives a load on a circular plane, it is distorted in the axial direction, and the resistance value of the strain gauge changes. By detecting the resistance value, the force applied to the sensor can be measured. When the lifting block (39b) or the forward / backward moving block (39a) moves in the axial direction, a force generated between the lifting / lowering block (39b) or the forward / backward moving block (39a) and the slide block (66) is detected by the sensor (61a). ) Is detected as the detection value. Also, slide block (66)
Is moved with respect to the lifting / lowering block (39b) or the forward / backward movement block (39a), a force generated therebetween is detected as a detection value of the sensor (62a). Sensor (61a) (62
a) is electrically connected to a control unit (60) described below,
The detection value of the sensor is transmitted to the control unit (60). FIG. 9 is a perspective view of the angle adjusting member (58). The angle adjusting member (58) is composed of an angle adjusting block (58a) into which the screw shaft (53) fits, and a slide block (67) holding the wire (59). Slide block (6
7) has a cylindrical body as described above, and two sensors (63a) (63a) are similarly provided inside the cylindrical body. The slide block (67) is fitted in a state where each sensor is in contact with a recess (58b) formed in the angle adjusting block (58a). When the angle adjusting block (58a) moves in the axial direction, a force generated between the angle adjusting block (58a) and the wire (59) is detected as a detection value of the sensor (63a). Further, when the wire (59) is moved with respect to the angle adjusting block (58a), a force generated therebetween is detected as a detection value of the sensor. The sensor (63a) disposed on the angle adjusting member (58) is also electrically connected to a control unit (60) described later, and the detection value of the sensor is controlled by the control unit (60).
Sent to. Sensors (64a) (64a) are attached to the first treatment finger arm (72a) and the second treatment finger arm (73a), respectively. The sensor may include a strain gauge, and the strain gauge may include first and second treatment finger arms (72).
a) Affixed to (73a), when a force is applied to the arm and the arm is distorted, the distortion is detected as a resistance value. The sensors (64a) and (64a) provided on the first and second treatment finger arms (72a) and (73a) also have a control unit (60) described later.
Sent to. The sensors (61a) (62a) (63a) (64a)
Are set such that the initial state is zero. As shown in FIG. 10, the control section control section (60) includes drive control sections (61), (62) for the motors (38), (49), (57), and (76) provided on the arm (20). (6
3) (64), and sensors (61a) (62a) (63a) (64a) disposed on the treatment finger arms (72a) (73a) and the slide blocks (66) (67)
Is electrically connected to The control unit (60) is provided with a changeover switch (65) .When the changeover switch (65) is turned on, when a signal from the sensor is input to the control unit (60), the changeover switch (65) is provided to the sensor. The corresponding motor is driven to perform control so that the detection value of the sensor approaches zero. When the changeover switch (65) is turned off, control for bringing the detection value of the sensor close to zero is not performed. Description of Operation Hereinafter, the operation of the massage machine (10) having the above configuration will be described. When performing massage, the patient (80)
The following operation is performed while sitting on (12) so that the treatment fingers (72) and (73) are at desired positions. First, the treatment finger and / or
Alternatively, the changeover switch (65) of the control unit (60) is turned on so that the arm can be moved. Massage device in the state of FIG.
(10) will be described with respect to the case where the treatment finger (20) is pulled out to the state shown in FIG. In this case, the user (80)
Performs an operation of grasping the treatment finger (72), pulling the treatment finger (72) forward, and pushing it downward. When the treatment finger (72) is pulled forward, a pressing force is generated between the back and forth movement block (39a) of the arm (20) and the slide block (66), and the sensor (61a)
Detects this force. The detected value is transmitted to the control unit (60), and the control unit (60) drives the forward-backward movement motor drive control unit (38) so as to drive the forward-backward movement motor (38) in a direction to approach the value of the sensor (61a) to zero. Send the signal to 61). The forward / reverse motor (38) moves the moving member (39) in the same direction as the pulling direction of the user (80) in response to the signal. Therefore,
The user (80) can operate the treatment finger with almost no burden.
(72) can be pulled and moved. Similarly, when the treatment finger (72) is pulled downward, the direction in which the force detected by the sensor (62a) approaches zero between the lifting block (39b) and the slide block (66). Then, a signal is sent from the control unit (60) to the lift motor drive control unit (62) to drive the lift motor (49). When the treatment finger (72) is pulled downward, FIG.
As shown in (1), the treatment section (70) itself faces downward. In this case, the force generated in the angle adjustment block (58a) is
At (63a), the force generated in the first treatment finger arm (72a) is detected by the sensor (64a), and is similarly transmitted to the control unit (60),
The angle adjusting motor (57) and the treatment finger driving motor (76) are driven in a direction in which the detection values of the sensors (63a) (64a) approach zero. With the user (80) sitting on the chair (12),
When the above operation is performed, as shown in FIG.
The contact portions (72b) and (73b) of (3) can be moved to a position where they come into contact with the affected part of the user (80). In order to return the massage device (10) in the state of FIG. 6 to the state of FIG. 5, the treatment finger (72) may be pulled upward and pushed backward. In this case, similarly, the user (80) almost does not feel any load, and the massage device (10)
Can be moved. The above operation was performed by grasping the treatment finger (72). However, in the present invention, the sensors (61a) (62a) (63a)
Because each (64a) is deployed, for example, even if the front end of the arm (20) is grabbed and moved in the front-rear direction or moved up and down, each motor drives I do. After the massage device (10) is moved to the state shown in FIGS. 1 and 7 by the above operation, massage is performed. In this case, first, the changeover switch (65) of the control unit (60) is turned off. In order to perform the operation of squeezing the shoulder (81) of the user (80), the approach and separation operations of the first and second treatment fingers (72) and (73) are repeated by the treatment finger drive unit (74). . The first contact part (72b) presses the upper part of the user's shoulder (81), and the second contact part (73b) presses the acupoint near the spine of the back (82) of the user (80). Press. The pressing force of the second contact portion (73b) is stronger than the pressing force of the first contact portion (72b), and the finger pressure is applied. In addition, in order to perform a kneading operation close to a manual kneading and pinching operation, the back and forth movement mechanism (30), the elevating mechanism (40), the angle adjusting mechanism (50), and the treatment finger driving unit (74) are linked. Specifically, the treatment finger drive unit (74), the forward and backward movement mechanism (30), the elevating mechanism (40), and the angle adjustment mechanism (50), simultaneously with the approach operation of the treatment fingers (72) and (73), the arm Performing the forward and downward movements of (20), the affected part of the user (80) is massaged and pinched, and the arm (2) is simultaneously moved with the separation movement of the treatment fingers (72) and (73).
It is sufficient that the treatment section (70) performs a reciprocating and ascending operation and performs a circular motion in the vertical plane. If the massage device (10) is in the way when the user (80) stands up after the massage, the change-over switch (65) of the control unit (60) is turned on, and the massage device (10) is turned on. The treatment section (70) or the movable portion of the arm (20) may be grasped, pushed upward at the rear, and housed in the casing (18). At this time, the load is hardly applied to the user (80), and the massage device (10) can be easily moved. The detection values of the sensors arranged on each axis can be used for controlling the kneading strength of the affected part of the user (80). According to the massage device of the present invention, each axis is provided with a sensor (61a) (62a) (63a) (64a), and the drive motor is driven in a direction in which the detection value of the sensor approaches zero. Operate.
Therefore, the user (80) is treated by the treatment section (70) or the arm (20).
When grasping and pushing or pulling in the direction you want to move, the treatment section (70) or arm (20) is moved by the drive motor in that direction, so that the user is hardly loaded, The treatment section (70) or the arm (20) can be freely moved, and the treatment section (70) can be easily aligned with the diseased part.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a chair-type massage machine on which a user is sitting. FIG. 2 is a perspective view of a chair-type massage machine. FIG. 3 is a perspective view of a massage device. FIG. 4 is a perspective view of the massage device of FIG. 3 as viewed from the opposite side. FIG. 5 is a plan view of a massage device in which an arm and a treatment section are stored in a backrest. FIG. 6 is a plan view of the massage device in which the arm and the treatment section protrude from the backrest. FIG. 7 is an exploded view of a moving member. 8 is a sectional view taken along the line ZZ in FIG. 7; FIG. 9 is a perspective view of an angle adjusting member. FIG. 10 is a circuit diagram of a control unit. FIG. 11 is an enlarged cross-sectional view of the treatment finger in a state where the first and second treatment fingers have hit the affected part of the user; FIG. 12 is a perspective view of a conventional chair-type massage machine. [Description of Signs] (10) Massage device (20) Arm (60) Control unit (61a) Sensor (62a) Sensor (63a) Sensor (64a) Sensor (70) Treatment unit

Continuation of front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A61H 7/00 A61H 15/00

Claims (1)

(57) [Claims 1] A treatment finger for performing massage by contacting a user (80) slides or swings with respect to a plurality of shafts each having a driving means, Move to the desired position and receive the treatment (80)
A massage device for kneading and / or hitting the affected part of the subject, wherein each axis is provided with a sensor for detecting a force in a sliding or swinging direction. Each sensor and each drive control unit are connected to the control unit (60), respectively.The control unit (60) applies an external force to the treatment finger or the arm, When the treatment finger or the arm is slid and / or swung with respect to each axis, a signal is transmitted to the drive control unit, and the drive unit is driven in a direction in which the force detection value of the sensor becomes zero. Massage device.