JP3953807B2 - Massage machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a massage machine, and in particular, to a massager capable of position control and force control of a treatment element.
[0002]
[Prior art]
In a conventional massage machine, the treatment element usually operates in a fixed orbit. However, since the massage operation becomes uniform, for example, in the massage machine disclosed in Japanese Patent Application Laid-Open No. 2000-167020, the treatment element operates in accordance with the operation amount of the operation tool. Massage according to the preference of the user is possible.
[0003]
[Problems to be solved by the invention]
By the way, manual massage and shiatsu massage are performed with moderate power. However, none of the above-described conventional massage machines can control the pressing force of the treatment element on the user, and therefore cannot perform massage close to manual massage.
[0004]
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a massage machine capable of performing massage close to manual massage.
[0005]
[Means for Solving the Problems]
  In order to solve the above problems, a massage machine according to the present invention includes a treatment element for applying massage to a user, and the treatment element.ElasticallyDriving means for massaging,Position detecting means for detecting the position of the treatment element; pressing force detection means for detecting a pressing force comprising an elastic force generated when the treatment element comes into contact with the user; and the treatment detected by the position detection means. The position of the child and the pressing force detected by the pressing force detecting means are acquired to represent the strength of the massage to be performed by the treatment element.According to massage commandThe operation of the treatment element is controlled via the driving means.Massage machine having control means for controllingBecauseThe control means switches between position control, which is control for the position of the treatment element, and force control, which is control for the pressing force of the treatment element, on the user.The position control is performed so as to control the position of the treatment element using the acquired position of the treatment element for the purpose of the strength of the massage represented by the massage instruction, and is represented by the massage instruction. The force control is performed by controlling the pressing force of the treatment element using the acquired pressing force with the target massage strength as the target, and the force of the treatment element is acquired during the execution of the force control. When the displacement of the treatment element from the reference position based on the position exceeds a predetermined value, the control is switched to the position control (Claim 1). With such a configuration, the pressing force of the treatment element on the user can be controlled, so that massage close to manual massage can be performed. Moreover, the trouble by force control can be avoided by switching to position control as needed.In addition, the pressing force and the position of the treatment element can be feedback-controlled, and the treatment element is removed when the body is largely separated from the treatment element by, for example, the user being seated during force control. It is possible to prevent moving to the limit in the direction to perform the massage operation and exhibiting an odd appearance.
[0006]
  In this case, the control means performs the position control at the start of the control,AcquiredWhen the pressing force exceeds a predetermined value, the control may be switched to the force control (claim 2). In force control, if a massage command is input when the user is not seated on the massage machine, there is no target against which the treatment element abuts and no pressing force is generated. It moves to the limit in the direction of power, and the malfunction of exhibiting an unusual appearance arises. Therefore, with this configuration, since the position is controlled when the user is not seated, the occurrence of the above-described problems can be prevented.
[0009]
  Moreover, it has a plurality of the above-mentioned treatment elements,The driving means elastically massages the plurality of treatment elements, and has the position detection means and the pressing force detection means corresponding to each treatment element,The control means includesThe position of each treatment element detected by the corresponding position detection means and the pressing force detected by the corresponding pressure detection means are acquired, and the strength of the massage to be applied by the plurality of treatment elements In response to a massage command representing the control of the operation of each treatment element via the drive means, andThe position control and the force control may be switched based on any treatment element (claims).3). With such a configuration, even when there are a plurality of treatment elements, massage close to manual massage can be performed.
[0010]
  In this case, the control means performs the position control at the start of the control, and any one of the treatment elementsAcquired above corresponding toWhen the pressing force exceeds a predetermined value, the control may be switched to the force control.4). With this configuration, even when there are a plurality of treatment elements, when the user is not seated, the treatment element is prevented from moving to the limit in the direction in which the massage operation should be performed and exhibiting an odd appearance. be able to.
[0011]
  In this case, the control means during the execution of the force controlBased on the location of the treatment elementWhen the displacement of any of the treatment elements from the reference position exceeds a predetermined value, the control may be switched to the position control.5). With this configuration, even when the treatment device has a plurality of treatment elements, when the body of the user is greatly separated from the treatment element, the treatment element moves to the limit in the direction in which the massage operation should be performed and exhibits an odd appearance. Can be prevented.
[0012]
  In the above case, the massage command may be an operation amount of the operation tool for the user to operate (claims).6). With this configuration, the user can receive a desired massage by operating the operation tool. In this case,The operation tool may be a joystick.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
Embodiment 1
1 is a perspective view showing the overall configuration of the massage machine according to Embodiment 1 of the present invention, FIG. 2 is a piping and block diagram showing the configuration of the control system of the massage machine of FIG. 1, and FIG. 3 is the massage of FIG. It is a schematic diagram which shows the structure of the operation tool of a machine.
[0014]
As shown in FIG. 1, the massage device 1 according to the present embodiment is a chair-type massage device, and includes a backrest portion 2, a seat portion 3, and a pair of left and right armrest portions 4 and 4. Yes. A massage driving unit 6 and an elevating mechanism 5 are disposed inside the backrest unit 2. The elevating mechanism 5 includes a ball screw 9 extending along the center line of the backrest 2 and an elevating motor 10 that rotates the ball screw 9 in both forward and reverse directions, and a screwing portion 7 a of the elevating mechanism 5 is attached to the ball screw 9. It is screwed. Accordingly, when the lifting motor 10 rotates, the massage driving unit 6 moves in the vertical direction (Z-axis direction) according to the rotation. An operation tool 12 is disposed on one armrest portion 4.
[0015]
Referring also to FIG. 2, the massage driving unit 6 includes a base 7 in which a threaded portion 7 a with the ball screw 9 is formed, a support member 13 disposed on the front surface of the base 7, and a left-right direction (Y-axis direction). An oscillating plate 15 attached to a support member 13 so as to be rotatable around a rotating shaft 14 extending in a straight line, a treatment element 8 projecting from the front surface of the oscillating plate 15, an oscillating plate 15 and a base 7. And an air cell 17 which is disposed between and expands and contracts when compressed air is supplied and discharged. As a result, when the air cell 17 expands and contracts, the swing plate 15 swings in the substantially front-rear direction (substantially X-axis direction) about the rotation shaft 14, thereby the treatment element 8 advances and retracts in the substantially front-rear direction.
[0016]
The air cell 17 is connected to the air pump 18 via a switching valve 19 and throttles A and B connected in series to the switching valve 19 and connected in parallel to each other. The switching valve 19 switches between air supply and exhaust to the air cell 17. The apertures of the apertures A and B are fixed, and the aperture of the aperture B is set to be larger than that of the aperture A. In the present embodiment, the opening of the diaphragm B is set to be twice the opening of the diaphragm A. Thus, when the switching valve 19 is switched to the air supply mode or the exhaust mode, the air cell 17 is supplied or exhausted, and the air cell 17 expands or contracts accordingly. Further, when the throttles A and B are opened and closed to change the total opening thereof, the speed of air supply or exhaust to the air cell 17 changes.
[0017]
Moreover, the massage machine 1 has the control apparatus 20 which consists of CPU. The operation amount of the operation tool 12 is input to the control device 20. As shown in FIG. 3, the operation tool 12 is constituted by, for example, a joystick. In the joystick 12, the operating rod 60 is attached to the supporting shaft 61 so as to be rotatable around the central axis 61a of the supporting shaft 61, and the rotation angle θ of the operating rod 60 is detected by the position sensor 62. The operation rod 60 is configured to be rotatable in the front-rear direction with the solid line position in FIG. 3 as a reference position. The detection output of the position sensor 62 is input to the control device 20 as the operation amount of the operation tool 12. The position sensor 62 includes a potentiometer, an encoder, and the like. As shown in FIG. 2, the massage driving unit 6 is provided with a position sensor 21 for detecting the rotation angle of the swing plate 15 and close to the air cell 17 of the air piping from the air cell 17 to the switching valve 19. A pressure sensor 31 is disposed in the portion, and detection outputs of the position sensor 21 and the pressure sensor 31 are input to the control device 20, respectively. The detection values of the pressure sensor 31 and the position sensor 21 are converted into the pressing force and position of the treatment element 8 in the control device 20, respectively. The position sensor 21 is composed of, for example, a potentiometer, an encoder, and the like. The switching valve 19 has an air supply control coil S and an exhaust control coil E connected to the control device 20, and the switching of the supply and discharge is controlled by the control device 20. The apertures A and B are controlled to be opened and closed by the control device 20.
[0018]
Next, operation | movement of the massage machine 1 comprised as mentioned above is demonstrated using the flowchart of FIG.4 and FIG.5. FIG. 4 is a flowchart showing the contents of the control program stored in the control device 20, and FIG. 5 is a flowchart showing the contents of feedback control in the flowchart of FIG.
[0019]
Below, operation | movement of the massage machine 1 is demonstrated based on a user's standard operation.
[0020]
1 to 4, when a user sits on the massage machine 1 and turns on a start switch (not shown), the massage machine 1 is started. The user first operates a lifting operation unit (not shown). Then, according to the operation, the motor 10 rotates and the massage driving unit 6 moves up and down, so that the position of the treatment element 8 in the vertical direction is adjusted to suit itself.
[0021]
On the other hand, when the massage machine 1 is started, the control device 20 first performs an initial setting of this control program (step S1). This initial setting includes a lower limit value Fmin of a pressing force (hereinafter simply referred to as a pressing force) F of the treatment element 8 to a user, an upper limit value Pmax of the position (hereinafter simply referred to as a position) P of the treatment element 8 and a pressing force F. This is performed by setting one-side dead zone Fd and one-side dead zone Pd at position P. Here, for example, Fmin = 3 kg, Pmax = 30 mm, Fd = 1 kg, and Pd = 1.5 mm. Next, the control device 20 acquires the pressing force F detected by the pressure sensor 31 (step S2), and compares this pressing force F with the lower limit value Fmax (step S3). Here, it is assumed that the user is not drowning in the backrest 2 and the treatment element 8 is not in contact with the user. Then, since the pressing force F is 0 kg, the control device 20 proceeds to step S4, acquires the position P detected by the position sensor 21, and then acquires the instruction value I (step S5). The instruction value I is an operation amount input from the operation tool 12 in the present embodiment. Next, the position of the treatment element 8 is feedback-controlled using the position P, which is an output value, toward the instruction value I. At this time, first, variable conversion is performed (step S6). This is because feedback control for the position of the treatment element 8 and feedback control for the pressing force of the treatment element 8 are performed by a common program. This variable conversion is performed by converting one-side dead zone TDZ = one-side dead zone Pd of position, current value TPF = position P, converted command value I ′ = command value I converted into position, command value TID = I ′. . Here, the instruction value I is converted into I ′ because the instruction value I represents the inclination angle θ of the joystick 12 and is converted into the position P that is the conversion value of the detection output of the position sensor 21. Because.
[0022]
Next, feedback control for the position of the treatment element 8 is executed (step S7), and then the process returns to step S1. The contents of this feedback control will be described later. Thereby, the treatment element 8 moves to a position corresponding to the inclination angle θ of the operation tool 12. Hereinafter, the control state for the treatment element 8 is referred to as position control. And this position control is continued unless the pressing force F becomes more than the lower limit Fmin in step S3. Here, in the force control described later, when the user is not seated on the massage machine 1, there is no target against which the treatment element 8 comes into contact, so the pressing force F remains zero and the treatment element does not rise. 8 will move forward to that limit, resulting in the problem of an unusual appearance. However, in this control program, since position control is performed at the start of control as described above, such a problem does not occur even if the user is not seated.
[0023]
Next, it is assumed that the user does not operate the operation tool 12 and falls into the treatment element 8 and the backrest 2 so that the pressing force F of the treatment element 8 is equal to or higher than the lower limit value Fmin.
[0024]
Then, in step S3, since the pressing force F becomes equal to or greater than the lower limit value Fmin, the control device 20 proceeds to step S8 and acquires the position P input from the position sensor 21. Next, the position P is compared with the upper limit value Pmax (step S9). Then, the operating tool 12 is located at the reference position, and therefore the position P is 0 mm. Therefore, the control device 20 proceeds to step S10 and acquires the pressing force F detected by the pressure sensor 31. Next, the instruction value I input from the operation tool 12 is acquired (step S11). Next, the position of the treatment element 8 is feedback-controlled toward the instruction value I using the pressing force F that is an output value. At this time, first, variable conversion is performed (step S12). This is because the feedback control for the position of the treatment element 8 and the feedback control for the pressing force of the treatment element 8 are performed by a common program as described above. This variable conversion is carried out as follows: one-side dead zone TDZ = one-side dead zone Fd of pressing force F, current value TPF = pressing force F, conversion instruction value I ″ = instruction value I converted to pressing force, instruction value TID = I ″ To do. Here, the instruction value I is converted to I ″ because the instruction value I represents the inclination angle θ of the joystick 12 and is converted to a pressing force F that is a conversion value of the detection output of the pressure sensor 31. It is to do.
[0025]
Next, feedback control for the position of the treatment element 8 is executed (step S13), and then the process returns to step S8. Thereby, the treatment element 8 presses the user with a pressing force according to the inclination angle θ of the operation tool 12. Therefore, the user can operate the operation tool 12 and receive a massage with a desired pressing force. Further, in this control state, even if the back of the user is about to leave the treatment element 8, the air cell 17 is supplied until the pressing force F reaches a value corresponding to the instruction value I, and the treatment element 8 is Since it moves forward, the treatment element 8 sticks to the back of the user and does not leave. Thereby, the user can enjoy a massage close to a manual massage. Hereinafter, the control state for the treatment element 8 is referred to as force control. Then, this force control is continued as long as the position P does not exceed the upper limit value Pmax in step S9.
[0026]
Next, it is assumed that a user who has received a sufficient massage has greatly separated his / her back from the backrest 2 and the treatment element 8. Then, in step S9, since the position P becomes equal to or higher than the upper limit value Pmax, the control device 20 proceeds to step S4. That is, the control device 20 switches to position control. As a result, the treatment element 8 is prevented from sticking to the back of the user and moving forward to the limit, and exhibiting an odd appearance.
[0027]
Next, feedback control for the treatment element 8 will be described. Referring also to FIG. 5, in steps S7 and S13 of FIG. 4, the control device 20 first calculates a deviation HEN by subtracting the current value TPF from the instruction value TID (step S21). Next, the absolute value of the deviation HEN is taken to calculate the absolute deviation AHEN (step S22). Next, the absolute deviation AHEN is compared with the dead zone TDZ (step S23) and processed as follows.
[0028]
If the absolute deviation AHEN is below the dead zone TDZ, the process proceeds to the next step in FIG.
[0029]
If the absolute deviation AHEN is 1 to 2 times the dead zone TDZ, these are controlled so that the aperture A with a small opening is opened and the aperture B with a large opening is closed (step S24). If the absolute deviation AHEN is not less than 2 times and less than 3 times the dead zone TDZ, these are controlled so that the aperture A with a small opening is closed and the aperture B with a large opening is opened (step S25). Further, when the absolute deviation AHEN is three times or more of the dead zone TDZ, these are controlled to open both the apertures A and B (step S26). Next, the sign of the deviation HEN is determined (step S27). If the deviation HEN is negative, the switching valve 19 is controlled to switch to the exhaust mode (step S28), and the deviation HEN is zero or positive. The control valve 19 is controlled to switch to the air supply mode (step S29). Thereafter, the process proceeds to the next step in FIG.
[0030]
Therefore, even if the current value TPF is deviated from the indicated value TID, if the deviation HEN is within the dead zone TDZ, the air cell 17 is not supplied or exhausted, so the position of the treatment element 8 or a slight pressing force is not obtained. The feedback control by the control device 20 is prevented from being performed on the deviation. Further, when the current value TPF is greatly below the instruction value TID, that is, when the deviation HEN is negative and the absolute value is large, the air cell 17 is initially supplied using both the apertures A and B. Accordingly, as the absolute value of the deviation HEN becomes smaller, the air cell 17 is supplied so that the total opening degree of the throttles A and B becomes smaller. On the contrary, when the current value TPF greatly exceeds the instruction value TID, that is, when the deviation HEN is positive and the absolute value is large, the air cell 17 is initially used by using both the apertures A and B. As the absolute value of the deviation HEN decreases, the air cell 17 is exhausted so that the total opening of the throttles A and B decreases. Accordingly, the position or pressure of the treatment element 8 is feedback controlled so as not to overshoot. As a result, the occurrence of hunting is prevented, and the controllability for the treatment element 8 is improved.
[0031]
As described above, in the massage machine 1 according to the present embodiment, the control for the treatment element 8 is automatically switched between the position control and the force control, so that the massage close to the manual massage is performed by the force control. When the user is far away from the backrest 2 or when the user is not seated, the position of the user 8 advances to the limit by automatically switching to position control. And an unusual appearance is prevented.
Embodiment 2
FIG. 6 is a perspective view schematically showing the configuration of the massage driving unit of the massage apparatus according to Embodiment 2 of the present invention. 6, the same reference numerals as those in FIG. 2 denote the same or corresponding parts.
[0032]
As shown in FIG. 6, the massage drive unit 6 of the massage machine according to the present embodiment includes a support member 13 (not shown in FIG. 6), a swing plate 15, a treatment element 8, and an air cell 17. The base 7 is arranged symmetrically with respect to the center line 101.
[0033]
More specifically, the base 7 is formed in a rectangular plate shape, and is arranged so that the center line 101 coincides with the central axis of the ball screw 9 in FIG. The base 7 is provided with a pair of left and right support members (not shown), and a pair of left and right swing plates 17L and 17R are attached to the support member so as to be swingable about the rotation shafts 14L and 14R. . The pair of left and right oscillating plates 17L and 17R are arranged such that both rotary shafts 14L and 14R are inclined in a C shape with respect to the center line 101 of the base 7 in a plan view of the base 7. . A pair of left and right treatment elements 8L and 8R are projected from the front of the pair of left and right swing plates 15L and 15R, and a pair of left and right air cells 17L and 17R are provided between the pair of left and right swing plates 15L and 15R and the base 7. Is arranged. Air pressure circuits from the throttles A and B in FIG. 2 to the air cell are provided for the pair of left and right air cells 17L and 17R, respectively, and each air pressure circuit is connected to the air pump 18 in FIG. Also, a pair of left and right position sensors (not shown) are installed at the bases of the pair of left and right swing plates 15L, 15R, and the detection output is input to the control device 20 of FIG.
[0034]
Then, the control device 20 controls the pair of left and right treatment elements 8L and 8R substantially independently by the control program shown in FIGS. However, with regard to switching between force control and position control, switching is made to force control when the pressing force of one treatment element becomes Fmin or more, and switching to position control is made when the position of one treatment element becomes Pmax or more. That is, the control device 20 acquires the pressing force F and the position P of both treatment elements in the control program for each treatment element (steps S2 and S8 in FIG. 4), and compares them with Fmin and Pmax, respectively. Processing is performed as described above (steps S3 and S9 in FIG. 4).
[0035]
With such a configuration, it is possible to perform massage such as itching or acupressure with a person's hands with respect to the user using the pair of treatment elements. Further, when the user is far away from the backrest or when the user is not seated, it is possible to prevent the treatment elements 8L and 8R from moving forward to the limit and exhibiting an odd appearance. .
Embodiment 3
FIG. 7 is a schematic diagram showing a configuration of a massage driving unit of a massage machine according to Embodiment 3 of the present invention. 7, the same reference numerals as those in FIG. 2 denote the same or corresponding parts.
[0036]
As shown in FIG. 7, the present embodiment is different from the first embodiment in that the treatment element 8 is mechanically driven instead of pneumatically.
[0037]
Specifically, in the present embodiment, the massage driving unit 6 has a motor M installed on the base 7. A ball screw 50 extending in the front-rear direction (X-axis direction) is connected to the main shaft of the motor M, and a guide shaft 54 parallel to the ball screw 50 is projected from the base 7. A movable body 51 is screwed into the ball screw 50 through a screw hole 51a. The movable body 51 is slidably fitted to the guide shaft 54 through the fitting hole 51c. The movable body 51 is formed with a guide hole 51b extending in the front-rear direction. The treatment element 8 is formed in a rod shape as a whole and has a flange portion 8b at the center, and the rear end portion 8a is slidably inserted into the guide hole 51. Further, a compression spring 53 is interposed between the flange portion 8 b of the treatment element 8 and the movable body 51. A force sensor 41 composed of a strain gauge, a load cell or the like is disposed between the compression spring 53 and the movable body 51, and a position sensor 42 is disposed between the treatment element 8 and the base 7. These detection outputs are respectively input to the control device 20. Further, the rotation direction and speed of the motor M are controlled by the control device 20. In the control program of FIG. 4, the detection output of the force sensor 41 corresponds to the pressing force F, and the detection output of the position sensor 42 corresponds to the position P. In the control program of FIG. 5, the forward and reverse rotations of the motor M correspond to the air supply mode and the exhaust mode of the switching valve, and the rotational speed of the motor M corresponds to the total opening of the throttles A and B.
[0038]
With this configuration, when the motor M rotates normally or reversely according to the control signal of the control device 20, the movable body 51 moves forward or backward. When the treatment element 8 comes into contact with the back of the user and the treatment element 8 is retracted, a repulsive force corresponding to the retraction amount is generated in the compression spring 53, and the treatment element 8 uses the repulsive force to Press. At this time, the pressing force of the treatment element 8 on the user is detected by the force sensor 41 and input to the control device 20. Further, the position of the treatment element 8 is detected by the position sensor 42 and input to the control device 20. The control device 20 compares the instruction value input from the operating tool 12 with the pressing force or position of the treatment element 8 while switching between force control and position control, and controls the operation of the motor M according to the deviation. . Thereby, feedback control of the pressing force or position of the treatment element 8 is carried out. As a result, the treatment element 8 can be mechanically driven to perform massage close to manual massage.
Embodiment 4
FIG. 8 is a cross-sectional view schematically showing the configuration of the massage driving unit of the massage apparatus according to Embodiment 4 of the present invention. 8, the same reference numerals as those in FIG. 2 denote the same or corresponding parts.
[0039]
As shown in FIG. 8, in the present embodiment, unlike the first embodiment, the massage driving unit 6 has a movable body 55 in which a guide bar 55b projects from the back surface of the mounting plate 55a. A guide hole 7b extending in the front-rear direction is formed. The treatment element 8 is projected from the front surface of the mounting plate 55a of the movable body 55, the guide rod 55b of the movable body 55 is slidably inserted into the guide hole 7b of the base 7, and the mounting plate 55a of the movable body 55 is inserted. An air cell 17 is disposed between the base 7 and the air cell 17. A seal member 43 made of an O-ring or the like is disposed on the inner surface of the guide hole 7b, so that the guide bar 55b can slide in an airtight manner with respect to the guide hole 7b. A position sensor 42 is disposed between the movable body 55 and the base 7, and its detection output is input to the control device 20. Other points are the same as in the first embodiment.
[0040]
In such a configuration, in the first embodiment, the treatment element 8 moves back and forth while drawing a circular arc trajectory, whereas in this embodiment, the treatment element 8 moves back and forth along a straight path, so that manual pressure is applied. A close massage can be performed.
[0041]
In the first to fourth embodiments, the treatment element 8 is feedback-controlled according to the operation amount of the operation tool 12, but the treatment element 8 is fed back according to the massage information (massage program, teaching information) stored in the storage means. You may make it control. In this case, the instruction value in the massage information input from the storage means instead of the operation amount input from the operation tool 12 may be used as the instruction value I in FIG. With such a configuration, the control performed by switching the force control and the position control for the treatment element 8 can be performed automatically or by teaching.
[0042]
In the first embodiment, as a countermeasure against hunting, the supply and exhaust speeds for the air cell are changed according to the deviation between the indicated value and the current value, but this may be omitted.
[0043]
In the first embodiment, variable conversion is performed to use a common feedback control program for both force control and position control. However, individual programs may be used.
[0044]
In the first embodiment, the operating rod 60 of the operating tool 12 may be configured to receive a reaction force according to the rotation angle θ. With such a configuration, the user can instruct the strength of the massage while receiving a reaction force according to the instruction value, and thus a massage closer to a manual massage can be performed.
[0045]
Moreover, although Embodiment 1-4 demonstrated the case where the treatment element 8 performs the massage which draws a circular arc or a linear track | orbit, the track | orbit of the treatment element 8 should just be what can massage.
[0046]
In the first to fourth embodiments, the case where the treatment element is feedback-controlled has been described. However, the present invention is not limited to this, and for example, the treatment element may be sequence-controlled.
[0047]
【The invention's effect】
The present invention is implemented in the form as described above, can perform massage close to manual massage, and can avoid problems due to force control by switching to position control as necessary. There is an effect.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an overall configuration of a massage machine according to Embodiment 1 of the present invention.
2 is a piping and block diagram showing a configuration of a control system of the massage machine of FIG. 1; FIG.
FIG. 3 is a schematic diagram illustrating a configuration of an operation tool.
FIG. 4 is a flowchart showing the contents of a control program stored in the control device.
FIG. 5 is a flowchart showing the content of feedback control in the flowchart of FIG. 4;
FIG. 6 is a perspective view schematically showing a configuration of a massage driving unit of a massage device according to Embodiment 2 of the present invention.
FIG. 7 is a schematic diagram showing a configuration of a massage driving unit of a massage machine according to Embodiment 3 of the present invention.
FIG. 8 is a cross-sectional view schematically showing a configuration of a massage driving unit of a massage device according to Embodiment 4 of the present invention.
[Explanation of symbols]
1 Massage machine
2 Backrest
3 seats
4 armrests
5 Lifting mechanism
6 Massage drive
7 base
7a threaded part
8,8L, 8R treatment
8a rear end
8b Flange
9 Ball screw
10 Lifting motor
12 Operation tool
13 Support member
14,14L, 14R Rotating shaft
15,15L, 15R Swing plate
17,17L, 17R Air cell
18 Air pump
19 Switching valve
20 Control unit
21 Position sensor
31 Pressure sensor
41 Force sensor
42 Position sensor
43 Seal material
50 Ball screw
51 Movable body
51a Screw hole
51b Guide hole
51c Mating hole
53 Compression spring
54 Guide shaft
55 Movable body
55a Mounting plate
55b guide bar
60 Operation
61 Spindle
61a Center axis
62 Position sensor
101 base centerline
E Exhaust control coil
M motor
S Air supply control coil

Claims (7)

A treatment element for massaging the user, a drive means for elastically massaging the treatment element, a position detection means for detecting the position of the treatment element, and the treatment element abutting against the user A pressing force detecting means for detecting a pressing force composed of an elastic force generated by the sensor, a position of the treatment element detected by the position detection means, and a pressing force detected by the pressing force detection means. depending on the massaging command representing the intensity of massage to be performed by, a massage machine and control means for controlling the operation of the treatment element through the drive means,
The control means performs the control by switching between position control, which is control with respect to the position of the treatment element, and force control, which is control with respect to the pressing force of the treatment element to the user, and is represented by the massage command. The position control is performed so as to control the position of the treatment element using the acquired position of the treatment element with the massage strength as a target, and the massage strength represented by the massage command is the target. The force control is performed by controlling the pressing force of the treatment element using the acquired pressing force, and the reference position of the treatment element based on the position of the treatment element acquired during the execution of the force control A massage machine that switches the control to the position control when the displacement from the head exceeds a predetermined value . The massage machine according to claim 1, wherein the control means performs the position control at the start of the control, and switches the control to the force control when the acquired pressing force exceeds a predetermined value. A plurality of the treatment elements are provided, and the driving means elastically massages the plurality of treatment elements, and includes the position detection means and the pressing force detection means corresponding to each treatment element. , the control means obtains the pressing force detected by the pressing force detection means is be located and their corresponding each treatment element detected by said position detecting means its corresponding, applied by the plurality of treatment element The operation of each treatment element is controlled via the drive means according to a massage command indicating the strength of massage to be performed, and the position control and the force control are switched based on any treatment element. The massage machine according to claim 1. The control means performs the position control at the start of the control, and switches the control to the force control when the acquired pressing force corresponding to any of the treatment elements exceeds a predetermined value. 3. The massage machine according to 3 . The control means switches the control to the position control when the displacement from the reference position of any of the treatment elements based on the position of the treatment element exceeds a predetermined value during execution of the force control. Item 4. Massage machine. The massage machine according to any one of claims 1 to 5 , wherein the massage command is an operation amount of an operation tool for a user to operate. The massage machine according to claim 6, wherein the operation tool is a joystick.

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