JP4114692B2 - Massage machine - Google Patents

Description

  The present invention relates to a chair type massage machine driven by a motor.

Conventionally, there is a chair type massage machine that can move like a combination of a squeezing action and a striking action by a combined movement of the treatment element, and a massage motor that drives the treatment element and a drive motor for itch It is known that a drive motor for tapping is provided and moved up and down by a lifting motor and a screw feed mechanism (see, for example, Japanese Patent Laid-Open Nos. 2000-350756 and 2002-282318). In addition, a first shaft body and a second shaft body are provided to operate the treatment element, and the mechanism is simplified and reduced in size by using a third shaft body having a one-way clutch to select and drive them. The one shown is known (see, for example, Japanese Patent No. 3124917).
However, in the massage machine as shown in the above-mentioned patent document, since the drive motor is included in the massage mechanism part that moves up and down while operating the treatment element, the massage mechanism part becomes heavy and its inertia is large. Thus, when moving the massage mechanism for changing the treatment position, there is a problem that it is difficult to perform fine and delicate operations and quick movement of the treatment position. Moreover, since the drive motor is included in the massage mechanism, there is a problem that it is difficult to make the backrest of the massage chair thinner and lighter.

The present invention solves the above-mentioned problems, and with a simple structure, the weight of the massage mechanism is reduced, the backrest is made thinner and lighter, the massage force is improved, the treatment positioning is highly accurate, and the treatment position. The purpose is to provide a massage machine that can speed up movement.
In order to achieve the above object, the present invention provides a chair-type massage machine having a seat portion and a backrest portion, the backrest portion including left and right treatment elements for massaging the back of the user. Left and right treatment child sleepers extending in the front-rear direction that hold the treatment elements at their front portions, and at least for performing a pushing operation, a scissor operation, and a treatment position up-and-down change operation by the treatment element by the rotational force of the motor Two are the first, second, and third drive motors whose positions are fixed with respect to the massage machine body, and the therapeutic sleeper that converts the rotation of the first drive motor into a vertical motion. A first vertical movement mechanism unit that is linked to the rear part of each of the first vertical movement mechanism part, and the rotation of the second drive motor is converted into a vertical movement to convert the front and rear parts of the sleeper sleepers. Phosphorus in between A second vertical movement mechanism for moving them up and down, and a left and right movement mechanism for converting the rotation of the third drive motor into a horizontal movement and linking them to the respective treatment sleepers to move them left and right And the first or second drive motor and the first or second vertical movement mechanism unit perform the pushing operation by the treatment element by repeating the operation of moving the treatment element sleeper up and down, The third drive motor and the right and left motion mechanism unit perform the scissors operation by the treatment element by repeating the operation of moving the treatment element sleeper to the left and right, and the first, second, and third drive motors cooperate with each other. It is characterized by performing an operation of changing the treatment position in the vertical direction by rotating.
According to this configuration, since the position of at least two of the three drive motors for performing the pushing operation, the scissor operation, and the vertical changing operation of the treatment position is fixed with respect to the massage machine main body, It is possible to reduce the weight of the massage mechanism that moves up and down while operating. Accordingly, when the treatment position is manually changed up and down, the inertial force acting on the massage mechanism is small, so that the positioning accuracy can be increased and the movement speed can be increased. Moreover, since the required value with respect to mechanical strength is relieved by weight reduction of a massage mechanism part, the drive motor which increases the volume is excluded, etc., the chair backrest part can be made thin. Further, the drive motor arranged at the fixed position can be a high-power motor and can perform powerful treatment.
In the above-described improved invention, the present invention is preferably such that the positions of the three drive motors are fixed with respect to the massage machine body. According to this configuration, the massage mechanism can be further reduced in weight and thickness.
According to the present invention, in the above-described improved invention, it is preferable that the drive motor whose position is fixed with respect to the massage machine main body is provided outside the therapeutic element movable range of the backrest portion. According to this structure, the backrest part of a chair can be reduced in thickness.
In the above-described improved invention, the present invention provides a straight line connecting the left and right link positions that link the therapeutic element sleeper and the first vertical movement mechanism part, and the therapeutic child sleeper and the second vertical movement mechanism part. It is preferable that the straight line connecting the left and right link positions linked to each other is parallel. According to this configuration, since the configuration of the two vertical movement mechanisms is clear and simple, the mechanism design and the treatment element operation can be easily controlled.
According to the present invention, in the above-described improved invention, the first vertical movement mechanism unit is engaged with a first screw rod in a vertical direction rotated by the first drive motor, and screwed into the screw rod. A nut that moves up and down by the rotation of the first drive motor, and a right-hand and left-hand screw on both left and right sides. A shaft, and left and right engaging nuts that are respectively screwed to the left and right screws of the rotating shaft to link the therapeutic element sleepers and move the therapeutic element sleepers up and down together with the rotating shaft. The vertical movement mechanism portion includes a second screw rod that is vertically rotated by the second drive motor, a nut that is screwed to the screw rod and moves up and down by the rotation of the second drive motor, Fix the approximate center to the nut A beam member in the left and right direction that moves up and down together with the nut, and is fixed to the left and right of the beam member so as to be slidable along the beam member. And a left and right sliding member that moves up and down, and the left and right motion mechanism portion transmits the rotation of the third drive motor to the rotating shaft, rotates the rotating shaft, and is screwed to the rotating shaft. It is preferable to provide a rotation transmitting member for moving the treatment element sleepers left and right by moving the treatment element sleepers left and right by separating or approaching the left and right treatment element sleepers linked to the engaging nut.
According to this configuration, since the first and second drive motors that rotate the first and second screw rods in the vertical direction can be arranged above or below the therapeutic element movable range of the backrest portion, the backrest portion of the chair can be arranged. Thinner.
According to the present invention, in the above-described improved invention, the first and second vertical movement mechanisms are first and second screw rods in the vertical direction rotated by the first and second drive motors. , Nuts that are screwed into these screw rods and move up and down by the rotation of the first and second drive motors, and first and right and left sides that move up and down together with these nuts with a substantially central portion fixed to these nuts. A second beam member and a slide which is fixed to the left and right sides of the beam member so as to be slidable along the beam members, and which links the treatment element sleepers to move the treatment element sleepers together with the beam members. The left and right motion mechanism unit includes a right and left rotation shaft having right and left screws on both left and right sides, and the left and right treatment child sleepers respectively screwed to the left and right screws of the rotation shaft. Two engaging nuts linked to each other The rotation of the third drive motor is transmitted to the rotating shaft, the rotating shaft is rotated, and the left and right treatment sleepers linked to the engaging nut screwed to the rotating shaft are separated from or approached to each other. It is preferable to provide a rotation transmitting member that moves these therapeutic element sleepers to the left and right.
According to this configuration, since the first and second drive motors that rotate the first and second screw rods in the vertical direction can be easily arranged above or below the therapeutic element movable range of the backrest portion, the backrest of the chair The thickness can be reduced.
In the above-described improved invention, the present invention preferably uses a worm and a worm wheel as the rotation transmission member. According to this configuration, since the worm gear is used, it is possible to omit a brake for preventing fluctuation of the treatment element interval due to an external force.
According to the present invention, in the above-described improved invention, the left and right motion mechanism sleepers are rotated by the third drive motor instead of the rotating shaft, the engaging nut, and the rotation transmitting member. A third screw rod in the vertical direction disposed substantially in the center of the screw, a nut that is screwed to the screw rod and moves up and down by the rotation of the third drive motor, and one end linked to the nut and spaced apart from each other. A pair of diagonal connecting rods that open and close the other end to convert the vertical movement of the nut into left and right movements, and the connecting rod and the left and right treatment sleepers provided at the other end of each connecting rod And an engaging member that moves these therapeutic sleepers to the left and right by the rotation of the third drive motor.
According to this structure, since the 3rd drive motor which rotates the 3rd screw rod of an up-down direction can be easily arrange | positioned on or under the therapeutic element movable range of a backrest part, the backrest part of a chair can be made thin.
According to the present invention, in the above-described improved invention, the engagement member is slid along the sliding member fixed to be slidable along the first beam member or along the second beam member. It is preferable that the sliding member is movably fixed. According to this configuration, the number of parts can be reduced, and the treatment child sleeper can be moved smoothly left and right.
In the above-described improved invention, the present invention preferably includes a drive source for performing a hitting operation by the treatment element. According to this configuration, it is possible to realize the hitting operation of the treatment element, to enrich the treatment contents by the treatment element, and to further improve the treatment effect.
In order to achieve the above object, the present invention provides a chair-type massage machine having a seat portion and a backrest portion, the backrest portion including left and right treatment elements for massaging the back of the user. Left and right treatment child sleepers extending in the front-rear direction that hold the treatment elements at their front portions, and at least for performing a pushing operation, a scissor operation, and a treatment position up-and-down change operation by the treatment element by the rotational force of the motor Two are the first, second, and third three drive motors whose positions are fixed outside the range of movement of the treatment element of the backrest relative to the massage machine body, and the rotation of the first drive motor is controlled to the left and right. A first left-right motion mechanism that converts the movement into a directional motion and links to the rear part of each of the treatment sleepers and moves them left and right; and the rotation of the second drive motor is converted into a lateral motion and the treatment Child pillow A second right and left motion mechanism that links between the front and rear of each of the two and a left and right movement mechanism, and the rotation of the third drive motor is converted into a vertical motion to each of the treatment child sleepers A vertical movement mechanism section that links and moves them up and down, the first drive motor and the first left and right movement mechanism section, or the second drive motor and the second left and right movement mechanism section. A scissor operation including a pushing operation by the treatment element is performed by repeating an operation of moving the treatment element sleeper to the left and right, the first drive motor, the first left-right motion mechanism unit, and the second drive motor; The second left-right motion mechanism unit performs the back-and-forth push operation by the treatment element by repeating the operation of moving the treatment element sleeper left and right in opposite phases, and the third drive motor and the vertical motion mechanism part are Therapeutic sleepers The scissor operation including the vertical movement by the treatment element is performed by repeating the downward movement operation, and the vertical change operation of the treatment position is performed by the first, second and third drive motors rotating in cooperation. It is characterized by performing.
According to this configuration, since the scissor operation by the treatment element is performed by the two motors, it is possible to obtain a massage machine that can perform the treatment by the powerful scissor operation or the normal strength scissor operation by the small motor.
In order to achieve the above object, the present invention provides a chair-type massage machine having a seat portion and a backrest portion, the backrest portion including left and right treatment elements for massaging the back of the user. There are left and right main sleepers extending in the front-rear direction to hold the treatment elements in the front parts, and left and right auxiliary sleepers that are linked in the front part and rear part of the main sleepers and extended in the front-rear direction. At least two of the left and right treatment piece sleepers and the push operation, scissor operation, and vertical change operation of the treatment position by the rotational force of the treatment device are fixed with respect to the massage machine main body. The first, second and third drive motors and the rotation of the first drive motor are converted into vertical motion, linked to the rear part of the main sleeper, and moved up and down to give a treatment element. Before and after A first vertical motion mechanism unit that performs a pushing operation, and a rotation of the second drive motor is converted into a vertical motion and linked to the rear part of each of the auxiliary sleepers to move them vertically. A second vertical movement mechanism that pushes a circular arc on the body, and the rotation of the third drive motor is converted into a horizontal movement and linked to each of the treatment sleepers to move them horizontally. A left-right motion mechanism unit that performs a scissor operation on the child, and the first, second, and third drive motors rotate in cooperation to perform a vertical change operation of the treatment position. .
According to this configuration, as the pushing operation by the treatment element, the front-rear direction pushing operation in which the treatment element moves forward and the up-down direction pushing action in which an arc is drawn and moved obliquely from top to bottom are possible. Since treatment can be performed from the front-rear direction and the diagonally up-down direction with respect to the waist, back, or shoulder of the user, the treatment content increases and the range of the treatment site is widened.
According to the present invention, in the above-described improved invention, the first and second vertical movement mechanisms are first and second screw rods in the vertical direction rotated by the first and second drive motors. , Nuts that are screwed into these screw rods and move up and down by the rotation of the first and second drive motors, and first and right and left sides that move up and down together with these nuts with a substantially central portion fixed to these nuts. A second beam member, and sliding members fixed to the left and right of the beam member so as to be slidable along the beam member, and the left and right motion mechanism portion is driven by the third drive motor. A third screw rod in the vertical direction that is rotated and arranged substantially in the center of the left and right sleeper sleepers, a nut that engages with the screw rod and moves up and down by the rotation of the third drive motor, and the nut Open and close the other ends that are linked to one end and separated from each other Then, a pair of diagonal connecting rods that convert the vertical movement of the nut into left and right movements, and the connecting rods provided at the other ends of the connecting rods and the left and right treatment element sleepers are linked. An engagement member that moves these therapeutic element sleepers to the left and right by the rotation of the third driving motor, and the driving motor whose position is fixed with respect to the massage machine body is out of the therapeutic element movable range of the backrest part. A rear end of the main sleeper is linked to the first vertical movement mechanism part via the sliding member, and is moved up and down by rotation of the first drive motor, The ends are preferably linked to the second vertical movement mechanism portion via the sliding members, respectively, and are moved up and down by the rotation of the second drive motor.
According to this configuration, the first to third drive motors that rotate the first to third screw rods in the vertical direction can be easily disposed above or below the treatment element movable range of the backrest portion, so that the backrest of the chair The thickness can be reduced.
According to the present invention, in the above-described improved invention, it is preferable that the main sleeper includes a driving source for performing a hitting operation by the treatment element, and the driving source is a linear actuator. According to this structure, the mechanism of the beating operation by the treatment element can be compactly incorporated around the treatment element.
According to the present invention, in the above-described improved invention, a tapping drive motor for performing a tapping operation by the treatment element is provided outside the treatment element movable range of the backrest portion, and the auxiliary sleeper tilts the rotational force of the tapping drive motor. It is preferable to provide a striking motion mechanism that converts the force to operate. According to this configuration, the tapping drive motor is disposed below, above or on the side of the treatment element movable range of the backrest part, so that a tapping operation by the treatment element is provided without increasing the drive mechanism around the treatment element. Can do.
The present invention is the above-described improved invention, wherein instead of the first, second, and third screw rods and nuts that are screwed into these screw rods to move up and down, the first, Three moving pulleys rotated by the second and third drive motors, three slave pulleys that are paired with these respective pulleys, and a first moving up and down by each pair of the aforementioned pulleys and slave pulleys First, second, and third wires; a wire connecting member that fixes the first and second wires to the first and second beam members; and the third wire that is the pair of diagonal directions. It is preferable to provide a wire link member linked to one end of the connecting rod. According to this structure, a drive transmission mechanism can be comprised more lightweight. Moreover, it is easy to install a motor to the side of the treatment element movable range.
According to the present invention, in the above-described improved invention, the first, second, and third screw rods and the nuts that move up and down by screwing into the screw rods are replaced with the first, second, and third screw rods. 3 and 3 link mechanisms each composed of a first link and a second link that convert the rotary motion of the second and third drive motors into a linear motion to move the portion provided with each nut up and down. It is preferable to provide. According to this configuration, the drive transmission mechanism can be configured at a lower cost simply by combining the links.
The present invention is the above-described improved invention, wherein the first, second, and third screw rods, nuts that move up and down by screwing into these screw rods, the first, second, and Instead of the third drive motor, it is preferable to include a pantograph-type vertical movement mechanism that moves the portion provided with each nut up and down, and an actuator that moves each vertical movement mechanism up and down. According to this configuration, the actuator that moves the pantograph up and down can be a direct acting type, and a drive transmission mechanism that is reduced in size and thickness can be configured using an air cylinder, a hydraulic cylinder, a voice coil motor capable of high-speed reaction, and the like.
According to the present invention, in the above-described improved invention, it is preferable that at least one of the drive motors is disposed in a lateral region of the movable range of the treatment element. According to this configuration, when the massage machine is installed in the rear seat of the car, when the side space is sufficient, the drive motor can be easily arranged at the lower or upper part of the side area of the treatment element movable range. -It can be installed and is useful.
According to the present invention, in the above-described improved invention, it is preferable that a drive source for performing a hitting operation by the treatment element is installed inside the treatment element movable range of the backrest portion. According to this configuration, a high-speed reciprocating operation can be realized with a simple structure by installing a drive source in the treatment element movable range.

FIG. 1 is a side conceptual view of a massage machine according to a first embodiment of the present invention.
FIG. 2 is a side conceptual view showing a modification of the massage machine.
FIG. 3 is a block diagram illustrating the operation of the massage machine.
FIG. 4 is an internal perspective view of the treatment element driving unit of the massage machine.
FIG. 5 is an internal perspective view of a massage mechanism portion of a massage machine according to the second embodiment of the present invention.
FIG. 6 is an internal perspective view of the massage mechanism part of the massage machine according to the third embodiment of the present invention.
FIG. 7 is an internal perspective view of the massage mechanism part of the massage machine according to the fourth embodiment of the present invention.
FIG. 8 is an internal perspective view of a massage mechanism portion of a massage machine according to the fifth embodiment of the present invention.
FIG. 9 is a block diagram illustrating the operation of the massage machine according to the sixth embodiment of the present invention.
FIG. 10 is an internal perspective view of the massage mechanism in the massage machine.
FIG. 11 is a block diagram illustrating the operation of the massage machine according to the seventh embodiment of the present invention.
FIG. 12 is explanatory drawing of the link mechanism of the treatment child sleeper in a massage machine same as the above.
FIG. 13 is an internal perspective view of the massage mechanism in the massage machine.
FIG. 14 is FIG. FIG. 13 is a side view of the massage mechanism shown in FIG.
FIG. 15 is an internal perspective view of a massage mechanism part of a massage machine according to an eighth embodiment of the present invention.
FIG. 16 is a graph showing the movement of one cycle of the left side treatment element in the massage machine as a positional displacement amount from the reference position with respect to time.
FIG. 17 is FIG. 16 is a graph showing changes in the rotation amount of each drive motor in one cycle corresponding to the movement of the left treatment element shown in FIG.
FIG. 18 is FIG. It is a figure which shows a motion of the left side treatment element shown to 16 as a locus | trajectory in three-dimensional space.
FIG. 19 is a side view of a therapeutic child sleeper portion for explaining the hitting operation of the massage machine according to the ninth embodiment of the present invention.
FIG. 20 is an internal perspective view of a massage mechanism of a massage machine according to the tenth embodiment of the present invention.
FIG. 21 is an internal perspective view of a massage mechanism of a massage machine according to an eleventh embodiment of the present invention.
FIG. 22 is an internal perspective view of a massage mechanism of a massage machine according to a twelfth embodiment of the present invention.
FIG. 23 is an internal perspective view of a massage mechanism of a massage machine according to a thirteenth embodiment of the present invention.
FIG. 24 is an internal perspective view of a massage mechanism of a massage machine according to a fourteenth embodiment of the present invention.
FIG. 25 is an internal perspective view of a massage mechanism part of a massage machine according to a fifteenth embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
(Embodiment 1)
FIG. 1 shows the concept of the massage machine 1 which concerns on the 1st Embodiment of this invention. The massage machine 1 is a chair-type massage machine having a seat 2 and a backrest 3, and a massager 4 on the backrest 3. The treatment element 4 has a pair of left and right components, and these treatment elements 4 are held at the front portions of the left and right treatment element sleepers 5 extended in the front-rear direction, and the mechanism unit 6 is interposed via the treatment element sleepers 5. Further, it is connected to a drive motor 7.
The treatment element 4 is driven by the mechanism unit 6 and can move and massage in a movable range 8 defined in a certain range in each of the vertical direction of the backrest unit 3 and the shoulder width direction (left-right direction). The treatment element 4 moves up and down along the backrest part 3 in the movable range 8 and pushes (squeezes), taps any position from the user's waist to the back, shoulders, neck and head. A massage treatment is performed with a sandwiching action. The treatment element 4 having a pair of left and right components treats the left and right parts of the back of the user. For example, a “scissor operation” for pinching the back of the neck can be performed by an operation in the width direction that widens or narrows the interval (interval in the width direction) between the left and right treatment elements 4. By the operation of moving the left and right treatment elements 4 back and forth, it is possible to perform a “front and back pushing operation” of pushing the back of the user who is leaning against the backrest from the back to the front. In other embodiments to be described later, in addition to the front / rear pushing operation, an “arc-like pushing operation” that pushes from diagonally upward or diagonally downward is also possible.
The drive motor 7 is a drive source for driving the mechanism unit 6 to perform a massaging operation of the treatment element 4 by its mechanical operation, and for driving the mechanism unit 6 connected to the treatment element 4 to move up and down. It is also a source. Therefore, a plurality of drive motors 7 are provided, and FIG. In the case of the massage machine 1 shown in FIG. 1, the massager 1 is provided outside the movable range 8 of the treatment element 4, that is, at the lower portion of the movable range 8 and on the left side (not shown) of the movable range 8. FIG. A massage machine 10 shown in FIG. 2 is a modification of the massage machine 1, and a drive motor 7 is provided above the movable range 8 of the treatment element 4. Hereinafter, the whole of the mechanism unit 6 including the treatment element 4, the sleepers 5, and the drive motor 7 is referred to as a massage mechanism unit, but the configuration thereof is not limited. In addition, FIG. 1 is appropriately referred to in the following description.
FIG. 3 shows a block configuration of the massage machine 1 mainly focusing on the massage mechanism. As described above, the massage machine 1 has at least two positions fixed to the massage machine main body for performing the pushing operation and the scissor operation by the treatment element 4 and the vertical change operation of the treatment position by the rotational force of the motor. The first, second, and third drive motors M1, M2, M3 and the rotation of the first drive motor M1 are converted into vertical movements and linked to the rear portions of the treatment sleepers 5. The first vertical movement mechanism A1 that moves them up and down and the rotation of the second drive motor M2 are converted into vertical movements and linked between the front and rear parts of the treatment sleeper 5 to link them. The second vertical movement mechanism part A2 that moves up and down and the left and right movement mechanism part W that converts the rotation of the third drive motor M3 into a horizontal movement and links it to the treatment sleepers 5 to move them left and right. And the patient is A handler H for operating the Ssaji machine includes a control unit C for controlling the respective drive motors on the basis of a signal from the operation unit H.
The pushing operation by the treatment element 4 repeats the operation in which the first and second drive motors M1 and M2 and, therefore, the first and second vertical movement mechanisms A1 and A2 move the treatment element sleeper 5 up and down in reverse phase. This is performed by causing the treatment child sleeper 5 to perform a seesaw operation. This pushing operation is a “front-rear pushing operation”. The scissors operation by the treatment element 4 is performed by the third drive motor M3, and thus the left and right movement mechanism W, repeating the operation of moving the treatment element sleeper 5 left and right. The treatment position vertical direction changing operation is performed by the first, second, and third drive motors M1, M2, and M3 rotating in cooperation.
FIG. 4 shows the internal structure of the massage mechanism 100 in the massage machine 1. FIG. 1, FIG. This will be described with reference to FIG. The first vertical movement mechanism A1 of the massage mechanism 100 is a first screw rod 101 in the vertical direction rotated by the first drive motor M11 and the first drive motor M11 screwed into the screw rod 101. The nut 102 that moves up and down by the rotation of the screw, the right screw 113 and the left screw 112 on the left and right sides, and the substantially central portion thereof is rotatably fixed to the nut 102 and moves in the left and right direction together with the nut 102. 111 and left and right screws 113, 112 of the rotating shaft 111, and the left and right engaging nuts 115, 114 which are respectively linked to the treatment element sleepers 5 to move the treatment element sleepers 5 up and down together with the rotation shaft 111. And.
The second up-and-down motion mechanism part A2 moves up and down by the second screw rod 131 in the vertical direction rotated by the second drive motor M12 and the second drive motor M12 which is screwed into the screw rod 131 and rotated. A nut 132 that is fixed to the left and right of the beam member 141 slidably along the beam member 141. Left and right sliding members 142 that link the treatment child sleepers 5 and move the treatment child sleepers 5 up and down together with the beam members 141 are provided.
The left and right motion mechanism W transmits the rotation of the third drive motor M13 to the rotation shaft 111, rotates the rotation shaft 111, and links the left and right movement nuts 115 and 114 that are screwed to the rotation shaft 111. A rotation transmitting member 124 is provided to move the treatment child sleepers 5 left and right by moving the treatment child sleepers 5 apart or close to each other. The rotation transmitting member 124 includes a driving motor M13 and a pulley provided on the rotating shaft 111 and a belt that is spanned between the pulleys. The rotary shaft 111 is slidable in the vertical direction by the sliding member 122 with respect to the vertical guide shaft 121 provided on the left and right of the backrest portion 3 in the massage machine 1 and is rotatable about its own rotary shaft. And is moved up and down along the guide shaft 121 as the drive motor M11 rotates. Similarly, the drive motor M13 is constrained to be slidable in the vertical direction on the guide shaft 121 by the sliding member 123 in a state where the vertical distance from the rotating shaft 111 is kept constant.
The structure which links the treatment child sleeper 5 and the engaging nuts 115 and 114, and the treatment child sleeper 5 and the sliding member 142 provides a degree of freedom with respect to a desired movement by a ball joint, a cylindrical joint, or a combination thereof. , Configured to achieve a certain restraint state. Such a structure for linking two members is similarly used in most massage machines described below.
The left and right link positions where the therapeutic child sleepers 5 and the first vertical movement mechanism portion A1 are linked are the positions of the engaging nuts 115 and 114, which are along the rotation shaft 111. The left and right link positions where the second vertical movement mechanism portion A2 is linked are the positions of the left and right sliding members 142, which are along the left and right beam members 141, and the rotation shaft 111 and the beam member 141. Are provided in parallel to each other. The configuration of the two vertical movement mechanism parts A1 and A2 is clear and simple, the mechanism design and the control of the treatment element operation are easy, and the treatment element 4 can be smoothly moved in the left-right direction.
In the above configuration, when the vertical movements of the rotating shaft 111 and the beam material 141 by the rotation of the drive motor M11 and the drive motor M12 are performed at the same rate, if the drive motors M11 and M12 rotate at a constant speed, the left and right treatment elements 4 moves up and down while maintaining a certain posture.
Further, when the drive motor M11, M12, for example, the drive motor M11 is stopped and the drive motor M12 is alternately rotated in the counterclockwise direction and the clockwise direction at regular intervals, the nut 102 is caused to reciprocate vertically. The treatment sleeper 5 tilts (seesaw) around the rotation shaft 111. At this time, the treatment element 4 moves back and forth between the first position state PS1 and the second position state PS2. Thereby, the back and forth pushing operation by the treatment element 4 is performed. In addition, 1st position state PS1 is the state which the treatment child sleeper 5 stood up most. At this time, the nut 102 is on the bottom and the nut 132 is on the top, and they are in a state of being largely separated from each other. The second position state PS2 is a state in which the therapeutic element sleepers 5 have fallen forward and the therapeutic element 4 has advanced forward. At this time, the nut 102 and the nut 132 are in a state of being closest to each other. Such a tilting operation of the sleeper 5 can be performed by operating only the drive motor M12 or by rotating both the drive motors M11 and M12 in opposite phases.
Further, when the drive motor M13 is rotated by repeating forward and reverse rotation at regular time intervals, the scissors operation by the treatment element 4 can be performed. By superimposing the operations of these treatment elements 4, it is possible to perform a combined movement of the treatment element 4 in the vertical movement, pushing operation, and scissor operation.
Further, when the drive motor M13 operates alone, the left and right treatment element sleepers 5 move in opposite directions via the engaging nuts 115 and 114, so that the width of the treatment element 4 can be changed.
The first and second drive motors M11 and M12 described above are fixed to the massage machine main body below the therapeutic element movable range 8 of the backrest part 3, and the backrest part 3 of the chair can be thinned. .
Note that FIG. 5-FIG. A treatment sleeper 5 in each massage mechanism shown in FIG. 8 represents the state of the second position state PS2 described above. That is, in these drawings, a pushed state in which the treatment element 4 moves most forward is shown.
(Embodiment 2)
FIG. 5 shows an internal structure of the massage mechanism 200 in the massage machine according to the second embodiment of the present invention. The appearance of this massage machine is shown in FIG. 1 is the same as the massage machine 1 shown in FIG. 3 are the same as those shown in FIG. The massage mechanism unit 200 is shown in FIG. 4 has a structure in which the rotating shaft 111 in the massage mechanism unit 100 shown in FIG. 4 is separated into a beam material 211 for vertical movement and a rotating shaft 251.
The first and second vertical movement mechanism parts A1 and A2 of the massage mechanism part 200 are first and second screw rods 201 and 231 in the vertical direction rotated by the first and second drive motors M21 and M22. The nuts 202 and 232 that are screwed into the screw rods 201 and 231 and move up and down by the rotation of the first and second drive motors M21 and M22, and the nuts 202 and 232. First and second beam members 211 and 241 in the left-right direction that move up and down together with nuts 202 and 232, and a sleeper sleeper fixed to the left and right of the beam members so as to be slidable along these beam members 211 and 241. 5 are linked to slide members 212 and 242 that link these members 5 and move the treatment sleepers 5 together with the beam members.
The left and right motion mechanism W is screwed into a left and right rotating shaft 251 having a right screw 253 and a left screw 252 on both left and right sides, and left and right screws 253 and 252 of the rotating shaft 251, respectively. The engaging nuts 255 and 254 linked to the sleepers 5 and the rotation of the third drive motor M23 are transmitted to the rotating shaft 251 to rotate the rotating shaft 251 and are screwed to the rotating shaft 251. And a rotation transmission member 224 that moves the treatment element sleepers 5 left and right by separating or approaching the treatment element sleepers 5 on the left and right linked to the nuts 255 and 254. The rotation transmission member 224 includes a drive motor M23 and a pulley provided on the rotation shaft 251 and a belt that is spanned between the pulleys.
In such a configuration, when the drive motors M21 and M22 rotate so that the nuts 202 and 232 move up and down in directions opposite to each other, the seesaws in which the beam members 211 and 241 move up and down in directions opposite to each other about the rotation shaft 251. Since the movement occurs, it is possible to push back and forth by the back and forth movement of the treatment element 4. Other configurations, operations, and effects of the massage mechanism unit 200 are the same as those of the massage mechanism unit 100 described above, and are omitted.
(Embodiment 3)
FIG. 6 shows the internal structure of the massage mechanism 300 in the massage machine according to the third embodiment of the present invention. FIG. 1 shows a configuration common to this massage machine. 1 and FIG. 3 is referred to appropriately. This massage mechanism unit 300 is shown in FIG. A worm and a worm wheel are used instead of the rotation transmission member 224 including a pulley of the left and right motion mechanism W in the massage mechanism 200 shown in FIG.
The third drive motor M33 is provided below the treatment element movable range 8 in the same manner as the first and second drive motors M31 and M32, and its rotation is composed of a vertical rotation shaft 351, a worm and a worm wheel. By the rotation direction conversion mechanism 352, it is transmitted to the left and right rotation shaft 331 constituting the left and right motion mechanism portion W.
By configuring the rotation direction conversion mechanism 352 to be slidable in the vertical direction of the rotary shaft 351, the vertical change operation of the treatment position can be performed only by the first and second drive motors M31 and M32. By using the worm gear, there is no need to provide a brake for preventing fluctuations in the treatment element interval due to external force. Other structures are the same as those described above, and a description thereof will be omitted.
(Embodiment 4)
FIG. 7 shows the internal structure of the massage mechanism 400 in the massage machine according to the fourth embodiment of the present invention. FIG. 1 shows a configuration common to this massage machine. 1 and FIG. 3 is referred to appropriately. This massage mechanism 400 is shown in FIG. In place of the rotating shaft 251, the engaging nuts 255, 254, and the rotation transmitting member 224 of the left-right motion mechanism W in the massage mechanism 200 shown in FIG. 5, a link mechanism including a pair of diagonal connecting rods is used. is there.
The left and right motion mechanism W of the massage mechanism 400 is rotated by a third drive motor M43 and is arranged with a third screw rod 431 in the vertical direction arranged at a substantially intermediate position between the left and right treatment child sleepers 5 and the screw rod 431. And a nut 432 that moves up and down by the rotation of the third drive motor M43, and opens and closes the other end that is linked to the nut 432 and spaced apart from each other, thereby making the nut 432 move up and down. A pair of diagonal connecting rods 433 to be converted, and the connecting rods 433 provided at the other end of each connecting rod 433 are linked to the left and right treatment sleepers 5 and the third drive motor M43 is rotated to rotate them. And an engaging member 442 for moving the therapy child sleeper 5 left and right.
The engaging member 442 slides along a third beam member 441 provided in parallel with the first and second beam members 411 and 471 constituting the first and second vertical movement mechanisms A1 and A2. The sliding member is freely fixed.
In such a configuration, by rotating the drive motors M41, M42, and M43 so that the nuts 402, 462, and 432 are raised or lowered at the same moving speed, the treatment between the left and right treatment elements 4 is not changed. Since the child 4 as a whole moves up and down, the treatment position can be changed in the vertical direction.
The third drive motor M43 is provided below the treatment element movable range 8 similarly to the first and second drive motors M41 and M42. According to this configuration, since the third drive motor M43 that rotates the third screw rod 431 in the vertical direction can be easily disposed below the therapeutic element movable range 8 of the backrest portion 3, the backrest portion of the chair can be thinned. . Other structures are the same as those described above, and a description thereof will be omitted.
(Embodiment 5)
FIG. 8 shows the internal structure of the massage mechanism 500 in the massage machine according to the fifth embodiment of the present invention. FIG. 1 shows a configuration common to this massage machine. 1 and FIG. 3 is referred to appropriately. This massage mechanism unit 500 is shown in FIG. Instead of the engaging nuts 115 and 114 and the rotation transmission member 124 of the left and right motion mechanism W in the massage mechanism 100 shown in FIG. 4, a link mechanism including a pair of diagonal connecting rods is used. From another point of view, this massage mechanism 500 is shown in FIG. In the massage mechanism 400 shown in FIG. 7, the engaging member 442 in the left and right motion mechanism W and the sliding member 412 in the first vertical motion mechanism A1 are configured in common.
According to such a configuration, the massage mechanism unit 500 fixes the third drive motor M53 below the treatment element movable range 8, so that FIG. 4 is lighter than the massaging mechanism 100 shown in FIG. 4, and there are two beam members in the left-right direction. The backrest 3 can be made thinner than the massage mechanism 400 shown in FIG.
(Embodiment 6)
FIG. 9 shows the block structure which paid its attention to the massage mechanism part in the massage machine which concerns on the 6th Embodiment of this invention. The appearance of this massage machine is shown in FIG. This is the same as the massage machine 1 shown in FIG.
In this massage machine, as described above, at least two positions for performing the pushing operation and the scissor operation by the treatment element 4 and the vertical change operation of the treatment position by the rotational force of the motor are fixed with respect to the massage machine body. The first, second, and third drive motors M1, M2, and M3 are provided, and the rotation of the first drive motor M1 is converted into a lateral movement, and the rear end of each of the treatment child sleepers 5 is converted. The first left and right motion mechanism W1 that links and moves them to the left and right, and the rotation of the second drive motor M2 is converted into a left and right motion to link between the front and rear portions of the treatment sleeper 5. The second left and right motion mechanism W2 that moves these left and right, and the vertical motion mechanism that converts the rotation of the third drive motor M3 into a vertical motion and links them to each of the treatment sleepers 5 to move them up and down. Part A; It is provided.
The first drive motor M1 or the second drive motor M2 and the first left-right motion mechanism W1 or the second left-right motion mechanism W2 repeat the operation of moving the treatment sleeper 5 left and right to perform treatment. The scissors operation by the child 4 is performed including the pushing operation. When the first drive motor M1, the second drive motor M2, and thus the first left-right motion mechanism W1 and the second left-right motion mechanism W2 operate in opposite phases, the seesaw operation of the treatment sleeper 5 occurs. Thus, the front / rear pushing operation by the treatment element 4 is performed. The scissor operation including the vertical movement by the treatment element 4 is performed by the third drive motor M3 and the vertical movement mechanism part A repeating the movement of moving the treatment element sleeper 5 up and down. The first, second, and third drive motors M1, M2, and M3 rotate in cooperation with each other so that the treatment position is changed in the vertical direction.
FIG. 10 shows the internal structure of the massage mechanism 600 in this massage machine. The first left-right motion mechanism W1 of the massage mechanism 600 is a first screw rod 601 in the vertical direction rotated by the first drive motor M61, and is screwed into the screw rod 601 to be engaged with the first drive motor M61. And a pair of slanted connecting rods that convert the vertical movement of the nut 602 into a horizontal movement by opening and closing the other ends that are linked to the nut 602 and spaced apart from each other. 611 and the connecting rod 611 provided at the other end of each connecting rod 611 are linked to link the left and right treatment child sleepers 5 so that these treatment child sleepers 5 are moved left and right by the rotation of the first drive motor M61. Member 612. The second left / right motion mechanism W2 includes the same components as the first left / right motion mechanism W1.
The vertical motion mechanism A includes a third screw rod 651 in the vertical direction rotated by the third drive motor M63, and a nut 653 that is screwed into the screw rod 651 and moves up and down by the rotation of the third drive motor M63. And a beam member 631 in the left-right direction that is fixed to the nut 653 at a substantially central portion and moves up and down together with the nut 653, and is fixed to the left and right of the beam member 631 slidably along the beam member 631, respectively. And left and right sliding members 632 that link these members 5 and move these therapeutic element sleepers 5 together with the beam members 631 up and down.
The beam member 631 is restrained by a sliding member 642 so as to be slidable in the vertical direction with respect to a vertical guide shaft 641 provided on the left and right of the backrest part 3 of the massage machine body, and the drive motor M63 is rotated. Accordingly, it moves up and down along the guide shaft 641.
As described above, the massage mechanism unit 600 is configured to drive the pushing operation and the width direction operation of the treatment element 4 by the two drive motors M61 and M62. The drive motor M63 moves the treatment element 4 and the treatment element sleeper 5 and a part of the first and second left and right motion mechanism parts W1 and W2 and a part of the vertical motion mechanism part A up and down via the beam member 631. At this time, since the treatment element 4 also moves left and right, the scissor operation is realized. If the three drive motors M61, M62, and M63 rotate at the same speed in the same direction, the treatment is performed under the assumption that the vertical movement ratios of the nuts 602, 622, and 653 are the same for each motor. The child 4 simply moves up or down (up / down direction changing operation).
If the drive motor M63 is stopped and the drive motors M61 and M62 rotate at the same speed in the same direction, the width of the treatment element 4 is controlled so as to be separated or approached, whereby the scissor operation can be performed. Since the scissor operation by the treatment element 4 is performed using the two drive motors M61 and M62, it is possible to perform treatment by a powerful scissor operation or a normal scissor operation by a small motor.
If any one of the first and second drive motors M61 and M62 among the three drive motors rotates, the scissor operation including the pushing operation by the treatment element 4 is realized.
If the drive motor M63 is stopped and the drive motors M61 and M62 rotate in different directions, the first and second left and right motion mechanism parts W1 and W2 operate in directions opposite to each other, and the beam 5 is applied to the sleepers 5. Since the seesaw operation centering on 631 occurs, the treatment element 4 moves back and forth including the scissors operation. At this time, the treatment element 4 moves back and forth between the first position state PS1 and the second position state PS2. Thereby, the front-rear pushing operation including the scissors operation by the treatment element 4 is performed. In addition, 1st position state PS1 is the state which the treatment child sleeper 5 stood up most. At this time, the nut 602 is on the lower side and the nut 622 is on the upper side, which are in a state of being largely separated from each other. The second position state PS2 is a state in which the therapeutic element sleepers 5 have fallen forward and the therapeutic element 4 has advanced forward. At this time, the nut 602 and the nut 622 are in a state of being closest to each other.
(Embodiment 7)
FIG. 11 shows the block structure which paid its attention to the massage mechanism part in the massage machine which concerns on the 7th Embodiment of this invention, FIG. Reference numeral 12 denotes a link mechanism of the treatment child sleepers. The appearance of this massage machine is shown in FIG. This is the same as the massage machine 1 shown in FIG. The massager sleepers 5 of this massage machine are shown in FIG. 12, the left and right main sleepers 51 that are stretched in the front-rear direction holding the treatment elements 4 at the front portions thereof, and the front portions are linked between the front and rear portions of the main sleepers 51, respectively, in the front-rear direction. Left and right auxiliary sleepers 52 are provided. The movement of the treatment element 4 by the treatment element sleepers 5 will be described later.
A massage machine having such a therapeutic child sleeper 5 is shown in FIG. As shown in FIG. 11, as described above, at least two for performing the pushing operation and the scissor operation by the treatment element 4 and the vertical changing operation of the treatment position by the rotational force of the motor are fixed in position relative to the massage machine body. The first, second, and third drive motors M1, M2, and M3 are provided, and the rotation of the first drive motor M1 is converted into a vertical motion so that each rear part of the main sleeper 51 The rotation of the first up-and-down motion mechanism part B1 that links and moves these members up and down to move the treatment element 4 back and forth, and the rotation of the second drive motor M2 are converted into the up-and-down motion and the auxiliary sleeper 52 The second vertical movement mechanism B2 that links the rear part of each of the two and moves them up and down to push the treatment element into a circular motion, and the rotation of the third drive motor M3 is converted into a horizontal movement. Left and right treatment child sleepers It includes the left and right motion mechanism W for the scissors operated to link by lateral movement of these treatment elements 4 respectively, the. The first, second, and third drive motors M1, M2, and M3 rotate in cooperation with each other so that the treatment position is changed in the vertical direction.
The movement of the treatment element 4 by the treatment element sleepers 5 will be described. The push operation by the treatment element 4 includes a push operation before and after pushing the back and waist from the back to the front, and a push operation of the shoulder and the like from top to bottom. In order to realize these pushing operations by the treatment element 4 by the link mechanism, FIG. As shown in FIG. 12, the treatment child sleeper 5 includes a main sleeper 51 and an auxiliary sleeper 52 (described above). The treatment element 4 is provided in the front part of the main sleeper 51, and the rear part of the main sleeper 21 is supported by the first support part 22 so as to be movable up and down along the guide shaft 26 by a link mechanism. Further, the front part of the auxiliary sleeper 52 is rotatably coupled to the center part of the main sleeper 51 by the link part 24, and the rear part of the auxiliary sleeper 52 can be moved up and down along the guide shaft 26 by the link mechanism. 25.
In such a link mechanism (Scott Russell approximate parallel movement mechanism) of the sleeper 5, when the second support part 25 is fixed and the first support part 22 is moved up and down along the guide shaft 26, the treatment element 4 can be caused to perform a linear motion substantially in the front-rear direction as indicated by an arrow 30. By such a linear motion, a back-and-forth pushing operation is realized by pushing the back and waist with the treatment element 4 from the rear to the front. Further, when the first support portion 22 is fixed and the second support portion 25 is moved up and down, the treatment element 4 can be moved in the arc direction as indicated by arrows 31 and 32. This operation realizes an arc-like pushing operation in which the shoulder and the back are slanted from the top to the bottom, or the back is slanted from the bottom to the top. As described above, the link mechanism of the treatment element sleepers 5 can realize the pushing operation before and after the treatment element 4 moves back and forth and the arc-like pushing movement that moves while drawing an arc, and the waist and back of the user. Or, since treatment can be performed from the front-rear direction and the diagonally up-down direction with respect to the shoulder, the treatment content is increased and the treatment range is widened.
FIG. 13, FIG. 14 shows the internal structure of the massage mechanism 700 in this massage machine. The first and second vertical motion mechanism parts B1 and B2 of the massage mechanism part 700 are first and second screw rods 701 and 731 in the vertical direction rotated by the first and second drive motors M71 and M72. , Nuts 702 and 732 which are screwed into these screw rods 701 and 731 and move up and down by the rotation of the first and second drive motors M71 and M72, and these nuts 702 and 732 are fixed at a substantially central portion thereof. First and second beam members 711 and 741 moving in the up and down direction together with the nuts 702 and 732 and fixed to the left and right of the beam members 711 and 741 slidably along these beam members 711 and 741. Sliding members 712, 742.
The left-right motion mechanism W is rotated by a third drive motor M73 and is vertically engaged with a third screw rod 771 in the vertical direction disposed at a substantially intermediate position between the left and right treatment ties 5 and the screw rod 771. A pair of nuts 772 that move up and down by the rotation of the drive motor M73, and a pair of ends that are linked to the nuts 772 and that are spaced apart from each other to open and close to convert the up and down movement of the nuts 772 into left and right movements. The connecting rod 781 in the oblique direction and the connecting rod 781 provided on the other end of each connecting rod 781 are linked to the left and right treatment child sleepers 5 and these treatment child sleepers 5 are connected by rotation of the third drive motor M73. And an engaging member 762 that moves left and right.
The left and right engaging members 762 are slidable along the left and right third beam members 761 provided in parallel with the first and second beam members 711 and 741 and to the left and right of the third beam member 761. It is fixed. Further, the engaging member 762 is provided in the vicinity of the position where the main sleeper 51 and the auxiliary sleeper 52 in the treatment child sleeper 5 are coupled.
The positions of the three drive motors M71, M72, M73 are fixed with respect to the massage machine main body, and are provided below the therapeutic element movable range 8 of the backrest portion 3, and the rear ends of the main sleepers 51 are each provided with a sliding member 712. The first up-and-down motion mechanism B1 is linked to move up and down by the rotation of the first drive motor M71, and the rear ends of the auxiliary sleepers 52 are respectively connected to the second up-and-down motion mechanism through the sliding members 742. It is linked to B2 and moves up and down by the rotation of the second drive motor M72.
In the massaging mechanism 700, the sliding member 712 is connected to the FIG. 12, the sliding member 742 corresponds to the second support portion 25, and the guide shaft 721 corresponds to the guide shaft 26.
When the drive motors M71, M72, and M73 rotate in the same direction at a constant speed, the treatment element 4 simply moves up and down in the same arrangement under a predetermined precondition. When the drive motors M71 and M72 are stopped and the drive motor M73 rotates, the nut 772 moves up and down, and the interval (width) between the treatment elements 4 is controlled. When the drive motors M71 and M73 are stopped and the drive motor M72 rotates, the nut 732 moves up and down, and the operation of the treatment element 4 becomes a push operation along the arcuate path from obliquely upward to downward. When the drive motors M72 and M73 are stopped and the drive motor M71 rotates, the nut 702 moves up and down, and the operation of the treatment element 4 becomes a substantially linear push operation from the rear to the front. By combining the movements of these treatment elements 4, it is possible to push the treatment person from the side (effective on the waist and back) or diagonally above (effective on the shoulder). Become wider.
According to such a configuration, the first to third drive motors M71, M72, and M73 that rotate the first to third screw rods 701, 731, and 771 in the vertical direction are moved to the treatment element movable range 8 of the backrest portion 3. Since the chair can be easily arranged on the top or bottom, the backrest 3 of the chair can be thinned.
(Embodiment 8)
FIG. 15 shows the internal structure of the massage mechanism 800 in the massage machine according to the eighth embodiment of the present invention. The massage mechanism 800 has a structure in which the position of the engagement member 762 for linking the connecting rod 781 to the treatment sleeper 5 in the massage mechanism 700 is moved from the third beam member 761 to the first beam member 711. Further, the pair of connecting rods 781 is structured so as to be spaced downward from the structure spaced upward. That is, the nut 872 constituting the left and right motion mechanism portion in the massage mechanism portion 800 is provided above the first beam member 811 of the first vertical motion mechanism portion, and the pair of left and right connecting rods 881 are formed of the nut 872. The lower ends are linked to the sliding members 812 and 842 provided on the first beam member 811. The rear ends of the main sleepers 51 are linked to the sliding members 812 and 842. Since the pair of connecting rods 881 are separated from each other below, unlike the case of the massage mechanism 700, the nut 872 is lowered, so that the distance between the left and right treatment sleepers 5 is increased. The other structure is the same as that of the massage mechanism 700.
Next, FIG. 16, FIG. 17, and FIG. 18, an example of temporal massage operation of the treatment element 4 in the massage mechanism unit 800 will be described. The therapeutic element 4 to be noticed is FIG. 15 is a treatment element 4 on the left side. The position coordinates of the treatment element 4 are expressed by XYZ coordinates having an origin at a predetermined reference position. The X-axis direction is the front-rear direction, the forward direction is the positive direction, the Y-axis direction is the left-right direction, the left direction, that is, the direction in which the treatment elements are separated from each other, the positive direction, the Z-axis direction is the up-down direction, The direction is positive.
FIG. Reference numeral 16 denotes a position change in one cycle T of the treatment element operation. The treatment element repeats such a periodic movement many times to perform a massage operation, and a massage effect is obtained. One period T is about several seconds. FIG. Reference numeral 17 denotes rotation amounts Rx, Rz, Ry in one cycle T of the drive motors M81, M82, M83 for causing the treatment element to perform such an operation. There is a one-to-one correspondence between the left and right movements (Y direction) of the treatment element, that is, the Y coordinate value and the rotation amount Ry. The movement of the treatment element in the X and Z directions is determined by the combined value of the rotation amounts Rx and Rz.
FIG. 18 is shown in FIG. The position change shown in FIG. 16 is represented as a trajectory in a three-dimensional space. A time t1 at which Z = 0 in the vertical direction, a time t2 at which the maximum deflection width is obtained in the left-right direction, and a time t3 at which X = 0 in the front-back direction are set as FIG. 18 respectively. The movement of the treatment element shown in these figures is, for example, by pushing the left shoulder of the user from the upper side to the lower left side, pushing forward, and then performing the scissor operation toward the neck of the user. However, the movement of returning to the treatment element origin is repeated.
(Embodiment 9)
FIG. 19 shows the structure of the treatment child sleeper in the massage machine according to the ninth embodiment of the present invention. The massage operation by the treatment element includes a hitting operation in addition to a pushing operation, a kneading operation, and a scissor operation. The hitting operation by the treatment element is an operation in which the left and right treatment elements are alternately reciprocated at a high speed, and when the treatment position is the shoulder, it is a shoulder hitting action. This tapping operation is performed by alternately operating the left and right treatment elements with an amplitude of several mm to several tens of mm.
The treatment element 4 is shown in FIG. 19, it is supported by a link mechanism (see description of FIG. 12) composed of a main sleeper 51 and an auxiliary sleeper 52. The main sleeper 51 is provided with a linear actuator 50 between the link part 24 that links the auxiliary sleeper 52 and the first support part 22 that supports the main sleeper 51. As indicated by arrows, the linear actuator 50 expands and contracts in the thickness direction, and the vibration is amplified as vibration of the treatment element 4 with the link portion 24 as a fulcrum. Such an amplified high-speed vibration can be generated by alternately or simultaneously generating a pair of left and right treatment elements 4.
As an actuator that can vibrate at high speeds between minute distances, for example, a giant magnetostrictive element is placed at the center of an electromagnetic coil, and the vibration of the giant magnetostrictive element is amplified using an enlargement mechanism such as a lever, or resonance reduction due to natural vibration is used. As a result, vibration with an amplitude of several millimeters can be realized. As the linear actuator 50, an electrostrictive element, a voice coil motor, or the like can be used. By using such an actuator, the hitting mechanism can be compactly incorporated into the treatment element mechanism.
(Embodiment 10)
FIG. 20 shows the internal structure of the massage mechanism 900 in the massage machine according to the tenth embodiment of the present invention. About the appearance of the massage machine. 1 is referred to. The massage mechanism 900 includes a tapping drive motor M92 and M94 for performing a tapping operation by the treatment element 4 below the therapeutic element movable range 8 of the backrest part 3, and the rotational force of the tapping drive motor M92 and M94. Is provided with a striking motion mechanism unit that converts the auxiliary sleeper 52 into a force for tilting.
In the massage mechanism 900, the second beam member 741 in the massage mechanism 700 described above is divided into left and right parts, and the respective parts are moved up and down independently. In the massage mechanism 700 described above, the distance between the left and right treatment elements 4 is adjusted using a link mechanism using a connecting rod 781. In this massage mechanism 900, the FIG. As in the massage mechanism 300 described in FIG. 6, a rotation direction conversion mechanism 932 composed of a worm and a worm wheel, a left-right feed mechanism including a rotation shaft 911, a left screw 912, a right screw 914, and left and right engaging nuts 913, 915 Is used. In addition, left and right engaging members 985 and 983 slidably fixed to the third beam member 981 are fixed to the link portion between the main sleeper 51 and the auxiliary sleeper 52. The engaging members 983 and 985 are loosely fixed to the third beam member 981 so that they can move up and down independently. Other structures are the same as those described in any of the above, and a description thereof is omitted.
By rotating the drive motor M93, the distance between the left and right treatment elements 4 can be controlled. When the drive motors M92 and M94 rotate in the same direction, the operation of the treatment element 4 is the same as that in the massage mechanism 700 described above. When the vertical movements of the nuts 962 and 942 by the drive motors M92 and M94 are set to the minute vertical width vibrations of opposite phases, the sliding members 972 and 952 move up and down in opposite directions, and the left and right auxiliary sleepers 52 move up and down in the opposite directions. It moves, and the operation | movement of the treatment element 4 becomes a beat operation. At this time, the difference in the vertical movement of the nuts 962 and 942, and thus the left beam material 971 and the right beam material 951, is absorbed by the coupling member 910. As the coupling member 910, for example, a parallel leaf spring or a coil spring can be used. In this way, even if the massage mechanism 900 has a striking operation function, the tapping drive motor is disposed below, above or on the side of the therapeutic element movable range of the backrest, so that the mechanism is lightened and has low inertia. , High speed drive, and thin backrest
(Embodiment 11)
FIG. 21 shows the internal structure of the massage mechanism 700A in the massage machine according to the eleventh embodiment of the present invention. This massage machine operates the treatment element 4 by operating a wire by rotating a pulley with a drive motor. The massage mechanism 700A is the same as that shown in FIG. 13, first and second and third screw rods 701, 731, 771 in the massage mechanism 700 shown in FIG. 13, and nuts 702, 732 which are screwed into these screw rods 701, 731, 771 and move up and down. Instead of 772, three dynamic pulleys P rotated by the first, second, and third drive motors M71, M72, and M73, respectively, and three slave pulleys that are paired with the respective dynamic pulleys P, respectively. First, second, and third wires 703, 733, and 773 that move up and down by a pair of pulley P, moving pulley P and sub pulley P, and first and second wires 703 and 733 are connected to the first. And wire connecting members 704 and 734 for fixing to the second beam members 711 and 741, and a wire link member 774 for linking the third wire 773 to one end of the pair of diagonally connecting rods 781. Eteiru.
With the above-described configuration, the beam members 711 and 741 are driven up and down by the drive motors M71 and M72. Further, the engaging member 762 slidably fixed to the beam member 761 is moved up and down by the drive motor M73 via the connecting rod 781. If the drive motors M71, M72, and M73 rotate at a constant speed, the wires move up and down at a constant speed, and the wire connecting members 704 and 734 and the wire link member 774 move up and down. Move up and down with it. When the drive motors M71 and M72 are stopped and the drive motor M73 rotates, the wire link member 774 moves up and down, and the distance between the left and right treatment elements 4 is controlled. When the drive motors M71 and M73 are stopped and the drive motor M72 is rotated, the wire connecting member 734 is moved up and down, and the operation of the treatment element 4 is a push operation from obliquely above. When the drive motors M72 and M73 are stopped and the drive motor M71 rotates, the wire connecting member 704 moves up and down, and the operation of the treatment element 4 becomes a pushing operation in the front-rear direction. By combining the operations of these treatment elements 4, it is possible to adjust the treatment element 4 up and down, push, and adjust the width, similarly to the massage mechanism 700 described above.
As described above, the drive mechanism using the pulley and the wire can be lighter than that using the screw rod or the nut. Further, since the wire has a smaller cross-sectional area than the screw rod, it is easy to reduce the thickness of the drive unit. The massage mechanism 700A is an example in which all of the vertical drive, push drive, and width drive are driven by wires, but any of the three drive mechanisms may be driven by screws and nuts.
Embodiment 12
FIG. 22 shows the internal structure of the massage mechanism 700B in the massage machine according to the twelfth embodiment of the present invention. The massage mechanism 700B is the same as that shown in FIG. 13, first and second and third screw rods 701, 731, 771 in the massage mechanism 700 shown in FIG. 13, and nuts 702, 732 which are screwed into these screw rods 701, 731, 771 and move up and down. In place of 772, the first links that perform the vertical movement of the portions provided with the nuts by converting the rotational motions of the first, second, and third drive motors M71, M72, and M73 into linear motions. Three pairs of link mechanisms comprising LK1 and second link LK2 are provided.
The operation of the treatment element is performed by controlling the angle of the first link with each drive motor and moving the second link connected to the first link up and down. Each of the drive motors M71, M72, and M73 rotates the link LK1 by fixing one end of the first link LK1, and is rotatably joined via a link coupling portion J at the other end (lower end) of the link LK1. One end of the second link LK2 is driven. The other end (upper end) of the second link LK2 connected to the drive motor M71 is fixed to the beam member 711 via a rotatable coupling member 705. In addition, the other end (upper end) of the second link LK2 connected to the drive motor M72 is fixed to the beam member 741 via a rotatable coupling member 735. The other end (upper end) of the second link LK2 connected to the drive motor M73 is fixed to the link portion 775 of the two connecting rods 781.
Due to the configuration of the first and second links described above, the beam members 711 and 741 are driven up and down by the drive motors M71 and M72 and are slidable on the beam member 761 as in the case of any of the drive units described above. The sliding member 762 fixed to is moved up and down by the drive motor M73. Then, by combining the rotation operations of the drive motors M71, M72, and M73, a combined operation of up and down, pushing, and width adjustment of the treatment element 4 becomes possible.
As described above, a drive mechanism using a link can be configured at a lower cost than that using a screw rod or a nut. Moreover, although the above-mentioned massage mechanism part 700B is a thing when all of a vertical drive, a push drive, and width drive are driven using a link, any one of three drive mechanisms is a screw rod and a nut, or a pulley. And may be driven by a wire.
(Embodiment 13)
FIG. 23 shows the internal structure of the massage mechanism 700C in the massage machine according to the thirteenth embodiment of the present invention. This massage machine includes, in the drive transmission mechanism, a mechanism for operating the treatment element by moving a lazy ton type vertical movement mechanism up and down. The massage mechanism 700C is the same as that shown in FIG. 13, first and second and third screw rods 701, 731, 771 in the massage mechanism 700 shown in FIG. 13, and nuts 702, 732 which are screwed into these screw rods 701, 731, 771 and move up and down. In place of 772, pantograph type vertical movement mechanisms 706, 736, 776 that move the portions provided with the nuts up and down, and actuators A 71, A 72, which move the vertical movement mechanisms 706, 736, 776 up and down, A73.
The upper end of the pantograph 706 provided with the actuator A 71 at the lower part is fixed to the beam member 711 by a connecting member 704. The upper end of the pantograph 736 provided with the actuator A72 at the lower part is fixed to the beam member 741 by a connecting member 734. Further, the upper end of the pantograph 776 having the actuator A73 at the lower portion is fixed to the link portion of the two connecting rods 781 by the connecting member 774. By driving the actuators A71, A72, A73, the connecting members 704, 704, 774 are moved up and down, and in the same manner as any of the massage mechanism parts described above, the combined operation of the treatment element 4 up and down, pushing, and width adjustment is combined. Is possible.
The drive mechanism using the above-described pantograph can use a direct-acting actuator as an actuator for moving the pantograph up and down, such as an air cylinder, a hydraulic cylinder, and a voice coil motor capable of high-speed reaction. it can. Moreover, although the above-mentioned massage mechanism part 700C is a thing when all of a vertical drive, a push drive, and a width drive are driven using a pantograph, any one of three drive mechanisms is a screw rod, a nut, and a pulley. You may make it drive with a wire or a link mechanism.
(Embodiment 14)
FIG. 24 shows the internal structure of the massage mechanism 700D in the massage machine according to the fourteenth embodiment of the present invention. The massage mechanism 700D is the same as that shown in FIG. At least one of the drive motors in the massage mechanism 700 shown in FIG. 13 is arranged in a lateral region of the movable range 8 of the treatment element 4. The massage mechanism 700D is provided with a drive motor in a side region, not directly under the ball bar. The drive motors M71, M72, and M73 rotate the screw rods 701, 731, and 771, respectively, and pulleys P1 and P2 and wires 707, 737, and 777 that are spanned between the pulleys P1 and P2 in the horizontal direction. And. The operation of the massage mechanism 700D by the drive motors M71, M72, and M73 is the same as that in the massage mechanism 700, and a description thereof is omitted.
In this way, the drive unit that arranges the drive motor at the lower or upper part of the side region of the treatment element movable range is used when the side space has a margin, such as when the massage machine is installed on the rear seat of the automobile. Easy to install and useful.
(Embodiment 15)
FIG. 25 shows the internal structure of the massage mechanism 700E in the massage machine according to the fifteenth embodiment of the present invention. The massage mechanism unit 700 </ b> E has a drive source for performing a beating operation by the treatment element 4 inside the treatment element movable range 8 of the backrest part 3. According to this configuration, a high-speed reciprocating operation can be realized with a simple structure by installing a drive source in the treatment element movable range.
The massage mechanism 700E is the same as that shown in FIG. A crank 791 is used instead of the screw rods 861 and 841 used for the independent vertical movement of the left and right treatment elements 4 in the massage mechanism 900 shown in FIG. One end of each of the left and right auxiliary sleepers 52 is fixed to a portion of the crank 791 that is bent in opposite directions and having a different radius of rotation via sliding members 794 and 795 so as to be rotatable and slidable. Further, the other ends of the left and right auxiliary sleepers 52 are linked to the main sleeper 51 by link portions 799 and 798, respectively.
A crank rotation motor M74 is provided at the center of the crank 791 so as to rotate the crank 791 around the rotation axis of the motor. The crank rotation motor M74 is fixed to a nut 732 that is moved up and down by a drive motor M72 and a screw rod 731 via a support member 738. Further, both ends of the crank 791 are fixed to a longitudinal (vertical direction) guide shaft 721 provided on the left and right of the massage machine main body by a sliding member 793 so as to be rotatable about a horizontal axis and movable in the vertical direction.
The other end of the main sleeper 51 where the treatment element 4 is not provided is the FIG. Similarly to the massage mechanism 900 at 20, the sliding member 712 is fixed to the beam member 711 so as to be rotatable and slidable. Further, the sliding member 712 is linked to a nut 772 that is moved up and down by a drive motor M73 and a screw rod 771 via a connecting rod 781 and a connecting member 774. The beam member 711 is linked via a connecting member 704 to a nut 702 that is moved up and down by a drive motor M71 and a screw rod 701.
In the above configuration, when the crank rotation motor M74 rotates, the left and right treatment elements 4 operate separately, and an operation of hitting the back alternately with a human hand is realized. As described above, when a high-speed reciprocating operation such as a hitting operation is performed, the structure can be simplified by installing a drive source in the treatment element movable range 8. Further, by combining the rotation operations of the drive motors M71, M72, and M73, a combined operation of up and down, pushing, and width adjustment of the treatment element 4 is possible as in any of the massage mechanism portions described above.
As described above, each drive motor excluding a small-scale power drive motor such as a hitting operation drive in the massage machine according to the present invention is provided above or below the movable range of the treatment element. As the motor installation position, for example, a bent portion of the chair or a portion where the head of the user hits is possible.
In addition, the massage machine of the present invention includes a rotational position detector that detects the rotational position of each drive motor and a treatment element position detector that detects the treatment element position, and based on the detection result output of those detectors, A control unit that calculates the stagnation position by the treatment element and controls the rotation of each motor is provided. The present invention is not limited to the above-described configuration, and various modifications can be made. For example, drive motors arranged in the front-rear direction can also be arranged in the left-right direction, so that the drive unit and the backrest unit can be made thinner. Further, a ball screw may be used instead of the screw rod, and a belt may be used instead of the wire hung on the pulley. Moreover, the above-mentioned various sliding members, link members, coupling members, support members, etc. are not limited to those shown in the drawings, and may have any intended functions. The treatment position changing operation in the up / down direction can be performed by repeatedly moving the up / down movement in small increments, and can also be performed in the up / down direction, and can also be performed as a massage operation for the back portion.
This application claims priority based on a patent application dated March 26, 2003. The entire contents of that application are incorporated by reference into this application.

Claims (20)

In a chair-type massage machine having a seat part and a backrest part, and provided with right and left treatment elements for massaging the back of the user on the backrest part,
Left and right treatment child sleepers extending in the front-rear direction to hold the treatment elements at their front parts,
The first, second, and second positions fixed to the massage machine main body are at least two for performing the pushing operation by the treatment element, the scissor operation, and the vertical changing operation of the treatment position by the rotational force of the motor. 3 drive motors,
A first vertical motion mechanism unit that converts the rotation of the first drive motor into a vertical motion, links the rear part of each of the treatment child sleepers, and moves them up and down;
A second vertical motion mechanism unit that converts the rotation of the second drive motor into a vertical motion, links between the front and rear portions of the treatment sleeper, and moves them up and down;
A left-right motion mechanism that converts rotation of the third drive motor into left-right motion and links to each of the treatment sleepers to move them left and right; and
The first or second drive motor and the first or second up-and-down motion mechanism unit performs a pushing operation by the treatment element by repeating the operation of moving the treatment element sleeper up and down,
The third drive motor and the left and right motion mechanism unit perform the scissors operation by the treatment element by repeating the operation of moving the treatment element sleeper left and right,
The first, second, and third drive motors rotate in a coordinated manner to change the treatment position up and down direction. The massage machine according to claim 1,
The positions of the three drive motors are fixed with respect to the massage machine body. The massage machine according to claim 1,
The drive motor whose position is fixed with respect to the massage machine body is provided outside the therapeutic element movable range of the backrest. The massage machine according to claim 1,
A straight line connecting the left and right link positions linking the therapeutic child sleepers and the first vertical movement mechanism part, and a straight line connecting the left and right link positions linking the therapeutic child sleepers and the second vertical movement mechanism part. It is characterized by being parallel. The massage machine according to claim 1,
The first vertical movement mechanism section includes a first screw rod in the vertical direction rotated by the first drive motor, and a nut that is screwed into the screw rod and moves up and down by the rotation of the first drive motor. Left and right screws on the left and right sides, and a substantially central part of which is rotatably fixed to the nut. Left and right engaging nuts that are screwed together to link the therapeutic element sleepers and move the therapeutic element sleepers up and down together with the rotary shaft,
The second vertical movement mechanism includes a second screw rod in the vertical direction rotated by the second drive motor, and a nut that is screwed into the screw rod and moves up and down by the rotation of the second drive motor. And a left and right beam member fixed substantially at the center of the nut and moving up and down together with the nut, and fixed to the left and right of the beam member so as to be slidable along the beam member. Left and right sliding members that move these therapeutic element sleepers together with the beam material,
The left / right motion mechanism part transmits the rotation of the third drive motor to the rotation shaft, rotates the rotation shaft, and links the left and right treatment child sleepers linked to the engaging nut screwed to the rotation shaft. These are provided with a rotation transmitting member that moves these therapeutic element sleepers left and right by moving them apart or close to each other. The massage machine according to claim 1,
The first and second up-and-down motion mechanism sections are screwed into the first and second screw rods in the vertical direction rotated by the first and second drive motors, and screwed into these screw rods. And nuts that move up and down by the rotation of the second drive motor, first and second beam members in the left-right direction that are fixed to the nuts and move up and down together with the nuts, and these beam members A sliding member that is fixed to the left and right of each of the beam members so as to be slidable along the slide members and links the treatment element sleepers to vertically move the treatment element sleepers together with the beam members,
The left and right motion mechanism section includes two right and left rotation shafts having right and left screws on both left and right sides, and two engagement members respectively screwed to the left and right screws of the rotation shaft and linked to the left and right treatment sleepers. The rotation of the third drive motor is transmitted to the rotating shaft, the rotating shaft is rotated, and the left and right treatment element sleepers linked to the engaging nut screwed to the rotating shaft are separated from each other. Or it is provided with the rotation transmission member which is made to approach and moves these therapeutic element sleepers to the left and right. The massage machine according to claim 6,
The rotation transmission member uses a worm and a worm wheel. The massage machine according to claim 6,
The left-right motion mechanism unit is replaced with the rotating shaft, the engaging nut, and the rotation transmitting member.
A third screw rod in the vertical direction that is rotated by the third drive motor and is arranged at the approximate center of the left and right treatment sleepers, and is vertically engaged by the rotation of the third drive motor that is screwed to the screw rod. A pair of slanted connecting rods, each of which is linked to one end of the nut and moved to open and close the other end apart from each other to convert the vertical movement of the nut into a horizontal movement, An engaging member that is provided at the other end and links the connecting rod and the left and right treatment element sleepers to move the treatment element sleepers to the left and right by rotation of the third drive motor. . The massage machine according to claim 8,
The engaging member is the sliding member fixed to be slidable along the first beam member or the sliding member fixed to be slidable along the second beam member. It is characterized by that. The massage machine according to claim 1,
A drive source for performing a hitting operation by the treatment element is provided. In a chair-type massage machine having a seat part and a backrest part, and provided with right and left treatment elements for massaging the back of the user on the backrest part,
Left and right treatment child sleepers extending in the front-rear direction to hold the treatment elements at their front parts,
At least two for performing the push operation, scissor operation, and vertical change operation of the treatment position by the rotational force of the motor are fixed to the massaging machine body outside the range of movement of the treatment element of the backrest portion. First, second and third drive motors,
A first left-right motion mechanism that converts rotation of the first drive motor into left-right motion, links to the rear part of each of the treatment sleepers, and moves them left and right;
A second left and right motion mechanism that converts the rotation of the second drive motor into a left and right motion and links between the front and rear of the sleeper sleeper to move them left and right;
A vertical motion mechanism unit that converts the rotation of the third drive motor into a vertical motion and links to each of the treatment sleepers to move them up and down;
The first drive motor and the first left and right motion mechanism unit, or the second drive motor and the second left and right motion mechanism unit repeat the operation of moving the treatment element sleeper left and right, thereby performing the treatment by the treatment element. Perform scissors operation including pushing operation,
The first drive motor and the first left and right motion mechanism unit, and the second drive motor and the second left and right motion mechanism unit repeat the operations of moving the therapeutic element sleeper left and right in opposite phases. To push back and forth with the treatment element,
The scissor operation including the vertical movement by the treatment element is performed by repeating the movement in which the third drive motor and the vertical movement mechanism unit move the treatment element sleeper up and down,
The first, second, and third drive motors rotate in a coordinated manner to change the treatment position up and down direction. In a chair-type massage machine having a seat part and a backrest part, and provided with right and left treatment elements for massaging the back of the user on the backrest part,
Left and right main sleepers extending in the front-rear direction holding the treatment element in the front part, and left and right auxiliary sleepers extending in the front-rear direction by linking the front part between the front part and the rear part of these main sleepers The left and right therapeutic child sleepers,
The first, second, and second positions fixed to the massage machine main body are at least two for performing the pushing operation by the treatment element, the scissor operation, and the vertical changing operation of the treatment position by the rotational force of the motor. 3 drive motors,
A first vertical motion mechanism that converts the rotation of the first drive motor into a vertical motion, links it to the rear part of each of the main sleepers and moves them up and down to push the treatment element back and forth. And
A second vertical motion mechanism unit that converts the rotation of the second drive motor into a vertical motion, links it to the rear part of each of the auxiliary sleepers and moves them up and down to push the treatment element into a circular arc. When,
A left-right motion mechanism unit that converts rotation of the third drive motor into left-right motion, links to each of the treatment element sleepers, and moves these to the left and right to sandwich the treatment element;
The first, second, and third drive motors rotate in a coordinated manner to change the treatment position up and down direction. The massage machine according to claim 12,
The first and second up-and-down motion mechanism sections are screwed into the first and second screw rods in the vertical direction rotated by the first and second drive motors, and screwed into these screw rods. And nuts that move up and down by the rotation of the second drive motor, first and second beam members in the left-right direction that are fixed to the nuts and move up and down together with the nuts, and these beam members Sliding members fixed to the left and right of the beam material slidably along the
The left-right motion mechanism is rotated by the third drive motor and is vertically engaged with a third screw rod arranged in the approximate center of the left and right treatment child sleepers, and screwed into the screw rod. A nut that moves up and down by the rotation of the drive motor, and a pair of diagonal connecting rods that open and close the other ends that are linked to the nut and are spaced apart from each other to convert the vertical movement of the nut into left and right movements And an engaging member that is provided at the other end of each connecting rod, links the connecting rod and the left and right treatment child sleepers, and moves the treatment child sleepers left and right by rotation of the third drive motor; With
The drive motor whose position is fixed with respect to the massage machine main body is provided outside the therapeutic element movable range of the backrest part,
The rear ends of the main sleepers are linked to the first vertical movement mechanism part via the sliding members, and move up and down by the rotation of the first drive motor,
The rear ends of the auxiliary sleepers are linked to the second vertical movement mechanism portion via the sliding members, respectively, and move up and down by the rotation of the second drive motor. The massage machine according to claim 12,
The main sleeper is provided with a drive source for performing a hitting operation by the treatment element, and the drive source is a linear actuator. The massage machine according to claim 12,
A beating drive motor for performing a beating operation by the treatment element is provided outside the treatment element movable range of the backrest part,
A tapping motion mechanism unit that converts the rotational force of the tapping drive motor into a force for tilting the auxiliary sleeper is provided. The massage machine according to claim 13,
Instead of the first, second, and third screw rods and nuts that are screwed into these screw rods to move up and down,
Three dynamic pulleys respectively rotated by the first, second, and third drive motors, three slave pulleys that are paired with the respective dynamic pulleys, and each pair of the dynamic pulley and the secondary pulley First, second, and third wires that move up and down by the wire, a wire connecting member that fixes the first and second wires to the first and second beam members, and the third wire A wire link member linked to one end of a pair of diagonal connecting rods. The massage machine according to claim 13,
Instead of the first, second, and third screw rods and nuts that are screwed into these screw rods to move up and down,
3 consisting of a first link and a second link, respectively, for converting the rotary motion of the first, second and third drive motors into a linear motion to move the portion provided with each nut up and down. A pair of link mechanisms are provided. The massage machine according to claim 13,
In place of the first, second, and third screw rods, the nut that is screwed into these screw rods to move up and down, and the first, second, and third drive motors,
It is characterized by comprising a pantograph type vertical movement mechanism for moving up and down a portion provided with each nut, and an actuator for operating each vertical movement mechanism up and down. The massage machine according to claim 13,
At least one of the drive motors is arranged in a lateral region of the movable range of the treatment element. The massage machine according to claim 13,
A drive source for performing a hitting operation by the treatment element is installed inside the treatment element movable range of the backrest portion.

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