JP4153795B2 - Massage machine - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a massage machine made to be able to recognize a human body shape.
[0002]
[Prior art]
Some massage machines have a so-called sensing function that recognizes the shape of the user's human body so that the user's treatment site can be automatically determined. As this type of massage machine, conventionally, a massage machine, a massage drive unit having an air cell, and a pressure sensor for detecting the internal pressure of the air cell are known. The air cell advances the massage member to the user side by extension (expansion), and retracts the massage member from the user side by contraction.
[0003]
In this massage machine, the massage drive unit is moved along the user in a state where the massage member is advanced to the user side by the extension of the air cell, and the movement position of the massage drive unit at this time and the air cell detected by the pressure sensor are moved. The human body shape of the user is recognized from the relationship with the internal pressure. (For example, refer to Patent Document 1).
[0004]
[Patent Document 1]
JP 2000-167001 A (paragraph 0009-paragraph 0018, paragraph 0031-paragraph 0036, FIGS. 1, 3, 4, 8, 10, 11, 17)
[0005]
[Problems to be solved by the invention]
By the way, since the shape of the back side of the upper body of the human body including the buttocks, the waist, the back, and the shoulders is not flat, the technique of Patent Document 1 tries to automatically recognize the shape of the back side of the upper body of the human body. In order to detect the most depressed waist, it is necessary to extend and hold the air cell in a state where the massage member is advanced to the user side and move the massage driving unit along the user.
[0006]
For this reason, the internal pressure of the air cell accompanying the movement of the massage drive unit with respect to the upper body of the massage member that has advanced is increased toward the buttocks and shoulders compared to the waist, and according to this increased internal pressure The strengthened reaction force acts on the upper body of the human body. This is the same phenomenon as when massaged in the rolling mode (back-stretching mode).
[0007]
As described above, in the conventional device, the internal pressure of the air cell that has been stretched in advance so as to be sufficient to detect the waist is further increased along with the movement of the massage driving unit along the user, and the massaging member hits the upper body of the human body. Becomes stronger. For this reason, it may be uncomfortable due to excessive hits, and accordingly, the user may miss the upper body, making it difficult to accurately recognize the user's body shape There is.
[0008]
The problem to be solved by the present invention is to obtain a massage machine capable of accurately recognizing the human body shape while suppressing discomfort to the user.
[0009]
[Means for Solving the Problems]
  In order to solve the above problems, the present invention provides:A massage machine body, a treatment element for treating a treatment site of a human body, a support member for supporting the treatment element, a moving mechanism for moving the support member along the massage machine body together with the treatment element, and The support member is advanced in the direction approaching the human body, and the air bag for retracting the support member in the direction away from the human body by contraction, the air supply / exhaust device for supplying and exhausting air to the air bag, and the pressure of the air bag are detected. The air bag is inflated at every movement interval while the support member is moved along the massage machine body via the moving mechanism with the pressure detecting means that performs expansion and contraction of the air bag. The air supply / exhaust device is controlled to advance the support member, and the time until the detected pressure of the pressure detecting means at the time of advancement reaches a set value is stored. A control unit having a shape recognizing section comprises a,
  A time comparison in which the control unit compares the latest time until the detected pressure reaches a set value at each movement interval with a known time until the detected pressure reaches the set value detected one time before the detection. And when the latest time becomes shorter than the known time by the comparison in the comparison unit, the control unit detects the position of the support member when the latest time is detected and the known Between the position of the support member at the time when the time is detected, the support member is moved along the massage machine main body with a movement interval smaller than the movement interval through the movement mechanism with the expansion and contraction of the air bag. The air supply device is controlled so as to inflate the air bag and advance the support member at each fine movement interval while moving at intervals, and the detection pressure of the pressure detection means during the advancement is set Until the value is reached It stores the time, and to recognize the human body shape between the two positions.
[0010]
In the present invention, while the support member is moved at intervals by the moving mechanism, air is supplied to and exhausted from the air bag at each moving interval, and the treatment element is moved forward and backward. By storing the time until contact with pressure, the human body shape can be recognized. In this case, the contact of the treatment element with the human body is limited until the air bag reaches a predetermined pressure, and the pressing force beyond that does not act on the human body regardless of the distance between the support members and the user's body shape. .
[0011]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
[0012]
The massage machine 1 according to this embodiment is, for example, a chair-type massage machine, and as shown in FIGS. 1 and 4, a chair body 2 as a massage machine body, a massage body 11, an air supply / exhaust device 12, and pressure detection means. Pressure sensors 13a and 13b, a control unit 14, an operation unit 15 and the like.
[0013]
As shown in FIG. 1, the chair body 2 includes a backrest portion 3, a seat portion 4, an armrest portion 5, an ottoman 6, and the like. The backrest 3 is disposed obliquely upward on the rear side of the seat 4. The backrest 3 is provided so that the inclination angle thereof can be adjusted by a reclining mechanism (not shown). Note that the backrest 3 may be fixed so as not to move. Each of the backrest part 3 and the seat part 4 has a backrest part cover and a seat part cover (not shown) covering the surfaces thereof. Each of these covers is formed of a flexible cloth or synthetic leather.
[0014]
The armrest portions 5 are provided on both sides in the width direction of the seat portion 4, and have a function as a leg of the chair body 2. The ottoman 6 is pivotally attached to the front side of the seat portion 4, and is located between a position standing substantially vertically downward with respect to the seat portion 4 and a position lying sideways so as to extend forward of the seat portion 4. Can be placed at any position. The ottoman 6 may be omitted.
[0015]
The massage body 11 is accommodated in the backrest part 3, for example. As shown in FIGS. 2 and 3, the massage body 11 includes a shoulder massage unit 20, a dorsal waist massage unit 30, and moving mechanisms 40 and 50.
[0016]
The shoulder massage unit 20 includes a shoulder unit base 21, a shoulder support member 22, a first shoulder air bag 23, two shoulder treatment elements 24, and two shoulder second air bags 25. is doing.
[0017]
A pair of mounting members 21a are integrally provided on the rear surface of the plate-shaped unit base 21 made of hard resin, for example, ABS resin, at both ends in the width direction of the base 21. These members 21a are described later. Through-holes for penetrating the guide rails 41 are formed. The unit base 21 is provided across the pair of left and right guide rails 41 in a state in which the mounting portion 21 a is slidably fitted to the guide rails 41.
[0018]
The plate-like support member 22 is formed to have substantially the same size as the unit base 21. The support member 22 is made of a hard resin such as ABS resin. Although not shown, the lower edge portion is thick, and a shaft through hole penetrating in the lateral direction (width direction of the support member 22) is formed in the thick portion. It has been. The support member 22 is a hinge shaft that is inserted into a pair of hinges 21b (only one shown) 21b fixed to the lower side of the surface of the unit base 21 in the width direction and a shaft through-hole of the thick portion of the support member 22. The unit base 21 is rotatably supported via 21c.
[0019]
A first air bag 23 is disposed between the unit base 21 and the support member 22 so as to be sandwiched between the surface of the unit base 21 and the back surface of the support member 22. The air bag 23 is rotated so as to open the support member 22 upward (in FIG. 3) due to its expansion and contraction. The support member 22 is urged by an urging means (not shown) such as a spring in the back direction, that is, in a direction substantially parallel to the unit base 21.
[0020]
The two treatment elements 24 are each formed by attaching the pressing body 24b to the surface of the plate member 24a. The plate member 24 a is formed in a size slightly smaller than half of the support member 22. The plate member 24a is made of a hard resin, for example, ABS resin. Although not shown, the lower edge portion is thick, and an axial through hole penetrating in the lateral direction (width direction of the plate member 24a) is formed in the thick portion. It has been. The pressing body 24b is formed of semi-hard rubber or the like.
[0021]
The treatment elements 24 are arranged in line symmetry with respect to the center in the width direction of the support member 22 in a state where the back surface of the plate member 24a is opposed to the surface of the support member 22. These treatment elements 24 are two pairs of hinges (only one shown) 22a fixed to the lower side of the front surface of the support member 22 in the width direction and the thick-portion axial through-holes of the two treatment elements 24. Are supported by the support member 22 via two hinge shafts 22b that are individually inserted therethrough. Between the support member 22 and the treatment element 24, two second air bags 25 are disposed so as to be supported by the front surface of the support member 22 and the back surfaces of both plate members 24 a. By the expansion of these air bags 25, the treatment element 24 is rotated so as to open upward (in FIG. 3). The treatment element 24 is urged by a biasing means (not shown) such as a spring in the back direction, that is, in a direction substantially parallel to the support member 22.
[0022]
The shoulder moving mechanism 40 moves the massage unit 20 along the chair body 2, in other words, along the body axis direction of the seated person, specifically, along the longitudinal direction of the backrest portion 3. The guide rail 41, the feed screw shaft 42, the upper fixing plate 43, the intermediate fixing plate 46, the drive unit 45, and the like.
[0023]
Both ends of the upper fixing plate 43 disposed at the upper end portion of the backrest portion 3 and the intermediate fixing plate 46 disposed below this are fixed to a pair of guide rails 41. The guide rails 41 are provided on both sides in the width direction of the backrest 3 and are parallel to each other and along the longitudinal direction of the backrest 3. These guide rails 41 penetrate through the through holes of the attachment portion 21 a provided in the shoulder unit base 21.
[0024]
The drive unit 45 includes an electric motor 45a that can rotate forward and backward and a transmission mechanism 45b. The motor 45 a is fixed to the upper fixing plate 43. The transmission mechanism 45b is formed of, for example, a drive pulley fixed to the output shaft of the motor 45a, a driven pulley fixed to the feed screw shaft 42, and a belt wound between these pulleys. The feed screw shaft 42 arranged in parallel with the guide rail 41 is supported so as to be rotatable over the upper fixing plate 43 and the intermediate fixing plate 46. 2 and 3, reference numerals 47 a and 47 b indicate bearings that support the feed screw shaft 42. The shoulder massage unit 20 is disposed between the upper fixing plate 43 and the intermediate fixing plate 46, and the feed screw shaft 42 is screwed into and penetrates the screw receiving portion 21 d provided on the unit base 21. ing.
[0025]
Therefore, when the motor 45a is driven, the feed screw shaft 42 rotates in a predetermined direction via the drive pulley, the transmission belt, and the driven pulley. By this rotation, the shoulder massage unit 20 is moved along the body axis direction of the seated person between the lower fixing plate 44 and the intermediate fixing plate 46 while being guided by the guide rail 41. The upper fixing plate 43 is provided with a position detection sensor (not shown) for knowing the relative distance of the shoulder unit base 21 with respect to the fixing plate 43. This sensor detects the rotation of the driven pulley.
[0026]
The back and back massage unit 30 includes a back and back unit base 31, a back and back support member 32, a back and back first air bag 33, two back and back treatment elements 34, and 2 back and back backs and second back and back treatment devices 34. An air bag 35 (only one is shown) is provided.
[0027]
A pair of mounting portions 31a are formed on the back surface of a plate-like unit base 31 made of hard resin, for example, ABS resin, and formed with through holes that are located at both ends in the width direction of the base 31 and penetrate the guide rail 41. Are integrally provided, and a screw receiving portion 31b that is positioned at an intermediate portion and screwed with a feed screw shaft 52 described later is integrally provided. The unit base 31 is attached to the moving mechanism 50 in a state where the guide portion 31a is slidably fitted to the guide rail 41 and the screw receiving portion 31b is screwed to the feed screw shaft 52.
[0028]
A plate-like support member 32 made of a hard resin, for example, an ABS resin or the like is formed to have substantially the same size as the unit base 31. The support member 32 is attached to leg portions 31 c that are provided so as to penetrate the four corners of the unit base 31 and move in the thickness direction of the base 31.
[0029]
A first air bag 33 is disposed between the unit base 31 and the support member 32 so as to be sandwiched between the surface of the unit base 31 and the back surface of the support member 32. The inflation of the air bag 33 causes the support member 32 to advance and retreat in parallel with the unit base 31 along the thickness direction, that is, in parallel with the backrest 3 of the chair body 2. The support member 32 is urged by an urging means (not shown) such as a spring toward the back portion, that is, in a direction that is substantially parallel to the unit base 31, in this embodiment, toward the unit base 31. When the support member 32 moves forward, the support member 32 moves in a direction approaching the seated person (user). When the support member 32 moves backward, the support member 32 moves in a direction away from the seated person. It points to that.
[0030]
The two treatment elements 34 are each formed in a shape in which the pressing body 34b protrudes from the surface of the plate member 34a. The plate member 34 a is formed in a size slightly smaller than half of the support member 32. The plate member 34a is made of a hard resin, for example, an ABS resin. Although not shown, one side portion of the support member 32 positioned on the center side in the width direction is thickened, and the thick portion has a vertical direction (guide rail). A shaft through hole penetrating in a direction parallel to 41) is formed. The pressing body 34b is formed of semi-hard rubber or the like.
[0031]
These treatment elements 34 are arranged symmetrically with respect to the center in the width direction of the support member 32 in a state where the back surface of the plate member 34 a is opposed to the surface of the support member 32. These treatment elements 34 are inserted through two pairs of hinges 32a fixed to the center in the width direction of the support member 32 so as to be spaced apart from each other in the height direction and through-holes of thick portions of the two treatment elements 34. The support member 32 is rotatably supported by two hinge shafts 32b.
[0032]
Between the support member 32 and both treatment elements 34, the 2nd air bag 35 is each arrange | positioned between the surface of the support member 32, and the back surface of the board member 34a. These air bags 35 rotate both treatment elements 34 in an oblique direction with respect to the support member 32 so as to approach each other. Both treatment elements 34 are urged by urging means (not shown) such as springs in the back direction, that is, in a direction that is substantially parallel to the support member 32.
[0033]
The moving mechanism 50 moves the back and back massage unit 30 along the longitudinal direction of the backrest 3 (the body axis direction of the user), and includes the pair of guide rails 41, the feed screw shaft 52, and the intermediate A fixed plate 46, a lower fixed plate 44, a drive unit 55, and the like are included. The lower fixing plate 44 is disposed below the intermediate fixing plate 46.
[0034]
The guide rail 41 slidably penetrates the through hole of the attachment portion 31a provided in the back / back unit base 31.
[0035]
The drive unit 55 includes an electric motor 55a that can rotate forward and reverse, and a transmission mechanism 55b. The motor 55 a is fixed to the lower fixing plate 44. The transmission mechanism 55b is formed of a drive pulley fixed to the output shaft of the motor 55a, a driven pulley fixed to the feed screw shaft 52, and a belt wound around these pulleys. The feed screw shaft 52 disposed in parallel with the guide rail 41 is rotatably supported across the lower fixing plate 44 and the intermediate fixing plate 46. 2 and 3, reference numerals 48 a and 48 b indicate bearings that support the feed screw shaft 52. A back and back massage unit 30 is disposed between the lower fixing plate 44 and the intermediate fixing plate 46, and a feed screw shaft 52 is screwed into a screw receiving portion 31b provided in the unit base 31 so as to pass therethrough. is doing.
[0036]
Therefore, when the motor 55a is driven, the feed screw shaft 52 rotates in a predetermined direction via the drive pulley, the transmission belt, and the driven pulley, and the back and waist massage unit 30 is guided to the guide rail 41 by this rotation. While moving between the lower fixing plate 44 and the intermediate fixing plate 46. Further, the lower fixing plate 44 is provided with a position detection sensor (not shown) for knowing the relative distance of the back and waist unit base 31 with respect to the lower fixing plate 44. This sensor detects the rotation of the driven pulley.
[0037]
As shown in FIG. 4, an air supply / exhaust device 12 for expanding and contracting each air bag 23, 25, 33, 35 includes an air compressor 60, two exhaust valves 61, 62, two switching valves 63 and 64, and the like. It has.
[0038]
As the air compressor 60 that generates compressed air, for example, a diaphragm type that is electromagnetically driven is employed. The air compressor 60 is connected to the control unit 14 and is controlled by the control unit 14.
[0039]
As the two exhaust valves 61 and 62 for discharging the air in the air bags 23, 25, 33 and 35, for example, a three-port solenoid valve having an air supply port, a communication port and an exhaust port is adopted. Yes. These exhaust valves 61 and 62 can switch between a first state in which the air supply port and the communication port communicate with each other and a second state in which the air supply port and the exhaust port communicate with each other by the electromagnetic force of the electromagnet. These exhaust valves 61 and 62 are respectively connected to the control unit 14, and the control unit 14 controls switching between the first state and the second state.
[0040]
The two switching valves 63, 64 for selecting the air bags 23, 25, 33, 35 to be supplied and adjusting the pressure in the air bags 23, 25, 33, 35 include, for example, an air supply port and a first one. A three-port solenoid valve having a communication port and a second communication port is employed. These switching valves 63 and 64 have a first state in which the air supply port and the first communication port are communicated with each other by the electromagnetic force of the electromagnet, and a second state in which the air supply port is in communication with the second communication port. Can be switched. These switching valves 63 and 64 are respectively connected to the control unit 14, and the control unit 14 controls switching between the first state and the second state.
[0041]
A vent pipe 65 is connected to the discharge port of the air compressor 60. The tip of the vent pipe 65 is branched into two, one branch vent pipe 65a is connected to the air supply port of one exhaust valve 61, and the other vent pipe 65b is the other exhaust pipe. The air supply port of the valve 62 is connected. The communication ports of the exhaust valves 61 and 62 are connected to the air supply ports of the switching valves 63 and 64 via the vent pipes 66a and 66b, respectively. The first communication port of one switching valve 63 is connected to the first shoulder air bag 23 via the branch ventilation pipe portion 67. The second communication port of the switching valve 63 is connected to the vent pipe 68. The tip of the vent pipe 67 is branched into two, and each branch end is individually connected to a pair of shoulder second air bags 25. The first communication port of the other switching valve 64 is connected to the back and back first air bladder 33 via the vent pipe 69. The second communication port of the switching valve 64 is connected to the vent pipe 70. The tip of the vent pipe 70 is branched into two, and each branch end is individually connected to a pair of back and back second air bags 35.
[0042]
The pressure sensors 13 a and 13 b detect the pressure of the shoulder first air bag 23 and the pressure of the back and back first air bag 33, and are disposed in the vicinity of the air supply / exhaust device 12. These pressure sensors 13 a and 13 b are connected to the control unit 14.
[0043]
The control unit 14 composed of a microcomputer is disposed in the vicinity of the air supply / exhaust device 12, and as described above, the air compressor 60, the exhaust valves 61 and 62, the switching valves 63 and 64, and the pressure sensors 13a and 13b. Each is connected. The control unit 14 is connected to motors 45a and 55a included in the moving mechanisms 40 and 50 and a position detection sensor (not shown). Further, the control unit 14 is also electrically connected to the operation unit 15.
[0044]
In accordance with the massage information input from the operation unit 15 and the pressure of the first air bag 23 for shoulder or the first air bag 33 for back and waist detected by the pressure sensors 13a and 13b, the control unit 14 The valves 61 and 62, the switching valves 63 and 64, and the moving mechanisms 40 and 50 are controlled.
[0045]
In the body shape recognition operation prior to the massage operation, the control unit 14 supplies air to the first air bags 23 and 33 until the air pressure (detection pressure) detected by the pressure sensors 13a and 13b reaches a set pressure (set value). Then, when the detected pressure exceeds the set value, the supply / exhaust device 12 is controlled so as to stop the supply of air to the first air bags 23 and 33 and to be in the contracted state. The set value is preferably smaller than, for example, a massage force so that the human body does not escape due to the pressure.
[0046]
Furthermore, the control unit 14 includes a recognition unit 14a, a time comparison unit 14b, a determination unit 14c, and the like. The recognizing unit 14a detects the time from the start of air supply to the first air bag 23 or 33 until the internal pressure of the air bag 23 or 33 reaches the set pressure when the treatment element 24 or 34 advances toward the human body. To remember. Further, the control unit 14 recognizes the shape of the human body by a series of memories accumulated in the recognition unit 14a in the body shape recognition operation.
[0047]
The time comparison unit 14b compares the time obtained by the body shape recognition operation, more specifically, the latest time and the known time detected one time before this detection. Further, when the latest time is shorter than the known time, the control unit 14 examines between the positions where these detections are performed, and recognizes the human body shape between these two positions.
[0048]
In the determination unit 14c, when the treatment element 24 or 34 moves forward toward the human body, the detected pressure does not reach the set pressure within a predetermined time from the start of supply of air to the first air bag 23 or 33 (at the start of advancement). In this case, it is determined that there is no human body at the sensing position.
[0049]
Further, in the massage operation, the control unit 14 detects that the detected pressure detected by the pressure sensors 13a and 13b is a set pressure (this pressure may be the same as or different from the set pressure in the body shape recognition operation. The value can be set as appropriate.) The first air bladders 23 and 33 are supplied with air until reaching the value), and the supply of air to the first air bags 23 and 33 is stopped when the detected pressure exceeds the set pressure. Thus, the air supply / exhaust device 12 is controlled so that the inflated state is maintained and air is supplied to the second air bags 25 and 35.
[0050]
The operation unit 15 inputs operation command information for various massages to the control unit 14 in a wired or wireless manner. The operation unit 15 includes, for example, a power button for inputting driving and stopping of the air supply / exhaust device 12 and the moving mechanisms 40 and 50, a massage selection button for inputting various massages to the control unit 14, and the like.
[0051]
In this massage machine 1, in addition to point massage such as shoulder massage, upper back massage, middle back massage, lower back massage, lower back massage, shoulder, upper back, middle back, back Various massage modes such as an upper body massage that massages the lower part of the body and the lower back in this order are set.
[0052]
In the massage machine 1 having the above-described configuration, when a user sits on the chair body 2 in a posture leaning against the backrest 3 and operates the operation unit 15 to designate a desired massage mode and perform massage, first, the user's human body A shape recognition operation is performed. This human body shape recognition operation is performed by using both massage units 20 and 30 simultaneously when the designated massage location includes the shoulder of the human body. In addition, when the designated massage location is only the shoulder portion of the human body, it is performed using only the massage unit 20, and when the designated massage location does not include the shoulder portion of the human body, it is performed using only the massage unit 30. . For this reason, here, the human body shape recognition operation using the massage unit 20 and the human body shape recognition operation using the massage unit 30 will be described separately.
[0053]
In the human body shape recognition operation using the shoulder massage unit 20, the height position of the seated person's shoulder is recognized as follows.
[0054]
The shoulder massage unit 20 is located at a position close to the upper fixing plate 43 (this position is indicated by symbol A in FIG. 5) as a home position. From this position A, the massage unit 20 in a state in which the first and second air bladders 23 and 25 are contracted is spaced by a predetermined movement interval P (see FIGS. 5 and 6) determined in advance by the operation of the movement mechanism 40. The human body is recognized when it stops. The stop positions of the massage unit 20 in this interval movement are indicated by symbols B to E in FIG.
[0055]
Hereinafter, the human body recognition operation at the stop position will be described as a representative of the massage unit 20 moved to the stop position C as shown in FIG.
[0056]
  Since the first and second air bags 23 and 25 of the massage unit 20 arranged at the stop position C shown in FIG. 5A are contracted, the treatment element 24 is separated behind the shoulder of the human body. . In this state, as the compressed air generated by the air supply / exhaust device 12 is guided to the first shoulder air bag 23 and the air bag 23 is inflated, FIG.As shownThe treatment element 24 rotates forward and downward together with the support member 22, and the support member 22 and the treatment element 24 move forward toward the human body shoulder.
[0057]
Thus, when the air bag 23 is inflated, the air supply time for the air bag 23 is monitored by the determination unit 14c, and the pressure in the air bag 23 is detected by the pressure sensor 13a. For this reason, the detected pressure detected by the pressure sensor 13a within a predetermined time t3 (see FIG. 9) from the start of advancement of the support member 22 does not reach the set pressure (set value) F predetermined in the determination unit 14c. In the height position of C, the determination unit 14c determines that there is no human body, in other words, that the human body cannot be detected with the predetermined advance amount of the support member 22 and the treatment element 24.
[0058]
After this determination, after the air bag 23 is exhausted and the air bag 23 is contracted, the massage unit 20 is further lowered by the movement interval P and moved to the height position indicated by D. Suppose that the height position of D is a position where the height position of the seated person's shoulder can be detected. When the air bag 23 is inflated again at the stop position D, the treatment element 24 rotates forward and downward together with the support member 22, and the support member 22 and the treatment element 24 move forward toward the human body shoulder. In this case, the treatment element 24 is pressed against the human shoulder portion within a predetermined time t3 as the vehicle advances, so that the pressure in the air bag 23 increases rapidly from the time t1 when the pressing starts, and the air is discharged within the predetermined time t3. The pressure in the bag 23 reaches a predetermined set pressure F (see FIG. 9). This state is shown in FIG.
[0059]
As described above, when the pressure sensor 13a detects that the pressure in the air bag 23 has reached the preset value set in the recognition unit 14a within the predetermined time t2, the detected pressure of the sensor 13a is The time t2 (see FIG. 9) from the start of air supply until the set value is reached is stored in the recognition unit 14a. In other words, the distance between the unit base 21 and the human shoulder and the height position of the human shoulder are automatically detected and stored. In this case, at the same time, the determination unit 14c determines that there is a human body at the height position D, in other words, that the human body can be detected with the predetermined advance amount of the support member 22 and the treatment element 24.
[0060]
When the determination unit 14c determines that there is a human body, the control unit 14 determines that the determination unit 14c determines that there is no human body and the height D of the support member 22 when the determination unit 14c determines that there is a human body, and the determination unit 14c determines that there is no human body. The space between the height position C of the support member 22 at the time is closely examined as follows.
[0061]
That is, returning to the height position C toward the height position D, or conversely, from the height position D toward the height position C, the support member 22 is placed on the backrest portion of the chair body 2 via the moving mechanism 40. 3, the air bag 23 is inflated as described above to advance the support member 22 at each fine movement interval Q while moving at intervals of a movement interval Q finer than the movement interval P. Time t2 until the detected pressure of the pressure sensor 13a at the time of advance reaches a set value is detected. As a result, it can be seen where the human shoulder is first detected between the height positions C and D. Therefore, it is possible to automatically and accurately detect the height position of the shoulder. The accurate height position of the human shoulder obtained by the detection between the positions C and D is stored in the control unit 14 and used for recognizing the human body shape.
[0062]
The recognized data on the height position of the shoulder portion of the human body is used as data for aligning the shoulder massage unit 20 to the shoulder in the massage operation, and when the back and back massage unit 30 is moved to a desired treatment portion. It is used as data serving as a reference for positioning.
[0063]
In the human body shape recognition operation using the back and back massage unit 30, the back position of the seated person and the height position of the waist are recognized as follows.
[0064]
The back and back massage unit 30 in a state in which the first and second air bags 33 and 35 are contracted moves from the position of the home position by a predetermined movement interval P determined in advance by the operation of the movement mechanism 50. And recognizes the human body when it stops. A part of the stop position of the massage unit 30 in this interval movement is indicated by symbols G to J in FIGS.
[0065]
Hereinafter, the human body recognition operation at the stop position will be described with reference to the massage unit 30 moved to the stop position H as shown in FIG.
[0066]
  Since the first and second air bags 33 and 35 of the massage unit 30 arranged at the stop position H shown in FIG. 7A are contracted, the treatment element 34 is separated from the back and back Y of the human body. Yes. In this state, as the compressed air generated by the air supply / exhaust device 12 is guided to the first back bladder 33 and the air bladder 33 is inflated, the compressed air shown in FIG.As shownThe treatment element 34 moves in parallel with the support member 32 toward the back and back of the human body and moves forward.
[0067]
When the air bag 33 is inflated in this way, the air supply time for the air bag 33 is monitored by the determination unit 14c, and the pressure in the air bag 33 is detected by the pressure sensor 13b. For this reason, when the detected pressure detected by the pressure sensor 13b within a predetermined time t3 (see FIG. 9) from the start of advancement of the support member 32 does not reach the set pressure (set value) F predetermined in the determination unit 14c. The determination unit 14c determines that there is no human body at the height position of H, in other words, that the human body cannot be detected with the predetermined advance amount of the support member 32 and the treatment element 34.
[0068]
After this determination, after the air bag 33 is exhausted and the air bag 33 is contracted, the massage unit 30 is further lowered by the movement interval P and moved to the height position indicated by I. Assume that the height position of I is a position where the height position of the seated person's waist and shoulders can be detected. As the air bag 33 is inflated again at this I stop position, the treatment element 34 advances together with the support member 32 toward the human back and waist. In this case, the treatment element 34 is pressed against the back and back of the human body within a predetermined time t3 as the vehicle advances, so that the pressure in the air bag 33 increases rapidly from the time t1 when the pressing starts, and the air is discharged within the predetermined time t3. The pressure in the bag 33 reaches a predetermined set pressure F (see FIG. 9).
[0069]
As described above, when the pressure sensor 13b detects that the pressure in the air bladder 33 has reached the preset value set in the recognition unit 14a within the predetermined time t3, the detected pressure of the sensor 13b is The time t2 (see FIG. 9) from the start of air supply until reaching the specified value is stored in the recognition unit 14a. In other words, the distance between the unit base 31 and the human back and waist Y and the height position of each part of the back and back of the human body are automatically detected and stored. In this case, at the same time, the determination unit 14c determines that there is a human body at the height position I, in other words, that the human body can be detected with the predetermined advance amount of the support member 32 and the treatment element 34.
[0070]
When the determination unit 14c determines that there is a human body, the control unit 14 determines that the determination unit 14c determines that the human body is present and the height position I of the support member 22 when the determination unit 14c determines that there is a human body, and that the determination unit 14c determines that there is no human body. The space between the height position H of the support member 22 at the time is examined as follows.
[0071]
That is, returning to the height position H toward the height position I, or vice versa, the support member 32 is moved from the height position I toward the height position J via the moving mechanism 50. 3, the air bag 33 is inflated as described above to advance the support member 32 at each fine movement interval Q while moving at intervals with a movement interval Q finer than the movement interval P. A time t2 until the detected pressure of the pressure sensor 13b at the time of advance reaches a set value is detected. As a result, it can be seen where the human back and hips are first detected between the height positions H and I. Therefore, it is possible to automatically detect the height position of the dorsal waist accurately. Thus, the accurate height position of the human back and waist obtained by the detection between the two positions H and I is stored in the control unit 14 and used for recognition of the human body shape.
[0072]
The recognized height position data of the human back and waist is thus used as reference data for positioning when the back and back massage unit 30 is moved to a desired treatment area.
[0073]
As described above, air is supplied to the air bags 23 and 33 at every movement interval P while the support members 22 and 32 are moved at intervals by the movement mechanisms 40 and 50, and accordingly, the support members 22 and 32 are supplied. At the same time, the treatment elements 24 and 34 advance in the direction of the human body and come into contact with the human body. By this contact, a reaction force from the human body is received through the treatment elements 24 and 34, and the pressure of the air bags 24 and 34 rises. This pressure is detected by the pressure sensors 13a and 13b. When the detected pressure becomes equal to or higher than the set value, the control unit 14 controls the air supply / exhaust device 12 to stop the air supply to the air bags 23 and 33, and the control unit 14 supplies air from the start of air supply. The time t2 until the stop is stored. After this, the air bags 23 and 33 contract and the treatment elements 24 and 34 recede in the direction away from the human body and shift to the next interval movement, and the memory of the time t2 described above is stored for each movement interval P. Repeated.
[0074]
That is, in brief, while the supporting members 22 and 32 are moved at intervals by the moving mechanisms 40 and 50, the air bags 23 and 33 are supplied and exhausted at every moving interval P, and the treatment elements 24 and 34 are moved forward and backward. The human body shape can be recognized by storing the time t2 until the treatment elements 24 and 34 come into contact with the human body at a predetermined pressure during the advancement.
[0075]
In this case, the strength with which the treatment elements 24 and 34 hit the human body is the upper limit until the air bags 23 and 33 reach a predetermined set pressure F, and the pressing force higher than that is the interval movement of the support members 22 and 32. It does not affect the human body regardless of the user's body shape. In other words, as the massage units 20 and 30 are moved along the body axis direction of the seated person in order to recognize the human body shape, the pressure of the air bags 23 and 33 may become excessive due to contact with the human body. Absent.
[0076]
For this reason, it is possible to prevent the user from feeling uncomfortable, and accordingly, the user does not escape the upper body from the backrest 3, and thus the user's body shape can be accurately recognized.
[0077]
Further, as described above, since the human body shape is recognized by operating the shoulder massage unit 20 and the dorsal waist massage unit 30 at the same time, the shape recognition on the back side of the whole human body half body (upper body) is recognized. It is possible to shorten the time required for. This is not the case when the human body shoulder is massaged from the diagonally upper rear side, but is also the same when the massager is massaged from the rear along the thickness direction of the human body shoulder. In this case, one massage unit may be used, and this may be moved in the body axis direction of the user to recognize the body shape from the shoulder to the waist.
[0078]
In the above recognition of the human body shape, instead of the time t2, the control unit 14 is provided with a determination unit for detecting the pressure change point, and the pressure change point b or c in the air bags 22 and 33 detected thereby. (See FIG. 9), it is also possible to make the determination. The discriminating unit for detecting the pressure change point is formed so as to obtain the pressure change point b from the difference between the pressure change rate between a and b shown in FIG. 9 and the pressure change rate between b and c. .
[0079]
Furthermore, in the above human body shape recognition, the position from the unit bases 21 and 31 of the units 20 and 30 to the human body, in other words, the position from the chair main body 2 that is the massage machine main body to the human body is advanced toward the human body. It is converted by the time t2 until the treatment elements 24 and 34 contact the human body with a predetermined pressure. For this reason, there is no need for a device for directly measuring the position, such as a potentiometer, and the configuration is simple.
[0080]
In addition, the massage designated with the operation part 15 is implemented following the above body shape recognition. Hereinafter, the case where upper body course massage is selected will be described as an example.
[0081]
Based on the height position of the human shoulder recognized as described above, the shoulder massage unit 20 is moved from the home position by the moving mechanism 40 to a position suitable for massaging the shoulder of the seated person. First, the shoulder is massaged.
[0082]
In this case, the control unit 14 sets the exhaust valve 61 to the first state, the exhaust valve 62 to the second state, and the switching valve 53 to the first state. Thereby, the air supplied from the air compressor 60 is supplied to the first shoulder air bag 23. When air is supplied to the first air bag 23, the support member 22 moves the pressing body 24b of the shoulder treatment element 24 closer to the shoulder of the user from an initial posture (see FIG. 2) substantially parallel to the unit base 21. (See FIG. 3). When the pressing body 24 a of the treatment element 24 comes into contact with the shoulder portion, the first air bag 23 receives a reaction from the shoulder portion via the treatment element 24. As a result, the pressure of the first air bladder 23 rises and exceeds the set value, so that the control unit 14 stops the air supply to the first air bladder 23 and switches the switching valve 63 to the second state. As a result, the treatment element 24 is held in contact with the shoulder, and the air supplied from the air compressor 60 is supplied to the second air bag 25. As a result, the treatment element 24 moves in a direction in which the pressure on the shoulder increases from the state in contact with the shoulder, and the pressing body 24b is pressed against the shoulder, so that the shoulder is supplied to the second air bag 25. The pressure is determined by the pressure determined by the amount (see the two-dot chain line in FIG. 6). Thereafter, as the control unit 14 places the exhaust valve 61 in the second state, the air in the second air bladder 25 is exhausted and the shoulder is relaxed. The human shoulder is massaged by repeating the compression / relaxation a predetermined number of times. Thereafter, since the control unit 14 sets the switching valve 63 to the second state, the air in the first air bag 23 is exhausted from the exhaust port of the exhaust valve 61. Since the support member 22 is urged rearward by an urging means such as a spring, the support member 22 and the treatment element 24 return to an initial posture substantially parallel to the unit base 21 as the air is discharged from the air bag 23.
[0083]
Next, based on the height position of the human shoulder recognized as described above or the height position of each part of the human back and back, the moving mechanism 502 is moved to a position suitable for massaging the back and waist of the seated person. The back and back massage unit 30 is moved more. But the upper part of the back is massaged. In this case, the motor 55a is driven, and the back and waist massage unit 30 is moved along the body axis direction of the user while being guided by the guide rail 41. When the dorsal waist massage unit 30 is moved to a predetermined position, it is detected by the position detection sensor and transmitted to the control unit 14, so that the drive of the motor 55a is stopped.
[0084]
Then, the control unit 14 sets the switching valve 61 to the second state, the exhaust valve 62 to the first state, and the switching valve 64 to the first state. Thereby, the air supplied from the air compressor 60 is supplied to the first air bag 33 for the back and back. When air is supplied to the first air bag 33, the support member 32 moves forward in parallel with the backrest portion 3 from the initial posture substantially parallel to the unit base 31 along the thickness direction of the human body together with the back and waist treatment element 34. Approach the upper back of the user. When the pressing body 34 b of the treatment element 34 comes into contact with the upper part of the back part, the first air bag 33 receives a reaction from the upper part of the back part via the treatment element 34. Thereby, since the pressure of the 1st air bag 33 rises and exceeds a setting value, the control part 14 stops the air supply to the 1st air bag 33, and makes the switching valve 64 into a 2nd state. Thus, the treatment element 34 is held in contact with the upper portion of the back, and the air supplied from the air compressor 60 is supplied to the second air bag 35. As a result, the treatment element 34 moves from the state in which the treatment element 34 is in contact with the upper part of the back part in a direction in which the pressure on the upper part of the back part is increased, and the pressing body 34b is pressed upward. The pressure is determined by the amount of air supplied to Thereafter, as the control unit 14 puts the exhaust valve 62 in the second state, the air in the second air bladder 35 is exhausted, and the treatment element 34 moves in a direction in which the pressure is eased and relaxes above the back part. Is done. The upper part of the human body is massaged by repeating this compression / relaxation a predetermined number of times. Thereafter, since the control unit 14 sets the switching valve 64 to the second state, the air in the first air bladder 35 is also exhausted from the exhaust port of the exhaust valve 62. Since the support member 32 is urged rearward by an urging means such as a spring, the support member 32 and the treatment element 34 are parallel to the backrest portion 3 along the thickness direction of the human body as the first air bag 35 is exhausted. It returns to the initial posture substantially parallel to the unit base 31.
[0085]
When massaging the middle of the back part, the motor 55a is driven based on the recognition data of the human body shape to guide the dorsal waist massage unit 30 to the guide rail 41, which is suitable for the middle part of the back part. Move to position. When this movement is performed to an appropriate position, it is detected by the position detection sensor, transmitted to the control unit 14, and the drive of the motor 55a is stopped. Then, the control unit 14 sets the exhaust valve 61 to the second state, the exhaust valve 62 to the first state, and the switching valve 64 to the first state. When air is supplied from the air compressor 60 to the first air bladder 33, the support member 32 moves forward along the thickness direction of the backrest 3. When the treatment element 34 comes into contact with the middle back portion, the first air bag 33 receives a reaction from the middle back portion via the treatment element 34. As a result, the pressure of the first air bag 33 rises and exceeds the set value, so the control unit 14 controls the air supply / exhaust device 12 to stop the air supply to the first air bag 33. Subsequently, the control unit 14 sets the switching valve 64 to the second state. As a result, the treatment element 34 is held in contact with the middle of the back, and the air supplied from the air compressor 60 is supplied to the second air bag 35. As a result, the treatment element 34 moves from the state in contact with the middle of the back to the direction in which the pressure against the middle of the back increases, and is pressed against the middle of the back. The pressure is determined by the amount of air supplied to Thereafter, as the control unit 14 places the exhaust valve 62 in the second state, the air in the second air bladder 35 is exhausted and the middle of the back is relaxed. By repeating the compression / relaxation a predetermined number of times, the middle part of the back of the human body is massaged. Thereafter, since the control unit 14 sets the switching valve 64 to the second state, the air in the first air bag 33 is also exhausted. Since the support member 32 is urged rearward by an urging means such as a spring, the support member 32 moves back in the thickness direction and returns to the initial posture along with the exhaust from the first air bag 33.
[0086]
In addition, the lower part of the back is massaged. The motor 55a is driven, and the back and waist massage unit 30 is guided to the guide rail 41 and moved to a position suitable for massaging the lower part of the back. When the back and back massage unit 30 moves to an appropriate position, it is detected by the position detection sensor and transmitted to the control unit 14, and the drive of the motor 55a is stopped. The following is massaged in the same manner as above the back.
[0087]
Subsequently, the waist is massaged. The motor 55a is driven by the control unit 14, and the back and back massage unit 30 is guided to the guide rail 41 and moved to a position suitable for massaging the waist. When the back and back massage unit 30 moves to an appropriate position, it is detected by the position detection sensor and transmitted to the control unit 14, and the drive of the motor 55a is stopped. The following is massaged in the same manner as above the back.
[0088]
Then, the above massage operation is repeated a predetermined number of times, and the course operation is completed. Upon completion of this operation, the operation command is reset and returned to the initial setting. In addition, when it is desired to end the massage in the course of the course operation, the operation unit 15 is operated to stop driving the air supply / exhaust device 12 and the moving mechanism 40.
[0089]
In the above massage, every time it moves to each massage point, the pressing body 34b of the treatment element 34 is first brought into contact with the human body, and then the second air bag 35 is inflated to perform the massage. For this reason, regardless of the user's body shape, position, or posture, the treatment element 34 can be pressed against the human body with a pressure determined by the amount of air in the second air bag 35, and the massage strength at each massage point can be made the same. .
[0090]
The present invention can be applied not only to a chair type massage machine but also to a bed type massage machine, for example. Furthermore, a vibrator or the like can be used for the treatment element, and the means for pressing the treatment element against the human body is not limited to the inflating and contracting air bag, and various mechanical configurations can be adopted. is there.
[0091]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the massage machine which can recognize a human body shape correctly can be provided, suppressing giving a user a discomfort.
[Brief description of the drawings]
FIG. 1 is a perspective view showing a massage machine according to an embodiment of the present invention.
FIG. 2 is a perspective view showing a massage body provided in the massage machine of FIG. 1 in a state where each air bag is contracted.
FIG. 3 is a perspective view showing a massage body included in the massage machine of FIG. 1 in a state where each air bag is inflated.
4 is a block diagram showing a control system of a moving mechanism and an air supply / exhaust device provided in the massage machine of FIG. 1. FIG.
5A is a side view showing a shoulder massage unit included in the massage machine of FIG. 1 in a state where each air bag is contracted. FIG. (B) is a side view showing the massage unit for shoulders in a state where the first air bag is inflated. (C) is a side view showing a state where the first air bladder is inflated by moving the shoulder massage unit by one pitch in the body axis direction.
6 is a side view showing a situation where a shoulder massage unit included in the massage machine of FIG. 1 detects the shoulder position of a human body. FIG.
7A is a side view showing a back and back massage unit provided in the massage machine of FIG. 1 in a state where each air bag is contracted. FIG. (B) is a side view showing the back and back massage unit in a state where the first air bag is inflated. (C) is a side view showing the back and back massage unit in a state where the first air bag is inflated by moving one pitch in the body axis direction.
FIG. 8 is a side view showing a situation in which the back and back massage unit included in the massage machine of FIG. 1 detects the position of the back and back of the human body.
FIG. 9 is a graph showing the relationship between the pressure of the first air bag and time for explaining the position detection operation of the human body by the massage machine of FIG. 1;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Massage machine, 2 ... Massage machine main body (chair main body), 11 ... Massage body, 12 ... Supply / exhaust device, 13a, 13b ... Pressure sensor (pressure detection means), 14 ... Control part, 14a ... Recognition part, 14b ... Time comparison unit, 14c: discrimination unit, 20 ... shoulder massage unit, 30 ... dorsal waist massage unit, 22, 32 ... support member, 23, 33 ... air bag, 24, 34 ... treatment element, 24a, 34a ... treatment Child plate member, 24b, 34b ... treatment element pressing body, 40, 50 ... movement mechanism, P ... predetermined movement interval, Q ... fine movement interval

Claims (3)

Massage machine body,
A treatment element for treating the treatment site of the human body,
A support member for supporting the treatment element;
A movement mechanism for moving the support member along the massage machine body together with the treatment element;
An air bag that advances the support member in a direction approaching the human body by expansion, and retracts the support member in a direction to move away from the human body by contraction;
An air supply / exhaust device for supplying and exhausting air to the air bag;
Pressure detecting means for detecting the pressure of the air bladder;
While the air bag is inflated and contracted, the support member is moved at intervals along the massage machine body via the moving mechanism, and the air bag is inflated at each movement interval to advance the support member. A controller having a recognizing unit for recognizing the shape of the human body by storing the time until the detected pressure of the pressure detecting means at the time of advance reaches a set value,
Equipped with,
A time comparison in which the control unit compares the latest time until the detected pressure reaches a set value at each movement interval with a known time until the detected pressure reaches the set value detected one time before the detection. Part
When the latest time is shorter than the known time by the comparison in the comparison unit, the control unit detects the position of the support member and the known time when the latest time is detected. The support member is moved at intervals of a movement interval smaller than the movement interval along the massage machine body with the expansion and contraction of the air bag between the positions of the support members. However, while controlling the air supply / exhaust device so that the air bag is inflated at each fine movement interval to advance the support member, the detection pressure of the pressure detection means at the time of advancement reaches a set value. A massage machine which memorizes time and recognizes a human body shape between the two positions . Massage machine body,
A treatment element for treating the treatment site of the human body,
A support member for supporting the treatment element;
A movement mechanism for moving the support member along the massage machine body together with the treatment element;
An air bag that advances the support member in a direction approaching the human body by expansion, and retracts the support member in a direction to move away from the human body by contraction;
An air supply / exhaust device for supplying and exhausting air to the air bag;
Pressure detecting means for detecting the pressure of the air bladder;
While the air bag is inflated and contracted, the support member is moved at intervals along the massage machine body via the moving mechanism, and the air bag is inflated at each movement interval to advance the support member. A controller having a recognizing unit for recognizing the shape of the human body by storing the time until the detected pressure of the pressure detecting means at the time of advance reaches a set value,
Comprising
The control unit has a determination unit that determines that there is no human body when the detection pressure of the pressure detection means does not reach the set value within a predetermined time from the start of advance of the support member,
Between the position of the support member when the control unit determines that there is a human body and the position of the support member when the determination unit determines that there is no human body one time before the control unit, the air While the bag is inflated and contracted, the support member is moved along the massage machine main body through the moving mechanism at intervals smaller than the moving interval, and the air bag is expanded at every fine moving interval. with so controlling the supply and exhaust device to advance said support member is, the detection pressure of the pressure detecting means during the advancement stores the time to reach the set value, human body shape between the two positions Recognize massage machine. A shoulder massage unit disposed corresponding to the shoulder of the human body, and a back and waist massage unit disposed corresponding to the back and waist of the human body, each of these massage units being the treatment element and the support member And a moving mechanism and an air bag, and the control unit is configured to allow at least one of the human body shape recognition operations of the shoulder massage unit and the dorsal waist massage unit to overlap each other. The massage machine according to claim 1 or 2, wherein the unit is controlled .

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