JP4250917B2

JP4250917B2 - Massage machine

Info

Publication number: JP4250917B2
Application number: JP2002176468A
Authority: JP
Inventors: 宗清池部; 潤二中村; 陽介倉田
Original assignee: Panasonic Corp; Matsushita Electric Works Ltd
Current assignee: Panasonic Corp; Panasonic Electric Works Co Ltd
Priority date: 2002-06-17
Filing date: 2002-06-17
Publication date: 2009-04-08
Anticipated expiration: 2022-06-17
Also published as: CN1466937A; JP2004016525A; TW200400024A; HK1060840A1; CN1226979C; TWI277409B

Description

【０００１】
【発明の属する技術分野】
本発明は、施療子を駆動部により動作させて施療者をマッサージするためのマッサージ機に関するものである。
【０００２】
【従来の技術】
施療子を駆動部により動作させて施療者をマッサージするための従来のマッサージ機は、一つのモータを動力源とし、複雑な伝達機構を介して施療子の巾方向の動作と人体側への突出方向（強弱方向）の動作を行ってマッサージを行うようにしている。
【０００３】
この従来のマッサージ機では、巾や強弱の調節機構は可変であっても、機構上の制約により例えばモミ動作なら特定の軌跡を描くだけで、マッサージ動作のパターンも限られており、多様なマッサージ動作を得られないという問題があった。また、従来のマッサージ機においては一つのモータを動力源とし、複雑な伝達機構を介して施療子の巾方向の動作と人体側への突出方向の動作を行う構造のもののため、構造が複雑で組み立て性が悪いという問題があった。
【０００４】
【発明が解決しようとする課題】
本発明は上記の点に鑑みてなされたものであり、多様な動作軌跡を描くことができて多様なマッサージ動作が得られ、また、構造が簡略化し、組み立て性が向上するマッサージ機を提供することを課題とするものである。
【０００５】
【課題を解決するための手段】
上記課題を解決するために本発明に係るマッサージ機は、施療子１を駆動させるマッサージ機において、施療子１を、人体側への突出方向に動作させる強弱駆動部２と、巾方向に動作させる巾駆動部３と、上下方向に動作させる上下駆動部４とを有し、上記各駆動部の駆動源をそれぞれ別々の駆動源とし、強弱駆動部２には強弱駆動部２の駆動に起因した施療子１の位置を検出するセンサと、速度を検出するセンサを、巾駆動部３には巾駆動部３の駆動に起因した施療子１の位置を検出するセンサと、速度を検出するセンサを、上下駆動部４には少なくとも上下駆動部４の駆動に起因した施療子１の位置を検出するセンサを、それぞれ独立して備え、上記各駆動部に独立して備えたセンサからの信号により、各駆動部のうち１つの駆動部を動作させることによるマッサージ動作と２つ以上の駆動部を連動させることによるマッサージ動作を行わせるように制御する制御部７を備え、上記施療子１を施療子アーム８に取付け、巾駆動部３による施療子１を支持する施療子アーム８の巾方向における可動範囲の両外側に一対の施療子アーム８を駆動するための強弱駆動用歯車９を備え、上記一対の強弱駆動用歯車９が巾駆動部３における巾駆動軸１０を回転の中心として回転することを特徴とするものである。このような構成とすることで、強弱、巾、上下の各駆動部を独立して位置と速度を検出しながら制御することができて任意の施療子１の動作軌跡を描くことができるものである。また、人体から施療子１に負荷がかかっても施療子アーム８の巾方向における可動範囲の両外側に強弱駆動用歯車９を備えているので、確実に強弱駆動機構を駆動させて施療子アーム８を強弱駆動できるものであり、また、強弱駆動用歯車９で伝達することで高速な動作が可能となり、また、施療子１が左右に一対ある場合に片方の施療子１にのみ負荷がかかった場合のような支持部にねじれ力が生じたような場合でも、負荷支持部の外側両端を強弱駆動用歯車９部分で受けるため軸が撓まないものである。更に、施療子アーム８が挿通された巾駆動軸１０を中心として強弱駆動用歯車９が回転することになり、巾駆動軸１０を強弱駆動に合わせて回動させたりする機構が必要でないものである。
【０００７】
また、一対の強弱駆動用歯車９が円弧状歯車９ａで形成してあることが好ましい。このような構成とすることで、強弱駆動に必要な部分のみに歯車のある円弧状歯車９ａであるため、マッサージ機の厚みを薄くできるものである。
【０００８】
また、一対の円弧状歯車９ａが施療子アーム８の回転軸に対して垂直方向に左右対称に形成してあることが好ましい。このように一対の円弧状歯車９ａの形状が左右対称に形成されているので、一対の円弧状歯車９ａが共通の部材となり、左右の取り間違い等がなくなって組み立て性が向上するものである。
【００１０】
また、強弱駆動部２の駆動源に接続された強弱駆動軸１１に一対の伝達用歯車１２を設け、巾駆動部３の巾駆動軸１０を回転の中心として回転する一対の強弱駆動用歯車９に上記強弱駆動軸１１に設けた一対の伝達用歯車１２を噛み合わせ、上記巾駆動軸１０を回転の中心として回転する一対の強弱駆動用歯車９のうち一方を他方の強弱駆動用歯車９に対して強弱駆動用歯車９と伝達用歯車１２との噛み合いをバックラッシュ分だけずらすことが好ましい。このように、人体から施療子に負荷がかかった時に一対の強弱駆動用歯車９に生じる回転に対してどちらか一方の強弱駆動用歯車９をバックラッシュ分だけずらすことでがたつきがなくなるものである。
【００１１】
また、巾駆動部３において施療子アーム８を巾方向に駆動させる巾駆動軸１０と平行に施療子アーム８に挿通した巾駆動支軸１３を少なくとも１つ以上設けることが好ましい。このような構成とすることで、巾駆動支軸１３により人体から負荷がかかった時に施療子アーム８から巾駆動軸１０に伝わる応力やねじれを巾駆動支軸１３に分散させることができるものである。
【００１２】
また、施療子１を施療子アーム８に取付け、巾駆動部３に外周に雄ねじを設けた巾駆動軸１０を設けると共に、該巾駆動軸１０の雄ねじ１０ａに螺合して巾駆動軸１０の回転により自身は回転することなく巾駆動軸１０に対して軸方向に移動することで施療子アーム８を巾方向に駆動させる巾送りナット１４を設け、巾送りナット１４に施療子アーム８を巾駆動軸１０の軸方向に移動自在に接続するとともに巾駆動軸１０の軸方向において巾送りナットと施療子アーム８との間に緩衝材１５を介在することが好ましい。このような構成とすることで、巾を狭めるマッサージ動作中に頭部等を挟み込んだ場合にも緩衝材１５により挟み込む力を弱めることができる。また、巾狭動作から巾広動作へマッサージ動作を行う場合には圧縮された緩衝材１５が巾広になるにつれて復元し、施療子１が人体に粘りのあるマッサージを行うことが可能となり、また、巾広動作から巾狭動作へマッサージ動作を行う場合には緩衝材１５が巾狭になるにつれて圧縮されて人体に施療子１をじっくり押し込むというマッサージを行うことが可能となる。
【００１３】
また、緩衝材１５がコイル状のばね材であることが好ましい。このような構成とすることで、緩衝材１５が単純な構造で組み立て性がよく、安価となる。
【００１４】
また、施療子アーム８に巾送りナット１４を収納する巾送りナット収納部１６を設け、巾送りナット収納部１６の内周形状及び巾送りナット１４の外周形状が非円形状をし且つ巾送りナット収納部１６の内周よりも巾送りナット１４の外周が僅かに小さく且つ巾送りナット１４が巾送りナット収納部１６内で巾駆動軸１０の回転方向に僅かに移動できる遊びを設けることが好ましい。このような構成とすることで、人体からの負荷が施療子１にかかると、施療子アーム８に対してねじれ等の力が生じるが、巾送りナット収納部１６の内周形状及び巾送りナット１４の外周形状が非円形状をし且つ巾送りナット収納部１６の内周よりも巾送りナット１４の外周が僅かに小さく且つ巾送りナット１４が巾送りナット収納部１６内で巾駆動軸１０の回転方向に僅かに移動できる遊びを設けてあることで、該遊びにより上記ねじれ等の力を受け流すことができるものである。
【００１５】
また、強弱駆動部２は施療子１を支点を中心に揺動させる構造とすると共に強弱駆動部２に設けるセンサとして強弱駆動部２の駆動に起因した施療子１の揺動位置を検出するセンサ５ａと強弱駆動部２の駆動に起因した施療子１の速度を検出するセンサ６ａを設け、上下駆動部４に設けるセンサとして上下駆動部４の駆動に起因した施療子１の上下位置を検出するセンサ５ｃのみを設けることが好ましい。このような構成とすることで、強弱駆動部２は施療子１を支点を中心に揺動させる構造としてあるので、強弱駆動部２による施療子１の動作は人体の前後方向だけでなく上下方向にも移動することになり、これを利用すれば、上下駆動部４には速度を検出するセンサを設ける必要がなくて、上下方向の位置を制御するために必要な上下位置を検出するセンサ５ｃのみでよく、制御が複雑とならず、構造も単純化できることになる。
【００１６】
また、各駆動部において駆動源を支持する駆動源支持部１８にコ字状をした切り欠き部１９を設け、この切り欠き部１９に駆動源支持部１８に取付ける駆動源の出力軸２０を挿通して突出させると共に出力軸２０を切り欠き部１９の奧の当て部１９ａに当て、出力軸２０から駆動伝達部に駆動が伝達される方向を切り欠き部１９の奧の当て部１９ａから入口１９ｂに向かう方向と略逆方向とすることが好ましい。このような構成とすることで、切り欠き部１９の入口１９ｂから駆動源の出力軸２０を挿入して奧の当て部１９ａに当てて位置決めした状態で固定することができ、また、また、組み立て時にベルトの引っ張り力によるテンションのばらつきを防止できるものである。
【００１７】
また、各駆動部の駆動源であるモータの出力軸２０ａ、２０ｂ、２０ｃの一端部にプーリ２１ａ、２１ｂ、２１ｃを圧入取付けるものであって、モータの出力軸２０ａ、２０ｂ、２０ｃのプーリ２１ａ、２１ｂ、２１ｃが圧入されない方の他端部をモータハウジング２２の外側に突出させることが好ましい。このような構成とすることで、プーリ２１ａ、２１ｂ、２１ｃを出力軸２０の一端部に圧入する際、出力軸２０ａ、２０ｂ、２０ｃの他端部のモータハウジング２２から外側に突出した部分を支持した状態でプーリ２１ａ、２１ｂ、２１ｃを圧入するという取付け操作ができるものである。
【００１８】
また、施療子１で施療者のマッサージを行うものにおいて、施療者側から施療子１にかかる圧力を検出するための圧力信号検出部２３を有し、圧力信号により強弱駆動部２、巾駆動部３、上下駆動部４のうち少なくとも１つ以上の駆動部の位置制御乃至速度制御の少なくとも一方又は両方を制御することが好ましい。このような構成とすることで、圧力信号を検出し、その圧力信号をもとに位置制御や速度制御をして所望のマッサージをすることができるものである。
【００１９】
また、施療子１を施療子アーム８に取付け、圧力信号検出部２３を施療子１又は施療子アーム８に配設することが好ましい。このような構成とすることで、施療子１にかかる人体の負荷が直接的に測ることができるものである。
【００２０】
また、強弱駆動部２と巾駆動部と上下駆動部４のうち少なくとも１つ以上の駆動部を操作することができる操作器を具備することが好ましい。このような構成とすることで、強弱駆動部２と巾駆動部と上下駆動部４のうちの少なくとも１つ以上の駆動部を使用者が操作器を用いて任意に動かすことができるものである。
【００２１】
【発明の実施の形態】
以下、本発明を添付図面に示す実施形態に基づいて説明する。
【００２２】
本発明のマッサージ機は、施療子１を、人体側への突出方向に動作させる強弱駆動部２と、巾方向に動作させる巾駆動部３と、上下方向に動作させる上下駆動部４とを有したもので、これらが全体として図１に示すような一つの主体ブロック２４に組み込んである。この主体ブロック２４は図２に示すように強弱駆動部２のユニットと、図４に示すような上下駆動部４のユニットと、図３に示すような巾駆動部３のユニットとの３つのユニットから構成してあり、これら３つのユニットを組み立てることで図１に示すような主体ブロック２４を構成している。
【００２３】
この主体ブロック２４には図１乃至図４に示すように、強弱駆動部２、巾駆動部３、上下駆動部４の各駆動部の駆動源としてそれぞれモータ２５ａ、２５ｂ、２５ｃが設けてある。
【００２４】
主体ブロック２４の両側板２４ａ間には巾駆動軸１０が回動自在に取付けてある。巾駆動部３のモータ２５ｂの出力軸２０ｂにはプーリ２１ｂが設けてあり、該プーリ２１ｂと巾駆動軸１０の端部に設けたプーリ２９ｂとにベルト２８ｂが掛回してある。上記巾駆動軸１０には外周に雄ねじ１０ａを設けてあり、この雄ねじ１０ａは巾駆動軸１０の長手方向の中間部を境にして左右の雄ねじ１０ａは互いに逆ねじの関係となっている。この巾駆動軸１０の左右の雄ねじ１０ａにはそれぞれ施療子１を有する施療子アーム８に設けた巾送りナット１４が螺合してあり（図１０参照）、施療子アーム８の回転方向の運動は後述の強弱駆動用歯車９により行われるので、巾駆動部３のモータ２５ｂを正転あるいは逆転することで、プーリ２１ｂ、ベルト２８ｂ、プーリ２９ｂを介して巾駆動軸１０が正転方向、あるいは逆転方向に回転して一対の施療子アーム８が互いに近づいたり、あるいは互いに離れたりする動作、つまり、巾方向（左右方向）の移動を行うようになっている。
【００２５】
施療子アーム８の上記巾方向の可動範囲の両外側に一対の強弱駆動用歯車９が配置してあり、この一対の強弱駆動用歯車９は扇形をした歯車主体の円弧の部分に歯を設けた円弧状歯車９ａにより構成してあり、円弧の中心孔９ｂが巾駆動軸１０に遊嵌してあり、左右両側の強弱駆動用歯車９は同士が連結部材３１により連結してある。また、左右両側の強弱駆動用歯車９間には少なくとも１つ以上の（実施形態では２つ）巾駆動支軸１３が架設してあり、この巾駆動支軸１３は巾駆動軸１０と平行であり、巾駆動支軸１３には一対の施療子アーム８に設けた孔部３２が移動自在に被嵌してある。このように、巾駆動軸１０と平行に施療子アーム８に挿通した巾駆動支軸１３を少なくとも１つ以上設けることで、巾駆動支軸１３により人体から負荷がかかった時に施療子アーム８から巾駆動軸１０に伝わる応力やねじれを巾駆動支軸１３に分散させることができるものである。
【００２６】
左右一対の円弧状歯車９ａには後述の強弱駆動部２におけるモータ２５ａの回転を伝達する一対の伝達用歯車１２が噛み合っている。この一対の強弱駆動用歯車９と一対の伝達用歯車１２との噛み合いに当たって、一対の強弱駆動用歯車９のうち一方を他方の強弱駆動用歯車９に対して強弱駆動用歯車９と伝達用歯車１２との噛み合いを図１２のようにバックラッシュ分の寸法ｍだけずらすようにして噛み合わせてある。強弱駆動部２のモータ２５ａの出力軸２０ａにはプーリ２１ａが設けてあり、強弱駆動部２のギアボックス２６ａ内にウォームホイール、ウォーム軸が内装してあり、上記プーリ２１ａとウォーム軸に設けたプーリ２９ａとにベルト２８ａが掛回してある。ギアボックス２６ａと一方の側板２４ａに上記ウォームホイールにより回転される強弱駆動軸１１が回転自在に軸支してあり、強弱駆動軸１１の両端部には一対の伝達用歯車１２が設けてあり、この左右一対の伝達用歯車１２がそれぞれ一対の円弧状歯車９ａに噛み合っている。したがって、強弱駆動部２のモータ２５ａを正転、逆転駆動することで、プーリ２１ａ、ベルト２８ａ、プーリ２９ａ、ウォーム軸、ウォームギアを介して強弱駆動軸１１が回転し、強弱駆動軸１１が回転することで伝達用歯車１２が回転し、これにより円弧状歯車９ａを巾駆動軸１０と同軸を回転中心として回動し、これにより施療子アーム８を巾駆動軸１０と同軸を回転中心として回動し、施療子アーム８の先端部に設けた施療子１の人体側への突出量を可変するようになっている。つまり、施療子アーム８が回動することで施療子１は円弧運動をし（実施形態では巾駆動軸１０と同軸を回転中心とした円弧運動をし）て上下方向及び前後方向に移動するようになっていて人体に対する施療子１の当たる強弱を可変するようになっている。
【００２７】
主体ブロック２４に設けた上下駆動部４は駆動源であるモータ２５ｃと、モータ２５ｃの出力軸２０ｃに設けたプーリ２１ｃと、ギアボックス２６ｃ内に内装したウォームホイール、ウォーム軸と、ウォーム軸に設けたプーリ２９ｃと、両プーリ２１ｃ、２９ｃに掛回したベルト２８ｃと、ギアボックス２６ｃに回転自在に支持されてウォームホイールにより回転する上下駆動軸３０と、上下駆動軸３０に設けたローラ部３３とピニオン３４とを備えており、モータ２５ｃを正転、あるいは逆転駆動することで、プーリ２１ｃ、ベルト２８ｃ、プーリ２９ｃ、ウォーム軸、ウォームギアを介して上下駆動軸３０が回転し、上下駆動軸３０が回転することでピニオン３４が正転又は逆転するようになっている。
【００２８】
主体ブロック２４は図６に示すような椅子３５の背もたれ部３６のフレームに設けた上下方向レール（図示せず）に上記上下駆動軸３０の両端部のローラ部３３を上下移動自在に取付け、上下方向レールに設けたラックに上記ピニオン３４を噛み合わせてあり、上下駆動部４のモータ２５ｃを上記のように正転あるいは逆転駆動することで、ラックに噛み合ったピニオン３４を正転あるいは逆転して主体ブロック２４（つまり主体ブロック２４に設けた施療子１）を上方又は下方に移動するようになっている。ここで、主体ブロック２４の両側板２４ａの上部にはローラ５８が回転自在に設けてあり、このローラ５８も上記上下方向レールに上下移動自在に嵌め込んである。
【００２９】
主体ブロック２４に設けた施療子１を人体側への突出方向に動作させる強弱駆動部２と、施療子１を巾方向に動作させる巾駆動部３と、施療子１を上下方向に動作させる上下駆動部４とにはそれぞれ各駆動部の駆動に起因した施療子１の動作による位置を検出するセンサ、各駆動部の駆動に起因した施療子１の速度を検出するセンサの少なくとも一方を各駆動部が独立して備えている。
【００３０】
そして、各駆動部のセンサからの信号により１つの駆動部を動作させることによるマッサージ動作と２つ以上の駆動部を連動させることによるマッサージ動作を制御部７により制御して行うようになっている。
【００３１】
本体ブロック２４に設けた強弱駆動部２には強弱駆動部２の駆動に起因した施療子１の揺動位置を検出するセンサ５ａ（強弱位置センサ）と強弱駆動部２の駆動に起因した施療子１の前後方向の移動速度を検出するセンサ６ａ（強弱回転センサ）を設けてあり、また、巾駆動部３には巾駆動部３の駆動に起因した施療子１の巾方向の位置を検出するセンサ５ｂ（巾位置センサ）と巾駆動部３の駆動に起因した施療子１の巾方向の移動速度を検出するセンサ６ｂ（巾回転センサ）を設けてあり、また、上下駆動部４には上下駆動部４の駆動に起因した施療子１の上下方向の位置を検出するセンサ５ｃ（上下位置センサ）と上下駆動部４の駆動に起因した施療子１の上下方向の移動速度を検出するセンサ６ｃ（上下回転センサ）を設けてある。なお、上下駆動部４に設けるセンサとしては後述のように上下駆動部４の駆動に起因した施療子１の上下位置を検出するセンサ５ｃのみを設けてもよい。
【００３２】
図７には制御ブロック図が示してある。制御部７はマイコンにより構成してあり、制御部７により強弱駆動部２のモータ２５ａ、巾駆動部３のモータ２５ｂ、上下駆動部４のモータ２５ｃの１つを動作させることによるマッサージ動作と、モータ２５ａ、モータ２５ｂ、モータ２５ｃのうち２つ以上のモータを連動させることによるマッサージ動作を行わせるように制御するようになっている。制御部７によりモータ２５ａを制御する場合、モータ２５ａの駆動に起因した施療子１の揺動位置、移動速度を制御するようになっており、この場合、強弱位置センサ５ａ、強弱回転センサ６ａによりそれぞれモータ２５ａの駆動に起因した施療子１の揺動位置、移動速度を検出し、設定通りの強弱動作を行うように制御部７により制御するようになっている。また、制御部７によりモータ２５ｂを制御する場合、モータ２５ｂの駆動に起因した施療子１の巾方向の位置、巾方向の移動速度を制御するようになっており、この場合、巾位置センサ５ｂ、巾回転センサ６ｂによりそれぞれ巾方向の位置、移動速度を検出し、設定通りの巾方向駆動動作を行うように制御部７により制御するようになっている。更に、制御部７によりモータ２５ｃを制御する場合、モータ２５ｃの駆動に起因した施療子１の上下方向の位置、上下方向の移動速度を制御するようになっており、この場合、上下位置センサ５ｃ、上下回転センサ６ｃによりそれぞれ位置、移動速度を検出し、設定通りの上下方向駆動動作を行うように制御部７により制御するようになっている。なお、上下駆動部４に設けるセンサとして後述のように上下駆動部４の駆動に起因した施療子１の上下位置を検出するセンサ５ｃのみを設けた場合には、上下位置センサ５ｃにより上下位置を検出し、設定通りの上下方向駆動動作を行うように制御部７により制御する。
【００３３】
このように、施療子１を人体側への突出方向に動作させる強弱駆動部２と、巾方向に動作させる巾駆動部３と、上下方向に動作させる上下駆動部４をそれぞれ独立して位置、速度を制御し、しかも、２以上の駆動部が連動するように制御することで、マッサージ動作のパターンが特定の軌跡を描くものにのみ限定されず、使用者が所望する任意の動作軌跡を施療子１が描くようにマッサージ動作させることが可能となるものである。
【００３４】
次に、強弱駆動部２は施療子１を支点を中心に揺動させる構造とすると共に強弱駆動部２に設けるセンサとして強弱駆動部２の駆動に起因した施療子１の揺動位置を検出するセンサ５ａと強弱駆動部２の駆動に起因した施療子１の速度を検出するセンサ６ａを設け、巾駆動部３に設けるセンサとして巾駆動部３の駆動に起因した施療子１の巾方向の位置を検出するセンサ５ｂと巾駆動部３の駆動に起因した施療子１の速度を検出するセンサ６ｂを設け、上下駆動部４に設けるセンサとして上下駆動部４の駆動に起因した施療子１の上下位置を検出するセンサ５ｃのみを設ける場合につき説明する。強弱駆動部２は施療子１を支点を中心に揺動させる構造としてあるので、強弱駆動部２による施療子１の動作は人体の前後方向だけでなく上下方向にも移動することになり、これを利用すれば、本実施形態のように、上下駆動部４には速度を検出するセンサを設ける必要がなくて、上下方向の位置を制御するために必要な上下位置を検出するセンサ５ｃのみでよく、制御が複雑とならず、構造も単純化できることになる。
【００３５】
ここで、上記のように巾駆動部３による施療子１を支持する施療子アーム８の巾方向における可動範囲の両外側に一対の施療子アーム８を駆動するための強弱駆動用歯車９があるので、人体から施療子１に負荷がかかっても、確実に強弱駆動機構を駆動させて施療子アーム８を強弱駆動できるものであり、また、強弱駆動用歯車９で伝達することで高速な動作が可能となる。また、添付図面に示す実施形態のように施療子１が左右に一対設けてある場合に片方の施療子１にのみ負荷がかかった場合のような支持部にねじれ力が生じたような場合でも、負荷支持部の外側両端を強弱駆動用歯車９部分で受けるため軸が撓まないようにできて、この点でも確実に強弱駆動機構を駆動させて施療子アーム８を強弱駆動できるものである。上記のように施療子アーム８の強弱駆動に必要な部分のみに歯車のある円弧状歯車９ａにより強弱駆動用歯車９を構成することで、マッサージ機の厚みを薄くできて全体をコンパクト化できるものである。また、一対の円弧状歯車９ａは施療子アーム８の回転軸（実施形態では巾駆動軸１０が施療子アーム８の回転の中心となっている）に対して垂直方向に左右対称に形成してあって、左右一対の円弧状歯車９ａを共通の部材としてあり、これにより左右の取り間違い等がなくなって組み立て性が向上するようにしてある。
【００３６】
また、上記のように一対の強弱駆動用歯車９が巾駆動部３における巾駆動軸１０を回転の中心として回転するように構成することで、施療子アーム８が挿通された巾駆動軸１０を中心として強弱駆動用歯車９が回転することになり、巾駆動軸１０を強弱駆動に合わせて回動させたりする機構が必要でなく、機構が簡略化できることになる。
【００３７】
また、前述のように、巾駆動軸１０を回転の中心として回転する一対の強弱駆動用歯車９のうち一方を他方の強弱駆動用歯車９に対して強弱駆動用歯車９と伝達用歯車１２との噛み合いを図１２のようにバックラッシュ分の寸法ｍだけずらすようにして噛み合わせてあることで、人体から施療子１に負荷がかかった時に一対の強弱駆動用歯車９に生じる回転に対してどちらか一方の強弱駆動用歯車９をバックラッシュ分だけずらすことでがたつきがなくなり、人体に衝撃を与えることなくマッサージ動作ができ、また、故障も少なくなるものである。
【００３８】
施療子アーム８には図１０に示すように、巾送りナット収納部１６が設けてあり、巾送りナット収納部１６内に収納した巾送りナット１４が巾駆動軸１０の外周の雄ねじ１０ａに螺合してある。巾送りナット収納部１６は一端部が開口となった有底筒状部１６ａと有底筒状部１６ａの開口を蓋する蓋体１６ｂとで構成してあり、有底筒状部１６ａの底部と蓋体１６ｂとには巾駆動軸１０が挿通する孔が設けてある。有底筒状部１６ａの内に巾送りナット１４が収納してある。ここで、図１１に示すように、巾送りナット収納部１６の内周形状及び巾送りナット１４の外周形状が非円形状をし且つ巾送りナット収納部１６の内周よりも巾送りナット１４の外周が僅かに小さく且つ巾送りナット１４が巾送りナット収納部１６内で巾駆動軸１０の回転方向に僅かに移動できる遊びを持たせるように隙間３７が設けてある。これにより巾送りナット１４は施療子アーム８に対して上記遊びの分だけ僅かに移動できるがそれ以上移動できないため結果的に施療子アーム８により巾送りナット１４の回転が阻止されることになる。そして、人体からの負荷が施療子１にかかると、施療子アーム８に対してねじれ等の力が生じるが、巾送りナット収納部１６の内周形状及び巾送りナット１４の外周形状が非円形状をし且つ巾送りナット収納部１６の内周よりも巾送りナット１４の外周が僅かに小さく且つ巾送りナット１４が巾送りナット収納部１６内で巾駆動軸１０の回転方向に僅かに移動できる遊びを設けてあることで、該遊びにより上記ねじれ等の力を受け流すことができるものである。
【００３９】
図１０にしめすように、有底筒状部１６ａ内に収納された巾送りナット１４と有底筒状部１６ａの底部との間には緩衝材１５（実施形態ではコイルばね）が介在してあり、このように緩衝材１５を設けることで、巾を狭めるマッサージ動作中に頭部等を挟み込んだ場合にも緩衝材１５により挟み込む力を弱めることができるものであり、また、巾狭動作から巾広動作へマッサージ動作を行う場合には圧縮された緩衝材１５が巾広になるにつれて復元し、施療子１が人体に粘りのあるマッサージを行うことが可能となり、また、巾広動作から巾狭動作へマッサージ動作を行う場合には緩衝材１５が巾狭になるにつれて圧縮されて人体に施療子１をじっくり押し込むというマッサージを行うことが可能となるものである。そして、緩衝材１５を実施形態のようにコイル状のばね材により構成することで、緩衝材１５が単純な構造で組み立て性がよく、安価となるものである。
【００４０】
次に、各駆動部において駆動源であるモータ２５ａ、２５ｂ、２５ｃを支持する構造につき説明する。
【００４１】
駆動源であるモータ２５ａ、２５ｂ、２５ｃを支持する駆動源支持部１８にはコ字状をした切り欠き部１９が設けてある。このコ字状をした切り欠き部１９の奧には当て部１９ａが設けてある。添付図面に示す実施形態においては、図２、図３、図４、図１３に示すように、強弱駆動部２の駆動源支持部１８、上下駆動部４の駆動源支持部１８においてはコ字状をした切り欠き部１９の最奧部に当て部１９ａが設けてあり、図３、図１３においては巾駆動部３の駆動源支持部１８においてはコ字状をした切り欠き部１９の奧行方向の途中に当て部１９ａが設けてある。上記駆動源支持部１８に設けたコ字状をした切り欠き部１９の入口１９ｂから切り欠き部１９の奧に向けてモータ２５ａ又はモータ２５ｂ又はモータ２５ｃの出力軸２０ａ、２０ｂ、２０ｃを挿通して出力軸２０の一端部を駆動源支持部１８の外面から突出させると共に出力軸２０ａ、２０ｂ、２０ｃを切り欠き部１９の奧の当て部１９ａに当て、このように位置決めした状態で固着具３８によりモータ２５ａ又はモータ２５ｂ又はモータ２５ｃを駆動源支持部１８に固着するものである。モータ２５ａ、モータ２５ｂ、モータ２５ｃの出力軸２０ａ、２０ｂ、２０ｃの一端部にはプーリ２１ａ、２１ｂ、２１ｃが圧入取付けられ、この出力軸２０ａ、２０ｂ、２０ｃの一端部に取付けたプーリ２１ａ、２１ｂ、２１ｃと、ウォーム軸に設けたプーリ２９ａと、巾駆動軸１０の端部に設けたプーリ２９ｂ、ウォーム軸に設けたプーリ２９ｃとにそれぞれベルト２８ａ、２８ｂ、２８ｃを掛回してある。ここで、出力軸２０ａ、２０ｂ、２０ｃから駆動伝達部であるウォーム軸や巾駆動軸等に駆動が伝達される方向（つまりプーリ２１ａ、２１ｂ、２１ｃからプーリ２９ａ、２９ｂ、２９ｃに向けた方向）が切り欠き部１９の奧の当て部１９ａから入口１９ｂに向かう方向と略逆方向となっており、これにより切り欠き部１９の入口１９ｂから駆動源の出力軸２０を挿入して奧の当て部１９ａに当てて位置決めした状態で固定することができ、また、また、組み立て時にベルトの引っ張り力によるテンションのばらつきを防止できるものである。
【００４２】
モータ２５ａ、２５ｂ、２５ｃの出力軸２０ａ、２０ｂ、２０ｃの一端部には上記のようにプーリ２１ａ、２１ｂ、２１ｃを圧入取付けるのであるが、この場合、モータ２５ａ、２５ｂ、２５ｃの出力軸２０ａ、２０ｂ、２０ｃのプーリ２１ａ、２１ｂ、２１ｃが圧入されない方の他端部をモータハウジング２２の外側に突出させるようにする。これによりプーリ２１ａ、２１ｂ、２１ｃを出力軸２０ａ、２０ｂ、２０ｃの一端部に圧入する際、出力軸２０の他端部のモータハウジング２２から外側に突出した部分を図１４（ｂ）のように支持部材４０で支持した状態でプーリ２１を圧入するという取付け操作ができて、モータハウジング２２を支持した状態で出力軸２０ａ、２０ｂ、２０ｃのプーリ２１ａ、２１ｂ、２１ｃが圧入する場合に対し、出力軸２０ａ、２０ｂ、２０ｃとモータハウジング２２との同軸度等の影響を受けることなく、正確に出力軸２０ａ、２０ｂ、２０ｃにプーリ２１ａ、２１ｂ、２１ｃを圧入して取付けることができるものである。
【００４３】
ところで、本発明のマッサージ機において、図１５に示すように、施療者側から施療子１にかかる圧力を検出するための圧力信号検出部２３を設けて、圧力信号により強弱駆動部２、巾駆動部３、上下駆動部４のうち少なくとも１つ以上の駆動部の位置制御乃至速度制御の少なくとも一方又は両方をフィードバック制御するようにしてもよいものである。つまり、圧力信号検出部２３で検出した圧力信号に基づき制御部によりあらかじめ設定した施療子１の負荷圧力となるように位置制御や速度制御をして所望のマッサージとすることができるものである。
【００４４】
この場合、図８に示すように圧力信号検出部２３を施療子１又は施療子アーム８に配設すると、施療子１にかかる人体の負荷が直接的に測ることができ、構造が簡略化すると共に正確に施療子１にかかる人体の負荷を検出できて、より精度の高い所望のマッサージが得られるものである。
【００４５】
なお、添付図面に示す実施形態では、左右一対の施療子アーム８にはそれぞれ上下２個の施療子１が設けてあり、上の施療子１は施療子アーム８に設けたソレノイド４２のプランジャ４２ａに取付けてあり、ソレノイド４２を駆動すると、施療子１が前後移動して叩きマッサージを行うことができるようにしている。
【００４６】
もちろん、左右一対の施療子アーム８にそれぞれ１個の施療子１を設けるようにしたものでもよい。
【００４７】
なお、図２、図３、図４のように、強弱駆動部２、巾駆動部３、上下駆動部４をそれぞれユニット化し（図２は強弱駆動部２のユニット、図３は巾駆動部３のユニット、図４は上下駆動部４のユニットを示す）、これらのユニットを組み合わせることで、本体ブロック２４を組み立て構成するようにしてもよい。このように各駆動部をユニット化することで、組み立て性が向上し、各ユニットでの検査が可能となり、不良率が低減し、また、修理に伴う部品の交換も容易となるものである。
【００４８】
【発明の効果】
上記のように本発明の請求項１記載の発明にあっては、施療子を、人体側への突出方向に動作させる強弱駆動部と、巾方向に動作させる巾駆動部と、上下方向に動作させる上下駆動部とを有し、上記各駆動部の駆動源をそれぞれ別々の駆動源とし、強弱駆動部には強弱駆動部の駆動に起因した施療子の位置を検出するセンサと、速度を検出するセンサを、巾駆動部には巾駆動部の駆動に起因した施療子の位置を検出するセンサと、速度を検出するセンサを、上下駆動部には少なくとも上下駆動部の駆動に起因した施療子の位置を検出するセンサを、それぞれ独立して備え、上記各駆動部に独立して備えたセンサからの信号により、各駆動部のうち１つの駆動部を動作させることによるマッサージ動作と２つ以上の駆動部を連動させることによるマッサージ動作を行わせるように制御する制御部を備えているので、強弱、巾、上下の各駆動部を独立して位置と速度を検出しながら制御することができて任意の施療子の動作軌跡を描くことができて、使用者の好みに応じて多様なマッサージが得られるものである。しかも、巾駆動部による施療子を支持する施療子アームの巾方向における可動範囲の両外側に一対の施療子アームを駆動するための強弱駆動用歯車を備えているので、人体から施療子に負荷がかかっても施療子アームの巾方向における可動範囲の両外側に強弱駆動用歯車を備えているので、確実に強弱駆動機構を駆動させて施療子アームを強弱駆動できるものであり、また、強弱駆動用歯車で伝達することで高速な動作が可能となり、また、施療子が左右に一対ある場合に片方の施療子にのみ負荷がかかった場合のような支持部にねじれ力が生じたような場合でも、負荷支持部の外側両端を強弱駆動用歯車部分で受けるため軸が撓まず、部品の損傷がなく、安定したマッサージが得られるものである。更に、一対の強弱駆動用歯車が巾駆動部における巾駆動軸を回転の中心として回転するので、施療子アームが挿通された巾駆動軸を中心として強弱駆動用歯車が回転することになり、巾駆動軸を強弱駆動に合わせて回動させたりする機構が必要でなくなり、構造がより単純で組み立て性が向上するものである。
【００５０】
また、請求項２記載の発明にあっては、上記請求項１記載の発明の効果に加えて、一対の強弱駆動用歯車が円弧状歯車で形成してあるので、強弱駆動に必要な部分のみに歯車のある円弧状歯車であるため、マッサージ機の厚みを薄くできて小型化が図れ、これによりマッサージ機の設置面積を小さくでき、また、コストダウンができるものである。
【００５１】
また、請求項３記載の発明にあっては、上記請求項２記載の発明の効果に加えて、一対の円弧状歯車が施療子アームの回転軸に対して垂直方向に左右対称に形成してあるので、一対の円弧状歯車が共通の部材となり、左右の取り間違い等がなくなって組み立て性が向上するものである。
【００５３】
また、請求項４記載の発明にあっては、上記請求項１乃至請求項３のいずれかに記載の発明の効果に加えて、強弱駆動部の駆動源に接続された強弱駆動軸に一対の伝達用歯車を設け、巾駆動部の巾駆動軸を回転の中心として回転する一対の強弱駆動用歯車に上記強弱駆動軸に設けた一対の伝達用歯車を噛み合わせ、上記巾駆動軸を回転の中心として回転する一対の強弱駆動用歯車のうち一方を他方の強弱駆動用歯車に対して強弱駆動用歯車と伝達用歯車との噛み合いをバックラッシュ分だけずらしてあるので、人体から施療子に負荷がかかった時に一対の強弱駆動用歯車に生じる回転に対してがたつきがなくなり、人体に衝撃を与えることなく、また、故障率が低減するものである。
【００５４】
また、請求項５記載の発明にあっては、上記請求項１乃至請求項４のいずれかに記載の発明の効果に加えて、巾駆動部において施療子アームを巾方向に駆動させる巾駆動軸と平行に施療子アームに挿通した巾駆動支軸を少なくとも１つ以上設けてあるので、巾駆動支軸により人体から負荷がかかった時に施療子アームから巾駆動軸に伝わる応力やねじれを巾駆動支軸に分散させることができ、故障率の低減が図れるものである。
【００５５】
また、請求項６記載の発明にあっては、上記請求項１乃至請求項５のいずれかに記載の発明の効果に加えて、巾駆動部に外周に雄ねじを設けた巾駆動軸を設けると共に、該巾駆動軸の雄ねじに螺合して巾駆動軸の回転により自身は回転することなく巾駆動軸に対して軸方向に移動することで施療子アームを巾方向に駆動させる巾送りナットを設け、巾送りナットに施療子アームを巾駆動軸の軸方向に移動自在に接続するとともに巾駆動軸の軸方向において巾送りナットと施療子アームとの間に緩衝材を介在してあるので、巾を狭めるマッサージ動作中に頭部等を挟み込んだ場合にも緩衝材により挟み込む力を弱めることができて安全性を高めることができるものであり、また、巾狭動作から巾広動作へマッサージ動作を行う場合には圧縮された緩衝材が巾広になるにつれて復元し、施療子が人体に粘りのあるマッサージを行うことが可能となり、また、巾広動作から巾狭動作へマッサージ動作を行う場合には緩衝材が巾狭になるにつれて圧縮されて人体に施療子をじっくり押し込むというマッサージを行うことが可能となるものである。
【００５６】
また、請求項７記載の発明にあっては、上記請求項６記載の発明の効果に加えて、緩衝材がコイル状のばね材であるので、緩衝材が単純な構造で組み立て性がよく、安価となるものである。
【００５７】
また、請求項８記載の発明にあっては、上記請求項６又は請求項７記載の発明の効果に加えて、施療子アームに巾送りナットを収納する巾送りナット収納部を設け、巾送りナット収納部の内周形状及び巾送りナットの外周形状が非円形状をし且つ巾送りナット収納部の内周よりも巾送りナットの外周が僅かに小さく且つ巾送りナットが巾送りナット収納部内で巾駆動軸の回転方向に僅かに移動できる遊びを設けてあるので、人体からの負荷が施療子にかかると、施療子アームに対してねじれ等の力が生じるが、巾送りナット収納部の内周形状及び巾送りナットの外周形状が非円形状をし且つ巾送りナット収納部の内周よりも巾送りナットの外周が僅かに小さく且つ巾送りナットが巾送りナット収納部内で巾駆動軸の回転方向に僅かに移動できる遊びを設けてあることで、該遊びにより上記ねじれ等の力を受け流すことができて、巾送りナットの破線を防ぐことができるものである。
【００５８】
また、請求項９記載の発明にあっては、上記請求項１乃至請求項８のいずれかに記載の発明の効果に加えて、強弱駆動部は施療子を支点を中心に揺動させる構造とすると共に強弱駆動部に設けるセンサとして強弱駆動部の駆動に起因した施療子の揺動位置を検出するセンサと強弱駆動部の駆動に起因した施療子の速度を検出するセンサを設け、上下駆動部に設けるセンサとして上下駆動部の駆動に起因した施療子の上下位置を検出するセンサのみを設けてあるので、強弱駆動部は施療子を支点を中心に揺動させる構造としてあるので、強弱駆動部による施療子の動作は人体の前後方向だけでなく上下方向にも移動することになり、これを利用すれば、上下駆動部には速度を検出するセンサを設ける必要がなくて、上下方向の位置を制御するために必要な上下位置を検出するセンサのみでよく、制御が複雑とならず、構造も単純化できるものである。
【００５９】
また、請求項１０記載の発明にあっては、上記請求項１乃至請求項９のいずれかに記載の発明の効果に加えて、各駆動部において駆動源を支持する駆動源支持部にコ字状をした切り欠き部を設け、この切り欠き部に駆動源支持部に取付ける駆動源の出力軸を挿通して突出させると共に出力軸を切り欠き部の奧の当て部に当て、出力軸から駆動伝達部に駆動が伝達される方向を切り欠き部の当て部から入口に向かう方向と略逆方向としてあるので、切り欠き部の入口から駆動源の出力軸を挿入して奧の当て部に当てて位置決めした状態で固定することができ、また、また、組み立て時にベルトの引っ張り力によるテンションのばらつきを防止できるものである。
【００６０】
また、請求項１１記載の発明にあっては、上記請求項１乃至請求項１０のいずれかに記載の発明の効果に加えて、各駆動部の駆動源であるモータの出力軸の一端部にプーリを圧入取付けるものであって、モータの出力軸のプーリが圧入されない方の他端部をモータハウジングの外側に突出させてあるので、プーリを出力軸の一端部に圧入する際、出力軸の他端部のモータハウジングから外側に突出した部分を支持した状態でプーリを圧入するという取付け操作ができるものであって、組み立て性が向上するものである。
【００６１】
また、請求項１２記載の発明にあっては、上記請求項１乃至請求項１１のいずれかに記載の発明の効果に加えて、施療子で施療者のマッサージを行うものにおいて、施療者側から施療子にかかる圧力を検出するための圧力信号検出部を有し、圧力信号により強弱駆動部、巾駆動部、上下駆動部のうち少なくとも１つ以上の駆動部の位置制御乃至速度制御の少なくとも一方又は両方を制御するので、圧力信号を検出し、その圧力信号をもとに位置制御や速度制御をして所望のマッサージをすることができるものである。
【００６２】
また、請求項１３記載の発明にあっては、上記請求項１２記載の発明の効果に加えて、圧力信号検出部を施療子又は施療子アームに配設してあるので、施療子にかかる人体の負荷が直接的に測ることができ、これにより正確な圧力をフィードバックすることができて所望の強さでマッサージできるものである。
【００６３】
また、請求項１４記載の発明にあっては、上記請求項１乃至請求項１３のいずれかに記載の発明の効果に加えて、強弱駆動部と巾駆動部と上下駆動部のうち少なくとも１つ以上の駆動部を操作することができる操作器を具備しているので、強弱駆動部と巾駆動部と上下駆動部のうちの少なくとも１つ以上の駆動部を使用者が操作器を用いて任意に動かすことができて、所望の軌跡のマッサージ動作を行うことができるものである。
【図面の簡単な説明】
【図１】本発明のマッサージ機の本体ブロックの斜視図である。
【図２】同上の強弱駆動部のユニットの斜視図である。
【図３】同上の巾駆動部のユニットの斜視図である。
【図４】同上の上下駆動部のユニットの斜視図である。
【図５】同上の一対の施療子と強弱駆動部との関係を示す斜視図である。
【図６】同上のマッサージ機を設ける椅子の側面図である。
【図７】同上の制御ブロック図である。
【図８】同上の一対の施療子アームと一対の強弱駆動用歯車との位置関係を示す平面図である。
【図９】同上の施療子アームと強弱駆動用歯車との関係を示す側面図である。
【図１０】同上の施療子アームを巾駆動軸と巾駆動支軸とに取付けている部分の断面図である。
【図１１】同上の巾送りナットと巾送りナット収納部との関係を示す断面図である。
【図１２】同上の一方の強弱駆動用歯車を伝達用歯車にバックラッシュ分だけずらして噛み合わせたことを説明する説明図である。
【図１３】（ａ）はモータの取付けを示す正面図であり、（ｂ）はモータの側面図であり、（ｂ）は正面図である。
【図１４】（ａ）はモータの出力軸をモータハウジングの両端部から突出させた例を示す説明図であり、（ｂ）は出力軸の一端部にプーリを圧入する際に出力軸の他端部を支持部材により支持している状態を示す説明図である。
【図１５】同上の圧力検知手段を設けた例を示す制御ブロック図である。
【符号の説明】
１施療子
２強弱駆動部
３巾駆動部
４上下駆動部
５ａセンサ
５ｃセンサ
６センサ
６ａセンサ
７制御部
８施療子アーム
９強弱駆動用歯車
９ａ円弧状歯車
１０巾駆動軸
１１強弱駆動軸
１２伝達用歯車
１３巾駆動支軸
１４巾送りナット
１５緩衝材
１６巾送りナット収納部
１８駆動源支持部
１９切り欠き部
１９ａ当て部
２０ａ出力軸
２０ｂ出力軸
２０ｃ出力軸
２１ａプーリ
２１ｂプーリ
２１ｃプーリ
２２モータハウジング[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a massage machine for massaging a user by operating a treatment element with a drive unit.
[0002]
[Prior art]
  A conventional massage machine for massaging a user by operating a treatment element by a drive unit uses a single motor as a power source and operates in the width direction of the treatment element through a complicated transmission mechanism.WhenMassage is performed by moving in the protruding direction (strength direction) toward the human body.
[0003]
  In this conventional massage machine, even if the adjustment mechanism of the width and strength is variable, the pattern of the massage operation is limited due to restrictions on the mechanism, for example, only drawing a specific trajectory, and various massage operations There was a problem that the operation could not be obtained. In addition, in the conventional massage machine, a single motor is used as the power source, and the treatment element operates in the width direction via a complicated transmission mechanism.WhenBecause of the structure that moves in the protruding direction toward the human body, there is a problem that the structure is complicated and the assemblability is poor.
[0004]
[Problems to be solved by the invention]
The present invention has been made in view of the above points, and provides a massage machine that can draw a variety of motion trajectories to obtain a variety of massage operations, has a simplified structure, and improves assembly. This is a problem.
[0005]
[Means for Solving the Problems]
  In order to solve the above problems, a massage machine according to the present invention is a massage machine that drives the treatment element 1 and operates the treatment element 1 in the width direction and the strength driving unit 2 that moves the treatment element 1 in the protruding direction toward the human body. It has a width drive unit 3 and a vertical drive unit 4 that operates in the vertical direction. The drive source of each drive unit is a separate drive source, and the strong and weak drive unit 2 is caused by the drive of the strong and weak drive unit 2. A sensor for detecting the position of the treatment element 1 and a sensor for detecting the speed, a sensor for detecting the position of the treatment element 1 resulting from the driving of the width driving part 3 and a sensor for detecting the speed are provided in the width driving part 3. The vertical drive unit 4 includes at least sensors for detecting the position of the treatment element 1 caused by the drive of the vertical drive unit 4 independently, and by signals from the sensors provided independently for each of the drive units, Move one of the drive units A control unit 7 which controls so as to perform the massage operation by that links massaging operation and two or more drive according therebyThe strength for driving the pair of treatment elements 8 on both outer sides of the movable range in the width direction of the treatment element arm 8 that attaches the treatment element 1 to the treatment element arm 8 and supports the treatment element 1 by the width driving unit 3. A driving gear 9 is provided, and the pair of strong and weak driving gears 9 rotate about the width driving shaft 10 in the width driving unit 3 as a center of rotation.It is characterized by this. By adopting such a configuration, it is possible to control the strength, width, and upper and lower drive units independently while detecting the position and speed, and to draw an operation trajectory of an arbitrary treatment element 1. is there.Further, even if a load is applied to the treatment element 1 from the human body, the strength drive gears 9 are provided on both outer sides of the movable range in the width direction of the treatment element arm 8, so that the strength drive mechanism is reliably driven and the treatment element arm is driven. 8 can be driven with strength and weakness, and can be operated at high speed by being transmitted with the strength driving gear 9. Also, when there is a pair of treatment elements 1 on the left and right, only one treatment element 1 is loaded. Even when a torsional force is generated in the support portion as in the case where the load is supported, the shaft does not bend because the outer ends of the load support portion are received by the strength driving gear 9 portion. Further, the strength driving gear 9 rotates about the width driving shaft 10 through which the treatment element arm 8 is inserted, and a mechanism for rotating the width driving shaft 10 according to the strength driving is not necessary. is there.
[0007]
Moreover, it is preferable that the pair of strong and weak driving gears 9 are formed by arcuate gears 9a. By setting it as such a structure, since it is the circular-arc-shaped gearwheel 9a which has a gear only in the part required for strength driving, the thickness of a massage machine can be made thin.
[0008]
In addition, it is preferable that the pair of arcuate gears 9 a be formed symmetrically in the direction perpendicular to the rotation axis of the treatment element arm 8. Since the pair of arcuate gears 9a are formed symmetrically in this way, the pair of arcuate gears 9a become a common member, and there is no mistake in taking the left and right, thereby improving assemblability.
[0010]
Also, a pair of transmission gears 12 is provided on the strength driving shaft 11 connected to the driving source of the strength driving portion 2, and a pair of strength driving gears 9 that rotate about the width driving shaft 10 of the width driving portion 3 as the center of rotation. A pair of transmission gears 12 provided on the strength drive shaft 11 are meshed with each other, and one of the pair of strength drive gears 9 rotating around the width drive shaft 10 as a center of rotation is used as the other strength drive gear 9. On the other hand, it is preferable to shift the meshing between the strong and weak driving gear 9 and the transmission gear 12 by the amount of backlash. In this way, when the load is applied to the treatment element from the human body, the backlash is eliminated by shifting one of the strength driving gears 9 by the amount corresponding to the backlash with respect to the rotation generated in the pair of strength driving gears 9. It is.
[0011]
Further, it is preferable to provide at least one width driving support shaft 13 inserted through the treatment element arm 8 in parallel with the width driving axis 10 for driving the treatment element arm 8 in the width direction in the width driving unit 3. By adopting such a configuration, stress and twist transmitted from the treatment arm 8 to the width drive shaft 10 when a load is applied from the human body by the width drive support shaft 13 can be distributed to the width drive support shaft 13. is there.
[0012]
Further, the treatment element 1 is attached to the treatment element arm 8, and the width drive unit 10 is provided with a width drive shaft 10 provided with a male screw on the outer periphery, and is screwed into the male screw 10 a of the width drive shaft 10. A rotation feed nut 14 that drives the treatment element arm 8 in the width direction by moving in the axial direction with respect to the width drive shaft 10 without rotating itself is provided. It is preferable to connect the drive shaft 10 so as to be movable in the axial direction and to provide a buffer material 15 between the width feed nut and the treatment element arm 8 in the axial direction of the width drive shaft 10. By setting it as such a structure, even when the head etc. are pinched | interposed during the massage operation | movement which narrows a width | variety, the force pinched | interposed with the shock absorbing material 15 can be weakened. In addition, when performing a massage operation from a narrow operation to a wide operation, the compressed cushioning material 15 is restored as it becomes wider, and the treatment element 1 can perform a massage with stickiness on the human body. When the massage operation is performed from the wide operation to the narrow operation, the cushioning material 15 is compressed as the width becomes narrow, and it is possible to perform a massage in which the treatment element 1 is pushed into the human body.
[0013]
Moreover, it is preferable that the buffer material 15 is a coil-shaped spring material. With such a configuration, the cushioning material 15 has a simple structure, is easy to assemble, and is inexpensive.
[0014]
Further, the treatment arm 8 is provided with a width feed nut storage portion 16 for storing the width feed nut 14, and the inner peripheral shape of the width feed nut storage portion 16 and the outer peripheral shape of the width feed nut 14 are non-circular and the width feed. The outer periphery of the width feed nut 14 is slightly smaller than the inner periphery of the nut housing portion 16, and a play that allows the width feed nut 14 to move slightly in the rotational direction of the width drive shaft 10 within the width feed nut housing portion 16 is provided. preferable. With such a configuration, when a load from the human body is applied to the treatment element 1, a force such as torsion is generated on the treatment element arm 8, but the inner peripheral shape of the width-feed nut housing portion 16 and the width-feed nut 14 has a non-circular shape, and the outer periphery of the width feed nut 14 is slightly smaller than the inner periphery of the width feed nut storage portion 16, and the width feed nut 14 is within the width feed nut storage portion 16. By providing a play that can be moved slightly in the direction of rotation, the play can receive a force such as the twist.
[0015]
In addition, the strength / weakness drive unit 2 has a structure that swings the treatment element 1 around a fulcrum, and as a sensor provided in the strength / weakness drive part 2, a sensor that detects the swing position of the treatment element 1 resulting from the driving of the strength / weakness drive part 2. 5a and a sensor 6a for detecting the speed of the treatment element 1 due to the driving of the strength driving unit 2 are provided, and the vertical position of the treatment element 1 due to the driving of the vertical driving unit 4 is detected as a sensor provided in the vertical driving unit 4. It is preferable to provide only the sensor 5c. With such a configuration, the strength / weakness drive unit 2 is configured to swing the treatment element 1 around the fulcrum, so that the operation of the treatment element 1 by the strength / weakness drive unit 2 is not only the front-rear direction of the human body but also the vertical direction. If this is used, it is not necessary to provide a sensor for detecting the speed in the vertical drive unit 4, and a sensor 5c for detecting the vertical position necessary for controlling the vertical position. As a result, the control is not complicated and the structure can be simplified.
[0016]
In addition, a U-shaped notch 19 is provided in the drive source support 18 that supports the drive source in each drive, and the output shaft 20 of the drive source attached to the drive source support 18 is inserted into the notch 19. And the output shaft 20 is applied to the flange contact portion 19a of the cutout portion 19, and the direction in which the drive is transmitted from the output shaft 20 to the drive transmission portion is changed from the flange contact portion 19a of the cutout portion 19 to the inlet 19b. It is preferable that the direction is substantially opposite to the direction toward the. With such a configuration, the output shaft 20 of the driving source can be inserted from the inlet 19b of the notch 19 and can be fixed in a state of being positioned against the abutment 19a of the heel. Sometimes, variations in tension due to the pulling force of the belt can be prevented.
[0017]
Further, pulleys 21a, 21b, and 21c are press-fitted and attached to one end portions of motor output shafts 20a, 20b, and 20c that are drive sources of the respective drive units, and the pulleys 21a of the motor output shafts 20a, 20b, and 20c, It is preferable to project the other end of the side where the press fitting of 21 b and 21 c is not performed to the outside of the motor housing 22. With this configuration, when the pulleys 21a, 21b, and 21c are press-fitted into one end portion of the output shaft 20, a portion that protrudes outward from the motor housing 22 at the other end portion of the output shafts 20a, 20b, and 20c is supported. In this state, the pulley 21a, 21b, 21c can be press-fitted.
[0018]
Moreover, in the thing which massages a user with the treatment element 1, it has the pressure signal detection part 23 for detecting the pressure applied to the treatment element 1 from the treatment person side, and the strength drive part 2 and the width drive part are detected by the pressure signal. 3. It is preferable to control at least one or both of position control and / or speed control of at least one of the vertical drive units 4. With such a configuration, it is possible to detect a pressure signal and perform desired massage by performing position control and speed control based on the pressure signal.
[0019]
Further, it is preferable that the treatment element 1 is attached to the treatment element arm 8 and the pressure signal detection unit 23 is disposed on the treatment element 1 or the treatment element arm 8. By setting it as such a structure, the load of the human body concerning the treatment element 1 can be measured directly.
[0020]
Moreover, it is preferable to provide an operating device capable of operating at least one of the strong / weak drive unit 2, the width drive unit, and the vertical drive unit 4. By adopting such a configuration, the user can arbitrarily move at least one of the strong and weak drive unit 2, the width drive unit, and the vertical drive unit 4 using an operating device. .
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described based on embodiments shown in the accompanying drawings.
[0022]
The massage machine of the present invention has a strength driving unit 2 that operates the treatment element 1 in a protruding direction toward the human body side, a width driving unit 3 that operates in the width direction, and a vertical driving unit 4 that operates in the vertical direction. As a whole, these are incorporated in one main block 24 as shown in FIG. The main block 24 has three units: a unit of the strength driving unit 2 as shown in FIG. 2, a unit of the vertical driving unit 4 as shown in FIG. 4, and a unit of the width driving unit 3 as shown in FIG. The main block 24 shown in FIG. 1 is constructed by assembling these three units.
[0023]
As shown in FIGS. 1 to 4, the main block 24 is provided with motors 25 a, 25 b, and 25 c as drive sources for the drive units of the strength drive unit 2, the width drive unit 3, and the vertical drive unit 4.
[0024]
A width drive shaft 10 is rotatably mounted between both side plates 24a of the main block 24. A pulley 21 b is provided on the output shaft 20 b of the motor 25 b of the width driving unit 3, and a belt 28 b is wound around the pulley 21 b and a pulley 29 b provided at the end of the width driving shaft 10. The width drive shaft 10 is provided with a male screw 10a on the outer periphery, and the male screw 10a is in a reverse screw relationship with the left and right male screws 10a with a middle portion in the longitudinal direction of the width drive shaft 10 as a boundary. A width feed nut 14 provided on a treatment element arm 8 having the treatment element 1 is screwed into the left and right male screws 10a of the width drive shaft 10 (see FIG. 10), and the movement of the treatment element arm 8 in the rotation direction is performed. Is performed by the strength and weakness driving gear 9 to be described later, so that the width driving shaft 10 is rotated in the forward direction through the pulley 21b, the belt 28b, and the pulley 29b by rotating the motor 25b of the width driving unit 3 in the normal direction or the reverse direction. The pair of treatment arm 8 rotates in the reverse direction and moves toward or away from each other, that is, moves in the width direction (left-right direction).
[0025]
  A pair of strength driving gears 9 are arranged on both outer sides of the movable range in the width direction of the treatment arm 8, and the pair of strength driving gears 9 are provided with teeth on the arc portion of the fan-shaped gear main body. The arcuate center gear 9a is loosely fitted to the width drive shaft 10, and the right and left strength driving gears 9 are connected to each other by a connecting member 31. Further, at least one (two in the embodiment) width drive shafts 13 are installed between the right and left strong and weak driving gears 9, and the width drive shafts 13 are parallel to the width drive shafts 10. A hole 32 provided in the pair of treatment element arms 8 is movably fitted to the width driving support shaft 13. Thus, by providing at least one or more width drive support shafts 13 that are inserted through the treatment arm 8 in parallel with the width drive shaft 10, the load from the treatment arm 8 when a load is applied from the human body by the width drive support shaft 13. Dispersing stress and twist transmitted to the width drive shaft 10 to the width drive shaft 13Can.
[0026]
The pair of left and right arcuate gears 9a mesh with a pair of transmission gears 12 that transmit the rotation of the motor 25a in the strength and weakness drive unit 2 described later. When the pair of strength driving gears 9 and the pair of transmission gears 12 are engaged with each other, one of the pair of strength driving gears 9 is connected to the other strength driving gear 9 with the strength driving gear 9 and the transmission gear. As shown in FIG. 12, the meshing with 12 is shifted by a dimension m corresponding to the backlash. A pulley 21a is provided on the output shaft 20a of the motor 25a of the strength / weakness drive unit 2, and a worm wheel and a worm shaft are provided in the gear box 26a of the strength / weakness drive unit 2, and are provided on the pulley 21a and the worm shaft. A belt 28a is wound around the pulley 29a. A strong and weak drive shaft 11 rotated by the worm wheel is rotatably supported on the gear box 26a and one side plate 24a, and a pair of transmission gears 12 are provided at both ends of the strong and weak drive shaft 11, The pair of left and right transmission gears 12 mesh with the pair of arcuate gears 9a. Accordingly, when the motor 25a of the strength / weakness drive unit 2 is driven to rotate forward or backward, the strength / weakness drive shaft 11 is rotated via the pulley 21a, the belt 28a, the pulley 29a, the worm shaft, and the worm gear, and the strength / weakness drive shaft 11 is rotated. As a result, the transmission gear 12 is rotated, whereby the arcuate gear 9a is rotated about the same axis as the rotational axis of the width drive shaft 10, and thus the treatment arm 8 is rotated about the same axis as the rotational axis of the width drive shaft 10. And the protrusion amount to the human body side of the treatment element 1 provided in the front-end | tip part of the treatment element arm 8 is variable. That is, as the treatment element arm 8 rotates, the treatment element 1 performs an arc motion (in the embodiment, an arc motion centering on the same axis as the width drive shaft 10) and moves in the vertical direction and the front-rear direction. Therefore, the strength of the treatment element 1 against the human body can be varied.
[0027]
The vertical drive unit 4 provided in the main block 24 is provided on a motor 25c as a drive source, a pulley 21c provided on an output shaft 20c of the motor 25c, a worm wheel and a worm shaft provided in a gear box 26c, and a worm shaft. A pulley 29c, a belt 28c wound around both pulleys 21c and 29c, a vertical drive shaft 30 rotatably supported by a gear box 26c and rotated by a worm wheel, and a roller portion 33 provided on the vertical drive shaft 30; The vertical drive shaft 30 is rotated via the pulley 21c, the belt 28c, the pulley 29c, the worm shaft, and the worm gear by rotating the motor 25c forward or backward. By rotating, the pinion 34 is rotated forward or reverse.
[0028]
The main block 24 is mounted on a vertical rail (not shown) provided on a frame of a backrest portion 36 of a chair 35 as shown in FIG. The pinion 34 is meshed with a rack provided on the directional rail, and the motor 25c of the vertical drive unit 4 is rotated forward or reverse as described above, whereby the pinion 34 meshed with the rack is rotated forward or reverse. The main body block 24 (that is, the treatment element 1 provided on the main body block 24) is moved upward or downward. Here, a roller 58 is rotatably provided on the upper side of both side plates 24a of the main block 24, and this roller 58 is also fitted to the vertical rail so as to be movable up and down.
[0029]
A strength drive unit 2 that moves the treatment element 1 provided in the main block 24 in a protruding direction toward the human body, a width drive part 3 that moves the treatment element 1 in the width direction, and an upper and lower direction that moves the treatment element 1 in the vertical direction. The drive unit 4 includes at least one of a sensor that detects the position of the treatment element 1 caused by the drive of each drive unit and a sensor that detects the speed of the treatment element 1 caused by the drive of each drive unit. The department is equipped independently.
[0030]
  And massage operation by operating one drive part by the signal from the sensor of each drive partWhenA massaging operation by linking two or more drive units is controlled by the control unit 7 and performed.
[0031]
The strength driving unit 2 provided in the main body block 24 includes a sensor 5a (strong / weak position sensor) for detecting the swinging position of the treatment device 1 caused by driving of the strength driving unit 2 and a treatment device resulting from driving of the strength driving unit 2. 1 is provided with a sensor 6a (strong and weak rotation sensor) for detecting the moving speed in the front-rear direction, and the width driving unit 3 detects the position in the width direction of the treatment element 1 due to the driving of the width driving unit 3. The sensor 5b (width position sensor) and the sensor 6b (width rotation sensor) for detecting the movement speed in the width direction of the treatment element 1 due to the drive of the width drive unit 3 are provided. A sensor 5c (vertical position sensor) that detects the vertical position of the treatment element 1 caused by driving of the drive unit 4 and a sensor 6c that detects the vertical movement speed of the treatment element 1 caused by driving of the vertical drive part 4 (Vertical rotation sensor) is provided. In addition, as a sensor provided in the vertical drive part 4, you may provide only the sensor 5c which detects the vertical position of the treatment element 1 resulting from the drive of the vertical drive part 4 as mentioned later.
[0032]
  FIG. 7 shows a control block diagram. The control unit 7 is constituted by a microcomputer, and the control unit 7 operates the massage 25 by operating one of the motor 25a of the strength drive unit 2, the motor 25b of the width drive unit 3, and the motor 25c of the vertical drive unit 4.WhenControl is performed so that a massage operation is performed by linking two or more of the motors 25a, 25b, and 25c. When the control unit 7 controls the motor 25a, the swing position and movement speed of the treatment element 1 due to the driving of the motor 25a are controlled. In this case, the strength position sensor 5a and the strength rotation sensor 6a are used. The swing position and moving speed of the treatment element 1 due to the driving of the motor 25a are detected, respectively, and the control unit 7 performs control so as to perform the strength operation as set. Moreover, when controlling the motor 25b by the control part 7, the position of the treatment element 1 resulting from the drive of the motor 25b and the moving speed in the width direction are controlled. In this case, the width position sensor 5b is controlled. The position and movement speed in the width direction are detected by the width rotation sensor 6b, respectively, and are controlled by the control unit 7 so as to perform the width direction driving operation as set. Further, when the control unit 7 controls the motor 25c, the vertical position and the vertical movement speed of the treatment element 1 due to the driving of the motor 25c are controlled. In this case, the vertical position sensor 5c is controlled. The position and the moving speed are detected by the vertical rotation sensor 6c, respectively, and the control unit 7 controls so as to perform the vertical driving operation as set. When only the sensor 5c for detecting the vertical position of the treatment element 1 resulting from the driving of the vertical drive unit 4 is provided as the sensor provided in the vertical drive unit 4, the vertical position is detected by the vertical position sensor 5c. Detected and controlled by the control unit 7 so as to perform the vertical driving operation as set.
[0033]
In this way, the strength driving unit 2 that operates the treatment element 1 in the protruding direction toward the human body side, the width driving unit 3 that operates in the width direction, and the vertical driving unit 4 that operates in the vertical direction are independently positioned, By controlling the speed and controlling the two or more drive units to work together, the massage operation pattern is not limited to one that draws a specific trajectory, but treats any motion trajectory desired by the user The massage operation can be performed as the child 1 draws.
[0034]
Next, the strength and weakness drive unit 2 has a structure that swings the treatment element 1 around a fulcrum, and detects the swing position of the treatment element 1 caused by the driving of the strength and weakness drive part 2 as a sensor provided in the strength and weakness drive part 2. A sensor 6a for detecting the speed of the treatment element 1 due to the driving of the sensor 5a and the strength driving unit 2 is provided, and the position of the treatment element 1 in the width direction caused by the driving of the width driving unit 3 as a sensor provided in the width driving unit 3 And a sensor 6b for detecting the speed of the treatment element 1 due to the drive of the width drive unit 3, and a sensor provided in the vertical drive unit 4 as an upper and lower part of the treatment element 1 due to the drive of the vertical drive unit 4. A case where only the sensor 5c for detecting the position is provided will be described. Since the strength driving unit 2 has a structure that swings the treatment element 1 around a fulcrum, the movement of the treatment element 1 by the strength driving unit 2 moves not only in the longitudinal direction of the human body but also in the vertical direction. If this is used, there is no need to provide a sensor for detecting the speed in the vertical drive unit 4 as in this embodiment, and only the sensor 5c for detecting the vertical position necessary for controlling the vertical position is used. Well, the control is not complicated and the structure can be simplified.
[0035]
Here, as described above, there are strength driving gears 9 for driving the pair of treatment element arms 8 on both outer sides of the movable range in the width direction of the treatment element arm 8 that supports the treatment element 1 by the width driving unit 3. Therefore, even when a load is applied to the treatment element 1 from the human body, the treatment element arm 8 can be driven strongly by reliably driving the strength and weakness drive mechanism, and the high-speed operation is achieved by transmitting with the strength drive gear 9. Is possible. Even when a pair of treatment elements 1 are provided on the left and right as in the embodiment shown in the accompanying drawings, even when a torsional force is generated in the support portion, such as when a load is applied to only one treatment element 1. Since the outer both ends of the load support portion are received by the strength driving gear 9 portion, the shaft can be prevented from bending, and also in this respect, the strength driving mechanism can be surely driven to drive the treatment arm 8 strength. . As described above, the strength and weakness driving gear 9 is constituted by the arcuate gear 9a having a gear only in the portion necessary for the strength driving of the treatment arm 8, so that the thickness of the massage machine can be reduced and the whole can be made compact. It is. The pair of arcuate gears 9a are formed symmetrically in the vertical direction with respect to the rotation axis of the treatment element arm 8 (in the embodiment, the width drive shaft 10 is the center of rotation of the treatment element arm 8). Thus, a pair of left and right arcuate gears 9a are used as a common member, so that there is no mistake in taking the left and right, and the assemblability is improved.
[0036]
Further, as described above, the pair of strong and weak driving gears 9 is configured to rotate about the width driving shaft 10 in the width driving unit 3 as a center of rotation, so that the width driving shaft 10 through which the treatment element arm 8 is inserted is provided. The strength driving gear 9 rotates at the center, and a mechanism for rotating the width driving shaft 10 in accordance with the strength driving is not necessary, and the mechanism can be simplified.
[0037]
Further, as described above, one of the pair of strong and weak driving gears 9 rotating about the width driving shaft 10 as the center of rotation is compared with the other strong and weak driving gear 9, the strong driving gear 9 and the transmission gear 12. 12 is shifted by a dimension m corresponding to a backlash as shown in FIG. 12, so that when the load is applied to the treatment element 1 from the human body, the rotation generated in the pair of strong and weak driving gears 9 is prevented. By shifting either one of the strong and weak driving gears 9 by the amount of backlash, the rattling is eliminated, a massage operation can be performed without giving an impact to the human body, and the failure is reduced.
[0038]
As shown in FIG. 10, the treatment arm 8 is provided with a width feed nut housing portion 16, and the width feed nut 14 housed in the width feed nut housing portion 16 is screwed onto the male screw 10 a on the outer periphery of the width drive shaft 10. Yes. The width-feed nut housing part 16 is composed of a bottomed cylindrical part 16a having an opening at one end and a lid 16b that covers the opening of the bottomed cylindrical part 16a, and the bottom part of the bottomed cylindrical part 16a. The lid body 16b is provided with a hole through which the width driving shaft 10 is inserted. A width feed nut 14 is accommodated in the bottomed cylindrical portion 16a. Here, as shown in FIG. 11, the inner peripheral shape of the width feed nut storage portion 16 and the outer peripheral shape of the width feed nut storage portion 14 are non-circular, and the width feed nut 14 is larger than the inner periphery of the width feed nut storage portion 16. The gap 37 is provided so that the outer periphery of the feed nut 14 is slightly small and the play feed nut 14 has a play that allows the feed feed nut 14 to move slightly in the rotation direction of the feed drive shaft 10 in the feed feed nut housing 16. As a result, the width feed nut 14 can move slightly with respect to the treatment element arm 8 by the amount of play, but cannot move any further. As a result, the treatment element arm 8 prevents the rotation of the width adjustment nut 14. . When a load from the human body is applied to the treatment element 1, a force such as torsion is generated on the treatment element arm 8, but the inner peripheral shape of the width feed nut housing portion 16 and the outer peripheral shape of the width feed nut 14 are non-circular. The outer periphery of the width feed nut 14 is slightly smaller than the inner circumference of the width feed nut storage portion 16 and the width feed nut 14 moves slightly in the width feed nut storage portion 16 in the rotational direction of the width drive shaft 10. Since the play that can be performed is provided, the play can receive the force such as the twist.
[0039]
As shown in FIG. 10, a cushioning material 15 (in the embodiment, a coil spring) is interposed between the width feed nut 14 housed in the bottomed tubular portion 16a and the bottom of the bottomed tubular portion 16a. Yes, by providing the cushioning material 15 in this way, even when the head or the like is sandwiched during the massage operation that narrows the width, the force to be sandwiched by the cushioning material 15 can be weakened. In the case of performing a massage operation to a wide operation, the compressed cushioning material 15 is restored as the width increases, and the treatment element 1 can perform a massage with stickiness on the human body. In the case of performing a massage operation to a narrow operation, it is possible to perform a massage in which the cushioning material 15 is compressed as it becomes narrower and the treatment element 1 is pushed into the human body. And the buffer material 15 is comprised with a coil-shaped spring material like embodiment, and the buffer material 15 is a simple structure, is easy to assemble, and becomes cheap.
[0040]
Next, a structure for supporting the motors 25a, 25b, and 25c, which are drive sources, in each drive unit will be described.
[0041]
The drive source support 18 that supports the motors 25a, 25b, and 25c, which are drive sources, is provided with a U-shaped notch 19. An abutting portion 19a is provided on the ridge of the U-shaped cutout portion 19. In the embodiment shown in the accompanying drawings, as shown in FIGS. 2, 3, 4, and 13, the drive source support portion 18 of the strength drive portion 2 and the drive source support portion 18 of the vertical drive portion 4 are U-shaped. An abutting portion 19a is provided at the outermost portion of the cutout portion 19 having a shape, and in FIG. 3 and FIG. 13, the drive source support portion 18 of the width drive portion 3 has a collar shape of the cutout portion 19 having a U-shape. An abutting portion 19a is provided in the middle of the row direction. The motor 25a or the motor 25b or the output shaft 20a, 20b, or 20c of the motor 25c is inserted from the inlet 19b of the U-shaped notch 19 provided in the drive source support 18 toward the flange of the notch 19. Then, one end portion of the output shaft 20 is projected from the outer surface of the drive source support portion 18 and the output shafts 20a, 20b, 20c are brought into contact with the flange contact portion 19a of the notch portion 19, and the fixing member 38 is positioned in this manner. Thus, the motor 25a, the motor 25b, or the motor 25c is fixed to the drive source support portion 18. Pulleys 21a, 21b, and 21c are press-fitted and attached to one end of the output shafts 20a, 20b, and 20c of the motor 25a, motor 25b, and motor 25c, and pulleys 21a and 21b attached to one end of the output shafts 20a, 20b, and 20c. , 21c, a pulley 29a provided on the worm shaft, a pulley 29b provided on the end of the width drive shaft 10, and a pulley 29c provided on the worm shaft are respectively wound around belts 28a, 28b and 28c. Here, the direction in which drive is transmitted from the output shafts 20a, 20b, 20c to the worm shaft, the width drive shaft, etc., which are drive transmission units (that is, the direction from the pulleys 21a, 21b, 21c to the pulleys 29a, 29b, 29c) Is substantially opposite to the direction from the flange contact portion 19a of the notch portion 19 toward the inlet 19b, whereby the output shaft 20 of the drive source is inserted from the inlet 19b of the notch portion 19 so that the flange contact portion is inserted. It can be fixed in a state of being positioned against 19a, and can prevent variations in tension due to the pulling force of the belt during assembly.
[0042]
The pulleys 21a, 21b, and 21c are press-fitted and attached to one end of the output shafts 20a, 20b, and 20c of the motors 25a, 25b, and 25c. In this case, the output shafts 20a, 25b, and 25c of the motors 25a, 25b, and 25c are The other end of the pulleys 21a, 21b, and 21c that are not press-fitted into the pulleys 20b and 20c is projected to the outside of the motor housing 22. As a result, when the pulleys 21a, 21b, and 21c are press-fitted into one end portions of the output shafts 20a, 20b, and 20c, the portion protruding outward from the motor housing 22 at the other end portion of the output shaft 20 is as shown in FIG. When the pulley 21 is press-fitted while being supported by the support member 40, the pulley 21a, 21b, 21c of the output shaft 20a, 20b, 20c is press-fitted while the motor housing 22 is supported. The pulleys 21a, 21b, and 21c can be accurately press-fitted and attached to the output shafts 20a, 20b, and 20c without being affected by the degree of coaxiality between the shafts 20a, 20b, and 20c and the motor housing 22.
[0043]
By the way, in the massage machine of this invention, as shown in FIG. 15, the pressure signal detection part 23 for detecting the pressure applied to the treatment element 1 from the user side is provided, and the strength drive part 2 and the width drive by the pressure signal are provided. It is also possible to perform feedback control of at least one or both of position control and speed control of at least one of the unit 3 and the vertical drive unit 4. That is, based on the pressure signal detected by the pressure signal detection unit 23, position control and speed control can be performed to obtain a desired massage so that the load pressure of the treatment element 1 preset by the control unit is obtained.
[0044]
In this case, as shown in FIG. 8, if the pressure signal detection unit 23 is disposed on the treatment element 1 or the treatment element arm 8, the load on the human body applied to the treatment element 1 can be directly measured, and the structure is simplified. In addition, the load on the human body applied to the treatment element 1 can be accurately detected, and a desired massage with higher accuracy can be obtained.
[0045]
In the embodiment shown in the accompanying drawings, the pair of left and right treatment element arms 8 are provided with two treatment elements 1 on the upper and lower sides, and the upper treatment element 1 is a plunger 42a of a solenoid 42 provided on the treatment element arm 8. When the solenoid 42 is driven, the treatment element 1 moves back and forth so that it can be struck and massaged.
[0046]
Of course, one treatment element 1 may be provided for each of the pair of left and right treatment element arms 8.
[0047]
2, 3, and 4, the strength driving unit 2, the width driving unit 3, and the vertical driving unit 4 are unitized (FIG. 2 is a unit of the strength driving unit 2, and FIG. 3 is a width driving unit 3. The unit block 24 may be assembled by combining these units. FIG. 4 shows the unit of the vertical drive unit 4). By unitizing each drive unit in this way, assemblability is improved, each unit can be inspected, the defect rate is reduced, and parts can be easily exchanged for repair.
[0048]
【The invention's effect】
  As described above, according to the first aspect of the present invention, the treatment element is operated in the protruding direction toward the human body, the strength driving part, the width driving part operated in the width direction, and the vertical movement. The driving source of each driving unit is a separate driving source, and the strength driving unit detects the position of the treatment element resulting from the driving of the strength driving unit, and the speed is detected. A sensor for detecting the position of the treatment element resulting from the drive of the width drive part and a sensor for detecting the speed in the width drive part, and a treatment element resulting from the drive of at least the vertical drive part in the vertical drive part. A sensor for detecting the position of each of the drive units, and a massage operation by operating one of the drive units according to a signal from the sensor provided independently for each of the drive units, and two or more By linking the drive unit Because it has a control unit that controls to perform massage operation, it can control the strength, width, and upper and lower drive units independently while detecting the position and speed, and the operation locus of any treatment element A variety of massages can be obtained according to the user's preference.In addition, since there are strong and weak driving gears for driving the pair of treatment element arms on both outer sides of the movable range in the width direction of the treatment element arm that supports the treatment element by the width drive unit, a load is applied to the treatment element from the human body. Even if it is applied, the strength drive gears are provided on both outer sides of the movable range in the width direction of the treatment element arm, so that the treatment element arm can be driven strongly by driving the strength drive mechanism reliably. It is possible to operate at high speed by transmitting with the driving gear, and when there are a pair of treatment elements on the left and right, a torsional force is generated in the support part, such as when a load is applied to only one treatment element Even in this case, since the outer ends of the load support portion are received by the strong and weak driving gear portions, the shaft does not bend and there is no damage to the parts, and a stable massage is obtained. Further, since the pair of strong and weak driving gears rotate around the width driving shaft in the width driving portion, the strength driving gear rotates around the width driving shaft through which the treatment element arm is inserted. A mechanism for rotating the drive shaft in accordance with the strength and weakness drive is not required, and the structure is simpler and the assemblability is improved.
[0050]
  Also,Claim 2In the described invention, the aboveClaim 1In addition to the effects of the described invention, since the pair of strong and weak driving gears are formed by arcuate gears, since the arcuate gears have gears only in the portions necessary for the dynamic driving, the thickness of the massage machine is reduced. Thus, the size of the massage machine can be reduced, so that the installation area of the massage machine can be reduced and the cost can be reduced.
[0051]
  Also,Claim 3In the described invention, the aboveClaim 2In addition to the effects of the described invention, the pair of arcuate gears are formed symmetrically in the direction perpendicular to the rotation axis of the treatment element arm. Assembling is improved by eliminating mistakes.
[0053]
  Also,Claim 4In the described invention, the aboveClaim 1 to Claim 3In addition to the effects of the invention, a pair of transmission gears are provided on the strength driving shaft connected to the driving source of the strength driving portion, and the pair of strength driving gears rotate around the width driving shaft of the width driving portion. A pair of transmission gears provided on the strong and weak drive shaft is meshed, and one of the pair of strong and weak drive gears rotating about the width drive shaft as a center of rotation is used as the strong and weak drive gear. Since the meshing between the gear and the transmission gear is shifted by the amount of backlash, there is no rattling against the rotation generated in the pair of strong and weak driving gears when a load is applied to the treatment element from the human body, and the human body is shocked. In addition, the failure rate is reduced.
[0054]
  Also,Claim 5In the described invention, the aboveClaims 1 to 4In addition to the effect of the invention described in any one of the above, at least one or more width drive support shafts inserted through the treatment element arms in parallel with the width drive shafts for driving the treatment element arms in the width direction in the width drive unit are provided. Therefore, when a load is applied from the human body by the width driving support shaft, the stress or twist transmitted from the treatment element arm to the width driving shaft can be distributed to the width driving support shaft, and the failure rate can be reduced.
[0055]
  Also,Claim 6In the described invention, the aboveClaims 1 to 5In addition to the effect of the invention described in any one of the above, the width drive shaft is provided with a width drive shaft provided with a male screw on the outer periphery, and is screwed into the male screw of the width drive shaft to rotate itself by rotation of the width drive shaft. A width feed nut that drives the treatment element arm in the width direction by moving in the axial direction with respect to the width drive shaft without being connected, and the treatment element arm is movably connected to the width feed nut in the axial direction of the width drive shaft In addition, since a cushioning material is interposed between the width feed nut and the treatment arm in the axial direction of the width drive shaft, the force to be sandwiched by the cushioning material even when the head is sandwiched during a massage operation that narrows the width Can be weakened to improve safety, and when massage operation is performed from narrow operation to wide operation, the compressed cushioning material is restored as it becomes wider, Is sticky to the human body It is possible to perform massage, and when performing massage operation from wide operation to narrow operation, it is possible to perform massage by compressing the cushioning material and pushing the treatment element into the human body carefully as the cushioning material becomes narrow It will be.
[0056]
  Also,Claim 7In the described invention, the aboveClaim 6In addition to the effects of the described invention, the cushioning material is a coil-shaped spring material, so that the cushioning material has a simple structure, is easy to assemble, and is inexpensive.
[0057]
  Also,Claim 8In the described invention, the aboveClaim 6 or Claim 7In addition to the effects of the described invention, the treatment element arm is provided with a width feed nut storage portion for storing the width feed nut, and the inner peripheral shape of the width feed nut storage portion and the outer peripheral shape of the width feed nut are non-circular and Since the outer circumference of the width feed nut is slightly smaller than the inner circumference of the width feed nut storage part and the play of the width feed nut is slightly movable in the rotation direction of the width drive shaft in the width feed nut storage part, If the load is applied to the treatment element, a force such as torsion is generated on the treatment element arm, but the inner peripheral shape of the width feed nut storage part and the outer periphery shape of the width feed nut are non-circular and the width feed nut storage The play is such that the outer circumference of the width feed nut is slightly smaller than the inner circumference of the section and the width feed nut is slightly movable in the direction of rotation of the width drive shaft within the width feed nut storage part. Etc. And be Succoth, it is capable of preventing the dashed width feed nut.
[0058]
  Also,Claim 9In the described invention, the aboveClaims 1 to 8In addition to the effect of the invention described in any one of the above, the strength driving unit has a structure that swings the treatment element around a fulcrum, and as a sensor provided in the strength driving part, the treatment element swings due to the driving of the strength driving part. A sensor for detecting the moving position and a sensor for detecting the speed of the treatment element due to the driving of the strong and weak driving unit, and a sensor for detecting the vertical position of the treatment element due to the driving of the vertical driving unit as a sensor provided in the vertical driving unit Since the strength drive unit is structured to swing the treatment element around the fulcrum, the action of the treatment element by the strength drive part moves not only in the longitudinal direction of the human body but also in the vertical direction. If this is utilized, it is not necessary to provide a sensor for detecting the speed in the vertical drive unit, and only a sensor for detecting the vertical position necessary for controlling the vertical position is required, and the control is complicated. Na Not, in which the structure can also be simplified.
[0059]
  Also,Claim 10In the described invention, the aboveClaims 1 to 9In addition to the effect of the invention described in any one of the above, a drive source support portion that supports the drive source in each drive portion is provided with a U-shaped cutout portion, and the drive attached to the drive source support portion in this cutout portion The output shaft of the power source is inserted and protruded, and the output shaft is applied to the contact portion of the notch, and the direction in which the drive is transmitted from the output shaft to the drive transmission portion is directed from the notch portion to the inlet The output shaft of the drive source can be inserted from the entrance of the notch and positioned against the padding part of the collar, and can be fixed. It is possible to prevent variations in tension due to.
[0060]
  Also,Claim 11In the described invention, the aboveClaims 1 to 10In addition to the effect of the invention described in any of the above, a pulley is press-fitted and attached to one end of the output shaft of the motor that is the drive source of each drive unit, and the pulley of the output shaft of the motor is not press-fitted Since the end portion is projected to the outside of the motor housing, when the pulley is press-fitted into one end portion of the output shaft, the pulley is press-fitted while supporting the portion projecting outward from the motor housing at the other end portion of the output shaft. As a result, the assembling performance is improved.
[0061]
  Also,Claim 12In the described invention, the aboveClaims 1 to 11In addition to the effect of the invention described in any one of the above, in the massager performing massage of the user with the treatment element, the pressure signal detection unit for detecting the pressure applied to the treatment element from the user side is provided, Since at least one or both of position control and / or speed control of at least one of the strength driving unit, the width driving unit, and the vertical driving unit is controlled, the pressure signal is detected, and the position is determined based on the pressure signal. A desired massage can be performed by controlling and speed control.
[0062]
  Also,Claim 13In the described invention, the aboveClaim 12In addition to the effects of the described invention, since the pressure signal detection unit is disposed on the treatment element or treatment element arm, the load on the human body applied to the treatment element can be directly measured, and thereby accurate pressure can be measured. It can be fed back and massaged with the desired strength.
[0063]
  Also,Claim 14In the described invention, the aboveClaims 1 to 13In addition to the effect of the invention described in any one of the above, since it includes an operating device capable of operating at least one of the strong and weak drive unit, the width drive unit, and the vertical drive unit, the strong drive The user can arbitrarily move at least one of the drive unit, the width drive unit, and the vertical drive unit using the operation device, and can perform a massage operation of a desired locus. .
[Brief description of the drawings]
FIG. 1 is a perspective view of a main body block of a massage machine according to the present invention.
FIG. 2 is a perspective view of the unit of the same strength driving unit.
FIG. 3 is a perspective view of a unit of the same width driving unit.
FIG. 4 is a perspective view of the unit of the vertical drive unit of the above.
FIG. 5 is a perspective view showing the relationship between the pair of treatment elements and the strength driving unit.
FIG. 6 is a side view of a chair provided with the same massage machine.
FIG. 7 is a control block diagram of the above.
FIG. 8 is a plan view showing the positional relationship between the pair of treatment element arms and the pair of strength driving gears.
FIG. 9 is a side view showing the relationship between the treatment element arm and the strength driving gear.
FIG. 10 is a cross-sectional view of a portion where the treatment element arm is attached to the width drive shaft and the width drive support shaft.
FIG. 11 is a cross-sectional view showing the relationship between the same feed nut and the feed nut storage portion.
FIG. 12 is an explanatory view for explaining that one of the same strong and weak driving gears is engaged with the transmission gear while being shifted by the amount of backlash.
13A is a front view showing attachment of a motor, FIG. 13B is a side view of the motor, and FIG. 13B is a front view.
14A is an explanatory view showing an example in which the output shaft of the motor is protruded from both end portions of the motor housing, and FIG. 14B is a diagram showing another example of the output shaft when a pulley is press-fitted into one end portion of the output shaft. It is explanatory drawing which shows the state which is supporting the edge part by the support member.
FIG. 15 is a control block diagram showing an example in which the pressure detecting means is provided.
[Explanation of symbols]
1 treatment child
2 Dynamic drive section
3 Width drive unit
4 Vertical drive unit
5a sensor
5c sensor
6 Sensor
6a sensor
7 Control unit
8 Treatment child arm
9 Strength drive gear
9a Arc-shaped gear
10 Width drive shaft
11 Dynamic drive shaft
12 Transmission gear
13 Width drive spindle
14 Nut feed nut
15 cushioning material
16 Drawer feed nut storage
18 Drive source support
19 Notch
19a
20a Output shaft
20b Output shaft
20c output shaft
21a pulley
21b Pulley
21c pulley
22 Motor housing

Claims

In the massage machine that drives the treatment element, the treatment element has a strength driving unit that operates in a protruding direction toward the human body side, a width driving unit that operates in the width direction, and a vertical driving unit that operates in the vertical direction, The drive source of each drive unit is a separate drive source, the strength drive unit has a sensor for detecting the position of the treatment element due to the drive of the strength drive unit and the sensor for detecting the speed, and the width drive unit has A sensor for detecting the position of the treatment element resulting from the drive of the width drive part and a sensor for detecting the speed, and a sensor for detecting the position of the treatment element caused by the drive of the vertical drive part at least in the vertical drive part, A massager that is provided independently, and a massager that operates two or more drive units in conjunction with a massage operation by operating one of the drive units by a signal from a sensor that is provided independently for each of the drive units. A control unit for controlling so as to perform the operation, mounting the treatment element to treatment elements arm, a pair of treatment elements arms on both outer sides of the movable range in the width direction of the treatment element arm supporting the treatment element by width driver A massage machine , comprising: a strong and weak driving gear for driving the pair of teeth, wherein the pair of strong and weak driving gears rotate about the width driving shaft in the width driving portion .

The massage machine according to claim 1, wherein the pair of strong and weak driving gears are formed of arcuate gears.

3. The massage machine according to claim 2, wherein the pair of arcuate gears are formed symmetrically in the direction perpendicular to the rotation axis of the treatment element arm.

A pair of transmission gears is provided on the strength driving shaft connected to the driving source of the strength driving portion, and a pair of strength driving gears rotating around the width driving shaft of the width driving portion is provided on the strength driving shaft. A pair of transmission gears mesh with each other, and one of the pair of strength driving gears rotating about the width driving shaft as a center of rotation is meshed between the strength driving gear and the transmission gear with respect to the other strength driving gear. The massage machine according to any one of claims 1 to 3, wherein the massager is shifted by a backlash amount.

5. The at least one width drive support shaft inserted through the treatment element arm is provided in parallel with a width drive shaft for driving the treatment element arm in the width direction in the width drive unit. The massage machine described in any one.

The treatment element is attached to the treatment element arm, and the width drive shaft is provided with a width drive shaft provided with a male screw on the outer periphery. The width drive shaft is screwed onto the male screw of the width drive shaft so that the width drive shaft does not rotate by itself. A width feed nut that drives the treatment element arm in the width direction by moving in the axial direction with respect to the drive shaft is provided, and the treatment element arm is connected to the width feed nut so as to be movable in the axial direction of the width drive shaft and width drive. The massage machine according to any one of claims 1 to 5, wherein a cushioning material is interposed between the width feed nut and the treatment element arm in the axial direction of the shaft.

The massaging machine according to claim 6, wherein the cushioning material is a coiled spring material.

The treatment element arm is provided with a width feed nut storage portion for storing the width feed nut. The inner peripheral shape of the width feed nut storage portion and the outer peripheral shape of the width feed nut are non-circular, and from the inner periphery of the width feed nut storage portion. 8. The width of the width feed nut is slightly smaller, and a play is provided in which the width feed nut can be moved slightly in the rotational direction of the width drive shaft within the width feed nut housing portion. Massage machine.

The strength and weakness drive unit has a structure that swings the treatment element around a fulcrum, and as a sensor provided in the strength and weakness drive part, it detects the swing position of the treatment element due to the drive of the strength and weakness drive part and drives the strength and weakness drive part. The sensor for detecting the speed of the treatment element caused by the sensor is provided, and only the sensor for detecting the vertical position of the treatment element caused by the drive of the vertical drive part is provided as a sensor provided for the vertical drive part. The massage machine in any one of thru | or thru | or 8.

Each drive unit is provided with a U-shaped notch in the drive source support that supports the drive source, and the output shaft of the drive source attached to the drive source support is inserted into and projected from the notch and the output shaft The direction in which the drive is transmitted from the output shaft to the drive transmission portion is set to be substantially opposite to the direction from the contact portion of the notch portion to the inlet. The massage machine according to any one of claims 1 to 9.

A pulley is press-fitted and attached to one end of the motor output shaft, which is the drive source of each drive unit, and the other end of the motor output shaft on which the pulley is not press-fitted protrudes outside the motor housing. The massage machine according to any one of claims 1 to 10, wherein:

In the massager that massages the user with the treatment element, it has a pressure signal detection unit for detecting the pressure applied to the treatment element from the treatment person side, and among the strength drive part, the width drive part, and the vertical drive part by the pressure signal The massage machine according to any one of claims 1 to 11, wherein at least one or both of position control and speed control of at least one drive unit is controlled.

The massage machine according to claim 12, wherein the treatment element is attached to the treatment element arm, and the pressure signal detection unit is disposed on the treatment element or the treatment element arm.

14. An operating device capable of operating at least one of the strength driving unit, the width driving unit, and the vertical driving unit is provided. Massage machine.