JP4420410B2 - Massage machine - Google Patents

Description

  The present invention relates to a massage machine, and in particular, a treatment unit that is substantially linearly movable and that stimulates a user, an operation tool that outputs a signal corresponding to the amount of displacement from a neutral position, and a signal from the operation tool It is related with a massage machine provided with the control part which controls operation | movement of the said treatment part based on.

For example, in a chair type massage machine having a backrest part that supports the back part of the user, a treatment element is provided in the backrest part, and the treatment element is operated by operating the operation tool by the user. (For example, refer to Patent Document 1). In this chair type massage machine, when the user tilts the operation device in the front-rear direction, the vertical position of the treatment unit is changed correspondingly.
Japanese Patent No. 2566275

  By the way, in the case of the chair type massage machine disclosed in Patent Document 1, the output signal is output from a simple on / off switch by the tilting operation of the operating device, and only the signal relating to the tilting direction can be output. . For this reason, it gives an uncomfortable feeling to the user regarding the operability of the operating device. That is, it is preferable for the user to easily move to the target position of the treatment unit when the displacement of the treatment unit and the operation operation of the controller device are in a proportional relationship. .

  However, if the chair type massage machine is configured so that the displacement amount of the operation device and the displacement amount of the treatment portion are proportional, the treatment portion that is generally mechanically driven using a motor, a gear, etc. In contrast, it operates with a delay. Since such a delay in the operation of the treatment unit may give a new sense of discomfort to the user, it is desired to eliminate this.

  Therefore, the present invention can suppress an uncomfortable feeling in operation mainly caused by the operation delay of the treatment unit in the massage machine that moves the treatment unit that gives a stimulus to the user according to the amount of displacement of the operation tool. The purpose is to provide a massage machine.

The present invention has been made in view of the above-described circumstances, and the present invention is provided in a backrest portion that supports the back portion of the user and is movable in the front-rear direction for stimulating the user. a treatment section, a moveable in the longitudinal direction, and an operating device for outputting a signal corresponding to the displacement amount in the longitudinal direction from the neutral position, based on a signal from the operation member, the displacement in the longitudinal direction of the operating tool And a control unit that controls the operation of the treatment unit so that the direction of displacement and the displacement direction in the front-rear direction of the treatment unit coincide with each other, wherein the control unit is a front-rear position from a neutral position of the operation tool. The treatment unit is moved in the front-rear direction by a displacement amount proportional to the displacement amount in one direction , and the movement of the treatment unit is stopped at the time when the displacement direction of the operation tool is changed in the front-rear direction. , corresponding to the position of the operating member That in the treatment section time and current position of the target position and the treatment section are matched, and is configured to control so as to start moving back and forth the other direction of the treatment section. By adopting such a configuration, the treatment unit is displaced in a direction corresponding to the displacement direction of the operation tool before the change even after the displacement direction of the operation tool is changed based on the operation delay of the treatment unit. Can be prevented, and an uncomfortable feeling in operation can be suppressed. In addition, since the displacement direction of the operation tool and the displacement direction of the treatment portion coincide with each other, the feeling of operation of the operation tool by the user is improved.

In the present invention, a dead zone in which the treatment unit does not operate in the front-rear direction is set in a predetermined displacement range of the operation tool including at least one of the neutral position of the operation tool and the maximum displacement position in the front-rear direction. It may be. With such a configuration, on the other hand, when a dead zone is provided in which the treatment unit does not operate at the neutral position of the operation tool, for example, the operation of the treatment unit that occurs when the operation tool is operated toward the neutral position. The delay can be eliminated while the operating tool is operated in the dead zone. On the other hand, when the dead zone is provided at the maximum displacement position of the operating tool, for example, the operating tool is operated in the dead zone due to the operation delay of the treatment unit that occurs when the operating tool is operated from the neutral position to the maximum displaced position. It can be resolved while you are. As a result, the uncomfortable feeling caused to the user due to the operation delay can be suppressed.

The present invention may be configured to control so as to move the treatment section in the longitudinal direction by a speed corresponding to the maximum displacement speed of the operation tool before Symbol during operation tool displacement. By adopting such a configuration, for example, when the operation tool is displaced from the neutral position and then the displacement speed is reduced to stop, the displacement speed of the treatment portion is not reduced even during the reduction of the displacement speed. The operation delay can be eliminated.

  Moreover, the said control part may be comprised so that the said treatment part may be controlled to change the speed | velocity | rate to step shape according to the displacement speed of the said operation tool.

Further, the present invention, when the difference value between the current position of the target position and the treatment section of the treatment section corresponding to the displacement of the front SL operating tool exceeds a predetermined threshold value, increasing the speed of the treatment section it may be configured to control so as to. By adopting such a configuration, when the delay distance, which is the difference between the current position of the treatment unit and the target position, is equal to or greater than a threshold value, the delay distance can be shortened.

Further, the present invention, when the displacement speed before Symbol operating tool increases as the gain a displacement speed of the operation tool or the treating section before increasing the acceleration up to the target displacement speed of the treatment section after increasing It may be configured to determine . By adopting such a configuration, when the displacement speed of the operation tool is changed, based on the displacement speed of the operation tool or the treatment part before the increase without causing the user to experience excessive stimulation. The displacement speed of the treatment part can be increased smoothly.

Further, the present invention, when the displacement speed before Symbol operating tool increases as the gain difference value of the target displacement speed of the difference value or the treatment section of the displacement speed of the operation member before and after increasing the after increasing You may be comprised so that the acceleration to the target displacement speed of a treatment part may be determined. With such a configuration, when the displacement speed of the operating tool is changed, the treatment unit is based on the difference value of the displacement speed of the operation tool before or after the increase or the difference value of the target displacement speed of the treatment unit. The displacement speed can be increased smoothly.

In addition, the present invention provides a movable treatment unit that gives a stimulus to a user, an operation tool that outputs a signal corresponding to a displacement amount from a neutral position, and the treatment unit based on a signal from the operation tool. A massager comprising a control unit for controlling the operation, wherein the control unit controls the movement of the treatment unit by a displacement amount proportional to a displacement amount from a neutral position of the operation tool. The treatment unit has a motor driven based on the control signal from the control unit, and the motor includes at least a pulse signal having a duty ratio capable of starting the motor. When the displacement speed of the operation tool is equal to or lower than a predetermined low speed, a pulse train signal composed of one or more of the pulse signals is input with a predetermined time interval. Is It can have.

  For example, when the operation tool is displaced at a very low speed below a predetermined value, if the PWM signal necessary for generating the starting torque of the motor is continuously output to the motor that drives the treatment unit, the operation tool is being displaced. In spite of this, the treatment unit reaches the target displacement, and the control unit temporarily stops the motor. Furthermore, since the operation tool is still being displaced, a gap occurs between the stop position and the target position of the treatment portion after a while, so that the treatment portion starts to move again, and as a result, the treatment portion is intermittently operated and the user is treated. May cause discomfort. However, with the configuration as described above, at least a PWM signal necessary for generating a motor starting torque is output at a predetermined duty ratio, so that the stop of the motor during the displacement of the operation tool is suppressed and the treatment unit is intermittently operated. Operation can be suppressed.

  Moreover, the said operation tool may be comprised so that the position displaced from the neutral position may be maintained in a non-operation state. By adopting such a configuration, after the operating tool that is displaced by the operation by the user is stopped at a predetermined position, until the treatment unit reaches the target position corresponding to the stop position, the user There is no need to keep the operating tool in the predetermined position, and the operability is improved.

  According to the present invention, in the massage machine that moves the treatment unit that gives a stimulus to the user in accordance with the amount of displacement of the operation tool, it is possible to suppress an uncomfortable feeling on operation mainly caused by the operation delay of the treatment unit. A massage machine can be provided.

  Hereinafter, a massage machine according to an embodiment of the present invention will be specifically described with reference to the drawings, taking a chair type massage machine as an example. FIG. 1 is a perspective view showing a chair-type massage machine according to an embodiment of the present invention, and the chair-type massage machine 1 includes a seat portion 2, a backrest portion 3, a footrest 4, and an armrest 5. In addition, the concept of the direction used below in description of this Embodiment is the user (not shown) seated on the seat part 2 of the chair type massage machine 1 except the case where description is attached | subjected especially in the sentence. It shall coincide with the concept of direction when viewed from the above.

  The seat portion 2 is configured by arranging cushion portions 2a formed substantially flat so that the upper surface is used as a seat surface on the upper portion of a base (not shown). Each has a leg 2b (only the left leg 2b is shown in FIG. 1). An upper end of the footrest 4 for massaging the ankle and calf of the user by supplying and exhausting air to an air bag (not shown) is pivotally mounted on the upper front side of the seat 2. As a result, the footrest 4 can swing back and forth around its upper end. Although not shown, an air bag capable of supplying and exhausting air may be provided at appropriate locations on the seat 2 and the backrest 3 in addition to the footrest 4.

  A backrest 3 is provided at the rear of the seat 2. The backrest 3 is a part of the adult body that protrudes outside when an adult with a general physique sits on the seat 2 of the chair type massage machine 1 to support the upper body of the user. The size is not so large that it is substantially rectangular in front view. The lower end of the backrest 3 is pivotally supported by a left and right pivot (not shown) at the rear of the seat 2, and the backrest 3 rotates around the pivot and reclines back and forth. It is possible. In addition, armrests 5 fixedly supported on the base of the seat 2 are provided on both sides of the backrest 3. The armrest 5 extends forward from both sides of the backrest 3.

  Inside the backrest part 3, a massage mechanism (treatment part) 6 for treating the back part of the seated user is provided. The massage mechanism 6 is installed on a lifting frame 9 that is disposed in the backrest 3 and has a vertically long shape when viewed from the front. The massage mechanism 6 can be moved up and down along the lifting frame 9 and can be backrested. It is configured to be able to move back and forth in a direction intersecting the back surface (front surface) of the portion 3. Further, the massage mechanism 6 includes a treatment element 10 and performs a massage operation such as fisting and tapping to give a mechanical stimulus to the user.

  In the chair type massage machine 1 according to the present embodiment, a control unit 11 that controls the operation including the massage mechanism 6 is disposed inside the seat unit 2, and is further connected to the control unit 11 via a signal line. A controller 12 that is operated by the user is provided. In addition, a joystick-type operation tool 13 operated by the user is provided on the right armrest 5. The operating tool 13 includes a pedestal 13a and a lever 13b extending upward, and the lever 13b can be swung back and forth from a neutral position in an upright state by an operation by a user. The operation tool 13 is also connected to the control unit 11 via a signal line, and a signal corresponding to the amount of displacement of the lever 13b is transmitted to the control unit 11.

  FIG. 2 is a block diagram showing functions of the chair type massage machine 1. 2 shows only the massage mechanism 6, the control unit 11, the controller 12, and the operation tool 13 described above, and other functions such as a footrest 4 having an air bag are omitted.

  As shown in FIG. 2, the control unit 11 included in the chair type massage machine 1 is mainly configured by a CPU 20, a RAM 21, a ROM 22, and an input / output interface 23. The CPU 20 can execute a program stored in the ROM 22 and / or a program loaded in the RAM 21. The RAM 21 is used as a work area for the CPU 20 when executing a program stored in the ROM 22. The ROM 22 stores a program executed by the CPU 20, data used for the program, and the like. The CPU 20 can cause the chair-type massage machine 1 to perform various massage operations by executing a program stored in the ROM 22.

  The motors 35 to 37 included in the massage mechanism 6 are electrically connected to the input / output interface 23 included in the control unit 11 via the drive circuits 30 to 32. The drive circuits 30 to 32 individually drive the motors 35 to 37 based on the control signal output from the input / output interface 23. Specifically, the drive circuit 30 drives the motor 35 to move the massage mechanism 6 up and down to change the massage position in the vertical direction and perform a rolling massage. The drive circuit 31 drives the motor 36 to move the massage mechanism 6 back and forth to execute a pressure massage on the back of the user. Moreover, the drive circuit 32 drives the motor 37, operates the treatment elements 10 and 10 which the massage mechanism 6 has, and performs fir massage and tapping massage.

  Such driving of the motors 35 to 37 by the drive circuits 30 to 32 is performed by PWM control. That is, each of the drive circuits 30 to 32 includes a pulse generator (not shown), and the pulse generator has a pulse width voltage (pulse signal) corresponding to a control signal given from the input / output interface 23. And the voltage is applied between the terminals of the motors 35 to 37, respectively. By such PWM control, electric power is supplied to each of the motors 35 to 37, and the motors are driven while satisfying a required rotation direction, rotation speed, and rotation speed (rotation angle). In addition, according to operation | movement of the massage mechanism 6, you may provide a drive circuit and a motor as needed suitably.

  In addition, displacement sensors 45 to 47 provided at appropriate positions of the massage mechanism 6 are electrically connected to the input / output interface 23 via A / D converters 40 to 42. Each displacement sensor 45 to 47 outputs an analog detection signal corresponding to the amount of displacement of the massage mechanism 6, and each A / D converter 40 to 42 digitizes these detection signals and outputs them to the control unit 11. . Specifically, the displacement sensor 45 detects the position of the massage mechanism 6 in the vertical direction, the displacement sensor 46 detects the position of the massage mechanism 6 in the front-rear direction, and the displacement sensor 47 detects the treatment element 10 included in the massage mechanism 6. 10 positions are detected. Note that the displacement sensor and the A / D converter may be additionally provided as necessary. In addition, instead of the A / D converters 40 to 42 and the displacement sensors 45 to 47 described above, a pulse counter and an encoder may be employed. In this case, the encoder is a digital one corresponding to the amount of displacement of the massage mechanism 6. A detection signal is output.

  Further, the controller 12 and the operation tool 13 are electrically connected to the input / output interface 23. In the present embodiment, the controller 12 includes a plurality of button switches (not shown) and the like, and by operating them, the massage mechanism 6 can be moved up and down, and the treatment elements 10 and 10 can be operated. Yes. The operation tool 13 includes an A / D converter 43 and a displacement sensor 48, and the displacement sensor 48 is electrically connected to the input / output interface 23 of the control unit 11 via the A / D converter 43. The displacement sensor 48 detects the displacement amount (tilt angle) of the lever 13 b included in the operation tool 13, and the A / D converter 43 digitizes an analog detection signal related to this displacement amount and outputs it to the control unit 11. And based on the detection signal from the displacement sensor 48, the control part 11 moves the massage mechanism 6 back and forth.

Here, in the chair type massage machine 1 according to the present embodiment, in principle, the displacement direction of the lever 13b of the operation tool 13 described above matches the displacement direction of the massage mechanism 6, and is proportional to the displacement amount of the lever 13b. The massage mechanism 6 moves by the amount of displacement. That is, as shown in the graph of the positional relationship between the lever 13b and the massage mechanism 6 in FIG. 3, when the lever 13b is tilted forward, the massage mechanism 6 is also swung forward and the lever 13b is tilted backward. The massage mechanism 6 also swings backward. Further, the massage mechanism 6 swings by a displacement amount (swing distance) proportional to the displacement amount (tilt angle) of the lever 13b. In FIG. 3, the neutral position of the lever 13b is indicated by L ₀ , the other tilted positions of the lever 13b are indicated by L _{1 to} L ₄ , and the positions of the massage mechanism 6 corresponding to the positions L _{0 to} L ₄ of the lever 13b are indicated. These are indicated by M _{0 to} M ₄ .

  Moreover, the operation tool 13 with which the chair type massage machine 1 which concerns on this Embodiment is provided has the structure which can maintain the attitude | position in the state in which the lever 13b inclined with respect to the base 13a. Such a configuration of the operation tool 13 includes, for example, a gear that rotates integrally with the lever 13b so as to coincide with the rotation axis of the lever 13b that is rotatably supported by the pedestal 13a, and meshes with the gear. A rotary damper having a gear as a rotating shaft is fixed to the base 13a. In this way, the tilted lever 13b can maintain its tilted posture due to the viscosity of the rotary damper.

  By the way, in the case of the chair type massage machine 1 as described above, the massage mechanism 6 is configured to be driven by a motor through a plurality of gears, so that a control signal is output from the control unit 11 by operating the operation tool 13. After that, a delay occurs until the massage mechanism 6 is actually driven based on this. This delay is one factor that causes the user who operates the operation tool 13 to feel uncomfortable. However, in the chair type massage machine 1 according to the present embodiment, the main purpose is not to cause such discomfort. In the longitudinal movement control of the massage mechanism 6, various devices are applied. Hereinafter, each back-and-forth movement control of the massage mechanism 6 will be described separately in examples. In addition, each back-and-forth movement control of such a massage mechanism 6 is implement | achieved when CPU20 runs the control program memorize | stored in ROM22 of the control part 11. FIG. In addition, it is natural that the control modes listed in each embodiment can be realized by combining a plurality.

Example 1
FIG. 4 is a graph for explaining an aspect according to the first embodiment of the back-and-forth movement control of the massage mechanism 6, and the position (tilt angle) L of the lever 13 b and the corresponding target in the front-rear direction of the massage mechanism 6. The relationship with the position (swinging angle) M is indicated by a solid line. As shown in FIG. 4, in the vicinity of the neutral position L ₀ and the maximum displacement position L _MAX of the lever 13b, dead zones A ₀ and A in which the massage mechanism 6 does not operate within a predetermined displacement range of the operation tool 13b including them. _MAX is set. Here, the maximum displacement position L _MAX of the lever 13b includes the maximum displacement position in the forward direction and the maximum displacement position in the rear direction of the lever 13b.

As described above, when the dead zone A _MAX including the maximum displacement position L _MAX of the lever 13b is set, the deviation caused by the displacement between the lever 13b and the massage mechanism 6 can be eliminated in the dead zone A _MAX . As an example, an example of the relationship between the displacement of the lever 13b and the actual displacement of the massage mechanism 6 is indicated by a one-dot chain line in FIG. As can be seen by comparing the solid line in FIG. 4 with the one-dot chain line, between the target position (solid line) of the massage mechanism 6 corresponding to the position of the lever 13b being operated and the actual position (one-dot chain line) of the massage mechanism 6 even when the deviation D ₁ occurs, it is possible to lever 13b is while displaced in dead band a _MAX including the maximum displacement position L _MAX, to eliminate this deviation D _1. Therefore, since the massage mechanism 6 can be kept from operating for a long time after the lever 13b is stopped, the uncomfortable feeling given to the user can be reduced.

When the dead zone A ₀ including the neutral position L ₀ of the lever 13b is set, it is not necessary to strictly set the neutral position of the lever 13b. It is possible to prevent the operation from being performed.

(Example 2)
FIG. 5 is a graph for explaining an aspect according to the second embodiment of the back-and-forth movement control of the massage mechanism 6, and FIG. 5 (a) shows the position (tilt angle) L of the lever 13b to be displaced, FIG. ) is a target displacement speed (swing speed) V _M in the front-rear direction of the massaging mechanism 6 corresponding thereto, is shown in relation to the time axis, respectively. As shown in FIG. 5A, at time t ₁ , the lever 13b starts to be displaced at a constant speed V _L1 , and then is accelerated at time t ₂ to reach time t ₃ at a constant speed V _L2 (> V _L1 ). Displace. Further, the vehicle is decelerated at time t ₃ and starts to be displaced at a constant speed V _L3 (<V _L2 ), and stops at time t ₄ .

Massaging mechanism 6 as shown in FIG. 5 (b) In contrast, displaced at a constant speed V _M1 at time t ₁ ~t _2, until the time the displacement of the lever 13b is accelerated t ₂ after the time t ₃ displaced massaging mechanism 6 be accelerated at a constant speed V _M2 (> V _M1). Thereafter, at times t ₃ and t ₄ when the displacement of the lever 13b is decelerated, the massage mechanism 6 maintains the speed V _M2 without decelerating. After the lever 13b is stopped to the time t _4, the massaging mechanism 6 to massaging mechanism 6 reaches the time t ₅ to the target position corresponding to the stop position of the lever 13b is stopped. During this time, the massaging mechanism 6 is its velocity _{V M (V M1, V M2} ) stepwise changes.

Thus, when the massaging mechanism 6 is displaced in the lever 13b is speed itself only when it is accelerated (time t _1, t ₂₎ is accelerated by changing the displacement of the lever 13b is decelerated ( At time t ₃ , t ₄ ), the displacement is not decelerated following this. Therefore, the massaging mechanism 6 at a maximum speed even it after the lever 13b which has been displaced is stopped displaced, massaging mechanism 6 within a relatively short period of time (time t ₄ ~t ₅₎ is reached the target position Therefore, the followability of the massage mechanism 6 with respect to the displacement of the lever 13b is improved, and the uncomfortable feeling given to the user can be reduced.

(Example 3)
FIG. 6 is a graph for explaining an aspect according to the third embodiment of the back-and-forth movement control of the massage mechanism 6, and FIG. 6A is a front-back direction of the massage mechanism 6 with respect to the position (tilt angle) of the lever 13b. An example of the time change of the target position (rocking angle) M of the massage mechanism 6 is indicated by a solid line, and in addition, an example of the actual time change of the position of the massage mechanism 6 is indicated by a one-dot chain line, and FIG. The time change of the displacement speed of the massage mechanism 6 corresponding to 6 (a) is shown.

As shown in FIG. 6 (b), the massage mechanism 6 is _initially displaced at a speed _VM4 , but as shown in FIG. 6 (a), the time change (solid line) of the target position of the massage mechanism 6 A deviation (difference value) D ₂ is generated with respect to the actual time change of the position of the massage mechanism 6. In this embodiment, this deviation D ₂ reaches a predetermined threshold value D ₃ (time t _7), the massaging mechanism 6 is accelerated, the speed V _M5 from the speed V _M4 so far as shown in FIG. 6 (b) It is changed to step shape.

As described above, when the deviation (difference value) between the target position of the massage mechanism 6 and the actual position becomes the predetermined threshold value D ₃ with the displacement of the lever 13b, the speed of the massage mechanism 6 is forcibly set. By raising, the amount of deviation can be suppressed to a threshold value or less, and the followability of the massage mechanism 6 to the displacement of the lever 13b can be improved.

Example 4
FIG. 7 is a graph for explaining an aspect according to the fourth embodiment of the longitudinal movement control of the massage mechanism 6. FIG. 7A is a position (tilt angle) L of the lever 13b, and FIG. the target displacement speed (swing speed) V _M in the front-rear direction of the massaging mechanism 6 corresponding thereto, is shown in relation to the time axis, respectively. This, as shown in FIG. 7 (a), displaced by starting to displace lever 13b is constant velocity V _L10 at time t _10, it is accelerated in a subsequent time t ₁₂ a constant speed V _L12 (> V _L10).

In contrast Figure 7 (b) are shown as massaging mechanism 6, immediately after the time t _10, without operating the displacement speed V _M10 corresponding to the displacement velocity V _L10 of the lever 13b, the time t ₁₀ ~t gradually speed up in a short period of time leading up to _11, so as to reach the displacement velocity V _M10 as a target at time t _11. Similarly, lever immediately after the 13b time t ₁₂ the speed increases, the lever 13b without operating the displacement speed V _M12 corresponding to the displacement velocity V _L12 of the time t ₁₂ ~t ₁₃ displacement speed in a short time leading to V _M10 gradually speed up, so as to reach the displacement velocity V _M12 as a target at time t ₁₃ from.

  In this way, when the lever 13b changes in speed, the massage mechanism 6 operates so that the displacement speed gradually increases, so that an excessive impact is not applied to the back of the user. The uncomfortable feeling generated in the user can be reduced.

The rate of increase in the speed of the massage mechanism 6, that is, the acceleration d (V _M ) / dt, is obtained by using the displacement speed (V _L ) of the lever 13 b before the speed increase or the displacement speed (V _M ) of the massage mechanism 6 as a gain. decide. For example, assuming that the coefficient is C ₁ , d (V _M ) / dt = C ₁ · V _L ² (1)
Or may be determined by the formula
d (V _M ) / dt = C ₁ · V _M ² (2)
Or may be determined by combining the equations (1) and (2). D (V _M ) / dt = C ₁ · V _L · V _M (3)
It may be determined by the following formula.

The acceleration d (V _M) / dt is the differential value of the displacement velocity of the lever 13b before and after the increase rate ([Delta] V _L), or determining the differential value of the target displacement speed of the massaging mechanism 6 ([Delta] V _M) as a gain Is also possible. In this case, for example, the coefficient is C ₂ .
d (V _M ) / dt = C ₂ · ΔV _L (4)
Or can be determined by the formula
d (V _M ) / dt = C ₂ · ΔV _M (5)
Further, the following equations (4) and (5) are combined to obtain d (V _M ) / dt = C ₂ · ΔV _L · ΔV _M (6)
It may be determined by the following formula.

(Example 5)
In the above-described first to fourth embodiments, the operation control of the massage mechanism 6 when the lever 13b is displaced in one direction has been mainly described. Next, operation control of the massage mechanism 6 that can be combined with the first to fourth embodiments as described above when the lever 13b is switched from one direction to another will be described with reference to FIG. . FIG. 8 is a graph for explaining one aspect of the longitudinal movement control of the massage mechanism 6 according to the fifth embodiment. FIG. 8A is a position (tilt angle) L of the lever 13b, and FIG. the target displacement speed (swing speed) V _M in the front-rear direction of the massaging mechanism 6 corresponding thereto, is shown in relation to the time axis, respectively.

As shown in FIG. 8 (a), the lever 13b to the time t ₁₅ is one direction at a constant speed V _L15 (e.g., forward) starts to displaced, then the displacement direction is reversed to the time t _16, the other direction ( For example, it is displaced rearward at a constant speed V _L16 . Massaging mechanism 6 as shown in FIG. 8 (b) In contrast, starts to displace the time t ₁₅ in response to displacement of the lever 13b, is displaced in one direction at a constant velocity V _M15 (e.g., forward). Then, it is stopped at the time t ₁₆ to the displacement direction of the lever 13b is reversed. At this time t ₁₆ , the actual position of the massage mechanism 6 exists slightly later in time than the target position corresponding to the position of the lever 13 b at the time t ₁₆ .

Next, after the lever 13b begins to displace in the other direction, the target position of the massaging mechanism 6 corresponding to the position of the lever 13b, the moment comes to the actual position of the massaging mechanism 6 are identical (time t _17). Once this time becomes t _17, the massaging mechanism 6 starts to operate in accordance with the displacement again lever 13b, it is displaced in the other direction at a constant velocity V _M16 (e.g., rearward).

  If it does in this way, the discomfort to a user produced when the displacement direction of the lever 13b is switched will reduce. Specifically, as described repeatedly, the actual position of the massage mechanism 6 with respect to the position of the lever 13b that is displaced is slightly delayed from the target position of the massage mechanism 6. When the operation control is not performed as in the present embodiment, the massage mechanism 6 tries to operate in the direction before the switching by the delay even after the displacement direction of the lever 13b is switched. Then, a phenomenon occurs in which the displacement direction of the lever 13b and the displacement direction of the massage mechanism 6 are reversed, which causes the user to feel uncomfortable.

On the other hand, in the case of the present embodiment, since the operation of the massage mechanism 6 stops when the displacement direction of the lever 13b is switched, the phenomenon of mismatch between the displacement directions of the lever 13b and the massage mechanism 6 is prevented. Can do. In addition, after switching, when the target position of the massage mechanism 6 matches the actual position (time t ₁₇ ), the massage mechanism 6 resumes the follow-up operation according to the displacement of the lever 13b. 6 operation delay can be suppressed.

(Example 6)
Next, an aspect of drive control of the motor 36 (see FIG. 2) that moves the massage mechanism 6 back and forth when the lever 13b is displaced at an extremely low speed will be described. FIG. 9 is a graph showing the time change of the displacement speed of the lever 13b and the PWM signal input to the motor 36. FIG. 9A is a low-speed displacement of the lever 13b, and FIG. 9B is the lever 13b. The mode at the time of very low-speed displacement is shown.

As shown in FIG. 9A, when the lever 13b is displaced at a normal low speed (V _L20 ), a PWM signal composed of a pulse signal having a predetermined duty ratio is continuously input to the motor 36. The massage mechanism 6 is displaced at a constant speed corresponding thereto. On the other hand, as shown in FIG. 9B, when the lever 13b is displaced at an extremely low speed (V _L21 ), a pulse train signal composed of one or more of the pulse signals is periodically (intermittently). Input to the motor 36.

  More specifically, even when the duty ratio of the pulse signal is set to a minimum value that can start the motor 36, if a PWM signal consisting of the pulse signal having the duty ratio is continuously input to the motor 36, the massage is performed. The actual displacement speed of the mechanism 6 may exceed the target displacement speed. This phenomenon occurs when the starting torque of the motor 36 exceeds the driving torque at the normal time. In this case, the massage mechanism 6 stops once every time the actual position reaches the target position. However, since the lever 13b is being displaced, the massage mechanism 6 is started again after a time interval. As a result, the massage mechanism 6 is intermittent. Behaves like a normal one.

  Therefore, in this embodiment, as described below, the intermittent operation of the massage mechanism 6 when the lever 13b is extremely low is suppressed. That is, the pulse signal input to the motor 36 is set to a duty ratio (a / b) that can secure at least a minimum torque necessary for starting the motor 36. The drive control of the motor 36 that is characteristic of this embodiment is performed when the drive torque of the motor 36 that maintains the target displacement speed of the massage mechanism 6 is smaller than the starting torque of the motor 36, as described above. A pulse train signal composed of one or more pulse signals is intermittently emitted from the drive circuit 31 (see FIG. 2) at predetermined time intervals (see FIG. 10B). Here, the predetermined time interval is a time interval such that the next pulse train signal is input to the motor 36 before the massage mechanism 6 operated by one pulse train signal stops, and each pulse The time interval is longer than the time interval between signals.

  By doing in this way, the displacement speed of the massage mechanism 6 can be reduced extremely, ensuring the starting torque of the motor 36 which drives the massage mechanism 6. As a result, even when the lever 13b is displaced at an extremely low speed, the intermittent operation of the massage mechanism 6 as described above can be suppressed, and the uncomfortable feeling given to the user can be reduced.

  The massage machine according to the present invention can be applied to a massage machine that moves a treatment unit that gives a stimulus to a user according to the amount of displacement of an operation tool. In addition to a chair-type massage machine, various types of massage machines It can also be applied to.

It is a perspective view which shows the chair type massage machine which concerns on embodiment of this invention. It is a block diagram which shows the function of the chair type massage machine shown in FIG. It is a graph which shows the positional relationship of the lever with which the chair type massage machine shown in FIG. 1 is equipped, and a massage mechanism. It is a graph for demonstrating the one aspect | mode which concerns on Example 1 of the back-and-forth movement control of a massage mechanism. It is a graph for demonstrating the one aspect | mode which concerns on Example 2 of the back-and-forth movement control of a massage mechanism, (a) is the position of the lever which changes, (b) is the target displacement speed of the front-back direction of the massage mechanism corresponding to this. Are shown in relation to the time axis. It is a graph for demonstrating the one aspect | mode which concerns on Example 3 of the back-and-forth movement control of a massage mechanism, (a) shows an example of the time change of the target position of the front-back direction of the massage mechanism with respect to the position of a lever with a continuous line, In addition, an example of the actual time change of the position of the massage mechanism is shown by a one-dot chain line, and (b) shows the time change of the displacement speed of the massage mechanism corresponding to this. It is a graph for demonstrating the one aspect | mode which concerns on Example 4 of the back-and-forth movement control of a massage mechanism, (a) is the position of a lever, (b) is the target displacement speed | rate of the front-back direction of the massage mechanism corresponding to this, Each is shown in relation to the time axis. It is a graph for demonstrating the one aspect | mode which concerns on Example 5 of the back-and-forth movement control of a massage mechanism, (a) is a displacement of a lever, (b) is the target displacement speed | rate of the front-back direction of the massage mechanism corresponding to this, Each is shown in relation to the time axis. It is a graph which shows the time change of the displacement speed of a lever and the PWM signal input into the motor which drives a massage mechanism, (a) is a mode at the time of a low-speed displacement of a lever, (b) is a mode at the time of a very low-speed displacement of a lever. Is shown.

Explanation of symbols

1 chair-type massage machine 3 backrest 6 massaging mechanism 10 treatment element 11 control unit 13 operation tool 13a pedestal 13b lever 30-32 drive circuit 35 to 37 motor 40 to 43 A / D converter 45 to 47 displacement sensor A _0, A _MAX dead zone

Claims (8)

A treatment part that is provided in a backrest part that supports the back part of the user and is movable in the front-rear direction for stimulating the user; and
An operation tool that is movable in the front-rear direction and outputs a signal corresponding to the amount of displacement in the front-rear direction from the neutral position;
A massage machine comprising: a control unit that controls the operation of the treatment unit so that a displacement direction in the front-rear direction of the operation unit and a displacement direction in the front-rear direction of the treatment unit coincide with each other based on a signal from the operation unit Because
Wherein the control unit, the only displacement which is proportional to the displacement of the back and forth direction from the neutral position of the operating tool moving the treatment section to the longitudinal direction, and the displacement direction of the operating tool is in the other direction before and after In the changed time, stop the movement of the treatment unit,
It is configured to control the movement of the treatment unit to start moving in the other direction before and after the target position of the treatment unit corresponding to the position of the operation tool and the current position of the treatment unit coincide with each other . A massage machine. Characterized in that the predetermined displacement range of the operation member contains at least any one of the maximum displacement position in the neutral position and the front-rear direction before Symbol operation member, a dead zone where the treatment section does not operate in the longitudinal direction is set The massage machine according to claim 1 . The massage machine according to claim 1, characterized in that it is configured to control so as to move the treatment section in the longitudinal direction by a speed corresponding to the maximum displacement speed of the operation tool during the displacement of the previous SL operating tool . The massage machine according to claim 3, wherein the control unit is configured to control the treatment unit to change the speed in a step shape according to a displacement speed of the operation tool. When the difference value between the current position of the target position and the treatment section of the treatment section corresponding to the displacement of the front SL operating tool exceeds a predetermined threshold value, configured to control so as to increase the velocity of the treating section The massage machine according to claim 1, wherein the massage machine is provided. If the displacement speed of the previous SL operating tool increases as the gain a displacement speed of the operation tool or the treating section before increasing, is configured to determine the acceleration up to the target displacement speed of the treatment section after increasing The massage machine according to claim 1, wherein: If the displacement speed of the previous SL operating tool increases as the gain difference value of the target displacement speed of the difference value or the treatment section of the displacement speed of the operation member before and after increasing the target displacement speed of the treatment section after increasing The massage machine according to claim 1, wherein the massage machine is configured to determine an acceleration up to. The operation member is a non-operation state, the massage machine according to any one of claims 1 to 7, characterized in that it is configured to maintain a position displaced from the neutral position.

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