JP4613844B2 - Massage machine - Google Patents

Description

  The present invention relates to a massage machine that causes a treatment element to perform a massage operation with two or more drive axes that are independently driven.

  A three-axis drive shaft that is independently driven, and a two-dimensional or three-dimensional combined operation by combining the two-axis to three-axis movements by these drive axes, so that a so-called massage massage is performed. There is a realized massage machine (see Patent Document 1).

  This massage massage feels comfortable when the treatment element comes into contact with the acupoint (tenderness point), but feels uncomfortable pain when it comes off from the acupuncture point, especially when it comes into contact with a bone or the like.

  On the other hand, there is a technique called “acupuncture” that is frequently used in massage treatment. This is a massage that uses the thumb or palm as a support point (support surface) and moves the vicinity of the wrist circularly or linearly while pressing the human body.

With this acupuncture massager, the treatment element will perform almost “scrubbing exercise” centering on the contact point with the human body, so it will not hit the bones, so it will not feel uncomfortable pain Absent. However, the massage machine disclosed in Patent Document 1 cannot cause the treatment element to perform the above-described movement.
JP 2004-016514 A

  The present invention has been invented in view of the above-mentioned conventional problems, and is a massage that can obtain the above-mentioned acupuncture massage in a treatment element that performs a massage operation with two or more drive axes that are independently driven. It is an object to provide a machine.

In order to solve the above problems, a massage machine according to the present invention includes a driving unit that individually drives a treatment element in different axial directions, and a driving unit that drives each axial direction based on control data. And a control unit for causing the treatment element to make a circular locus in a 20 mm square by a combination of movements , and the control unit reciprocally moves each axial drive by each driving means in a sinusoidal manner. In addition, the circular trajectory drawn on the treatment element by controlling the phase of movement in both axial directions is an ellipse, and the ellipse has a major axis in the direction perpendicular to the muscle bundle of each treatment target site. It is characterized by being.

If a treatment element of the same size as an acupuncture finger is moved to draw a circular trajectory in a 20 mm square, a massage with the same sensation as the acupuncture massage can be obtained for the user It is. In other words, the treatment element itself does not perform a grind movement, but if it moves in a circular path within the above range, it will be sensuously the same massage as the acupuncture massage. This movement allows you to get acupuncture massage. In addition, muscle Lee of the shoulder side in the vicinity of the human body of the scapula K is running the muscle bundles diagonally, but muscle and Russia of the spine side muscle bundles in the vertical direction is running, these muscle movements draw a circle or ellipse because it contains a movement component perpendicular to the beam, which can loosen reliably muscles, especially for the major axis direction of the ellipse is to a direction perpendicular to the muscle bundles of each part to be treated In addition , more preferable treatment can be obtained.

  In addition, since the width of the muscle bundle is 5 to 10 mm, the muscle bundle can be shaken at the same time as the treatment element is moved around the hardened portion within a 20 mm square or narrower range. Will not hit the bone, but if you move the treatment element in a larger range, for example within 40mm square, there is a high risk of hitting the bone. End up.

In addition, a massage that is comfortable to the human body is to give as many stimulations as possible to the hardened part of the muscle and reduce the hardened part. Generally, the hardened part of the human body is a muscle bundle of muscles. It is a portion with a diameter of about 10 mm existing inside. If the treatment element is moved around the hardened part within a 20mm square or narrower range, the contact area with the human body is set to be slightly smaller than the 20mm square by imitating the size of the human thumb. The given treatment element makes contact with the hardened portion at least once. By the way, when the treatment element is moved along a trajectory exceeding the above range, there may be a case where it does not contact the hardened part at all.

  It may be one that changes at least one of the period, amplitude, and phase difference of the sinusoidal reciprocation. A variety of timeless acupuncture massages can be obtained. Further, it is desirable that the period of the sine wave-like reciprocation is within approximately 2 seconds.

  The center position of the circular locus may be gradually changed.

  Moreover, when the movement of the linear reciprocation of the direction orthogonal to these two axes is combined with the movement of the biaxial direction that draws a circular locus, a massage closer to a massage massage can be obtained. .

  In the present invention, the treatment element is caused to perform a movement of drawing a circular trajectory in a square of 20 mm square in spite of the fact that the treatment element performs a massage operation with two or more drive axes that are independently driven. Such movements can be treated with the same feeling as an acupuncture massage for the user, and the head of the human body can be shaken during massage near the neck and shoulder blades. It is possible to provide a comfortable massage with no discomfort in a relaxed state. In addition, the circular trajectory drawn on the treatment element is an ellipse whose major axis direction is in a direction perpendicular to the muscle bundle of the treatment target region, so that the muscles can be loosened reliably.

  Hereinafter, the present invention will be described based on embodiments shown in the accompanying drawings. First, the mechanical mechanism of the massage machine capable of independently moving the xyz 3 axes will be described. In FIGS. 4 to 7, reference numeral 1 in the figure denotes a massage mechanism having a gripping massage function. The massage mechanism 1 disposed in the backrest so as to be capable of self-propelled up and down includes a vertical drive shaft 12 and a strong and weak drive shaft (not shown) between the side plates 11 and 11 at both ends in the width direction constituting the frame. And a movable unit 14 are disposed. In the figure, reference numeral 5 denotes a treatment element lower cover.

  The vertical drive shaft 12 is rotationally driven by a vertical drive motor 15 fixed to one side plate 11, and rollers 16 and pinions 17 are attached to both ends thereof. Since the roller 16 rolls on a rail disposed in the backrest and the pinion 17 meshes with a rack attached to the rail, the massage mechanism moves along the rail in the backrest by driving the vertical drive motor 15. And run up and down. The strength drive shaft is rotationally driven by a strength motor fixed to the other side plate 11, and a gear for rotating the movable unit 14 is attached.

  As shown in FIG. 5, the movable unit 14 has a width drive shaft 20 and two slide guide shafts 21 and 21 installed between a pair of left and right gear plates 19 and 19, and a pair of left and right treatment element units 7 (FIGS. 4 and 5). 5 shows only one treatment element unit 7), and both ends of the width drive shaft 20, which can rotate around the shaft with respect to both gear plates 19, 19, are connected to the massage mechanism. It is arrange | positioned between the side plates 11 and 11 by being rotatably supported by a pair of side plates 11 and 11. The tooth portion 19a on the outer peripheral surface of the gear plate 19 meshes with the gear of the strong and weak drive shaft, and when the strong and weak drive shaft rotates, the movable unit 14 rotates around the axis of the width drive shaft 20, and the treatment element The amount of protrusion of the treatment elements 2b, 2a provided in the unit 7 to the front side of the backrest is changed. The width driving shaft 20 is rotationally driven by a width driving motor fixed to one side plate 11.

  As shown in FIG. 6, the treatment element unit 7 includes an arm pace plate 22 as a treatment element support member, an upper arm 4b having the treatment element 2b attached to the tip, a lower arm 4a having the treatment element 2a attached to the tip, and the like. The arm base plate 22 that rotatably supports the base end portions of the upper arm 4b and the lower arm 4a by a support shaft 23 includes a feed nut 24 that is screwed into a threaded portion of the width drive shaft 20, and The sliders 25 and 25 are slidably fitted to the slide guide shafts 21 and 21, and the axial positions of the width drive shaft 20 and the slide guide shaft 21 are changed by the rotation of the width drive shaft 20. The threaded portion formed on the width drive shaft 20 has one of the left and right sides where the feed nuts 24 and 24 of the pair of treatment element units 7 and 7 mesh with each other as a reverse screw. It from each arm base plate 22 in the left-right pair of treatment elements units 7,7 and away from approaching each other by the rotation of the width drive shaft 20.

  When the vertical drive shaft 12 is driven by the vertical drive motor 15, the massage mechanism 1 moves up and down in the backrest as described above and changes the positions of the treatment elements 2b and 2a up and down. Further, when the strong and weak driving shaft is driven by the strong and weak driving motor, the movable unit 14 rotates around the width driving shaft 20 as described above, so that the treatment element 2b as viewed from the width driving shaft 20 moves forward. The amount of protrusion, that is, the strength with which the treatment element 2b presses the human body changes. Further, by driving the width drive shaft 20 with the width drive motor, the pair of left and right treatment element units 7 and 7 approach and separate in the left and right direction, which is the axial direction of the width drive shaft 20, and the left and right treatment elements 2b, The horizontal position and interval of 2a are changed.

  In this massage machine, by combining the above operations by the three motors, the treatment elements 2b and 2a are allowed to perform a two-dimensional compound operation and a three-dimensional compound operation, thereby realizing a so-called massage massage. Is.

  Airbags 26 and 27, which are actuators for gripping and massaging, are provided between the upper arm 4b and the lower arm 4a. When the airbag 26 is inflated by the supply of air, as shown in FIG. 7, the arms 4a and 4b are rotated around the support shaft 23 in the direction in which the treatment elements 2b and 2a at the tips of the arms 4b and 4a approach each other, On the contrary, the airbag 27 rotates the arms 4a and 4b in the direction in which the treatment elements 2b and 2a move away. By the approaching / separating operation of the pair of treatment elements 2b and 2a arranged at intervals in the vertical direction by the airbags 26 and 27, the treatment elements 2b and 2a can grasp and massage the human body. .

  Furthermore, a pair of left and right treatment elements 2b, 2a are provided, and the treatment elements 2b, 2a are in a state where the movable range of the upper arm 4b and the lower arm 4a is limited with respect to the arm base plate 22. Since the upper and lower treatment elements 2b and 2a are both in contact with the back of the human body by rotating within the movable range, When the float lock airbag 28, which is an actuator provided between the upper arm 4 b and the arm base plate 22, is inflated, the upper arm 4 b (and the lower arm 4 a) rotates about the support shaft 23 with respect to the arm base plate 22. In order to push out the treatment element 2b to the front side of the backrest, it is possible to obtain a state in which only the treatment element 2b on the upper side is in contact with the human body. The increase in the urging force of the upper arm 4b due to the expansion of the airbag 28 that functions as a spring narrows the rotatable area of the upper arm 4b and the lower arm 4a with respect to the arm base plate 22, and the airbag. When the 28 is expanded to the maximum, the rotation range becomes substantially zero. However, when a large load is applied to the treatment element 2b, the airbag 28 contracts, so that the load on the human body does not become excessive.

  Each of the above operations is performed under the control of the control unit CU shown in FIG. The vertical sensor, the strength sensor, and the width sensor in the figure are for drive control of the vertical motor, the strength motor, and the width motor. Although not shown here, an air driving unit including an air pump and an electromagnetic valve for supplying and discharging air to and from the airbags 26 to 28 is also under the control of the control unit CU.

  Here, when the treatment elements 2b and 2a perform two-dimensional or three-dimensional movements, the control unit CU reads out the control data stored in the storage unit M, and the motors described above are read based on the control data. Is driven through the width drive unit, the vertical drive unit, and the strength drive unit to cause the treatment elements 2b and 2a to move in a desired path. The data describing the velocity data for each axis is used. FIG. 10 shows an example of control data in the case where the treatment elements 2b and 2a draw a substantially circular locus by combining the vertical direction driving and the width direction driving (shown as continuous data for the sake of convenience, but in actuality it is discrete. Data). As is apparent from the figure, the speed data (here, the motor rotational speed data) is data including the moving direction.

Then, as shown in FIG. 8, the control unit CU drives each drive shaft to be a speed based on the control data at every required time timing, and maintains the speed until the next time timing. Yes, if the vertical drive motor and the width drive motor are driven based on the sinusoidal vertical drive control data and width drive data shown in FIG. 10 , the treatment elements 2b and 2a are circular in the vertical and horizontal planes. Moves along the trajectory (including the ellipse).

  In particular, if the vertical and horizontal sine waves have the same period and have a 90 ° phase difference between them, the perfect circle shown in FIG. 3 can be drawn, an oblique ellipse shown in FIG. 3B can be drawn, and if the amplitude is further varied, a thin ellipse shown in FIG. 3C can be drawn.

Incidentally, the position control of the driving in the vertical direction y and the driving in the horizontal direction x is x = A cos (2πft).
y = Acos (2πft + φ)
(A: amplitude, f: frequency, t: time, φ: initial phase)
Can be expressed as In addition, the control unit preferably performs speed or position feedback control for the control drive so as to synchronize the vertical drive and the left-right drive.

  Moreover, if the amplitude is changed, the diameter of the locus circle can be changed. FIG. 11 shows a case where the locus circle is reduced from a diameter of 20 mm to a diameter of 10 mm by reducing the amplitude at the change point t. FIGS. 12 and 13 show the speed of one of the two axes at the change point t. It shows that the center position of the locus circle can be changed to an arbitrary position by controlling discretely not sinusoidally and controlling the remaining one axis to be sinusoidal. Of course, the two axes may be discretely controlled at the change point t. In addition, although the change of the amplitude is changed almost simultaneously in both the vertical drive and the left and right drive, the vertical drive and the left and right drive may be changed while being shifted in time. FIG. 14 shows an example in that case. In this case, it is preferable to change the amplitude when the speed becomes zero.

  And it is also preferable to perform such a change of a locus circle according to the treatment site | part of a human body. For example, when the operating position of the treatment element is shown in a matrix as shown in FIG. 15 and a detecting means for detecting the position of the treatment element is provided, the treatment element depends on the part to be massaged. Thus, the diameter of the trajectory circle is defined in advance, and the acupuncture massage at that position is controlled to draw a trajectory circle having the defined diameter. More appropriate acupuncture massage can be performed according to the treatment site.

  Of course, a switch unit 408 for instructing the change of the locus circle of the acupuncture massage is provided in the operation unit for instructing what kind of massage is performed, and the locus circle is changed according to the instruction of the switch unit 408. The diameter may be changed.

  In addition, as shown in FIGS. 11 to 13 and 16, the change in the diameter of the locus circle can be changed directly from one diameter to another, or can be changed stepwise. As shown in FIG. 18, it may be changed continuously.

  It is preferable that the movement of drawing a circle during the acupuncture massage is a movement that makes one round in approximately 1 second to 2 seconds. This is because when the pressing force in the three-axis direction in the time series of the massage technique by the masseur is monitored, the cycle is almost 1 second as shown in FIG. Since massage massage and shiatsu massage using a massage machine generally have a cycle of about 3.5 seconds, acupuncture massage that is repeated in a short cycle as described above gives a sharp massage to the user. Can be given.

  Moreover, you may make it change a period. In this case, if the period is changed every time a circular locus is drawn 2 to 3 times, the sensation changes as the user sees, so the massage is less likely to get tired of long-term treatment. . Although this period may be changed continuously or stepwise, it is preferable to change the period between 1 and 2 seconds.

  The locus may be formed by slightly expanding a part of a circle (ellipse) to the outer periphery. FIG. 20 shows changes in speed (motor rotation speed) in this case. Thus, if the speed at a specific portion (the lower left quarter of the locus circle) is increased, the feeling of hitting the human body can be increased. Such acupuncture massage is particularly effective for the base of the neck and the shoulder.

By the way, in this type of massage machine, a pair of left and right treatment elements is provided. In this case, the movements of the locus circles of both treatment elements should be opposite to each other as shown in FIG. preferable. Incidentally, FIG. 21 (a) shows a case where a side-up operation is performed, and FIG. 21 (b) shows a case where a side-down operation is performed. Further, the movement of drawing the trajectory may be reversed in the middle. FIG. 22 shows an example of the operation in this case.

  In addition, a plurality of inversion operations may be performed within one cycle. FIG. 23 shows an example of this case, and FIG. 24 shows a reversal operation locus obtained by this reversal operation.

  The phase difference between the vertical drive and the horizontal drive may be changed. If the phase difference is gradually changed, the locus drawn by the treatment element changes from an ellipse or an oblique line inclined obliquely from the circle, and the oblique inclination direction changes. You will be able to get a moving movement.

  If the treatment element is formed of a roller, even if the commanded locus is a circle, the roller-type treatment element rotates in the vertical direction. Therefore, when a trajectory circle having a diameter of 10 mm is drawn, if the amplitude and frequency are controlled so as to draw an elliptical trajectory that is slightly longer (about 4 mm) as shown in FIG. If you try to be a patient, you will feel the trajectory of a perfect circle.

  Furthermore, as shown in FIG. 26, the position of the locus on the circle may be changed little by little up and down or left and right. Such movement can be obtained, for example, by adding a constant Ct to the above equation for obtaining the positions of x and y.

  Further, it is preferable that the final end point of the movement for drawing the circular locus is on a tangent line extending in any axial direction of the movement locus so far. When the end point is set on the previous trajectory indicated by A in FIG. 27, when one of the axes arrives first, the movement of the other axis draws a trajectory that digs inside the trajectory. This makes the user feel uncomfortable. For this reason, it is preferable to set the end point on a tangent line (B in FIG. 27) extending in a direction along one of the axes (preferably the vertical direction) from the trajectory so far. Since the movement toward the stop end position is a continuous movement with respect to the previous trajectory, the user does not feel a sense of incongruity. In addition, the user can recognize the end of the massage technique by drawing a certain trajectory.

  In the above description, the movement in the two axes of x, y (up, down, left and right) has been described, but it is needless to say that movement in the z direction (direction in which the treatment element pushes the human body) may be added. FIG. 28 shows an example of the movement in this case. Even when only the movement in the x and y directions is applied, when the treatment element moves so as to straddle the muscle fibers, a force of about 40 N is also applied in the z direction, but when the movement in the z axis direction is also added, the z direction (pushing direction) The force Fz can be increased as shown in FIG. In addition, the change of the force Fz in the range of 40N in the drawing is accompanied by the movement of the treatment element in the x and y directions. By adding movement in the z direction in this way, it is possible to obtain a force change substantially equivalent to the treatment by the masseur shown in FIG. 30, and a massage closer to the acupuncture massage by the masseur can be obtained. . The movement of the treatment element in the x and y axis directions when adding the movement in the z axis direction may change in amplitude as shown in FIG.

  By the way, the movement of the pair of left and right treatment elements may be the same as shown in FIG. 32 (a) in addition to the symmetrical one shown in FIG. 21, or shown in FIG. 32 (b). Thus, different movements may be performed. However, in the case shown in FIGS. 4 and 5, the left and right treatment elements 7 and 7 are connected to the portions of the width drive shaft 20 that are reversely threaded to each other. Directional movement is always symmetrical. For this reason, in order to cause the left and right treatment elements to perform the same movement, for example, the left and right treatment element units 7 and 7 are connected to the same screw portion of the width drive shaft, or the width drive shaft is made independent of the left and right. It is necessary to configure the drive shaft to be driven independently. Even when the left and right treatment elements are caused to perform different movements, the width drive shafts may be made independent of each other and the individual width drive shafts may be driven independently.

It is explanatory drawing which shows operation | movement of an example of embodiment of this invention. It is explanatory drawing of the acupuncture massage by a masseur. (a) (b) (c) is explanatory drawing of an operation locus. It is a perspective view of an example of a massage mechanism same as the above. It is a perspective view of a movable unit same as the above. It is a disassembled perspective view of a treatment element unit same as the above. It is a side view which shows the same grip massage operation | movement. It is a flowchart of operation control same as the above. It is a block circuit diagram same as the above. It is explanatory drawing of an example of control data same as the above. An example of an amplitude change is shown, (a) is an explanatory diagram of a locus, and (b) is a time chart. It shows another example of amplitude change, (a) is an explanatory diagram of the trajectory, (b) is a time chart. FIG. 6 shows still another example of amplitude change, where (a) is an explanatory diagram of a locus, and (b) is a time chart. FIG. 4 shows another example of amplitude change, where (a) is an explanatory diagram of a locus, and (b) is a time chart. It is explanatory drawing of the matrix of a human body part. It is explanatory drawing of the step change of a locus | trajectory. It is explanatory drawing of the continuous change of a locus | trajectory. FIG. 4 shows still another example of amplitude change, where (a) is an explanatory diagram of a locus, and (b) is a time chart. It is explanatory drawing of the pressing force change in the case of acupuncture massage by a masseur. It is explanatory drawing of another example of control data. (a) (b) is explanatory drawing of a motion of the right and left treatment element. It is explanatory drawing of an example of the control data containing the inversion operation | movement. It is explanatory drawing of the other example of the control data including the inversion operation | movement. It is explanatory drawing of a locus | trajectory same as the above. It is explanatory drawing of another example of a locus | trajectory. (a) (b) (c) is explanatory drawing of another example of a locus | trajectory, respectively. It is explanatory drawing about the end point of acupuncture massage. (a) (b) is explanatory drawing of an example when the motion of a z-axis direction is added. It is a time chart which shows the change of the force of the pushing direction same as the above. It is a time chart which shows the change of the force of the pushing direction by a masseur's acupuncture massage. (a) (b) is explanatory drawing of the other example when the motion of a z-axis direction is added. (a) (b) is explanatory drawing of the other example of a motion of a right-and-left treatment element.

2b, 2a Treatment element CU control unit

Claims (5)

A driving means for individually reciprocatingly driving the treatment element in different axial directions and a driving means for driving each axial direction based on the control data to move the treatment element into a circle in a 20 mm square by combining the movements in the respective axial directions and a control unit for causing the movement to draw the trajectory, the control unit the treatment elements in the control of both the axial movement of the phase with reciprocating the respective axial drive respectively sinusoidally by the drive means A massaging machine characterized in that the circular trajectory to be drawn is an ellipse, and an ellipse having a major axis in a direction orthogonal to the muscle bundle of each treatment target region. 2. The massage machine according to claim 1, wherein at least one of the period, amplitude, and phase difference of the sinusoidal reciprocation is changed . The massage machine according to claim 1 or 2, wherein the cycle of the sine wave-like reciprocating motion is approximately within 2 seconds . The massage machine according to any one of claims 1 to 3, wherein the center position of the circular locus is gradually changed . The massage according to any one of claims 1 to 4, wherein the movement in a biaxial direction for drawing a circular locus is combined with the movement of a linear reciprocation in a direction perpendicular to the two axes. Machine.

Images