JP4626536B2 - Massage machine - Google Patents

Description

  The present invention relates to a massage machine, and more particularly to a massage machine capable of gripping massage.

2. Description of the Related Art As a massage machine, there is known a massage machine in which two treatment elements that are paired up and down are moved close to and away from each other so that the body is sandwiched between both treatment elements, that is, a massage is performed. (For example, see Patent Document 1)
Such grabbing massage is particularly effective for the shoulder of the human body, but the movement is monotonous and there is a need for a massage machine that can obtain a more effective grabbing massage.
JP 2002-238967 A

  The present invention has been invented in view of the above-described conventional problems, and an object of the present invention is to provide a massage machine capable of obtaining a very effective grip massage.

In order to solve the above-described problems, the massage machine according to the present invention includes a treatment element that is paired up and down, and performs a gripping massage operation on the treatment element by changing the interval between the treatment elements by air drive. A gripping massage driving unit, a driving means for individually reciprocatingly driving the treatment element in different axial directions, and a driving element by driving the driving means in the respective axial directions based on the control data, thereby combining the movements in the respective axial directions. And a control unit that performs a movement of drawing a circular locus in a 20 mm square while the grip massage driving unit is being driven, and the control unit applies the treatment element to the treatment element during the grasping operation to bring both treatment elements close to each other. During the return operation that moves the circular trajectory and separates both treatment elements, the treatment element is not allowed to perform the movement to draw the circular trajectory, and the gripping operation and the return operation are sequentially executed. Double motion And particularly characterized a is to said gripping drive and the drive means and the massage drive unit as one cycle.

  There is a technique called acupuncture that is frequently used in masseur's treatment, but this is done by using a thumb or palm as a supporting point (supporting surface) and pressing the human body around the wrist in a circle or line. It is a massage that moves, and if you make a movement that draws a circular trajectory in a square of 20 mm square with a treatment element of the same size as an acupuncture finger, you can obtain a massage with the same feeling as the above acupuncture massage, A more effective gripping massage can be obtained by superimposing this movement on the massage operation.

Moreover, the control unit causes the treatment element to draw the circular locus during the gripping operation to bring both treatment elements close to each other, and draws the circular locus to the treatment element during the return operation for separating both treatment elements. for those that drives said drive means and said gripping massage drive unit both operate as one cycle of gripping operation and the return operation are successively performed with those which do not perform movement, comfortable lively feeling You can get a massage.

  The present invention allows the treatment element to move while drawing a circular trajectory in a 20 mm square, and is performed during the massage operation. Since the acupuncture massage is superimposed on the grip massage, the grip massage is more effective. In addition to being effective, since the feeling of contact of the treatment element during grasping massage changes when the user is treated, the monotonous feeling can be eliminated.

  Hereinafter, the present invention will be described based on embodiments shown in the accompanying drawings. 2 is a mechanism unit in the massage machine of the present invention. This mechanism unit is arranged in the backrest 90 of the chair 9 as shown in FIG. 8, for example, and is self-propelled up and down in the backrest 90. A vertical drive shaft 51 and a strong and weak drive shaft 61 are installed between the left and right side plates 91, 91, and the movable unit shown in FIG.

  As shown in FIG. 4, the vertical drive shaft 51 is rotationally driven when the output of the vertical drive motor 50 fixed to one side plate 91 is transmitted through a gear group in the gear box 52. The pinions 53 and 54 are attached to both ends thereof. The roller 54 rolls in the rail disposed on the backrest 90 together with the roller 55 shown in FIG. 2, and the pinion 53 meshes with a rack (not shown) attached to the rail.

  As shown in FIG. 5, the strength driving shaft 61 is rotationally driven when the output of the strength driving motor 60 fixed to the other side plate 91 is transmitted through the gear group in the gear box 62. The gears 63, 63 for rotating the movable unit are attached to both ends thereof.

  The movable unit has a width drive shaft 31, two slide guide shafts 32, 32, and a striking drive shaft 41 installed between a pair of left and right gear plates 30, 30, and a pair of left and right treatment element arm blocks 1, 1 (see FIG. 2 and 3 show only one treatment element arm block 1). Both ends of the width drive shaft 31 that can freely rotate around the shaft with respect to both the gear plates 30 and 30 are supported by the pair of side plates 91 and 91 so as to be disposed between the side plates 91 and 91. The tooth portions 300 and 300 on the outer peripheral surfaces of the gear plates 30 and 30 are meshed with the gears 63 and 63 described above. One end of the width driving shaft 31 is connected to a pulley 38 to which the output of the width driving motor 35 attached to one side plate 91 is transmitted via a pulley 36 and a belt 37. The drive shaft 31 rotates around the axis by the output of the width driving motor 35.

  A knocking drive motor 40 is mounted on one gear plate 30 of the movable unit. The output of the motor 40 is transmitted to the hitting drive shaft 41 by a pulley and a belt 43. The tapping drive shaft 41 is formed as a crankshaft having different eccentric directions on the left and right.

  As shown in FIG. 6, the treatment element arm block 1 comprises an arm base plate 10 as a treatment element support member, a first arm 13, a second arm 14, a roller-type first treatment element 1a, a second treatment element 1b, and the like. The arm base plate 10 is provided with a feed nut 33 screwed into the threaded portion of the width drive shaft 31 and sliders 34, 34 slidably fitted to the slide guide shaft 32. The position of the width drive shaft 31 and the slide guide shaft 32 in the axial direction is changed by the above, and since the screw portion formed on the width drive shaft 31 is formed with a reverse screw on one side, a pair of left and right The arm base plates 10 and 10 in the treatment arm block 1 are moved closer to and away from each other by the rotation of the width drive shaft 31.

The first arm 13 provided with the first treatment element 1a and the second arm 14 provided with the second treatment element 1b are directly attached to the arm base plate 10 by the same shaft 100. The link 45 connecting one end of the drive shaft 41 is connected to the first arm 13 at the other end, and the shaft at the other end is engaged with a long hole 48 provided in the first arm 13. The swinging is not disturbed.

  Here, the drive unit for causing both the treatment elements 1a and 1b to perform a gripping massage operation includes a drive unit A configured by the airbag 21 and a drive unit B configured by the airbag 22 in the same manner. The airbag 21 is interposed between the receiving plate 20a of the first arm 13 and the receiving plate 20b of the second arm 14, and the first treatment element 1a and the second treatment element 1b are connected to each other when the air supply is extended. Drive in the direction of approaching. The airbag 22 is interposed between the receiving plate 20b of the second arm 14 and the support portion 20c of the first arm 13, and the first treatment element 1a and the second treatment element 1b are separated from each other when the air supply is extended. Energize as follows. Further, an air bag 23 as a float lock means C is also provided, and the air bag 23 interposed between the link 45 and the first arm 14 is provided with the first and second treatment elements 1a when extended by air supply. , 1b is urged in a direction in contact with the body. In the figure, reference numeral 95 denotes an air drive unit in which an air pump and an electromagnetic valve for operating the air bags 21, 22, and 23 are housed.

  The operation of the massage machine configured as described above will be described. First, when the vertical drive shaft 51 is driven by the vertical drive motor 50, the movable unit self-runs up and down in the backrest of the chair described above. The positions of 1a and 1b are changed up and down. Further, when the strong and weak driving shaft 61 is driven by the strong and weak driving motor 60, the gear 63 provided in the strong and weak driving shaft 61 rotates the gear plate 30 around the axis of the width driving shaft 31, so that the arm base plate is attached to the gear plate 30 and one end. 30 is rotating, and it is possible to obtain a state in which the amount of protrusion of the treatment element 1a toward the backrest is small and a state in which the amount of protrusion of the treatment element 1a is large. That is, the strength adjustment can be performed by changing the forward protrusion amount of the treatment element 1a. When the width driving shaft 31 is rotated by the width driving motor 35, the pair of left and right treatment element arm blocks 1 and 1 are moved closer to and away from each other in the width direction (left and right direction), as described above, and the left and right treatment elements 1a and 1b. The interval between 1a and 1b is changed.

  By the way, this massage machine realizes so-called massage massage by combining the operations of the three motors 50, 60, and 35. In order to enable drive control to perform such massage, in addition to the vertical position sensor S2, the width position sensor S1, etc., as shown in FIG. 9, the strength position, the rotation speed (rotation angle) of each motor, as shown in FIG. A sensor for detecting the above is provided to perform feedback control. Reference numeral 8 in FIG. 9 denotes a control unit comprising a microcomputer, and the air drive unit 95 is also under the control of the control unit 8.

  Moreover, when the drive part A in the treatment element arm block 1 is driven, the second arm 14 rotates with respect to the first arm 13 about the shaft 100, and the treatment element 1a is rotated as shown in FIG. The treatment element 1b moves in the direction in which the treatment element 1b approaches, but if the treatment element 1b comes into contact with the human body, the treatment element drive unit A brings the treatment element 1a closer to the treatment element 1b, and as a result, the treatment element 1b. A shoulder etc. can be grasped by 1a, 1b.

  If the drive part B which performs the movement contrary to the drive part A is driven, the 1st treatment element 1a and the 2nd treatment element 1b will space apart. Therefore, the gripping massage is repeated by operating the driving units A and B alternately. Further, if air is also supplied to the airbag 22 as the drive unit B when the drive unit A is driven, a large resistance force can be applied to the gripping operation performed by the drive unit A. If air is supplied to the airbag 22 as the drive unit B and the airbag 22 is maintained in an extended state, the position is maintained with a large force so that the position does not change even when an external force is applied to the second treatment element 1b. Thus, the separated state as shown in FIG. 7A is maintained. Note that “ON” in the operation of the airbags 21 and 22 in FIG. 1 indicates an extension operation by air supply, and “OFF” indicates an air exhaust operation.

  Furthermore, the treatment elements 1a and 1b that are paired up and down are pivotally supported so that the first arm 13 and the second arm 14 are rotatable with respect to the arm base plate 10 with a limited movable range. The upper and lower treatment elements 1a and 1b are kept in contact with the back of the human body by rotating within the movable range, but are provided between the first arm 13 and the arm base plate 10. When the float lock airbag 23 is inflated, the first arm 13 (and the second arm 14) rotates about the shaft 100 with respect to the arm base plate 22 to push the treatment element 1a toward the front side of the backrest. In addition, it is possible to obtain a state in which only the upper treatment element 1a is in contact with the human body, and the first due to the inflation of the airbag 23 which functions as an air spring. As the urging force of the arm 13 increases, the rotatable area of the first arm 13 and the second arm 14 with respect to the arm base plate 10 is narrowed, and when the airbag 23 is fully inflated, The moving range becomes substantially zero. However, when a large load is applied to the treatment element 1a, the airbag 23 contracts, so that the load on the human body does not become excessive.

  Next, the acupuncture massage operation will be described. This massage operation is an operation that draws a circular locus on the treatment elements 1a and 1b within a 20 mm square. If you try, you can get a massage with the same sensation as an acupuncture massage by a masseur. Therapeutic elements 1a and 1b themselves do not carry out surimi movements, but if they move in a circular path within the above range, they can be sensuously the same massage as an acupuncture massage by a masseur Focusing on, this movement allows you to get acupuncture massage.

  In order to cause the treatment elements 1a and 1b to perform such movement, the control unit 8 performs the following control. That is, when the treatment elements 1a and 1b perform movement (including two-dimensional or three-dimensional movement), the control unit 8 reads out the control data stored in the built-in storage unit, and stores the control data in the control data. Based on this, the motors are driven to cause the treatment elements 1a and 1b to move in a single axis, two axes, or three axes, thereby making a movement that draws a required locus. The data in which the velocity data of each axis is described at each time timing is used.

  As an example of the above-mentioned acupuncture massage, an example of control data in the case where the treatment elements 1a and 1b draw a substantially circular locus by combining the vertical driving and the width driving (shown as continuous data for convenience). 10 is actually discrete data). As is apparent from the figure, the speed data (here, the motor rotational speed data) is data including the moving direction (rotational direction).

  The control unit 8 drives each drive shaft to be a speed based on the control data at each required time timing, and maintains the speed until the next time timing, as shown in FIG. If the vertical driving motor and the width driving motor are driven based on the sine wave vertical driving control data and the width driving data, the treatment elements 1a and 1b form circles (including ellipses) in the vertical and horizontal planes. Moves along the path of drawing. Since the circular trajectory is set in a 20 mm square, the above movement of the treatment elements 1a and 1b is acupuncture massage for the user.

If the sine waves in the vertical direction y and the horizontal direction x have the same period and have a phase difference of 90 °, a perfect circle shown in FIG. 11 (a) can be drawn. If a phase difference is provided, an oblique ellipse shown in FIG. 11 (b) can be drawn, and if the amplitude is further varied, a thin ellipse shown in FIG. 11 (c) 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 = Dcos (2πft).
y = Dcos (2πft + φ)
(D: amplitude, f: frequency, t: time, φ: initial phase)
Can be expressed as In addition, the control unit 8 preferably performs speed or position feedback control for the control drive so as to synchronize the vertical drive and the left / right drive.

  And in the massage machine which concerns on this invention, the operation | movement which superimposed the said acupuncture massage operation | movement on the said grip massage operation | movement by the drive parts A and B comprised by the airbags 21 and 22 can also now now be performed. ing. At this time, as shown in FIG. 1, the control unit 8 operates the airbag 21 as the driving unit A and causes both the treatment elements 1 a and 1 b to perform the gripping operation, while driving the vertical drive motor and the width drive. Is used to drive a scissors motion that draws a circular locus on the treatment elements 1a and 1b within a 20 mm square, and operates the airbag 22 to separate the treatment elements 1a and 1b. In some cases, the above-described wrinkle movement is not performed, and this is repeated as one cycle to give the user a grip massage on which the wrinkle movement is superimposed.

It is a time chart of an example of operation in an example of an embodiment of the invention. It is a perspective view of the mechanism unit of a massage machine same as the above. It is a perspective view of a movable unit same as the above. It is a perspective view of the up-and-down drive part same as the above. It is a perspective view of the same strength driving part. (a) is an exploded perspective view of the treatment element arm block, and (b) is an exploded perspective view further disassembled and viewed from another direction. It is a side view of a treatment element arm block part same as the above, (a) shows the state where a pair of treatment elements separated, and (b) shows the state where a pair of treatment elements approached. It is a perspective view of the chair which built in in the backrest. It is a perspective view of the chair which incorporated the mechanism unit same as the above in the backrest. It is a block circuit diagram same as the above. It is explanatory drawing of an example of the control data for acupuncture massage. (a) (b) (c) is explanatory drawing of an operation locus.

Explanation of symbols

1a, 1b Treatment element 8 Control unit 21 Air bag 22 Air bag

Claims (1)

A gripping massage drive unit that has a pair of upper and lower treatment elements and changes the distance between the two treatment elements by air drive to cause the treatment element to perform a grip massage operation, and the above treatment elements in different axial directions The reciprocating driving means individually and the driving means in each axial direction based on the control data, and the movement of drawing a circular locus in a 20 mm square by combining the movements in the respective axial directions. A control unit that is performed during driving of the grip massage driving unit ,
The control unit moves the treatment element to draw the circular locus during the gripping operation to bring both treatment elements close to each other, and moves to draw the circular locus to the treatment element during the return operation to separate both treatment elements. A massage machine characterized in that the gripping massage driving unit and the driving means are driven with one cycle of both the gripping operation and the returning operation that are sequentially executed and the driving means .

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