JP4755274B2 - Massage machine - Google Patents

Description

  The present invention relates to a massage machine including a mechanical massage part by a treatment element and an air massage part by inflation and shrinkage of an airbag.

  FIG. 30 is a perspective view showing a massage machine disclosed in Patent Document 1 to be described later, in which 200 is a chair type massage machine body. The seat portion 201 of the massage machine main body 200 has a laterally long buttocks airbag r1 and a thigh airbag r2 having substantially the same length as the width of the seat 201 in the depth direction of the seat 201. The air bag r1 is supplied to and exhausted from the buttock airbag r1 and inflated and contracted to air massage the user's buttock, and supplied to and exhausted from the thigh airbag r2 to inflate and contract it. As a result, the user's thigh is subjected to air massage.

  Two semi-cylindrical leg supports 202, 202 are provided inside the front end of the seat portion 201, and a leg rest portion 203 having a frame shape with a top view when viewed from the front is obliquely downward from the front end of the seat portion 201. A pair of leg airbags r3, r3, r3, and r3 are attached to both inner side surfaces of the leg supports 202 and 202, respectively. The leg airbags r3, r3, r3, r3 are supplied and exhausted to expand and contract them to air massage the calf portion of the user.

  On the other hand, a belt-like opening is provided in the longitudinal direction of the backrest 204 at the center of the backrest 204 of the massage machine main body 200, and rollers 205, 205 as treatment elements are incorporated in the backrest 204 within the opening. The supporting member is supported so as to advance and retreat in the opening while moving up and down. Then, the rollers 205 and 205 are moved up and down by the support member and moved back and forth to rub the back of the user, thereby mechanically massaging the back of the user.

  Further, on both sides of the opening of the backrest portion 204, back airbags r4 and r4 for air massaging the user's back and waist airbags r5 and r5 for air massaging the user's waist are vertically spaced. A pair of shoulder airbags r6 and r6 for air massaging the shoulders of the user are spaced a distance in the width direction of the backrest 204 slightly above the opening of the backrest 204. Installed.

  In such a massage machine, leg airbags r3, r3, r3, r3, thigh airbag r2, buttock airbag r1, back airbags r4, r4, waist airbag r5, The whole body is subjected to air massage by repeating the operation of inflating and deflating r5 and shoulder airbags r6 and r6 separately. On the other hand, apart from the air massage, the rollers 205 and 205 are moved up and down by the support member and moved back and forth to rub the user's back, thereby mechanically massaging the user's back. At this time, the contact force of the rollers 205, 205 to the user can be weakened by slightly inflating the airbags r1, r2,.

JP-A-9-122193 (FIG. 1)

  However, in the conventional massage machine, although it is possible to carry out by combining both mechanical massage and air massage, it cannot be said that the function is fully utilized.

  That is, in the above massage machine, although it is possible to carry out a combined massage combining mechanical massage and air massage, there is a specific proposal for automatic control to perform a more effective combined massage. It wasn't done.

  This invention is made | formed in view of such a situation, The place made into the objective is to provide the massage machine which can show | play a high massage effect with a mechanical massage part and an air massage part. is there.

(1) In the present invention, the backrest portion provided with the kneading balls for performing the mechanical massage, the seat portion provided with the airbag for performing the air massage, and the control for performing the control for performing the mechanical massage and the air massage. The control unit moves the kneading balls at the reference position in the initial state to a height position facing the lower back part including the user's buttocks, and after supplying air to the airbag , stop the air to maintain the airbag in the inflated state, to advance the massaging balls in a state of lifting the buttocks of a user, by the kneading balls has been advanced, the respect to the lower side of the buttocks lifted run the mechanical Ma Ssaji, this after completing the mechanical massage, along with retracting the massaging balls, massage machine is configured to perform control to exhaust from the airbag It was.

In this invention of Claim 2, the backrest part which provided the kneading ball which performs a mechanical massage, the seat part which provided the airbag which performs an air massage, and the control which implements the said mechanical massage and the said air massage are performed. And a control unit that moves the kneading balls at the reference position in the initial state to a height position that opposes the lower back portion including the user's buttocks, and lowers the back by the kneading balls. The mechanical massage of the head part and the air massage of the hip part by the airbag accompanied by the vertical movement of the hip part are alternately performed, and then, after the air is supplied to the airbag , the air supply is stopped and the airbag is in an inflated state. maintaining, to advance the massaging balls in a state of lifting the buttocks of a user, by the kneading balls has been advanced, lifted real the mechanical Ma Ssaji respect to the lower side of the buttocks And, this was terminated mechanical massage, along with retracting the massaging balls, was chair type massage machine is configured to perform control to exhaust from the airbag.

In the present invention , a mechanical massage with a kneading ball can be performed on the buttocks raised by the airbag, and the so-called hip-up effect can be given to the user .

It is a perspective view which shows one Example of the massage machine which concerns on this invention. It is explanatory drawing by the same side view. It is explanatory drawing which shows the raising / lowering operation | movement of a leg mounting part. It is a block diagram which shows the structure of an air supply / exhaust part. It is explanatory drawing by the perspective of a massage unit. It is explanatory drawing by the same front view. It is explanatory drawing by the same planar view. It is explanatory drawing by the side view which shows a striking mechanism. It is explanatory drawing by the side view which shows a kneading mechanism. It is explanatory drawing which shows the advancing / retreating movement of the kneading ball drive unit. It is explanatory drawing which shows the advance / retreat position of a kneading ball. It is a block diagram which shows the drive control system of a massage machine. It is a flowchart which shows the massage procedure by a massage machine. It is a flowchart which shows the massage procedure by a massage machine. It is explanatory drawing which shows the procedure of a body shape detection. It is a flowchart which shows the procedure which performs the composite massage with the mechanical massage by a massage unit, and the airbag arrange | positioned at the armrest part. It is a flowchart which shows the procedure which performs the composite massage of the mechanical massage by a massage unit, and the air massage by the airbag arrange | positioned in the backrest part. It is a flowchart which shows the procedure which performs the composite massage of the mechanical massage by a massage unit, and the air massage by the airbag arrange | positioned in the backrest part. It is a flowchart which shows the procedure which performs the composite massage of the mechanical massage by a massage unit, and the air massage by the airbag arrange | positioned in the backrest part. It is a flowchart which shows the procedure which performs the composite massage with the mechanical massage by a massage unit, and the airbag arrange | positioned at the legrest part. It is a flowchart which shows the procedure which performs the composite massage with the mechanical massage by a massage unit, and the airbag arrange | positioned in the armrest part and the legrest part. It is a flowchart which shows the procedure which performs the combined massage of the mechanical massage by a massage unit, and the air massage by the airbag arrange | positioned in the seat part. It is a flowchart which shows the procedure which performs the combined massage of the mechanical massage by a massage unit, and the air massage by the airbag arrange | positioned in the seat part. It is a flowchart which shows the procedure which performs the combined massage of the mechanical massage by a massage unit, and the air massage by the airbag arrange | positioned in the seat part. It is a flowchart which shows the procedure which performs the composite massage of the mechanical massage by the reclining of a backrest part, and the air massage by the airbag arrange | positioned at the leg mounting part. It is a flowchart which shows the procedure which performs the composite massage of the mechanical massage by the reclining of a backrest part, and the air massage by the airbag arrange | positioned at the armrest part. It is a flowchart which shows the procedure which performs the composite massage of the mechanical massage by the reclining of a backrest part, and the air massage by the waist airbag arrange | positioned in the backrest part. It is a flowchart which shows the procedure which performs the composite massage of the mechanical massage by the reclining of a backrest part, and the air massage by the airbag for hips arrange | positioned in the seat part. It is a flowchart which shows the procedure which performs the composite massage of the mechanical massage by rocking | fluctuation of a legrest part, and the air massage by the airbag for thighs arrange | positioned in the seat part. It is a perspective view which shows the conventional massage machine.

  The massage machine according to the present invention is provided with a massaging ball for performing mechanical massage and an airbag for performing air massage on a massage machine body formed in a chair shape, and combining the operation of the massaging ball and the operation of the airbag. This makes it possible to carry out effective massage.

  The kneading balls are provided on the back portion of the massage machine main body so as to be movable up and down, and can be massaged while wrinkling or striking the user's buttocks, waist, back, shoulder, neck and the like.

  Further, the airbag is appropriately provided on the back, seat, leg rest, arm rest, etc. of the massage machine body, and depending on the location where the airbag is provided, the leg, thigh, It is possible to massage by pressing the buttocks, waist, back, shoulder, neck, arm and the like.

  As massage performed by combining the kneading balls and the airbag, for example, the following seven types of patterns can be considered.

The first is a pattern for mechanically massaging the back portion by kneading balls while clamping the arm portion by the expansion of the air bag provided in Udeno unit.

  When performing the massage, the user pays attention to the position of the arm portion with respect to the armrest portion so that the arm portion is correctly sandwiched by the airbag, so that the arm portion is correctly placed with respect to the armrest portion. Accordingly, the user's body is firmly attached to the massage machine.

  And since the user's body is restricted from moving forward after the arms are actually pinched by the airbag, pressure from the kneading balls is applied to the user's back during massage. However, it is difficult for the user's body to move forward.

  Therefore, when the massage is performed, the user's back can be held in a predetermined state, and an appropriate massage can be applied to the back held in the predetermined state. High massage effect.

Second, while holding the arm part by inflation of the air bag provided on the armrest part, mechanical massage of the back part by the kneading balls and air massage of the back part by the air bag provided on the backrest part are alternated. This pattern is performed simultaneously or simultaneously.

When performing the above massage, as in the case of the first massage, the arm is sandwiched by the airbag provided on the arm rest, so that the user's body is firmly attached to the massage machine and the user's body Movement in the forward direction is restricted.

  Therefore, if the said massage is performed, while being able to hold | maintain a user's back part in a predetermined state, an appropriate massage can be given to the back part hold | maintained in the predetermined state, and it is high with respect to a user A massage effect can be given.

  In particular, when the kneading balls and the airbag are actuated alternately, massages with different strengths, massage areas and bodily sensations can be applied alternately, and the massage effect for the user can be improved. On the other hand, when the kneading balls and the airbag are operated at the same time, massages with different strengths, massage areas, and bodily sensations can be applied at the same time, thereby improving the massage effect for the user.

Third is a pattern for mechanically massaging the lumbar by balls kneading while sandwiching the legs by expansion of the air bag provided in the footrest portion.

When performing the massage, since the leg is sandwiched by the airbag provided on the leg rest, the user's body is firmly attached to the massage machine as in the first and second massages, The forward movement of the user's body is restricted.

  Therefore, if the said massage is performed, while a user's waist | hip | lumbar part can be hold | maintained to a predetermined state, an appropriate massage can be given with respect to the waist | hip | lumbar part hold | maintained in the predetermined state, it is high with respect to a user. A massage effect can be given.

Fourth, there is a pattern in which the back part is mechanically massaged by the kneading balls while the arm part and the leg part are sandwiched by the inflation of the airbag provided on the arm rest part and the airbag provided on the leg rest part. .

When performing the said massage, since an arm part and a leg part are pinched | interposed by the airbag provided in the arm mounting part and the leg mounting part, a user's body is a massage machine like the time of the said 1st-3rd massage. In addition, the movement of the user's body in the forward direction is restricted.

  Therefore, if the said massage is performed, while being able to hold | maintain a user's back part in a predetermined state, an appropriate massage can be given to the back part hold | maintained in the predetermined state, and it is high with respect to a user A massage effect can be given.

  In particular, since the user's limbs are held by the airbag, the user's body position with respect to the massage machine can be reliably held, and the degree of adhesion between the massage machine and the user can be further increased, and in place. A massage can be performed and the massage can be made more effective.

  The fifth pattern is a pattern in which mechanical massage of the lower back portion by the kneading balls and air massage of the buttocks accompanied by the vertical movement of the buttocks by the airbag provided on the seat portion are alternately or simultaneously performed. By performing such massage, when the kneading balls and the airbag are actuated alternately, massages with different strengths, massage areas and bodily sensations can be applied alternately, and the massage effect for the user can be improved. On the other hand, when the kneading balls and the airbag are operated at the same time, a mechanical massage with the kneading balls can be performed on the buttocks raised by the airbag, giving a so-called hip-up effect to the user. it can.

  Sixth, when the kneading balls are located in the upper part of the back including the shoulder and neck, massage of the buttocks accompanied by the vertical movement of the body due to the expansion and contraction of the airbag provided on the seat is performed. It is a pattern. By performing such a massage, a massage similar to so-called acupressure can be performed on the upper back portion of the user, and a high massage effect can be given to the user.

Seventh, while holding the legs by the expansion of the air bag provided on the leg rest, mechanical massage of the waist with the kneading balls and air massage of the hip with the vertical movement of the hip with the air bag provided on the seat Are alternately or simultaneously. By performing such massage, when the massaging balls and seat airbags are actuated alternately, massages with different strengths, massage areas and bodily sensations can be applied alternately, improving the massage effect for the user Can do. On the other hand, when the kneading balls and the seat airbag are actuated at the same time, a massage similar to so-called acupressure can be performed on the user's waist, and a high massage effect can be given to the user. .

In particular, when the seventh massage is performed, the leg is sandwiched by the airbag provided on the leg rest, so that the user's body is firmly attached to the massage machine as in the first to fourth massages. In addition to the close contact, movement of the user's body in the forward direction is restricted.

  Therefore, if the massage is performed, the user's lower back can be held in a predetermined state, and an appropriate massage can be applied to the lower back held in the predetermined state. Can be given.

  In this massage machine, in addition to the massage that combines the action of the kneading balls and the action of the airbag, the backrest part of the massage machine body can be reclined, and the reclining of the backrest part and the action of the airbag are combined. Effective massage can be performed.

  As the massage performed by combining the reclining of the backrest and the airbag, for example, the following four types of patterns can be considered.

The first is a pattern in which a mechanical massage with body stretching movement is performed by reclining the backrest part while sandwiching the leg part by inflation of an airbag provided on the legrest part. By performing such massage, a high stretch effect can be given to the user's back, waist and legs.

The second is a pattern in which a mechanical massage with body stretching movement is performed by reclining the backrest part while holding the arm part by inflation of an airbag provided on the armrest part. By performing such massage, a high stretch effect can be given to the user's arm.

  The third is a pattern in which a mechanical massage with body stretching movement is performed by reclining the backrest part while pressing the waist part by inflation of an airbag provided in the backrest part. By performing such a massage, a high stretch effect with the waist supported as a fulcrum can be given to the user.

  The fourth pattern is a pattern in which the backrest part is reclined to perform mechanical massage with body stretching while pressing the buttocks by the expansion of the airbag provided in the seat part. By performing such massage, it is possible to give the user a high stretch effect with the buttocks as a fulcrum.

  Hereinafter, the contents of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a perspective view showing an embodiment of a massage machine according to the present invention, in which 100 is a chair type massage machine body. Moreover, FIG. 2 is explanatory drawing by the side view of the massage machine A shown in FIG. The massage machine main body 100 includes a seat part 101 worn by the user M, a base part 102 that supports the seat part 101, a backrest part 104 that is connected to the rear side of the seat part 101 via a pivot 103 so as to be reclining, and A leg rest 106 connected to the front side of the seat 101 via a substantially L-shaped pivot connecting member 105 so as to be swingable in the vertical direction is provided, and armrests 107 107 are provided on both sides of the seat 101. Is standing.

  A support arm 108 is disposed in the base unit 102 described above, and a leg mounting actuator 109 that linearly operates is installed between the support arm 108 and the back surface of the leg mounting unit 106. As shown in FIG. 3, the leg resting portion 106 can be moved up and down by swinging around the pivot of the pivot connecting member 105 by the forward and backward movement of the leg resting actuator 109. A driving force is applied to the leg resting actuator 109 from a leg rest driving motor 110 described later, and the leg resting actuator 109 advances and retreats by the applied driving force. Further, a leg rest angle detection sensor 111 for detecting the swing angle of the leg rest 106 is disposed in the vicinity of the pivot connecting member 105.

  On the other hand, a backrest actuator 112 that linearly operates is also installed between the support arm 108 and a portion near the lower end of the backrest 104, and the backrest 104 is moved by the back and forth movement of the backrest actuator 112. It can be swung around the pivot 103 and reclined to an appropriate angle. A driving force is applied to the backrest portion actuator 112 from a reclining motor 113, which will be described later, and the backrest portion actuator 112 moves forward and backward by the applied driving force. In addition, a reclining angle detection sensor 114 that detects a swing angle (reclining angle) of the backrest 104 is disposed in the vicinity of the pivot 103.

  The leg rest 106 is provided with two semi-cylindrical leg supports 115 and 115 parallel to each other, and has a substantially frame shape when viewed from the front. The leg upper airbags a1, a1, a1, a1 and the leg lower airbags a2, a2, a2, a2 that are paired on the left and right sides are separated from each other in the axial direction of the central axis of the leg supports 115, 115, respectively. They are spaced apart. In addition, the seat portion 101 includes a laterally long buttocks airbag a3 and a thigh airbag a4 each having a length slightly shorter than the width of the seat 101, in this order from the back side of the seat 101. It is buried at a distance.

  On the other hand, on the armrests 107, 107 are mounted arm rests 117, 117 provided with semi-cylindrical arm supports 116, 116 with openings on the upper side, respectively. The arm airbags a5 and a5 are arranged following the arm supports 116 and 116, respectively. Furthermore, back airbags a6 and a6 and waist airbags a7 and a7, which are paired on the left and right, are located on the front side of the backrest 104 and in the vicinity of both side edges, respectively. It is buried at a position according to the position. The air bags a1, a2,... Are supplied and exhausted by the supply / exhaust part stored in the base part 102 according to the arrangement position.

  FIG. 4 is a block diagram showing a configuration of an air supply / exhaust section provided in the massage machine A shown in FIG. 1, in which 118 is an air pump for supplying air to the airbags a1, a2,. The air pump 118 is temporarily connected to the air press-fitted from the air pump 118, and is connected to a flow divider 119 for diverting the air to the airbags a1, a2,. The shunt 119 is provided with a plurality of air outlets corresponding to the airbags a1, a2,..., And each air outlet is provided with an electromagnetic valve B1, B2,. It is. Each of the air outlets of the flow divider 119 and the corresponding airbags a1, a2,. Then, by controlling the opening / closing operation of the electromagnetic valves B1, B2,... As will be described later, the required air bags a1, a2,. Thereby, an air massage is given to the user M.

  The airbags a1, a2,... Can be inflated and deflated by the opening / closing operation of the electromagnetic valves B1, B2,..., While the airbags a1, a2,. It has become.

  On the other hand, on the vertical axis passing through the center of the backrest portion 104, a massage unit 4 for performing mechanical massage by the built-in hitting mechanism 7 and the kneading mechanism 8 is embedded, and the massage unit 4 is disposed in both sides of the backrest portion 104. It is guided by guide rails 12 and 13 provided vertically in parallel with each other at a distance from the edge so as to move up and down.

  5-7 is explanatory drawing by the perspective view of the massage unit 4 shown in FIG.1 and FIG.2, front view, and planar view, Moreover, FIG. 8 shows the hitting mechanism 7 incorporated in the massage unit 4. FIG. FIG. 9 is a side view illustrating the kneading mechanism 8 built in the massage unit 4.

  As shown in FIGS. 5 to 7, the massage unit 4 has a lifting motor 23 as a lifting drive unit for lifting and lowering the massage unit 4 attached to the lower right side of the substantially rectangular box-shaped massage unit casing 22. At the same time, a drive gear 25 is attached to the drive shaft 24 of the elevating motor 23, a transmission gear 26 is engaged with the drive gear 25, and a drive worm 27 is fixed to the drive shaft of the transmission gear 26. .

  On the other hand, an elevating shaft 28 extending in the left-right width direction is rotatably attached to the lower part in the massage unit casing 22, and the gear portion formed on the right outer surface of the elevating shaft 28 and the drive worm 27 are connected to each other. The left and right ends of the elevating shaft 28 protrude outward from the massage unit casing 22, and the pinion gears 30, 31 are attached to the protruding left and right ends, and both the pinion gears 30, 31 are attached to the backrest 104. The racks 10 and 11 are attached to the rack. The lift shaft 28 is provided with a rotary encoder 91 as a lift drive amount detection means for detecting the amount (angle) by which the lift shaft 28 is driven (rotated) by the lift motor 23. In the figure, reference numeral 32 denotes a motor casing that houses a lifting motor 23 attached to the lower right portion of the massage unit casing 22. The lifting motor 23 and the rotary encoder 91 are connected to the control unit 16 disposed below the backrest 104 as shown in FIG.

  In addition, the massage unit 4 rotatably attaches a pair of left and right guide shafts 33 and 34 to the upper left and right sides of the massage unit casing 22, and the end portions of the guide shafts 33 and 34 protrude outward from the massage unit casing 22. The guide rollers 35 and 36 are rotatably attached to the end portions of the projecting guide shafts 33 and 34, respectively, and the guide rollers 35 and 36 are attached to the backrest portion 104 and have a U-shaped cross section. 12 and 13 are slidably fitted inside.

  In this massage unit 4, a massaging ball drive unit 9 having massaging balls 5 and 6 that abut on the body of the user M via the surface portion of the backrest portion 104 and perform massage is swingable in the front-rear direction. It is arranged.

  That is, the massage unit 4 has a kneading ball drive unit casing 37 constituting the kneading ball drive unit 9 at the center of the elevating shaft 28 disposed in a state where the massage unit 4 is extended in the left-right width direction at the lower part of the massage unit casing 22. However, it is attached so as to be swingable in the front-rear direction. By such swinging in the front-rear direction, the kneading ball drive unit 9 and eventually the kneading balls 5, 6 advance and retreat in the front-rear direction.

  The advancing / retreating mechanism for swinging the kneading ball drive unit 9 back and forth and moving it back and forth is used as an advancing / retreating drive unit for moving the kneading ball drive unit 9 forward / backward in the upper left part of the massage unit casing 22. A motor 38 is attached, a drive gear 40 is attached to a drive shaft 39 of the forward / backward motor 38, a transmission gear 41 is engaged with the drive gear 40, and a drive worm 42 is fixed to the drive shaft of the transmission gear 41. It is.

  Further, an advance / retreat shaft 43 extending in the left-right width direction is rotatably attached to the upper portion of the massage unit casing 22, and a gear portion (not shown) formed on the left outer surface of the advance / retreat shaft 43 and the aforementioned A pair of left and right pinion gears 44 and 45 are engaged with the drive worm 42, and a pair of left and right pinion gears 44 and 45 are attached to the middle part of the advancing and retreating shaft 43. The arcuate racks 46 and 47 are attached, and the racks 46 and 47 are engaged with the pinion gears 44 and 45, respectively. The advance / retreat shaft 43 is provided with a rotary encoder 92 as an advance / retreat drive amount detection means for detecting the amount (angle) by which the advance / retreat shaft 43 is driven (rotated) by the advance / retreat motor 38. In the figure, reference numeral 48 denotes a motor casing for housing the advance / retreat motor 38 attached to the upper left portion of the massage unit casing 22, and 49 denotes a bearing for rotatably supporting the advance / retreat shaft 43. The advance / retreat motor 38 and the rotary encoder 92 are connected to the control unit 16 as shown in FIG.

  Further, the kneading ball drive unit 9 described above has a pair of left and right rack support pieces 50 and 51 formed on the upper portion of the box-shaped kneading ball drive unit casing 37 so as to face outward. Arc-shaped racks 46 and 47 are attached to the end edges, respectively, and a substantially U-shaped lifting shaft support piece 52 is formed in the front lower portion of the kneading ball drive unit casing 37, and left and right sides of the lifting shaft support piece 52. Bearings 53 and 54 are respectively attached to the portions, and the elevating shaft 28 is rotatably inserted into the bearings 53 and 54.

  Further, the kneading ball drive unit 9 includes a hitting mechanism 7 and a kneading mechanism 8 disposed inside the kneading ball driving unit casing 37.

  As shown in FIGS. 5 to 8, the hitting mechanism 7 is a hitting drive unit for hitting the kneading balls 5 and 6 to the kneading ball drive unit 9 at the lower left portion of the kneading ball drive unit casing 37. The motor 57 is mounted with the drive shaft 58 protruding upward, and the drive worm 59 for tapping is linked to the drive shaft 58 while being connected to the upper portion of the kneading ball drive unit casing 37 in the lateral width direction. An extended tapping rotary shaft 60 is rotatably attached.

  Then, a tapping driven worm wheel 61 is fixed to the left side of the tapping rotary shaft 60, the tapping driven worm wheel 61 is engaged with the tapping drive worm 59, and the right and left sides of the tapping rotary shaft 60 are left and right. The tapping eccentric shafts 62 and 63 are connected to the ends, and the tapping eccentric shafts 62 and 63 are arranged in an up and down direction from the axis of the tapping rotational shaft 60, respectively. The kneading ball mechanisms 64 and 65 are linked to each other. A rotary encoder 93 as a hitting drive amount detecting means for detecting the amount (angle) of the hitting rotary shaft 60 driven (rotated) by the hitting motor 57. Is arranged. In the figure, reference numeral 66 denotes a bearing for rotatably supporting the drive shaft 58 of the tapping motor 57. The tapping motor 57 and the rotary encoder 93 are connected to the control unit 16 disposed below the backrest 104, as shown in FIG.

  On the other hand, as shown in FIG. 5 to FIG. 7 and FIG. 9, the stagnation mechanism 8 is a stagnation for causing the stagnation ball drive unit 9 to squeeze the scum balls 5 and 6 at the lower right side of the stagnation ball drive unit casing 37. A kneading motor 67 as a driving unit is mounted with the drive shaft 68 projecting upward, and a cylindrical kneading drive worm 69 is fitted on the drive shaft 68, while a tapping rotation shaft is provided. The squeezing driven worm wheel 70 is freely fitted to the right side of the squeeze 60 to engage the squeezing driven worm wheel 70 with the stagnation driving worm wheel 69, and the stagnation driven worm wheel 70 stagnation drive pulley 71. And, further, a squeezing rotation shaft 72 extending in the left-right width direction is rotatably attached to the lower portion of the stagnation ball drive unit casing 37, and is attached to the right side of the stagnation rotation shaft 72. Mounting only follower pulley 73, it is constituted by suspending the transmission belt 74 between the drive pulley 71 for massaging the a driven pulley 73 for the kneading.

  Further, the kneading ball mechanisms 64 and 65 are linked to the left and right ends of the kneading rotation shaft 72, respectively. The stagnation rotation shaft 72 is provided with a rotary encoder 94 as an elevating drive amount detecting means for detecting the amount (angle) by which the stagnation rotation shaft 72 is driven (rotated) by the stagnation motor 67. It is set up. In the figure, reference numeral 75 denotes a bearing for rotatably supporting the drive shaft 68 of the kneading motor 67. Note that the kneading motor 67 and the rotary encoder 94 are connected to the control unit 16 disposed below the backrest 104, as shown in FIG.

  Further, as shown in FIGS. 5 to 9, the kneading ball mechanisms 64 and 65 include a pair of left and right kneading ball arm supports 76 and 77 at the left and right ends of the kneading rotation shaft 72, and the kneading ball arm supports. The upper ends of 76 and 77 are inclined to the outside, and the tip portions of the interlocking arms 78 and 79 are interlocked to the rear portions of the kneading ball arm supports 76 and 77, respectively. The base end is attached to the tapping eccentric shafts 62 and 63, and the base end of the kneading ball support arms 80 and 81 is attached to the front upper portions of the kneading ball arm supports 76 and 77, and the kneading ball support arms 80 and 81 are attached. The kneading balls 5 and 6 are rotatably attached to the front end portion of the lens. The distal ends of the interlocking arms 78 and 79 and the kneading ball arm supports 76 and 77 are connected by a free joint structure.

  When the advance / retreat motor 38 is driven, the advance / retreat shaft 43 rotates via the drive gear 40, the transmission gear 41, and the drive worm 42, and the pinion gears 44, 45 rotate along with the racks 46, 47. As a result, the kneading ball drive unit casing 37 swings in the front-rear direction around the elevating shaft 28, and the kneading balls 5, 6 move back and forth in the front-rear direction (see FIG. 10).

  In the present embodiment, as shown in FIG. 11, the kneading ball drive unit 9 is advanced and retracted to store the kneading balls 5, 6 inside the backrest 104 (in FIG. 11, the kneading balls 5, 6 Is positioned on the line indicated by reference numeral L1), a rubbing position where extremely weak massage is performed (in FIG. 11, the ends of the kneading balls 5 and 6 are positioned on the line indicated by reference numeral L2), and weak which performs weak massage 11 (in FIG. 11, the tips of the kneading balls 5 and 6 are located on the line indicated by the symbol L3), and the middle position for performing moderate massage (in FIG. 11, the tips of the kneading balls 5 and 6 are indicated by the symbol L4) 11), a strong position where strong massage is performed (in FIG. 11, the tips of kneading balls 5 and 6 are positioned on the line indicated by L5), and a deep position where extremely strong massage is performed (in FIG. The tip of the ball 5 and 6 are to be able to advance and retreat in six levels located on the line.) Indicated at L6.

  The massage machine A according to the present embodiment has such a configuration, and the driving amount (rotations of the shafts 28, 43, 60, 72 detected by the rotary encoders 91, 92, 93, 94 as driving amount detection means. The control unit 16 (described later) controls the motors 23, 38, 57, and 67 as drive units based on the movement angle) to operate as follows.

  That is, when the elevating motor 23 is driven, the elevating shaft 28 rotates, and accordingly, the pinion gears 30 and 31 travel along the racks 10 and 11, and the massage unit 4 moves up and down along the backrest 104. At this time, the control unit 16 detects the lift amount of the massage unit 4 based on the rotation angle of the lift shaft 28 provided from the rotary encoder 91 as the lift drive amount detecting means. This operation enables a rolling massage.

  Further, when the advance / retreat motor 38 is driven, the pinion gears 44, 45 are rotated via the drive gear 40, the drive worm 42, and the advance / retreat shaft 43, and the racks 46, 47 attached to the kneading ball drive unit casing 37 accordingly. The kneading ball drive unit casing 37 moves back and forth in the front-rear direction, and the kneading balls 5 and 6 move back and forth in the front-rear direction (see FIG. 11). At this time, the control unit 16 detects the advance / retreat amount of the kneading ball drive unit 9 (the kneading balls 5, 6) based on the turning angle of the advance / retreat shaft 43 provided from the rotary encoder 92 as the advance / retreat drive amount detecting means. is doing. This operation enables acupressure massage.

  Further, when the tapping motor 57 as the tapping drive unit is driven, the tapping rotation shaft 60 is rotated via the tapping drive worm 59 and the tapping driven worm wheel 61, and accordingly, the tapping eccentric shaft 62 is rotated. , 63 are alternately rotated up and down, whereby the interlocking arms 78, 79 function as a crank, the kneading ball arm supports 76, 77 swing back and forth, and the kneading balls 5, 6 alternately turn back and forth. Oscillate and strike. At this time, the control unit 16 detects the swinging amount of the kneading balls 5 and 6 based on the rotation angle of the rotation shaft 60 for hitting given from the rotary encoder 93 as hitting drive amount detecting means. This operation enables tapping massage.

  Further, when the stagnation motor 67 as the stagnation drive unit is driven, the stagnation rotation is performed via the stagnation drive worm 69, the stagnation driven worm wheel 70, the stagnation drive pulley 71, the transmission belt 74, and the stagnation driven pulley 73. The moving shaft 72 rotates, and accordingly, the kneading ball arm supports 76 and 77 rotate, and the kneading balls 5 and 6 rotate eccentrically in the front-rear direction to perform the kneading operation. At this time, the control unit 16 detects the eccentric rotation amount of the kneading balls 5 and 6 based on the rotation angle of the kneading rotation shaft 72 given from the rotary encoder 94 as the kneading drive amount detection means. . This operation enables massaging massage.

  Further, the massage machine A according to the present embodiment is configured such that the swing angle of the leg rest portion 106 detected by the leg rest portion angle detection sensor 111 and the swing angle of the backrest portion 104 detected by the reclining angle detection sensor 114 (reclining angle). ), The control unit 16 which will be described later operates as follows by driving and controlling the motors 110 and 113 as drive units.

  That is, when the leg mounting portion driving motor 110 is driven, the leg mounting portion actuator 109 moves forward and backward, and the leg mounting portion 106 swings around the pivot of the pivot connection member 105. At this time, the control unit 16 detects the amount of elevation of the leg rest 106 based on the swing angle of the leg rest 106 provided from the leg rest angle detection sensor 111. This operation enables stretch massage.

  Further, when the reclining motor 113 is driven, the backrest portion actuator 112 moves back and forth, and the backrest portion 104 swings (reclines) around the pivot 103. At this time, the control unit 16 detects the amount of elevation of the backrest 104 based on the swing angle (reclining angle) of the backrest 104 provided from the reclining angle detection sensor 114. This operation enables stretch massage.

  FIG. 12 is a block diagram showing a drive control system of the massage machine A according to the present invention. In the control unit 16, as described above, the rotation angle of the lift shaft 28 from the rotary encoder 91 as the drive amount detecting means for raising / lowering is the rotation angle of the rotary shaft 92 from the rotary encoder 92 as the drive amount detecting means for advance / retreat. However, the rotation angle of the tapping rotation shaft 60 from the rotary encoder 93 serving as the tapping drive amount detection means, and the rotation angle of the kneading rotation shaft 72 from the rotary encoder 94 serving as the kneading drive amount detection means, respectively. Based on each given rotation angle, the control unit 16 is provided with an elevating motor 23 as an elevating drive unit, an advancing / retreating motor 38 as an advancing / retreating drive unit, and a tapping drive unit as a tapping drive unit. The mechanical massage is performed by controlling the rotational drive of the motor 57 and the motor 67 for massaging, which is a massaging drive unit.

  Further, as described above, the swing angle of the leg rest portion 106 from the leg rest portion angle detection sensor 111 and the swing angle (reclining angle) of the backrest portion 104 from the reclining angle detection sensor 114 are given to the control unit 16, respectively. The control unit 16 controls the rotational driving of the legrest driving motor 110 and the reclining motor 113 based on the given angle to perform mechanical massage.

  Further, the control unit 16 controls the on / off operation of the air pump 118 shown in FIG. 4 and also supplies electromagnetic valves B1 to B1 for supplying and exhausting air to the airbags a1, a2,... (See FIG. 4). The opening / closing operation of B14 is controlled, and required air bags a1, a2,.

  On the other hand, the selected type of massage execution command is given to the control unit 16 from an operation unit 17 such as a remote controller having a massage selection function. In the operation unit 17, in addition to the massage for performing the mechanical massage and the air massage separately, a combined massage of the mechanical massage and the air massage can be selected. 17, when a command to perform massage is given, based on the given command, the rotational drive operation of each of the motors 23, 38, 57, 67, 110, 113 and the opening / closing of the solenoid valves B <b> 1 to B <b> 14 Control the movement and massage as follows.

  FIG.13 and FIG.14 is a flowchart which shows the massage procedure by the massage machine A which concerns on this invention. The control unit 16 waits until it is determined that a massage execution command is given from the operation unit 17 (step S1). When it is determined that the execution command is given, the body unit of the user M is detected as follows. Perform (step S2).

  FIG. 15 is an explanatory diagram showing a procedure for body shape detection. In FIG. 15, the massage unit 4 is omitted for easy understanding, and only the massaging balls 5 and 6 are displayed. In this embodiment, the body shape detecting means includes a load current detecting means for detecting a load current during massage, a coordinate detecting means for detecting the vertical position coordinates of the kneading balls 5 and 6, and data from the coordinate detecting means. And a storage means for storing.

As shown in FIG. 15, the control unit 16 drives the elevating motor 23 to lower the massage unit 4 to the lowermost position (f1), and the advance / retreat motor 38 is driven to move the kneading ball drive unit 9 to the last. It moves backward to the direction position (f2).

  Then, the advancing / retreating motor 38 is driven at that position, and the kneading ball driving unit 9 is gradually moved toward the front (toward the back of the user M, which is a treatment portion) (f3), and the control unit 16 When the load current detecting means detects that a predetermined load (for example, a load current) is applied to the advance / retreat motor 38, the advance / retreat motor 38 is stopped and its position is stored by the storage means built in the control unit 16. (Specifically, the detection output of the rotary encoder 92 as the advance / retreat driving amount detection means is converted into coordinates by the coordinate detection means via the control unit 16 and stored in the storage means.) The advance / retreat motor 38 is driven to move the kneading ball drive unit 9 backward to the rearmost position (f4). These operations (f3) and (f4) are defined as one unit body shape detection step. The position where the advance / retreat motor 38 is stopped is stored as the amount of advance operation of the kneading ball drive unit 9 when the advance / retreat motor 38 is operated when the kneading ball drive unit 9 is moved from the rearmost position to the stop position. You may make it memorize | store.

  Next, the lifting / lowering motor 23 is driven to raise the massage unit 4 by a predetermined distance based on the detection of the rotary encoder 91 as the lifting / lowering driving amount detection means (f5). 38 is driven to gradually move the kneading ball drive unit 9 forward (f6). The up / down movement distance may be controlled by a control method in which the up / down motor 23 is driven for a predetermined time (for example, 1 second).

  By repeating these operations up to the shoulder position of the user M (f7), the body shape of the user M such as the height and width of the shoulder portion of the user M, the shape of the back portion, and the like is detected. In addition, after completion | finish of a detection, the massage unit 4 returns to an initial state (f2 position in FIG. 15).

  When the body shape detection is thus completed, the control unit 16 determines whether or not the given massage execution instruction is a combined massage execution instruction of mechanical massage and air massage (step S3). If it is not the execution command, it is another massage execution command, so that the rotational drive operation of each motor 23, 38, 57, 67, 110, 113 is controlled based on the detected body shape, or each electromagnetic valve B1-B14. The opening / closing operation is controlled to perform a corresponding massage (step S4).

  On the other hand, if it is determined in step S3 that the command is a combined massage execution command, the control unit 16 moves to step S5, and performs the mechanical massage by the massage unit 4 and the airbag a5 (for the arm portion) disposed on the arm rest portion 117. It is determined whether or not the command is for executing a combined massage with the airbag a5). If the command is the command, the combined massage is executed as follows.

  FIG. 16 is a flowchart showing a procedure for executing a combined massage of the mechanical massage by the massage unit 4 and the airbag a5 (arm airbag a5) disposed on the arm rest portion 117. Based on the body shape of the user M detected as described above, the control unit 16 moves the massage unit 4 at the reference position in the initial state to a position facing the back of the user M (step S31). Air supply to the airbags a5 and a5 disposed on the armrest portion 117 is started, and it is determined whether or not a predetermined time has elapsed since the start of air supply (steps S32 and S33). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, and then stops air supply to maintain both airbags a5 and a5 in an inflated state (step S34). Accordingly, both arms of the user M are held in a predetermined state, and the back of the user M is also held in a predetermined state through this.

  The control unit 16 advances the kneading ball driving unit 9 to an appropriate position (step S35), and causes the kneading ball driving unit 9 to execute mechanical massage by the kneading balls 5, 6 until the end timing (steps S36, S37). . Thereby, an appropriate massage can be applied to the user M with the back held in a predetermined state, and a high massage effect can be provided.

  When the control unit 16 determines in step S37 that it is the end timing, the kneading ball drive unit 9 is retracted and exhausted from the airbags a5 and a5 of the armrest portion 117 (steps S38 and S39), followed by massage. The unit 4 is moved to the initial reference position (step S40).

  On the other hand, if the control unit 16 determines in step S5 that it is not a command to execute a combined massage between the mechanical massage by the massage unit 4 and the airbag a5 disposed on the arm rest portion 117, the control unit 16 performs the mechanical operation by the massage unit 4. Combined massage and massage with airbags a5, a6, and a7 (arm airbag a5, back airbag a6, and lumbar airbag a7) disposed on backrest 104 and arm rest 117 It is determined whether or not it is a command (step S7), and when it is determined that this is the case, the combined massage is executed in the following procedure.

  17 to 19 show mechanical massage by the massage unit 4 and the airbags a5, a6, a7 (arm airbag a5, back airbag a6, and lumbar region disposed on the backrest 104 and the armrest 117. It is a flowchart which shows the procedure which performs the composite massage with the air massage by the air bag a7). The control unit 16 moves the massage unit 4 to a height position facing the back of the user M (step S61), and starts supplying air to the airbags a5 and a5 disposed on the armrest portion 117. Then, it is determined whether or not a predetermined time has elapsed from the start of air supply (steps S62 and S63). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, then stops air supply and maintains the airbags a5 and a5 in an inflated state (step S64). Accordingly, both arms of the user M are held in a predetermined state, and the back of the user M is also held in a predetermined state through this.

  The control unit 16 advances the kneading ball drive unit 9 to an appropriate position (step S65), and causes the kneading ball driving unit 9 to perform mechanical massage such as hitting and / or kneading with the kneading balls 5 and 6 (step). S66). The mechanical massage by the kneading ball drive unit 9 performs a predetermined operation, but can be specified / changed by the user M via the operation unit 17.

  The control unit 16 determines whether or not it is time to end the predetermined mechanical massage by the kneading ball drive unit 9 (step S67), and repeats the operations of step S66 and step S67 until it is determined that it is the time. If it is determined that it is the end timing, after the kneading ball drive unit 9 is retracted to the original position (step S68), air massage for repeatedly inflating and contracting the back airbags a6, a6 is started ( Step S69).

  The control unit 16 determines whether or not it is time to end the air massage (step S70), and repeats the operations of step S69 and step S70 until it is determined that it is the timing, and determines that it is the end timing. In this case, the back airbags a6 and a6 are all exhausted (step S71), and the air massage is terminated. The control unit 16 determines whether or not the mechanical massage and air massage described above have been executed a predetermined number of times (step S72), and by repeating the operations from step S65 to step S72 until it is determined that it is, Apply alternate composite massage on the back.

  Thereby, while being able to hold | maintain the back part of the user M in a predetermined state, an appropriate massage can be given to the back part hold | maintained in the predetermined state, and the high massage effect is given with respect to the user M be able to. In particular, a relatively strong massage by a mechanical massage and a relatively soft massage by an air massage can be alternately applied to the back of the user M, and an excessive load is applied to the back muscles and the like. The back can be massaged fully. Moreover, since the operation | movement which massages a relatively narrow area | region strongly and the operation | movement which massages a relatively wide planar area | region softly are repeated, the relaxation effect with respect to the user M is high. Thereby, the tension of the muscle is further relaxed, and the massage effect for the user M is also improved.

  When the alternate combined massage on the back portion is completed in this way, the control unit 16 moves the massage unit 4 to a height position facing the waist (step S73), and then moves the kneading ball drive unit 9 to an appropriate position. The kneading ball drive unit 9 is moved forward (step S74), and mechanical massage such as hitting and / or kneading with the kneading balls 5 and 6 is executed (step S75). Then, the control unit 16 determines whether or not it is time to end the predetermined mechanical massage by the kneading ball drive unit 9 (step S76), and the operation of step S75 and step S76 until it is determined that it is the time. If it is determined that it is the end timing, the kneading ball drive unit 9 is moved back to the original position (step S77).

  Next, the control unit 16 determines whether or not it is time to end the air massage after starting the air massage for inflating and deflating the lower back airbags a7 and a7 (step S78). The operations in steps S78 and S79 are repeated until it is determined that the timing is reached. When the control unit 16 determines that it is the end timing, the control unit 16 exhausts all the waist airbags a7 and a7 (step S80), and ends the air massage. The control unit 16 determines whether or not the above-described mechanical massage and air massage have been performed a predetermined number of times (step S81), and by repeating the operations from step S74 to step S81 until it is determined to be so, Alternate compound massage is applied to the lower back. Thereby, it is possible to give an appropriate massage to the waist while keeping the back in a predetermined state for the user M, and the high massage effect is obtained as in the case of performing the processing of Step S61 to Step S72. It can play against the waist of the user M.

  Next, the control unit 16 moves the massage unit 4 to a height position facing the back (step S82), and then advances the kneading ball drive unit 9 to an appropriate position (step S83). 9 is executed to perform mechanical massage such as hitting and / or rubbing with the kneading balls 5 and 6, and in parallel with this, air massage for repeatedly inflating and contracting the lumbar airbags a7 and a7 is executed ( Steps S84 and S85).

  As a result, a relatively strong mechanical massage is applied to the back of the user M with the back held in a predetermined state, and a relatively soft planar air massage is applied to the waist of the user M. Can be applied. Accordingly, a wide range of the back and waist of the user M can be massaged simultaneously, and the massage effect is high. Further, different massages can be simultaneously given to the user M in different parts of the user M, which also improves the massage effect.

  The control unit 16 determines whether or not it is time to finish such a simultaneous massage of mechanical massage and air massage (step S86), and from step S84 to step S86 until it is determined that it is the time. When it is determined that the end timing is reached, the massaging ball drive unit 9 is retracted to the original position and the lumbar airbags a7 and a7 are exhausted (steps S87 and S88).

  Next, the control unit 16 moves the massage unit 4 to a height position facing the waist (step S89), and then advances the kneading ball drive unit 9 to an appropriate position (step S90). Then, mechanical massage such as hitting and / or rubbing with the kneading balls 5 and 6 is executed, and in parallel with this, air massage for repeatedly inflating and contracting the back airbags a6 and a6 is executed ( Steps S91 and S92). As a result, the user M can be appropriately massaged on the back and waist while the back is held in a predetermined state, and is used in the same manner as when the processes of steps S82 to S86 are performed. A high massage effect can be given to the person M.

  The control unit 16 determines whether or not it is time to end the simultaneous complex massage (step S93), and repeats the operations from step S91 to step S93 until it is determined that it is the end timing. If it is determined, the massaging ball drive unit 9 is retracted to the original position and the airbags a5 and a5 disposed on the back airbags a6 and a6 and the arm rest 117 are exhausted (steps S94 and S95). .

  Then, the control unit 16 returns the massage unit 4 to the initial reference position (step S96), and mechanical massage by the massage unit 4 and the airbags a5, a6, a7 disposed on the backrest portion 104 and the armrest portion 117 are performed. Finish the combined massage with air massage. In addition, the order which implements each such composite massage is not restricted to the order mentioned above, It can implement in an appropriate order. In addition, it is not necessary to perform all of the four types of composite massage described above, and it is possible to select and implement appropriately.

  On the other hand, when the control unit 16 determines in step S7 that the massage is not a combined massage of the mechanical massage by the massage unit 4 and the air massage by the airbags a5, a6, and a7 disposed on the backrest portion 104 and the armrest portion 117. Whether or not it is a command to execute a combined massage with the mechanical massage by the massage unit 4 and the airbags a1 and a2 (the upper leg airbag a1 and the lower leg airbag a2) disposed on the legrest 106. (Step S9), and if it is the command, the combined massage is executed as follows.

  FIG. 20 shows a procedure for performing a combined massage with the mechanical massage by the massage unit 4 and the airbags a1 and a2 (the upper leg airbag a1 and the lower leg airbag a2) disposed on the leg resting portion 106. It is a flowchart. The control unit 16 moves the massage unit 4 to a position facing the waist of the user M (step S101) and applies to at least one of the upper and lower airbags a1, a1, a2, a2 disposed on the leg rest portion 106. Air supply is started, and it is determined whether or not a predetermined time has elapsed from the start of air supply (steps S102 and S103). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, and then stops air supply and maintains the airbags a1, a1, a2, and a2 in an inflated state (step S104). Accordingly, both legs of the user M are held in a predetermined state, and the waist of the user M is also held in a predetermined state.

  Next, the control unit 16 advances the kneading ball driving unit 9 to an appropriate position (step S105), and causes the kneading ball driving unit 9 to perform mechanical massage with the kneading balls 5, 6 until the end timing (step S106). , S107). Thereby, an appropriate massage can be performed on the waist while the waist is held in a predetermined state, and a high massage effect can be given to the user M.

  When the control unit 16 determines in step S107 that it is the end timing, the control unit 16 retracts the kneading ball drive unit 9 and exhausts it from the airbags a1, a1, a2, a2 of the legrest 106 (steps S108, S109). Thereafter, the massage unit 4 is moved to the initial reference position (step S110).

  On the other hand, if the control unit 16 determines in step S9 that the command is not a command to perform a combined massage between the mechanical massage by the massage unit 4 and the airbags a1 and a2 disposed on the leg rest portion 106, the control unit 16 Combined massage with mechanical massage and airbags a1, a2 and a5 (an upper leg airbag a1, a lower leg airbag a2 and an arm airbag a5) disposed on the armrest 117 and the legrest 106. It is judged whether it is a command to execute (step S11), and if it is the command, the combined massage is executed as follows.

  FIG. 21 shows mechanical massage by the massage unit 4 and airbags a1, a2 and a5 (an upper leg airbag a1 and a lower leg airbag a2 and an arm part) disposed on the armrest 117 and the legrest 106. It is a flowchart which shows the procedure which performs the composite massage with the airbag a5). The control unit 16 moves the massage unit 4 to a position facing the back of the user M (step S111), and is disposed on the airbags a5 and a5 and the legrest 106 that are disposed on the arm rest 117. Air supply to the airbags a1, a1, a2, and a2 is started, and it is determined whether or not a predetermined time has elapsed from the start of air supply (steps S112 and S113). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, then stops air supply and maintains the airbags a5 and a5 in an inflated state (step S114). Accordingly, both the arms and both legs of the user M are held in a predetermined state, and the back of the user M is also held in a predetermined state through this. In particular, since the limbs of the user M are held in a predetermined state with respect to the massage machine A, the body position of the user M with respect to the massage machine A can be reliably held, and the massage machine A and the user M The degree of adhesion can be increased.

  The control unit 16 advances the kneading ball driving unit 9 to an appropriate position (step S115), and causes the kneading ball driving unit 9 to perform mechanical massage with the kneading balls 5, 6 until the end timing (steps S116, S117). . Thereby, an appropriate massage can be applied to the user M with the back held in a predetermined state, and a high massage effect can be provided. In particular, since the massage is performed with the limbs of the user M held by the massage machine A, the body position of the user M with respect to the massage machine A can be reliably held as described above, and the massage machine A can be used. The degree of close contact with the person M can be increased, and an effective massage can be performed in place.

  If the control unit 16 determines in step S117 that it is the end timing, the control unit 16 moves the kneading ball drive unit 9 backward, and the airbags a5, a5 of the armrest portion 117 and the airbags a1, a1, a2 of the legrest portion 106. , A2 are exhausted (steps S118 and S119), and then the massage unit 4 is moved to the initial reference position (step S120).

  On the other hand, the control unit 16 determines in step S11 that the command is not a command for performing a combined massage with the mechanical massage by the massage unit 4 and the airbags a1, a2, and a5 disposed on the armrest portion 117 and the legrest portion 106. In this case, it is determined whether or not the command is to execute a combined massage with a mechanical massage by the massage unit 4 and an air massage by the airbag a3 (an airbag a3 for the buttocks) disposed on the seat 101 (step S13). ) If it is determined to be so, the combined massage is executed in the following procedure.

  22-24 is a flowchart which shows the procedure which performs the combined massage of the mechanical massage by the massage unit 4, and the air massage by the airbag a3 (airbag a3 for buttocks) arrange | positioned in the seat part 101. FIG. Based on the body shape of the user M detected as described above, the control unit 16 moves the massage unit 4 at the reference position in the initial state to a height position facing the lower back portion including the user's M buttocks. After (step S131), the kneading ball driving unit 9 is advanced to an appropriate position (step S132), and the kneading ball driving unit 9 is caused to perform mechanical massage such as hitting and / or kneading with the kneading balls 5 and 6. (Step S133). The mechanical massage by the kneading ball drive unit 9 performs a predetermined operation, but can be specified / changed by the user M via the operation unit 17.

  The control unit 16 determines whether or not it is time to end the predetermined mechanical massage by the kneading ball drive unit 9 (step S134), and repeats the operations of step S133 and step S134 until it is determined that it is the time. If it is determined that it is the end timing, after the kneading ball drive unit 9 is retracted to the original position (step S135), air massage for repeatedly inflating and deflating the buttocks airbag a3 is started (step S136). .

  The control unit 16 determines whether it is time to end the air massage (step S137), and repeats the operations of step S136 and step S137 until it is determined that it is the timing, and determines that it is the end timing. In this case, all the buttocks airbag a3 is exhausted (step S138), and the air massage is terminated. The control unit 16 determines whether or not the above-described mechanical massage and air massage have been executed a predetermined number of times (step S139), and by repeating the operations from step S132 to step S139 until it is determined to be so, Give alternate massage to the buttocks.

  Thereby, relatively strong massage by mechanical massage and relatively soft massage by air massage can be alternately applied to the buttocks of the user M, and the buttocks can be massaged sufficiently. . Moreover, since the operation | movement which massages the comparatively narrow area | region of a buttocks strongly from back and the operation | movement which softly massages the comparatively wide planar area | region of a buttocks from the downward direction are repeated, the relaxation effect with respect to the user M is high. Thereby, the tension of the muscle is further relaxed, and the massage effect for the user M is also improved.

  When the alternate combined massage on the back is completed in this way, the control unit 16 starts supplying air to the buttocks airbag a3 and determines whether or not a predetermined time has elapsed since the start of supplying air (step S140). , S141). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, and then stops air supply to maintain the buttocks airbag a3 in an inflated state (step S142). Thereby, the buttocks of the user M are maintained at a slightly higher position.

  Next, the control unit 16 advances the kneading ball driving unit 9 to an appropriate position (step S143), and causes the kneading ball driving unit 9 to execute mechanical massage such as kneading up by the kneading balls 5, 6 until the end timing. (Steps S144 and S145). Thereby, the mechanical massage by the kneading balls 5 and 6 can be applied to the same heel portion in a state where the heel portion of the user M is lifted, and the mechanical massage can also be applied to the lower side of the heel portion. Therefore, a so-called hip-up effect can be given to the user M.

  When the control unit 16 determines that it is the end timing in step S145, the control unit 16 retracts the massaging ball drive unit 9 and exhausts it from the buttocks airbag a3 (steps S146 and S147). Move to the reference position (step S148).

  Next, the control unit 16 moves the massage unit 4 to a position facing the upper back portion including the shoulder and neck of the user M (step S149) and advances the kneading ball drive unit 9 to an appropriate position. (Step S150), the massaging ball drive unit 9 is used to perform mechanical massage with the massaging balls 5 and 6 until the end timing (Steps S151 and S152).

  Moreover, the control unit 16 repeats air supply and exhaust to the buttocks airbag a3 while performing mechanical massage with the kneading balls 5 and 6 (steps S153 and S154), and the buttocks airbag a3 Is repeatedly expanded and contracted. As a result, it is possible to perform a mechanical massage with the kneading balls 5 and 6 while displacing the position of the shoulder and neck of the user M up and down, and use when the kneading balls 5 and 6 are located on the shoulder. A massage similar to so-called acupressure can be performed on the shoulder portion of the person M and when the kneading balls 5 and 6 are located on the neck portion. Therefore, a high massage effect can be given to the user M.

  When the control unit 16 determines that it is the end timing in step S152, the control unit 16 moves the massaging ball drive unit 9 backward (step S155), and then moves the massage unit 4 to the initial reference position (step S156).

  On the other hand, if the control unit 16 determines in step S13 that the command is not a command for performing a combined massage of the mechanical massage by the massage unit 4 and the air massage by the airbag a3 disposed on the seat 101, the control unit 16 This is a command to execute a combined massage of mechanical massage (stretching) by reclining and air massage by airbags a1 and a2 (an upper leg airbag a1 and a lower leg airbag a2) disposed on the leg resting portion 106. (Step S15), and if it is the command, the combined massage is executed as follows.

  FIG. 25 shows a combined massage of mechanical massage by reclining of the backrest 104 and air massage by the airbags a1 and a2 (the upper leg airbag a1 and the lower leg airbag a2) arranged on the legrest 106. It is a flowchart which shows the procedure to perform. The control unit 16 starts supplying air to at least one pair of the upper and lower airbags a1, a1, a2, and a2 disposed on the leg rest portion 106, and determines whether or not a predetermined time has elapsed from the start of supplying air ( Steps S161 and S162). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, and then stops air supply and maintains the airbags a1, a1, a2, and a2 in an inflated state (step S163). Therefore, both legs of the user M are pinched by the airbags a1, a1, a2, a2.

  Based on the reclining angle information given from the reclining angle detection sensor 114, the control unit 16 operates the reclining motor 113 to recline the backrest 104 to a predetermined angle (step S164). In this way, by reclining the backrest 104 in a state where both legs of the user M are sandwiched between the airbags a1, a1, a2, and a2, a high stretch effect is achieved on the back, waist, and legs of the user M. Can be given. In parallel with this, an air massage effect can be given to both legs of the user M by sandwiching the airbags a1, a1, a2, a2.

  The control unit 16 maintains the state until the predetermined time has elapsed since the reclining portion 104 is reclined (step S165), and then returns the backrest portion 104 to the initial angle, and all of the legrest portions 106 are also restored. The airbags a1, a1, a2, and a2 are exhausted (steps S166 and S167). The control unit 16 determines whether or not the operation of reclining the backrest 104 with the legs held as described above has been performed a predetermined number of times (step S168), and until it is determined that the predetermined number of times has been performed, the steps S161 to S168 are performed. Repeat the above operations.

  On the other hand, when the control unit 16 determines in step S15 that the command is not a command for performing a combined massage of mechanical massage by reclining the backrest portion 104 and air massage by the airbags a1 and a2 disposed on the legrest portion 106. Whether or not it is a command to execute a combined massage of mechanical massage (stretching) by reclining of the backrest part 104 and air massage by the airbag a5 (arm airbag a5) disposed on the armrest part 117. It judges (step S17), and when it is the said instruction | command, this composite massage is performed as follows.

  FIG. 26 is a flowchart showing a procedure for executing a combined massage of a mechanical massage by reclining the backrest 104 and an air massage by the airbag a5 (arm airbag a5) disposed on the armrest portion 117. The control unit 16 starts supplying air to the airbags a5 and a5 disposed on the armrest portion 117, and determines whether or not a predetermined time has elapsed from the start of supplying air (steps S181 and S182). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, and then stops air supply to maintain both airbags a5 and a5 in an inflated state (step S183). Accordingly, both arms of the user M are held by the airbags a5 and a5.

  Based on the reclining angle information given from the reclining angle detection sensor 114, the control unit 16 operates the reclining motor 113 to recline the backrest 104 to a predetermined angle (step S184). As described above, by reclining the backrest 104 in a state where the arms of the user M are held between the airbags a5 and a5, a high stretch effect (stretching effect) is given to the arm of the user M. be able to. In parallel with this, an air massage effect can be given to both arms of the user M by sandwiching the airbags a5 and a5.

  The control unit 16 maintains the state until a predetermined time has elapsed since the reclining portion 104 is reclined (step S185), and then returns the backrest portion 104 to the initial angle, and from both airbags a5 and a5. Exhaust is performed (steps S186 and S187). The control unit 16 determines whether or not the operation of reclining the backrest 104 has been executed a predetermined number of times with the arm portion held as described above (step S188), and until it is determined that the operation has been executed a predetermined number of times, step S181 to step S181. The operation up to S188 is repeated.

  On the other hand, if the control unit 16 determines in step S17 that the command is not a command for performing a combined massage of mechanical massage by reclining the backrest portion 104 and air massage by the airbag a5 disposed on the armrest portion 117, the backrest. It is determined whether or not it is a command to execute a combined massage with a mechanical massage by reclining of the portion 104 and an air massage with a waist airbag a7 disposed on the backrest portion 104 (step S19). The composite massage is performed as follows.

  FIG. 27 is a flowchart showing a procedure for executing a combined massage of a mechanical massage by reclining the backrest portion 104 and an air massage by the lumbar airbag a7 disposed on the backrest portion 104. The control unit 16 starts supplying air to the waist airbags a7 and a7 disposed on the backrest 104, and determines whether or not a predetermined time has elapsed since the start of supplying air (steps S201 and S202). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, then stops air supply and maintains both the waist airbags a7 and a7 in an inflated state (step S203).

  Based on the reclining angle information given from the reclining angle detection sensor 114, the control unit 16 operates the reclining motor 113 to recline the backrest 104 to a predetermined angle (step S204). In this way, by reclining the backrest 104 in a state where the user's M waist is pushed with the airbags a7 and a7 for both waists, the user M can be given a high stretch effect with the waist supported as a fulcrum. it can. In parallel with this, an air massage effect can be applied to the waist of the user M by sandwiching both the waist airbags a7, a7.

  The control unit 16 maintains the state until a predetermined time has elapsed after the reclining of the backrest 104 (step S205), and then returns the backrest 104 to the initial angle, and both the waist airbags a7, The air is exhausted from a7 (steps S206 and S207). The control unit 16 determines whether or not the operation of reclining the backrest 104 while holding and pressing the waist as described above has been executed a predetermined number of times (step S208), and until it is determined that the operation has been executed a predetermined number of times, step S201. The operation up to step S208 is repeated.

  In this embodiment, while the backrest 104 is being reclined, the lumbar airbags a7 and a7 are maintained in an inflated state. However, the present invention is not limited to this, and the backrest 104 is reclined. Meanwhile, the lumbar airbags a7 and a7 may be repeatedly expanded and contracted.

  On the other hand, when the control unit 16 determines in step S19 that the command is not a command to perform a combined massage of mechanical massage by reclining the backrest 104 and air massage by the lumbar airbag a7 disposed on the backrest 104, It is determined whether or not it is a command to execute a combined massage of a mechanical massage by reclining of the backrest portion 104 and an air massage by the buttocks airbag a3 disposed on the seat portion 101 (step S21). If so, perform such a combined massage as follows.

  FIG. 28 is a flowchart showing a procedure for executing a combined massage of a mechanical massage by reclining the backrest 104 and an air massage by the buttocks airbag a3 disposed on the seat 101. The control unit 16 starts supplying air to the buttocks airbag a3 disposed in the seat portion 101, and determines whether or not a predetermined time has elapsed since the start of supplying air (steps S221 and S222). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, and then stops air supply to maintain the buttocks airbag a3 in an inflated state (step S223).

  Based on the reclining angle information provided from the reclining angle detection sensor 114, the control unit 16 operates the reclining motor 113 to recline the backrest 104 to a predetermined angle (step S224). In this way, by reclining the backrest 104 in a state where the user's M's buttocks are pushed with the buttocks' airbag a3, the user's M is different from the stretch having the waist as a fulcrum, and the buttocks are fulcrums High stretch effect can be given. In parallel with this, an air massage effect can be given to the buttocks of the user M by the buttocks airbag a3.

  The control unit 16 maintains the state until the predetermined time has elapsed since the reclining portion 104 is reclined (step S225), and then returns the backrest portion 104 to the initial angle, and both the waist airbags a7, The air is exhausted from a7 (steps S226 and S227). The control unit 16 determines whether or not the operation of reclining the backrest 104 is performed a predetermined number of times with the buttocks pressed as described above (step S228), and steps S221 to S228 are performed until it is determined that the operation has been performed a predetermined number of times. Repeat the above operations.

  In this embodiment, while the backrest 104 is being reclined, the buttocks airbag a3 is maintained in an inflated state, but the present invention is not limited thereto, and while the backrest 104 is being reclined, The buttocks airbag a3 may be repeatedly expanded and contracted.

  On the other hand, if the control unit 16 determines in step S21 that the command is not a command to perform a combined massage of a mechanical massage by reclining the backrest 104 and an air massage by the buttocks airbag a3 disposed on the seat 101, It is determined whether or not it is a command to execute a combined massage of a mechanical massage by swinging the leg rest portion 106 and an air massage by the thigh airbag a4 disposed on the seat portion 101 (step S23). If it is a command, the combined massage is executed as follows.

  FIG. 29 is a flowchart showing a procedure for executing a combined massage of mechanical massage by swinging the leg rest portion 106 and air massage by the thigh airbag a4 disposed on the seat portion 101. The control unit 16 starts supplying air to at least one pair of upper and lower airbags a1, a1, a2, and a2 disposed on the legrest portion 106, and determines whether or not a predetermined time has elapsed from the start of supplying air ( Steps S241 and S242). The control unit 16 performs air supply until a predetermined time has elapsed from the start of air supply, and then stops air supply to maintain the airbags a1, a1, a2, a2 in an inflated state (step S243).

  Based on the angle information given from the leg rest angle detection sensor 111, the control unit 16 operates the leg rest driving motor 110 to swing the leg rest 106 at the reference lower position up to a predetermined angle. (Step S244). The control unit 16 supplies air to the thigh airbag a4 disposed on the seat 101 and inflates it, and operates the legrest driving motor 110 to bring the legrest 106 to the reference position. After descending and swinging, the air is exhausted from the airbags a1, a1, a2, a2 and the thigh airbag a4 of the legrest 106 (steps S245, S246, S247). In this way, the legs M is lifted and lowered while the legs of the user M are sandwiched between the airbags a1, a1, a2, and a2, so that the legs of the user M are stretched high. Can give an effect. In parallel with this, the air massage effect is applied to both legs of the user M by the airbags a1, a1, a2 and a2, and to the thigh of the user M by the thigh airbag a4. Can be given. Further, since the thigh airbag a4 is inflated while the legrest 106 is swinging downward, the buttocks of the user M are prevented from being displaced from the required position of the seat 101, and the legrest 106 is raised.・ It is possible to avoid a decrease in stretch effect due to swinging down.

  Then, the control unit 16 determines whether or not the composite massage as described above has been executed a predetermined number of times (step S248), and repeats the operations from step S241 to step S248 until it is determined that the predetermined number of times has been executed.

  On the other hand, the control unit 16 determines in step S25 that the command is not a command for executing a combined massage of mechanical massage by swinging the leg rest portion 106 and air massage by the thigh airbag a4 disposed on the seat portion 101. In this case, since it is another combined massage execution command, the rotational drive operation of each of the motors 23, 38, 57, 67, 110, 113 is controlled based on the detected body shape, or the electromagnetic valves B1 to B14 are opened and closed. The operation is controlled and a corresponding composite massage is executed (step S25).

A massage machine a1 leg upper airbag a2 leg lower airbag a3 buttocks airbag a4 thigh airbag a5 arm airbag a6 back airbag a7 waist airbag 5,6 kneading balls 100 massage Machine body 101 Seat 104 Backrest 106 Leg rest 117 Arm rest

Claims (2)

A backrest section with kneading balls for mechanical massage;
A seat with an airbag for air massage;
A control unit that performs control to perform the mechanical massage and the air massage;
With
The control unit is
Move the kneading balls at the reference position in the initial state to a height position facing the lower back part including the user's buttocks,
After air is supplied to the airbag , the air supply is stopped to maintain the airbag in an inflated state, and the kneading balls are advanced in a state where the user's buttocks are lifted,
The was advanced the massaging balls, running the mechanical Ma Ssaji respect to the lower side of the buttocks lifted,
After the mechanical massage is finished, the massaging ball is retracted, and the chair type massage machine is configured to perform control of exhausting from the airbag . A backrest section with kneading balls for mechanical massage;
A seat with an airbag for air massage;
A control unit that performs control to perform the mechanical massage and the air massage;
With
The control unit is
The massaging balls in the initial standard position are moved to a height position facing the lower back of the user including the user's buttocks , accompanied by mechanical massage of the lower back by the kneading balls and the vertical movement of the buttocks Performing alternately the air massage of the buttocks with the airbag,
Thereafter, after supplying air to the airbag , the supply of air is stopped to maintain the airbag in an inflated state, and the kneading balls are advanced in a state where the user's buttocks are lifted,
The was advanced the massaging balls, running the mechanical Ma Ssaji respect to the lower side of the buttocks lifted,
After the mechanical massage is finished, the massaging ball is retracted, and the chair type massage machine is configured to perform control of exhausting from the airbag .

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