JP4925449B2 - Massage machine - Google Patents

Description

  The present invention relates to a massage machine that massages the back of a user, and more particularly to a massage machine that effectively massages the inside of the back of a user using a change in massage speed.

  There are many important points on the human back (portion from the neck to the waist). It is said that by stimulating these acupoints to relieve stiffness, various pains can be resolved and the function of internal organs can be improved. In particular, there are many acupuncture points in the vicinity of the spine inside the back (it is said that there is a “meridian” where the flow of energy concentrates at a position about two fingers away from the spine). Effective massage can be performed by stimulating those acupoints. Compared to the case where the massage is performed by stimulating the outside of the back, the inventor stimulated the acupuncture points near the spine on the inside of the back, and the whole body became lighter, and the remarkable massage effect It was found that can be obtained.

  Conventionally, rolling massage is widely known as a method of treating the back of a user. This treatment method is a massage in which the kneading balls are lifted and lowered while the kneading balls are in contact with the back of the user to stretch the muscles of the back of the user. However, since the rolling massage only moves up and down, there is a problem that the movement is monotonous without any stagnation and is not a treatment that is sufficiently satisfactory for the user.

As a technique for solving the above problems, there is a technique shown in Patent Document 1. The technique of Patent Document 1 has a massage unit that can be moved up and down along the backrest, and in a chair type massage machine that treats according to a pre-programmed automatic treatment pattern, This is a technique for performing a stretch treatment in which a treatment element is moved in a direction along the fiber and protruded forward to stretch and contract muscle fibers by stretching the muscle fiber.
JP 2003-275264 A

  However, the technique of Patent Document 1 can provide effective massage by combining massage motion and rolling motion, but it has achieved movement for stretching muscle fibers, and the spine. There is a problem that the movement considering the stimulation of the acupuncture points concentrated in the vicinity cannot be realized.

  In addition, when the treatment element approaches, it may be possible to stimulate the acupuncture points near the spine, but it becomes an instant treatment and cannot be pressed for a long time. Although it is possible to press the vicinity of the spine for a long time with an ordinary rolling massage, there is still a problem that the movement becomes monotonous as described above.

Therefore, the present invention has been made to solve the above-mentioned problems, and the area near the spine where particularly important points are concentrated in the back of the user is larger than other areas and is not monotonous. An object of the present invention is to provide a massage machine that performs massage while stimulating with motion including motion.

(1 When moving up and down is fast)
The massage machine according to the present invention includes a backrest portion that comes into contact with the back portion of the user, and the backrest portion rotates toward and moves up and down while projecting toward the user. In a massage machine including at least one pair of kneading balls, a kneading mechanism that causes the kneading balls to perform the rotation operation, a lifting unit that lifts and lowers the kneading balls together with the kneading mechanism as the lifting operation, and a driving amount of the kneading A kneading position of the kneading balls is specified from the detection result, and a control unit that controls at least the raising and lowering operation according to the position of the kneading balls is provided, and the kneading balls are rotated by changing the distance between them. While giving the massage treatment to the user, the massage balls are lifted up continuously from the lower back to the upper part with respect to the user's back by the lifting means, or lowered continuously from the upper back to the lower part. That rubbing down, with treatment conditions to perform, the control unit, when the massaging balls are positioned inside the lateral direction of the rotational operation shortens the distance between each other, fast rising speed or lowering speed However, when the kneading balls are located on the outer side in the left-right direction of the rotation operation by extending the distance between them, the ascending speed or the descending speed is slowed down.

  Thus, according to the present invention, in the massage machine including at least one pair of kneading balls that move toward each other while projecting toward the user and that move up and down, the kneading balls are rotated. In order to increase the speed of the elevating and lowering operation of the kneading balls when located on the inner side in the left-right direction of the moving operation, it is possible to treat more of the inner region than the outer side of the back of the user. That is, since the massage can be stimulated and massaged over a wide range while performing a squeaking operation in the vicinity of the spine where important points are concentrated, the user can feel a remarkable massage effect.

(2 When the kneading balls rotate slowly)
In the massage machine according to the present invention, the control unit also controls the kneading operation based on the detected driving amount of the kneading, and the kneading balls reduce the mutual separation distance in the left-right direction of the turning operation. If you are located inside, the speed of the rotational motion is slow, when the massaging balls are located outside the lateral direction of the rotation operation by extending the distance between each other, the pivot The speed of operation is increased.
As described above, according to the present invention, when the kneading balls are positioned on the inner side in the left-right direction of the turning operation, the kneading balls are treated to reduce the speed of the turning operation of the kneading balls. Compared to the outside of the back part of the back, the inside stays for a long time, and the vicinity of the spine of the user can be stimulated and massaged for a long time over a wide range while performing the massage operation. Therefore, the user can feel the massage effect more remarkably.

(3 Change the degree of slowing of the kneading ball rotation)
The massage machine according to the present invention is characterized in that the degree of slowing down the speed of the kneading balls can be changed.
As described above, according to the present invention, the degree of slowing down the speed of the kneading balls can be changed, so that the ratio of the kneading movement in the vicinity of the user's spine can be changed. Can feel various massage effects according to their wishes.

(4 How to change the degree of slowing down of the kneading balls)
The massage machine according to the present invention is characterized in that the change in the degree is executed while maintaining the maximum speed of the operation speed when the kneading balls are outside.
Thus, according to the present invention, not only the degree of slowing down the speed of the kneading balls can be changed, but also the maximum speed can be maintained without reducing the operating speed when the kneading balls are outside when changing. As a result, the amount of slowing down can be increased, and itching can be sufficiently performed in the vicinity of the spine of the user.

(First embodiment of the present invention)
A massage machine according to a first embodiment of the present invention will be described with reference to the drawings. 1 is an overall perspective view of the massage machine according to the present embodiment, FIG. 2 is a side sectional view of the massage machine according to the present embodiment, FIG. 3 is a front view of a mechanical unit of the massage machine according to the present embodiment, and FIG. It is a right view of the mechanical unit of the massage machine which concerns on this embodiment.

(1. Configuration of the entire massage machine)
In each of the drawings, the massage machine according to the present embodiment has a backrest portion 1 that supports the back of the user as a whole and the vicinity of the lower end of the backrest portion 1 when the user is seated and sits down. A seat 2 that supports the buttocks, an elbow rest 3 that supports the elbow of the user, a leg rest 4 that is pivotally mounted near the tip of the seat 2 and on which the leg below the knee of the user is placed; A mechanical unit 10 that is housed in the backrest 1 and moves up and down, and kneading ball units 50a and 50b that are disposed in the mechanical unit 10 so as to be able to advance and retreat in the direction of the user and that can drive the kneading balls. Further, a substrate on which the elements of the microcomputer as the control unit 5 are arranged is arranged in the space portion immediately below the seat portion 1.

(2. Backrest)
The backrest 1 can be reclined, cushion materials (not shown) can be provided on both sides of the contact surface with the user, and when the user sits down and leans against the backrest 1, the back of the user is backrest 1. It comes to be located in the center of. The reclining function of the backrest portion 1 is realized by driving the reclining electric actuator 31 while the backrest portion 1 is rotatably supported by the upper frame 6a. A reclining linear encoder is disposed on the reclining electric actuator 31 so that it can detect how much it has been rotated.

(3. Elbow rest)
The elbow rest 3 is located on both sides of the seat 2 and joined to the bottom frame 6b, and is formed with a curve so as to stably support the user's forearm even when the backrest 1 reclines. ing.

(4. Leg rest)
The said leg mounting part 4 is located in the front side of the seat part 2, and is provided with the right leg mounting part 4a and the left leg mounting part 4b. The right leg rest 4a and the left leg rest 4b can be tilted in the direction of the leg contact surface of the user. The tilting of the right leg mounting part 4a and the left leg mounting part 4b is such that the right leg mounting part 4a and the left leg mounting part 4b are rotatably supported in the vicinity of the front end of the seat part 2, and drive the electric actuator 8 for the footrest. It is realized. More specifically, one end of the right link 7a is connected to the bracket of the right leg mounting portion 4a, and the other end of the right link 7a is connected to the vicinity of the front end of the upper frame 6a. The right link 7a has a dogleg shape, and the middle portion is connected to the tip of the rod of the electric actuator 8 for the right footrest. By doing so, when the electric actuator 8a is driven and the rod advances, the right link 7a is pushed up, and the left leg mounting portion 4b rotates in the ascending direction around the connecting portion of the upper frame 6a. On the contrary, when the electric actuator 8 is driven and the rod is retracted from the advanced state, the right link 7a is pulled down, and the left leg rest 4b is lowered by rotating in the direction opposite to the above-mentioned rotation around the connecting portion of the upper frame 6a. To do. Like the left leg mounting part 4b, the right leg mounting part 4a on the right side is similarly configured, and the right leg mounting part 4a and the left leg mounting part 4b can be independently rotated. A base end portion of the electric actuator 8 for the left leg mounting portion 4b is pivotally attached to a lower end portion of a bracket 9a suspended below the upper frame 6a.

(5. Mechanical unit)
A pair of guide rails 11 formed along the vertical direction of the backrest 1 is disposed in the backrest 1. Two guide rollers 13, 14, 15, 16 provided on the left and right sides of the mechanical unit 10 are inserted into the guide rail 11, and the mechanism is connected via pinion gears 17, 18 provided adjacent to the guide rollers 14, 16. The movement from the lifting motor 21 disposed on the right assembly base 19 of the unit 10 is transmitted and can be lifted and lowered according to the driving of the lifting motor 21.

  The guide rail 11 is formed in a concave section so that the guide rollers 13, 14, 15, 16 can be inserted therein. Transmission of motion from the lifting motor 21 is performed by engaging a worm (not shown) formed at the tip of the rotating shaft of the lifting motor 21 with a worm wheel (not shown) attached to the lifting shaft 22. , The rotating shaft (not shown) rotates, the worm rotates, and the engaging worm wheel rotates, so that the rotational force is transmitted to the pinion gears 17 and 18. These worm, worm wheel, and rotating shaft are covered with a gear box.

  The elevating shaft 22 is disposed so as to be positioned below the mechanical unit 10, and a gear box (precisely a bearing covered by the gear box) disposed on the bottom of the right assembly base 19 and a left assembly. It is rotatably supported by a bearing disposed at the bottom of the table 20. The bottoms of the right assembly base 19 and the left assembly base 20 are connected by a connecting rod 25 having a concave cross section. The connecting rod 25 has a concave cross section so that the power cable to the various motors and the control cable from the encoder are connected to the concave portion so that the mechanical unit 10 does not interfere with the lifting and lowering of the mechanical unit 50a and 50b. For laying. The upper side of the right assembly base 19 and the left assembly base 20 is also provided with a hollow rod 26. The central portion of the hollow cage 26 is bent in the depth direction so that the kneading balls do not contact the hollow cage 26 even when the kneading ball units 50a and 50b are retracted. Guide rollers 13 and 15 are rotatably attached to both ends of the hollow rod 26. The hollow rods 26 themselves are fixed by joining portions near both ends to the right assembly base 19 and the left assembly base 20, respectively, and do not rotate. The connecting rod 25 and the hollow rod 26 are joined to the right assembly base 19 and the left assembly base 20 by welding.

  The kneading ball units 50 a and 50 b are mounted on the lifting shaft 22 and are rotatable about the lifting shaft 22. The right kneading ball unit 50a and the left kneading ball unit 50b respectively have a kneading mechanism and a tapping mechanism for transmitting movements from the kneading motors 51a and 51b and the tapping motors 52a and 52b to the kneading balls 53a and 53b. A kneading mechanism and a hitting mechanism are provided in the housings 54a and 54b of the kneading ball units 50a and 50b. A rack 55 that is bent so as to have an upper side of a side having a predetermined radial distance about the elevating shaft 22 is attached to the upper portions of the housings 54a and 54b by screwing at a plurality of positions at predetermined intervals. A pinion gear 56b that engages with the rack 55 is mounted on an advancing / retracting shaft 57b disposed so as to be positioned above the mechanical unit 10. A worm wheel (not shown) is mounted on the advance / retreat shaft 57b. A worm (not shown) formed at the tip of a rotating shaft (not shown) of a forward / backward motor 58 disposed on the left assembly base 20 of the mechanical unit 10 is engaged with a worm wheel. These worm wheel, rotating shaft and worm are installed in the gear box. As the advance / retreat motor 58 rotates, the rotating shaft and the worm rotate, and the worm wheel to be engaged rotates. As the worm wheel rotates, the advance / retreat shaft 57 rotates, the pinion gear 56b also rotates along the rack 55, and the kneading ball unit 50b advances / retreats in the back direction of the user. The advancing / retracting shaft 57 is rotated by a bearing disposed above the right assembly base 19 and a gear box disposed above the left assembly base 20 (precisely, a bearing covered by the gear box). Supported as possible.

  Since the right grind ball unit 50a and the left grind ball unit 50b have the above-described configuration, the right grind ball unit 50a and the left grind ball unit 50b can advance and retreat independently. Therefore, only the kneading balls 53a of the right kneading ball unit 50a can protrude so as to contact the user.

  The connecting body 59 is provided with the elevating shaft 22 and the advance / retreat shafts 57a and 57b. The advancing and retracting shafts 57a and 57b are respectively supported by a connecting body 59, and the other shaft does not follow the rotation of one shaft and independently rotates. That is, the right advance / retreat shaft 57a and the left advance / retreat shaft 57b are not joined.

  A scale is formed on the upper part of the housings 54a and 54b so as to extend in the advancing and retracting direction. A linear encoder is configured with the scale and a sensor disposed on the back side of the assembly base. The advancing / retreating positions of the units 50a and 50b can be detected. The forward / backward positions of the right side ball unit 50a and the left side ball unit 50b can be detected by corresponding linear encoders.

  The tapping motors 52a and 52b are fixed to the bottoms of the housings 54a and 54b of the kneading ball units 50a and 50b by screws. A driving pulley is formed at the tip of a rotating shaft (not shown) of the tapping motor 52a, 52b inside the housing, and the motion is transmitted to the driven pulley via the transmission belt. The driven pulley is attached to the tip of the hitting shaft. An eccentric rotor is attached to the hitting shaft. The tip of the rod is connected to the rotor, and the rod moves up and down by the rotation of the rotor. The other end of the rod is connected to the kneading ball support arms 77a and 77b at a position opposite to the kneading ball mounting position. That is, the kneading ball support arms 77a and 77b are moved up and down as the rod is moved up and down, and the kneading balls 53a and 53b are moved up and down in accordance therewith to realize the treatment. That is, the crank mechanism is configured, and the kneading balls 53a and 53b are moved by changing the rotational force from the motor to the kinetic force in the desired direction. The right grind ball unit 50a and the left grind ball unit 50b also have the above-described configuration, and can perform tapping treatment, respectively.

  The kneading ball support arms 77a and 77b are mounted via a rotor eccentric to the kneading shaft at the intermediate portion. A worm wheel (not shown) is attached to the stagnation shaft, and is engaged with a worm (not shown) formed at the tip of a rotation shaft (not shown) of the stagnation motors 51a and 51b. The stagnation shaft is rotated by the rotation of the stagnation motors 51a and 51b through this engagement, whereby the stagnation shaft rotor rotates eccentrically, and the stagnation ball support arms 77a and 77b also move in an arc shape. The kneading balls 53a and 53b also move in an arc shape to realize the massage of treatment. More precisely, the kneading ball support arms 77a, 77b are not attached to the rotor so as to be perpendicular to the center axis of the kneading shaft, but the left and right kneading ball support arms 77a, 77b are used as the kneading balls 53a, 53b. The tip is attached obliquely with respect to the central axis of the stagnation shaft so that the tip direction of the attachment is widened. By doing so, the kneading balls 53a and 53b do not turn on the plane perpendicular to the kneading axis, but realize the stagnation of treatment that turns to change the separation distance between the left and right kneading balls 53a and 53b while moving in the front-rear direction. is doing. The right kneading ball unit 50a and the left kneading ball unit 50b are also configured as described above, and can each be subjected to treatment of itching.

  Encoders for detecting the drive amounts (drive angles) of the respective operations are disposed on the fir shaft, hitting shaft, lift shaft 22 and advance / retreat shafts 57a and 57b. Each encoder is connected to the control unit 5, and based on the drive amount detected by the encoder, the control unit 5 can control operations of squeezing, striking, raising and lowering, and advancing and retreating. Specifically, for example, the encoder disposed on the kneading shaft detects the kneading amount of the kneading, whereby the kneading positions of the kneading balls 53a and 53b can be specified. And the control part 5 can change the drive speed of the raising / lowering motor 21 according to the position of the specified kneading balls 53a and 53b. That is, an operation is realized in which the driving speed of the lifting motor is decreased when the kneading balls 53a and 53b are inside, and the driving speed of the lifting motor is increased when it is outside.

  In the massage by the mechanical unit 10 of the massage machine of the present embodiment, for example, the massaging balls 53a and 53b are raised while the kneading motors 51a and 51b are normally rotated, and the massaging motors 51a and 51b are reversely rotated. There is a lowering of the balls 53a and 53b. Further, a hitting mechanism can be used instead of the kneading mechanism.

(6. Motion of kneading balls)
FIG. 5 is a diagram of the movement of the kneading balls 53a and 53b when the massage is performed by the massage machine according to the present embodiment when viewed from the upper surface of the user M.
When the kneading balls 53a and 53b are kneading by the mechanism (arrow A in the figure), the kneading balls 53a and 53b rotate while reducing the distance d from each other and protrude toward the user M ( Position I). Conversely, in the case of the action of releasing the itch (arrow B in the figure), the itch balls 53a, 53b rotate while extending the distance d from each other and retreat from the user M (position II). It is possible to treat the person to be treated M by the interlocking movement. As described above, the kneading balls 53a and 53b are disposed eccentrically and inclined with respect to the drive shaft as described above, thereby realizing a treatment operation.

FIG. 6 is a diagram of the movement of the kneading balls 53a and 53b when the massage is performed by the massage machine according to the present embodiment when viewed from the back of the user M.
As in the case of FIG. 5, when the kneading balls 53 perform a kneading operation (arrow A in the figure), the kneading balls 53 a and 53 b protrude toward the user M while reducing the distance d between them ( Position I). Conversely, when releasing the kneading motion (arrow B in the figure), the kneading balls 53a and 53b move backward from the user M while increasing the distance d from each other (position II). At this time, the kneading balls 53a and 53b rotate to draw a circle as indicated by arrows A and B to perform a treatment operation. In this case, the rotation is used. However, the present invention is not limited to this, and for example, a linear operation or a curved operation such as a wave may be used.

(7. Elevating and lowering of kneading balls)
Next, the lifting / lowering operation of the kneading balls will be described. FIG. 7 is a side view showing the lifting and lowering operation of the mechanical unit of the massage machine according to the present embodiment.
By means of guide rollers 13, 14, 15, 16 provided in the mechanical unit 10, pinion gears 17, 18 provided adjacent to the guide rollers 14, 16, and a lifting motor 21 disposed therebetween, the mechanical unit 10 can move up and down along the guide roller 11. As the mechanical unit 10 moves up and down, the kneading balls provided in the mechanical unit 10 also move up and down. By controlling the rotation speed of the lift motor 21, the lift speed of the mechanical unit 10 can be changed. Therefore, the massage machine according to the present embodiment can perform various massages by moving up and down the mechanical unit 10 and changing its speed in addition to the movement of the kneading balls themselves.

(8. Change in speed of kneading balls)
FIG. 8 shows a time chart of the speed change in the lifting / lowering operation of the kneading balls of the massage machine according to the present embodiment.
In the figure, ○ indicates the speed when descending, and * indicates the speed when increasing. This is a speed difference caused by the dead weight of the mechanical unit 10, but if the current value to the lifting motor is controlled in consideration of this speed difference, it is possible to make the speed when rising and lowering substantially the same. It is.

  In the time chart of FIG. 8, the vertical axis indicates the speed of the kneading balls moving up and down, and the horizontal axis indicates the position of the kneading balls. Here, only one cycle of the kneading balls (from the start of the kneading operation until the release from the kneading operation is completely completed) is shown. The position of the kneading balls at position 0 in the figure is the position II shown in FIG. 6 (the kneading balls are positioned on the outside). A half cycle is from the start of the kneading operation from position II to the kneading operation of position I (the kneading balls are located inside each other). One cycle is from the start of releasing the kneading movement from position I to returning to position II.

  As can be seen from FIG. 8, when the kneading balls are at the inner positions, the rising speed and the lowering speed are faster, and when the kneading balls are at the outer positions, the rising speed and the lowering speed are both slow. . That is, when the kneading balls are inside, the moving speed is fast, so that the kneading balls can move in a wide area, thereby treating the wide area. Conversely, when the kneading balls are on the outside, the moving speed is slow, so that the kneading balls move only in a narrow area. From this, the region near the spine where the acupuncture points are concentrated can be massaged widely by the motion of the massage.

(9. Trajectory on which the kneading balls move)
FIG. 9 is a schematic diagram illustrating a trajectory along which the kneading balls of the massage machine according to the present embodiment move. ● indicates the position of the point. As shown in the figure, it can be seen that the inner region can be treated more than the outer region. Moreover, since the massage operation is not a rolling massage, but also a lateral movement and a longitudinal movement are added, various and effective massages can be performed. Moreover, since many acupuncture points can be stimulated, the user M can realize a remarkable massage effect.

(Second embodiment of the present invention)
(1. Change in speed of turning motion of kneading balls)
A massage machine according to a second embodiment of the present invention will be described with reference to the drawings. The configuration of the massage machine according to the present embodiment is the same as that of the massage machine according to the first embodiment. The difference from the first embodiment is that, in addition to the change in the lifting speed of the kneading balls, the kneading balls also effectively massage the inner region near the spine of the user by the change in the rotation speed. .

FIG. 10 is a time chart of the speed change in the turning operation of the kneading balls of the massage machine according to the present embodiment.
In the time chart of FIG. 10, the vertical axis indicates the speed of the kneading balls rotating operation, and the horizontal axis indicates the position of the kneading balls. Here, only one cycle of the kneading balls (from the start of the kneading operation until the release from the kneading operation is completely completed) is shown. The position of the kneading balls at position 0 in the figure is the position II shown in FIG. 6 (the kneading balls are positioned on the outside). A half cycle is from the start of the kneading operation from position II to the kneading operation of position I (the kneading balls are located inside each other). One cycle is from the start of releasing the kneading movement from position I to returning to position II.

  As can be seen from FIG. 10, when the kneading balls are at positions inside each other, the speed of the kneading balls is slowed down, and when the kneading balls are at positions outside each other, The speed of motion is faster. In other words, when the kneading balls are inside, the rotation speed is slow, so that the kneading balls stay inside for a long time and can be treated. Conversely, when the kneading balls are on the outside, the rotation speed is fast, and the time for the kneading balls to stay on the outside is shortened. From this, the region near the spine where the acupuncture points are concentrated can be massaged widely and long by the motion of the massage.

(2. Trajectory on which kneading balls move)
FIG. 11 is a schematic diagram illustrating a trajectory along which the kneading balls of the massage machine according to the present embodiment move. ● indicates the position of the point. As shown in the figure, the inner region can be treated more than the outer region, but it can be seen that more inner region can be treated compared to the first embodiment. In addition, as in the first embodiment, not only a rolling massage but also a lateral movement and a longitudinal movement are added, so that various and effective massages can be performed. Further, by stimulating more acupoints, the user M can realize a remarkable massage effect.

(Third embodiment of the present invention)
(1. Adjusting the speed change of the kneading ball rotation)
A massage machine according to a third embodiment of the present invention will be described with reference to FIG. The configuration of the massage machine according to this embodiment is the same as that of the massage machine according to the first and second embodiments.
As shown in FIG. 12, in the present embodiment, the speed change of the kneading balls can be changed in three ways of “large”, “normal”, and “small”, and the degree of slowing the speed of the kneading balls is reduced. Can be changed freely. In the figure, ◯ indicates a speed change when “large”, * indicates a speed change when “normal”, and ■ indicates a speed change when “small”.

  In the specific example of this embodiment, the speed of the turning operation when the kneading balls are at the outer position is the same maximum speed regardless of whether the speed change is “large”, “normal”, or “small”, and the kneading balls are inside. The speed of the rotation operation is slowed down as it moves to, with “large” the degree of slowing is the largest, and “small” is varied to make the degree of smallest, but it is not limited to this example .

  The user can select three kinds of speed changes, “large”, “normal”, and “small” according to his / her preference. You will be able to change the percentage to do.

  In the present example, when the speed setting is expressed as a relative value when the maximum speed of the massaging operation of the massage machine is 80, the speed is changed from 80 to 40 when “large” as shown in FIG. When “normal”, the speed changes from 80 to 55, and when “small”, the speed changes from 80 to 75.

  In addition, when this kneading operation is combined with the lifting and lowering operation, the time during which the kneading balls are present can be changed as described above, but in the case of this embodiment, the kneading balls are particularly at the outer position. The speed of the turning motion at the time is the same maximum speed regardless of whether the speed change is `` large '', `` normal '', or `` small '', so the time that the kneading balls are present inside is relatively long, It is advantageous to perform the squeezing motion for a long time in the region near the spine.

  By the way, in any case, the massage machine of each embodiment can perform the kneading operation only by the turning operation of the kneading balls without the raising / lowering operation. The speed is changed throughout the operation. However, in the case of the mechanism that protrudes most when the kneading balls are located on the inside, the massage effect is exerted more on the inside, so that the operation speed on the inside is recognized as a bodily sensation, but the inventor Knew that the actual feeling of speed is not only the value of the speed of the turning operation on the inside, but also the degree of slowing down, and the patient has a lower body feeling as the degree of slowing down the speed is greater. . This means that the longer the speed of the kneading balls is on the inside, the longer the difference between the inner and outer movement speeds, and even if the speed of the kneading movements on the inside is the same, the difference between the inner and outer speeds It is speculated that at some times, the time during which the user feels the low speed becomes longer, and the low speed can be realized as an impression. Therefore, if the speed change of FIG. 12 is applied as speed adjustment of the speed of the stagnation operation, the difference between the speeds can be experienced more than ever.

  The operating speed of the kneading operation and the operating speed of the elevating operation of the mechanical unit 10 are controlled by changing the driving speeds of the elevating motor 21, the right kneading motor 51a, the left kneading motor 51b, the right advance / retreat motor 58a, and the left advance / retreat motor 58b. This is feasible.

  Further, various stagnation variations can be realized by combining the squeeze-up and squeeze-down operations and the stagnation ball ascent and descent operations. For example, when the kneading balls are raised when the kneading balls are inside the back of the user at the time of kneading, the area in the vicinity of the spine can be broadly and longly stimulated and massaged with greater strength.

Moreover, the massage machine according to the present invention is not limited to the above embodiment, and can be realized in various forms.
Further, the massage machine according to the present invention is not limited to a chair type massage machine, and any massage machine having a massage function such as a care bed can be applied.

It is the whole massage machine perspective view concerning a 1st embodiment. It is side surface sectional drawing of the massage machine which concerns on 1st Embodiment. It is a front view of the mechanical unit of the massage machine concerning a 1st embodiment. It is a side view of the mechanical unit of the massage machine concerning a 1st embodiment. It is a top view at the time of seeing operation of a massage ball of a massage machine concerning a 1st embodiment from a user's upper surface. It is a rear view at the time of seeing operation of a massage ball of a massage machine concerning a 1st embodiment from the back of a user. It is a side view which shows the raising / lowering operation | movement of the mechanical unit of the massage machine which concerns on 1st Embodiment. It is a time chart of the speed change in the raising / lowering operation | movement of the kneading ball of the massage machine which concerns on 1st Embodiment. It is the schematic diagram which showed the track | orbit which the kneading ball of the massage machine which concerns on 1st Embodiment moves. It is a time chart of the speed change in rotation operation of the kneading ball of the massage machine concerning a 2nd embodiment. It is the schematic diagram which showed the track | orbit which the kneading ball of the massage machine which concerns on 2nd Embodiment moves. It is a time chart of the speed change of a plurality of patterns in rotation operation of a kneading ball of a massage machine concerning a 2nd embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Back part 2 Seat part 3 Elbow rest 4 Leg mounting part 4a Right leg mounting part 4b Left leg mounting part 5 Control part 6a Upper frame 6b Bottom frame 7a Right link 8 Electric actuator for footrest 9a Blanket 10 Mechanical unit 11 Guide rail 13 Guide Roller 14 Guide roller 15 Guide roller 16 Guide roller 17 Pinion gear 18 Pinion gear 19 Right assembly base 20 Left assembly base 21 Lifting motor 22 Lifting shaft 25 Connecting rod 26 Hollow rod 31 Reclining electric actuator 50a Right kneading ball unit 50b Left Kneading ball unit 51a Right kneading motor 51b Left kneading motor 52a Right tapping motor 52b Left tapping motor 53a Right kneading ball 53b Left kneading ball 54a Right housing 54b Left housing 56a Right pinion gear 56b Left pinion A 57a Right retractable shaft 57b left reciprocating shaft 58a right forward and reverse motor 58b left forward and reverse motor 59 connected body 77a right massaging balls supporting arm 77b left kneading balls support arm

Claims (4)

A backrest portion that comes into contact with the back portion of the user is provided, and the backrest portion includes at least one pair of kneading balls that move toward and move up and down while projecting toward the user. In the massage machine,
A kneading mechanism for causing the kneading balls to perform the rotation operation;
Elevating means for elevating the kneading balls together with the kneading mechanism as the elevating operation;
A kneading position of the kneading balls is identified from the detection result of the kneading driving amount, and according to the position of the kneading balls specified, a control unit that controls at least the lifting operation,
While the kneading balls are rotated by changing the distance between them, the kneading balls are continuously raised from the lower back part to the upper part with respect to the back part of the user by the lifting / lowering means. In a treatment state in which squeaking up or squeezing down continuously from the upper part of the back part to the lower part is performed, the control unit is positioned on the inner side in the left-right direction of the rotational operation with the squeezing balls contracting each other. If it is , increase the ascending speed or descending speed, and if the kneading balls are located on the outer side in the left-right direction of the rotation operation by increasing the distance between them, decrease the ascending speed or descending speed. This is a massage machine.
The massage machine according to claim 1,
When the control unit controls the stagnation operation based on the detected stagnation drive amount, and the stagnation balls are positioned on the inner side in the left-right direction of the rotation operation by reducing the distance between them. , the slow down of the rotational movement, when the massaging balls are located outside the lateral direction of the rotation operation by extending the distance between each other, to increase the speed of the rotational motion Characteristic massage machine.
The massage machine according to claim 2,
A massage machine characterized in that the degree of slowing down the speed of the kneading balls can be changed. The massage machine according to claim 3,
The massage machine is characterized in that the change of the degree is executed while maintaining the maximum speed of the operation speed when the kneading balls are outside.

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