JP6238941B2 - Massage machine - Google Patents

Description

    The present invention relates to a massage machine.

  2. Description of the Related Art Conventionally, there is known a massage machine including a seat portion on which a user is seated, a backrest portion disposed at a rear portion of the seat portion, and a massage unit disposed in the backrest portion so as to be movable up and down. .

  The massage unit is provided with a treatment element drive unit for driving a kneading ball serving as a treatment element that comes into contact with the body of the user, and a tapping mechanism or a kneading mechanism provided in the treatment element drive unit. Thus, the kneading balls are swung up and down to perform the hitting operation, or the kneading balls are eccentrically rotated to perform the kneading operation.

JP 2003-70857 A

  However, conventional massage machines cannot perform well-specific massage.

  An object of the present invention is to provide a massage machine that solves the above-described problems.

  (1) In the present invention, a treatment element is provided in a massage unit disposed in a vertically movable manner in a backrest portion disposed in a rear portion of a seat portion on which a user is seated, and is determined in advance. A control unit that executes a target treatment unit process including a massage operation by the treatment element that is executed according to a short program is provided for each treatment target part at a plurality of locations, and the control part is used when a massage is started at the treatment target part. A part detection process is performed.

  (2) Further, in the massage machine according to the above (1), in the present invention, the detection process first detects a position where the kneading balls contact the user and sets it as a vertical reference position. The vertical reference position for each part, which is the vertical reference position of the part, is calculated.

  (3) Moreover, this invention is a massage machine as described in said (1) or (2), The said detection process moves a kneading ball to the said vertical reference position according to a site | part, and uses a kneading ball for a user's body. When the body is detected, the position is set as a front-rear reference position in the treatment site.

  (4) Moreover, this invention is a massage machine in any one of said (1)-(3), Before performing the massage operation | movement at the time of the said unit treatment operation | movement, it carries out a light rubbing operation | movement with respect to the target part. It is characterized by performing.

  According to the present invention, the massage of the target part can be performed satisfactorily.

It is explanatory drawing of the massage machine which concerns on this embodiment. It is a block diagram of the massage machine. It is explanatory drawing which shows an example of the display mode of the remote control with which the massage machine is provided. It is explanatory drawing which shows an example of the flow of the main operation | movement of the massage machine which concerns on this embodiment. It is explanatory drawing which shows an example of the flow of operation | movement of the automatic course of the massage machine which concerns on this embodiment. It is explanatory drawing which shows an example of the flow of operation | movement of the treatment position detection of the automatic course. It is explanatory drawing which shows an example of the flow of operation | movement of the target treatment unit of the automatic course. It is a perspective view from the front upper left of the massage unit with which the massage machine is provided. It is a perspective view from the rear upper right. It is a perspective view from the lower right side of the same rear surface. It is the same front view. It is the same rear view. It is the left side view. It is the same right view. It is the same top view. It is a top view of the treatment element drive unit with a part omitted. It is explanatory drawing of the treatment element drive unit except a unit casing. It is explanatory drawing of the kneading mechanism and hitting mechanism of a treatment element drive unit. It is explanatory drawing by the same rear view. It is explanatory drawing of the interlocking | linkage arm of the treatment element drive unit. It is a rear view by the back view of the interlocking | linkage arm. It is explanatory drawing which shows the other display mode of the remote control with which the massage machine which concerns on this embodiment is equipped.

  The outline | summary of the massage machine which concerns on this embodiment is demonstrated referring FIGS. 1-3. In the following description, “up / down / front / back / left / right” in the massage machine is defined by the direction viewed from the user in a state where the user is seated on the seat 1. In addition, for the pair of left and right components, L and R are added to the common reference to distinguish left and right, but when the left and right constituents are represented as a group, only the common reference may be added. is there.

  As shown in FIG. 1, the massage machine according to the present embodiment is configured as a chair type, and is connected to a seat portion 1 on which a user to be seated can sit and a rear portion of the seat portion 1 so as to be reclining freely. The backrest part 2 that holds the upper body of the user and the leg rest part 3 that is connected to the front part of the seat part 1 so as to swing up and down and hold the legs and feet of the user.

  On the left and right sides of the seat portion 1, armrest portions 11 are disposed, and on the lower surface of the seat portion 1, leg seats 10 that hold the entire massage machine on the floor surface are provided. At the rear end of the leg seat 10 is provided a rolling wheel 10a used when moving the massage machine.

  On the left and right sides of the backrest part 2, body side treatment parts 21L and 21R for treating the body side part of the user are provided.

  In addition, a massage unit 4 is disposed inside the backrest 2 so as to be able to move up and down along the backrest 2. The massage unit 4 is provided with a treatment element drive unit 5 including a pair of left and right kneading balls 50L and 50R, and the treatment element drive unit 5 can perform various massages. The configuration of the massage unit 4 including the treatment element drive unit 5 will be described in detail later.

  Moreover, this massage machine is provided with the control part 6 provided with memory, such as CPU which is an arithmetic processing unit, ROM as a memory | storage means, RAM, as shown in FIG. The control unit 6 is provided in a control unit disposed inside the seat unit 1. Furthermore, wired or wireless (wireless) connection is made to the control unit 6 via a remote control interface, and the massage machine is instructed to operate, including turning on the power and turning off the massage machine, and further reclining operation of the backrest 2. A remote controller (hereinafter referred to as “remote controller”) R that can be used is provided. The remote controller R is provided with a display unit R1 including a liquid crystal display panel and an operation unit R2 having a plurality of buttons.

  As shown in FIG. 3, the remote controller R is provided with a display portion R1 made of a relatively large touch panel in a rectangular casing RO, and an upper / lower portion as an upper operation portion RU as an on / off button R2a and As the stop button R2b and the lower operation portion RB, a leg rest raising / lowering button R2c, a leg rest contracting button R2d, and a reclining button R2e are provided.

  On the display unit R1, a main selection menu R3 including operation button images such as “whole body course”, “part course”, “target course”, “manual” and “decision” is displayed as a standby steady screen as shown in the figure. Has been. The user (the user) can select a desired operation by selecting and touching a desired operation button image from the plurality of operation button images. In other words, in the present embodiment, an operation unit is configured by the display unit R1 and the operation unit R2 that are configured by a touch panel.

  By the way, the remote controller R according to the present embodiment can enlarge, for example, a desired portion or image, and further, as shown in FIG. 19, a human body image R4 and a treatment element are displayed on the display unit R1 with a design or the like. It is also possible to display the image R5 schematically and, for example, to perform fine adjustment of the treatment position and the treatment strength by pressing the treatment element image R5 even during a massage.

  With this configuration, an intuitive operation can be performed, and operability is improved. In FIG. 19, R6 is an operation button image for adjusting the massage intensity, and the treatment intensity can be finely adjusted by operating these operation button images R6 instead of the treatment child image R5.

  Further, as shown in FIG. 2, the massage machine detects a plurality of drive motors M1 to M4 disposed in the massage unit 4 and drive amounts of each mechanism of the massage unit 4 driven by the motors M1 to M4. Encoders E1 to E4 and an angle sensor S for detecting the reclining angle of the backrest 2. In this embodiment, as the encoders E1 to E4, a plurality of through holes are formed in pairs with a plate body formed in a row at a predetermined interval and an optical unit D including a light emitting element and a light receiving element, A pulse sensor that counts pulses generated by light transmission and blocking is used.

  As will be described in detail later, the motors M1 to M4 included in the massage machine include an elevating drive motor M1, an advancing / retreating drive motor M2, a tapping drive motor M3, and a kneading drive motor M4.

  Moreover, this massage machine is provided with the air pump P which supplies and exhausts air, and this air pump P is used for the inside part of the surface of the seat part 1, the backrest part 2, and the said leg rest part 3, and the massage unit 4 It is connected to a plurality of airbags (not shown) disposed on the contact side with the user. These parts of the body of the user can be gently air massaged by the expansion and contraction of the airbag.

  Furthermore, this massage machine is equipped with the heater H, and it is also possible to massage while warming a treatment place suitably.

  These drive motors M1 to M4, encoders E1 to E4, angle sensor S, air pump P, and heater H are connected to the CPU via an interface.

  The massage machine according to the present embodiment is roughly classified into a mechanical single course massage, an air single course massage, a mechanical & air course massage, and an automatic course massage as types of massage modes. The mechanical single course massage is a massage that drives the massage unit 4 to operate only the massaging balls 50L and 50R, the air single course massage is a massage that operates only the airbag, and the mechanical and air course massage is the massaging ball 50L. , 50R massage and airbag massage simultaneously. In any course massage, the massage operation is controlled not to be performed continuously for a predetermined time (for example, 15 minutes) so that an excessive load is not applied to the body.

  In order to realize such a massage mode, the memory of the control unit 6 stores various massage programs including the main program. As a massage program excluding the main program, massage programs using massaging balls 50L and 50R and airbags (hereinafter, massage operation may be referred to as “technique”), and massaging balls 50L and 50R. Combining individual programs to perform mechanical single course massage, air single course massage and mechanical & air course massage by individually operating airbags and unit treatment operations with a series of procedures by various types of short programs There is an automatic course program that performs an automatic course massage that performs a 15 minute massage.

  Thus, in the massage machine according to the present embodiment, when the main power is turned on and the main program is started, the CPU reads each program in accordance with the instruction signal from the remote controller R, and drives the massage unit 4 and the air pump P according to each program. By doing so, a wide variety of massages comprising a plurality of types of massage can be performed.

  Here, the flow of processing along the main program of the massage machine according to the present embodiment is shown in FIG. When the main power is turned on, as shown in the figure, the massage machine enters a suspend state, which is a so-called standby state with a low power consumption state (step S11), and an operation reception is performed in which an instruction signal is output by operating the remote controller R. (Step S12), the standby state is maintained.

  If it is determined in step S13 that, for example, the mechanical single massage is selected from the selection menu R3 displayed on the display unit R1 of the remote controller R (step S13: YES), the CPU performs the process in step S14. Move to, and perform mecha single course massage.

  On the other hand, when it determines with the mechanism independent massage not being selected in step S13 (step S13: NO), CPU moves a process to step S15.

  In step S15, for example, when it is determined that the air single massage is selected (step S15: YES), the CPU moves the process to step S16 and executes the air single course massage.

  On the other hand, when it determines with air independent massage not being selected in step S15 (step S15: NO), CPU moves a process to step S17.

  In step S17, for example, if it is determined that air & mechanical massage is selected (step S17: YES), the CPU moves the process to step S18 and executes mechanical & air course massage.

  On the other hand, when it determines with mechanical & air massage not being selected in step S17 (step S17: NO), CPU moves a process to step S19 and performs automatic course massage.

  When each course massage in step S14, step S16, step S18, and step S19 ends, the CPU determines whether or not the on / off button R2a of the remote controller R has been turned off (step S20).

  If it is determined in step S20 that the on / off button R2a has been turned off (step S20: YES), the CPU returns the process to step S11, while determining that the on / off button R2a has not been turned off. (Step S20: NO), the process proceeds to Step S21.

  In step S21, the CPU determines whether the time is up (for example, whether 15 minutes have passed). If it is determined that the time is up (step S21: YES), the on / off button R2a is processed in step S20. Similarly, when it is determined that is turned off, the process returns to step S11. On the other hand, when it is determined that the time is not up (step S21: NO), the CPU determines whether or not the main power source is turned off (step S22).

  If it is determined in step S22 that the main power supply has not been turned off (step S22: NO), the process returns to step S20 and waits until the on / off button R2a is turned off or the time is up. On the other hand, if it is determined that the main power source has been turned off (step S22: YES), the CPU ends the main process.

  As described above, the automatic course massage is programmed to perform a massage for 15 minutes by combining various techniques, and various automatic massage programs for executing the automatic course massage are provided. A plurality of ROMs are stored as storage devices according to the embodiment.

  For example, as an example of an automatic massage program, a program called “Zen course” is prepared in the present embodiment. The automatic course massage by this program is different from the conventional automatic course massage, and it aims to reproduce the “between” of the actual practitioners.

  In the past, massage machines intended to reproduce the actions of professional practitioners have been proposed, but it was never assumed that an “interval” would be provided during the massage. However, it was found that this “between” is important in order to reproduce a massage by an actual practitioner.

  That is, in the case where the control unit 6 performs the massage by the “Zen course”, at the end of the unit treatment operation having at least one short program, the kneading balls 50L at the end of the final short program in the unit treatment operation, At the position of 50R, the “between” created by allowing the kneading balls 50L and 50R to stand still for a predetermined time while being in contact with the body of the user is performed as the end operation.

  As described above, in the massage machine according to the present embodiment, not only the treatment part in the treatment by the practitioner and the massage aspect to be applied to the same part can be reproduced, but also the timing of performing the massage aspect on each part can be reproduced. Yes.

  The unit treatment operation in the present embodiment is composed of “light rub” as a cue to start treatment, a series of “procedure groups”, and the above “between”, and the massage mode by such unit treatment operation is treated. An automatic course massage is configured by combining each part (group). The control for executing the massage mode by the unit treatment operation having “light rub”, “procedure group”, and “between” is hereinafter referred to as “target treatment unit processing”.

  Here, the case where the automatic massage program for performing the automatic course of step S19 is read during the process by the main program (FIG. 4) will be described. FIG. 5 shows an example of the operation flow of the automatic course massage (zen course) according to the present embodiment.

  As shown in the figure, first, the CPU executes a treatment position detection process (step S31). Next, the CPU executes a target treatment unit process including a procedure (massage operation) executed according to a short program for a predetermined number of times for each of a plurality of predetermined treatment target parts such as “shoulder” and “waist” ( Step S32). When the predetermined number of target treatment unit processes that have been set in advance are completed, the CPU performs a trimming operation process (step S33).

  This trimming operation process makes the user recognize the end of the massage by the automatic course. Specifically, the hitting operation by the kneading balls 50L and 50R is executed only once. That is, when the final target treatment unit process is completed, the user is clearly aware of the end of the automatic course by tapping the treatment target part for which the target treatment unit process has been performed lightly. is there. In the case of the present embodiment, specifically, since the hitting operation is an alternating operation, the “Toton” and the shoulders on both sides are shifted and hit. Such a trimming operation is one of the important aspects of reproducing a massage by an actual practitioner.

  Here, the target treatment unit process executed in step S32 will be described. As shown in FIG. 6, in the target treatment unit process, the CPU first performs a light rubbing operation on the target portion (step S41). Next, a massage consisting of a series of procedures is executed (step S42), and the process ends with an “interval” (step S43) where there is no massage operation, which is a feature of the massage mode of the present massage machine.

  Then, after this “between” end operation, in order to shift to another operation control, the kneading balls 50L and 50R are drawn toward the initial position. In the present embodiment, the control of the operation of pulling the kneading balls 50L and 50R from the position in the “between” end operation toward the initial position is also included in the other operation control mentioned here. Here, the initial position refers to the position of the kneading balls 50L and 50R in the state in which the treatment element drive unit 5 is most retracted in the forward / backward direction, and at this position, the kneading balls 50L and 50R are most retracted. It becomes a state.

  In the massage machine of the present embodiment, the concept of “between” is as follows. That is, when a series of procedures are completed, the CPU stops at the finished part with the kneading balls 50L and 50R applied to the body. This rest time is set to several seconds (for example, about 3 seconds). In this way, by setting “between” as the end action, the user can feel the reverberation of the massage, and it feels as if it is receiving a massage by an actual practitioner. Can do. Thereafter, the CPU pulls the kneading balls 50L and 50R to a predetermined storage position and moves them to the next part.

  In particular, in the present embodiment, a predetermined rest time as “between” where the kneading balls 50L and 50R rest on the body is matched with the average period of human respiration. Generally, the average period of respiration is said to be about 3 seconds, and in this embodiment, the rest time of the kneading balls 50L and 50R as “between” is set to 3 seconds. In addition, the function which sets the rest time of the kneading balls 50L and 50R as “between” can be provided to the massage machine, and the “between” time can be set according to the breathing cycle of the user.

  In this way, as “between”, it is recognized as “between” which is very natural for the patient by matching with the breathing cycle, which is the rhythm that is the basis of human life. You can experience a massage that is almost the same as the massage mode of the therapist. In particular, it is said that the breathing cycle approximates the so-called ocean wave cycle, which is also called the source of life, and this is the basic rhythm for human life and activity. By providing a combined “between”, a higher massage effect or a higher relaxation effect can be expected.

  In this embodiment, the concept of “between” is the rest time of the massaging balls 50L and 50R, but it is desirable to associate the rest time with the movement time.

  That is, when the motion control for moving the massaging balls 50L, 50R to the next unit treatment operation is necessary after the end operation for stopping the massaging balls 50L, 50R for about 3 seconds while being in contact with the user, the control unit 6 The stationary time in the end operation is determined according to the moving distance of the kneading balls 50L and 50R.

  More specifically, in the case of massage by an automatic course, the treatment location is different for each unit treatment operation in the automatic course (for example, waist, shoulder, back, etc.), and the massaging ball 50L is transferred to the next unit treatment operation. , 50R will move, but if the moving distance is long, the "interval" is shortened according to the length. For example, if the treatment location is the same and the massage mode is different (change from “itching” to “striking”, etc.), “between” is 3 seconds. Save time. With such control, since the sum of “between” and the movement time is substantially constant, the overall rhythm of the automatic course massage does not change, and the comfort of the massage is not impaired.

  Here, the light rubbing process of the target part in step S41 will be described in detail. The “light rubbing motion” is an operation of moving the kneading balls 50L and 50R to a predetermined position and rubbing them for a predetermined time as a cue to start treatment. For example, if the target site is a scapula The massage unit 4 is moved to a position corresponding to the scapula and advanced to a position where the massage unit 4 slightly touches the shoulder blade of the user. Then, within the range of the upper and lower sides and the left and right sides of the scapula, the “rubbing operation” is executed particularly along the line that forms the approximately eight characters inside the scapula.

  This “rubbing motion” is the same as a rubbing massage. For example, while rolling from top to bottom, using the lower side of the fir orbit, the body (back muscles) side to the outside The “striking” operation toward the head is performed. When returning to the center of the body, return to a position slightly below the first stroke and perform the next stroke. Thus, it is preferable to execute a “striking” operation along the scapula line by repeating this while gradually lowering the position and shifting in the lateral direction (the body side direction).

  More specifically, the “striking” operation is as follows.

  First, the CPU adjusts the distance between the kneading balls 50L and 50R to a narrow position as the position of the kneading balls 50L and 50R, and moves the massage unit 4 to the designated vertical position (a). Next, the kneading balls 50L and 50R are projected to the strength position corresponding to “light rubbing” (b). Then, the kneading balls 50L and 50R are lowered by a predetermined distance, and the strength positions are adjusted so that the kneading balls 50L and 50R are reversely rotated in the kneading direction at a very low speed so that there is no protrusion due to the kneading track (c). When returning, the strength position is adjusted so that the strength position is not increased or decreased by the stagnation trajectory while the stagnation drive motor M4 is rotated forward. At that time, the vertical direction is returned to a position lowered by a slight distance from the original position (d). Then, the operations (c) and (d) are repeated (e).

  In addition to “striking”, as an example of the rubbing operation, for example, there is a “side rub” operation. This is because, in the above-described “sliding rubbing”, the kneading balls 50L and 50R are lowered by a predetermined distance in the operation of (c), but the “side sliding” operation is performed without lowering the kneading balls 50L and 50R. Rub around the scapula only with the rubbing trajectory.

  In this way, if the target site is the scapula, by lightly rubbing around the scapula, the user will clearly recognize that massage will be started with the scapula as the target site. Is possible. This is also one of the important aspects of massage reproduction by an actual practitioner.

  Next, treatment position detection processing (FIG. 5: step S31) performed prior to the start of this automatic course massage (“Zen course”) will be described with reference to FIG.

  As shown in FIG. 7, in the treatment position detection process, the CPU first performs a “treatment vertical reference position” that is a reference for the treatment position (step S <b> 51). Next, from the acquired “treatment vertical reference position”, a “part-specific vertical reference position” that is the vertical reference position of each treatment site (for example, neck, shoulder, scapula, back, waist, buttocks) is calculated (step S52). ). Here, the “vertical reference position for each part” is “neck vertical reference position”, “above shoulder / vertical reference position”, “under shoulder / vertical reference position”, “scapular vertical reference position”, “back” The “vertical reference position”, “waist vertical reference position”, and “butt vertical reference position” are set. The “particular vertical reference position” is set with a predetermined coefficient for each part, and is calculated by multiplying the “treatment vertical reference position” by this coefficient. When the calculation is completed, the CPU next detects “front and rear reference positions of each part” (step S53).

  Here, when detecting and determining the “treatment vertical reference position” in step S51, the CPU first determines the temporary position of the shoulder of the user, and the massaging balls 50L and 50R for a certain distance from the determined temporary position. After that, the kneading balls 50L and 50R are lowered until they come into contact with the user, and the positions where the kneading balls 50L and 50R are in contact with the user are detected and set as the upper and lower reference positions. Here, the fixed distance for raising the kneading balls 50L and 50R from the temporary position of the shoulder may be set to 5 cm, for example. This 5 cm is a distance shorter than the neck of an adult, and is a distance that is set so as not to hit the head even if the kneading balls 50L and 50R are raised from the temporary position.

  More specifically, the kneading balls 50L and 50R (massage unit 4) move to a predetermined vertical reference detection start position, and the kneading balls 50L and 50R are pushed out while raising the massage unit 4. Next, the load voltage of the advancing / retreating drive motor M2 is monitored, a point where the load voltage changes below a certain value is detected, and this point is set as a temporary shoulder position. Next, the massage unit 4 is raised and stopped by 5 cm from this temporary position, the kneading balls 50L and 50R are made to protrude most, and the massage unit 4 is lowered from here. Then, the pulse signal of the lift drive motor M1 is monitored, the point where the pulse width changes more than a certain value is detected, or the load signal is monitored, the point where the pulse width changes more than a predetermined threshold is detected, and the detected point is The “treatment vertical reference position” is used.

  In addition, when detecting the temporary position of the shoulder, the start position at which the kneading balls 50L and 50R are projected while being lifted is set at least above the waist and below the shoulder position of the person who has virtually expanded the minimum.

  By the way, in step S52, the “vertical reference position for each part” which is the vertical reference position of the neck, shoulder, scapula, back, waist, buttocks and the like is calculated. Even so, it can be fine-tuned at any time.

  That is, on the steady screen of the remote controller R, for example, a selection menu for fine adjustment is set. When this is operated, the human body image R4 and the treatment element image R5 are schematically shown on the remote controller R as shown in FIG. Is displayed on the display unit R1 including a touch panel. Fine adjustment can be performed at any time by touching and operating the treatment element image R5 with a finger.

  The detection process of “front and rear reference positions of each part” in step S53 is performed in the following procedure. First, the kneading balls 50L and 50R are set to the “normal” state between the kneading balls 50L and 50R at the front and rear storage positions. Next, the kneading balls 50L and 50R are moved to the “treatment vertical reference position” of each part. Then, the kneading balls 50L and 50R are projected toward the body of the user. At this time, if the body is not detected, the standard front-rear position is used. On the other hand, when the body is detected, the position is set as the front-rear reference position in the treatment site.

  As described above, in the massage machine according to the present embodiment, a light rubbing operation is performed as a cue to start treatment, and then a series of treatment operations are started. When the treatment operation is finished, the kneading balls 50L and 50R are The operation is terminated after taking a so-called “interval” of resting for a predetermined time while being in contact with the user. Therefore, the massage from the start to the end of the massage is reproduced with a massage mode that is almost the same as that of the hands of a professional therapist, and sufficient satisfaction can be obtained.

  In addition, the treatment site of the user can be accurately recognized according to the physique of the user, and can be treated accurately.

  In the treatment position detection process, the process flow shown in FIG. 7 may be performed without fail, for example, before starting the automatic course massage, or the detection is omitted for each part. You may make it massage based on the set initial value. Alternatively, the detection process for each part may be performed as necessary at the start of massage for each part, not at the start of massage.

  Hereinafter, the massage unit 4 according to the present embodiment will be specifically described with reference to FIGS.

  As shown in FIGS. 8A to 11B, the massage unit 4 is brought into contact with the body of the user via the surface portion of the backrest portion 2 at the substantially central portion of the unit frame 41 formed in a substantially rectangular shape. A treatment element drive unit 5 having a pair of left and right kneading balls 50L and 50R for performing massage is disposed so as to be movable forward and backward. The unit frame 41 includes a pair of left and right side plates 41L and 41R on which a motor mounting surface having a predetermined width substantially parallel to the left and right width direction of the backrest 2 is formed, and between the upper ends of the left and right side plates 41L and 41R and While connecting between lower end parts, it has the structure which has the connection plates 41a and 41b which bent the center part toward back.

  In this unit frame 41, the treatment element drive unit 5 is disposed so as to be able to advance and retreat toward the front side of the backrest 2 (the side in contact with the user). This treatment element drive unit 5 eccentrically rotates the striking mechanism for performing the striking action by swinging the treatment element composed of the left and right rubbing balls 50L, 50R in the vertical direction and the left and right rubbing balls 50L, 50R, respectively. Thus, a unit casing 55 is provided which is provided with a stagnation mechanism for stagnation.

  An opening 55 a is formed on the front surface of the unit casing 55, and the kneading balls 50 attached to the tip of the treatment element support arm 54 are disposed so as to protrude from the opening 55 a.

  Incidentally, an elevating drive motor M1 for elevating the massage unit 4 itself is attached to the lower part of the left side plate 41L of the unit frame 41. The motor shaft of the elevating drive motor M1 and the elevating shaft 43 extending between the lower portions of the left and right side plates 41L and 41R of the unit frame 41 are connected to each other via a gear box 44 provided with a drive worm or the like. Yes. Reference numerals 45L and 45R denote pinion gears attached to the left and right ends of the elevating shaft 43 projecting outward from the unit frame 41. These pinion gears 45L and 45R are attached to the left and right racks 22L and 22R attached to the backrest part 2, respectively. Meshed (see FIG. 1). Further, as shown in FIG. 8C and FIG. 10, a first encoder E1 for detecting the amount of rotation by which the elevating shaft 43 is rotationally driven by the elevating drive motor M1 is arranged near the left end portion of the elevating shaft 43. (See FIG. 2). In the present embodiment, the first encoder E1 is configured to rotate via the speed reduction mechanism G.

  The massage unit 4 has a pair of left and right guide shafts 46L and 46R rotatably attached to the upper side of the left and right side plates 41L and 41R of the unit frame 41, and the end portions of the guide shafts 46L and 46R are attached to the unit frame 41. Projecting outward, guide rollers 47L and 47R are rotatably attached to the projected portions, and guide rails 23L and 23R having a U-shaped cross section are mounted on the backrest 2 with the guide rollers 47L and 47R. It is slidably inserted inside

  Further, receiving rollers 25L, 25R, 27L, and 27R are provided so as to face the pinion gears 45L and 45R and the guide rollers 47L and 47R. The receiving rollers 25L and 25R and the inner peripheral surface portions of the pinion gears 45L and 45R, and the receiving rollers 27L and 27R and the guide rollers 47L and 47R sandwich the bottom surfaces of the guide rails 23L and 23R in a stable state. The massage unit 4 can be raised and lowered freely.

  Moreover, the left and right racks 22L and 22R attached to the backrest 2 and the pinion gears 45L and 45R meshing therewith, and the guide rollers 47L and 47R rolling on the guide rails 23L and 23R are made of metal or hard. On the other hand, the receiving rollers 25L, 25R, 27L, and 27R are made of deformable soft rubber such as NBR. With such a configuration, as shown in FIGS. 1 and 8, even if the guide rails 23L and 23R are curved, the receiving rollers 25L, 25R, 27L and 27R can be deformed to smoothly follow. Further, since the guide rollers 47L and 47R are not deformed, the positional relationship between the racks 22L and 22R and the pinion gears 45L and 45R is not affected, and there is no possibility that the massage unit 4 may be hindered in raising and lowering.

  The unit casing 55 in which the treatment element drive unit 5 is assembled is swingably attached to the central portion of the lift shaft 43, and can swing in the front-rear direction using the lift shaft 43 as a swing fulcrum. . That is, the kneading balls 50 advance and retreat in the front-rear direction together with the treatment element drive unit 5 by swinging in the front-rear direction.

  An advancing / retreating mechanism for advancing / retreating the unit casing 55 by swinging back and forth in the front / rear direction attaches an advancing / retreating drive motor M2 for advancing / retreating the treatment element drive unit 5 to the upper part on the back side of the right side plate 41R of the unit frame 41 A drive worm or the like is provided on the motor shaft of the forward / backward drive motor M2 and the forward / backward shaft 48 that is rotatably extended in the left-right width direction between the inner upper portions of the left and right side plates 41L, 41R of the unit frame 41. The gear box 49 is linked and linked.

  A pair of left and right pinion gears 52L and 52R are attached to the middle part of the advancing / retreating shaft 48, and a pair of left and right arc-shaped racks 51L and 51R provided on the left and right sides of the treatment element drive unit 5 respectively. Meshing. As shown in FIG. 8C and FIG. 10, a second encoder E2 for detecting the front-rear position is attached at the outer position of the rack 51L so as to be parallel to the rack 51L (see FIG. 2). The pulse count value obtained by the second encoder E2 is used as the front / rear position of the treatment element drive unit 5. In addition, this front-back position also shows the strength of the pressing force to the user of the kneading balls 50. Reference numeral 53 denotes a bearing that rotatably supports the advance / retreat shaft 48.

  Further, a tapping drive motor M3 for tapping the left and right kneading balls 50L and 50R is disposed at the lower left side of the rear portion of the unit casing 55 that is attached to the unit frame 41 so as to be able to move back and forth. A brushless motor is used as the tapping drive motor M3, and the motor shaft 56 is attached in a state of facing leftward. On the other hand, a tapping drive shaft 70 is rotatably attached to the front upper position of the unit casing 55 so as to extend in the left-right width direction (see FIGS. 9 and 13 to 18). Then, as shown in FIG. 10, a tapping drive pulley 57 attached to the tip of the motor shaft 56 and a tapping driven pulley 73 attached to the left side of the tapping drive shaft 70 are connected to the left outer side of the unit casing 55. Are interlocked with a transmission belt 72. The diameter of the driven pulley 73 for hitting is larger than the diameter of the drive pulley 57 for hitting, and the power of the driving motor M3 for hitting is transmitted while being decelerated by the transmission belt 72. The amount of noise is reduced as much as possible.

  Further, as shown in FIG. 13, tapping eccentric rotating bodies 71 </ b> L and 71 </ b> R are provided at the center of the tapping drive shaft 70. The hitting eccentric rotating bodies 71L and 71R are in a state in which the axis of the left hitting eccentric rotating body 71L and the axis of the right hitting eccentric rotating body 71R are vertically offset from the axis of the hitting drive shaft 70. The left and right rubbing balls 50L and 50R are formed so as to be alternately hitting front and rear.

  The treatment element support arms 54L and 54R are interlocked and connected to the eccentric rotating bodies 71L and 71R for hitting via the interlocking arms 9 and 9, respectively.

  In this way, the tapping drive motor M3 composed of a brushless motor, the tapping drive shaft 70 including the tapping eccentric rotating bodies 71L and 71R, and the treatment element support arms 54L and 54R with the kneading balls 50 attached to the tips are provided. The tapping mechanism is configured. The hitting mechanism according to the present embodiment includes a spring 77 that supports the treatment element support arm 54 while urging it in the hitting direction, as shown in FIGS. 15 and 16.

  Further, a stagnation drive motor M4 for squeezing the kneading balls 50L and 50R is provided at the rear lower right position of the unit casing 55. As the drive motor M4 for rubbing, as with the drive motor for hitting M3, this also uses a brushless motor, and is mounted with its motor shaft facing forward. In addition, a stagnation drive shaft 80 is rotatably attached to the unit casing 55 at a position slightly ahead of the tapping drive shaft 70 so as to extend in the left-right width direction (FIGS. 13 to 16). reference). The stagnation drive motor M4 is coupled to the stagnation drive shaft 80 via a gear box (not shown).

  In the central portion of the stagnation drive shaft 80, a stagnation eccentric rotating body 81 is formed (see FIG. 16). As shown in FIG. 13, the eccentric rotating body 81 for stagnation includes a central rotating body 82 in which left and right end faces 82L and 82R each form a tapered surface in opposite directions, and a left and right connected to the left and right of the central rotating body 82, respectively. Side eccentric shaft portions 83L and 83R are provided.

  Then, the left eccentric shaft 83L is fitted through a bearing in a connection hole formed at the approximate center of the left treatment element support arm 54, and the right eccentric shaft 83R is positioned at the approximate center of the right treatment element support arm 54. It fits in the formed connecting hole via a bearing.

  In this way, the stagnation drive motor M4 composed of a brushless motor, the stagnation drive shaft 80 including the stagnation eccentric rotating body 81, and the treatment element support arms 54L and 54R having the scumming balls 50L and 50R attached to the tips. The stagnation mechanism is configured.

  Further, the treatment element support arms 54L and 54R are respectively connected to the proximal end so that the distal end portion to which the kneading balls 50 are attached is expanded outward when the treatment element support arm 54 is disposed on the unit casing 55. The arm main body 54a has a bent portion 54b that is bent outward from the side and further bent forward, and a bearing case portion 54c formed inside the rear half of the bent portion 54b of the arm main body 54a. Yes.

  A spherical seat portion 54d is provided at the rear end portion of the bearing case portion 54c, and a ball joint 78 is formed by the spherical seat portion 54d and a spherical portion 93 formed at the distal end portion of the interlocking arm 9 described in detail later. Has been. That is, the hitting mechanism and the kneading mechanism are interlocked and connected via a universal joint, and the function as this universal joint is constituted by the spherical portion 93 of the interlocking arm 9 and the spherical seat portion 54d of the treatment element support arm 54. The ball joint 78 plays.

  Thus, the distal end of the arm portion 92 of the interlocking arm 9 and the proximal end portion of the treatment element support arm 54 are connected via the ball joint 78, so that the rotational force of the driving shaft 70 for tapping is used to support the treatment element. The ball joint can be reliably transmitted to the arm 54, and even when a force is applied to the interlocking arm 9 in the torsional direction due to the lateral movement of the treatment element support arm 54 due to the rotation of the kneading drive shaft 80. By using 78, a large burden is not imposed on the interlocking arm 9.

  As described above, the massage unit 4 according to the present embodiment includes the treatment element support arm 54 with the massage ball 50 attached to the tip, and the massage drive shaft 80 connected to the middle portion of the treatment element support arm 54. A kneading drive motor M4 linked to the kneading drive shaft 80, a tapping drive shaft 70 linked to the proximal end portion of the treatment element support arm 54 via the linkage arm 9, and a tapping drive shaft 70 linked to the tapping drive shaft 70. It has a configuration provided with a linked driving motor for hitting M3.

  With this configuration, the tapping eccentric mechanism 71, the interlocking arm 9 and the treatment element support arm 54 constitute a tapping link mechanism for interlockingly connecting the tapping drive shaft 70 and the kneading balls 50. The rotating body 81 and the treatment element support arm 54 constitute a stagnation link mechanism for interlockingly connecting the squeezing drive shaft 80 and the squeezing ball 50.

  By the way, the interlocking arm 9 includes a ring portion 91 that is loosely fitted to the driving shaft 70 for hitting, and an arm portion 92 that is connected to the ring portion 91, and the arm portion 92 is connected to the ring portion 91. Elasticity is imparted to the portion 92a.

  As shown in FIGS. 15-18, the ring part 91 and the arm part 92 of the interlocking arm 9 are formed in plate shape by integral molding. The interlocking arm 9 wraps the ring portion 91 of the plate-like arm main body 90 in which the ring portion 91 and the arm portion 92 are continuous with a protective cover portion 94 formed in a substantially ring shape, and the arm portion 92 has a rib on the surface. A reinforcing portion 95 having a 95a is provided.

  In the interlocking arm 9 according to this embodiment, the arm main body 90 is formed of a steel plate, while the protective cover portion 94 and the reinforcing portion 95 are formed of synthetic resin. Then, as shown in FIG. 17, the plate-shaped ring portion 91 is reinforced by covering and reinforcing the plate-shaped ring portion 91 with a protective cover portion 94, and the driving shaft 70 for tapping is fitted through the bearing 96. Disguise. In FIG. 17, reference numeral 97 denotes a bolt that connects the ring portion 91 and the protective cover portion 94, and reference numeral 98 denotes a retaining snap ring attached to the tip of the tapping drive shaft 70.

  The protective cover portion 94 includes a protective piece 94a that protrudes so as to cover the inner surface of the connecting portion 92a of the arm portion 92 with the ring portion 91.

  The reinforcing portion 95 is formed in a plate shape having increased strength by forming ribs 95a extending in the vertical direction on the surface. The reinforcing portion 95 covers from the middle to the tip of the arm portion 92 of the arm body 90. The spherical portion 93 described above is formed in the portion.

  As described above, in the interlocking arm 9 according to this embodiment, the steel plate ring portion 91 is covered with the resin protective cover portion 94 and the steel plate arm portion 92 is covered with the resin reinforcing portion 95. In addition, as shown in FIG. 16, the necessary and sufficient strength can be obtained even though the thickness of the ring portion 91 in the left-right width direction is significantly thinner than the conventional one.

  Further, since the protective piece 94a provided on the protective cover portion 94 abuts on the inner surface of the connecting portion 92a when the interlocking arm 9 is in an upright state, the base end portion of the arm main body 90 has a steel plate. A portion where the arm portion 92 is exposed is formed, and this portion becomes a connecting portion 92a having elasticity such as a leaf spring. Due to the elasticity of the connecting portion 92a, it is possible to release the lateral force out of the three-dimensional force applied to the interlocking arm 9 by bending due to the elasticity.

  That is, in FIG. 16, when the spacing between the left and right rubbing balls 50L, 50R is the widest and the treatment element support arm 54 moves three-dimensionally by the rotation of the rubbing drive shaft 80 having the rubbing eccentric rotating body 81. In addition, the ball joint 78 moves outward from the current position. Due to this movement, when the massage massage operation is performed, a force accompanied by a twist in the lateral direction is applied to the interlocking arm 9. Conventionally, measures have been taken to increase rigidity against such a lateral force. However, in the present embodiment, conversely, the connection portion 92a of the arm portion 92 with the ring portion 91 is bent to be transverse. I try to release the force in the direction.

  More specifically, as shown in FIGS. 13 to 16, in the state where the distance between the kneading balls 50L and 50R is the largest, the position of the ball joint 78 does not move further inward. The interlocking arm 9 is linear without bending (see FIG. 18). However, when the treatment element support arm 54 is driven in a direction in which the interval between the massaging balls 50L and 50R is reduced by the rotation of the massaging drive shaft 80, the position of the ball joint 78 moves outward (left side in FIG. 18). A force is applied to the interlocking arm 9 in the direction of bending outward. At this time, depending on the eccentric state of the hitting eccentric rotating bodies 71L and 71R, a force to bend the base portion of the connecting portion 92a of the interlocking arm 9 so as to protrude inward (right side in FIG. 16). May join. However, since the protective piece 94a protrudes from the protective cover portion 94 so as to cover the inner surface of the connecting portion 92a, the connecting portion 92a of the interlocking arm 9 abuts on the protective piece 94a and further inwards. It is possible to prevent bending. As described above, a complex three-dimensional force may be applied to the interlocking arm 9, but the connection to the interlocking arm 9 is simple with the connecting portion 92 a that functions like a leaf spring and the protective piece 94 a. In particular, since the base portion of the connection portion 92a is not greatly bent inward, it is possible to prevent buckling of the portion.

  As the length of the connecting portion 52a, if it is long, it tends to bend, but there is a risk of deformation. If it is too short, smooth bending may be hindered, and stress may be concentrated to cause damage. Therefore, in the present embodiment, the length of the connecting portion 92a is set to 13 mm. This is the case where the length of the arm portion 92 is 55 mm and the length of the protective piece 94a is 10 mm. From these dimensions, it is found that the length of the connection portion 92a is experimentally 10 to 15 mm. This is because the.

  As described above, the structure of the interlocking arm 9 is simple, lightweight, and downsized. In particular, as shown in FIG. 14, the ring portion 91 on which the driving shaft 70 for hitting can be made extremely thin. The fourth encoder E4 can be attached to the drive shaft 70.

  That is, in the treatment element drive unit 5 according to the present embodiment, as shown in FIG. 14, the stagnation drive motor M4 (see FIGS. 8B, 8C, and 10) is provided at the left end portion of the stagnation drive shaft 80. A third encoder E3 is provided for detecting the amount of rotation of the stagnation drive shaft 80 (see FIG. 2). The third encoder E3 can detect the positions of the left and right rubbing balls 50L and 50R in the left-right width direction, that is, the distance between the left and right rubbing balls 50L and 50R. In addition, about the space | interval of the right and left massaging balls 50L and 50R, when performing a massage, it is possible to perform the setting in three stages of “narrow”, “medium”, and “wide”.

  Furthermore, in the present embodiment, the fourth encoder E4 is provided for detecting the rotation amount of the driving shaft 70 for hitting. The fourth encoder E4 can detect the positions of the left and right rubbing balls 50L and 50R. Here, it is possible to detect three positions when the left kneading balls 50L are in front, when the right kneading balls 50R are in front, and when the left and right kneading balls 50L and 50R are in the same position.

  Further, the tapping drive motor M3 for driving the tapping drive shaft 70 uses a brushless motor, and the positions of the left and right kneading balls 50L and 50R can be detected more accurately by pulse counting using a Hall element. It is possible.

  In this way, the fourth encoder E4 is provided on the tapping drive shaft 70, and the amount of rotation of the tapping drive shaft 70 is detected, and the position of the kneading ball 50 is accurately grasped by counting pulses in the tapping drive motor M3. It is possible to do. Therefore, if the hitting operation is performed while holding the left and right kneading balls 50L and 50R in a state where they are shifted by a certain amount, for example, an unbalanced hitting massage can be realized on the left and right. Further, if one massage ball 50 is located in the forefront and the other is located in the rear, the desired massage on one side can be performed. Furthermore, if this one-sided tapping massage is performed alternately, tapping massage that strikes the left and right shoulders alternately is realized. Also, if massage is performed when one massaging ball 50 is located at the forefront and the other is located at the rear, the massaging ball 50 does not get in the way on the opposite side of the treatment part, and the neck is tilted in this direction. Only the treatment part on one side of the neck can be sufficiently massaged.

  Further, in the massage machine according to the present embodiment, the body shape detection function for detecting the body shape by moving the massage unit 4 up and down while detecting the load current to the massage ball 50 by bringing the massage ball 50 into contact with the back of the user. However, as described above, it is possible to detect the body shape using only one of the left and right massaging balls 50L and 50R. For example, the body shape is detected by the left massaging ball 50L (or the right massaging ball 50R) when ascending, and the body shape is detected by the right massaging ball 50R (or the left massaging ball 50L) when descending. The body shape can be detected more accurately.

  The massage machine according to the present embodiment has the configuration described above. When the user operates the remote controller R, the control unit 6 uses the encoders E1 to E4 to perform massage units according to the operation instruction signals generated by the operation. The drive motors M1 to M4 are driven while detecting the amount of movement of 4 in the vertical direction, the amount of advancement / retraction of the treatment element drive unit 5, the distance between the left and right massaging balls 50L, 50R, and the positions of the left and right massaging balls 50L, 50R. Various massage operations can be performed.

  By the way, in the interlocking arm 9 according to the embodiment described above, the reinforcing portion 95 provided on the arm portion 92 is described as being made of synthetic resin, and the rib 95a is formed on the reinforcing portion 95. However, the arm portion formed in a plate shape is described. The reinforcing portion can also be configured by a flange formed by bending the side end of 92 or / and a rib protruding from the surface of the arm portion 92. In this case, since the strength can be increased only by simple sheet metal processing of the arm portion 92, the processing cost can be further reduced.

  By the way, as described above, the remote controller R as the operation means according to the present embodiment is configured by a so-called touch panel. For example, a desired location or image can be enlarged, but further FIG. As shown in the figure, the human body image R4 and the treatment element image R5 are schematically displayed on the display unit R1 with a pattern or the like, and, for example, by pressing the treatment element image R5 even during a massage, It is also possible to perform fine adjustment of the treatment position and treatment strength. With this configuration, an intuitive operation can be performed, and operability is improved. In FIG. 19, R6 is an operation button image for adjusting the massage intensity, and the treatment intensity can be finely adjusted by operating these operation button images R6 instead of the treatment child image R5.

  In the embodiment described above, the case where the automatic course massage is performed has been described as an example. However, the provision of “between” is not necessarily limited to the automatic course massage. That is, at the end of the massage operation with the kneading balls 50L and 50R, at least the position of the kneading balls 50L and 50R at the end of the massage operation, the kneading balls 50L and 50R are kept stationary for a predetermined time while being in contact with the user. It is good also as control which performs completion | finish operation | movement and transfers to other operation control after that.

  The position of the kneading balls 50L, 50R is the X-axis in the width direction (width direction of the backrest 2), the Y-axis in the front-rear direction (the back-and-forth direction of the kneading balls 50L, 50R), and the height direction (of the kneading balls 50L, 50R). When the Z-axis is the vertical movement direction, the position of the kneading balls 50L and 50R in the end operation (position in the end operation) is the kneading at the end of the massage operation as defined by the X, Y, and Z coordinates. Although it may be fixed at the positions of the balls 50L and 50R, the Y coordinate can be changed.

  Here, the Y-coordinate positions (positions in the forward / backward direction) of the kneading balls 50L and 50R in this embodiment are defined as follows. That is, the position where the kneading balls 50L and 50R are most retracted is the initial position, the position where the kneading balls 50L and 50R are not touching the user is the position closest to the body, and the reference setting position. The position where the kneading balls 50L, 50R advance from the user to the user side by a predetermined distance and start touching the user is defined as the minimum advancing position, and the position where the kneading balls 50L, 50R are most advanced is defined as the maximum advancing position. Furthermore, the position of the kneading balls 50L and 50R just between the minimum advance position and the maximum advance position is set as the intermediate advance position.

  Therefore, in the case where the kneading balls 50L and 50R are located in the range from the minimum advance position to the maximum advance position, the user can obtain a massage effect by pressing force.

  At the time of the end operation, the control unit 6 keeps the position of the kneading balls 50L and 50R in the range from the minimum advance position to the maximum advance position with respect to the Y coordinate, that is, the forward / backward direction, with the X and Z coordinates unchanged. Control is performed to move to a predetermined position and stop for a predetermined time.

  In the present embodiment, it is assumed that the advance positions of the kneading balls 50L and 50R during the “between” control operation are in advance positions smaller than the maximum advance position. The “between” realized in this embodiment is not for maintaining the massage effect, but for the purpose of making the user feel the reverberation of the massage. Therefore, the positions of the kneading balls 50L and 50R during the “between” control operation are It is desirable not to make it the maximum advance position.

  As the position where the kneading balls 50L and 50R are stopped for a predetermined time is closer to the maximum advance position, the reverberation of the massage as “between” can be recognized, and a strong acupressure state of about 3 seconds is realized. It becomes possible to raise.

  On the other hand, if the kneading balls 50L and 50R are moved to a position closer to the minimum advance position and stopped, the pressing force to the user is reduced, and the pressing feeling by the massage becomes weak. The existence of “between” can be recognized more strongly. In particular, when the kneading balls 50L and 50R are kept stationary for a predetermined time at the minimum advancing position, the pressing force becomes the lowest level, and a comfortable massage comparable to a massage by a professional therapist can be realized.

  Furthermore, if the automatic course massage is being performed, the kneading balls 50L and 50R perform a light rubbing operation at a predetermined advance position as a cue to start the unit treatment operation, so that the kneading balls 50L and 50R advance position in the end operation By making the position the same as the advance position in the light rubbing operation, it is possible to recognize that the unit treatment operation from the light rubbing operation to the “between” operation is a series of operations. In particular, if the advancement positions of the kneading balls 50L and 50R in the light rubbing operation and the end operation are both set to the minimum advancement position, the sense obtained by the signal for starting the unit treatment operation and the afterglow of “between” It becomes possible to be closer to a massage by a professional therapist.

  In the present embodiment, the advance positions of the kneading balls 50L and 50R in the light rubbing operation are in the range from the minimum advance position to the intermediate advance position. When the advancing position of the kneading balls 50L and 50R is set to the minimum advancing position, the massage effect obtained by rubbing is reduced, but the sensation recognized as a cue for massage start can be emphasized. In addition, if the massaging balls 50L and 50R are protruded to the user side from the intermediate advance position, the pressing force increases and the massage effect due to rubbing becomes too large, which is not preferable as a signal for starting the massage.

  In the embodiment described above, the control unit 6 keeps the kneading balls 50L and 50R in contact with the user at the position of the kneading balls 50L and 50R at the end of the final short program in the unit treatment operation. The time for the end operation to be stopped, that is, the time for “between” was set to 3 seconds that approximated the average period of respiration. However, this time does not necessarily have to be fixed from the initial stage to the later stage of the automatic course massage.

  The respiratory cycle tends to be longer in a mentally stable state and in a relaxed state. Therefore, it is considered that the breathing cycle of the user becomes longer as the automatic course massage progresses.

  Therefore, the control unit 6 can control the predetermined rest time of the kneading balls 50L and 50R at the end of the short program to be longer in the later stage than in the initial stage of the automatic course massage.

  Conventionally, there is a technique of sending the stimulation speed by massage according to the respiratory cycle. However, if the stimulation speed is slowed down, it is not preferable when it comes to massage. Thus, in the massage machine according to the present embodiment, the massage speed (stimulation speed) is not changed, and “between” is set longer in the later stage than in the initial stage of the automatic course massage.

  By controlling in this way, the timing of “between” corresponds to the breathing of the user, and it feels as if the massage is being received by the actual practitioner from the beginning to the end of the massage. It becomes possible to do.

  In order to determine the “between” timing, for example, a breathing sensor or the like may be provided so that the breathing cycle of the user can be detected.

  Further, in the airbag provided in the massage machine, when the kneading balls 50L and 50R described in the above embodiment are used by the pressing force applied to the user to be actuated by the advance / retreat operation (expansion / contraction operation) of the airbag It is possible to provide the same “between”.

  In particular, if an air bag disposed on the side of the massage unit 4 that contacts the user is used, the “between” effect equivalent to the case of using the kneading balls 50L and 50R can be given to the user. It is. In other words, due to the “interval” realized by the movement of the airbag in the forward / backward direction (expansion / retraction), the treated person may feel the comfort and reverberation of the massage as if he / she was receiving a massage by an actual practitioner. it can. In this case, the airbag is regarded as a treatment element, and the operation of the airbag in the forward / backward / rearward direction (expansion / retraction operation) corresponds to the operation in the forward / backward / backward direction of the kneading balls 50L and 50R.

  More specifically, when a series of massaging operations is completed, the CPU controls the air pump P to maintain the airbag at a predetermined position (inflated position) for a few seconds (for example, about 3 seconds), and take time. . Thereafter, the CPU controls the air pump P to exhaust a predetermined amount of air from the airbag, and shifts to the next operation control.

  Here, when the airbag provided in the massage unit 4 is used as a treatment element, the definition of the position (inflation position) of the airbag in the front-rear direction is as follows. That is, the position where the airbag is most contracted is the initial position, the position of the airbag that is most inflated in the range where the pressing force does not act on the user is the reference advance position, and the air pump P is placed in the airbag at the reference advance position. A fixed amount of air is supplied to inflate the airbag, and the position where the pressing force starts to act on the user is defined as the minimum advance position, and the position where the airbag is most advanced (inflated) is defined as the maximum advance position. Further, an intermediate airbag position is set at an intermediate position between the minimum advance position and the maximum advance position. The advancement / retraction (inflation / deflation) of the airbag is realized by adjusting the amount of air supplied from the air pump P controlled by the CPU.

  In addition, although it is possible to provide "between" by the advance / retreat operation (inflating / contracting operation) of the airbag alone provided in the massage unit 4, the kneading balls 50L, 50R and the advance / retreat operation of the airbag are linked to each other, The effect of “between” can be further enhanced, and the afterglow and comfort of massage can be further enhanced.

  From the embodiment described above, the following massage machine is realized.

  Massage treatment is performed by controlling the operation of the treatment element (the massaging balls 50L, 50R or the airbag) disposed so as to be in contact with the user (user) and the treatment element (the massaging balls 50L, 50R or the airbag). A control unit 6 (control means) that executes the control unit 6 (control unit), at the end of the massage operation by the treatment element (the kneading balls 50L, 50R or the airbag), at least at the end of the massage operation At the position of the treatment element (the massaging balls 50L, 50R or the airbag), an end operation is performed to stop the treatment element (the massaging balls 50L, 50R or the airbag) for a predetermined time while being in contact with the user. Massage machine that shifts to motion control.

  According to such a masser machine, it is possible to experience a natural feeling as if by a hand of a person (specialist) as a massage operation.

  In the above configuration, a ROM (storage means) for storing one or more automatic massage programs configured by combining a plurality of short programs for performing massage is provided, and a treatment element (a massaging ball 50L, 50R or an airbag). Is provided in a massage unit 4 which is disposed so as to be movable up and down in a backrest portion 2 disposed in a rear portion of a seat portion 1 on which a user (user) sits, and a control portion 6 (control means). When performing massage by an automatic course based on an automatic massage program stored in a ROM (storage means), at the end of the unit treatment operation having a massage operation based on at least one short program, the final in the unit treatment operation Treatment at the end of the massage operation At the position of) the treating element (massaging balls 50L, 50R or massage machine performs termination operation to stationary predetermined time while in contact with the treated person air bag).

  According to such a massage machine, although it is a machine, it is possible to experience a massage comparable to a massage by a professional therapist.

  The said structure WHEREIN: The control part 6 (control means) is a massage machine which set the advance position of the treatment element at the time of completion | finish operation to the advance position smaller than the maximum advance position.

  According to such a massage machine, it is possible to make the user feel the afterglow of the massage during the end operation.

  In the above-described configuration, the movement of the treatment element (the kneading balls 50L, 50R or the airbag) is performed after the end operation of stopping the treatment element (the kneading balls 50L, 50R or the airbag) for a predetermined time while being in contact with the user. When the control is performed, the control unit 6 (control unit) is a massage machine that determines the stationary time in the end operation according to the moving distance of the treatment element (the kneading balls 50L, 50R or the airbag).

  According to such a masser machine, since the sum of “between” (resting time in the end operation) and moving time is substantially constant, the overall rhythm of the automatic course massage does not change, and the comfort of the massage is impaired. I can't.

  In the above configuration, the control unit 6 (control means) sets the predetermined rest time of the treatment element (the kneading balls 50L, 50R or the airbag) at the end of the short program to a later stage than the initial massage stage by the automatic course. Long set massage machine.

  According to such a massage machine, the timing of “between” (resting time in the end operation) corresponds to the breathing of the user, and it is as if the massage is being received by the actual practitioner from the beginning to the end of the massage. It is possible to maintain such comfort.

  In the above configuration, when performing massage by an automatic course, the control unit 6 (control means) moves the treatment element (the kneading balls 50L, 50R) to the advance position smaller than the intermediate advance position as a cue to start the unit treatment operation. A massage machine that performs a light rubbing operation that advances and rubs for a predetermined time, and executes a unit treatment operation after the light rubbing operation is completed.

  According to such a massage machine, it is possible to experience a more comfortable massage that is comparable to a massage by a professional therapist in spite of a series of massages by a machine.

  The said structure WHEREIN: The control part 6 (control means) is a massage machine which performs the hit | damage operation | movement by the treatment element (Kuruma balls 50L and 50R) only once as a cue to end the massage by the automatic course.

  According to such a massage machine, it can be brought closer to a massage by a professional therapist.

  In the above configuration, the control unit 6 (control unit) detects the vertical reference position as a reference in the vertical direction of the treatment position in advance when performing massage by the automatic course, and performs the massage based on the detected vertical reference position. Massage machine.

  According to such a configuration, it is possible to accurately recognize and treat the treatment site of the user according to the physique of the user.

  In the above configuration, when determining the vertical reference position, the control unit 6 (control means) determines the temporary position of the shoulder of the user, raises the treatment element by a certain distance from the determined temporary position, and then performs treatment A massage machine that lowers the child until it comes into contact with the user and detects the position at which the child comes into contact with the user and sets it as the upper and lower reference position.

  With this configuration, the vertical reference position can be determined more accurately, and the above effects can be further enhanced.

  The said structure WHEREIN: The control part 6 (control means) is a massage machine which calculates and determines the treatment position other than a shoulder based on the detected up-and-down reference position.

  According to this configuration, the treatment position can be determined quickly and easily, and a smooth massage is realized.

  In the above configuration, a remote control R (operation means) having a touch panel on which a human body image R4 and a treatment element image R5 are schematically displayed is provided, and a treatment position and a treatment position are determined by pressing the treatment element image during massage. A massage machine that allows fine adjustment of treatment intensity.

  According to such a configuration, an intuitive operation can be performed, and the operability is improved.

  Although the embodiments of the present invention have been described in detail with reference to the drawings, these are merely examples, and various modifications and improvements can be made based on the knowledge of those skilled in the art, including the aspects described in the summary section of the invention. It is possible to implement this invention in the other form which gave.

DESCRIPTION OF SYMBOLS 1 Seat part 2 Backrest part 4 Massage unit 5 Therapeutic element drive unit 6 Control part 50L, 50R A massage ball (treatment element)
R Remote control (operating means)
R4 Human body image R5 Therapeutic child image

Claims (3)

A treatment element is provided in a massage unit disposed in a vertically movable manner in a backrest portion disposed at a rear portion of a seat portion on which a user is seated. A control unit that performs a massage operation by the treatment element executed according to a short program, and the control unit raises the treatment element at the start of massage for each treatment target site , A massage machine, wherein the massage machine is lowered until it comes into contact, detects the position in contact with the user as a vertical reference position, and performs treatment position detection processing for calculating a site-specific vertical reference position from the vertical reference position . In the detection process, when the treatment element is moved to the site-specific vertical reference position, the kneading balls are protruded toward the body of the user, and the body is detected, the position is referred to as the front-rear reference position in the treatment target site. the massage machine according to claim 1, characterized in that. The massage machine according to claim 1, wherein a light rubbing operation is performed on the treatment target region before the massage operation for each treatment target region is performed .

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