JP6247445B2 - Massage machine - Google Patents

Description

  The present invention relates to a chair-type massage machine that treats a user who sits on a seat and leans on a backrest.

  The “up and down” and “front and back” directions in the backrest of the present invention are handled as follows. First, the direction in which the backrest portion is thick is defined as the “front-rear” direction, and the side facing the user and supporting it is defined as the “front” side. Then, along the front surface of the backrest portion, the direction from the user's head support portion to the waist support portion in the backrest portion is defined as the “up and down” direction, and the head side is defined as the “upper” side.

A chair-type massage machine that performs massage while supporting the body of the user uses the massage balls (air treatment elements) and air cells as the treatment mechanism, such as the shoulder, back, waist, etc. of the user's back It is supposed that treatment is performed mainly on the part. In such a massage machine, the body shape of the user is automatically detected before or during treatment so that the treatment corresponding to each user can be performed, and the operating state of the treatment mechanism is adjusted according to the detected body shape. Thus, there has been proposed an apparatus that can perform treatment suitable for each user who uses a massage machine.
An example of a conventional massage machine that can detect the body shape of a user and perform treatment based on the body shape is disclosed in Japanese Patent Laid-Open No. 2002-369851.

  In addition, a massage machine that detects the sitting posture of a user before treatment and performs treatment corresponding to the sitting posture only when the user is properly seated has been proposed. An example of a conventional massage machine that can detect the quality of the sitting posture of the user is disclosed in Japanese Patent Application Laid-Open No. 2009-89872.

JP 2002-369851 A JP 2009-89872 A

  The conventional massage machine is configured as described in each of the above patent documents, and can detect the body shape and the sitting posture prior to treatment, and can accurately perform treatment in the range where the body of the user is present. In particular, the device described in Patent Document 1 is superior in terms of imparting a relaxed state by eliminating body waiting time by performing body shape detection at the same time as massage, but for the sake of accuracy from the beginning of treatment. When applied to body shape detection prior to massage, the massaging balls are moved upward from the bottom and the massaging balls are advanced and retracted at multiple locations from the waist position to the shoulder position of the user to obtain positional information on the body surface. Since the series of body type detection processes for each acquired detection operation takes a long time, it causes the patient to wait and may have an adverse effect on the relaxed state of the user. Which was.

  By the way, in the case of a general massage machine having a chair structure in which the backrest portion is adjustable in inclination angle with respect to the seat portion, the backrest portion and the seat portion are relatively tilted relative to each other while appropriately supporting the user. While the structure is realized, it is difficult to adopt a structure in which the backrest surface and the seating surface are one continuous surface. Therefore, the backrest surface and the seating surface are usually separate surfaces.

  And the boundary part between the backrest surface and the seating surface intersects with each other to form an inner corner shape, so that the user receives the buttocks and thighs on the seating surface in a normal state with respect to the massage machine When seated, the user's buttocks may have a gently curved surface, and the user's buttocks may be brought into contact with the seat surface near the seat back end and the seat back near the seat back end. It is difficult to fill the corner portion with a heel portion without a gap, and it is usually inevitable that a gap is formed between the lower end portion of the backrest surface and the user.

  Considering these points, the technical contents described in Patent Document 2 that determine whether or not the seating posture is appropriate based only on the presence or absence of contact between the lower portion of the backrest portion and the user, When the user is seated shallowly on the seating surface, the patient is still in contact with the lower end of the backrest surface, not only when the user sits shallowly on the seating surface, but also when seated deeply so as to be in an appropriate seating state. Therefore, there is a problem that it is difficult to appropriately detect the sitting posture, for example, it may be erroneously determined that the seating posture is not appropriate.

  In addition, in the case of the sitting posture determination described in Patent Document 2, the sensor continues whether or not the user is in contact with the backrest after detecting the backrest contact of the user at the lower limit position. The problem is that it is necessary to move up to at least the shoulder position while detecting automatically, and it takes a long time to determine the sitting posture, which may cause the patient's relaxed state to be adversely affected. Had.

  The present invention was made in order to solve the above-mentioned problems, and grasps the seating state of the user prior to treatment and the positional relationship between the treatment target portions with a minimum operation time without reducing accuracy, An object of the present invention is to provide a massage machine that enables appropriate treatment without impairing the relaxed state of the user.

  A massage machine disclosed by the present invention includes a seat portion on which a user is seated, a backrest portion that supports the back of the user, and a treatment mechanism that is incorporated in the backrest portion and performs treatment to the user. In a chair-type massage machine comprising at least a backrest part, it is possible to move back and forth and up and down within the backrest part, and has at least a detector disposed inside the backrest part, and a predetermined location on the body of the user prior to treatment A position detection unit that detects a position of the seat and a control unit that controls at least the position detection by the position detection unit. The position detection unit detects a seating position by a predetermined distance from a seating surface of the seat in the backrest part. The detector is moved forward while the detector is positioned at a predetermined position in the upper region facing the buttocks of the user who is seated, and the control unit moves the detector forward. When the detector is in a state of pressing the user within the movable range of the movement and is prevented from further forward movement and stopped, it is determined that the user is in an appropriate sitting state, while detection If the detector moves to the position where the child can move forward without pressing the user, it is determined that the user is not properly seated, and the control unit If it is determined that the user is in an appropriate sitting state, the detector of the position detection unit is moved rearward and once separated from the user, then moved upward by a predetermined distance within the backrest unit, and the position detection unit is further covered. The shoulder position detection of the user is executed, and based on the information on the obtained shoulder position and the information on the relative positional relationship between each treatment target location and the shoulder of a general person set in advance, Newly calculated and defined the vertical position of each treatment target location It is intended to.

  Thus, according to the disclosure of the present invention, the position detector that can detect the position of the seated user's body is provided, and the detector of the position detector is placed in front of the body rear surface near the seat surface of the user. When the detected detector presses the user, the control unit determines that the seat is in an appropriate seating state and shifts to shoulder position detection. Based on the obtained shoulder position, the detected position is detected. In the case of a general chair structure in which the backrest part can be tilted with respect to the seat part by determining the vertical position of each treatment target location on the back of the user's body and using it as a reference for treatment, Even if there is a gap between the back of the body and the backrest in the vicinity of the seating surface of the user while seated correctly while leaning, it is possible to press the back of the body of the user with the detector that moves back and forth. If the patient is within the appropriate range, As in the seating state, the subsequent processing of the shoulder position detection, and the like smoothly be executed, can grasp firmly seated posture without problems. In addition, the detection of the shoulder position using the detector is performed above the seating position detection position, and the detection is performed on the user by the amount that is not accompanied by the upward movement of the detector along the rear surface portion. The body shape detection work time due to the approaching and pressing of the child can be omitted, and the position definition of each treatment target location of the user required for treatment can be completed in a shorter time, and the waiting time until treatment can be reduced. Each treatment target can be set appropriately so that the treatment person's transition to the relaxed state is not hindered, and the treatment target portion of the back of the body corresponding to the sitting posture of the treatment person can be appropriately set based on the detected shoulder position. Treatment can be executed correctly.

  In addition, the massage machine disclosed in the present invention can adjust the inclination angle with respect to the horizontal plane by tilting as necessary, and the control unit controls the tilting of the seat, as necessary. After starting the massage machine, the inclination angle of the seat with respect to the horizontal plane is acquired, and the inclination angle is greater than a predetermined minimum angle set in advance as a minimum inclination angle that can stably hold the user on the seat. In the case of being small, the seat is tilted so that the tilt angle is set to a predetermined angle equal to or greater than the minimum angle, and then the position detector is shifted to the seating position detection state.

  As described above, according to the disclosure of the present invention, the seat can be tilted, and before the seating position is detected, the control unit acquires the tilt angle of the seat and the tilt angle of the seat is minimized. If the angle is less than the angle, the seat is first tilted to a minimum angle or more, and the seat position is detected with the seat angle always being equal to or greater than the minimum angle. The patient's posture is likely to shift and the seating position is difficult to determine. The seating position can be detected reliably, and the seating position can be accurately detected and the suitability of the seating can be accurately determined without incurring changes in the seating posture and associated detection conditions at each detection opportunity. Accurate detection Execution can, to more accurately define the vertical position of the treatment target portion of the user can be performed efficiently treatment suitable for treated person.

  In addition, the massage machine disclosed in the present invention is detected after the position detector detects a position of the detector at an intermediate position in the vertical direction of the backrest or at a predetermined position above the backrest, as necessary, as the shoulder position detection. The child is moved forward to approach the back side of the body of the user, and the detector is moved upward while pushing the back of the body with the detector to continue to move forward. In a state in which the detector that moves to the front side is disengaged from the upper edge of the rear part of the body and can be moved forward without being restrained by the body, and a predetermined speed change and / or a predetermined speed associated with the forward movement of the detector When a change in position is detected, the detector position at that time is recognized as a shoulder position.

  As described above, according to the disclosure of the present invention, when the detector reaches the shoulder while the detector is raised against the body rear surface portion of the user, the obstacle related to the forward movement of the detector is eliminated and the detector is pushed. The driving force that moves forward to the detector using the point where the detected detector moves forward without resistance for shoulder position detection, with the intermediate position in the vertical direction of the backrest or a predetermined position above the start position as the start position The patient is placed on the backrest by performing a series of shoulder position detections that determine the shoulder position based on the change related to the forward movement of the detector that has reached the upper side of the shoulder. In the case of a general physique where the user is positioned in the range of the backrest in the correct sitting state, the shoulder position can be detected accurately, and the user's position based on the correct shoulder position can be detected. Each treatment target area on the back of the body is precisely A well defined, the treatment to these locations can be appropriately executed. In addition, the movement of the detector accompanying the pressing of the user for detecting the shoulder position starts from the upper or lower intermediate position of the backrest part, or above, and moves the detector along the back of the body of the user when detecting the shoulder position. In addition to minimizing the interval, the distance between the position near the seat surface where the seating position is detected and the position where the shoulder position detection starts is only to be quickly moved upward while keeping the detector away from the user. The shift to the shoulder position detection after the position detection and the execution time of the shoulder position detection itself can be shortened, so that the treatment of the user can be performed quickly, and the treatment can be further promoted to the relaxed state by the treatment. .

  In addition, the massage machine disclosed in the present invention is, as necessary, part of the treatment target portion of the offset amount in the front-rear direction related to the displacement of the treatment mechanism, which is set in advance for each treatment target portion of the user. With respect to the offset amount, the control unit adjusts the position in the front-rear direction based on the amount of movement until the detector at the time of detection of the seating position presses and stops the seated user to be treated. An offset amount corresponding to the seating posture of the person is newly set.

  Thus, according to the disclosure of the present invention, in the case of a general chair structure in which the backrest portion can be tilted with respect to the seat portion, the seat surface of the user is seated while the user is seated while leaning against the backrest portion. The size of the gap between the back of the body and the backrest in the vicinity varies depending on the physique and sitting posture of the user.The larger the user's body or the more the sitting posture, the more The distance between the back part of the body and the backrest in the vicinity of the surface increases, such as the position in the front-rear direction of each part of the body's rear surface determined by the physique and sitting posture and the size of the gap. Based on the knowledge of the applicant, the amount of forward movement of the detector at the time of sitting position detection corresponding to the size of this gap is acquired, and the displacement of the treatment mechanism for each treatment target location is obtained. Set the amount of offset in the front-rear direction in advance By adjusting from the determined initial value based on the amount of movement of the detector, the new offset amount obtained by the adjustment corresponds to the physique and sitting posture of the user, and the sitting state It can be set to an optimal value for the user, can perform treatment more adapted to the actual user on the massage machine, and can perform effective treatment according to each user to be used.

  The massage machine disclosed in the present invention, if necessary, once the shoulder position is determined by the shoulder position detection, the position detection unit maintains the position of the detector when the shoulder position is determined as it is for a predetermined time, When the shoulder position is determined, at least a notification means for notifying the user of the end of shoulder position detection, an instruction to reset the shoulder position by the user, and an instruction to move the detector up and down after the reset instruction And an input means for receiving at least each input operation for determining the shoulder position, and when the control section receives an operation for resetting the shoulder position by the input means, the detector of the position detection section is moved backward. And then moved to the upper limit position of the backrest, and then moved the detector forward by a predetermined distance to protrude forward from the back of the body of the user, The control unit is the user Based on the operation of moving the detector to the input means, the detector is moved in the vertical direction, and the operation of determining the position of the detector displaced by the movement as the shoulder position by the user is newly applied to the input means. If done, the position of the detector at the time of operation is set to a new shoulder position.

  Thus, according to the disclosure of the present invention, when the shoulder position is determined by the shoulder position detection, the position of the detector is left as it is for a while so that the determined shoulder position is indicated by the detector, and the end of the shoulder position detection is terminated. When the user who has received the notification inputs an instruction to reset the shoulder position through the input means, the control unit separates the detector from the user, and then the upper limit of the backrest portion. By moving to the position, and then moving the detector in the vertical direction based on the operation of the user to adjust the position, finally receiving the determination operation of the user to set a new shoulder position, The user who received the notification from the notification means understands that the fixed shoulder position is the position of the detector, and the position of the detector is not the appropriate shoulder position and the position of the detector is the shoulder position. If you do not wish to receive treatment, In response to an input operation to the user's input means, the control unit newly sets the shoulder position, and the position of the detector moved based on the operation of the user is determined by the user who recognized the shoulder position. If a new true shoulder position is set through the shoulder position determination operation, the position that is more easily convinced as a suitable shoulder position for the user becomes the shoulder position, and the user is dissatisfied with the shoulder position setting. It is possible to improve the satisfaction level of the user by resolving it, and to ensure the transition of the user to the relaxed state due to the treatment, and also based on the accurate shoulder position determined by the user himself / herself Each treatment target location can be correctly defined, and appropriate treatment can be performed on each treatment target location to enhance the treatment effect.

1 is a perspective view of a massage machine according to a first embodiment of the present invention. It is a block diagram of the massage machine concerning a 1st embodiment of the present invention. It is seat part tilting state explanatory drawing from the starting time of the massage machine which concerns on the 1st Embodiment of this invention. It is a flowchart of the control processing from the power activation in the massage machine which concerns on the 1st Embodiment of this invention to the state just before a shoulder position detection. It is a flowchart of a control process of shoulder position detection and treatment start preparation in the massage machine according to the first embodiment of the present invention. It is a display state explanatory drawing during position detection execution in the display part in the operation part of the massage machine concerning a 1st embodiment of the present invention. It is seating position detection state explanatory drawing in the massage machine which concerns on the 1st Embodiment of this invention. It is seating position detection error display state explanatory drawing in the display part in the operation part of the massage machine which concerns on the 1st Embodiment of this invention. It is a treatment element movement state explanatory view at the time of the shoulder position detection shift in the massage machine concerning a 1st embodiment of the present invention. It is a shoulder position detection state explanatory view in the massage machine concerning a 1st embodiment of the present invention. It is a shoulder position detection completion | finish display state explanatory drawing in the display part in the operation part of the massage machine which concerns on the 1st Embodiment of this invention. It is a treatment element movement state explanatory view at the time of shoulder position reset in the massage machine concerning a 1st embodiment of the present invention. It is display state explanatory drawing of each switch for shoulder position reset in the display part in the operation part of the massage machine which concerns on the 1st Embodiment of this invention. It is a treatment element movement state explanatory view at the time of other shoulder position reset in the massage machine concerning a 1st embodiment of the present invention. It is offset amount adjustment state explanatory drawing based on the difference in the physique of the user in the massage machine which concerns on the 2nd Embodiment of this invention. It is offset amount adjustment state explanatory drawing based on the difference in the seating posture of the user in the massage machine which concerns on the 2nd Embodiment of this invention. It is each part tilt state explanatory drawing from the starting time at the time of the 1st position selection in the massage machine concerning a 3rd embodiment of the present invention. It is each part tilting state explanatory drawing from the starting time at the time of the 2nd position selection in the massage machine concerning a 3rd embodiment of the present invention.

(First embodiment of the present invention)
Hereinafter, a massage machine according to a first embodiment of the present invention will be described with reference to FIGS.
In each of the drawings, the massage machine 1 according to the present embodiment is a chair-like body that supports a seated user, and in detail, is a base that is placed on the floor and stably supports the entire chair. Part 11, a seat part 12 that supports the user's buttocks above the base part 11, a backrest part 13 that supports the user's back on the back side of the seat part 12, and both left and right sides of the seat part 12 The armrest 14 that supports the elbow and forearm of the user, the leg support 15 that supports the leg of the user on the front side of the seat 12, and the operation unit 30 that receives various operation inputs related to the massage operation. It is the structure provided with the control part 40 which controls the operation | movement which concerns on the treatment by the some treatment mechanism currently performed based on content, such as operation input and recorded information.

  The base 11 is configured to integrally support the seat 12, the backrest 13, the armrest 14, and the leg support 15 that constitute each part of the chair. The seat portion 12 is attached to the base portion 11 so that the inclination angle of the seat surface can be adjusted, and massage is performed by a built-in treatment mechanism while supporting the user's buttocks and thighs on the seat surface. To do. As a treatment mechanism of this seat part 12, it is the structure provided with the air cell 71 for hips which operate | moves by supply and discharge of air, and the air cell 72 for thighs. An air pump 70 that operates these air cells by supplying and discharging air is disposed in a space below the seat portion 12. Further, an actuator (not shown) for tilting the seat portion 12 is disposed between the seat portion 12 and the base portion 11.

  The backrest portion 13 has a surface shape that matches the shape of the human back and is arranged so that the inclination angle can be adjusted with respect to the base portion 11 and the seat portion 12, and a treatment mechanism for performing massage is provided therein. It is the composition provided.

  Inside the backrest 13, while supporting a mechanical unit 50 in which a pair of left and right treatment elements 51 and a drive mechanism 60 for operating the same are integrated, and supporting the mechanical unit 50 movably in the vertical direction of the backrest 13, A frame-like backrest frame 13 a that supports each part of the backrest from the inside, and a back air cell 73 and a waist air cell 74 that are operated by supplying and discharging air by the air pump 70 are provided. Of these, the mechanical unit 50, the back air cell 73, and the waist air cell 74 each constitute a treatment mechanism for performing massage.

  In addition, a pair of side wall portions provided with a treatment mechanism such as an air cell on the inner surface facing the user is provided on both the left and right sides of the backrest portion 13 so as to protrude from the upper arm of the user. You can also make it possible to massage from the side.

  The backrest frame 13a hangs a plurality of horizontal frames in a horizontal direction between a pair of left and right guide frames 20 that allow the mechanical unit 50 to move in the vertical direction of the backrest 13 and restrain the movement in the other direction. It is handed over and connected together to form a substantially ladder-like frame structure. An actuator (not shown) for tilting the backrest 13 is disposed between the backrest frame 13 a and the seat 12 or the base 11.

  The mechanical unit 50 includes a pair of left and right treatment elements 51 for giving a stimulus to the user such as squeezing and striking, a pair of left and right treatment element support arms 52 for supporting the treatment elements 51 in a protruding state, and the treatment element. The treatment element 51 is squeezed via the support arm 52, and the drive mechanism 60 is driven in response to a massage operation such as hitting, and the drive mechanism 60 is tiltably supported around an axis perpendicular to the vertical direction of the backrest. The base portion 54 is provided.

  The drive mechanism section 60 strikes the treatment element 51 based on the control of the control section 40 and the stagnation motor 62 that generates a driving force for causing the treatment element 51 to perform the stagnation operation based on the control of the control section 40. A hitting motor 64 for generating a driving force for performing the movement, and a kneading mechanism and a hitting mechanism (not shown) that transmit the motion from each motor to the treatment element 51 via the treatment element support arm 52. This mechanism is the same as that used in the massage machine, and will not be described in detail.

  The base portion 54 supports the drive mechanism portion 60 so as to be tiltable. In addition, based on the control of the control portion 40, a lift motor 57 that generates a drive force for lifting the mechanical unit, and a drive mechanism portion. And an advancing / retracting motor 58 for generating a driving force for tilting 60.

  The mechanical unit 50 is arranged in a state of being sandwiched between the guide frames 20 by supporting the side end portions of the base portion 54 on the pair of guide frames 20 so as to be able to run up and down, and the mechanical unit 50 as a whole along the guide frames 20. This configuration is movable. Then, based on the control by the control unit 40, the lifting motor 57 is actuated so that the base unit 54 travels along the guide frame 20, so that the entire mechanical unit 50 including the base unit 54 extends along the guide frame 20. This is a mechanism that moves up and down the backrest portion 13 so that the position of the treatment element 51 in the backrest portion 13 can be changed up and down.

  The mechanical unit 50 moves up and down the backrest 13 as described above under the control of the control unit 40 according to the set massage content, and adjusts the vertical position of the treatment element 51 and advances and retreats. The amount of protrusion of the treatment element 51 toward the user is adjusted by the tilting of the treatment element 51 and the drive mechanism 60 by the operation of the motor 58, and the treatment element 51 is positioned at the massage target location. After the treatment element 51 is moved or in parallel with the movement of the treatment element 51, the control unit 40 activates the motor for the kneading and hitting of the drive mechanism unit 60 in the mechanical unit 50 according to the type of massage, The movement corresponding to the massage such as itchiness or beating set in the treatment element 51 is performed.

  The mechanical unit 50 also serves as a position detection unit that detects the position of the main part of the body rear surface of the user, and the treatment element 51 as a treatment element operates as a detection element. When the entire mechanical unit 50 moves up and down the backrest 13 under the control of the control unit 40, the position of the treatment element 51 as a detector can be changed up and down. 51 and the drive mechanism 60 tilt, the amount of protrusion of the treatment element 51 toward the user is changed, that is, the treatment element 51 is moved in the back-and-forth direction of the backrest, and the patient is treated by the treatment element 51 of the detector. It is a mechanism that can detect a predetermined part of the back of the body.

  More specifically, under the control of the control unit 40, the mechanical unit 50 places the treatment element 51 on the buttocks of the user who is in a seated state, a predetermined distance above the seating surface of the seat 12 in the backrest 13. While being positioned at a predetermined position in the facing region, the treatment element 51 is moved forward to detect the sitting position. Further, when it is determined that the user is in an appropriate seating state by the detection of the sitting position, the mechanical unit 50 moves the treatment element 51 rearward to once separate from the user, and then within the backrest 13. By moving upward, the treatment element 51 is positioned at an intermediate position in the vertical direction of the backrest 13 or a predetermined position above the backrest portion 13, which is a lower limit position of a shoulder position detection range described later.

  Further, the mechanical unit 50 moves the treatment element 51 forward from the lower limit position of the shoulder position detection range so as to approach the body rear surface portion of the user and continues to move forward with the treatment element 51. While pressing the part, the control unit 51 moves upward together with the treatment element 51, and the treatment element 51 that moves upward is disengaged from the upper edge of the body rear surface part and can move forward without being restrained by the body. 40 performs a series of shoulder position detection from the predetermined change accompanying the forward movement of the treatment element 51 until the shoulder position is recognized.

  Then, after the shoulder position is recognized by the control unit 40, the advance / retreat motor 58 obtains information on the shoulder position and information on the relative positional relationship between each treatment target location of the user and the shoulder set in advance. The vertical position of each treatment target location of the actual user defined based on the above and the front-rear direction related to the displacement of the treatment mechanism 51 at the time of treatment, that is, preset for each treatment treatment target location. By controlling the control unit 40 based on information such as the offset amount, the drive mechanism 60 is tilted by changing the driving state, the treatment element 51 is advanced and retracted, and the protrusion amount of the treatment element 51 with respect to the user is adjusted, The optimal treatment can be provided for each user.

  The armrests 14 are disposed on both sides of the seat 12 and are configured to stably support the forearm of the user even when the backrest 13 changes the reclining angle or the seat 12 tilts. This is a configuration. The armrest portion 14 may also be configured such that an air cell that operates by supplying and discharging air by the air pump 70 can be provided to massage the forearm portion of the user.

  The said leg support part 15 is located in the front side of the seat part 12, and is arrange | positioned so that inclination is possible centering | focusing on the vicinity of the front end of the seat part 12. FIG. A treatment mechanism such as a leg air cell that operates by supplying and discharging air by the air pump 70 and a roller that presses the leg while moving up and down may also be provided in the leg support portion 15. An actuator (not shown) for tilting the leg support 15 is disposed between the leg support 15 and the backrest 13 or the base 11.

  The operation unit 30 includes a display unit 31 that displays various information related to the massage machine as a screen, and a plurality of switches 32 that accept various operation inputs to the massage machine, and is detachable from the stand 33 on the side of the massage machine 1. The operation input related to the massage is transmitted to the control unit 40, and the display information sent from the control unit 40 is received and displayed on the display unit 31 as necessary. Note that the position of the stand 33 can be adjusted so that the position of the operation unit 30 is the optimum position for the user.

  In this operation unit 30, the display unit 31 as notification means for notifying the user of information also serves as a switch for receiving various operation inputs to the massage machine, and a predetermined switch displayed on the display unit 31. This is a mechanism that displays so-called touch panel type screen switches 31a, ..., 31f that can be operated by touching an area so as to be usable depending on the situation. Thus, the operation unit 30 has two systems of switches, ie, a large number of switches 32 independent of the display unit 31 and screen switches 31a,..., 31f displayed on the display unit 31 as input means. It will be.

  The switch 32 is arranged in the operation unit 30 as an arrangement that is exposed to the surface and can be operated even when the operation unit 30 is installed on a stand. The large number of switches 32 include an emergency stop switch 32a for quickly stopping the massage machine 1 when a dangerous situation occurs for the user during operation of the massage machine 1. The emergency stop switch 32a is always detected by the control unit 40 whether or not there is an operation input, that is, is always operable, and the massage machine 1 can be stopped by operating the emergency stop switch 32a in any situation. . And, regarding the operation of each part related to the position detection and the tilting of the seat part and the like prior to the operation by the user, the emergency stop switch 32a can be safely stopped by the user. it can.

  The control unit 40 detects the position of a part of the user's body in advance, and based on the obtained information, makes the other movable parts of the treatment mechanism and the massage machine correspond to the user. In addition to adjusting the control mechanism and other movable parts, control for executing appropriate treatment based on the operation from the operation unit 30, the treatment contents recorded and set in advance, and information on the position detection result Is to do.

  The control unit 40 is a computer including a CPU, a memory, an input / output interface, and the like as its hardware configuration, and is a mechanism that causes the computer to operate as the control unit 40 by a program stored in the memory or the like. The computer constituting the control unit 40 may be a microcomputer in which a CPU, a memory, a ROM, and the like are integrally formed.

  The computer unit constituting the control unit 40 is disposed in a predetermined space inside the massage machine 1 such as directly under the seat 12 and is in a state where it can communicate with the operation unit 30, and various motors of the mechanical unit 50. , The seat part 12, the backrest part 13, the actuators for tilting the leg support part 15, and the air pump 70, respectively. The operation of these drive mechanisms is controlled by the output of a control signal based on the program for the operation, and by the output of a control signal based on the set massage data at the time of massage execution.

  In addition, the control unit 40 is also electrically connected to signal output means such as an encoder that outputs the displacement amount of the mechanical unit 50 and each actuator, and the state of the mechanical unit 50, the seat portion 12, the backrest portion 13, In addition, the operation control of the driving means such as the motor and the actuator is performed while grasping the state of the leg support 15 such as the inclination. In particular, the control unit 40 acquires the inclination angle of the seat 12 with respect to the horizontal plane after the user is seated, starts the massage machine, and moves to position detection, and the inclination angle is 10 to 15 ° as the minimum angle. If the angle is less than the angle, the actuator for the seat is actuated to tilt the seat 12 (see FIG. 3), and the tilt angle is set to a predetermined angle equal to or greater than the minimum angle before shifting to position detection. is there.

  Further, the control unit 40 controls the mechanical unit 50 that also serves as the position detecting unit for detecting the position of a predetermined location in the body of the user, and moves the mechanical unit 50 up and down along the guide frame 20 in the backrest unit 13. The treatment element 51 can be moved in the vertical direction, and the treatment element 51 can be moved in the back-and-forth direction of the backrest portion by tilting the treatment element 51 and the drive mechanism 60 to treat the treatment element 51 that is also a detector. It can be moved appropriately for the person.

  Prior to treatment, the control unit 40 causes the treatment element 51 to move in accordance with the position detection target as position detection of a predetermined part of the body, more specifically, as a seating position detection and a shoulder position detection. When the treatment element 51 moved to the user side presses the user and stops further movement, or when the treatment element 51 that has been restrained is not restrained, the treatment element 51 becomes new. Use a known method of identifying changes related to the movement of the treatment element 51 at the detection target position, such as when movement occurs, from changes in the number of revolutions of each motor, changes in the encoder output, or change rates. Thus, the position where the change relating to the movement of the treatment element 51 has occurred is detected and grasped.

  Specifically, the control unit 40 detects, as a sitting position, a predetermined position in a region facing the buttocks of the user in the seated state, a predetermined distance above the seating surface of the seat 12 in the backrest 13. Specifically, the treatment element 51 as a detector is moved together with the mechanical unit 50 to a predetermined position within a range of about 5 cm above the seating surface in the backrest 13, preferably about 2 cm above the seating surface. The treatment element 51 is moved forward while the treatment element 51 presses the user within the movable range of the treatment element 51, and further forward movement is prevented and stopped. In this case (see FIG. 7B), the movement stop of the treatment element 51 is identified from, for example, a situation in which the encoder output hardly changes for a predetermined time or more, and the stop position of the treatment element is determined as the sitting position of the user. As And, to obtain the amount of movement in front of the treatment element 51 up to this position. In addition, in order to identify the stop of the treatment element 51 as a detector, in addition to the encoder output, detection results such as deceleration and stop of the advance / retreat motor 58 can be used.

  Here, as described above, when the treatment element 51 stops and the seating position is detected within the movable range of the treatment element 51 as described above, the control unit 40 sets the treatment person in an appropriate seating state. It is determined that there is, and the process proceeds to the next shoulder position detection. On the other hand, when the treatment element 51 moves to the position where the treatment element 51 can move forward without pressing the treatment person, it is determined that the treatment person is not properly seated. Then, the display unit 31 of the operation unit 30 serving as a notification unit notifies the user of an error related to the detection of the sitting position and causes the user to perform a predetermined display for prompting appropriate seating (see FIG. 8).

  Further, when the control unit 40 determines that the user is in an appropriate seating state by detecting the sitting position, the control unit 40 moves the treatment element 51 rearward to once separate from the user, and then moves the mechanical unit 50 to the backrest unit 13. Then, the treatment element 51 is positioned at the lower limit position of the shoulder position detection range slightly above the middle in the vertical direction of the backrest 13 (see FIG. 9). Subsequently, as the shoulder position detection, the control unit 40 moves the treatment element 51 forward to approach the body rear surface portion of the user, and pushes the body rear surface portion with the treatment element 51 that continues to move forward. Meanwhile, the treatment element 51 is moved upward together with the mechanical unit 50 so that the treatment element 51 rises along the body rear surface portion (see FIG. 10). Then, the control unit 40 moves, for example, in a state in which the treatment element 51 moving upward is movable from the upper edge of the rear body part, that is, from the upper shoulder portion, without being restrained by the body. When the amount of change in the count number of the encoder output representing the position change accompanying the forward movement of the child 51 reaches a predetermined value, the further movement of the treatment element 51 is identified, and the vertical position of the treatment element 51 at this time Is set as the shoulder position of the user in the vertical direction.

  In addition, in order to identify the change of the treatment element 51, which is a detector, from the restrained state to the state of further moving forward, in addition to using the count number change amount itself of the encoder output, the count number change rate increases or counts. A state in which the number change continues for a predetermined time can be used, and a detection result such as an increase in the number of revolutions of the advance / retreat motor 58 can also be used.

  Once the shoulder position is determined, the control unit 40 temporarily stops the mechanical unit 50 and the treatment element 51, maintains the position of the treatment element 51 at the time when the shoulder position is determined, and treats the determined shoulder position. While displaying the current position of the child 51, the display unit 31 of the operation unit 30 serving as a notification unit displays the end of the shoulder position detection, and also serves as an input unit for a treatment start instruction and a shoulder position reset. The screen switches 31b and 31c for setting instructions are displayed to the user (see FIG. 11).

  The user who has received the notification by the display on the display unit 31 and recognizes the position of the treatment element 51 as a fixed shoulder position accepts the treatment element 51 position as an appropriate shoulder position as it is, and the treatment of the display part 31 When an operation to the start instruction switch is performed, the control unit 40 causes each treatment target portion (for example, the neck, the back of the person's body based on the predetermined shoulder position and the general human body shape data recorded in advance). The vertical direction of each treatment target location based on the relative positional relationship information between the back and the waist) and the shoulder (for example, if the seat surface to the shoulder position is 100, the waist position is 30, the neck position is 110, etc.) The position is calculated and defined, and each offset amount in the front-rear direction related to the displacement of the treatment element 51 at the time of treatment, which is set in advance for each treatment target portion of the person based on general human body shape data. As it is So as to use, the process proceeds to the ready execution of treatment in massage machine.

  On the other hand, the user who has received the display on the display unit 31 and recognized the position of the treatment element 51 as a fixed shoulder position feels that the position of the treatment element 51 is not an appropriate shoulder position, and the position of the treatment element 51 If the shoulder position resetting instruction is operated on the shoulder position resetting instruction screen switch 31c on the display unit 31 from the intention of not performing the treatment assuming that the shoulder position is the shoulder position, the control unit 40 After the treatment element 51 is moved rearward and separated from the user, the mechanical unit 50 is moved upward to move the treatment element 51 to the upper limit position of the backrest portion 13, and then the treatment element 51 is moved forward. It is moved by a predetermined distance and is projected forward from the rear surface of the user's body (see FIG. 12). In addition, the control unit 40 again displays the screen switches 31d, 31e, and 31f for instructing the movement of the treatment element in the vertical direction and for determining the new shoulder position on the display unit 31 (see FIG. 13).

  The control unit 40 moves the treatment element 51 up and down together with the mechanical unit 50 based on the operation of the treatment element movement instruction switch by the user, while regarding the new position of the treatment element 51 after the movement. When the user operates the shoulder position determination switch to determine the position indicated by the treatment element as the shoulder position, the position of the treatment element 51 at the time when the switch operation is performed is detected and a new position is detected. Set to shoulder position. After the setting of the new shoulder position, the control unit 40, in the same way as when the user operates the treatment start instruction switch on the display unit 31, the vertical position of each treatment target location of the user Is applied, and each offset amount in the front-rear direction with respect to the displacement of the treatment element 51 for each treatment target location is applied to shift to a state in which treatment can be performed.

  In this way, if the position of the treatment element 51 designated by the user's input is set as a newly determined shoulder position, a position that is more easily convinced as an appropriate shoulder position for the user becomes the shoulder position. The dissatisfaction of the user with respect to the position setting is eliminated, the satisfaction of the user is increased, and the shift to the relaxed state of the user by the treatment is further ensured.

  When detecting the shoulder position, the control unit 40 causes the treatment element 51 to move upward along the back part of the body while pressing the back part of the body of the user. The position change accompanying the forward movement of the treatment element 51 is identified from the encoder output or the like in a state in which the treatment element 51 can move forward without being restrained by the body by detaching from the upper edge of the treatment element. 51 is detected and set as the shoulder position of the user. However, even if the user's physique is large and the treatment element 51 reaches the upper movement limit of the backrest 13, the treatment is performed. If the body does not cross the upper edge of the body rear surface portion and the restraint on the treatment element 51 by the body is maintained, and the forward movement accompanying the shoulder of the treatment element 51 cannot be detected, the control unit 40 51, the upper movement limit position in the backrest 13 is the shoulder position of the user. To be set.

  Next, control for setting each treatment target location based on partial position detection of the user in the massage machine according to the present embodiment will be described. First, a control process from the activation of the massage machine to the detection of the sitting position will be described using the flowchart of FIG. As a premise, a user having a general physique sits on the massage machine 1 with a part of the buttocks and thighs placed on the seat 12 and leans his back against the backrest 13, and the leg support 15 It is assumed that the leg is in a state where the forearm portion is placed on the armrest portion 14.

  In this state, when the main power switch of the massage machine 1 is turned on and the massage machine 1 is in a power-on state (step S001), the control unit 40 first determines that the inclination angle of the seat 12 is less than the minimum angle, for example, It is determined whether the angle is less than 15 ° (step S002).

  When the inclination angle of the seat portion 12 is less than 15 °, the control unit 40 operates the actuator to tilt the seat portion 12 until the inclination angle of the seat portion 12 is equal to or greater than the minimum angle, for example, 15 ° (step S003). In addition, it has the mechanism in which the seat part 12 and the backrest part 13 and / or the leg support part 15 interlock | cooperate, and the backrest part 13 and / or the leg support part 15 are also in the same direction in conjunction with tilting of the seat part 12. When tilting is possible, when the seat 12 is tilted, the backrest 13 and / or the leg support 15 are tilted in conjunction with each other (see FIG. 3). On the other hand, when the seat portion 12 and the backrest portion 13 and / or the leg support portion 15 are not interlocked, the backrest portion 13 and / or the leg support portion 15 that are not interlocked with each other at a predetermined angle simultaneously with the seat portion 12 by the operation of the actuator. For example, it is preferable that the tilt angle of the backrest 13 and / or the leg support 15 with respect to the seat 12 is maintained even after the seat 12 is tilted.

  When the control unit 40 operates the actuator for the seat to tilt the seat 12, and the tilt angle of the seat 12 is changed from less than the minimum angle to more than the minimum angle, the user sitting on the seat 12 The center of gravity shifts toward the backrest 13 from the beginning of sitting, and the back of the user is more closely attached to the backrest 13 as the center of gravity shifts. By executing the seating position detection in this state, the seating position detection can be performed stably without incurring the shift of the user. In addition, the base of the user's waist is in a state of falling into the indented portion between the seat 12 and the backrest 13, and the seat 12 and the backrest 13 are in close contact with each other. Regardless of the person's initial sitting posture, the base portion of the waist and the back can be brought into close contact with the massage machine side, and a more desirable sitting posture can be obtained in which the user can easily obtain a sufficient massage effect.

After the tilting of the seat 12 is completed, the control unit 40 displays a screen (see FIG. 6) indicating that the position detection related to the treatment is being performed on the display unit 31 of the operation unit 30 (step S004). ).
If it is determined in step S002 that the inclination angle of the seat is not less than 15 °, that is, 15 ° or more, the process proceeds to step S004 as it is.

  Thus, immediately after the power is turned on, if the inclination angle of the seat portion 12 is less than the minimum angle, the inclination angle of the seat portion 12 is set before the control unit 40 operates the mechanical unit 50 to execute the seating position detection. The angle adjustment is performed so that the angle is equal to or greater than the minimum angle, and the inclination angle of the seat portion 12 is minimized even when the inclination of the seat portion 12 is shallow before activation, with emphasis on ease of sitting. The seating position detection is not performed when the angle is less than the angle, that is, the seating position detection is performed in a situation where the seat 12 is shallow and the seated user may be displaced from the massage machine. By not doing so, it is possible to avoid a situation in which an erroneous seating position is detected in accordance with the body displacement of the user.

  Following the display on the display unit 31, the control unit 40 first operates the lift motor 57 in the mechanical unit 50 at the initial position at the bottom of the backrest 13 to detect the seating position, and the mechanical unit 50 is moved toward the guide frame 20. The entire 50 is moved upward, and the treatment element 51 as a detector is moved upward. And the treatment element 51 is made to reach the position of about 2 cm above the seat surface of the seat part 12 in the backrest part 13 (refer FIG. 7 (A), step S005).

  The control unit 40 also operates the advance / retreat motor 58 to adjust the tilting state of the treatment element 51 and the drive mechanism part 70 with respect to the base part 54 of the mechanical unit 50 and move the treatment element 51 forward toward the user. (Step S006). Thereafter, the control unit 40 determines whether or not the forward movement of the treatment element 51 is stopped (step S007). When the movement of the treatment element 51 is not stopped, the process returns to the step S006 and the movement of the treatment element 51 is continued.

  When the movement of the treatment element 51 is stopped in step S007, the movement stop is detected by the moved treatment element 51 pressing the user before the treatment element 51 reaches the forward movement limit. This corresponds to a case where the forward movement is prevented and stopped (see FIG. 7B), for example, in response to an event in which a situation in which the encoder output hardly changes continues for a predetermined time or longer. Is determined (step S008).

  Here, when the movement stop of the treatment element 51 is obtained by detection before reaching the forward movement limit, the control unit 40 detects the stop position of the treatment element 51 as the sitting position of the user, The amount of forward movement of the treatment element 51 up to this position is acquired (step S009), and it is determined that the user is in an appropriate seating state, and in order to shift to the next shoulder position detection, the advance / retreat motor 58 The treatment element 51 and the drive mechanism 60 are actuated so as to tilt away from the user, and the treatment element 51 is moved to a position where the treatment element 51 does not come into contact with each part of the body rear surface when the mechanical unit 50 is moved. 51 is moved rearward (see FIG. 9A, step S010), and then the mechanical unit 50 is moved upward by a predetermined distance in the backrest 13 to detect the shoulder position slightly above the middle of the backrest 13 in the vertical direction. Range as treatment element 51 is positioned at the lower limit position (see FIG. 9 (B), the step S011), it ends the shoulder position detection before processing.

  On the other hand, in step S008, the movement stop of the treatment element 51 is not obtained by the detection before reaching the forward movement limit, but is detected based on the automatic stop of the treatment element 51 when the movement limit is reached. If it is, the control unit 40 determines that the user is not properly seated, and notifies the display unit 31 of the operation unit 30 serving as a notification means of an error related to the seating position detection. At the same time, a predetermined display (see FIG. 8) for prompting the user to appropriately seat is performed (step S012). At the same time, a screen switch 31a that receives an operation of an instruction to shift to the standby state once is performed on the display unit 31 in order to perform position detection again (step S013), and an operation input from the user is received by the screen switch 31a. (Step S014), the control unit 40 moves the treatment element 51 rearward to once separate it from the user (step S015), and then displays the standby state on the display unit 31 and then enters the standby state. Thus, the processing is once completed.

  Next, control processing from detection of the shoulder position of the user to setting of each treatment target location on the back of the body will be described with reference to the flowchart of FIG. As a premise, the above-mentioned seating position detection is performed on the user seated on the massage machine 1, and it is determined that the user is in an appropriate seating state, and the treatment element 51 has already been moved to shift to shoulder position detection. Is a position slightly above the middle in the vertical direction of the backrest 13 as the lower limit position of the shoulder position detection range (see FIG. 9B).

  For detecting the shoulder position, the control unit 40 first activates the advance / retreat motor 58 to adjust the tilting state of the treatment element 51 and the drive mechanism part 70 with respect to the base part 54 of the mechanical unit 50, and causes the treatment element 51 to be treated. Move forward (step S101). While maintaining the state where the moving treatment element 51 is moved closer to the body rear surface portion of the user and the body rear surface portion is pushed by the treatment element 51 which continues to move forward, the control unit 40 moves the lifting motor 57. , The mechanical unit 50 is moved upward with respect to the guide frame 20, and the treatment element 51 is moved upward together with the mechanical unit 50 (see FIG. 10A, step S102), so that the treatment element 51 moves along the rear part of the body. And rise.

  And the control part 40 remove | deviates from the upper edge of the body rear surface part, ie, shoulder upper part, and the treatment element 51 which continues moving upwards, pushing the body rear surface part trying to move ahead, and is not restrained by the body. When a change in position (see FIG. 10 (B)) due to a new forward movement of the treatment element 51 occurs in a state where the treatment element 51 can move forward, the displacement of the treatment element 51 is counted as an encoder output. Recognizing that the numerical change amount reaches a predetermined value, the position of the treatment element 51 that has moved forward is detected as a shoulder position (step S103), and the position of the treatment element 51 in the vertical direction of the backrest portion is detected. Set the vertical coordinate of the shoulder position from the information.

  Once the shoulder position is determined by the above shoulder position detection, the control unit 40 stops the elevating motor 57 and the advance / retreat motor 58 of the mechanical unit 50, and holds the treatment element 51 as it is at the position when the shoulder position is determined for a predetermined time. (Step S104). In addition, the control unit 40 performs a predetermined display indicating the end of shoulder position detection on the display unit 31 of the operation unit 30, and each screen for starting treatment and instructing resetting of the shoulder position on the display unit 31. The switches 31b and 31c are displayed in a state in which the user can select and operate (see FIG. 11, step S105).

  Thus, the user is informed that the shoulder position has been detected and set, and the user is made to recognize the automatically set shoulder position represented by the position of the held treatment element 51, so that the user can When accepting the set shoulder position, the start of the treatment is instructed as it is, and the user does not accept the set shoulder position, that is, the user does not accept the shoulder position where the treatment element 51 is appropriate. If it is not a position and it is not desired to perform treatment after setting the position of the treatment element 51 to the shoulder position, the resetting of the shoulder position is instructed.

  After the display, the control unit 40 determines whether or not the user's input operation has been performed on the treatment start instruction screen switch 31b (step S106), and the input operation to the switch instructing the shift to the treatment is performed. When it is made, the control part 40 operates the raising / lowering motor 57, raises the treatment element 51 with the mechanical unit 50, and separates the treatment element 51 from a shoulder (step S107). Further, the advance / retreat motor 58 is operated so that the treatment element 51 and the drive mechanism 60 are tilted away from the user, and the treatment element 51 comes into contact with the body rear surface portion when the mechanical unit 50 moves up and down. Retreat to a position where there is no problem (step S108), and the operation of each mechanism related to the shoulder position detection is stopped.

  Thereafter, the control unit 40 detects information on the shoulder position obtained by the shoulder position detection, and each treatment target location (for example, neck, back, waist, etc.) and shoulder on the general rear surface of a general person. Based on the relative positional relationship information, the vertical position of each treatment target location of the user is newly calculated and defined (step S109). Thus, if the position of each treatment object location of the user is defined and the treatment with the treatment element 51 and others can be started, a series of processing is completed.

  In step S106, when the user's input operation is not performed on the treatment start instruction screen switch 31b, the control unit 40 continues to the shoulder position reset instruction screen switch 31c of the display unit 31. It is determined whether or not the user's input operation has been performed (step S110). When the user's input operation has been performed, the advance / retreat motor 58 is moved in a direction in which the treatment element 51 and the drive mechanism 60 are separated from the user. After the treatment element 51 is moved backward (see FIG. 12A, step S111) and separated from the user, the mechanical unit 50 is moved to the upper limit position of the backrest 13 (see FIG. 12A). 12 (B), step S112), and then, the treatment element 51 is moved forward by a predetermined distance so as to protrude forward from the back of the body of the user (see FIG. 12 (C), step). S113). At the same time, the display unit 31 displays that the shoulder position is reset by the switch operation of the user, and each screen switch 31d for instructing to move the treatment element 51 in the vertical direction and for determining the shoulder position. 31e and 31f are newly displayed in an operable state (see FIG. 13, step S114).

  Then, the control unit 40 determines whether or not an input operation of the user has been performed on the screen switch 31e for instructing the downward movement of the treatment element 51 (step S115), and the input operation of the user is performed. In response to the operation, the control unit 40 operates the lifting motor 57 to move the treatment element 51 together with the mechanical unit 50 downward (step S116). Thereafter, it is determined whether or not the user's input operation has been performed on the shoulder position determination instruction screen switch 31f (step S117), and when the user's input operation has been performed, the control unit 40 moves after the movement. It is determined that the user has received the position of the treatment element 51 as the shoulder position, and the position of the treatment element 51 at the time of the switch operation for the shoulder position determination instruction is set as a new shoulder position (step S118). After setting the new shoulder position, the process proceeds to step 107, and the subsequent processing is repeated.

When the user's input operation is not performed on the shoulder position determination instruction screen switch 31f in step S117, the process returns to step S115 and the subsequent processing is repeated. If the user's input operation is not performed on the screen switch 31e for instructing the downward movement in step S115, the control unit 40 displays the screen switch for instructing the upward movement of the treatment element 51. It is determined whether or not the user's input operation has been performed in 31d (step S119). When the user's input operation has been performed, the control unit 40 activates the lifting motor 57 in response to the operation. The treatment element 51 is moved upward together with the mechanical unit 50 (step S120). Thereafter, the process proceeds to step S117. If the user's input operation is not performed on the screen switch 31d for instructing the upward movement in step S119, the process proceeds to step S117 as it is.
If the user's input operation is not performed on the shoulder position resetting instruction screen switch 31c in step S110, the process returns to step S106 and the subsequent processing is repeated.

  Thus, through simple position detection, the vertical position of each treatment target location is efficiently defined, and information on the offset amount of the treatment element 51 for each treatment target location can be used. A specific treatment content instruction such as a massage course is input by the user through a switch or the like of the operation unit 30, and the control unit 40 receives the input to start treatment by each treatment mechanism.

  In the case of the massage by the treatment element 51, the control unit 40 moves the mechanical unit 50 up and down with respect to the guide frame 20 by the operation of the lifting motor 57 according to the set massage content. Is adjusted to match each treatment target location such as neck, shoulder, back, waist, etc., and the advancement / retraction motor 58 is operated to tilt the treatment device 51 and the drive mechanism 60 to treat the treatment device 51 for each treatment target location. The amount of protrusion of the treatment element 51 toward the user is adjusted while applying the respective offset amounts in the front-rear direction related to the displacement of the treatment element 51, and the treatment element 51 is positioned at the treatment target location. After this, or in parallel with the movement of the treatment element 51, the control unit 40 operates the kneading motor 72 and / or the tapping motor 74 of the mechanical unit 50 according to the type of massage, thereby treating the treatment element of the mechanical unit 50. 51 is caused to perform a movement corresponding to the massage such as itchiness and hitting.

  While such treatment is performed, the control unit 40 supports the seat portion 12, the backrest portion 13, and / or the leg support based on an instruction operation such as reclining from the operation portion 30 by the user or setting in a massage course. When the portion 15 is tilted, the sitting posture of the user may change, and the positional relationship between the backrest 13 and each treatment target location of the user may also change. In consideration of this, the vertical position of each treatment target location is adjusted according to the amount of change in the inclination angle of the seat portion 12, the backrest portion 13, and / or the leg support portion 15, or the treatment for each treatment target location. The control unit 40 is caused to perform control for causing the operation of the treatment element 51 to correspond to the body rear surface position based on the new sitting posture of the user by changing the amount of offset in the front-rear direction related to the displacement of the child 51 from the default value. In the above, the following treatment can be performed.

  As described above, the massage machine according to the present embodiment moves the treatment element 51, which is a detector, to the front part of the back of the body in the vicinity of the seated user, detects the sitting position, and moves it. When the treatment element 51 presses the user, the control unit 40 determines that the patient is properly seated and shifts to shoulder position detection. Based on the obtained shoulder position, each treatment target location on the back surface of the user's body is determined. In the case of a general chair structure in which the backrest portion 13 can tilt with respect to the seat portion 12 because the vertical position is obtained and used for treatment control, the user is seated correctly while leaning against the backrest portion 13. Even if there is a gap between the back part of the body and the backrest part 13 in the vicinity of the seating surface of the user, the therapeutic element 51 that moves back and forth is within an appropriate range in which the back part of the body of the user can be pressed. If so, make sure that the patient is properly seated Rutoshite, then the can smoothly perform the processing of the shoulder position detection, and the like, can be grasped firmly seated posture without any problems.

  In addition, position detection using the treatment element 51 after detection of the sitting position is performed as shoulder position detection above the intermediate position in the vertical direction above the seating position detection position, and along the back part of the body The amount of time required for treatment to be treated can be eliminated by eliminating the time required to move the detector to the person being treated, and the time required to detect the body shape due to the pressing of the sensor. The definition can be completed in a shorter time and the waiting time until the treatment can be reduced, so that the treatment does not disturb the transition of the user to the relaxed state, and the sitting posture of the user based on the detected shoulder position. It is possible to appropriately set each treatment target portion of the body rear surface corresponding to, and to correctly perform treatment for each user.

  In the massage machine according to the above embodiment, the treatment element 51 for treatment also serves as a position detection element. However, the present invention is not limited to this, and a detection element dedicated to position detection is provided separately from the treatment element. It can also be set as the structure provided.

  Further, in the massage machine according to the embodiment, the seat portion 12 is disposed on the base portion 11 so as to be tiltable, the tilt angle of the seat portion 12 is adjusted prior to the detection of the seating position, and the seating posture is determined. Although the seating position detection is not performed at an inclination angle less than the difficult minimum angle and the sitting position detection is avoided in a state where the posture of the user can be displaced, the present invention is not limited to this. If the chair shape can properly maintain the sitting posture of the user from the beginning of the sitting, the sitting position may be detected without tilting the seat after the sitting of the user. Absent.

  Further, in the massage machine according to the embodiment, the seating position is detected at a minimum angle that stabilizes the seating posture by adjusting the inclination angle of the seat 12 as necessary prior to the seating position detection. However, before the seating position is detected, the angle formed between the seat 12 and the backrest 13 by tilting the backrest 13 together with the tilt of the seat 12 or without tilting the seat 12. It is also possible to change the angle between the seat 12 and the leg support 15 by tilting the leg support 15 with respect to the seat 12.

  Among these, when the backrest 13 is tilted to increase the angle formed between the seat 12 and the backrest 13, the center of gravity of the user being seated shifts closer to the backrest 13, and this shift of the center of gravity is accompanied. The back part of the body of the user is more closely attached to the backrest part 13, and the shift of the user during the detection of the sitting position can be prevented. Further, when the leg support portion 15 is tilted further upward with respect to the seat portion 12, the weight of the lower knee portion of the user is also concentrated on the base portion of the waist, and the base portion of the waist is pressed against the treatment element 51. By making it difficult to move, the sitting position can be appropriately detected.

  Furthermore, in the massage machine according to the embodiment, after the control unit 40 that has received the operation of resetting the shoulder position, the treatment element 51 that has been moved to the upper limit position of the backrest portion 13 is projected forward, Based on the operation of the switch for instructing the movement of the treatment element by the user, the treatment element 51 is moved up and down, and the shoulder position determination switch is operated by the user for the new position of the treatment element 51 after the movement. In this case, the control unit 40 performs control to set the position of the treatment element 51 at the time of the switch operation to a new shoulder position. In addition, the control unit 40 is a backrest as another method for resetting the shoulder position. The treatment element 51 that has been moved to the upper limit position of the portion 13 and protruded forward is automatically moved downward irrespective of the operation of the user, and the moving treatment element 51 moves the shoulder of the user up. Push from Further identifying a state that no longer move downward and may be controlled so as to set the treatment element located in the new shoulder positions.

  Specifically, with respect to the treatment element 51 that protrudes forward at the upper limit position of the backrest 13 (see FIG. 14A), the control unit 40 operates the lifting motor 57 to include a mechanism including the treatment element 51. The entire unit 50 is moved downward with respect to the guide frame 20, and the treatment element 51 is lowered from the uppermost part of the backrest part 13. Thereafter, when the treatment element 51 comes close to the shoulder upper side, the treatment element 51 is prevented from moving downward at the shoulder position of the user (see FIG. 14B) and cannot move further downward. As the lowering speed of 51 is significantly reduced, the number of rotations of the lifting motor 57 is also rapidly reduced. The control unit 40 monitors the rotation state of the lifting motor 57, and when the number of rotations of the lifting motor 57 decreases to a predetermined value, the control unit 40 acquires the vertical position of the treatment element 51 at that time, and this treatment The child position is recognized as a new shoulder position.

  Even in the case of such shoulder position resetting, when the user operates the shoulder position determining operation screen switch 31a for the treatment element moving downward, the control unit 40 performs treatment at the time when this switch operation is performed. The position of the child 51 may be detected and set to a new shoulder position.

(Second embodiment of the present invention)
In the massage machine according to the first embodiment, when the shoulder position is once determined by the shoulder position detection, the user operates the screen switch 31a for the treatment start instruction on the display unit 31 of the operation unit 30, or When a new shoulder position is set through the process of resetting the shoulder position in the control unit 40, the control unit 40 defines the vertical position of each treatment target location of the user, as well as a general human body shape A state in which each offset amount in the front-rear direction related to the displacement of the treatment element 51 at the time of treatment set in advance for each treatment target location of a person based on the data is applied as an initial value and treatment can be performed with a massage machine However, the present invention is not limited to this, and some of the treatment target locations among the offset amounts in the front-rear direction related to the displacement of the treatment element 51 during treatment set in advance for each treatment target location. Off The control unit 40 adjusts the position in the front-rear direction based on the amount of forward movement of the treatment element 51 acquired when the seating position is detected, and an offset amount corresponding to the seating state of the user Can be set anew.

  That is, in a general chair structure massage machine in which the backrest 13 can tilt with respect to the seat 12, the body rear surface portion in the vicinity of the seated surface of the user while the user is seated while leaning against the backrest 13. The size of the gap generated between the user and the backrest 13 varies depending on the physique and sitting posture of the user (see FIGS. 15 and 16), and the physique of the user is large or the sitting posture is closer to the front. As the distance between the back part of the body and the backrest 13 in the vicinity of the seating surface increases, the position in the front-rear direction of each part of the body's back surface determined by the physique and sitting posture and the size of the gap If the amount of forward movement of the treatment element 51 at the time of detecting the sitting position is acquired using this, and the position of the offset is adjusted in the front-rear direction from the initial value based on this, The physique of the user The amount of offset corresponds to the position of the back of the body based on the sitting posture, and control using this new amount of offset makes it possible to perform optimal treatment that suits the user in the seated state, and more efficiently relax the user. A state will be obtained.

  As a specific example, as shown in FIG. 15A, in the case of a patient with a standard physique, the offset amount set in advance based on general human body shape data is applied as it is. On the other hand, for a user who has a large physique and a large gap formed between the back part of the body and the backrest 13 in the vicinity of the seating surface, the amount of movement of the treatment element 51 forward when the sitting position is detected is Based on the increase in the distance between the back part of the body in the vicinity of the surface and the backrest part 13, the control part 40 is moved in the front-rear direction related to the displacement of the treatment element 51 at a part of treatment object centered on the buttocks and the waist. By adjusting the offset amount to the front side, that is, increasing the position (see FIG. 15B), the treatment element 51 can be moved according to the position of the back of the body based on the physique of the user, and treatment can be executed reliably. Applied to It can be performed treatment that matches the person.

  Further, as shown in FIG. 16A, even when the same user is seated in a forward position by sitting shallower than a desired seating position, the front of the treatment element 51 at the time of sitting position detection is obtained. Is increased according to the distance between the back part of the body near the seat surface and the backrest part 13, the control unit 40 causes the treatment element 51 of the treatment element 51 at a part to be treated centered on the buttocks and the waist. By adjusting the front-rear offset amount related to the displacement to the front side, that is, increasing the position (see FIG. 16B), the treatment element 51 is moved in accordance with the position of the back of the body based on the sitting posture of the user. The treatment can be executed and the treatment suitable for the user can be surely performed without being affected by the sitting posture.

  Contrary to the above, the physique of the user is small, the gap generated between the back part of the body and the backrest part 13 in the vicinity of the seating surface is small, or the inclination angle of the seating part or the backrest part is large. When the seating posture is shifted backward due to the degree of close contact with the seat or backrest of the user being increased, the amount of forward movement of the treatment element 51 when the seating position is detected is The control unit 40 positions the offset amount in the front-rear direction related to the displacement of the treatment element 51 at a part to be treated at the rear side based on the smaller in accordance with the distance between the body rear surface part and the backrest part 13. By adjusting, that is, reducing the size, treatment with the treatment element 51 can be performed appropriately corresponding to the position of the body rear surface of the user.

(Third embodiment of the present invention)
In the massage machine according to the first embodiment, the seat is tilted prior to position detection, and the tilt angle of the seat is set to a predetermined minimum angle or more. Treatment forms (positions), that is, a predetermined combination of each inclination angle at the time of treatment of the seat part 12, the backrest part 13 and the leg support part 15 are prepared in advance, and these are treated before treatment. If it is possible to select by the operation of, after starting the massage machine, first, let the user select a position, tilt the parts so that the control unit makes the selected position, then execute position detection It can also be configured.

  In this case, the control unit 40 specifically determines a combination of each inclination angle that is an adjustment target of the seat part 12, the backrest part 13, and the leg support part 15 that specifically defines a typical treatment mode (position) of the massage machine. Are recorded in advance. Then, the control unit 40 presents the plurality of combinations to the user in a form of replacing the respective positions defined by them, and causes the user to select a position by a switch operation. The control unit 40 adjusts the angle of each unit to each target inclination angle in the predetermined combination selected by the user, and shifts the massage machine to a position desired by the user. However, the inclination angle of the seat in the combination of the target inclination angles that define the position is set to 10 to 15 degrees or more as the minimum angle.

  As the position, for example, the inclination angle of the seat surface with respect to the horizontal plane is 15 °, the angle formed between the seat portion 12 and the backrest portion 13 is 121 °, and the angle formed between the seat portion 12 and the leg support portion 15 is 135 °. The first position where the angle formed between the seat 12 and the backrest 13 is about 120 °, which is generally considered to give a comfortable posture when sitting as a chair (see FIG. 17B), In addition, the inclination of the seat 12 is further increased and the backrest 13 is tilted, and the angle formed between the seat 12 and the leg support 15 is also increased. The inclination angle of the seat with respect to the horizontal plane is 37 °, and the seat 12 and the backrest. The angle formed by the portion 13 is 121 °, and the angle formed by the seat portion 12 and the leg support portion 15 is 143 °, so that a treatment posture with less burden on the body can be obtained, and the user can rest on the backrest portion 13. Due to close contact with the body Hardly occurs second position (see FIG. 18 (B)), the plurality of positions are set such, it is selectable treated person in switches, such as the screen switches 31a.

  After activation of the massage machine, when one of the switches corresponding to a plurality of positions is selected in response to the operation of the user, the control unit 40 determines the target inclination angle of each part that defines the selected position. The combination is instructed and the actuator is operated in accordance with the content of the inclination angle combination to tilt the seat portion 12, the backrest portion 13 and / or the leg support portion 15, and the inclination angle is the combination of the instruction input. Each inclination angle of a given target is used. That is, from the initial state when starting the massage machine (see FIGS. 17A and 18A) to the position selected by the user's operation (see FIGS. 17B and 18B). Transition. Thereafter, the control unit 40 executes each process related to position detection.

  As a specific example, when the massage machine is in an initial state immediately after activation (see FIG. 17A), when the first position is selected by a switch operation of the user, the control unit 40 may By operating each actuator, the angle of the seat 12 is 15 °, the angle between the seat 12 and the backrest 13 is 121 °, and the angle between the seat 12 and the leg support 15 is 135 °. (See FIG. 17B). Thereafter, the control unit 40 recognizes that each part of the massage machine is in the first position, completely stops the operation of each actuator, and indicates that the massage machine is in the first position on the display unit 31 of the operation unit 30. A screen showing is displayed. Then, after displaying a screen for performing position detection on the display unit 31 as necessary, position detection including seating position detection and shoulder position detection similar to the first embodiment is performed.

  In this way, as a preparation for position detection, the tilt of the seat 12 for shifting the user to a stable posture that is difficult to shift and the tilt of each part of the massage machine that realizes the position related to the actual treatment are grouped together. By executing the initial tilting of the seat, and after detecting the position, it shifts to the actual treatment, as in the case of tilting the seat etc. in an inclination angle corresponding to the treatment, Eliminates the danger of the patient's sitting posture changing from the time of position detection due to tilting after position detection and the result of position detection not being properly reflected in the treatment, ensuring that the user is in a posture to receive treatment Position detection can be performed, and seating position detection and shoulder position detection in accordance with treatment can be executed, and more accurate treatment corresponding to each treatment target location of the user during treatment can be realized.

  In addition, as in the case of the second embodiment, the treatment acquired at the time of detecting the sitting position with respect to the amount of offset in the front-rear direction related to the displacement of the treatment element 51 at the treatment at a part of the treatment target of the user Adjusting from the initial value based on the amount of forward movement of the child 51 and setting a new offset amount, the sitting position is detected in the posture in which the user receives treatment, By obtaining the amount of movement, an offset amount can be set corresponding to the position of the back of the body based on the sitting posture of the user at the time of treatment, and the treatment element 51 can be moved using this to correspond to the user. Treatment can be performed more appropriately.

  In addition to the typical inclination angles that cause the plurality of positions, the control unit 40 corresponds to the user instructing to operate an arbitrary inclination angle with a switch, and the control unit 40 includes a seat part 12, a backrest part 13, In accordance with the configuration in which the inclination angle of the leg support 15 and the leg support 15 can be adjusted, as described above, after starting the massage machine, first, the user is instructed to the inclination angle by a switch operation, and the control unit 40 performs the massage. It is also possible to adopt a configuration in which position detection is performed after each part of the machine is tilted.

DESCRIPTION OF SYMBOLS 1 Massage machine 11 Base part 12 Seat part 13 Back part 13a Back part frame 14 Armrest part 15 Leg support part 20 Guide frame 30 Operation part 31 Display part 31a, 31b Screen switch 31c, 31d Screen switch 31e, 31f Screen switch 32 switch 32a Emergency stop switch 33 Stand 40 Control unit 50 Mechanical unit 51 Therapeutic element 52 Therapeutic element support arm 54 Base part 57 Lifting motor 58 Advance / retreat motor 60 Drive mechanism part 62 Pinch motor 64 Tapping motor 70 Air pump 71 Tail air cell 72 Thigh air cell 73 Back Air Cell 74 Waist Air Cell

Claims (4)

In a chair-type massage machine comprising at least a seat portion on which a user is seated, a backrest portion that supports the back of the user, and a treatment mechanism that is built in the backrest portion and that performs treatment to the user. ,
A position detection unit that is capable of moving back and forth and up and down within the backrest part, has at least a detector disposed inside the backrest part, and detects the position of a predetermined location in the body of the user prior to treatment,
A control unit that controls at least position detection by the position detection unit,
As the seating position detection, the position detection unit positions the detector at a predetermined position in a region facing the buttocks of the user in the seated state, a predetermined distance above the seating surface of the seating part in the backrest part. While moving the detector forward,
When the control unit is in a state in which the detector presses the user within the movable range of the detector forward, and the forward movement is hindered and stopped, the user is appropriately treated. While determining that it is in the seating state, while acquiring the amount of forward movement of the detector to the stop position in the case of stopping,
When the detector moves to the front limit of the movable range of the detector without pressing the user, it is determined that the user is not properly seated in an error state,
If the control unit determines that the user is in a proper sitting state , the position detection unit does not come into contact with each part of the back surface of the user in order to shift to the next shoulder position detection. To the rear, and once separated from the user, moved upward by a predetermined distance in the backrest part, further causing the position detection unit to detect the shoulder position of the user, and information on the obtained shoulder position, and Based on information on the relative positional relationship between each treatment target location and shoulder of a general person set in advance, the vertical position of each treatment target location of the user is newly calculated and defined, and up to the stop position Based on the amount of forward movement of the detector, a pre-set offset amount in the front-rear direction related to the displacement of the treatment mechanism, which is preset for each treatment target location of the user, is set. Massage machine.
The massage machine according to claim 1,
The seat portion can be tilted to adjust an inclination angle with respect to a horizontal plane,
The control unit also controls the tilting of the seat, and after starting the massage machine, acquires the tilt angle of the seat with respect to the horizontal plane, and the tilt angle holds the user stably on the seat When the minimum possible tilt angle is smaller than a predetermined minimum angle set in advance, the seat is tilted to set the tilt angle to a predetermined angle that is equal to or greater than the minimum angle, and the position detection unit detects the seating position. A massage machine characterized by shifting to a state. In the massage machine according to claim 1 or 2,
The position detector detects the shoulder position by positioning the detector at a middle position in the vertical direction of the backrest or at a predetermined position above the backrest, and then moving the detector forward to the back surface portion of the user. Move the detector upward while pushing the back part of the body with the detector that tries to move closer and move forward,
A predetermined speed associated with the forward movement of the detector in a state in which the controller moves upward without the restraint of the body being deviated from the upper edge of the body rear surface portion. When a change and / or a predetermined change in position is detected, the position of the detector at the time is recognized as a shoulder position. The massage machine according to any one of claims 1 to 3,
When the shoulder position is determined by the shoulder position detection, the position detection unit maintains the position of the detector at the time when the shoulder position is determined as it is for a predetermined time,
When the shoulder position is determined, at least a notification means for notifying the user of the end of shoulder position detection, an instruction to reset the shoulder position by the user, and an instruction to move the detector up and down after the reset instruction And input means for accepting at least each input operation of shoulder position determination,
When the control unit receives an operation to reset the shoulder position with the input unit, the control unit moves the detector of the position detection unit backward to separate it from the user, and then moves to the upper limit position of the backrest unit. Then, the detector is moved forward by a predetermined distance to be protruded forward from the back surface of the user's body,
The control unit moves the detector in the vertical direction based on the operation of the detector movement instruction to the input means of the user, and the user determines the position of the detector displaced by the movement as the shoulder position. A massage machine characterized in that when a new operation is performed on the input means, the position of the detector at the time of operation is set to a new shoulder position .

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