JP6861441B2 - Massage device - Google Patents

Description

The present invention relates to a massage device.

There are various types of massage given to the patient, such as kneading and tapping.
For example, in kneading, there is a massage performed by grasping the body part of the patient from both sides.
Various mechanisms have been proposed to realize such massage with a massage device. For example, as disclosed in Patent Document 1, a member that supports the arm from below and an air cell provided above the arm are provided as a mechanism for performing massage by grasping the arm from both sides as a body part of the patient to be treated. There is a mechanism to massage by pinching the arm from above and below by expanding the air cell.

JP-A-2009-50571

In the conventional massage device, for example, when massaging an arm, the air cell comes into contact with the arm supported from below from above, and the air cell expands or contracts, so that the massage given to the arm is performed. It is monotonous.

Therefore, an object of the present invention is to improve the sensation given to the body part of the person to be treated.

The massage device is a first member and a second member provided along the circumferential direction of the body part of the person to be treated.
A massage unit having a member and one side of a space formed between the first member and the second member is open for taking in and out of the body part.
The massage unit is provided together with the first member and expands to push the body part, and the first member and the second member are relatively close to each other and are inflated. It includes a massage mechanism portion that moves the first member together with the air cell in a state in the direction of at least one of the opening side and the opposite side of the space.

According to the massage device of the present invention, the experience of massage is improved as compared with the conventional case.

It is a perspective view which shows one Embodiment of a massage device. It is a perspective view of the massage unit (the 1) installed in the armrest part on the right side. It is explanatory drawing which saw the massage unit (the 1) from the drive unit side. It is explanatory drawing which shows the state which further removed the drive unit and the side wall from the massage unit (the 1) shown in FIG. It is explanatory drawing which saw the massage unit (the 1) from the Z direction. It is explanatory drawing which saw the massage unit (the 1) from the Z direction. It is explanatory drawing which saw a part of the massage unit (the 1) from the Z direction. It is explanatory drawing which saw a part of the massage unit (the 1) from the Z direction. It is explanatory drawing which saw a part of the massage unit (the 1) from the Z direction. It is explanatory drawing of the pulling massage. It is explanatory drawing of another massage unit (the 2). It is explanatory drawing which saw the massage unit (the 2) from the X direction. It is explanatory drawing which saw the massage unit (the 2) from the Z direction. It is explanatory drawing which saw the massage unit (the 2) from the Z direction. It is explanatory drawing which saw the massage unit (the 2) from the Z direction. It is explanatory drawing of another massage unit (the 3). It is explanatory drawing which saw the massage unit (the 3) from the X direction. It is explanatory drawing which saw the massage unit (the 3) from the Z direction. It is explanatory drawing which saw the massage unit (the 3) from the Z direction. It is explanatory drawing which saw the massage unit (the 3) from the Z direction. It is explanatory drawing explaining the modification of the massage unit (the 3). It is explanatory drawing explaining the modification of the massage unit (the 3). It is a top view of three massage units. It is a top view of three massage units. It is explanatory drawing which shows the modification of the massage unit (the 2). It is explanatory drawing which shows the modification of the massage unit (the 2). It is explanatory drawing of another massage unit (the 4). It is explanatory drawing of the massage unit (the 4). It is explanatory drawing of the massage unit (the 4). It is explanatory drawing of the massage unit (the 5). It is explanatory drawing of the massage unit (the 5). It is explanatory drawing of the massage unit (the 5). It is explanatory drawing which shows the modification of the massage unit (the 5). It is explanatory drawing which shows the modification of the massage unit (the 5). It is explanatory drawing which shows the modification of the massage unit (the 5). It is explanatory drawing of the massage unit (No. 6). It is explanatory drawing of the massage unit (No. 6). It is explanatory drawing of the massage unit (No. 6). It is explanatory drawing of the massage unit (No. 6). It is explanatory drawing which shows the modification of the massage unit (the 6). It is explanatory drawing which shows the modification of the massage unit (the 6). It is explanatory drawing which shows the modification of the massage unit (the 6). It is explanatory drawing which shows the modification of the massage unit (the 6). It is explanatory drawing which shows the modification of the massage unit (the 6). It is explanatory drawing which shows the modification of the massage unit (the 6). It is explanatory drawing of the massage unit (the 7). It is explanatory drawing of the massage unit (the 7). It is explanatory drawing of the massage unit (the 7). It is a schematic block diagram of the displacement mechanism (the 1) of a massage unit. It is a schematic block diagram of the displacement mechanism (the 1) of a massage unit. It is a schematic block diagram of the displacement mechanism (the 1) of a massage unit. It is a schematic block diagram of the displacement mechanism (part 2) of a massage unit. It is a schematic block diagram of the displacement mechanism (part 2) of a massage unit. It is a schematic block diagram of the displacement mechanism (part 2) of a massage unit. It is a schematic block diagram of the displacement mechanism (part 3) of a massage unit. It is a schematic block diagram of the displacement mechanism (part 3) of a massage unit. It is a schematic block diagram of the displacement mechanism (part 3) of a massage unit. It is a schematic block diagram of the displacement mechanism (the 4) of a massage unit. It is a schematic block diagram of the displacement mechanism (the 4) of a massage unit. It is a schematic block diagram of the displacement mechanism (No. 5) of a massage unit. It is a schematic block diagram of the displacement mechanism (No. 5) of a massage unit. It is explanatory drawing of a massage unit. It is a rear view of the mechanical part of the massage unit of FIG. 62 as seen from the Y direction. It is explanatory drawing of a massage unit. It is a rear view of the mechanical part and the treatment part of the massage unit of FIG. 64 as seen from the Y direction. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of the muscle fiber direction and the rotation direction. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. 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<< Chapter 1 >>
[Overall configuration of massage device]
FIG. 1 is a perspective view showing an embodiment of the massage device 1. This massage device 1
Is a chair type, and supports the seat 2 on which the patient sits, the backrest 3 on which the patient sits on the seat 2, and the left and right arms of the patient seated on the seat 2. The armrests 4 and 4 and the footrest 5 that supports both the left and right legs of the patient to be seated on the seat 2 are provided. The seat 2 is provided on a base 6 placed on the floor. Inside the base 6, a control unit 7 including a microcomputer for controlling the operation of each part of the massage device 1 (including various massage units 10 described later) is provided.

The backrest portion 3 can be reclined, and the footrest 5 is configured to be able to swing up and down with the seat portion 2 side as the center. With the backrest 3 tilted backward and the footrest 5 raised forward, the patient sitting on the seat 2 is in a lying position, and in this state, various massage units of the massage device 1 are used. , Can massage the body part of the patient. Further, the backrest portion 3 is provided with a side wall portion (side panel) 3A projecting forward from the left and right side portions thereof.

[Massage unit for armrest 4]
A massage unit 10 for massaging the arm (forearm), which is a body part of the patient, is provided on each of the left and right armrests 4 and 4. The massage unit 10 on the left side and the massage unit 10 on the right side are arranged symmetrically, but have the same configuration.

[Footrest 5 massage unit]
The footrest 5 is provided with a massage unit 10 for massaging the left leg, which is a body part of the subject, and a massage unit 10 for massaging the right leg. The massage unit 10 for the left leg and the massage unit 10 for the right leg are arranged symmetrically, but have the same configuration. The footrest 5 of the present embodiment has a first holding portion 5a and a second holding portion 5b. The first holding portion 5a can mainly support the calf of the treated person's leg, while the second holding part 5b supports the treated person's foot (that is, the portion from the ankle to the toe). can do. The massage unit 10 is provided in the first holding portion 5a.

<< Chapter 2 >>
<Introduction (grasping mechanism)>
[Explanation of Embodiments of the Present Invention]
First, embodiments of the present invention will be listed and described. The reference numerals attached to the respective configurations of the massage device 1 (one embodiment) of the present invention are those used in FIGS. 1 to 61.

(1) The massage device (one embodiment) 1 of the present invention has a first member 11 and a second member 12 provided along the circumferential direction of the body part of the person to be treated, and the first member 11 and the second member 12. A massage unit 10 is provided in which one side of the space S1 formed between the second member 12 and the second member 12 is open for taking in and out the body part.
The massage unit 10 is further provided together with the first member 11 and expands to push the body part, and the first member 11 and the second member 12 are relatively close to each other. A massage mechanism unit 50 that moves the first member 11 together with the inflated air cell 31 in the direction of at least one of the opening side and the opposite side of the space S1. have.

According to this massage device 1, the air cell 3 is in an expanded state after grasping a body part due to the expansion of the air cell 31 between the first member 11 and the second member 12.
When the first member 11 is moved in the direction opposite to the opening side (or the opening side) together with 1, the body part grasped between the first member 11 and the second member 12 via the air cell 31 is held on the opening side. And the other side (
Alternatively, it can be moved to the opening side), and the feeling of massage is improved as compared with the kneading performed by simply sandwiching the body part from both sides.

In the massage device described in the present specification, the air cell is "expanded".
And the "expanded state" of the air cell is a state in which the air cell is in the process of expanding from the contracted state and applying a load to the body part, a state in which the expansion is completed and a load is applied to the body part, and an exhaust from the expanded state. However, the internal pressure of the air cell remains and the load is applied to the body part.

(2) Further, the massage device (one embodiment) 1 of the present invention has a first mechanism portion 51 and a second mechanism portion 52 provided along the circumferential direction of the body part of the person to be treated, and the first mechanism portion 52 is provided. 1 Mechanism part 51
A massage unit 10 is provided, in which one side of the space S1 formed between the body and the second mechanism 52 is open for taking in and out the body part.
The first mechanism portion 51 includes a massage portion (31,64) for pressing the body portion and a first retracted position B-1 to which the massage portion (31,64) is attached and separated from the body portion. A first link member 61 that reciprocates between the first forward position F-1 that approaches the body part and a second retreat that is attached so that the first link member 61 can reciprocate and is separated from the body part. It has a second link member 62 that reciprocates between the position B-2 and the second forward position F-2 that has approached the body part.
The second link member 62 can move to the second forward position F-2 together with the first link member 61 to perform an operation of grasping the body part, and the first link member 61.
At the same time, the second link member 62 can move to perform a massage operation.

According to this massage device 1, the second link member 62 is moved to the second forward position F-2 together with the first link member 61 to which the massage portions (31, 64) for pressing the body part are attached.
Therefore, the body part can be grasped between the first mechanism part 51 and the second mechanism part 52 via the massage part (31, 64). At the time of grasping, only the first link member 61 is set as the first forward position F-1, and the second link member 62 is not set as the second forward position F-2, but the second retract position B-2.
Compared with the case of, it is possible to make the massage part (31, 64) reach a position far on the opening side with respect to the body part. That is, the part on the opening side of the body part can be grasped.
Then, while grasping the opening side portion of this body part, the second link member 61 and the second link member 61 are held together.
By moving the link member 62, the massage portions (31, 64) can be moved to perform the massage operation.

(3) Further, as the massage operation by the massage device 1, the second at the second forward position F-2 together with the first link member 61 at the first forward position F-1.
It is preferable that the link member 62 moves to the second retracted position B-2.
In this case, by setting the second link member 62 to the second forward position F-2 and the first link member 61 to the first forward position F-1, between the first mechanism unit 51 and the second mechanism unit 52. After grasping the body part (the part on the opening side) through the massage part (31, 64), the second link member 62 is moved to the second retracted position B-2 together with the first link member 61. However, it is possible to massage the body part (the part on the opening side) by moving it from the opening side to the opposite side, and the massage experience is improved compared to the massage performed by simply sandwiching the body part from both sides.

(4) Further, the massage device (one embodiment) 1 of the present invention has a first member 11 and a second member 12 provided along the circumferential direction of the body part of the person to be treated, and the first member. A massage unit 10 is provided in which one side of the space S1 formed between the 11 and the second member 12 is open for taking in and out the body part.
The massage unit 10 further displaces the massage portions (31, 64) provided together with the first member 11 for pressing the body portion and the first member 11 in a direction of narrowing the space S1. It also has a link mechanism 20 that displaces the second member 12 in the direction of the opening side and displaces the second member 12 in the direction of narrowing the space S1 and in the direction opposite to the opening side. ..

According to this massage device 1, a massage unit (a massage unit (1) between the first member 11 and the second member 12
The body part can be grasped through 31,64). Further, the link mechanism 20 displaces the first member 11 in the direction of narrowing the space S1 and in the direction of the opening side, and displaces the second member 12 in the direction of narrowing the space S1. By displacing in the direction opposite to the opening side, it is possible to pull (or push and knead) the grasped body part so that the first member 11 side pushes down and the second member 12 side pulls up, and the body part is simply pushed on both sides. Compared to the kneading performed by sandwiching from the outside, the experience of massage is improved.

(5) Further, the massage device (one embodiment) 1 of the present invention has a first mechanism portion 51 and a second mechanism portion 52 provided along the circumferential direction of the body part of the person to be treated, and the first mechanism portion 52 is provided. 1 Mechanism part 51
A massage unit 10 is provided, in which one side of the space S1 formed between the body and the second mechanism 52 is open for taking in and out the body part.
The first mechanism portion 51 has a plurality of link members (61, 62), and also has a plurality of joint portions that connect the adjacent link members to each other, and the plurality of the link members start from the plurality of the joint portions. The articulated mechanism 60 capable of operating (61, 62) and the front link member (61) of the plurality of link members (61, 62) close to the body part of the person to be treated are provided with the body part. With a massage section (31, 64) for pressing
From the state in which the first mechanism portion 51 and the second mechanism portion 52 are provided along the circumferential direction of the body portion, the articulated mechanism 60 has a plurality of the links starting from the plurality of the joint portions. By operating the members (61, 62) in one direction, the massage section (31, 64)
) Is at a position where it can come into contact with the body part, and the massage portion (31, 64) is moved to the opening side position as compared with the state before the operation in the one direction.

According to the massage device 1, when the articulated mechanism 60 performs the moving operation, the massage unit (31, 64) can reach a position farther on the opening side as compared with the state before the operation. Then, if the articulated mechanism 60 operates from that state to perform a massage operation, massage using the massage portions (31, 64) located at the opening side is possible, the massage range can be expanded, and it is simple. Compared to the massage performed by sandwiching the body part from both sides, the experience of massage is improved.

(6) Further, in the massage device 1, the articulated mechanism 60 is provided from a state in which the first mechanism portion 51 and the second mechanism portion 52 are provided along the circumferential direction of the body part.
The plurality of link members (61, 62) that perform the movement operation and are in the state after the movement operation.
It is preferable to perform a massage operation in which at least the link member (62) other than the tip link member (61) is operated in the direction opposite to the one direction.
According to this configuration, when the articulated mechanism 60 performs the moving motion, the massage portion (31, 64) can reach a distant position on the opening side of the body part as compared with the state before the motion. Then, from that state, the articulated mechanism 60 operates to perform the massage operation, so that the massage portion (31) located on the opening side can be pulled and kneaded, and the body part can be simply massaged. Compared to the massage performed by sandwiching from both sides, the experience of massage is improved.
When the link member (62) other than the tip link member (61) among the plurality of link members (61, 62) in the state after the movement operation is operated in the direction opposite to one direction,
The front link member (61) does not displace with respect to the adjacent link member (62), but displaces with respect to the body part.

(7) Further, in the massage device 1 of the above (1) or (4), the operation mechanism for operating the first member 11 is an air cell 6 that pushes and moves the first member 11 by expanding.
The configuration may include 5a and an elastic member 66b that generates an urging force that returns the moved first member 11 to the position before the movement.
According to this configuration, the first member 11 is advanced by the expansion of the air cell 65a, and the air cell 6
When the 5a contracts, the first member 11 is retracted by the urging force of the elastic member 66b.

In the case of the massage device 1 according to (2), (3), (5), or (6) above.
The operating mechanism for operating the link member includes an air cell that pushes and moves the link member by expanding, and an elastic member that generates an urging force that returns the moved link member to the position before the movement. can do.

(8) Or, in the massage device 1 of the above (1) or (4), the first member 11
The operation mechanism for operating the first member has a portion having a long distance from the center of rotation to the outer circumference and a portion having a short distance from the center of rotation to the outer circumference, and the long portion pushes the first member 11. The first member 11 is moved forward, and the short portion pushes the first member 11.
Can be configured to include a cam member 67b that allows the first member 11 to retract, and an elastic member 66b that generates an urging force that retracts the first member 11.
According to this configuration, a configuration is obtained in which the first member is operated by the rotation of the cam member 67b.

In the case of the massage device 1 according to (2), (3), (5), or (6) above.
The operating mechanism for operating the link member has a portion having a long distance from the center of rotation to the outer circumference and a portion having a short distance from the center of rotation to the outer circumference, and the long portion pushes the link member to push the link member. A cam member 67b that allows the link member to be retracted while the short portion pushes the link member, and an elastic member that generates an urging force that retracts the link member. can do.

(9) Further, in the massage device 1, the operation timings of the plurality of massage units 10 provided along the longitudinal direction of the body part and the plurality of massage units 10 are different from each other. Control unit that controls the operation of
7) and is preferably provided.
According to this configuration, for example, it is possible to perform an operation such as grasping one range of a body part in order.

(10) Further, in the massage device 1 of the above (1), the massage unit 10
Further includes a second air cell 32 provided together with the second member 12 for pushing the body part by expanding, and the second air cell 32 expands with respect to the body part. It is preferable that the structure has a component that presses the opening side.
In this case, for example, when a massage operation having a component for moving a body part to the opposite side of the opening side is performed, it is possible to prevent the body part from escaping to the space on the opposite side of the opening side. Can be done.

(11) Further, the massage device (one embodiment) 1 of the present invention has a first member 11 and a second member 12 provided along the circumferential direction of the body part of the person to be treated, and the first member. A massage unit 10 is provided in which one side of the space S1 formed between the 11 and the second member 12 is open for taking in and out the body part.
The massage unit 10 is further provided with a suction unit 64c provided together with the first member 11 to enable suction of the body part, and an operation of relatively bringing the first member 11 and the second member 12 closer to each other. A massage mechanism unit 50 that moves the first member 11 in the direction of at least one of the opening side and the opposite side of the space S1 together with the suction unit 64c.

According to this massage device 1, by bringing the first member 11 and the second member 12 relatively close to each other, the suction portion 64c can be brought into contact with a part of the body part existing in the space S1. Then, when the first member 11 is moved in the direction opposite to the opening side (or the opening side) with the suction portion 64c sucking a part of the body part, the first member 11 and the second member 12 are brought into contact with each other. It is possible to move the body part that is grasped and adsorbed between them to the side opposite to the opening side (or the opening side), and the feeling of massage is more than that of simply sandwiching the body part from both sides. improves.

(12) Further, the massage device (one embodiment) 1 of the present invention is a body part (one form) of the person to be treated.
It has a first member 11 provided in a part around B) and a second member 12 provided in another part around the body part (B), and the first member 11 and the second member 12 are provided. A massage unit 10 is provided, in which one side of the space S1 formed between the member 12 and the member 12 is open for taking in and out the body part (B).
The massage unit 10 further includes a massage portion (31) provided together with the first member 11 and capable of pressing a part of the body part (B), and an extending portion 71 extending from the first member 11. The support portion 72 that supports the end portion 71a and the first member 11 are combined with the second member 12.
It has a moving unit 70 for approaching and separating from the object.
The moving portion 70 is a surface 7 that is rotatable around the axis P1 and is inclined with respect to the axis P1.
It has an inclined cam 73 having 4a and having the inclined surface 74a abutting on the extending portion 71, and a driving unit 75 for rotating the inclined cam 73 around the axis P1. There is.

According to this massage device, the first member 11 is seconded by rotating the tilt cam 73.
It is possible to repeatedly approach and separate from the member 12, and the massage portion (31) provided on the first member 11 can perform a massage operation on the body part (B).

(13) Further, in the massage device 1 of the above (12), the support portion 72 is movable reciprocating along the straight line at the end portion 71a of the extending portion 71 and is immovable in the direction orthogonal to the straight line. It can be configured to be a supporting guide rail 72a.
In this case, due to the rotation of the inclined cam 73, the first member 11 can perform an operation of approaching the second member 12 while rotating in one direction about the virtual line L1 along the longitudinal direction of the extending portion 71. Further, the first member 11 can be configured to perform an operation of moving away from the second member 12 while rotating in the other direction around the virtual line L1.

(14) Or, in the massage device of (12), the support portion 72 has a first spherical seat 72b provided at the end 71a of the extending portion 71 and a second spherical seat 72c in a fixed state. And a shaft 72d having spherical portions 72e and 72f which are interposed between the first spherical seat 72b and the second spherical seat 72c and which are in sliding contact with the spherical seats 72b and 72c at both ends. can do.
In this case, due to the rotation of the inclined cam 73, the first member 11 can perform an operation of approaching the second member 12 while rotating in one direction about the virtual line L1 along the longitudinal direction of the extending portion 71. Further, the first member 11 can be configured to perform an operation of moving away from the second member 12 while rotating in the other direction around the virtual line L1.

(15) The massage device (one embodiment) 1 of the present invention has a first mechanism portion 51 and a second mechanism portion 52 provided on both sides of a body part (B) of a subject, and the first mechanism. A massage unit 10 is provided, wherein one side of the space S1 formed between the portion 51 and the second mechanism portion 52 is open for taking in and out the body part.
The first mechanism portion 51 has a first air cell 31 provided so as to be reciprocally movable between the position on the opening side and the position on the opposite side.
The second mechanism portion 52 has a second air cell 32 provided so as to be reciprocally movable between the position on the opening side and the position on the opposite side.
In a state where the first air cell 31 and the second air cell 32 expand and sandwich the body part (B), the first air cell 31 and the second air cell 32 move while changing their mutual intervals. ..

According to this configuration, the body part grasped by the air cells 31 and 32 between the first mechanism part 51 and the second mechanism part 52 is massaged so as to move to the opening side and the opposite side (non-opening side). Or push kneading) is possible, and the experience of massage is improved as compared with kneading performed by simply sandwiching the body part (B) from both sides.

In the massage device 1 according to (15), the first mechanism portion 51 is provided along the first member 76 that covers the body part (B) from one side and the first member 76, and is rotationally driven. The first endless belt 77 and the first air cell 31 are attached to the first endless belt 7
It has a first moving body 78 that moves along the first member 76 by the rotation of 7.
The second mechanism portion 52 includes a second member 79 that covers the body portion (B) from the other side, a second endless belt 80 that is provided along the second member 79 and is rotationally driven, and the second air cell 32.
Is attached, and the second moving body 81 that moves along the second member 79 by the rotation of the second endless belt 80 can be provided.
In this case, the body part (B) grasped by the air cells 31 and 32 between the first mechanism part 51 and the second mechanism part 52 is kneaded (or so as to move to the opening side and the opposite side (non-opening side). A configuration that enables (pushing and kneading) can be obtained.

Alternatively, in the massage device 1 according to (15), the first mechanism portion 51 includes a first member 76 that covers the body portion (B) from one side and is provided with a first rack portion 76a. A first moving body 78 to which the first air cell 31 is attached, and the first moving body 78 is provided with a first pinion 78a and a first pinion 78a that mesh with the first rack portion 76a. The first motor 78b to rotate is mounted,
The second mechanism portion 52 covers the body part (B) from the other side and the second rack portion 79.
It has a second member 79 provided with a and a second moving body 81 to which the second air cell 32 is attached, and the second moving body 81 meshes with the second rack portion 79a. Second
The pinion 81a and the second motor 81b for rotating the second pinion 81a may be mounted.
In this case, by rotating the first pinion 78a by the first motor 78b, the first moving body 78 can move along the first rack portion 76a of the first member 76, and the second motor 81b can move the first pinion 78a. By rotating the two pinions 81a, the second moving body 81 can move along the second rack portion 79a of the second member 79.

Alternatively, in the massage device 1 according to (15), the first mechanism portion 51 is attached with a first member 76 that covers the body portion (B) from one side and the first air cell 31. The first moving body 78 that can move along the first member 76, the rotating first crank 83a, the first crank 83a, and the first moving body 78 are connected to each other.
The first wire 84a capable of pulling the first moving body 78 according to the phase of the crank 83a in the rotation direction and the elastic force against the force by which the first wire 84a pulls the first moving body 78 are the first. It has a first spring 82a attached to one moving body 78, and has.
The second mechanism portion 52 is attached with a second member 79 that covers the body portion (B) from the other side and the second air cell 32, and is movable along the second member 79. The second moving body 8 is connected to the moving body 81, the rotating second crank 83b, the second crank 83b, and the second moving body 81, and according to the phase in the rotation direction of the second crank 83b.
It has a second wire 84b capable of pulling 1 and a second spring 82b that applies an elastic force to the second moving body 81 against the force by which the second wire 84b pulls the second moving body 81. It can be configured.
In this case, when the first wire 84a pulls the first moving body 78 according to the phase in the rotation direction of the first crank 83a in the first mechanical unit 51, the first moving body 7 opposes the first spring 82a.
8 moves in one direction, and the first wire 8 depends on the phase of the first crank 83a in the rotation direction.
When the pull of the first moving body 78 by 4a is released, the first moving body 78 moves in the other direction due to the restoring force of the first spring 82a.
Further, in the second mechanism portion 52, when the second wire 84b pulls the second moving body 81 according to the phase in the rotation direction of the second crank 83b, the second moving body 81 opposes the second spring 82b. It moves in one direction, and the second wire 84b depends on the phase of the second crank 83b in the rotation direction.
When the pull of the second moving body 81 is released, the second moving body 81 moves in the other direction due to the restoring force of the second spring 82b.

(16) The massage device (one embodiment) 1 of the present invention includes a first member 11 provided on the upper side of the body part (B) of the person to be treated, and a second member 11 provided on the lower side of the body part (B). Member 12,
A state in which the first member 11 and the second member 12 are separated from each other by having a drive unit 53 (54) for moving at least one of the first member 11 and the second member 12 in the vertical direction. A massage unit 10 is provided so that the body part (B) can be moved in and out between the first member 11 and the second member 12.
The first member 11 has a pair of air cells 55, 55 that perform an operation of sandwiching the body part (B) by expanding.
The second member 12 has a structure that supports the body part (B) from below.
The drive unit 53 (54) is a body portion (B) supported by the second member 12 from below.
The first member 11 and the second member 12 are relatively separated from each other in the vertical direction while being sandwiched between the pair of air cells 55 and 55.

According to this configuration, the body part (B) supported from below by the second member 12 is sandwiched between the pair of air cells 55 and 55 included in the first member 11, and from this state, the drive unit 53 By separating the first member 11 and the second member 12 according to (54), the body part (B) can be kneaded and the massage experience is improved.

(17) The massage device (one embodiment) 1 of the present invention includes a first member 11 provided on one side in the first direction with respect to the body part (B) of the person to be treated, the body part (B). A second member 12 provided on the other side of the first direction, and a drive unit 53 (which moves at least one of the first member 11 and the second member 12 in the first direction). 54)
A massage unit 10 is provided so that the body part (B) can be taken in and out between the first member 11 and the second member 12 in a state where the first member 11 and the second member 12 are separated from each other.
The first member 11 has a pair of first air cells 55, 55 that perform an operation of sandwiching the body part (B) from both sides in the second direction by expanding.
The second member 12 has a pair of second air cells 56, 56 that perform an operation of sandwiching the body part (B) from both sides in the second direction by expanding.
The drive unit 53 (54) includes the first air cells 55, 55 and the second air cell 5.
The first member 11 and the second member 1 with the body part (B) sandwiched between the bodies 6 and 56.
2 and 2 are separated from each other along the first direction.

According to this configuration, the body part (B) has the first air cells 55, 55 and the second air cells 5 on both sides of the first direction (that is, the first member 11 side and the second member 12 side), respectively.
It is sandwiched from both sides in the second direction by 6,56, and from this state, the drive unit 53 (
By separating the first member 11 and the second member 12 along the first direction according to 54),
It is possible to massage the body part (B), and the feeling of massage is improved.

(18) The massage device (one embodiment) 1 of the present invention
A massage unit 10 that grabs the body part (B) of the patient,
Provided on one side in the longitudinal direction of the body part (B) in the massage unit 10.
A first actuator 91a that displaces a part of the massage unit 10 in a direction intersecting the longitudinal direction of the body part (B), and
Provided on the other side of the massage unit 10 in the longitudinal direction of the body part (B),
A second actuator 91b that displaces the other portion of the massage unit 10 in a direction intersecting the longitudinal direction of the body part (B) is provided.

According to this massage device 1, the massage unit 10 can be displaced in a direction orthogonal to the longitudinal direction of the body part (B). Further, for example, when one of the first actuator 91a and the second actuator 91b is extended and the other is contracted, the massage unit 10 is displaced around the virtual line L2 in the direction orthogonal to the longitudinal direction of the body part (B). (rotation)
Can be made to. As a result, it is possible to perform a massage operation of turning (twisting) around the virtual line L2 in the direction orthogonal to the longitudinal direction of the body part (B) while grasping the body part (B).

(19) The massage device (one embodiment) 1 of the present invention
A massage unit 10 that grabs the body part (B) of the patient,
The massage unit 10 is provided with an actuator mechanism that displaces the massage unit 10 around a virtual line L3 parallel to a straight line in a direction intersecting the longitudinal direction of the body part (B).
The actuator mechanism includes a pinion 94b that meshes with a rack portion 94a provided on the massage unit 10 along an arc whose rotation center line is the virtual line L3, and a motor 94c that rotates the pinion 94b. ing.

According to this massage device 1, by rotating the pinion 94b, the massage unit 10 can be displaced (rotated) around a virtual line parallel to a straight line in a direction orthogonal to the longitudinal direction of the body part (B). .. As a result, it is possible to perform a massage operation of turning (twisting) the body part (B) while grasping the body part (B).

(20) The massage device (one embodiment) 1 of the present invention includes a massage unit 10 for grasping a body part (B) of a subject and a massage unit 10.
A support portion 96 that supports a part of the massage unit 10 and
An actuator mechanism 97 that is connected to another portion of the massage unit 10 and displaces the massage unit 10 in a direction intersecting the longitudinal direction of the body portion (B) with the support portion 96 side as a fulcrum is provided.
The actuator mechanism 97 has a rotating eccentric cam 97a and an arm 97b that connects the eccentric cam 97a and another part of the massage unit 10.
According to the massage device 1, the rotation of the eccentric cam 97a of the actuator mechanism 97 makes the massage unit 10 a fulcrum on the support portion 96 side in the longitudinal direction of the body part (B) grasped by the massage unit 10. It can be displaced in the direction of intersection.

Further, in the massage device 1 of the (20), the actuator mechanism 97 is connected to the other parts of the massage unit 10 which are separated from each other in the longitudinal direction of the body part (B).
The eccentric cam 97a-1 of one of the actuator mechanisms 97 and the eccentric cam 97a-2 of the other actuator mechanism 97 can be configured to have the same phase in the rotation direction.
In this case, the virtual line L parallel to the longitudinal direction of the body part (B) to be grasped by the massage unit 10.
The massage unit 10 can be reciprocated with 4 as the center of rotation.

Alternatively, in the massage device 1 of the above (20), the actuator mechanism 97 is
The massage unit 10 is connected to the other parts of the body part (B) separated from each other in the longitudinal direction.
The eccentric cam 97a-1 of one of the actuator mechanisms 97 and the eccentric cam 97a-2 of the other actuator mechanism 97 may be configured to have different phases in the rotational direction.
In this case, the massage unit 10 can be displaced in a direction intersecting the longitudinal direction of the body part (B) gripped by the massage unit 10 with the support portion 96 side as a fulcrum, and the phase of the displacement can be set to the massage unit. By making a difference in two places of 10,
A component that reciprocates the massage unit 10 around the virtual line L5 orthogonal to the longitudinal direction of the body part can also be generated.

Alternatively, in the massage device 1 of the above (20), the actuator mechanism 97 is
The massage unit 10 is connected to the other parts of the body part (B) separated from each other in the longitudinal direction.
The eccentric cam 97a is a surface 97 inclined with respect to the rotation center line L6 of the eccentric cam 97a.
An eccentric tilting cam having c and having the tilted surface 97c so as to come into contact with the arm 97b.
In this case, the massage unit 10 can be displaced in a direction intersecting the longitudinal direction of the body part (B) gripped by the massage unit 10 with the support portion 96 side as a fulcrum, and the massage unit 10 can be displaced of the body part. It can also be swung in the longitudinal direction.

[Details of Embodiments of the present invention]
Hereinafter, details of the embodiment of the present invention will be described with reference to the drawings.
[About massage unit 10]
The massage unit 10 of the armrest portion 4 and the massage unit 10 of the footrest 5 may have the same configuration, but may be different. However, since the thickness of the body part of the subject, that is, the thickness of the arm and the leg is different, the massage unit 10 for the arm and the leg
Needless to say, even when the same configuration is used, the size of the arm massage unit 10 and the leg massage unit 10 are set according to the body parts (arms and legs). Hereinafter, various forms of the massage unit 10 of the armrest portion 4 will be described, but each form may be installed on the footrest 5.

<Section 1>
[Massage unit (1)]
FIG. 2 is a perspective view of the massage unit 10 installed on the right armrest portion 4 shown in FIG. In FIG. 2, two massage units 10 and 10 are provided side by side.
These make up the massage means 8. That is, the massage means 8 includes a first massage unit 10 located on the elbow side of the forearm and a second massage unit 10 located on the hand side. Further, the massage means 8 is a first massage unit 10.
A drive unit 40 for operating the first and second massage units 10 and 10 is provided on the side.

These massage units 10 and 10 are provided side by side along the longitudinal direction of the forearm. The second massage unit 10 may be provided so as to be located in the area on the wrist side of the forearm, but in the present embodiment, the second massage unit 10 is provided so as to be located in the area including the wrist and the hand. ..
Here, the longitudinal direction of the forearm of the treated person is the Z direction, and the lateral width direction of the forearm (the left-right direction of the treated person).
Is defined as the X direction, and the vertical direction of the forearm is defined as the Y direction.

The massage means 8 has an outer cover 19 that opens toward both sides in the Z direction and one side in the X direction (center side of the body), and the first and second massage units 10 are contained in the outer cover 19. , 10 are provided. The outer cover 19 and the massage units 10 and 10 are covered with a flexible and flexible cloth-like member (sheet), but the massage unit 10 (No. 1) shown in FIG. 2 (and other described later). For the sake of explanation (also in form)
The cloth-like member is removed.

The first massage unit 10 and the second massage unit 10 have the same configuration.
The configuration will be described with reference to the first massage unit 10. The first massage unit 10 (hereinafter, also simply referred to as a massage unit 10) has a pair of side walls 17 and 18 fixed to an outer cover 19, a plate-shaped first member 11, and a plate-shaped first member. 2 member 12
have. The outer cover 19 and the pair of side walls 17 and 18 are fixed to the armrest portion 4 (see FIG. 1) and have a shape of opening on one side in the X direction (center side of the body).

FIG. 3 is an explanatory view of the first massage unit 10 as viewed from the drive unit 40 side. In FIG. 3, the cover 40a (see FIG. 2) of the drive unit 40 is removed. FIG. 4 is an explanatory view showing a state in which the drive unit 40 and the side wall 17 are further removed from the massage unit 10 shown in FIG.

The massage unit 10 further has a first link member 21, a second link member 22, and a third link member 23 provided along the side wall 18 on the arm tip side. The first link member 21, the second link member 22, and the third link member 23 are also provided on the side wall 17 on the elbow side, which is not shown in FIG. On both sides of the side walls 17 and 18, one end 23a of the third link member 23 is rotatably attached to the end of the first link member 21, and the other end 23b of the third link member 23 is the second. It is rotatably attached to the end of the two-link member 22. The third link member 23 has an elongated hole 24 in the central portion in the longitudinal direction thereof.
Is provided, and the other end 23b side of the elongated hole 24 is swingably attached to the side wall 17 (18).
The swing center line Z1 of the third link member 23 with respect to the side wall 17 (18) is a straight line in the Z direction (parallel to the Z direction). Then, on both sides of the side walls 17 and 18, a link mechanism composed of three sides opened on one side in the X direction (center side of the body) by the first link member 21, the second link member 22, and the third link member 23. 20 is configured.

The first link member 21 is fixed to each side of the plate-shaped first member 11 in the Z direction. The second link member 22 is fixed to each side of the plate-shaped second member 12 in the Z direction. A plate-shaped first member 11 provided along the longitudinal direction of the first link member 21 and a plate-shaped second member 12 provided along the longitudinal direction of the second link member 22. A space S1 is formed between them.
From the above, in the massage unit 10, a space S1 for locating the arm of the person to be treated is formed between the first member 11 and the second member, and one side of the space S1 in the X direction (of the body). The center side) is open for putting in and out the arm.
In the following, the side that is open for inserting and removing the arm is referred to as the "opening side", and the opposite side is referred to as the "non-opening side".

The first member 11 is provided with a first air cell 31 that expands when air is supplied as a massage member that can press the arm (on the arm side). The first air cell 31 includes a first main air cell 31a on the first member 11 side and a first sub air cell 31b on the arm side of the patient, and these two air cells 31a and 31b are provided so as to overlap in the expansion direction. There is.
Further, the second member 12 is provided with a second air cell 32 that expands when air is supplied as a massage member that can press the arm (on the arm side). The second air cell 32 is 1
Only one is provided.
As described above, the massage unit 10 includes the first air cell 31 as the first massage member that can come into contact with the arm on the first member 11 side, and the second member 12 on the second member 12 side. A second air cell 32 is further provided as a second massage member which is provided together with and can come into contact with the arm.

Since the first member 11 is fixed to the first link member 21 and the second member 12 is fixed to the second link member 22, the first member 11 and the second member are fixed by the link mechanism 20. 12 becomes operable. Further, since the first air cell is integrated with the first member 11,
The first air cell is movable together with the first member 11 and the first link member 21, and the second air cell is also movable.
Since the air cell is integrated with the second member 12, the second air cell can move together with the second member 12 and the second link member 22.

As shown in FIG. 3, on the side wall 17 on one side, the first member 11 is provided via the first link member 21.
It has a first guide portion that guides the vehicle in a predetermined direction so as to be movable. The first of this embodiment
The guide portion consists of two elongated holes 13 and 14. The first link member 21 is inserted into these elongated holes 13 and 14.
The convex portions 21a and 21b of the above are fitted so as to be movable in the longitudinal direction of the hole. Further, the side wall 17 on one side has a second guide portion that guides the second member 12 so as to be movable in a predetermined direction via the second link member 22. The second guide portion of this embodiment has two elongated holes 15,
It consists of 16. The convex portions 22a and 22b of the second link member 22 are fitted into the elongated holes 15 and 16 so as to be movable in the longitudinal direction of the holes.
Similarly, the side wall 18 on the other side also has two elongated holes 13 and 14 as the first guide portion and two elongated holes 15 and 16 as the second guide portion. The convex portions 21a and 21b of the first link member 21 are fitted into the elongated holes 13 and 14 so as to be movable in the longitudinal direction of the holes, and the convex portions 22a and 22b of the second link member 22 are fitted in the elongated holes 15 and 14. It fits into 16 so as to be movable in the longitudinal direction of the hole.

The elongated holes 13 and 14 of the first guide portion are long holes from the non-opening side to the opening side, and are inclined with respect to the X direction and the Y direction, respectively. The pair of elongated holes 13 and 14 are provided in parallel or substantially parallel, and the first link member 21 can move together with the first member 11 along these elongated holes 13 and 14.
That is, according to these elongated holes 13 and 14, the first air cell 31 together with the first member 11 can reciprocate between the first retracted position and the first advanced position defined below.
1st retreat position: A position that widens the space S1 and is a position on the non-opening side (see FIG. 6).
1st forward position: A position that narrows the space S1 and is a position on the opening side (see FIG. 5).

In FIG. 3, the elongated holes 15 and 16 of the second guide portion are long holes from the non-opening side to the opening side, and are inclined with respect to the X direction and the Y direction, respectively. Long hole 15 located on the opening side
The elongated hole 16 located on the non-opening side is provided in a different inclination direction, and the second link member 22 can move together with the second member 12 along the elongated holes 15 and 16.
That is, according to these elongated holes 15 and 16, the second air cell 32 together with the second member 12 can reciprocate between the second retracted position and the second forward position defined below.
2nd retreat position: A position that narrows the space S1 and is a position on the non-opening side (see FIG. 5).
-Second forward position: A position that widens the space S1 and is a position on the opening side (see FIG. 6).

As shown in FIG. 4, an eccentric cam 41 is provided in the elongated hole 24 of the third link member 23. The eccentric cam 41 can rotate integrally with the drive shaft 42 which is long in the Z direction. The center of rotation of the eccentric cam 41, that is, the center of the drive shaft 42 is eccentric from the center of the eccentric cam 41.
The drive shaft 42 includes a speed reducer 40c and a motor 4 included in the drive unit 40 (see FIG. 3).
Rotate by 0b.
When the eccentric cam 41 rotates around the center line Z2 of the drive shaft 42 together with the drive shaft 42, the eccentric cam 41 slides in the elongated hole 24, whereby the third link member 23 moves around the swing center line Z1. Swing back and forth. When the third link member 23 reciprocates and swings, the first member 11 and the first air cell 31 together with the first link member 21 reciprocate along the first guide portions (slot holes 13 and 14), and the third link member 23 reciprocates. The second member 12 and the second air cell 32 together with the two-link member 22 reciprocate along the second guide portion (slot holes 15, 16).

In this reciprocating movement, as shown in FIG. 5, when the first link member 21, the first member 11, and the first air cell 31 (hereinafter, collectively referred to as the first mechanism portion 51 including these) move to the opening side,
The second link member 22, the second member 12, and the second air cell 32 (hereinafter, collectively referred to as the second mechanism portion 52 including these) move to the non-opening side. On the other hand, as shown in FIG. 6, when the first mechanism portion 51 moves to the non-opening side, the second mechanism portion 52 moves to the opening side.
Further, when the first mechanism portion 51 moves to the opening side (see FIG. 5), the space S1 is narrowed, and when it moves to the non-opening side (see FIG. 6), the space S1 is widened. Then, when the second mechanism portion 52 moves to the non-opening side (see FIG. 5), the space S1 is narrowed, and when it moves to the opening side (see FIG. 6).
The space S1 is widened.

As described above, when the first mechanism portion 51 moves to the opening side, the space S1 is narrowed, and when the second mechanism portion 52 moves to the non-opening side, the space S1 is narrowed. An operation of grasping the arm of the person to be treated can be performed between the first mechanism unit 51 and the second mechanism unit 52.
Even if the first air cell 31 and the second air cell 32 are not all expanded,
Since the first member 11 and the second member 12 perform an operation of narrowing the space S1, a mechanical operation of trying to grasp the arm of the person to be treated can be performed.
Then, by expanding at least one of the first main air cell 31a, the first sub air cell 31b, and the second air cell 32, the space S1 can be further narrowed, and the air cell that grips the arm of the patient is operated. , The arm can be pressed by the expansion of this air cell.

That is, in the massage unit 10 of the present embodiment, the first member 11, the second member 12, the first link member 21, the second link member 22, the third link member 23, and the side walls 17 and 18 are
Each is composed of a member having rigidity, and a composite of a gripping operation performed mechanically by the operation of the member having such rigidity and a gripping operation performed by the expanding air cells 31 and 32 having compressibility. The motion (hybrid motion) causes a gripping motion on the patient's arm.

5 and 6 are explanatory views of the massage unit 10 as viewed from the Z direction. 1st member 1
Reference numeral 1 denotes a plate-shaped member having a configuration in which the first air cell 31 is covered from the outside (above). The arm B of the patient can be pressed by the expansion of the first air cell 31, but the first air cell 31
A reaction force is generated due to the pressing force. Therefore, this reaction force is supported by the first member 11. Similarly, the second member 12 is a plate-shaped member with the second air cell 32 on the outside (bottom).
It is a structure that covers from. The arm B of the person to be treated can be pressed by the expansion of the second air cell 32, but a reaction force is generated in the second air cell 32 due to the pressing. So, this reaction force is
It is supported by the second member 12.

Further, when viewed along the Z direction, the plate-shaped first member 11 is directed upward as a whole from the non-opening side (right side in FIG. 5) to the opening side (left side in FIG. 5). Although it is provided at an angle (in the direction of expanding the space S1), the first member 11 is bent downward (in the direction of narrowing the space S1) on the way from the non-opening side to the opening side (bent portion 11a). Has a shape.
Then, the first air cell 31 (the first main air cell 31a and the first sub air cell 31b) is in a free state (a contracted state in which air is not supplied), and has a bent shape in accordance with the bent shape of the first member 11. Have. That is, the first main air cell 31a and the first sub air cell 31b have a shape that is convex upward, and the first main air cell 31a and the first sub air cell 31
The inner surface of b has a concave curved shape.

When viewed along the Z direction, the plate-shaped second member 12 is inclined upward as a whole from the non-opening side (right side in FIG. 5) to the opening side (left side in FIG. 5). It is provided. The second member 12 is not bent in the middle from the non-opening side (right side in FIG. 5) to the opening side (left side in FIG. 5), and has a linear shape.
The second air cell 32 has a linear shape in addition to the linear shape of the second member 12.

The first main air cell 31a and the first sub air cell 31b can be expanded and contracted independently of each other. That is, the first main air cell 31a and the first sub air cell 31b can be contracted together (see FIG. 5) and expanded together (see FIG. 7), and the first main air cell 31a is contracted. In the state, the first sub air cell 31b is expanded (see FIG. 8), or the first
The first main air cell 31a can be expanded in a state where the sub air cell 31b is contracted (see FIG. 9).
Further, the expansion and contraction operations of the second air cell 32 are independent of the first air cell 31. That is, the second air cell 32 can expand and contract (see FIG. 5) while the first air cell 31 is contracting, and the second air cell is expanding and contracting while the first air cell 31 is expanding. 32 can expand (see FIGS. 7-9) and contract.
By expanding any one of the first main air cell 31a, the first sub air cell 31b, and the second air cell 32, the arm B of the patient to be treated located in the space S1 can be pressed.

Further, as described above, when the first mechanism portion 51 including the first link member 21, the first member 11, and the first air cell 31 moves to the opening side, the space S1 is narrowed, and the second link is combined with this movement. When the second mechanism portion 52 including the member 22, the second member 12, and the second air cell 32 moves to the non-opening side, the space S1 is narrowed. Therefore, between the first mechanism portion 51 and the second mechanism portion 52. Then, the operation of grasping the arm B of the person to be treated can be performed.

From the above, the massage unit 10 of the present embodiment includes a gripping mechanism 30 capable of performing an operation of gripping the arm B of the person to be treated, and the gripping mechanism 30 moves integrally with the first member 11. 1 link member 21, second link member 22 that moves integrally with the second member 12, one end 23
The a side is rotatably connected to the first link member 21, and the other end 23b side is the second link member 2.
3rd link member 23 rotatably connected to 2 and one end 23a of the 3rd link member 23
Predetermined displacement of the eccentric cam 41, which is a rotating member for performing a push-pull operation that moves the other end 23b side toward the non-opening side when the side is moved toward the opening side, and the first member 11 A side wall 17 in which elongated holes 13 and 14 are formed as a first guide portion for guiding in a direction, and elongated holes 15 and 16 are formed as a second guide portion for guiding a second member 12 in a predetermined displacement direction.
, 18.

The chair-type massage device 1 (see FIG. 1) according to the present embodiment includes massage units 10 and 10 (see FIG. 2) in the armrest portion 4, and the massage unit 10 is used for the patient to be treated. It has a first member 11 and a second member 12 provided on both upper and lower sides (both sides in the Y direction) of the arm, which is a body part, and a space S1 formed between the first member 11 and the second member 12. One side in the X direction (right side in FIG. 2) is open for the patient's arm to be taken in and out.
Each massage unit 10 (see FIG. 3) is further provided with the first member 11 as a massage member that can come into contact with the arm of the person to be treated, and the first air cell 31 and the gripping mechanism 3
Has 0 and. The gripping mechanism 30 together with the first air cell 31 displaces the first member 11 as a whole in the direction of narrowing the space S1 and in the direction of the opening side (one side in the X direction). By such a gripping mechanism 30, "the first member 11 together with the first air cell 31 is displaced in the direction of narrowing the space S1 as a whole and in the direction of the opening side (one side in the X direction)".
The operation is referred to as a forward operation of the first member 11. In this forward movement, as shown in FIGS. 6 to 5, the third link member 23 is shaken so that one end 23a side of the third link member 23 moves to the opening side (left side in FIGS. 6 and 5). It is realized by moving it.

According to the massage unit 10 that performs this forward movement, the first member 11 of the first member 11 and the second member 12 provided on both the upper and lower sides of the arm B of the treated person is the arm of the treated person. By displacing the space S1 in the narrowing direction together with the first air cell 31 that can come into contact with B (FIG. 5,
(States 7 to 9), the arm B of the person to be treated can be gripped between the first member 11 and the second member 12 via the first air cell 31, and the first member is gripped when grasping the arm B. By displacing 11 as a whole in the direction of the opening side (one side in the X direction), the first air cell 31 can reach the portion B1 on the opening side of the arm B of the person to be treated. As a result, the massage range by the first air cell 31 can be expanded.
When the first air cell 31 is inflated without performing the forward movement (see FIG. 6), the first air cell 31 (first auxiliary air cell 31b) is treated as shown by the alternate long and short dash line in FIG. The person's arm B cannot reach the opening side portion B1 and can only reach the upper center B3 of the arm B.

Then, the gripping mechanism 30 is displaced in the direction of narrowing the space S1 and in the direction of the opening side (X).
The first member 11 displaced in the direction (one side in the direction) can be displaced in the direction of the non-opening side (the other side in the X direction) opposite to the opening side. That is, the first member 11 that has performed the forward movement is displaced in the direction of the non-opening side, and such "the first member 11 that has performed the forward movement is displaced in the direction of the non-opening side". The operation is referred to as a backward operation of the first member 11. As shown in the states of FIGS. 5 to 6, this retracting operation is realized by swinging the third link member 23 so that one end 23a side of the third link member 23 moves to the non-opening side. Will be done.
According to the retracting operation of the gripping mechanism 30, after the arm B is sandwiched between the first member 11 and the second member 12 via the first air cell 31, the first member 11 in the arm B is gripped. It is possible to perform an operation (kneading operation) such that the portion B1 on the side and on the opening side is moved in the direction of the non-opening side. When performing this kneading, it is preferable that at least one of the air cells 31a, 31b, 32 is inflated.

Further, the gripping mechanism 30 displaces the first member 11 together with the first air cell 31 in the direction of narrowing the space S1 as a whole and displaces the space S1 in the opening side direction (one side in the X direction) while the second air cell is displaced. Together with 32, the second member 12 is displaced as a whole in the non-opening side direction (the other side in the X direction). That is, as shown in the states of FIGS. 6 to 5, while the first member 11 is performing the forward movement, the second member 12 as a whole together with the second air cell 32 is in the non-opening side direction (the other in the X direction). The second member 12 is displaced to the side) as a whole together with the second air cell 32 while the first member 11 is performing the forward movement (the other side in the X direction). The operation of "displacement to" is referred to as a backward operation of the second member 12.
According to the retracting motion of the second member 12, when the first member 11 and the first air cell 31 try to grasp the arm B of the person to be treated with the second member 12, the inside of the arm B It is possible to perform an operation (kneading operation) such as moving the portion B2 on the second member 12 side of the above to the non-opening side. When performing this kneading, it is preferable that at least one of the air cells 31a, 31b, 32 is inflated.

Further, when the second member 12 performs the backward operation in this way, the gripping mechanism 30 is the second.
While the second member 12 is displaced in the non-opening direction (the other side in the X direction) as a whole together with the air cell 32, the second member together with the second air cell 32 is further as shown in the states of FIGS. 6 to 5. The tip portion 12a side of the 12 is displaced in the direction of narrowing the space S1. That is, the backward operation of the second member is "while the first member 11 is performing the forward operation, the second member 12 together with the second air cell 32 is displaced in the non-opening direction (the other side in the X direction). The operation is to "displace the tip 12a side of the second member 12 in the direction of narrowing the space S1".

According to such a retracting operation of the second member 12, while the first member 11 is displaced in the direction of narrowing the space S1 as a whole together with the first air cell 31, the second member 11 is displaced in the direction of the opening side.
Together with the air cell 32, the second member 12 can be displaced as a whole in the direction of the non-opening side and in the direction of narrowing the space S1.
Therefore, when the first member 11 and the second member 12 operate so as to narrow the space S1 to grasp the arm B, the first member 11 is in the direction of the opening side and the second member 12 is on the opposite side. It will be displaced in the direction. This makes it possible to perform a twisting motion (pulling motion) while grasping the arm B. When performing this kneading operation, the air cells 31a, 31b, 3
It is preferable that at least one of 2 is inflated.

Further, in the gripping mechanism 30, when the first member 11 performs the retracting operation, the tip 12a side of the second member 12 is displaced in the direction of widening the space S1, and the second member 12 is opened as a whole. Displace in the side direction (one side in the X direction). That is, such "when the first member 11 performs the retracting operation, the tip 12a side of the second member 12 is displaced in the direction of widening the space S1.
And, the operation of "displace the second member 12 as a whole in the opening side direction (one side in the X direction)"
This is called the forward movement of the second member 12.

From the above, when the first member 11 moves forward, the second member 12 moves backward, and when the first member moves backward, the second member 12 moves forward, and the drive shaft 42 continues to rotate. Such an operation can be repeated.

Further, in the present embodiment, the first member 11 and the second member 12 are obtained by processing a metal plate, and the first member 11 covers the arm of the person to be treated from one side (upper side). It is a plate-shaped member, and the second member 12 is a plate-shaped member that covers the arm from the other side (lower side). Since it is plate-shaped in this way, it is possible to grasp the patient's arm by wrapping it from above and below.

Further, as shown in FIGS. 7, 8 and 9, the first main air cell 31a and the first sub air cell 3
1b is fixed to the first member 11 only on the non-opening side, and the opening side can be freely deformed by expanding. Therefore, as shown in FIG. 7, when both the first main air cell 31a and the first sub air cell 31b are inflated, the first main air cell 31 is in an inflated state.
Along the inner surface 31a-1 of a (based on the inner surface 31a-1), the first sub air cell 31b
Expands to produce a component that pushes the subject's arm B from the open side to the non-open side.
Therefore, in a state where both the first main air cell 31a and the first sub air cell 31b are inflated, the first member 11 moves from the opening side position to the non-opening side position, so that the first member 11 When the arm B of the treated person is pulled into the non-opening side, the action of pushing the arm B from the opening side to the non-opening side by the air cells 31a and 31b is added, and the upper side of the arm B (first member 11 side).
Can be reliably pulled into the non-opening side.

From the above, the massage unit 10 of the present embodiment is provided with the first member 11, the first air cell 31 for pushing the arm B by expanding, and the massage mechanism unit for causing the first member 11 to perform a predetermined gripping operation. And have. The massage mechanism portion of the present embodiment includes the link mechanism 20 (see FIG. 4), and the link mechanism 20 moves the first member 11 and the second member 12 to be relatively close to each other in order to grip the arm B. , And the air cell 31 in an inflated state in order to move the arm B sandwiched between the first member 11 and the second member 12 via the air cell 31.
At the same time, the operation of moving the first member 11 in the direction of the non-opening side is performed.
According to the massage unit 10, the arm B is grasped by the expansion of the air cell 31 between the first member 11 and the second member 12, and then the first one together with the inflated air cell 31. By moving the member 11 toward the non-opening side, it is possible to move the arm B gripped between the first member 11 and the second member 12 via the air cell 31 toward the non-opening side. That is, the massage operation of pulling and kneading the arm B becomes possible, and the feeling of massage is improved as compared with the kneading performed by simply sandwiching the arm B from both sides.

Further, the link mechanism 20 includes the first member 1 together with the air cell 31 in an inflated state.
The operation of moving 1 may be performed in the direction of at least one of the open side and the non-open side. That is, it may be moved in the direction of the opening side, or may be moved alternately in both directions of the opening side direction and the non-opening side direction.
When moving in the direction of the opening side, a massage operation is possible in which the arm B gripped between the first member 11 and the second member 12 via the air cell 31 is moved in the direction of the opening side. That is, the massage operation of pushing and kneading the arm B becomes possible.

Further, even when the second air cell 32 is in the expanded state or the second air cell 32 is in the contracted state, the first member 11 moves from the opening side position to the non-opening side position as described above. Since the second member 12 moves from the non-opening side position to the opening side position, the upper side of the arm B is about to be pulled into the non-opening side, and the second member 12 side portion B2 (lower side). Can be pushed out to the opening side.
In this way, the arm B can receive the component in which the upper side thereof is pulled in to the non-opening side and the lower side is pushed out to the opening side, and the massage unit 10 can massage the arm B. ..

Further, according to the gripping mechanism 30 (link mechanism 20) of the present embodiment, the first member 11 is displaced in the direction of narrowing the space S1 as a whole and in the direction of the opening side, and the second member 11 is displaced in the direction of the opening side.
A configuration is obtained in which the member 12 is displaced in the direction of narrowing the space S1 as a whole and in the direction of the non-opening side.
According to this configuration, the arm B can be gripped between the first member 11 and the second member 12 via the air cell 31. Further, the first member 11 is displaced in the direction of narrowing the space S1 and the direction of the opening side, and the second member 12 is displaced in the direction of narrowing the space S1 and displaced in the direction of the non-opening side. By doing so, it is possible to perform pulling (or pushing) such that the gripped arm B is pushed down by the first member 11 side and pulled up by the second member 12 side, as compared with the kneading performed by simply sandwiching the body part from both sides. , Improves the experience of massage.

Looking at the massage unit 10 having the above configuration along the Z direction, it is possible to have a configuration similar to the shape of the human hand H (FIG. 10). Then, as shown in FIGS. 10A to 10B, the above-mentioned "movement of twisting while grasping the arm B (kneading)" is performed.
It is a massage massage performed by a masseuse using the wrist Ha. In other words, when the masseuse uses the hand H to massage the arm B of the patient, the masseuse will use the arm B as "
Grasp with the thumb h1 and the index finger and the middle finger h2, and wrap the tip of the index finger and the middle finger h2 around the side b1 of the arm B (see FIG. 10 (A)), and then grasp and massage (pull and massage). : The massage according to (Fig. 10 (B)) is performed. Such a massage by the masseuse's hand H can be performed by the massage unit 10 of the present embodiment, as compared with a massage in which the arm B is simply sandwiched from both directions such as up and down. According to the massage unit 10 of the present embodiment, the feeling of massage can be further enhanced.

Further, the first link member 21, the second link member 22, and the third link member 23 constitute a link mechanism 20 having three sides. In particular, in the present embodiment (see FIGS. 5 and 6), the third link mechanism 20 is configured. The link member 23 is swingable around the swing center line Z1 provided between the one end 23a side and the other end 23b side, and the swing center line Z1 is other than the one end 23a side. End 23b
It is provided unevenly at a position closer to the side.
According to the configuration of the link mechanism 20, the swing stroke on the one end 23a side of the third link member 23 is larger than the swing stroke on the other end 23b side, and the locus V1 and the locus V in FIG. 6
As shown in No. 2, the displacement amount of the first member 11 and the displacement amount of the second member 12 can be made different. The locus V1 is a movement locus of the first air cell 31 when the first member 11 performs the forward movement (or the backward movement), and the locus V2 is a locus V2 in which the second member 12 performs the forward movement (or the backward movement). This is the movement locus of the second air cell 32 when the operation) is performed.

Further, in the massage unit 10 of the present embodiment, as shown in FIG. 4, the first side wall 17
A first eccentric cam 41 for moving the third link member 23 provided on the side and a second eccentric cam 41 for moving the third link member 23 provided on the second side wall 18 side. Is
It is attached to the drive shaft 42 in the same phase. Therefore, as the drive shaft 42 rotates, the pair of third link members 23 on both sides synchronously perform the same operation, whereby the pair of first link members 21 on both sides and both sides are subjected to the same operation. A pair of second link members 22 also perform the same operation in synchronization. Therefore, the first member 11 repeatedly performs an operation having a component in the direction approaching the second member 12 and an operation having a component in the direction away from the second member 12, and the second member 12 is the second member. The operation of having a component in the direction of approaching the member 11 and the operation of having a component in the direction of moving away from the first member 11 are repeatedly performed.

On the other hand, although not shown, the first eccentric cam 41 and the second eccentric cam 41 may be attached to the drive shaft 42 in different phases. For example, the first eccentric cam 41 and the second eccentric cam 41 may be provided in phases 90 ° or 180 ° apart from the center line Z2 of the drive shaft 42. In this case, as the drive shaft 42 rotates, the pair of third link members 23 on both sides perform different operations from each other, whereby the pair of first link members 21 on both sides and both sides are present. The pair of second link members 22 also perform different operations from each other.
Specifically, for example, when the first eccentric cam 41 and the second eccentric cam 41 are provided with different phases of 90 ° with reference to FIG. 3, the first side wall 17 side is the first. When the link member 21 starts moving to the opening side, the first link member 2 on the other side wall 18 side is delayed from this.
1 starts moving to the opening side. Then, when the first link member 21 on the one side wall 17 side starts moving to the non-opening side, the first link member 21 on the other side wall 18 side starts moving to the non-opening side later than this.

As a result, the first member 11 and the first air cell 31 "have a component in the direction approaching the second member 12 and swing in one direction around the virtual center line Y1 (see FIG. 3) in the Y direction. "Operation having a component (arrow R1 in FIG. 3)" and "a component having a component in the direction away from the second member 12 and swinging in the other direction around the virtual center line Y1 in the Y direction (arrow in FIG. 3). The operation having R2) can be repeated.
Further, the second member 12 and the second air cell 32 "have a component in the direction approaching the first member 11 and swing in one direction around the virtual center line Y2 in the Y direction (FIG. 3). An operation having an arrow R3) and an operation having a component in the direction away from the first member 11 and a component swinging in the other direction around the virtual center line Y2 in the Y direction (arrow R4 in FIG. 4). "Can be repeated.
By making the phases of the first eccentric cam 41 and the second eccentric cam 41 different in this way,
It can change the gripping motion.

Further, as shown in FIG. 2, the first massage unit 10 on the elbow side of the patient's arm and the second massage unit 10 on the wrist side may perform the same operation in synchronization with each other. It may be configured to perform different actions. As will be described later, in order to perform the same operation in synchronization, all (4) eccentric cams 41 may be provided in the same phase, and in order to perform different operations, the first massage unit may be provided. 10 eccentric cams 41 and a second massage unit 10
The phase of the eccentric cam 41 may be different from that of the cam 41.

Further, in the present embodiment (see FIG. 2), the drive shaft 42 for causing the first massage unit 10 to perform the gripping and kneading operation is a drive for causing the second massage unit 10 to perform the gripping and kneading operation. It is also used as a shaft. Then, the drive shaft 42 is used as the drive unit 4.
It can be rotated by the motor 40b of 0 (see FIG. 3), and the grip mechanism 30 can be operated by the rotation of the drive shaft 42. That is, the armrest portion 4 is provided with a massage unit 10 for the elbow side in the arm of the person to be treated and the massage unit 10 for the wrist side, and a gripping mechanism for the massage unit 10 for the wrist side. A drive source (motor) for operating 30 and a drive source (motor) for operating the grip mechanism 30 of the massage unit 10 for the elbow side.
The motor) is composed of a common drive source (motor 40b). As a result, the configuration of the massage means 8 including the two massage units 10 and 10 can be simplified and downsized.

Although not shown, the drive shaft for the first massage unit 10 and the drive shaft for the second massage unit 10 may be separated, and in this case, the drive unit 40 may also be separated. The pair of drive units 40 may be operated independently.

Further, in order for the first massage unit 10 and the second massage unit 10 to perform the same operation in synchronization, the first massage unit 10 and the second massage unit 10 are performed.
In particular, the pair of eccentric cams 41 included in the first massage unit 10 and the pair of eccentric cams 41 included in the second massage unit 10 need to have the same phase. is there. The pair of eccentric cams 4 included in the first massage unit 10
1 may be in the same phase or may be different. Also, the second massage unit 1
The pair of eccentric cams 41 possessed by 0 may also have the same phase or may be different.

On the other hand, the first massage unit 10 and the second massage unit 10
In order to perform different operations in the same time zone, if the pair of eccentric cams 41 included in the first massage unit 10 and the pair of eccentric cams 41 included in the second massage unit 10 have different phases. Often, in this respect, the first massage unit 10 and the second massage unit 10 need to have different configurations.
For example, when the phase of the pair of eccentric cams 41 of the first massage unit 10 and the phase of the eccentric cams 41 of the second massage unit 10 are different by 180 °, the timing at which the first massage unit 10 performs the gripping operation. Then, the second massage unit 10 can perform the operation of releasing the grip, and the second massage unit 10 performs the operation of grasping at the timing when the first massage unit 10 performs the operation of releasing the grip. be able to.
Alternatively, for example, the phase of the pair of eccentric cams 41 of the first massage unit 10 and the second
When the phase of the eccentric cam 41 of the massage unit 10 is different by 90 °, when one massage unit 10 starts the gripping operation, the other massage unit 1 is delayed.
0 can start the grabbing operation.

Further, the drive unit 40 can switch the rotation direction (forward rotation and reverse rotation) of the drive shaft 42 by switching the rotation direction of the motor 40b. For example, the drive shaft 42 may be rotated forward with respect to a predetermined rotation speed, and then the drive shaft 42 may be reversed. As a result, the gripping operation is changed on the way.

<Section 2>
[Massage unit (2)]
FIG. 11 is an explanatory view of another massage unit 10, which is a view of the massage unit 10 along the longitudinal direction of the body part of the subject. The body part of the person to be treated by the massage unit 10 can be the forearm B. in this case,
FIG. 11 is a view taken along the longitudinal direction of the forearm B, and in particular, is a view of the forearm B of the right arm taken along the direction from the elbow side to the fingertip side. In the following, the forearm B may be referred to simply as the arm B. Further, the longitudinal direction of the arm B is defined as the Z direction, the lateral width direction of the arm B (the left-right direction of the patient) is defined as the X direction, and the vertical direction of the arm B is defined as the Y direction.

The massage unit 10 is a first member 1 provided at two locations along the circumferential direction of the arm B.
It has 1 and 2nd members 12. In the form shown in FIG. 11, the first member 11 and the second member 1
2 is provided on both the upper and lower sides of the arm B. Then, in the massage unit 10, one side (left side in FIG. 11) of the space S1 formed between the first member 11 and the second member 12 is opened for putting in and taking out the arm B. In the form shown in FIG. 11, the first member 11 is the first link member 61 described below, and the second member 12 is the third link member 63 described below. In the following, the side that is open for inserting and removing the arm is referred to as the "opening side", and the opposite side is referred to as the "non-opening side".

The massage unit 10 includes a gripping mechanism 30 capable of performing an operation of gripping the arm B. In FIGS. 11 and 12, the gripping mechanism 30 is an operating air cell 65a for operating the side walls 17, 18, the plurality of link members 61 to 63, and the link members 61 to 63.
, 65b, air cells 31 and 32 for massage for pressing the arm B, and springs (coil springs) 66b and 66c which are elastic members. Further, the gripping mechanism 30 includes a pressing member 64 operated by the air cell 31 and a spring (coil spring) 66a which is an elastic member. FIG. 12 is an explanatory view of the massage unit 10 shown in FIG. 11 as viewed from the X direction (from the right side of FIG. 11).

The side walls 17 and 18 are provided apart from each other in the Z direction, and are fixed to the armrest portion 4 (see FIG. 1). Further, the side walls 17 and 18 have a shape that opens on one side in the X direction (center side of the body).

The first link member 61 is swingably attached to the second link member 62 by a shaft 68a. The second link member 62 is swingably attached to the side walls 17 and 18 by a shaft 68b. The third link member 63 is swingably attached to the second link member 62 by a shaft 68c. The pressing member 64 is composed of a link member having the treatment elements 64a and 64b, and is swingably attached to the first link member 61 by a shaft 68d. The treatment elements 64a and 64b are protrusions that can come into contact with the arm B.
The shafts 68a to 68d are members whose center line is in the Z direction, and the pressing member 64 and the link members 61, 62, 63 can swing around the center line.
The articulated mechanism 60 is composed of these plurality of link members 61, 62, 63. Further, the articulated mechanism 60 may include a pressing member 64 that also functions as a link member. Further, the number of link members is not limited to the illustrated form and can be changed, and may be larger than the form shown in FIG.

In FIG. 11, the massage air cell 31 includes a pressing member 64 and a first link member 61.
When air is supplied, it expands and pushes the pressing member 64 to swing around the shaft 68d. The spring 66a is provided between the pressing member 64 and the first link member 61, and expands when the pressing member 64 is separated from the first link member 61 due to the expansion of the air cell 31, and the air cell 31 is in an exhaust state. When it becomes, the pressing member 6 is pressed against the first link member 61 by the elastic restoring force.
It is a configuration that brings 4 closer. The action of separating the pressing member 64 from the first link member 61 is an action of narrowing the space S1 and an action of grasping the arm B.

The operating air cell 65a is interposed between the first link member 61 and the second link member 62, expands when air is supplied, pushes the first link member 61, and swings around the shaft 68a.
In the form shown in FIG. 11, the air cell 65a is composed of two air cells 65a-1 and 65a-2 which are provided in an overlapping manner, but may be one air cell. The spring 66b is provided between the link members 61 and 62, and the second link member 6 is provided by the expansion of the air cell 65a.
When the first link member 61 is separated from the second link member 61, the first link member 61 is extended, and when the air cell 65a is in the exhaust state, the first link member 61 is brought closer to the second link member 62 by an elastic restoring force. Second
The action of separating the first link member 61 from the link member 62 is an action of narrowing the space S1 and an action of grasping the arm B.

The operating air cell 65b includes a fixing member 69 fixed to the side walls 17 and 18 and a second link member 6.
It is interposed between the two and expands when air is supplied, and pushes the second link member 62 to swing around the shaft 68b. The spring 66c is provided between the second link member 62 and the side wall 17 (18), and expands when the second link member 62 is separated from the fixing member 69 due to the expansion of the air cell 65b, and the air cell 65b is in an exhaust state. Then, the second link member 62 is brought closer to the fixing member 69 by the elastic restoring force. The action of separating the second link member 62 from the fixing member 69 narrows the space S1 and narrows the space S1 and causes the first link member 61 mounted on the second link member 62.
And the operation of moving the pressing member 64 in the direction of the opening side, and the operation of grasping the arm B.

The third link member 63 is swingably attached to the second link member 62 by the shaft 68c, and operates in response to the operation of the air cell 65b. An elongated hole 63b is formed in the link member 63, and a shaft 68e attached to the side walls 17 and 18 is inserted through the elongated hole 63b, and the link member 63 reciprocates along the shaft 68e. To do. When the second link member 62 swings counterclockwise about the shaft 68b from the state shown in FIG. 11 (see FIG. 13), the third link member 63 moves in the direction of the non-opening side. From the state of FIG. 13, the second link member 6
When 2 swings clockwise about the shaft 68b, the third link member 63 moves in the direction of the opening side (see FIG. 11).

The massage air cell 32 is attached to the third link member 63, expands by the supply of air, and presses the arm B.
The operating air cells 65a and 65b and the massage air cells 31 and 32 can operate independently (can be expanded). That is, only at least one of these air cells can be inflated.

The operation of the massage unit 10 having the above configuration will be described. FIG. 11 shows
The operating air cells 65a and 65b and the massage air cells 31 and 32 are in a contracted state. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the widest.
On the other hand, FIG. 13 shows a state in which the operating air cells 65a and 65b are inflated.
In this state, the space S1 formed between the first link member 61 and the third link member 63 is the narrowest. Further, in FIG. 13, the massage air cells 31 and 32 are also in an expanded state, and the treatment elements 64a and 64b of the pressing member 64 can press the arm B existing in the space S1 from above, and the air cell 32 Can press the arm B existing in the space S1 from below. FIG. 13 shows a gripping complete state in which the gripping mechanism 30 has finished gripping the arm B.

When the operating air cells 65a and 65b and the massage air cells 31 and 32 are in an exhaustable state from the gripping completed state shown in FIG. 13, the gripping open state shown in FIG. 11 is achieved by the elastic force of the springs 66a, 66b and 66c. .. The arm B can be taken in and out of the space S1 in the open grip state shown in FIG.

As described above, in the gripping completed state shown in FIG. 13, the first link member 61 and the third link member 63
And can grab the arm B between the two, and further, by expanding the air cells 31 and 32, the arm B can be grabbed between the treatment elements 64a and 64b and the air cell 32. Then, when the air cell 65b is in the exhaust state from this state, the second link member 62 retracts to the fixing member 69 side due to the elastic force of the spring 66c, as shown in FIGS. However, during this operation, the air cells 31, 65a are in an expanded state. As a result, it is possible to pull the arm B toward the non-opening side while grasping the arm B. That is, it is possible to massage the arm B by kneading.
Further, by expanding the air cell 65b from the state shown in FIG. 15, the state shown in FIG. 14 can be changed to the state shown in FIG. During this operation, air cells 31, 6
5a is in an expanded state. In this case, it is possible to push the arm B toward the opening side while grasping the arm B. That is, it is possible to massage the arm B by pushing and rubbing.
Further, the state shown in FIG. 13 and the state shown in FIG. 15 can be repeated. This makes it possible to push and pull while holding the arm B.

Further, when the grip open state shown in FIG. 11 changes to the grip completed state shown in FIG. 13, the treatment child 64a can reach the opening side portion B1 of the arm B, and the treatment child 64a is the opening side portion of the arm B. You can grab B1. Then, with the portion B1 on the opening side of the arm B grasped, FIG. 13
In the state shown in FIG. 15, it is possible to massage the gripped portion (B1) by pulling it toward the non-opening side.

<Section 3>
[Massage unit (3)]
FIG. 16 is an explanatory diagram of another massage unit 10. The massage unit 10 shown in FIG. 16 corresponds to a modified example of the massage unit 10 shown in FIG. Note that FIG. 16 is a view of the forearm B of the right arm viewed along the direction from the elbow side to the fingertip side, as in FIG. The massage unit 10 shown in FIG. 16 also includes an articulated mechanism 60.

The massage unit 10 is a first member 1 provided at two locations along the circumferential direction of the arm B.
It has 1 and 2nd members 12. In the form shown in FIG. 16, the first member 11 and the second member 1
2 is provided under the arm B and on the right side. Then, in the massage unit 10, one side (left side in FIG. 16) of the space S1 formed between the first member 11 and the second member 12 is opened for putting in and taking out the arm B. In the form shown in FIG. 16, the first member 11 is the first link member 61 described below, and the second member 12 is the third link member 63 described below. The third link member 63 has an integral structure with the second link member 62.
In the following, the side that is open for inserting and removing the arm is referred to as the "opening side", and the opposite side is referred to as the "non-opening side".

The massage unit 10 includes a gripping mechanism 30 capable of performing an operation of gripping the arm B. In FIGS. 16 and 17, the gripping mechanism 30 is an operation air cell 65a for operating the side walls 17, 18, the plurality of link members 61 to 63, and the link members 61 to 63.
, 65b, massage air cells 31 and 32 for pressing arm B, and air cell 3
It includes a pressing member 64 that operates according to 1. Further, although this gripping mechanism 30 is not shown,
It is provided with the same springs (66a, 66b, 66c) as the massage unit 10 shown in FIG. FIG. 17 is an explanatory view of the massage unit 10 shown in FIG. 11 as viewed along the X direction (from the right side of FIG. 16).

The side walls 17 and 18 are provided apart from each other in the Z direction, and are fixed to the armrest portion 4 (see FIG. 1). Further, the side walls 17 and 18 have a shape that opens on one side in the X direction (center side of the body).

The first link member 61 is swingably attached to the second link member 62 by a shaft 68a. The second link member 62 is swingably attached to the side walls 17 and 18 by a shaft 68b. The second link member 62 and the third link member 63 are integrated, and thus have an L shape. The pressing member 64 is composed of a link member having the treatment elements 64a and 64b, and is swingably attached to the first link member 61 by a shaft 68d. Treatment child 64
Reference numerals a and 64b are protrusions that can come into contact with the arm B.
The shafts 68a, 68b, 68d are members whose center line is in the Z direction, and the pressing member 64 and the link members 61, 62 (63) can swing around the center line.
The articulated mechanism 60 is composed of the plurality of link members 61, 62 (63).
Further, the articulated mechanism 60 may include a pressing member 64 that also functions as a link member. Further, the number of link members is not limited to the illustrated form and can be changed, and may be larger than the form shown in FIG.

In FIG. 16, the massage air cell 31 includes a pressing member 64 and a first link member 61.
When air is supplied, it expands and pushes the pressing member 64 to swing around the shaft 68d. A spring (not shown) is provided between the pressing member 64 and the first link member 61, and this spring extends when the pressing member 64 is separated from the first link member 61 by the expansion of the air cell 31. Further, when the air cell 31 is in the exhaust state, the pressing member 64 is brought closer to the first link member 61 by the elastic restoring force. The action of separating the pressing member 64 from the first link member 61 is an action of narrowing the space S1 and an action of grasping the arm B.

The operating air cell 65a is interposed between the first link member 61 and the second link member 62, expands when air is supplied, pushes the first link member 61, and swings around the shaft 68a.
A spring (not shown) is provided between the link members 61 and 62, and this spring expands when the first link member 61 is separated from the second link member 62 due to the expansion of the air cell 65a, and the air cell 65a expands. When the exhaust state is reached, the first link member 61 is brought closer to the second link member 62 by the elastic restoring force. The action of separating the first link member 61 from the second link member 62 is
It is an operation of narrowing the space S1 and an operation of grasping the arm B.

The operating air cell 65b includes a fixing member 69 fixed to the side walls 17 and 18 and a second link member 6.
It is interposed between the two and expands when air is supplied, and pushes the second link member 62 to swing around the shaft 68b. A spring (not shown) is located between the second link member 62 and the side wall 17 (18).
The spring is extended when the second link member 62 is separated from the fixing member 69 due to the expansion of the air cell 65b, and the second link member is attached to the fixing member 69 by the elastic restoring force when the air cell 65b is in the exhaust state. Bring 62 closer. Fixing member 69 to second link member 62
The action of separating from each other is an action of narrowing the space S1 and moving the first link member 61 and the pressing member 64 mounted on the second link member 62 in the direction of the opening side.
It is an action to grab the arm B.

The massage air cell 32 is attached to the third link member 63, expands by the supply of air, and presses the arm B.
The operating air cells 65a and 65b and the massage air cells 31 and 32 can operate independently (can be expanded). That is, only at least one of these air cells can be inflated.

The operation of the massage unit 10 having the above configuration will be described. FIG. 16 shows
The operating air cells 65a and 65b and the massage air cells 31 and 32 are in a contracted state. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the widest.
On the other hand, FIG. 18 shows a state in which the operating air cells 65a and 65b are inflated.
In this state, the space S1 formed between the first link member 61 and the third link member 63 is the narrowest. Further, in FIG. 18, the massage air cells 31 and 32 are also in an expanded state, and the treatment elements 64a and 64b of the pressing member 64 can press the arm B existing in the space S1 from above, and the air cell 32 Can press the arm B existing in the space S1 from below. FIG. 18 shows a gripping complete state in which the gripping mechanism 30 has finished gripping the arm B.

When the operating air cells 65a and 65bc and the massage air cells 31 and 32 are in an exhaustable state from the gripping completed state shown in FIG. 18, the gripping open state shown in FIG. 16 is achieved by the elastic force of the spring (not shown). .. Arm B in space S1 in the open grip state shown in FIG.
Can be taken in and out.

As described above, in the gripping completed state shown in FIG. 18, the first link member 61 and the third link member 63
And can grab the arm B between the two, and further, by expanding the air cells 31 and 32, the arm B can be grabbed between the treatment elements 64a and 64b and the air cell 32. Then, when the air cell 65b is in the exhaust state from this state, the second link member 62 retracts to the fixing member 69 side due to the elastic force of the spring, as shown in FIGS. However, during this operation, the air cells 31, 65a are in an expanded state. As a result, it is possible to pull the arm B toward the non-opening side while grasping the arm B. That is, it is possible to massage the arm B by kneading.
Further, by expanding the air cell 65b from the state shown in FIG. 20, the state shown in FIG. 19 can be changed to the state shown in FIG. During this operation, air cells 31, 6
5a is in an expanded state. In this case, it is possible to push the arm B toward the opening side while grasping the arm B. That is, it is possible to massage the arm B by pushing and rubbing.
Further, the state shown in FIG. 18 and the state shown in FIG. 20 can be repeated. This makes it possible to push and pull while holding the arm B.

Further, when the grip open state shown in FIG. 16 changes to the grip completed state shown in FIG. 18, the treatment child 64a can reach the opening side portion B1 of the arm B, and the treatment child 64a is the opening side portion of the arm B. You can grab B1. Then, with the portion B1 on the opening side of the arm B grasped, FIG.
In the state shown in FIG. 20, it is possible to massage the gripped portion (B1) by pulling it toward the non-opening side.

<Section 4>
[About the massage units 10 (No. 2) and (No. 3)]
As described above, the massage unit 10 (No. 2) shown in FIG. 11 and the massage unit 10 (No. 3) shown in FIG. 16 are the first link members 61, which are the first members 11, respectively.
A first air cell 31 for pushing the arm B by being provided together with the arm B and a first link member 6
It has a massage mechanism unit 50 that causes 1 to perform a predetermined gripping operation. The massage mechanism unit 50 includes a link mechanism 20 having first to third link members 61 to 63. However, in the massage unit 10 shown in FIG. 16, the second link member 62 and the third link member 63
Is one.
Then, the massage mechanism unit 50 (link mechanism 20) moves the first link member 61 and the third link member 63 to be relatively close to each other in order to grasp the arm B, and the first link via the air cell 31. In order to move the arm B sandwiched between the member 61 and the third link member 63, it is possible to perform an operation of moving the first link member 61 in the direction of the non-opening side together with the inflated air cell 31. it can.

According to the massage unit 10, the arm B is grasped by the expansion of the air cell 31 between the first link member 61 and the third link member 63, and then together with the air cell 31 in the expanded state. When the first link member 61 is moved in the direction of the non-opening side, a movement such that the arm B gripped between the first link member 61 and the third link member 63 via the air cell 31 is moved to the non-opening side is performed. It will be possible. That is, the massage operation of pulling and kneading the arm B becomes possible. This is a massage in which the experience of the massage is improved as compared with the massage performed by simply sandwiching the arm B from both sides.

The link mechanism 20 may perform an operation of moving the first link member 61 together with the inflated air cell 31 in the direction of at least one of the open side and the non-open side. That is, it may be moved alternately in both directions, or may be moved in the direction of the opening side. When moving to the opening side, it is possible to move the arm B gripped between the first link member 61 and the third link member 63 via the air cell 31 to the opening side. That is, the massage operation of pushing and kneading the arm B becomes possible.

Further, the massage unit 10 has a first mechanism portion 51 and a second mechanism portion 52 provided along the circumferential direction of the arm B. The first mechanism portion 51 includes a first link member 61 and a second link member 62 in addition to the air cell 31 and the pressing member 64 as massage portions capable of pressing the arm B. The second mechanism portion 52 includes a third link member 63 in addition to the air cell 32 as a massage portion capable of pressing the arm B. Then, one side of the space S1 formed between the first mechanism portion 51 and the second mechanism portion 52 is open for the arm B to be taken in and out.

The massage portion (air cell 31 and pressing member 64) is attached to the first link member 61, and the first link member 61 is further separated from the arm B by the first retracted position B-1.
(See FIGS. 11 and 16) and the first forward position F-1 approaching arm B (see FIGS. 13 and 18).
Can reciprocate between and.
Further, the first link member 61 is attached to the second link member 62 so as to be able to reciprocate between the first retracting position B-1 and the first advancing position F-1. The two-link member 62 has a second retracting position B-2 (see FIGS. 11 and 16) away from the arm B and a second forward position F-2 (see FIGS. 13 and 18) approaching the arm B. It can reciprocate between.
Then, the second link member 62 can move to the second forward position F-2 together with the first link member 61 (see FIGS. 13 and 18) to perform the operation of grasping the arm B, and the first By moving the second link member 62 together with the link member 61, it is possible to perform a massage operation.

In this way, the second link member 62 is moved to the second forward position F-2 (FIGS. 13 and 18) together with the first link member 61 to which the massage portion (air cell 31 and pressing member 64) for pressing the arm B is attached. ), The massage section () between the first mechanism section 51 and the second mechanism section 52.
The arm B can be grasped via the air cell 31 and the pressing member 64). At the time of grasping, only the first link member 61 is set as the first forward position F-1, but the second link member 62 is set as the second forward position F.
Compared with the case where the second retreat position B-2 is set instead of -2, in the case of the present embodiment, the treatment child 64a included in the massage portion is made to reach a position far on the opening side with respect to the arm B. Is possible. That is, the portion B1 on the opening side of the arm B can be grasped.
Then, while the arm B (part B1) is grasped, the second link member 62 moves together with the first link member 61 to move the massage portion (air cell 31 and pressing member 64) to perform a massage operation. It becomes possible.

Specific examples of this massage operation include the following operations. That is, from the state of grasping the arm B shown in FIG. 13 (FIG. 18), through the state of FIG. 14 (FIG. 19), as shown in FIG. 15 (FIG. 20), the air cell 31 is in the expanded state and is the first. Along with the first link member 61 at the forward position F-1, the second link member 62 at the second forward position F-2 moves from the second forward position F-2 to the second retract position B-2. Do the action to do.
In this operation, the second link member 62 is set to the second forward position F-2 and the first link member 61 is set.
Is set to the first forward position F-1, and the arm B is grasped between the first mechanism portion 51 and the second mechanism portion 52 via the massage portion (air cell 31 and pressing member 64) (FIG. 13). , Fig. 18),
Since the second link member 62 is moved to the second retracted position B-2 together with the first link member 61 (FIGS. 15 and 20), the gripped arm B is pulled so as to move from the open side to the non-open side. Kneading is possible. The massage operation by this pulling massage is an operation in which the feeling of massage is improved as compared with the massage performed by simply sandwiching the arm B from both sides.
Further, contrary to this pulling massage operation, the second link member 62 together with the first link member 61 at the first forward position F-1 is shown in FIG. 14 (FIG. 19) from the state of FIG. 15 (FIG. 20).
), As shown in FIG. 13 (FIG. 18), it is possible to move from the second retracting position B-2 to the second advancing position F-2 to perform the massage operation.

Further, in the massage unit 10 of the present embodiment, as described above, the first mechanism unit 51
Has a plurality of link members 61 and 62, and also has a joint portion that connects adjacent link members 61 and 62 to each other, and a plurality of link members 61 starting from the plurality of the joint portions.
, 62 have an articulated mechanism 60 capable of operating. In each of the above forms, the joint is
It is composed of a connecting structure of link members by shafts 68a and 68b (68d).
Further, the first mechanism portion 51 serves as a massage portion capable of pressing the arm B, and is an air cell 31.
And a pressing member 64, and this massage portion is provided on the tip link member (first link member 61) close to the arm B among the plurality of link members 61 and 62.
Then, from the state in which the first mechanism portion 51 and the second mechanism portion 52 are provided along the circumferential direction of the arm B (see FIGS. 11 and 16), the articulated mechanism 60 has a plurality of the joint portions. By operating all of the plurality of link members 61 and 62 in one direction (counterclockwise in FIGS. 11 and 16) starting from all of the above, as shown in FIG. 13 (FIG. 18), the massage portion (pressing). The movement operation of moving the treatment element 64a) of the member 64 to a position far away on the opening side as compared with the state before the treatment element 64a is operated in one direction at a position where the treatment element 64a) can come into contact with the arm B. It can be carried out.
That is, when the articulated mechanism 60 performs the moving motion, the treatment child 64a can be positioned at a distant portion on the opening side of the arm B as compared with the state before the motion. Then, if the articulated mechanism 60 operates from that state to perform a massage operation, the treatment child 6 located far away on the opening side
Massage using 4a (64b) is possible, and the massage range can be expanded.
Compared to the massage performed by simply sandwiching the arm B from both sides, the experience of massage is improved.

Further, in the massage unit 10 provided with such an articulated mechanism 60, in the articulated mechanism 60, in addition to the moving motion, the first mechanism portion 51 and the second mechanism portion 52 are in the circumferential direction of the arm B. From the state (see FIGS. 13 and 18) provided in the vicinity of the arm B along the above, the air cell 3
A link member 62 other than at least the tip link member (first link member 61) among a plurality of link members 61, 62 in a state in which 1 is inflated and in a state after the movement operation is placed in the one direction. It is operated in the opposite direction (clockwise in FIGS. 13 and 18). By this operation, it is possible to perform a massage operation of pulling the arm B pressed by the treatment child 64a (64b) on the opening side toward the non-opening side.

From the above, when the articulated mechanism 60 performs the moving motion, the treatment child 64a (64b) can be located farther on the opening side in the arm B than in the state before the motion. Then, from that state, the articulated mechanism 60 operates to perform the massage operation, thereby pulling the treatment child 64a (64b) located far away on the opening side, so that the arm B can be massaged. It becomes. This massage operation of pulling and kneading is an operation in which the feeling of massage is improved as compared with the kneading performed by simply sandwiching the body part from both sides. When the link member 62 other than the front link member (first link member 61) is operated in the direction opposite to one direction (clockwise in FIG. 13), the front link member (first link member 61) becomes the same. It does not displace with respect to the adjacent second link member 62, but displaces with respect to the arm B.

<Section 5>
[Modified examples of the massage units 10 (No. 2) and (No. 3)]
In the case of the massage units 10 (No. 2) and (No. 3), the operating mechanism for operating the pressing member 64, the first member 11 (first link member 61), and the other link members 62 to 63 is expanded. Air cells 31, 65a, 65b that push and move the pressing member 64, the first member 11 (first link member 61), and the like, and the moved first member 11 (first link member 61).
It is configured to have springs (66a, 66b, 66c) for generating an urging force for returning the above to the position before movement. According to this configuration, the pressing member 6 is expanded by the expansion of the air cells 31, 65a and the like.
When the 4 and the first member 11 (first link member 61) and the like are advanced and the air cells 31, 65a and the like contract, the pressing member 64 and the first member 11 (first link member 61) are subjected to the urging force of the springs 66a and 66b. Etc. can be obtained.

The operating mechanism for operating the pressing member 64, the first member 11 (first link member 61), and the other link members 62, 63 may have other configurations, and may rotate instead of the air cells 31, 65a, 65b. You may use a cam member. 21 and 22 are explanatory views for explaining a modified example of the massage unit 10 shown in FIG.
As shown in FIGS. 21 and 22, a first cam member 67a is provided between the pressing member 64 and the first link member 61, and between the first link member 61 and the second link member 62. Second
The cam member 67b is provided, and a third cam member 67c is provided between the second link member 62 and the fixing member 69. These cam members 67a to 67c can be rotationally driven independently. The rotation of these cam members 67a to 67c is due to a motor (not shown).

Each of the cam members 67a, 67b, and 67c has a portion having a long distance from the rotation center p to the outer circumference (hereinafter referred to as a major axis portion e) and a portion having a short distance from the rotation center p to the outer circumference (hereinafter referred to as a minor diameter portion f). ) And.
The major axis e of each of the cam members 67a to 67c is the pressing member 64 and the link members 61 and 6.
The state in which 2 is pressed (the state shown in FIG. 21) corresponds to the state in which the air cells 31, 65a and 65b are inflated. On the other hand, the state in which the short diameter portions f of the cam members 67a to 67c push the pressing member 64 and the link members 61 and 62 (the state shown in FIG. 22) is the state in which the air cell 31
Corresponds to the contracted state of 65a and 65b.

As described above, in the massage unit 10 shown in FIGS. 21 and 22, the operation mechanism for operating the pressing member 64, the first link member 61, and the like includes the cam members 67a, 67b, 67c, and the cam members 67a, 67b, According to each of 67c, the long diameter portion e pushes the pressing member 64 and the link members 61 and 62 to advance the pressing member 64 and the link members 61 and 62, and the short diameter portion f pushes the pressing member 64 and the link member 61, 62. While pushing 62, the pressing member 64 and the link members 61 and 62 are retracted. Although this operating mechanism is not shown, the short-diameter portion f
Has a spring as an elastic member that generates an urging force to retract the pressing member 64 and the link members 61, 62 in addition to abutting the pressing member 64 and the link members 61, 62. The structure of this spring (elastic member) is the springs 66a, 66 of the massage unit 10 shown in FIG.
It is the same as b and 66c. According to this configuration, it is possible to obtain a configuration in which the pressing member 64, the first link member 61, and the like are operated by the rotation of the cam members 67a, 67b, 67c.

<Section 6>
[Application example of the massage units 10 (No. 2) and (No. 3)]
Each massage unit 10 shown in FIGS. 11, 16 and 21 can grip the forearm B in a wide range and massage the gripped portion at the same time. On the other hand, the massage device shown in FIG. 23 has a configuration capable of grasping a plurality of parts of the forearm B and massaging the grasped portions. That is, for example, the massage unit 10 shown in FIG. 12 (FIG. 11).
As shown in FIG. 23, a plurality of (three in FIG. 23) are provided along the longitudinal direction (Z direction) of the forearm B. It should be noted that FIGS. 23 and 24.
Is a plan view of the three massage units 10-1, 10-2, and 10-3.

The three massage units 10-1, 10-2, and 10-3 can operate independently as shown in FIG. 24, respectively. For example, the first massage unit 10-1 closest to the wrist is in the grip open state (see FIGS. 11 and 16), and the second massage unit 10-2 next to it is in the grip completed state (FIGS. 13 and 16). The third massage unit 10-3, which is located in (see 18) and is closest to the elbow, moves the pressing member 64 to the non-opening side after grasping a part of the forearm B like the massage unit 10-2. It is in the state of being made to move, that is, the state of performing the pulling operation.

From the above, in the form shown in FIGS. 23 and 24, the massage device includes a plurality of massage units 10-1, 10-2, 10-3 provided along the longitudinal direction of the forearm B, and controls the massage device. The unit (control unit) 7 (see FIG. 1) includes these massage units 10-1,
The operations of 10-2 and 10-3 can be controlled. In particular, in the form shown in FIG. 24, the control unit 7 has different operation timings of the massage units 10-1, 10-2, 10-3, and the massage units 10-1, 10-2, 10-3 have different operation timings. Control is performed to operate each. According to this massage device, for example, it is possible to perform an operation such as grasping one range of the forearm B in order and pulling and kneading in order.
Although the case where three massage units 10 shown in FIG. 11 are provided here, a configuration in which three massage units 10 shown in FIG. 16 or 21 may be provided may be provided, and the massage unit 10 may be provided. The number of is not limited to three, and may be two or four or more.

<Section 7>
[Modification example of the massage unit 10 (No. 2)]
FIG. 25 is an explanatory view showing a modified example of the massage unit 10 shown in FIG. FIG. 11
In the massage unit 10 shown in FIG. 25, the massage air cell 32 attached to the third link member 63 is single, but in the massage unit 10 shown in FIG. 25, two air cells 32-1 are used as the massage air cells. , 32-2 are provided. In addition, it should be noted.
The first mechanism portion 51 side has the same configuration as the massage unit 10 shown in FIG.

These air cells 32-1 and 32-2 can independently perform expansion and contraction operations. The air cell 32-1 located on the front end side (left side in FIG. 25) of the third link member 63 has a configuration having a component that presses the arm B toward the non-opening side when expanded, and is on the base side of the third link member 63. The air cell 32-2 located (on the right side in FIG. 25) has a configuration having a component that presses the arm B toward the opening side when expanded.

As described above, in a state where the massage unit 10 holds the arm B between the first link member 61 and the third link member 63 via the pressing member 64 (see FIG. 26), the pressing member 64 is the first.
By moving to the non-opening side together with the link member 61, a pulling operation can be performed on the grasped arm B, and during this pulling operation, the arm B is the space A1 on the non-opening side of the space S1.
There is a risk of escaping (see FIG. 25). However, in the present embodiment, the space A on the non-opening side
With respect to the arm B trying to move to 1, the air cell 32-2 expands with a component that presses the opening side in the opposite direction, so that the arm B escapes to the space A1 on the non-opening side. Can be prevented. This makes it possible to perform a strong kneading operation.
Regarding the configurations of the two air cells 32-1 and 32-2 shown in FIGS. 25 and 26,
It may be applied to the massage unit 10 shown in FIGS. 16 and 21.

<Section 8>
[Massage unit (4)]
FIG. 27 is an explanatory diagram of another massage unit 10. The massage unit 10 shown in FIG. 27 corresponds to a modified example of the massage unit 10 shown in FIG. Note that FIG. 27 is a view of the forearm B of the right arm viewed along the direction from the elbow side to the fingertip side, as in FIG.
The massage unit 10 shown in FIG. 27 is different from the massage unit 10 shown in FIG. 11 in that the configuration of the pressing member 64 is different and the suction pump 34 is provided.
Others (for example, the gripping mechanism 30 and the articulated mechanism 60) are the same, and detailed description of the same points will be omitted.

The pressing member 64 has a suction portion 64c instead of the treatment elements 64a and 64b. The massage device of the present embodiment further includes a suction pump (hereinafter referred to as a pump 34), and the pump 34 and the suction portion 64c are connected to each other through a pipe 34a. Pump 34
Is driven, the air in the space S1 where the arm B of the patient is located is sucked from the suction unit 64c, whereby a part of the arm B is attracted to the suction unit 64c as shown in FIGS. To do.
The massage unit 10 includes a pressing member 64 and a plurality of link members 61 and 62.
, 63, Air cells 65a, 65 for operation to operate the link members 61, 62, 63
b, air cells 31 and 32 for massage, and spring (coil spring) 66 which is an elastic member
It includes a, 66b, 66c.

The operation of the massage unit 10 having the above configuration will be described. FIG. 27 shows
The operating air cells 65a and 65b and the massage air cells 31 and 32 are in a contracted state. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the widest.
On the other hand, FIG. 29 shows a state in which the operating air cells 65a and 65b are inflated.
In this state, the space S1 formed between the first link member 61 and the third link member 63 is the narrowest. Further, in FIG. 29, the massage air cells 31 and 32 are also in an expanded state, the air cell 32 can press the arm B existing in the space S1 from below, and the suction portion 64c of the pressing member 64 is in the space. The arm B existing in S1 can be contacted from above. Further, in FIG. 29, the pump 34 sucks air, and a part of the arm B is sucked to the suction portion 64c. Here, by the operation of the articulated mechanism 60, the suction portion 64c can be sucked to the opening side portion B1 in the arm B. Further, FIG. 29 shows a state in which the arm B is completely grasped by the first link member 61 and the third link member 63, and the arm B is sucked by the suction unit 64c.

When the operating air cells 65a and 65b and the massage air cells 31 and 32 are in an exhaustable state from the gripping and suction state shown in FIG. 29, the elastic force of the springs 66a, 66b and 66c brings the grip open state shown in FIG. .. In addition, the pump 3 is ready for exhaust.
By stopping the suction operation by 4, the open state shown in FIG. 27 is set, and the arm B can be taken in and out of the space S1.

As described above, in the gripping and suction state shown in FIG. 29, the first link member 61 and the third link member 63
And can grab the arm B between the two, and further, by expanding the air cells 31 and 32, the arm B can be grabbed between the suction portion 64c and the air cell 32, and this grab. The arm portion can be attracted to the suction unit 64c.
Then, when the air cell 65b is in the exhaust state from this state, as shown in FIG. 28, the second link member 62 retracts to the fixing member 69 side due to the elastic force of the spring 66c. However, during this operation, the air cells 31, 65a are in an expanded state. As a result, it is possible to pull the arm B toward the non-opening side while grasping and sucking the arm B. That is, it is possible to massage the arm B by kneading.
Further, by expanding the air cell 65b from the state in which the arm B is pulled toward the non-opening side, the state shown in FIG. 28 can be changed to the state shown in FIG. 29. During this operation, the air cells 31, 65a are in an expanded state. In this case, it is possible to push the arm B toward the opening side while grasping and sucking the arm B. That is, it is possible to massage the arm B by pushing and rubbing.
Further, the state in which the arm B is pushed toward the opening side (see FIG. 29) and the state in which the arm B is pulled toward the non-opening side can be repeated. This makes it possible to push and pull the arm B in a state of being grasped and attracted.

Further, when the open state shown in FIG. 27 changes to the gripping suction state shown in FIG. 29, the suction portion 64c can reach the opening side portion B1 of the arm B, and the suction portion 64c is the opening side portion B1 of the arm B. Can be grasped and adsorbed. Then, by contracting the air cell 65b while grasping and adsorbing the opening side portion B1 of the arm B, it is possible to perform a massage of pulling and kneading by pulling the grasped and attracted portion (B1) toward the non-opening side. ..
The configuration including the suction unit 64c and the pump 34 shown in FIG. 27 may be applied to the massage unit 10 shown in FIGS. 16 and 21.

From the above, the massage unit 10 has a first link member 61 and a third link member 63 provided on both the upper and lower sides of the arm B, and one side of the space S1 formed between them is the insertion / removal of the arm B. Is open for. Further, the massage unit 10 is provided with a suction unit 64c provided together with the first link member 61 so that the arm B can be sucked. And
The massage mechanism unit 50 (link mechanism 20) included in the massage unit 10 is
In addition to the operation of bringing the first link member 61 and the third link member 63 relatively close to each other, the suction unit 6
Together with 4c, the first link member 61 can be moved in the direction of the non-opening side of the space S1.

According to the massage unit 10, the suction portion 64c can be brought into contact with a part of the arm B existing in the space S1 by bringing the first link member 61 and the third link member 63 close to each other. Then, when the first link member 61 is moved in the direction of the non-opening side while the suction portion 64c has attracted a part of the arm B, the first link member 61 and the third link member 63 can be gripped and gripped. It is possible to move the sucked arm B to the non-opening side. This is a massage in which the experience of the massage is improved as compared with the massage performed by simply sandwiching the arm B from both sides.

The link mechanism 20 may perform an operation of moving the first link member 61 in the direction of at least one of the open side and the non-open side together with the suction portion 64c that sucks a part of the arm B. .. That is, it may be moved alternately in both directions, or may be moved in the direction of the opening side. When moving to the opening side, it is possible to move the arm B grasped and attracted between the first link member 61 and the third link member 63 to the opening side. That is, the massage operation of pushing and kneading the arm B becomes possible.

<Section 9>
[Massage unit 10 (No. 5)]
30 and 31 are explanatory views of another massage unit 10. 30 and 31
The massage unit 10 (No. 5) shown in FIG. 5 is a modification of the massage unit 10 shown in FIG. 5, and the massage unit 10 (No. 5) can be provided in the massage device 1 described in Chapter 1. 30 and 31 are views of the forearm B of the patient's right arm viewed from the elbow side toward the fingertip side, as in FIG. 5. FIG. 32 is an explanatory view of the massage unit 10 (No. 5) viewed from the outside in the lateral width direction of the arm B. The operation of each part of the massage device 1 described in this section is the control unit 7 of the massage device 1 (see FIG. 1).
It is performed based on the control signal from.

The massage unit 10 has a plate-shaped first member 11 and a plate-shaped second member 12.
have. In the present embodiment, the second member 12 is provided in a fixed state on the fixed portion (armrest portion 4: see FIG. 1) of the massage device 1, whereas the first member 11 is the second member.
It can move in the direction of approaching and separating from the member 12. A shaft-shaped extending portion 71 is attached to the first member 11.

The first member 11 is provided on a part (outer side portion) around the arm B of the person to be treated, and the arm B is provided.
It is a member facing the outer side surface portion B1 of the above. The second member 12 is the other part (lower part) around the arm B.
It is a member which is provided in the arm B and faces the lower surface portion B2 of the arm B. Then, in this massage unit 10, one side (inner side or inner upper side in the lateral width direction) of the space S1 formed between the first member 11 and the second member 12 is opened for putting in and taking out the arm B. It has the configuration that is.

The massage unit 10 further has a massage unit provided together with the first member 11. The massage unit of the present embodiment is an air cell 31, and the air cell 31
Is supplied with air and expands, and can press a part (outer side surface portion) B1 of the arm B.

Further, the massage unit 10 further extends from the first member 11 to the extending portion 7.
It has a support portion 72 that supports the end portion 71a of 1 and an operation portion 70 for moving the first member 11 closer to and away from the second member 12.

The support portion 72 of the present embodiment is a guide rail 72a that supports the end portion 71a of the extending portion 71. The guide rail 72a is provided in a fixed state on a fixed portion (armrest portion 4: see FIG. 1) of the massage device 1. The guide rail 72a has a groove having one direction (horizontal width direction) as the groove longitudinal direction, and the end portion 71a is inserted into the groove. The guide rail 72a supports the end portion 71a of the extending portion 71 so that it can reciprocate along a straight line in the longitudinal direction of the groove and cannot move in a direction orthogonal to the straight line.

The operating unit 70 has an inclined cam 73 and a driving unit 75 that rotates the inclined cam 73. The drive unit 75 has a motor 75a and a rotating shaft 75b rotated by the motor 75a. The rotation shaft 75b can rotate around the axis P1 in the lateral width direction.
The tilted cam 73 of the present embodiment has a first tilted cam 73a and a second tilted cam 73b, and the drive unit 75 causes the tilted cams 73a and 73b to rotate around the axis P1.
It can rotate integrally with 5b.
A hole is formed in the middle of the extending portion 71 of the first member 11, and the rotating shaft 75b penetrates the hole, and a gap is provided between the hole and the rotating shaft 75b. The extending portion 71 is sandwiched between the pair of inclined cams 73a and 73b.

The first inclined cam 73a has a surface 74a inclined with respect to the axis P1, and the second inclined cam 73b has a surface 74b inclined with respect to the axis P1, and these inclined surfaces 74a.
The inclined cams 73a and 73b are arranged so that the 74b abuts on the extending portion 71. The inclined surfaces 74a and 74b are parallel.

According to the massage unit 10 having the above configuration, by rotating the inclined cams 73a and 73b by the motor 75a, the first member 11 swings with the rotating shaft 75b as a fulcrum, thereby causing the second member 12 to swing. On the other hand, it becomes possible to move in the direction of approaching and separating. At this time, the guide rail 72a supports the end portion 71a of the extending portion 71 so as to allow the movement of the first member 11. Then, by continuing the rotation of the inclined cams 73a and 73b, the first member 11 can repeatedly approach and separate from the second member 12.
As a result, the first member 11 moves in the direction of narrowing the space S1 and also the space S1.
By moving in the direction of widening 1 and further expanding the air cell 31 provided in the first member 11, a massage operation can be performed on the arm B. That is, the first member 11 sandwiches the arm B with the second member 12, and the air cell 31 that expands in accordance with the sandwiching operation enables a massage operation that pushes the arm B.

In particular, in the present embodiment, since the first member 11 is operated by the inclined cams 73a and 73b and supported by the support portion 72 as described above, the inclined cam 73 by the motor 75a
Due to the rotation of a and 73b, the first member 11 is subjected to the virtual line L1 along the longitudinal direction of the extending portion 71.
It is possible to perform an operation of approaching the second member 12 while rotating in one direction (direction of arrow R1 in FIG. 32) about the first member 11 (states of FIGS. 30 to 31), and the first member 11 is the virtual line. L1
It is possible to perform an operation of moving away from the second member 12 while rotating in the other direction (direction of arrow R2 in FIG. 32) around the center (states of FIGS. 31 to 30). As a result, the feeling of massage given to the arm B can be further enhanced.

<Section 10>
[Modification example of the massage unit 10 (No. 5)]
33 to 35 are explanatory views showing a modified example of the massage unit 10 shown in FIGS. 30 to 32. The difference between the two massage units 10 is the configuration of the support portion 72. Others are the same, and the same points will not be described here.

In FIGS. 33 to 35, the support portion 72 has a spherical joint structure and supports the first member 11. That is, the support portion 72 is the first spherical seat 7 provided at the end portion 71a of the extending portion 71.
It has 2b, a second spherical seat 72c in a fixed state, and a shaft 72d interposed between the spherical seats 72b and 72c. The second spherical seat 72c is provided in a fixed state on a fixed portion (armrest portion 4: see FIG. 1) of the massage device 1.

The shaft 72d has spherical portions 72e, 72 that are in sliding contact with the spherical seats 72b, 72c at both ends thereof.
The shaft 72d has f, and the shaft 72d is held by the first spherical seat 72b.
A second spherical seat that can be displaced 360 ° around the center of e and is held by the second spherical seat 72c.
It can be displaced 360 ° around the center of the spherical portion 72f.

According to the massage unit 10 having the above configuration, by rotating the inclined cams 73a and 73b by the motor 75a, the first member 11 swings with the rotating shaft 75b as a fulcrum, thereby causing the second member 12 to swing. On the other hand, it becomes possible to move in the direction of approaching and separating. At this time, the support portion 72 having the spherical joint structure supports the end portion 71a of the extending portion 71 so as to allow the movement of the first member 11. Then, by continuing the rotation of the inclined cams 73a and 73b, the first member 11 can repeatedly approach and separate from the second member 12. As a result, the first member 11 moves in the direction of narrowing the space S1 and also moves in the direction of widening the space S1, and the air cell 3 provided in the first member 11 is provided.
By expanding 1, a massage operation can be performed on the arm B. In other words
The first member 11 sandwiches the arm B with the second member 12, and the air cell 31 that expands in accordance with the sandwiching operation enables a massage operation that pushes the arm B.

In particular, in the present embodiment, since the first member 11 is operated by the inclined cams 73a and 73b and supported by the support portion 72 as described above, the inclined cam 73 by the motor 75a
Due to the rotation of a and 73b, the first member 11 is subjected to the virtual line L1 along the longitudinal direction of the extending portion 71.
It is possible to perform an operation of approaching the second member 12 while rotating in one direction (direction of arrow R1 in FIG. 35) about the first member 11 (states of FIGS. 33 to 34), and the first member 11 is the virtual line. L1
It is possible to perform an operation of moving away from the second member 12 while rotating in the other direction (direction of arrow R2 in FIG. 35) around the center (states in FIGS. 34 to 33). As a result, the feeling of massage given to the arm B can be further enhanced.

Further, the massage unit 10 (No. 5: FIGS. 30 to 32) and a modified example thereof (FIG. 3).
According to the operation of FIGS. 3 to 35), the arm B of the person to be treated can be grasped and kneaded between the first member 11 and the second member 12. Moreover, the first member 11 and the second member 12 are made of rigid members, and have compressibility and a gripping motion mechanically performed on the arm B when the members having such rigidity approach each other. The inflated air cell 31 enables a combined motion (hybrid motion) with the gripping motion performed on the arm B, and this composite motion performs a gripping motion on the arm B of the person to be treated. Moreover, the first member 11 can perform a gripping operation while rotating around the virtual line L1, and the arm B is gradually gripped.

<Section 11>
[Massage unit 10 (6)]
36 to 38 are explanatory views of another massage unit 10. The massage unit 10 (No. 6) is a modification of the massage unit 10 shown in FIG. 5, and the massage unit 10 (No. 6) can be provided in the massage device 1 described in Chapter 1. Note that FIGS. 36 to 38 are explanatory views of the forearm B of the patient's right arm viewed from the elbow side toward the fingertip side, as in FIG. FIG. 39 is an explanatory view of the massage unit 10 (No. 6) viewed from the outside in the lateral width direction of the arm B. The operation of each part of the massage device 1 described in this section is performed based on the control signal from the control unit 7 (see FIG. 1) of the massage device 1.

The massage unit 10 has a first mechanism portion 51 and a second mechanism portion 52 provided on both upper and lower sides of the arm B of the person to be treated. The first mechanical unit 51 covers the arm B from one side (upper side).
It has a member 76 and a first moving body 78 that is movable along the first member 76 and to which a first air cell 31 is attached. The first moving body 78 is movably supported by a guide (not shown) provided on the first member 76. The second mechanism portion 52 has a second member 79 that covers the arm B from the other side (lower side), and a second moving body that is movable along the second member 79 and to which the second air cell 32 is attached. It has 81 and. The second mobile body 81 is the second
It is movably supported by a guide (not shown) provided on the member 79.

The first member 76 and the second member 79 are composed of an upper wall member and a lower wall member having a predetermined length in the lateral width direction of the arm B (horizontal direction in FIG. 36), and these are connected by the side wall member 76b. As a whole, it has a structure that opens inward in the width direction. In FIGS. 36 to 38, the left side is the opening side and the opposite side is the non-opening side. Then, the second member 79 is attached to the armrest portion 4 of the massage device 1 (see FIG. 1). In the massage unit 10, one side (inside) of the space S1 formed between the first mechanism portion 51 (first member 76) and the second mechanism portion 52 (second member 79) is the insertion / removal of the arm B. It is open for.

Further, the first mechanism portion 51 has an annular first endless belt 77 provided along the first member 76 and the side wall member 76b and driven to rotate. The first endless belt 77 is supported by a plurality of rollers 77b and is rotated by a motor 77a. The motor 77a can rotate in the forward and reverse directions based on the control signal from the control unit 7 (see FIG. 1) of the massage device 1.

The first moving body 78 is attached to a part of the first endless belt 77, and due to the forward and reverse rotation of the first endless belt 77, the first moving body 78 moves along the first member 76 of the massage unit 10. It reciprocates between the position on the opening side and the position on the opposite side (non-opening side). Since the first air cell 31 is attached to the first moving body 78, the first air cell 31 reciprocates between the position on the opening side of the massage unit 10 and the position on the opposite side (non-opening side). It becomes movable.

Further, the second mechanism portion 52 has an annular second endless belt 80 provided along the second member 79 and driven to rotate. The second endless belt 80 is supported by a roller 80b and is rotated by a motor 80a. The motor 80a can rotate in the forward and reverse directions based on the control signal from the control unit 7 (see FIG. 1) of the massage device 1.
The second moving body 81 is attached to a part of the second endless belt 80, and due to the forward and reverse rotation of the second endless belt 80, the second moving body 81 moves along the second member 79 of the massage unit 10. It reciprocates between the position on the opening side and the position on the opposite side (non-opening side). Since the second air cell 32 is attached to the second moving body 81, the second air cell 32 reciprocates between the position on the opening side of the massage unit 10 and the position on the opposite side (non-open side). It becomes movable.

Then, in the massage unit 10, the first air cell 31 and the second air cell 32 expand to hold the arm B in between, and in this state, the first air cell 31 and the second air cell It can move with 32 by changing the distance between them. Specifically, with the first air cell 31 and the second air cell 32 expanding and sandwiching the arm B, as shown in FIG. 37, the first air cell 31 is located on the opening side, and the second air cell 31 is located. Air cell 32
The first air cell 31 moves to the non-opening side and the second air cell 32 moves to the non-opening side from the state where is located on the non-opening side, and as shown in FIG. 38, the first air cell 31 is non-opening. It is located on the opening side, and the second air cell 32 can be located on the opening side. After that, the first air cell 31
And the second air cell 32 expand and sandwich the arm B, the first air cell 31 moves to the opening side, and the second air cell 32 moves to the non-opening side, so that the state shown in FIG. 37 Return to.
By alternately repeating the state shown in FIG. 37 and the state shown in FIG. 38 in this way, the arm B grasped by the air cells 31 and 32 between the first mechanism portion 51 and the second mechanism portion 52 is held on the opening side. And the pulling (or pushing) that moves to the opposite side (non-opening side) is possible. As a result,
Compared to the massage performed by simply sandwiching the arm B from both sides, the experience of massage is improved.

<Section 12>
[Modification example of the massage unit 10 (No. 6)]
40 to 42 are explanatory views showing a modified example of the massage unit 10 shown in FIGS. 36 to 38. The difference between the two massage units 10 is the mechanism for moving the first moving body 78 and the second moving body 81. Others are the same, and the same points will not be described here.

In the massage unit 10 shown in FIGS. 40 to 42, the arm B is on the side of the first mechanism portion 51.
The first rack portion 76a is provided on the first member 76 that covers the arm B from one side (upper side), and on the second mechanism portion 52 side, the second member 79 that covers the arm B from the other side (lower side) is second. A rack portion 79a is provided. These rack portions 76a and 79a are provided long in the lateral width direction of the arm B.

A first air cell 31 is attached to the first moving body 78, and the first moving body 78 has a first pinion 78a and a first pinion 7 that mesh with the first rack portion 76a.
A first motor 78b that rotates 8a is mounted. An endless belt 78c is interposed between the output shaft of the first motor 78b and the first pinion 78a to transmit power. Further, the first moving body 78 is provided with a guide roller 78d and a connecting member 78e, and the guide roller 78d is configured to sandwich the first member 76 with the first pinion 78a. The connecting member 78e connects the guide roller 78d and the first pinion 78a.

A second air cell 32 is attached to the second moving body 81, and the second moving body 81 has a second pinion 81a that meshes with the second rack portion 79a, and the second pinion 8.
A second motor 81b that rotates 1a is mounted. An endless belt 81c is interposed between the output shaft of the second motor 81b and the second pinion 81a to transmit power. Further, the second moving body 81 is provided with a guide roller 81d and a connecting member 81e, and the guide roller 81d is configured to sandwich the second member 79 with the second pinion 81a. The connecting member 81e connects the guide roller 81d and the second pinion 81a.

In the case of the massage unit 10, by rotating the first pinion 78a by the first motor 78b, the first moving body 78 can move along the first rack portion 76a, and also.
By rotating the second pinion 81a by the second motor 81b, the second moving body 81 becomes the second.
It becomes movable along the rack portion 79a.

Then, similarly to the massage unit 10 (No. 6), the first air cell 31 and the second air cell 32 are spaced apart from each other with the first air cell 31 and the second air cell 32 expanding and sandwiching the arm B. Can be changed and moved (see FIGS. 41 and 42). That is, FIG.
By alternately repeating the state shown in 1 and the state shown in FIG. 42, the arm B grasped by the air cells 31 and 32 between the first mechanism portion 51 and the second mechanism portion 52 is held on the opening side and vice versa. It is possible to perform pulling (or pushing) to move to the side (non-opening side). As a result, the feeling of massage is improved as compared with the kneading performed by simply sandwiching the arm B from both sides.

<Section 13>
[Another variant of the massage unit 10 (No. 6)]
43 to 45 are views showing a modified example of the massage unit 10 shown in FIGS. 36 to 38. The difference between the two massage units 10 is that the first moving body 78 and the second moving body 8
It is a mechanism for moving 1. Others are the same, and the same points will not be described here.

In the massage unit 10 shown in FIGS. 43 to 45, the first mechanism portion 51 includes a first member 76, a first moving body 78, a first crank 83a, a first wire 84a, and a first spring 82a. .. Similar to the massage unit 10 (No. 6), the first member 76 is a wall member that covers the arm B from one side (upper side), and the first moving body 78 is attached with the first air cell 31. At the same time, it can be moved along the first member 76. First mobile body 78
Is movably supported by a guide (not shown) provided on the first member 76.

The first crank 83a is provided on the side wall member 76b side, and is rotated in the forward and reverse directions by a motor (not shown) based on a control signal from the control unit 7 (see FIG. 1) of the massage device 1.
The first wire 84a connects the first crank 83a and the first moving body 78, and also
Along the way, it is supported by a plurality of rollers 84c. Depending on the phase of the first crank 83a in the rotational direction, the first wire 84a can pull the first moving body 78 toward the non-opening side (see FIG. 44).
The first spring 82a is attached between a part of the opening side of the first member 76 and the first moving body 78, and exerts an elastic force against the force with which the first wire 84a pulls the first moving body 78. It can be given to the first mobile body 78. Therefore, the first spring 82a can pull the first moving body 78 toward the opening side according to the phase in the rotation direction of the first crank 83a (see FIG. 45).

The second mechanism portion 52 has a second member 79, a second moving body 81, a second crank 83b, a second wire 84b, and a second spring 82b. Similar to the massage unit 10 (No. 6), the second member 79 is a wall member that covers the arm B from the other side (lower side), and the second moving body 81 is attached with the second air cell 32. At the same time, it can be moved along the second member 79. The second moving body 81 is movably supported by a guide (not shown) provided on the second member 79.

The second crank 83b is provided on the side wall member 76b side, and is rotated in the forward and reverse directions by a motor (not shown) based on a control signal from the control unit 7 (see FIG. 1) of the massage device 1.
The second wire 84b connects the second crank 83b and the second moving body 81. Depending on the phase of the second crank 83b in the rotational direction, the second wire 84b can pull the second moving body 81 toward the non-opening side (see FIG. 45).
The second spring 82b is attached between a part of the second member 79 on the opening side and the second moving body 81, and exerts an elastic force against the force by which the second wire 84b pulls the second moving body 81. It can be given to the second moving body 81. Therefore, the second spring 82b can pull the second moving body 81 toward the opening side according to the phase in the rotation direction of the second crank 83b (see FIG. 44).

According to the massage unit 10 having the above configuration, from the state shown in FIG. 45 to FIG.
As shown in FIG. 4, when the first wire 84a pulls the first moving body 78 according to the phase in the rotation direction of the first crank 83a in the first mechanism portion 51 (FIG. 44), the first spring 82a In opposition, the first moving body 78 moves to the non-opening side. Then, from the state shown in FIG. 45 to the state shown in FIG. 44, the second mechanism unit 5 is set in accordance with the movement timing of the first moving body 78.
In 2, the second by the second wire 84b according to the phase in the rotation direction of the second crank 83b.
When the pull of the moving body 81 is released, the second moving body 81 moves to the opening side due to the restoring force of the second spring 82b.
When the first crank 83a rotates 180 ° from the state of FIG. 44, the tension of the first moving body 78 by the first wire 84a is released according to the phase in the rotation direction (FIG. 45), and the first spring 82a is restored. The first moving body 78 moves to the opening side by the force. When the second crank 83b rotates 180 ° in accordance with the movement timing of the first moving body 78, the second wire 84b pulls the second moving body 81 according to the phase in the rotation direction and resists the second spring 82b. Then, the second moving body 81 moves to the non-opening side (FIG. 45).

In this way, similarly to the massage unit 10 (No. 6), the first air cell 31 and the second air cell 32 are in a state where the first air cell 31 and the second air cell 32 are expanded and the arm B is sandwiched.
Can be moved by varying the distance between them (see FIGS. 44 and 45). In other words
By alternately repeating the state shown in FIG. 44 and the state shown in FIG. 45, the arm B grasped by the air cells 31 and 32 between the first mechanism portion 51 and the second mechanism portion 52 is held on the opening side and the arm B thereof. The other side (
It is possible to perform pulling (or pushing) to move to the non-opening side). As a result, the feeling of massage is improved as compared with the kneading performed by simply sandwiching the arm B from both sides.

<Section 14>
[Massage unit 10 (7)]
46 and 47 are explanatory views of another massage unit 10. The massage unit 10 (No. 7) is a modification of the massage unit 10 shown in FIG. 5, and the massage unit 10 (No. 7) can be provided in the massage device 1 described in Chapter 1. Note that FIGS. 46 and 47 are views of the forearm B of the patient's right arm viewed along the direction from the elbow side to the fingertip side, as in FIG. FIG. 48 is a view of the massage unit 10 (No. 7) viewed from the outside in the lateral width direction of the arm B. The operation of each part of the massage device 1 described in this section is performed based on the control signal from the control unit 7 (see FIG. 1) of the massage device 1.

The massage unit 10 has a frame body 59, a first member 11 provided on the upper side of the arm B of the person to be treated, and a second member 12 provided on the lower side of the arm B. The frame body 59 is the upper frame 5
It has a 9a, a lower frame 59b, and a horizontal frame 59c connecting the upper frame 59a and the lower frame 59b, and each of the upper frame 59a, the lower frame 59b, and the horizontal frame 59c is made of a plate-shaped member. .. Then, the lower frame 59b is attached to the armrest portion 4 of the massage device 1 (see FIG. 1). The first member 11 is a (thick) plate-shaped member, and is supported on the upper frame 59a side by a guide (not shown) so as to be movable in the vertical direction. The second member 12 is a (thick) plate-shaped member, and is supported on the lower frame 59b side by a guide (not shown) so as to be movable in the vertical direction.

A space S1 is formed between the first member 11 and the second member 12, and in the massage unit 10, one side of the space S1 is separated from the first member 11 and the second member 12. (Inside in the width direction) is open for putting in and taking out the arm B. In FIGS. 46 and 47, the left side is the opening side and the opposite side is the non-opening side. Further, since the second member 12 is installed below the arm B, the second member 12 is configured to support the arm B from below.

The massage unit 10 of the present embodiment further includes a first drive unit 53 that moves the first member 11 in the vertical direction, and a second drive unit 54 that moves the second member 12 in the vertical direction. There is.

The first drive unit 53 includes a first drive air cell 53a and a first spring 53b interposed between the upper frame 59a and the first member 11. The first drive air cell 53a is
When air is supplied, it expands and pushes down the first member 11 with respect to the upper frame 59a. The first spring 53b is provided on both sides of the air cell 53a. The first spring 53b is a tension spring and has a function of pulling up the first member 11 when the air in the air cell 53a is in an exhaust state.

The second drive unit 54 includes a second drive air cell 54a and a second spring 54b interposed between the lower frame 59b and the second member 12. The second drive air cell 54a is
When air is supplied, it expands and pushes up the second member 12 with respect to the lower frame 59b. The second spring 54b is provided on both sides of the air cell 54a. The second spring 54b is a tension spring and has a function of pulling down the second member 12 when the air in the air cell 54a is in the exhaust state.

In the present embodiment, the case where both the first member 11 and the second member 12 move in the vertical direction by the drive units 53 and 54 has been described, but at least one of the first member 11 and the second member 12 has been described. , The configuration may be such that the drive unit 53 (54) moves in the vertical direction. For example, the second member 12 may be a fixed member.

The first member 11 has a pair of massage air cells 55, 55. These air cells 55, 55 can be expanded by supplying air, and a part (upper part) of the arm B can be pushed. On the first member 11 side, since air cells 55 and 55 are provided on both sides of a part (upper part) of the arm B, the part (upper part) of the arm B is expanded by the expansion of these air cells 55 and 55. The operation of sandwiching from both sides can be performed.

The second member 12 has a pair of massage air cells 56, 56. These air cells 56, 56 can be expanded by supplying air, and a part (lower part) of the arm B can be pushed. On the second member 12 side, since air cells 56 and 56 are provided on both sides of a part (lower part) of the arm B, the part (lower part) of the arm B is expanded by the expansion of these air cells 56 and 56. The operation of sandwiching from both sides can be performed.

When air is supplied to the first drive air cell 53a of the first drive unit 53 and the second drive air cell 54a of the second drive unit 54, the first member 11 and the second member 12 When the air is exhausted, the first member 11 and the second member 12 are separated from each other by the elastic force of the springs 53b and 54b.
Then, in a state where the first member 11 and the second member 12 are close to each other and the upper massage air cells 55 and 55 are expanded to sandwich a part (upper part) of the arm B, the first drive is performed. When the air in the air cell 53a changes from the air supply state to the exhaustable state, the force (restoring force) of the first spring 53b.
As a result, the first member 11 rises together with the air cells 55 and 55 (see FIG. 47). At the same time, with the lower massage air cells 56 and 56 expanding and sandwiching a part (lower part) of the arm B, the air of the second drive air cell 54a is in a state where it can be exhausted from the air supply state. Then, due to the force (restoring force) of the second spring 54b, the second member 12 descends together with the air cells 56 and 56 (see FIG. 47).

As described above, according to the massage unit 10, the arm B supported from below by the second member 12 is sandwiched between the pair of massage air cells 55, 55 (and 56, 56) from both sides. The 1st member 11 and the 2nd member 12 can be relatively separated from each other in the vertical direction. As a result, the arm B can be rubbed and the massage experience is improved.

After that, when the first drive air cell 53a and the second drive air cell 54a are changed from the exhaust state to the air supply state, the first member 11 and the second member 12 come close to each other, and further, for a pair of massages. With the arms B sandwiched between the air cells 55, 55 (and 56, 56) from both sides, the first drive air cell 53a and the second drive air cell 54a are changed from the air supply state to the exhaustable state, and this is repeated. , The massage of kneading can be repeated.

The case where the arm B is sandwiched from both the upper and lower sides and the massage unit 10 is pulled and kneaded along the vertical direction has been described, but the massage unit 10 shown in FIGS. 46 and 47 has been described.
Is arranged to be rotated 90 ° in the clockwise direction, for example, and the first member 11 and the second member are arm B.
May be sandwiched from both sides in the width direction and kneaded along the width direction.
In the case of the massage unit 10 that sandwiches the arm B from both the upper and lower sides as in the embodiment shown in FIGS. 46 and 47, the massage air cells 56 and 56 of the second member 12 may be omitted, but the arm B may be omitted. In the case of the massage unit 10 sandwiched from both sides in the lateral width direction, both the massage air cells 55 and 55 of the first member 11 and the massage air cells 56 and 56 of the second member 12 are required to restrain the arm B. Is.

That is, in order to form a massage unit 10 that sandwiches the arm B from both sides in the width direction, for example, the massage unit 10 has a first direction (width direction) with respect to the arm B of the patient.
First member 11 provided on one side (outside), first direction (horizontal width direction) with respect to this arm B
A second member 12 provided on the other side (inside) of the above, and these first member 11 and second member 1
It has a drive unit 53 (54) that moves at least one of the two in the first direction (horizontal width direction). Then, in the massage unit 10, the arm B can be moved in and out from above between the first member 11 and the second member 12 in a state where the first member 11 and the second member 12 are separated from each other. it can.
The first member 11 has a pair of first air cells 55 and 55 that perform an operation of sandwiching the arm B from both sides in the second direction (vertical direction) by expanding, and the second member 12 has a pair of first air cells 55 and 55. , A pair of second air cells 56 that perform an operation of sandwiching the arm B from both sides in the second direction (vertical direction) by expanding.
, 56.
Then, the drive unit 53 (54) uses the first air cells 55, 55 and the second air cells 56,
With the arm B sandwiched by 56, the first member 11 and the second member 12 are relatively separated from each other along the first direction (left-right direction).

According to this configuration, the arm B is provided by the first air cells 55, 55 and the second air cells 56, 56 on both sides of the first direction (that is, the first member 11 side and the second member 12 side), respectively. It is sandwiched from both sides in the second direction (that is, the vertical direction), and from this state, the first member 11 and the second member 12 are moved to the first direction (horizontal width direction) by the drive unit 53 (54). By separating them along the line, it is possible to knead the arm B and improve the feeling of massage.

<Section 15>
[Mechanism for displacement of various massage units 10]
The massage unit 10 for grasping and kneading the body part (arm B) of the patient described in each section may be displaced as a whole, and a mechanism for that purpose (hereinafter, referred to as a displacement mechanism) will be described. In FIGS. 49 to 61 described below, the configuration of the massage unit 10 is simplified and described. In the case of the massage device 1 provided with the displacement mechanism, the massage unit 10 is not completely fixed to the armrest portion 4 or the like, and the massage unit 10 is supported so as to be displaceable to the armrest portion 4 or the like. It becomes a composition. Also,
The operation of each part of the massage device 1 described in this section is performed based on the control signal from the control unit 7 (see FIG. 1) of the massage device 1.

[Displacement mechanism (1)]
FIG. 49 is a schematic configuration diagram of the displacement mechanism 99 of the massage unit 10 that grabs and kneads the arm B of the subject, and is a view when viewed from the outside in the lateral width direction of the arm B. The displacement mechanism 99 shown in FIG. 49 includes a first actuator 91a provided on one side (elbow side) of the arm B in the massage unit 10 in the longitudinal direction and the other side of the arm B in the massage unit 10 in the longitudinal direction. It is provided with a second actuator 91b provided (on the fingertip side). The actuators 91a and 91b of this embodiment are hydraulic cylinders. Therefore, this massage device 1 is
A hydraulic unit 92 for operating the actuators 91a and 91b is further provided. The hydraulic unit 92 can extend the actuators 91a and 91b by supplying hydraulic oil to the actuators 91a and 91b, respectively, and discharges the hydraulic oil to the hydraulic unit 92 side to discharge the actuators 91a and 91b. Shorten.

The tip of the rod 92a of the first actuator 91a is connected to the elbow side portion (19a) of the massage unit 10 (outer cover 19 or the like) via a spherical joint 93a. The spherical joint 93a includes a spherical portion 93a-1 provided at the tip of the rod 92a and a spherical seat 93a-2 attached to the massage unit 10. 1st actuator 91
The cylinder body of a is fixed to the frame of the massage device 1.
Then, the first actuator 91a can displace a part (elbow side part) 19a of the massage unit 10 by expanding and contracting. As shown in FIGS. 50 and 51, in the present embodiment, a part of the massage unit 10 (elbow side) in the vertical direction (direction intersecting the longitudinal direction of the arm B) with respect to the arm B in the horizontal posture. Part) 19a can be displaced in the vertical direction.

The tip of the rod 92b of the second actuator 91b is connected to the fingertip side portion (19b) of the massage unit 10 (outer cover 19 or the like) via a spherical joint 93b. The spherical joint 93b includes a spherical portion 93b-1 provided at the tip of the rod 92b and a spherical seat 93b-2 attached to the massage unit 10. 2nd actuator 9
The cylinder body of 1b is fixed to the frame of the massage device 1.
Then, the second actuator 91b can displace a part (a part on the fingertip side) 19b of the massage unit 10 by expanding and contracting. As shown in FIGS. 50 and 51, in the present embodiment, a part of the massage unit 10 (fingertip side) in the vertical direction (direction intersecting the longitudinal direction of the arm B) with respect to the arm B in the horizontal posture. Part) 19b can be displaced in the vertical direction.

According to the massage device 1 provided with the displacement mechanism 99, the massage unit 10 can be displaced in the vertical direction. In the present embodiment, as shown in FIG. 50, the massage unit 10 in which the arm B is sandwiched between the air cells 31 and 32 by extending the first actuator 91a and contracting the second actuator 91b is placed on the arm B. It can be displaced (rotated) around the virtual line L2 in the width direction orthogonal to the longitudinal direction of. And
On the contrary, as shown in FIG. 51, by extending the second actuator 91b and contracting the first actuator 91a, the massage unit 10 in the state where the arm B is grasped by the air cells 31 and 32 is imaginary. It can be displaced (rotated) in the opposite direction around L2. Then, this operation can be repeated alternately, and a massage operation in which the arm B is grasped and rotated around the virtual line L2 in the left-right direction orthogonal to the longitudinal direction of the arm B becomes possible.

[Displacement mechanism (2)]
FIG. 52 is a schematic configuration diagram of the displacement mechanism 99 of the massage unit 10 that grabs and kneads the arm B of the subject, and is a view when viewed from the outside in the lateral width direction of the arm B. The displacement mechanism 99 shown in FIG. 52 is an actuator mechanism that displaces (rotates) the massage unit 10 around a virtual line (L3) parallel to a straight line (virtual line L2) in a direction intersecting (orthogonal) in the longitudinal direction of the arm B. It is equipped with 94.

In the form shown in FIG. 52, a rack portion 94a is formed on a part (outer cover 19) of the massage unit 10. The rack portion 94a is formed by forming a plurality of teeth along an arc centered on the rotation center line L3 of the pinion 94b, which will be described later, that meshes with the rack portion 94a. The rotation center line L3 is a straight line parallel to a straight line (virtual line L2) in a direction intersecting (orthogonal) in the longitudinal direction of the arm B. The actuator mechanism 94 has a pinion 94b that meshes with the rack portion 94a and a motor 94c that rotates the pinion 94b. The motor 94c can rotate in the forward and reverse directions based on the control signal from the control unit 7 (see FIG. 1) of the massage device 1.

The pinion 94b is installed on the frame or the like of the massage device 1 so as to be rotatable around the rotation center line L3 in the lateral width direction. Then, the massage unit 10 is movable along an arc centered on the rotation center line L3, and the massage device 1 is guided by a guide (not shown).
It is supported by the frame etc.

According to the massage device 1 provided with the displacement mechanism 99, the massage unit 10 is virtually parallel to the straight line (L2) by rotating the pinion 94b in one direction (in the direction of arrow R1 in FIG. 52) by the motor 94c. Displacement (rotation) around the line (the rotation center line L3)
(See FIG. 53). Then, from the state shown in FIG. 53, the pinion 94b
By rotating the massage unit 10 in the other direction (in the direction of arrow R2 in FIG. 53).
Can be displaced (rotated) in the opposite direction around the virtual line (the rotation center line L3) (see FIG. 54). Then, this operation can be repeated alternately.
As a result, while the massage unit 10 holds the arm B, the massage operation of turning (twisting) the arm B around the straight line (virtual line L2) becomes possible.

[Displacement mechanism (3)]
55 and 56 are schematic configuration views of the displacement mechanism 99 of the massage unit 10, and is a view of the forearm B of the patient's right arm viewed along the direction from the elbow side to the fingertip side. In addition, FIG.
7 is an explanatory view when the massage unit 10 and the displacement mechanism 99 are viewed from the outside in the lateral width direction of the arm B.

In the present embodiment, a part of the massage unit 10 (lower part on the opening side of the outer cover 19) that grabs and kneads the arm B of the person to be treated is supported by the support portion 96. The support portion 96 has a structure having a spherical joint. That is, the support portion 96 includes the first spherical seat 96a fixed to the frame or the like of the massage device 1 and a part of the opening side of the massage unit 10 (outer cover 19).
It has a second spherical seat 96b provided in the lower portion on the opening side of the above, and a shaft 96c interposed between the spherical seats 96a and 96b.

The shaft 96c has spherical portions 96d, 96 that are in sliding contact with the spherical seats 96a, 96b at both ends thereof.
The shaft 96c has a first spherical surface portion 96 held by the first spherical surface seat 96a.
A second spherical seat that can be displaced 360 ° around the center of d and is held by the second spherical seat 96b.
It can be displaced 360 ° around the center of the spherical portion 96e.

The massage device 1 includes an actuator mechanism 97 as a displacement mechanism 99, which is connected to another portion of the massage unit 10 (a portion on the non-opening side of the outer cover 19) that grips and kneads the arm B. The actuator mechanism 97 can displace the massage unit 10 in the vertical direction intersecting the longitudinal direction of the arm B with the support portion 96 side as a fulcrum.
In order to realize this displacement, the actuator mechanism 97 includes an eccentric cam 97a that rotates around the rotation center line L6 parallel to the longitudinal direction of the arm B, and other parts of the eccentric cam 97a and the massage unit 10 (outer cover 19). It has an arm 97b that connects the non-opening side portion). The eccentric cam 97a is rotated by a motor (not shown).

Then, as shown in FIG. 57, the actuator mechanism 97 of the present embodiment has the other portions (the non-opening side portions of the outer cover 19) at two locations apart from each other in the longitudinal direction of the arm B in the massage unit 10. Is connected with. That is, the first actuator mechanism 97-1 is connected to the elbow side portion 19a of the massage unit 10, and the second actuator mechanism 9
7-2 is connected to the fingertip side portion 19b of the massage unit 10.

The eccentric cam 97a-1 of the first actuator mechanism 97-1 on one side and the eccentric cam 97a-2 of the second actuator mechanism 97-2 on the other side are these cams 9.
The phases of 7a-1 and 97a-2 in the rotation direction match, and they are attached to a common rotation shaft 98. The rotation shaft 98 is rotated around the rotation center line L6 by a motor (not shown).

According to this configuration, by rotating the rotation shaft 98, the eccentric cam 97a-1 on one side and the eccentric cam 97a-2 on the other side can rotate at the same time in the same phase, and FIGS. 55 and 56.
As shown in the above, the massage unit 10 can be displaced in the vertical direction with the support portion 96 side as a fulcrum. As a result, the massage unit 10 can be reciprocated (reciprocated) with the virtual line L4 parallel to the longitudinal direction of the arm B gripped and kneaded by the massage unit 10 as the center of rotation.

[Displacement mechanism (4)]
In the embodiment shown in FIGS. 55 to 57, the case where the phases of the cams 97a-1 and 97a-2 in the rotation direction are the same has been described, but the phases in the rotation direction may be different. FIG. 58
In the form shown in (1), the eccentric cam 97a-1 on one side and the eccentric cam 97a-2 on the other side are out of phase by 180 ° in the rotational direction. In this case, the two portions 19a and 19b of the massage unit 10 (outer cover 19) and the arms 97b and 97b are connected by a spherical joint.
In this case, by rotating the eccentric cams 97a-1 and 97a-2, the massage unit 10 can be displaced in the vertical direction with the support portion 96 side as a fulcrum, and the phase of the displacement is set to that of the massage unit 10. It can be different at each of the two locations (19a, 19b) (see FIGS. 58 and 59). As a result, a component that reciprocates (reciprocates) the massage unit 10 can be generated around the virtual line L5 orthogonal to the longitudinal direction of the arm B.

[Displacement mechanism (No. 5)]
Further, as shown in FIG. 60, the eccentric cams 97a-1 and 97a-2 may be eccentric tilt cams. That is, one eccentric cam 97a-1 has a surface 97c inclined with respect to the rotation center line L6 of the eccentric cam 97a-1. And this inclined surface 97c is the arm 9
It is provided so that it can come into contact with 7b. The other eccentric cam 97a-2 has the same configuration. As a result, when the eccentric cam 97a-1 (97a-2) rotates, the arm 97b is moved.
It can swing with the longitudinal component of the arm B (see FIGS. 60 and 61), which causes the massage unit 10 to swing with the longitudinal component of the arm B.

When the eccentric cams 97a-1 and 97a-2 are eccentric tilt cams in this way, the massage unit 10 can be displaced in the vertical direction with the support portion 96 side as a fulcrum.
The massage unit 10 is swung with a component in the longitudinal direction of the arm B. That is, the virtual line L5 orthogonal to the longitudinal direction while shaking the massage unit 10 back and forth of the arm B.
A component that reciprocates (reciprocates) can also be generated.

<Section 16>
[About the arrangement of the massage unit 10]
The case where the massage unit 10 of each form is provided on the armrest portion 4 or the footrest 5 in order to massage the arm or leg of the person to be treated has been described, but the massage unit 10 has a massage operation targeting other body parts. It may be configured to do so. For example, the upper arm, shoulder, waist, etc. of the person to be treated may be targeted, and in this case, the massage unit 10 may be provided on the seat portion 2, the backrest portion 3, or the like.

<Section 17>
By the massage unit 10 of each form described in this Chapter 2, the body part of the treated person (
You can grab your arms, legs, etc.). And each massage unit 1 explained in this Chapter 2.
The massage device equipped with 0 can not only grasp the body part of the person to be treated, but also perform a massage including an action of moving the grasped part. For example, the gripping mechanism 30 of each form described in Chapter 2 may have some functions of the mechanism unit 103 described in the following Chapter 3 (for example, the first treatment member 1).
21A and the function of moving the second treatment member 121B) may be used to move the body part (arms, legs, etc.). In addition, each mechanism explained in Chapter 2 is described in Chapter 3, Section 1, Section 2, and Chapter 3.
It can be applied in place of the mechanisms disclosed in Sections and Section 4.
From the above, using each configuration (massage unit 10) of Chapter 2, grasp and move the body part as explained in Sections 1, 2, 3, and 4 of Chapter 3. A massage of massage can be realized.

<< Chapter 3 >>
<Introduction (grasping operation)>
Chapter 3 describes the movement in which other movements are added to the gripping and kneading (hereinafter referred to as "grasping movement").
Hereinafter, in Sections 1 to 4, embodiments and details of the gripping operation will be described.
The massage unit 10 described in Chapter 3 can be provided in the massage device 1 described in Chapter 1.

<Section 1: Rotation around the direction of muscle fibers in the body part>
[Explanation of Embodiments of the Present Invention]
The embodiments in this section will be listed and described. The reference numerals given in the explanations in this section are shown in FIG.
And are used in FIGS. 62-86.
(21) In the massage device (one embodiment) 1 of the present invention, the gripping and kneading is performed in a state where the treatment unit 101 that grips and massages the body part 100 and the treatment unit 101 grips and massages. Treatment unit 10 around the center of rotation 102 along the direction of the muscle fibers of the body part 100
It is provided with a mechanism unit 103 for rotating 1.

By rotating the treatment unit 101 around the center of rotation 102 along the direction of the muscle fibers of the body part 100 where the gripping and kneading is performed, a massage in which the rotation is added to the gripping and kneading can be obtained, which is more than a simple gripping and kneading. The feeling of massage is improved.

The directions along the direction of the muscle fibers of the body part 100 are, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the lateral direction of the shoulder (the range from the neck to the shoulder joint, the same applies hereinafter), and the longitudinal direction of the neck. including.
In the case of the treatment unit 101 that grips and massages the arm, leg, or neck, for example, the treatment unit 101 rotates around the arm, leg, or neck in the circumferential direction. In the case of the treatment unit 101 that grips and massages the shoulder, the treatment unit 101 rotates, for example, around the center of rotation in the left-right direction passing near the shoulder.
The mechanism unit 103 does not need to rotate the entire treatment unit 101, and may rotate at least a part of the treatment unit 101. The treatment unit 101 is a pair of pressing members 101a, 10 described later.
When 1b is included, the mechanism 103 rotates at least one of the pair of pressing members 101a and 101b.

Rotation does not have to be a motion that draws a locus along a perfect circle, but a motion that draws a locus along an ellipse or other deformed circle is sufficient. When the motion locus of the treatment unit 101 is not a locus along a perfect circle, it can be assumed that the center of rotation exists near the center of the circle, assuming a perfect circle that approximates the motion locus of the treatment unit 101. Anything is enough.
For example, the kneading operation (and pushing and kneading operation) of the gripping mechanism 30 in the massage unit 10 described in Chapter 2, Section 1 can be equated with the rotation of the treatment unit 101 in Chapter 3.

(22) The treatment unit 101 includes a pair of pressing members 101a and 101b for gripping and kneading the body part 100, and the mechanical unit 103 changes the relative positional relationship between the pair of pressing members 101a and 101b. As described above, it is preferable that at least one of the pair of pressing members 101a and 101b is configured to rotate around the center of rotation. By changing the relative positional relationship of the pair of pressing members, a massage feeling different from the rotation while maintaining the relative positional relationship can be obtained.

(23) The mechanism unit 103 is preferably configured to rotate a pair of pressing members 101a and 101b in opposite directions. The relative positional relationship between the pair of pressing members 101a and 101b can be changed by rotating the pair of pressing members 101a and 101b in the opposite directions. The relative positional relationship may be changed by rotating only one of the pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are rotated in the same direction at the same time, but the relative positional relationship may be changed by making the moving speeds of the pair of pressing members 101a and 101b different.

(24) The treatment unit 101 includes a treatment member 121 provided to grip and knead the upper arm 100a, and the mechanism unit 103 is in a state where the treatment member 121 grips and kneads the upper arm 100a. It is preferable that the treatment member 121 is configured to rotate around the center of rotation along the direction of the muscle fiber in 100a. For the rotation of the treatment member 121 for the upper arm, a massage in which rotation is added to gripping and kneading is applied to the upper arm.

(25) The massage device 1 includes a backrest portion 3 and a side wall portion 3A protruding forward from the side portion of the backrest portion 3, and the mechanical portion 103 is around the center of rotation along the direction of the muscle fibers in the upper arm 100a. Includes the upper arm mechanism portion 103a for rotating the treatment member, and the upper arm mechanism portion 10
As for 3a, it is preferable that at least a part of the upper arm mechanism portion 103a is provided in the side wall portion 3A. The side wall portion 3A provided on the backrest portion 3 can accommodate at least a part of the upper arm mechanism portion 103a, which is advantageous for securing the arrangement space of the upper arm mechanism portion 103a.

(26) The treatment unit 101 is a pair of pressing members 101a and 101b that grip and knead the upper arm.
In the mechanism unit 103, at least one of the pair of pressing members 101a and 101b is forward from the rear side (back side) 100a-1 of the upper arm 100a (front side 100-2 of the upper arm 100a).
It is preferable that at least one of the pair of pressing members 101a and 101b is rotated around the rotation center 102 along the direction of the muscle fiber in the upper arm 100a so as to move toward. In this case, the pressing member 101a (101b) arranged on the rear side 100a-1 of the upper arm 100a can be moved forward.

(27) The pair of pressing members 101a and 101b includes a first pressing member 101a that presses the upper arm 100a from the body 100b side, and a second pressing member 101b that faces the first pressing member.
The mechanism unit 103 is preferably configured to rotate the pair of pressing members 101a and 101b in opposite directions.

(28) The treatment unit 101 includes a first pressing member 101a that presses the upper arm 100a and a second pressing member 101b that faces the first pressing member 101a, and the mechanical unit 103 includes the first pressing member 101a and the first pressing member 101a. Each of the two pressing members 101b is configured to rotate around the rotation center 102 along the direction of the muscle fiber in the upper arm 100a, and the rotationally movable range 105b of the second pressing member 101b is the front side 100a-2 of the upper arm 100a and the upper arm 100a. Front side 100 of upper arm 100a
It is preferable that the range of 100a-3 outside of a-2 is included and the range is larger than the rotationally movable range 105a of the front 1 pressing member 101a. In this case, the second pressing member 101b is the upper arm 1
It can move significantly in the vicinity of the front side 100a-2 and the outside side 100a-3 of 00a.

(29) The treatment unit 101 includes a first pressing member 101a that presses the upper arm 100a and a second pressing member 101b that faces the first pressing member 101a, and the mechanical unit 103 includes the first pressing member 101a and the first pressing member 101a. Each of the two pressing members 101b is configured to rotate around the rotation center 102 along the direction of the muscle fiber in the upper arm 100a, and the rotationally movable range 105a of the first pressing member 101a is the rear side 100a-1 of the upper arm 100a and the upper arm 100a. Rear side 100a- of upper arm 100a
Including 100a-4 inside 100a-4, the rotationally movable range 10 of the second pressing member 101b
It is preferably larger than 5b. In this case, the first pressing member 101a can move significantly in the vicinity of the rear side 100a-1 and the inner side 100a-4 of the upper arm 100a.

(30) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and massages the body part 100, and the mechanism unit 103 is gripped by the first treatment member 121A and the second treatment member 121B. It is preferable that at least one of the first treatment member 121A and the second treatment member 121B is rotated around the rotation center 102 while the kneading is being performed. In this case, the body part can be rotated by at least one of the plurality of treatment members 121A and 121B.

(31) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and massages the body part 100, and the mechanism unit 103 is gripped by the first treatment member 121A and the second treatment member 121B. It is preferable that the first treatment member 121A and the second treatment member 121B are configured to rotate in opposite directions while the kneading is being performed.
In this case, the body parts 100c and 100d can be twisted in the opposite directions.

(32) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and rubbed.
The mechanical unit 103 includes the 1A and the second treatment member 121B, and the mechanism unit 103 has the first treatment member 121A around the first rotation center 102A along the direction of the muscle fiber in a state where the first treatment member 121A is gripping and kneading. The second treatment member 121B is configured to rotate around the second rotation center 102B along the direction of the muscle fiber in a state where the second treatment member 121B is gripping and kneading. , 1st rotation center 102A and the 2nd rotation center 102
B preferably has different positions from each other. In this case, the rotation of the first treatment member 121A and the rotation of the second treatment member 121B have different trajectories, and different rotation feelings can be given to each body part.

(33) The mechanism unit 103 is configured to rotate the first treatment member 121A and the second treatment member 121B in opposite directions while the first treatment member 121A and the second treatment member 121B are gripping and kneading. It is preferable that it is.

(34) The mechanism unit 103 is configured to rotate the first treatment member 121A and the second treatment member 121B in the same direction while being gripped and kneaded by the first treatment member 121A and the second treatment member 121B. Is preferable.

(35) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and rubbed.
The first treatment member 12A includes 1A, a second treatment member 121B, and a third treatment member 121C, and the first treatment member 12A is provided so as to grip and knead the first range 100a and 100e of the body, and the second treatment member 121B is provided. The second range 100d, 10 of the body, which is a range different from the first range 100a, 100e, via at least one joint between the first range 100a, 100e.
The third treatment member 121C is provided so as to perform gripping and kneading with respect to 0f, and the third treatment member 121C is the second range 1.
Through at least one other joint between 00d and 100f, the first range 100a,
The third range 10 of the body, which is a range different from 100e and the second ranges 100d and 100f.
It is preferable that 0c and 100g are provided so as to be gripped and kneaded. With the three treatment members 121A, 121B, 121C, it is possible to perform gripping and kneading in three different ranges via joints. For example, the first range is the upper arm 100a, the second range is the forearm 100d, and the third range 100c is the hand (the range beyond the wrist, which includes the palm and fingers, and the same applies hereinafter). The first range may be the shoulder, the second range may be the upper arm, and the third range may be the forearm. The first range may be the shoulder, the second range may be the upper arm, and the third range may be the hand. The first range is the thigh 100e, the second range is the lower leg 100f, and the third range is the foot 100g (the range beyond the ankle, the same applies hereinafter).
It may be. The first range may be the buttocks, the second range may be the thighs, and the third range may be the lower legs.
The number of treatment members included in the treatment unit 101 may be 3 or more.

(36) The mechanism unit 103 performs gripping and kneading in a state where two or more of the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping and kneading. It is preferable that at least one of the two or more treatment members is rotated around the rotation center 102. The rotation direction of each of the two or more treatment members may be the same direction or may be opposite.

(37) The treatment unit 101 includes a first member 121B that grips and massages the wrist or ankle, and a second member 121C that abuts on a portion closer to the tip of the body than the first member 121B.
The mechanism unit 103 is in a state where the first member is gripping and rubbing the wrist or ankle.
It is preferable to rotate the second member 121C around the center of rotation along the direction of the muscle fibers of the wrist or ankle. For example, the hand can be turned while the wrist is fixed by grasping and rubbing the wrist. By grabbing and rubbing the ankle, the foot can be turned while the ankle is fixed.

[Details of Embodiments of the present invention]
FIG. 62 shows an example of the massage unit 10. The massage unit 10 is provided, for example, in the first holding portion 5a of the footrest 5, and massages the body part 100 of the person to be treated. The body part 100 is, for example, the lower leg (calf). The massage involves grabbing and rubbing the body part 100. The muscle fibers of the lower leg 100 are oriented in the longitudinal direction of the lower leg 100.

The first holding portion 5a in FIG. 62 has an opening in the upper direction (Y direction). The upper opening of the first holding portion 5a in FIG. 62 corresponds to the front opening of the first holding portion 5a in FIG. The massage unit 10 of FIG. 62 may be provided on the armrest portion 4 to massage (grab and knead) the forearm of the person to be treated. When the armrest portion 4 is provided in the lateral opening state as shown in FIG. 1, the upper opening of the first holding portion 5a in FIG. 62 corresponds to the lateral opening of the first holding portion 5a in FIG. The first holding portion 5a of FIG. 62 can be installed in the massage device 10 at an appropriate position and orientation according to the part of the person to be treated. For example, the massage unit 10 of FIG. 62 has a second holding portion 5b of the footrest 5.
Ankle or foot massage (grasping and rubbing) may be performed. The massage unit 10 of FIG. 62 may be provided in the massage device 1 so as to massage (grab and knead) the upper arm, thigh, shoulder, and other body parts.

The massage unit 10 of FIG. 62 includes a treatment unit 101 that massages the body part 100. The treatment unit 101 applies a massage including grasping and kneading to the body part 100. The treatment unit 101 has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are arranged so as to have a space between them so that the body part 100 to be massaged can be arranged. Each of the pair of pressing members 101a and 101b is composed of an air cell. The air cells 101a and 101b receive air supply and exhaust by an air circuit (not shown). The air cells 101a and 101b expand and contract due to air supply and exhaust. The pair of inflated air cells 101a and 101b press the body part from both sides (see FIG. 66).
Gripping and kneading can be obtained by pressing the pair of air cells 101a and 101b.

The treatment unit 101 grips and massages the body part 100 from the direction intersecting the direction of the muscle fibers (for example, the longitudinal direction of the lower leg) in the body part (for example, the lower leg) 100. The direction of the muscle fibers of the lower leg 100 (longitudinal direction of the lower leg) is the Z direction in FIG. 62.
Gripping and kneading is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. in this way,
For grabbing and rubbing, a simple operation of sandwiching the body part 100 is sufficient.

The massage unit 10 of FIG. 62 further includes a mechanism unit 103 for moving the treatment unit 101. The mechanism unit 103 is a single air cell (one of the pair of air cells 101a and 101b).
It includes a first support member 113a to which the first air cell) 101a is attached, and a second support member 113b to which the other air cell (second air cell) 101b is attached. The first support member 113a and the second support member 113b are formed of a plate-shaped member curved in an arc shape. The first support member 113a and the second support member 113b are supported by the first holding portion 5a so as to be movable on a locus along an arc centered on the rotation center 102 by a guide (not shown). The first support member 113a and the second support member 113b are curved along an arc which is their movement locus.

The end of the first air cell 101a is the first support member 113a by the fixture 115a.
It is attached to the front side (upper side of FIG. 62). Similarly, the end of the second air cell 101b is attached to the front side of the second support member 113b by the fixing portion 115b.

As also shown in FIG. 63, the mechanism unit 103 is a curved back surface of the first support member 113a (FIG. 6).
It further includes two first racks 114a provided on the lower side of 2) and two second racks 114b provided on the curved back surface of the second support member 113b. Two first racks 1
14a is provided so that their longitudinal directions extend along the longitudinal direction of the first support member 113a (X direction in FIG. 63). The plurality of first racks 114a include the first support member 113.
They are provided side by side in the width direction of a (Z direction in FIG. 63). The plurality of second racks 114a
They are provided so as to extend in the longitudinal direction along the longitudinal direction of the second support member 113b. The plurality of second racks 114b are provided side by side in the width direction of the second support member 113b.

The first support member 113a has a comb tooth structure at an end on the side adjacent to the second support member 113b. The comb-tooth structure of the first support member 113a has three convex portions 117a and three concave portions 1.
Has 16a. The second support member 113b has a comb tooth structure that fits into the comb tooth structure of the first support member 113a at the end portion on the side adjacent to the first support member 113a. Second support member 11
The comb tooth structure of 3b has three convex portions 117b and three concave portions 116b.

The two first racks 114a extend to the extent of the convex portion 117a of the first support member 113a. The two second racks 114b also extend to the extent of the convex portion 117b of the second support member 113b. As shown in FIG. 63, when the comb tooth structures of the first support member 113a and the second support member 113b are fitted to each other, the first rack 114a and the second rack 114b partially overlap in their longitudinal directions. To be located.

The mechanical unit 103 further includes a first pinion 111a that meshes with the two first racks 114a, and a plurality of second pinions 111b that mesh with the two second racks 114b. Each of the first pinion 111a and the second pinion 111b is a drive unit (motor) (not shown).
It has rotating shafts 112a and 112b that are rotationally driven by.

The rotation-driven first pinion 111a rotates the first support member 113a around the rotation center 102 via the first rack 114a. Similarly, the second pinion 1 driven by rotation
11b rotates the second support member 113b around the rotation center 102 via the second rack 114b. The air cells 101a and 101b rotate around the rotation center 102 as the support members 113a and 113b rotate. The center of rotation 102 has an orientation along the direction of the muscle fibers of the lower leg (longitudinal direction of the lower leg). Air cells 101a, 10 rotating around the center of rotation 102
1b moves along the circumferential direction of the body part 100. The air cells 101a and 101b can rotate forward and reverse around the center of rotation 102 by rotating forward and reverse of a drive unit (not shown).

In FIG. 62, the air cells 101a and 101b rotate around a common rotation center 102, but they may rotate around different rotation centers. For example, by increasing or decreasing the degree of curvature of the first support member 113a and the second support member 113b, the air cell 1
01a and 101b rotate around different rotation centers.
The mechanical unit 103 is not limited to the one having the racks 114a and 114b and the pinions 111a and 111b, and it is sufficient that the mechanical unit 103 is configured to rotate the air cells 101a and 101b around the body part.

Both pinions 111a and 111b may be driven by a common drive unit, or may be driven independently by different drive units. Both pinions 11 by a common drive unit
The mechanism unit 103 in which 1a and 111b are driven may be configured to rotate the air cells 101a and 101b in an interlocking manner in opposite directions, or may be configured to rotate the air cells 101a and 101b in an interlocking manner in the same direction. It may have been.
The mechanism unit 103, in which both pinions 111a and 111b are independently driven by different drive units, rotates the air cells 101a and 101b in the opposite directions, or links the air cells 101a and 101b in the same direction. It can be rotated or only one air cell can be rotated.

When the air cells 101a and 101b are rotated in the opposite directions, the air cell 10
The relative positional relationship of 1a and 101b changes. When the air cells 101a and 101b are rotated in the same direction and at the same speed, the relative positional relationship between the air cells 101a and 101b does not change. Even if the air cells 101a and 101b are rotated in the same direction, both air cells 10
If the moving speeds of 1a and 101b are different, the relative positional relationship of the air cells 101a and 101b changes. Even when only one of the air cells is rotated, the relative positional relationship between the air cells 101a and 101b changes.

In the state of FIG. 62, the distance between the air cells 101a and 101b is large, and it is easy to insert the body part 100 between the air cells 101a and 101b from above. The air cells 101a and 101b at the positions shown in FIG. 62 expand to be lower than the body part 100 (posterior crus 100-1) than the right side 100-3 and the left side 100-4 of the body part (lower leg) 100.
) Can be massaged (see FIG. 66).

64 and 65 show a state in which the air cells 101a and 101b are rotated in opposite directions. The air cells 101a and 101b move upward (Y direction) in FIG. 64 along the circumferential direction of the body part 100 by rotating around the rotation center 102. As shown in FIG. 65
The comb tooth structures of both support members 113a and 113b are separated from each other. The air cells 101a and 101b at the positions shown in FIG. 64 expand to form a body part (lower leg) 100.
Above the body part 100 (anterior side 100- of the lower leg) than the right side 100-3 and the left side 100-4 of
The range of 2) can be massaged (see FIG. 67).

The rotation of the air cells 101a and 101b is a state in which the air cells 101a and 101b are contracted (
It may be performed in the state of FIGS. 62 and 64), or may be performed in the state in which the air cells 101a and 101b are expanded (the states of FIGS. 66 and 67). Air cells 101a, 10b are inflated and the body part 100 is gripped and rubbed.
By rotating 1b around the center of rotation 102, a massage in which rotation is added to gripping and kneading can be obtained.

When the air cells 101a and 101b are rotated in a state where the expansion amount of the air cells 101a and 101b is relatively small and relatively weak gripping is performed, the surface (skin) of the body part 100 where the gripping and massaging is performed becomes the air cell. A massage that rotates together with 101a and 101b to give a feeling of tension in the circumferential direction to the surface of the body part 100 can be performed. When the air cells 101a and 101b are rotated in a state where the expansion amount of the air cells 101a and 101b is relatively large and the gripping and kneading is relatively strong, the muscles of the body part 100 where the gripping and kneading are performed become the air cells 101a and 101b.
It rotates with and stimulates the muscle fibers in the direction of crossing to loosen the muscle fibers, or body part 1
A massage that twists 00 in the direction of rotation can be performed.

The rotation of the air cells 101a and 101b may be performed while keeping the expansion amount of the air cells 101a and 101b constant, or may be performed while changing the expansion amount. In the state of FIG. 66, the body part 100 can be grasped and kneaded from the lower left side and the upper right side by rotating the air cell 101b on the right side as shown in FIG. 67 without rotating the air cell 101a on the left side. In the state of FIG. 66, the left air cell 101a is not rotated without rotating the right air cell 101b.
By rotating the body part 100 as shown in FIG. 67, the body part 100 can be grasped and kneaded from the lower right side and the upper left side.
As shown in FIG. 64, when the air cells 101a and 101b are rotated while the air cells 101a and 101b are contracted, the positions of the air cells 101a and 101b are changed while the pressure on the body part 100 is released. Can be done.

FIG. 68 shows an example of the massage unit 10. The massage unit 10 shown in FIG. 68 has the same configuration as the massage unit 10 shown in FIGS. 62 to 67, except that the points not described below are not described below.
The massage unit 10 shown in FIG. 68 is provided on the side wall portions (side panel) 3A provided on the left and right sides of the backrest portion 3, and massages the upper arm 100a of the person to be treated including grabbing and kneading. The muscle fibers of the upper arm 100a are oriented in the longitudinal direction of the upper arm.

FIG. 68 shows a side wall portion 3A provided on the right side of the backrest portion 3 and a massage unit 10 provided inside the side wall portion 3A. The massage unit 10 is also provided on the side wall portion 3A provided on the left side of the backrest portion 3. The massage unit 10 on the left side of the backrest portion 3 is provided symmetrically with the massage unit 10 shown in FIG. 68. The massage unit 10 of FIG. 68 can be installed at another position of the massage device 10. In the massage unit 10 of FIG. 68, the armrest portion 4 and the footrest 5 have a first holding portion 5a or a second holding portion 5b.
It may be provided in. The massage unit 10 of FIG. 68 massages (grabbing and rubbing) the shoulders.
It may be provided in the massage device 1 so as to do so.

The massage unit 10 of FIG. 68 includes a treatment member 121 provided as a treatment unit 101 so as to grip and knead the upper arm 100a. The treatment member 121 for the upper arm includes a pair of pressing members (air cells) 101a and 101b. By expanding the air cells 101a and 101b, the upper arm 100a can be pressed from both sides and gripped and kneaded.

The upper arm treatment member 121 grips and kneads the upper arm 100a from the direction intersecting the direction of the muscle fibers in the upper arm 100a (longitudinal direction of the upper arm). The direction of the muscle fibers of the upper arm 100a (longitudinal direction of the upper arm) is the Z direction in FIG. 68.

The massage unit 10 of FIG. 68 further includes a mechanism unit 103 (upper arm mechanism unit 103a) for moving the treatment member 121. Most of the mechanism portion 103 is provided in the side wall portion 3A, and the remaining part is arranged in the backrest portion 3. Mechanism part 1 in the side wall part 3A
By providing at least a part of 03, the space required for arranging the mechanism portion 103 in the backrest portion 3 can be reduced. As a result, it is possible to prevent the massage unit 10 for massaging the upper arm 100a from interfering with the massage unit 90 provided for massaging the back in the backrest portion 3.

The mechanical portion 103 of FIG. 68 has a first support member 113a and a second support member 113b, similarly to the mechanical portion 103 of FIG. 62. In the mechanism unit 103 of FIG. 68, the second support member 113b
And the longitudinal direction of the second rack 114b is larger than the longitudinal direction of the first support member 113a and the first rack 114a. Therefore, the rotationally movable range 105b of the second air cell 101b provided on the second support member 113b and the second support member 113b is the first air cell 101a provided on the first support member 113a and the first support member 113a. Rotationally movable range 105a
Greater than

The rotationally movable range 105a of the first air cell 101a is the rear side 100a- of the upper arm 100a.
1 and the range from 100a-4 inside 100a-1 to the rear side are included. 1st air cell 101
a can press the position of the upper arm 100a corresponding to the rotationally movable range 105a.
The rotationally movable range 105b of the second air cell 101b is the front side 100a- of the upper arm 100a.
2. The range from the outer side 100a-3 to the front side 100a-2 and the range from the inner side 100a-4 to the front side 100a-2 are included. The second air cell 101b has a rotationally movable range 105.
The position of the upper arm 100a corresponding to b can be pressed.
The rotationally movable ranges 105a and 105b in FIG. 68 are merely examples, and their positions and lengths can be appropriately set.

In the mechanism unit 103 of FIG. 68, the diameter of the second pinion 111b is the first pinion 111a.
Is larger than the diameter of. Therefore, when both pinions 111a and 111b are rotated at the same rotation speed, the second support member 113b and the second air cell 101b can rotate faster. When the rotation amounts of both pinions 111a and 111b are the same, the second support member 1
The 13b and the second air cell 101b can rotate more. Note that FIG. 68
The mechanical portion 103 of the above does not have a comb-tooth structure like the mechanical portion 103 of FIG. 62, but may have a comb-tooth structure.

In FIG. 68, the first support member 113a is arranged on the rear side 100a-1 of the upper arm 100a, and the second support member 113b is arranged on the outer side 100a-3 of the upper arm 100a. The outer side 100a-3 of the upper arm 100a is the inner side 100a-4 of the upper arm 100a (torso 100).
b side) opposite side. In FIG. 68, the first air cell 101a supported by the first support member 113a can press the range of the rear side 100a-1 of the upper arm when expanded, and the second air cell 101a can be pressed.
The second air cell 101b supported by the support member 113b is the front side 100a- of the upper arm 100a.
The range of 100a-3 on the outside of 2 can be pressed.

The air cells 101a and 101b rotate around the rotation center 102 as the support members 113a and 113b rotate. The center of rotation 102 has an orientation along the direction of the muscle fibers of the upper arm 100a (longitudinal direction of the upper arm). Air cells 101a, 101 rotating around the center of rotation 102
b moves along the circumferential direction of the upper arm 100a.

In the state of FIG. 68, the distance between the air cells 101a and 101b is large, and the upper arm 100a is attached.
It is easy to insert it between the air cells 101a and 101b from the upper left side of FIG. 68.
FIG. 69 shows a state in which the first air cell 101a does not rotate and the second air cell 101b rotates counterclockwise. The air cells 101a and 101b at the positions shown in FIG. 69 are
By expanding, the air cells 101a and 101b can press the upper arm 100a from the front and back (see FIG. 71).
As shown in FIG. 69, the inner side 1 of the upper arm 100a is provided by the mechanism 103 provided on the side wall portion 3A.
The air cell 101b can be moved to the vicinity of 00a-4.

Here, the body 100b exists on the inner side 100a-4 of the upper arm 100a. For this reason,
When a member supporting a pressing member (for example, an air cell) that presses the upper arm 100a from the inner side 100a-4 is fixedly arranged near the armpit of the patient (between the torso 100b and the upper arm 100a), the patient is treated. It becomes difficult to maintain a relaxed posture. On the other hand, by moving the air cell 101b from the position from the outer side 100a-3 of the upper arm to the position from the inner side 100a-4, the influence on the treated person is small.

FIG. 70 shows a state in which the air cells 101a and 101b at the position of FIG. 68 are inflated. As shown in FIG. 70, the air cells 101a and 101b are expanded and the upper arm 100a is gripped and massaged, and the air cells 101b rotate counterclockwise to move the air cells 101a and 101b to the position shown in FIG. 71. However, you can get a massage with rotation added to grasping and rubbing.
When the air cell 101b rotates as shown in FIG. 71, the air cell 101a is also rotated clockwise, so that the air cells 101a and 101b cause the inner side 100a-4 of the upper arm 100a.
You can grab and knead the range from the front and back.
Further, when the air cell 101b rotates as shown in FIG. 71, the upper arm 100a can be pressed from the left front side and the right rear side by rotating the air cell 101a counterclockwise as well.

FIG. 72 shows an example of the massage unit 10. The massage unit 10 shown in FIG. 72 has the same configuration as the massage unit 10 shown in FIGS. 68 to 71 except that the points not described below are not described below.
The massage unit 10 shown in FIG. 72 is also for the upper arm. The mechanical portion 103 (103a) of the massage unit 10 of FIG. 72 has a first support member 113a and a second support member 113b.

In the mechanical portion 103 of FIG. 72, contrary to the mechanical portion 103 of FIG. 68, the longitudinal direction of the first support member 113a and the first rack 114a is larger than the longitudinal direction of the second support member 113b and the second rack 114b. .. Therefore, the rotatable range 105a of the first air cell 101a provided on the first support member 113a and the first support member 113a is the second air cell 101b provided on the second support member 113b and the second support member 113b. It is larger than the rotationally movable range 105b.

The rotationally movable range 105a of the first air cell 101a is the rear side 100a- of the upper arm 100a.
1 and the inner side 100a-4, and the range from the inner side 100a-2 to the inner side 100a-4 are included. The first air cell 101a can press the position of the upper arm 100a corresponding to the rotationally movable range 105a.
The rotationally movable range 105b of the second air cell 101b is the front side 100a- of the upper arm 100a.
2. Includes the range from 100a-3 outside 100a-2 from the front side 100a-2. 2nd air cell 10
1b can press the position of the upper arm 100a corresponding to the rotationally movable range 105b.
The rotationally movable ranges 105a and 105b in FIG. 68 are merely examples, and their positions and lengths can be appropriately set.
In the mechanism unit 103 of FIG. 72, the diameter of the first pinion 111a is the second pinion 111b.
Is larger than the diameter of.

In FIG. 72, the air cells 101a and 101b can press the same positions as the air cells 101 and 101b in FIG. 68 by expanding.
FIG. 73 shows a state in which the second air cell 101b does not rotate and the first air cell 101a rotates clockwise. When the first air cell 101a is rotated clockwise, the upper arm 100
It is possible to move from the rear side 100a-1 of a to the inside 100a-4 of the upper arm 100a (position under the armpit of the patient). The air cells 101a and 101b at the positions shown in FIG. 73 can press the front side of the upper arm 100a from the left and right by expanding (see FIG. 75).
..

FIG. 74 shows a state in which the air cells 101a and 101b at the position of FIG. 72 are inflated. As shown in FIG. 74, in a state where the air cells 101a and 101b are expanded and the upper arm 100a is gripped and massaged, the air cell 101a rotates clockwise to move the air cell 101a to the position shown in FIG. 75 and grip the upper arm 100a. You can get a massage with rotation added to kneading.
When the air cell 101a rotates as shown in FIG. 75, the air cell 101b may be rotated counterclockwise or clockwise.

FIG. 76 shows examples of muscle fiber directions (rotation centers) 102 (102a to 102h) and rotation directions 130a to 130 g of the treatment unit 101 in a body part suitable for providing the massage unit 10 shown in FIGS. 62 to 75. Shown. As shown in FIG. 76, the massage unit 1
If the portion where the gripping and kneading by 0 is performed is the shoulder, the rotation direction 130a of the treatment unit 101 is around the rotation center 102a along the direction (left-right direction) of the muscle fibers of the shoulder.
Similarly, each rotation center 102b, 102c, 102d, 102e, 102f shown in FIG. 76
, 102g, 102h are the parts shown in FIG. 76 (upper arm, forearm, hand, thigh, lower leg, foot,
Along the direction of the muscle fibers of the neck), the rotation directions 130b, 130c, 130 of the treatment unit 101
d, 130e, 130f, 130g, 130h are the corresponding rotation centers 102b to 102h.
It will be around.

77 and 78 show an example of the massage unit 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, the forearm 100d. Massage is body part 100
Including grabbing and rubbing. The muscle fibers of the forearm 100d are oriented in the longitudinal direction of the forearm 100d (Z direction in FIG. 77).

The massage unit 10 is a treatment unit 101 that massages (grabbing and rubbing) the forearm 100d.
have. The treatment unit 101 includes a first treatment member 121A for massaging (grasping and kneading) the portion of the forearm 100d from the wrist side, and a second treatment member 121B for massaging (grabbing and rubbing) the portion of the forearm 100d from the elbow side. Including.
The number of treatment members 121A and 121B provided on the armrest portion 4 may be 3 or more. FIG. 77
The treatment members 121A and 121B shown in FIG. 78 may be provided in the massage device 1 so as to massage (grab and knead) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts.

The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b have a body part 100 (forearm 100d) to be massaged between them.
) Are arranged so as to have a space in which they can be arranged. Pair of pressing members 101a, 101
b Each is composed of an air cell. The air cells 101a and 101b receive air supply and exhaust by an air circuit (not shown). The air cells 101a and 101b expand and contract due to air supply and exhaust. The pair of expanded air cells 101a and 101b are pressed from both sides of the forearm 100d (see FIG. 79). Gripping and kneading can be obtained by pressing the pair of air cells 101a and 101b.

The first treatment member 121A grips and kneads the forearm 100d from the direction (Y direction in FIG. 77) intersecting the direction of the muscle fibers in the forearm 100d (longitudinal direction of the forearm 100d; Z direction in FIG. 77).
Gripping and rubbing is performed by body part 100 (forearm 100d) between the pair of pressing members 101a and 101b.
Is positioned, the pair of pressing members 101a and 101b are brought close to each other. In this way, the gripping and kneading is sufficient with a simple operation of sandwiching the body part 100.

The second treatment member 121B has the same configuration as the first treatment member 121A and operates in the same manner. That is, the second treatment member 121B has a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is composed of an air cell.

The massage unit 10 of FIGS. 77 and 78 further includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A for moving the first treatment member 121A and a second mechanism unit 103B for moving the second treatment member 121B.

The first mechanism unit 103A and the second mechanism unit 103B are paired air cells 101a and 1, respectively.
It includes a support member 113 to which 01b is attached. The support member 113 is formed in a ring shape. Pairs of air cells 101a and 101b are arranged to face each other on the inner peripheral surface of the support member 113. The patient can insert the forearm 100d into the support member 113 from one of the openings on both sides of the support member 113 in the longitudinal direction. Forearm 1 inserted into the support member 113
00d is located between the pair of air cells 101a, 101b.
The support member 113 is rotatably supported around the center of rotation 102 by a guide (not shown).

The first mechanism portion 103A and the second mechanism portion 103B each further include two racks 114 formed on the outer peripheral side of the support member 113 over the entire circumference, and a pinion 111 that meshes with the rack 114. The pinion 111 includes a rotating shaft 112, and the rotating shaft 112 is rotationally driven by the drive unit 154 to rotate the pinion 111. The rotation of the pinion 111 causes the support member 113 to rotate around the center of rotation 102. The air cells 101a and 101b rotate around the rotation center 102 as the support member 113 rotates. The center of rotation 102 has an orientation along the direction of the muscle fibers of the forearm 100d (longitudinal direction of the forearm). The air cells 101a and 101b that rotate around the rotation center 102 move along the circumferential direction of the forearm 100d. The direction of gripping and kneading can be changed by moving the air cells 101a and 101b along the circumferential direction. In FIG. 80, the air cells 101a and 101b are shown in FIG. 79.
It shows a state of being rotated 90 ° clockwise from the position of. When the air cells 101a and 101b were in the position shown in FIG. 79, the forearm 100d was pressed from the Y direction, whereas the air cells 101a and 101b pressed the forearm 100d from the Y direction.
When it is in the 0 position, the forearm 100d is pressed from the X direction.
The air cells 101a and 101b can rotate forward and reverse around the rotation center 102 by the forward and reverse rotation of the drive unit 154.

In FIG. 77, the air cells 101a and 101b of the first treatment member 121A and the second treatment member 1
Since the air cells 101a and 101b of 21B are rotationally driven by separate drive units 154, they can rotate independently of each other. Air cell 101 of the first treatment member 121A
The a and 101b and the air cells 101a and 101b of the second treatment member 121B may be rotationally driven by a common drive unit.
In FIG. 77, the air cells 101a and 101b of the first treatment member 121A and the second treatment member 1
The air cells 101a and 101b of 21B rotate around a common rotation center 102, but the positions of the rotation centers 102A and 102B may be different from each other. Center of rotation 101A, 1
The position of 02B can be different in at least one of the X direction and the Y direction in FIG. 78.

The mechanical unit 103 is not limited to the one having the rack 114 and the pinion 111, and it is sufficient that the mechanical unit 103 is configured to rotate the air cells 101a and 101b around the body part.

FIG. 81 shows the first treatment member 121A (air cells 101a, 101b) and the second treatment member 12.
1B (air cells 101a, 101b) shows a state in which the forearm 100d is grasped and rubbed and rotated in opposite directions to each other. In FIG. 81, the air cell 101 of the first treatment member 121A
The a and 101b rotate clockwise, and the air cells 101a and 101 of the second treatment member 121B
b is rotating counterclockwise. By such an operation, a massage in which the operation of twisting the forearm 100d is added to the gripping and rubbing of the forearm 100d can be obtained.

One of the first treatment member 121A and the second treatment member 121B may not be rotated, but the other may be rotated. In this case as well, the forearm 100d can be twisted. First treatment member 121A
And the second treatment member 121B are joints (
For example, the wrist joint) may be arranged so as to be located. In such an arrangement, if the first treatment member 121A and the second treatment member 121B are rotated in opposite directions, the joint (for example, the wrist joint) can be twisted.
When the air cells are rotated while the air cells 101a and 101b are contracted, the positions of the air cells 101a and 101b can be changed while the pressure on the body part 100 is released.

82 and 83 show an example of the massage unit 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, the forearm 100d and the upper arm 100a. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the forearm 100d are oriented in the longitudinal direction of the forearm 100d, and the muscle fibers of the upper arm 100a are oriented in the longitudinal direction of the upper arm 100a.

The massage unit 10 massages (grabbing and rubbing) the forearm 100d and the upper arm 100a.
It has a treatment unit 101 to be treated. The treatment unit 101 includes a first treatment member 121A for massaging (grasping and kneading) the forearm 100d, and a second treatment member 121B for massaging (grabbing and rubbing) the upper arm 100a. The first treatment member 121A and the second treatment member 121B are provided so that the elbow joint of the user is located between them.
The number of treatment members 121A and 121B provided on the armrest portion 4 may be 3 or more. FIG. 82
And the treatment members 121A and 121B shown in FIG. 83 may be provided in the massage device 1 so as to massage (grab and knead) the neck, shoulders, hands, thighs, lower legs, legs, and other body parts.

The first treatment member 121A and the second treatment member 121B are paired with pressing members 101a, respectively.
It has 101b. These pressing members 101a and 101b are paired pressing members 101a and 10 of the first treatment member 121A and the second treatment member 121B shown in FIGS. 77 and 78.
It has the same configuration as 1b, and the same operation is possible.

The massage unit 10 of FIGS. 82 and 83 further includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A for moving the first treatment member 121A and a second mechanism unit 103B for moving the second treatment member 121B.

The first mechanism unit 103A and the second mechanism unit 103B are paired air cells 101a and 1, respectively.
It includes a support member 113 to which 01b is attached. The support member 113 is formed in a ring shape. Pairs of air cells 101a and 101b are arranged to face each other on the inner peripheral surface of the support member 113. The patient can insert the arms 100d and 100a into the support member 113 from one of the openings on both sides of the support member 113 in the longitudinal direction. The arms 100d and 100a inserted into the support member 113 are located between the pair of air cells 101a and 101b.
The support member 113 is rotatably supported around the rotation centers 102A and 102B by a guide (not shown).

The first mechanism unit 103A shown in FIG. 83 (a) has the same configuration as the first mechanism unit 103A shown in FIG. 78. That is, the first mechanism portion 103A further includes two racks 114 formed on the outer peripheral side of the support member 113 over the entire circumference, and a pinion 111 that meshes with the rack 114. The pinion 111 includes a rotating shaft 112, and the rotating shaft 112 is rotationally driven by the drive unit 154 to rotate the pinion 111. Pinion 111
The support member 113 rotates around the rotation center 102A. Air cell 101a
, 101b rotate around the rotation center 102A as the support member 113 rotates. The rotation center 102A is located inside the support member 113 and has an orientation along the direction of the muscle fibers of the forearm 100d (longitudinal direction of the forearm). Air cell 101a, which rotates around the center of rotation 102A,
101b moves along the circumferential direction of the forearm 100d. The direction of gripping and kneading can be changed by moving the air cells 101a and 101b along the circumferential direction. Air cell 101a,
The 101b can rotate forward and reverse around the center of rotation 102 by the forward and reverse rotation of the drive unit 154.

The second mechanism portion 103B shown in FIG. 83B is the rotation center 102B on the outer side of the support member 113.
The support member 113 is rotated around. The support member 113 has a base portion 113 on the outer peripheral side thereof.
Has c. One end side of the rotation shaft 111c, which is the rotation center 102B of the support member 113, is attached to the base portion 113c. Pinion 111b at the other end of the rotating shaft 111c
Is attached. The second mechanism unit 103B is a pinion 1 that meshes with the pinion 111b.
It further includes 11a. The pinion 111a includes a rotating shaft 112, and the rotating shaft 11
The pinion 111a rotates when 2 is rotationally driven by the drive unit 154. The rotation of the pinion 111a causes the pinion 111b and the rotating shaft 111c to rotate, and the support member 1
13 rotates with the axis of the rotation shaft 111c as the rotation center 102B.

In FIG. 82, the rotation center 102A of the first treatment member 121A and the second treatment member 121B
The position and orientation of the rotation center are different from those of the rotation center 102B. First treatment member 12 in FIG. 82
Since the 1A and the second treatment member 121B are arranged so as to massage the upper arm 100a and the forearm 100d with the elbow bent, the directions of the rotation centers 102A and 102B are different.
Further, the rotation center 102A of the first treatment member 121A is located inside the support member 113, whereas the rotation center 102B of the second treatment member 121B is located outside the support member 113. The positions of the rotation centers 102A and 102B are different. Rotation centers 102A, 102
The rotation around B may be a rotation in the same direction as each other, or may be a rotation in the opposite direction.

When the first treatment member 121A in FIG. 82 is massaging (grasping and kneading) the forearm 100d and the first treatment member 121A rotates around the rotation center 102A, the action of twisting the forearm 100d is added to the gripping and kneading of the forearm 100d. You can get a massage. When the second treatment member 121B rotates around the rotation center 102B while the second treatment member 121B of FIG. 82 is massaging (grasping and kneading) the upper arm 100a, the rotation center 1 while grasping the upper arm 100a.
A massage that swings the upper arm 100a around 02B can be obtained. Further, when the first treatment member 121A and the second treatment member 121B are rotated at the same time, a massage feeling of swinging the upper arm 100a while twisting the forearm 100d can be obtained. Further, in the arrangement of FIG. 82,
The user can receive a massage of the upper arm 100a and the forearm 100d in a relaxed state with the elbow bent.

The first mechanism unit 103A in FIG. 82 may have the same configuration as the second mechanism unit 103B, or the second mechanism unit 103B may have the same configuration as the first mechanism unit 103A. .. The mechanism unit 103 is not limited to the one having the rack 114 and the pinions 111, 111a, 111b, and it is sufficient if the mechanism unit 103 is configured to rotate the air cells 101a, 101b.
One of the first treatment member 121A and the second treatment member 121B may not be rotated, but the other may be rotated. Further, when the air cells are rotated while the air cells 101a and 101b are contracted, the positions of the air cells 101a and 101b can be changed while the pressure on the body part 100 is released.

84 and 85 show an example of the massage unit 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The left and right armrests 4 shown in FIG. 1 are integrally configured, but the armrests 4 of FIG. 84 have a first support portion 4A that supports the upper arm 100a and a second support portion that supports the forearm 100d. The 4B and the third support portion 4C that supports the hand 100c are separately provided.
The body part 100 massaged by the massage unit 10 is, for example, the upper arm 1
00a, forearm 100d, and hand 100c. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the upper arm 100a are oriented in the longitudinal direction of the upper arm 100a, the muscle fibers of the forearm 100d are oriented in the longitudinal direction of the forearm 100d, and the muscle fibers of the hand 100c are oriented in the longitudinal direction of the hand 100c.

The massage unit 10 has a treatment unit 101 for massaging (grasping and rubbing) the upper arm 100a, the forearm 100d, and the hand 100c. The treatment unit 101 is the upper arm 1 which is the first range.
The first treatment member 121A that massages (grabbing and rubbing) 00a and the forearm 10 that is the second range.
The second treatment member 121B that massages (grabbing and rubbing) 0d, and the hand 100c, which is the third range.
Includes a third treatment member 121C, which massages (grabbing and kneading). Upper arm 1 which is the first range
The user's elbow joint is located between 00a and the forearm 100d, which is the second range, and the wrist joint of the user is located between the forearm 100d, which is the second range, and the hand 100c, which is the third range. Is located.
In the present embodiment, the second treatment member 121B is arranged so as to perform massage (grasping and kneading) on the range (wrist range) of the forearm 100d on the hand 100c side.

The first treatment member 121A, the second treatment member 121B, and the third treatment member 121C have a pair of pressing members 101a and 101b, respectively. These pressing members 101a, 101
Similar to the above-mentioned pressing members 101a and 101b, b is also composed of air cells 101a and 101b, and the pair of air cells 101a and 101b can be gripped and rubbed on the body part.

The massage unit 10 of FIGS. 84 and 85 further includes a mechanism unit 103 for moving the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. The mechanism unit 103 includes a first mechanism unit 103A for moving the first treatment member 121A and a second treatment member 1.
It includes a second mechanism unit 103B for moving the 21B and a third mechanism unit 103C for moving the third treatment member 121C. In FIG. 84, the mechanical units 103A to 103C are not shown.

The mechanical units 103A, 103B, and 103C shown in FIG. 85 are similar to the mechanical unit 103 shown in FIG. 68. However, in the mechanism unit 103 shown in FIG. 68, the air cells 101a and 101
While the support member of b is composed of two support members 113a and 113b, in the mechanical parts 103A, 103B and 103C shown in FIG. 85, the air cells 101a and 101b
Each of the support members of the above is composed of a single semicircular support member 113. A rack 114 is formed on the outer peripheral surface of the support member 113. Mechanism units 103A, 103B, 10
The 3C has two pinions 111a, 111b that mesh with the rack 114. The rotation shafts 112a and 112b to which these pinions 111a and 111b are attached are rotationally driven by a drive unit (not shown), so that the support member 113 is positive around the rotation center 102 along the direction of the muscle fibers of the body part. It can rotate in the reverse direction (see FIG. 85 (b)).

The mechanism unit 103 includes a first treatment member 121A, a second treatment member 121B, and a third treatment member 1.
With two or more treatment members of 21C performing massage (grasping and rubbing)
At least one of the two or more treatment members that are gripping and kneading, the rotation center 10 of each treatment member
It can be rotated twice. For example, the first treatment member 121A and the second treatment member 12
In a state where the upper arm 100a and the forearm 100d are gripped and rubbed by 1B.
Either or both of the first treatment member 121A and the second treatment member 121B can be rotated around the rotation center 102. In addition, the first treatment member 121A and the third treatment member 1
In a state where the upper arm 100a and the hand 100c are gripped and rubbed by 21C.
Either or both of the first treatment member 121A and the third treatment member 121C can be rotated around the rotation center 102. In addition, the second treatment member 121B and the third treatment member 1
With 21C gripping and rubbing the forearm 100d and hand 100c,
Either or both of the second treatment member 121B and the third treatment member 121C can be rotated around the rotation center 102. Further, the first treatment member 121A and the second treatment member 12
Upper arm 100a, forearm 100d and hand 100c by 1B and the third treatment member 121C
The first treatment member 121A and the second treatment member 121B are being gripped and rubbed.
And any one or any two or all of the third treatment member 121C, the rotation center 1
It can be rotated around 02. The above massage can twist the user's joints.

Here, attention is paid to the second treatment member 121B and the third treatment member 121C in FIG. 84. Here, the second treatment member 121B is referred to as a first member, and the third treatment member 121C is referred to as a second member.
The mechanism unit 103 has the second member 1 around the center of rotation 102 along the direction of the muscle fibers of the wrist 100d in a state where the first member 121B is gripping and rubbing the wrist (forearm 100d).
By rotating 21C, the hand 100c can be rotated with the wrist 100d fixed. Since the hand 100c is relatively flat, when the second member 121C rotates, the second member 12 may or may not be gripped and rubbed by the second member 121C.
1C can come into contact with the hand 100c to rotate the hand 100c.

FIG. 86 shows an example of the massage unit 10. The massage unit 10 is provided on, for example, a footrest 5. In the footrest of FIG. 86, the thigh 100e
A first support portion 5A for supporting the foot, a second support portion 5B for supporting the lower leg 100f, and a third support portion 5C for supporting the foot 100g are separately provided. The body parts 100 massaged by the massage unit 10 of FIG. 86 are the thigh 100e, the lower leg 100f, and the foot 100g. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the thigh 100e are oriented in the longitudinal direction of the thigh 100e, the muscle fibers of the lower leg 100f are oriented in the longitudinal direction of the lower leg 100f, and the muscle fibers of the foot 100g are oriented in the longitudinal direction of the foot 100g.

The massage unit 10 has a treatment unit 101 for massaging (grasping and kneading) the thigh 100e, the lower leg 100f, and the foot 100g. The treatment unit 101 is the femur 1 which is the first range.
The first treatment member 121A that massages (grabbing and rubbing) 00e, and the lower leg 10 that is the second range.
The second treatment member 121B that massages (grabbing and rubbing) 0f and the foot 100g that is the third range.
Includes a third treatment member 121C, which massages (grabbing and kneading). Femur 1 which is the first range
The user's knee joint is located between 00e and the second range of the lower leg 100f, and the user's ankle joint is located between the second range of the lower leg 100f and the third range of the foot 100g. Is located.
In the present embodiment, the second treatment member 121B is arranged so as to perform massage (grasping and kneading) on the range (range of the ankle) on the foot 100 g side of the lower leg 100f.

The first treatment member 121A, the second treatment member 121B, and the third treatment member 121C have a pair of pressing members 101a and 101b, respectively. These pressing members 101a, 101
Similar to the above-mentioned pressing members 101a and 101b, b is also composed of air cells 101a and 101b, and the pair of air cells 101a and 101b can be gripped and rubbed on the body part.

The massage unit 10 shown in FIG. 86 also has a mechanism unit 103 like the massage unit 10 shown in FIG. 84, but in FIG. 86, the mechanism unit 103 is omitted as in FIG. 84. As the mechanical unit for moving each of the treatment members 121A, 121B, 121C, the same mechanism as the mechanical unit 103A, 103B, 103C shown in FIG. 85 is adopted. Therefore, the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C can each rotate forward and reverse around the rotation center 102 along the direction of the muscle fibers of the body part.

The mechanism unit 103 includes a first treatment member 121A, a second treatment member 121B, and a third treatment member 1.
With two or more treatment members of 21C performing massage (grasping and rubbing)
At least one of the two or more treatment members that are gripping and kneading, the rotation center 10 of each treatment member
It can be rotated twice. For example, the first treatment member 121A and the second treatment member 12
In a state where the thigh 100e and the lower leg 100f are gripped and rubbed by 1B.
Either or both of the first treatment member 121A and the second treatment member 121B can be rotated around the rotation center 102. In addition, the first treatment member 121A and the third treatment member 1
In a state where the thigh 100e and the foot 100g are gripped and rubbed by 21C.
Either or both of the first treatment member 121A and the third treatment member 121C can be rotated around the rotation center 102. In addition, the second treatment member 121B and the third treatment member 1
In a state where the lower leg 100f and the foot 100g are gripped and rubbed by 21C.
Either or both of the second treatment member 121B and the third treatment member 121C can be rotated around the rotation center 102. Further, the first treatment member 121A and the second treatment member 12
Thigh 100e, lower leg 100f and foot 100g by 1B and 3rd treatment member 121C
The first treatment member 121A and the second treatment member 121B are being gripped and rubbed.
And any one or any two or all of the third treatment member 121C, the rotation center 1
It can be rotated around 02. The above massage can twist the user's joints.

Here, attention is paid to the second treatment member 121B and the third treatment member 121C in FIG. Here, the second treatment member 121B is referred to as a first member, and the third treatment member 121C is referred to as a second member.
The mechanism unit 103 has the second member 1 around the center of rotation 102 along the direction of the muscle fibers of the ankle 100f in a state where the first member 121B grips and kneads the ankle (lower leg 100f).
By rotating 21C, the foot 100g can be rotated with the ankle 100f fixed. When the second member 121C rotates, the second member 121C comes into contact with the foot 100g and the foot 100g can be rotated regardless of whether the second member 121C grips and kneads the foot 100g.

<Section 2: Rotation around the in-plane direction that intersects the direction of muscle fibers of the body part>
The embodiments in this section will be listed and described. The reference numerals given in the explanations in this section are shown in FIG.
And are used in FIGS. 87-127.
[Explanation of Embodiments of the Present Invention]
(38) In the massage device (one embodiment) 1 of the present invention, the gripping and kneading is performed in a state where the treatment unit 101 that grips and massages the body part 100 and the treatment unit 101 grips and massages. It is provided with a mechanism unit 103 that rotates the treatment unit 101 around a rotation center 102 that faces the in-plane direction that intersects the direction of muscle fibers in the body part.

The treatment unit 101 rotates to the rotation center 102 that faces the in-plane direction that intersects the direction of the muscle fibers of the body part 100 where the gripping and kneading is performed, so that a massage in which the gripping and kneading is added to the rotation can be obtained, and a mere gripping is performed. The feeling of massage is improved compared to rubbing. The directions of the muscle fibers include, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the lateral direction of the shoulder, and the longitudinal direction of the neck. In the case of the treatment unit 101 that grips and massages the arm, leg, or neck, the treatment unit 101 rotates, for example, around the rotation center 102 in the direction intersecting the longitudinal direction of the arm, leg, or neck. When the longitudinal direction of a body part such as an arm, leg or neck is oriented in the vertical direction, the above-mentioned in-plane direction includes the left-right direction of the body part or the anteroposterior direction of the body part. In the case of the treatment unit 101 that grips and massages the shoulder, the treatment unit 101 rotates, for example, around the rotation center 102 in the direction intersecting the left and right directions of the shoulder. The in-plane direction intersecting the left-right direction of the shoulder includes, for example, the front-back direction of the shoulder and the up-down direction of the shoulder.

The mechanism unit 103 does not need to rotate the entire treatment unit 101, and may rotate at least a part of the treatment unit 101. The treatment unit 101 is a pair of pressing members 101a, 10 described later.
When 1b is included, the mechanism 103 rotates at least one of the pair of pressing members 101a and 101b.
Rotation does not have to be a motion that draws a locus along a perfect circle, but a motion that draws a locus along an ellipse or other deformed circle is sufficient. When the motion locus of the treatment unit 101 is not a locus along a perfect circle, it can be assumed that the center of rotation exists near the center of the circle, assuming a perfect circle that approximates the motion locus of the treatment unit 101. Anything is enough.
For example, the kneading operation (and pushing and kneading operation) of the gripping mechanism 30 in the massage unit 10 described in Chapter 2, Section 1 can be equated with the rotation of the treatment unit 101 in Chapter 3.

(39) The rotation center 102 can be located inside the body part 100 that is grasped and kneaded by the treatment unit 101. In this case, the body part 100 can be rotated around the rotation center 102 inside the body part 100.

(40) The rotation center 102 can be located outside the body part 100 that is grasped and kneaded by the treatment unit 101. In this case, the body part 100 can be rotated around its outer rotation center 102.

(41) The treatment unit 101 includes a pair of pressing members 101a and 101b for approaching and separating from each other to grip and knead the body part, and the mechanical unit 103 includes a pair of pressing members 101a and 101b.
It is preferable that at least one of the pressing members is rotated around the rotation center 102 facing the in-plane direction intersecting the direction of the muscle fiber. Pair of pressing members 101a, 10
By rotating at least one of the pressing members of 1b, the feeling of massage is improved as compared with mere gripping and kneading.

(42) The mechanism unit 103 is preferably configured to rotate a pair of pressing members 101a and 101b in opposite directions. By rotating the pair of pressing members 101a and 101b in opposite directions, the feeling of massage is improved as compared with the simple gripping and kneading.

(43) The treatment unit 101 includes first treatment members 121A and 121B and second treatment members 121C and 121D, each of which grips and massages the body part 100, and includes the first treatment member 121.
A, 121B and the second treatment member 121C, 121D are arranged side by side in the direction of the muscle fiber, and the mechanism unit 103 has at least one of the first treatment member 121A, 121B and the second treatment member 121C, 121D. It is preferably configured to rotate around a rotation center 102 that faces the in-plane direction that intersects the direction of the muscle fibers.

(44) The first treatment members 121A and 121B and the second treatment members 121C and 121D are the first.
Body part 100 between the treatment members 121A, 121B and the second treatment members 121C, 121D
It is preferable that they are arranged so as to be located opposite each other. Here, "arranged to face each other" means that it is sufficient if they are arranged on both sides of the body part 100 with the body part 100 in between. For example, the first treatment members 121A and 121B and the second treatment members 121C and 121D may be arranged so as to be offset in the longitudinal direction of the body part.

(45) The treatment unit 10 includes a first treatment member 121A and a second treatment member 121B, each of which grips and massages the body part 100, and the mechanism unit 103 is gripped and massaged by the first treatment member 121A. In this state, the first treatment member 121A is configured to rotate around the center of the first rotation 102A facing the in-plane direction intersecting the direction of the muscle fibers in the body part 100c where the first treatment member 121A is grasping and kneading. In addition, in the state where the second treatment member 121B is gripping and kneading, the center of the second rotation 102B facing the in-plane direction intersecting the direction of the muscle fiber in the body part 100d where the second treatment member 121B is gripping and kneading. It is preferable that the second treatment member 10B is configured to rotate around it.

(46) The first rotation center 102A preferably faces in a direction different from that of the second rotation center 102B.

(47) The first rotation center 102A preferably exists at a position different from that of the second rotation center 102B.

(48) At least one of the first treatment member 121A and the second treatment member 121B
A pair of pressing members 101a and 101b for gripping and kneading the body part are included, and the mechanism unit 103 is in a state where the body part is gripped and kneaded by the first treatment member 121A and the second treatment member 121B. First, at least one of the pair of pressing members 101a and 101b is pressed so that the relative positional relationship between the pressing members 101a and 101b changes.
It is preferable to rotate around the rotation center 102A or the second rotation center 102B.

(49) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and rubbed.
The mechanical portion 103 includes the 1A and the second treatment member 121B, and the mechanical portion 103 is a muscle fiber in the body part 100c where the first treatment member 121A is gripping and kneading while the first treatment member 121A is gripping and kneading. The first treatment member 121A is configured to rotate around the first center 102A facing the in-plane direction intersecting the direction of the above, and the second treatment member 121B is gripping and kneading the second treatment member. The second rotation center 102B is configured to rotate around the center of the second rotation 102B facing the in-plane direction intersecting the direction of the muscle fiber in the body part 100d where the body part 100d is gripped and kneaded by the 121B. 1st
The second rotation center 102B is located inside the body part 100c where the treatment member 121A is gripping and kneading, and the second rotation center 102B is located outside the body part 100d where the treatment member 121B is gripping and kneading. preferable.

(50) It is preferable that the mechanism unit 102 is configured to move the treatment unit 101 in a direction along the muscle fibers while being gripped and kneaded by the treatment unit 101.

(51) The treatment unit 101 includes a first treatment member and a second treatment member, respectively, which perform gripping and kneading on the body part, and the mechanism unit 103 is said to be in a state where the gripping and kneading by the first treatment member is performed. Rotate the first treatment member around the center of rotation in the in-plane direction that intersects the direction of the muscle fibers.
Further, in a state where the first treatment member is configured to move in the direction along the muscle fiber and the second treatment member is gripping and kneading, the rotation center circumference which faces the in-plane direction intersecting the direction of the muscle fiber. It is preferable that the second treatment member is rotated and the second treatment member is further moved in a direction along the muscle fiber.

(52) The mechanism unit 103 is configured to move at least one of the first treatment member and the second treatment member in a direction along the muscle fiber so that the first treatment member and the second treatment member are separated from each other. Is preferable.

(53) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and rubbed.
1A, 2nd treatment member 121B, 3rd treatment member 121C, 1st treatment member 121A
Is provided to grip and knead the first range 100h of the body, and the second treatment member 121.
B is provided so as to grip and knead the second range 100a of the body, which is a range different from the first range 100h, via at least one joint between the first range 100h and the third treatment member. 121C grips and massages the first range 100h and the third range 100d of the body, which is a range different from the first range 100h and the second range 100a, via at least one other joint with the second range 100a. It is preferable that the joint is provided.

(54) The mechanism unit 103 performs gripping and kneading in a state where two or more of the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping and kneading. It is preferable that at least one of the two or more treatment members is rotated around the rotation center 102.

(55) One of the pair of pressing members 101a and 101b, the pressing member 101a, is the upper shoulder 1
It is preferable that 00ha is pressed and the other pressing member 101b of the pair of pressing members 101a and 101b presses 100hb on the back side of the shoulder.

(56) The treatment unit 101 is preferably provided so as to grip and knead the neck 100h.

(57) The massage device from another viewpoint includes a treatment unit 101 that grips and massages the shoulder 100h, and a mechanism unit 103 that moves the treatment unit 101 to the neck 100i so that the neck 100i can be gripped and massaged.

(58) The treatment unit 101 includes a pair of pressing members 101a and 101b for performing gripping and kneading, and the mechanism unit 103 further includes at least one of the pairing pressing members 101a and 101b. , 101b is preferably configured to rotate around the center of rotation in the in-plane direction intersecting the direction of the muscle fibers in the body part where the gripping and kneading is performed.

[Details of Embodiments of the present invention]
87 and 88 show an example of a massage unit example 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the hand 100c and the forearm 100d are the hand 100.
It faces the longitudinal direction of c and the forearm 100d (Z direction in FIG. 87).

The massage unit 10 has a treatment unit 101 for massaging (grasping and rubbing) the hands 100c and the forearms 100d. The treatment unit 101 has a first treatment member 121A for massaging (grasping and kneading) the hand 100c and a second treatment member 1 for massaging (grabbing and rubbing) the forearm 100d.
21B and.
The number of the treatment members 121A and 121B provided on the armrest portion 4 may be one or three or more. The treatment members 121A and 121B shown in FIGS. 87 and 88 may be provided in the massage device 1 so as to massage (grab and knead) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.

The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are arranged so as to have a space between them so that the hand 100c to be massaged can be placed. Each of the pair of pressing members 101a and 101b is composed of an air cell. Of the pair of pressing members 101a and 101b, the upper pressing member 1
The number of air cells constituting 01a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b receive air supply and exhaust by an air circuit (not shown). The air cells 101a and 101b expand and contract due to air supply and exhaust. The pair of expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 89). Gripping and kneading can be obtained by pressing the pair of air cells 101a and 101b.

The first treatment member 121A is in the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c;
Grasp and knead the hand 100c from the direction intersecting the Z direction in FIG. 87 (Y direction in FIG. 87).
Gripping and kneading is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. in this way,
For grabbing and rubbing, a simple operation of sandwiching the body part 100 is sufficient.

The second treatment member 121B has the same configuration as the first treatment member 121A and operates in the same manner. That is, the second treatment member 121B has a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is composed of an air cell.

The massage unit 10 of FIGS. 87 and 88 further includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A for moving the first treatment member 121A and a second mechanism unit 103B for moving the second treatment member 121B.

The first mechanism unit 103A includes a first support member 153a to which one of the paired air cells 101a and 101b (first air cell) 101a is attached, and the other air cell (second air cell).
The second support member 153b to which the air cell) 101b is attached, the third support member 153c that connects the first support member 153a and the second support member 153b on the outside (pinkie side) of the hand, and the third
It includes a rotation shaft (rotation center) 102 connected to the support member 153c. Rotating shaft 10
2 is rotationally driven by the drive unit 154.

The rotation axis (rotation center) 102 intersects the direction (Z direction) of the muscle fibers of the hand 100c (X direction).
Direction). In other words, the center of rotation 102 faces the in-plane direction intersecting the direction (Z direction) of the muscle fibers of the hand 100c.
The drive unit 154 connects the support members 153a, 153b, and 153c to the rotation axis (rotation center) 10.
It is driven to rotate twice. The air cells 101a and 101b have support members 153a and 153b,
With the rotation of 153c, it rotates around the rotation axis (rotation center) 102. Air cell 101a
, 101b can rotate forward and reverse around the rotation axis (rotation center) 102 by the forward and reverse rotation of the drive unit 154.

In FIGS. 89 and 90, the rotation center 102 is oriented in a direction intersecting (orthogonal) with the pressing direction (Y direction) by the pair of air cells 101a and 101b. Air cells 101a, 1
The pressing direction can be changed by rotating 01b.

As shown in FIGS. 89 and 90, the center of rotation by the rotation shaft 102 is located inside the body part (hand or forearm) to be grasped and kneaded. Here, the inside of the body part means the inside of the body part in a state of being grasped and rubbed. When the center of rotation 102 is located inside the body part 100,
The rotation center 102 passes between the pair of pressing members 101a and 101b. Since the rotation center 102 is located at a position where it passes through the inside of the body, as shown in FIG. 90, the body part that has been grasped and rubbed can be tilted around the rotation center 102.
In addition, in FIG. 89 and FIG. 90, the rotation center 102 may be arranged so as to be located outside the body part.

The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B has support portions 153a, 153b, 153c and a rotation axis (rotation center) 102. The rotation shaft 102 of the second mechanism unit 103B is also rotationally driven by the drive unit 154.
In FIG. 88, the first mechanism unit 103A and the second mechanism unit 103B are driven by different drive units 154, but the first mechanism unit 103A and the second mechanism unit 103B are driven by a common drive unit. May be good.

FIG. 90 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in opposite directions while the hand 100c and the forearm 100d are grasped and kneaded by the first treatment member 121A and the second treatment member 121B. Shown. The first treatment member 121A rotates clockwise, and the second treatment member 121B rotates counterclockwise. The first treatment member 121A and the second treatment member 121B can bend the hand 100c and the forearm 100d in a V shape with the joint (wrist joint in FIG. 90) located between them as a bending point, and have a stretching action. Occurs.
By repeating the forward and reverse rotation of the rotation shaft 102 so that the first treatment member 121A and the second treatment member 121B rotate in opposite directions, the bending of the joint (wrist joint) can be repeated.
Hand 100c and forearm 100d by the first treatment member 121A and the second treatment member 121B
You may rotate only one of the 1st treatment member 121A and the 2nd treatment member 121B in the state of grasping and kneading. In this case as well, the joint can be bent, although the bending angle is relatively small.

Hand 100c and forearm 100d by the first treatment member 121A and the second treatment member 121B
The first treatment member 121A and the second treatment member 121B may be rotated in the same direction while grasping and kneading. In this case, a feeling of massage different from that in the case where the first treatment member 121A and the second treatment member 121B are rotated in opposite directions can be obtained.

The first treatment member 121A may grab and knead the hand 100c, but the second treatment member 121B may rotate the first treatment member 121A in a state where the forearm 100d is not grabbed and kneaded. In this case as well, the wrist joint can be bent. The second treatment member 121B is grasping and kneading the forearm 100d, but the second treatment member 1 is in a state where the first treatment member 121A is not grasping and kneading the hand.
21B may be rotated. In this case, the elbow joint or shoulder joint can be bent.

The first treatment member 121A and the second treatment member 121B may be arranged so that the joint of the person to be treated is not positioned between the first treatment member 121A and the second treatment member 121B. For example, the first treatment member 121A massages the wrist side portion of the forearm 100d, and the second treatment member 12
1B may massage the elbow side portion of the forearm 100d. When the joint of the person to be treated is not located between the first treatment member 121A and the second treatment member 121B, it is possible to obtain a feeling of massage that twists the body part that is being grasped and rubbed.

91 and 92 show other examples of massage units. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, a hand 100c and a forearm 100d. Massage is
Includes grabbing and rubbing of body part 100. The muscle fibers of the hand 100c and the forearm 100d are the hand 100c.
And the forearm 100d is oriented in the longitudinal direction (Z direction in FIG. 87).

The massage unit 10 massages (grabbing and rubbing) the hands 100c and the forearms 100d.
It has a treatment unit 101 to be treated. The treatment unit 101 massages (grabbing and rubbing) the hand 100c.
The first treatment member 121A to be massaged (grasping and kneading) the forearm 100d is included.
The number of the treatment members 121A and 121B provided on the armrest portion 4 may be one or three or more. The treatment members 121A and 121B shown in FIGS. 91 and 92 may be provided in the massage device 1 so as to massage (grab and knead) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.

The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are arranged so as to have a space between them so that the hand 100c to be massaged can be placed. Each of the pair of pressing members 101a and 101b is composed of an air cell. Of the pair of pressing members 101a and 101b, the upper pressing member 1
The number of air cells constituting 01a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b receive air supply and exhaust by an air circuit (not shown). The air cells 101a and 101b expand and contract due to air supply and exhaust. The pair of expanded air cells 101a and 101b are pressed from both sides of the hand 100c. Paired air cells 101a,
Gripping and kneading can be obtained by pressing with 101b.

The first treatment member 121A is in the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c;
Grasp and knead the hand 100c from the direction intersecting the Z direction in FIG. 91 (Y direction in FIG. 91).
Gripping and kneading is performed by bringing the pair of pressing members 100a and 100b close to each other with the body part 100 positioned between the pair of pressing members 100a and 100b. in this way,
For grabbing and rubbing, a simple operation of sandwiching the body part 100 is sufficient.

The second treatment member 121B has the same configuration as the first treatment member 121A and operates in the same manner. That is, the second treatment member 121B has a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is composed of an air cell.

The massage unit 10 of FIGS. 91 and 92 further includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 has a second mechanism unit 103A for moving the first treatment member 1121A and a second mechanism unit 103A for moving the second treatment member 121B.
The mechanism unit 103B and the like are included.

The first mechanism unit 103A includes a first support member 153a to which one of the paired air cells 101a and 101b (first air cell) 101a is attached, and the other air cell (second air cell).
The second support member 153b to which the air cell) 101b is attached, the third support member 153c that connects the first support member 153a and the second support member 153b on the outside (pinkie side) of the hand, and the third
It includes a rotation shaft (rotation center) 102 connected to the support member 153c. Rotating shaft 10
2 is rotationally driven by the drive unit 154.

The rotation axis (rotation center) 102 faces the direction (Y direction) that intersects the direction (Z direction) of the muscle fibers of the hand. In other words, the center of rotation 102 faces the in-plane direction intersecting the direction (Z direction) of the muscle fibers of the hand 100c.
The drive unit 154 connects the support members 153a, 153b, and 153c to the rotation axis (rotation center) 10.
It is driven to rotate twice. The air cells 101a and 101b have support members 153a and 153b,
With the rotation of 153c, it rotates around the rotation axis (rotation center) 102. Air cell 101a
, 101b can rotate forward and reverse around the rotation axis (rotation center) 102 by the forward and reverse rotation of the drive unit 154.

In FIGS. 91 and 92, the center of rotation 102 is directed along the pressing direction (Y direction) by the pair of air cells 101a and 101b. By rotating the air cells 101a and 101b, the pressing position can be changed along the rotation locus on the arc.

As shown in FIGS. 91 and 92, the center of rotation by the rotation shaft 102 is located outside the body part (hand or forearm) to be grasped and kneaded. Here, the outside of the body part means the outside of the body part in a state of being grasped and rubbed. The center of rotation 102 is on the outside of the hand 100c and the forearm 100d (
Although it is on the little finger side, it may be arranged on the inside (thumb side) of the hand 100c and the forearm 100d.
When the rotation center 102 is located outside the body part 109, the rotation center 102 can pass between the pair of pressing members 101a and 101b. Since the rotation center 102 is located at a position where it passes outside the body, the amount of movement around the rotation center 102 can be increased as shown in FIG. 90.
In addition, in FIG. 91 and FIG. 92, the rotation center 102 may be arranged so as to be located inside the body part.

The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B has support portions 153a, 153b, 153c and a rotation axis (rotation center) 102. The rotation shaft 102 of the second mechanism unit 103B is also rotationally driven by the drive unit 154.
In FIGS. 91 and 92, the first mechanism unit 103A and the second mechanism unit 103B are driven by different drive units 154, but the first mechanism unit 103A and the second mechanism unit 103B are driven by a common drive unit. It may be driven.

FIG. 93 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in the same direction while the hand 100c and the forearm 100d are grasped and kneaded by the first treatment member 121A and the second treatment member 121B. There is. First treatment member 121A and second treatment member 121B
By repeating the forward and reverse rotation of the rotation shaft 102 so that is rotated in the same direction, the position of gripping and kneading can be changed periodically.
Hand 100c and forearm 100d by the first treatment member 121A and the second treatment member 121B
You may rotate only one of the 1st treatment member 121A and the 2nd treatment member 121B in the state of grasping and kneading.
The first treatment member 121A may grab and knead the hand 100c, but the second treatment member 121B may rotate the first treatment member 121A in a state where the upper arm 100d is not grabbed and kneaded. The second treatment member 121B may rotate the second treatment member 121B while the second treatment member 121B is grasping and kneading the forearm 100d, but the first treatment member 121A is not grasping and kneading the hand.

FIG. 94 shows the first treatment member 121A and the second treatment member 121B in a state where the hand 100c and the forearm 100d are grasped and kneaded by the first treatment member 121A and the second treatment member 121B.
It shows how they are rotated in opposite directions. First treatment member 121A and second treatment member 1
By repeating the forward and reverse rotation of the rotation shaft 102 so that the 21B rotates in opposite directions, a force can be applied in the direction in which the hand 100c and the forearm 100d are brought closer to each other, or a force is applied in the direction away from each other. it can.

95 and 96 show an example of a massage unit. The massage unit 10 shown in FIGS. 95 and 96 has substantially the same configuration as the massage unit 10 shown in FIGS. 91 and 92. The difference is that the first support member 153a and the second support member 153b in the massage unit 10 shown in FIGS. 95 and 96 are configured to be independently rotatable with respect to the third support member 153c. is there.

In the massage unit 10 of FIGS. 95 and 96, the first support member 153a is the first.
It is rotatably provided on the third support member 153c around the rotation shaft 102a, and is provided on the second support member 153.
b is provided on the third support member 153c so as to be rotatable around the second rotation shaft 102b provided coaxially with the first rotation shaft 102a. In the massage unit 10 of FIGS. 95 and 96, the first rotation shaft 102a and the second rotation shaft 102b are driven by different drive sources 154, respectively. In this way, the mechanical unit 103 of the massage unit 10 is the first air cell 1.
The 01a and the second air cell 101b are configured to rotate in opposite directions. The mechanism unit 103 may be configured to rotate the air cells 101a and 101b in opposite directions by a common drive source 154.

97 and 98 show the hand 100c and the forearm 100 by the air cells 101a and 101b.
A pair of pressing members (air cells) 1 constituting the first treatment member 121A in a state where d is grasped and kneaded.
It shows a state in which 01a and 101b are rotated in opposite directions, and similarly, a pair of pressing members (air cells) 101a and 101b constituting the second treatment member 121B are rotated in opposite directions. By rotating the pair of pressing members 101a and 101b in opposite directions in this way,
Forces in different directions can be applied to both sides of the body parts 100c and 100d that are being grasped and rubbed. By rotating the pair of pressing members 101a and 101b in opposite directions, the relative positional relationship between the pair of pressing members 101a and 101b changes, and the pair of pressing members 101a and 101b changes.
b The pressing position of each can be different.

In FIGS. 97 and 98, the first air cell 101a of each of the first treatment member 121A and the second treatment member 121B rotates in the same direction, and the first treatment member 121A and the second treatment member 12
The second air cell 101b of each 1B also rotates in the same direction. However, the first treatment member 1
The first air cell 101a of each of the 21A and the second treatment member 121B rotates in opposite directions to each other, and the second air cell 101b of each of the first treatment member 121A and the second treatment member 121B
They may also rotate in opposite directions.

99 and 100 show an example of a massage unit. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction of the hand 100c and the forearm 100d (Z direction in FIG. 99).

The massage unit 10 has a treatment unit 101 for massaging (grasping and rubbing) the hands 100c and the forearms 100d. The treatment unit 101 includes a first treatment member 121A and a second treatment member 121C for massaging (grasping and kneading) the hand 100c, and a first treatment member 121B and a second treatment member 121D for massaging (grasping and rubbing) the forearm 100d. Have.
First treatment member 121A and second treatment member 12 for massaging (grasping and rubbing) the hand 100c
The 1Cs are arranged so as to face each other so that the hand 100c is located between them. First treatment member 121B and second treatment member 121 to massage (grab and knead) the forearm 100d
Ds are arranged so as to face each other so that the forearm 100d is located between them.

The pair of treatment members arranged to face each other via the body parts 100c and 100d may be a pair or three or more pairs. Treatment members 121A, 121B, 121C shown in FIGS. 99 and 100
, 121D may be provided in the massage device 1 so as to massage (grab and knead) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts.

The first treatment members 121A and 121B of FIGS. 99 and 100 correspond to miniaturized two treatment members 121A and 121B shown in FIG. 91, and their configurations and operations are common. Further, the mechanical portion 103 of the massage unit 10 includes the first treatment members 121A and 121B.
It is provided with first mechanism units 103A and 103B for moving it. These mechanical parts 103A
, 103B also correspond to the two mechanical parts 103A and 103B shown in FIG. 91, and their configurations and operations are common.
Therefore, the first treatment members 121A and 121B of FIGS. 99 and 100 can rotate around their rotation centers 102 in a state where the body parts are grasped and kneaded (see FIG. 100). The first treatment members 121A and 121B of FIGS. 99 and 100 are the hand 100c and the forearm 10.
It is responsible for the massage on one side (outside; little finger side) in the width direction of 0d.

Second treatment members 121C, 121D and second mechanism parts 103C, 10 of FIGS. 99 and 100.
In 3D, the first treatment members 121A and 121B and the first mechanism parts 103A and 103B are held by the hand 10.
It corresponds to the one arranged symmetrically with respect to the axis of symmetry along the longitudinal direction (Z direction) of 0c and the forearm 100d. Therefore, the second treatment members 121C and 121D of FIGS. 99 and 100 are
While grabbing and rubbing body parts, they can rotate around their center of rotation 102 (
(See FIG. 100). The second treatment members 121C and 121D of FIGS. 99 and 100 are hand 100c.
And the other side (inside; thumb side) of the forearm 100d in the width direction.

In FIG. 100, the first treatment member 121A for the hand 100c rotates clockwise, and the hand 100c
The second treatment member 121C for use is rotated counterclockwise, but can also be rotated in opposite directions.
Similarly, the first treatment member 121B for the forearm 100d rotates clockwise, and the second treatment member 121D for the forearm 100d rotates counterclockwise, but they can also rotate in opposite directions.

101 and 102 show an example of a massage unit. The massage unit 10 has substantially the same configuration as the massage unit 10 shown in FIGS. 91 and 92. The difference is the rotation center 1 of the second mechanism portion 103B that rotates the second treatment member 121B.
02 is a point that is arranged on the inside (thumb side) of the forearm 100d, not on the outside (pinkie side). The rotation center 102 of the first treatment member 121A and the rotation center 10 of the second treatment member 121B.
2 is located opposite to each other with body parts 100c and 100d arranged in between. As a result, the first treatment member 121A and the second treatment member 121B are placed between the body part 100.
It is arranged so as to face each other so that c and 100d are located.

In FIG. 102, the first treatment member 121A and the second treatment member 121B rotate in the same direction (clockwise rotation) around their respective rotation centers 102 in a state where they are grasped and kneaded.
To do. By rotating in the same direction, the first treatment member 121A moves to the hand side, and the second treatment member 12
1B moves to the elbow side. This makes it possible to give a massage that extends the hand 100c and the forearm 100d.
The first treatment member 121A and the second treatment member 121B are in a state of being grasped and kneaded, respectively.
It can also be rotated in opposite directions around each rotation center 102. in this case,
It is possible to cause movements such as pushing the hand 100c and the forearm 100d toward the hand side and pulling them toward the elbow side. Only one of the first treatment member 121A and the second treatment member 121B may be rotated.

FIG. 103 shows an example of a massage unit. This massage unit 10
As the first treatment member 121A and the first mechanism portion 103A for the hand 100c, the first treatment member shown in FIG. 87 is shown.
The second treatment member 121 for the forearm 100d is provided with the treatment member 121A and the first mechanism portion 103A.
As B and the second mechanism part 103B, the second treatment member 121B and the second mechanism part 1 shown in FIG. 95
03B is provided. The treatment members 121A, 121B and the mechanism portions 103A, 103B shown in FIG. 87, and the treatment members 121A, 121B and the mechanism portion 103A shown in FIG. 91,
103B and may be combined.

The first rotation center 102A of the first treatment member 121A for the hand 100c is the hand 1 to be grasped and rubbed.
It passes through the inside of 00c and faces the X direction in FIG. 103. Second treatment member 121B for forearm 100d
The second rotation center 102B passes through the outside of the forearm 100d and faces the Y direction in FIG. 103. That is, in FIG. 103, the two rotation centers 102A and 102B have different positions and different directions.

As shown in FIGS. 104 to 106, in a state where the first treatment member 121A and the second treatment member 121B are grasped and kneaded, the paired air cells 101a and 101b of the second treatment member 121B change their relative positional relationships with each other. As described above, they can rotate in opposite directions around the second rotation center 102B. That is, when the first air cell 101a rotates around the rotation center 102B-a, for example, clockwise, the second air cell 101b rotates around the rotation center 102B-b.
Rotate counterclockwise.
The first treatment member 121A can also rotate around the first rotation center 102A in a state of being gripped and kneaded.

For example, as shown in FIG. 107, the second treatment member 121 holding and kneading the forearm 100d.
When the pair of air cells 101a and 101b of B are rotating around the second rotation center 102B, the first treatment member 121A holding and kneading the hand 100c can rotate around the first rotation center 102.

108 to 114 show an example of the massage unit 10. 108 to 11
The massage unit 10 shown in No. 4 is configured such that the treatment portions 121A and 121B rotate around the rotation center 102 as in the massage units 10 shown in FIGS. 87 to 90. In the massage unit 10 shown in FIGS. 108 to 114, the treatment units 121A and 121B
The configuration related to the rotation of the massage unit 10 is the same as that of the massage unit 10 shown in FIGS. 87 to 90. Further, in the massage units shown in FIGS. 108 to 114, the treatment portions 121A and 121B are configured not only to rotate around the rotation center 102 but also to move in the direction along the muscle fibers of the body part 100 (100d, 100c). Has been done.

As shown in FIG. 109, the mechanical portions 103A and 103B of the massage unit 10 are the support portions 153a, 153b and 153 of the air cells 101a and 101b (not shown in FIG. 109).
The base portion 155 that supports the drive portion 154 that rotationally drives the rotation shaft 102 (corresponding to the rotation center 102) connected to c is provided. The mechanism units 103A and 103B further include a screw shaft 156 for linearly driving the base portion 155 and a drive unit 158 for rotationally driving the screw shaft 156. The base portion 155 has a nut hole 157 that is screwed into the screw shaft 156, and can be linearly moved in the longitudinal direction of the screw shaft 156 by rotating the screw shaft 156. The screw shaft 156 is arranged along the longitudinal direction of the body parts 100d and 100c massaged (grasped and kneaded) by the treatment parts 121A and 121B, and moves the treatment parts 121A and 121B in the muscle fiber direction of the body parts 100d and 100c. Can be made to. As shown in FIG. 110, the base portion 155 can be moved to an arbitrary position in the longitudinal direction of the screw shaft 156, and the driving portion 154 rotationally drives the rotating shaft 102 while the screw shaft 156 is moving or stopped, whereby the treatment unit is treated. 121A
, 121B can be rotated around the center of rotation 102.

The first treatment member 121A and the second treatment member 121B can move independently in the muscle fiber direction. The movable range of the first treatment member 121A is from the hand 100c to the forearm 100d.
It is a range that extends to (hand side). The movable range of the second treatment member 121B is within the range of the forearm 100d, but may be a range extending from the forearm 100d to the upper arm. Treatment member 121A,
If the 121B can move within a range that straddles a joint such as a wrist joint, a wide range of massage is possible.

As shown in FIG. 111, the first treatment member 121A and the second treatment member 121B are in a state where the first treatment member 121A grabs and kneads the hand 100c and the second treatment member 121B grabs and kneads the forearm 100d. It can rotate and move linearly as shown in FIG. 112. FIG. 11
In 2, the first treatment member 121A rotates clockwise around the rotation center 102 while the rotation center 102 remains at the position shown in FIG. 111 (no linear movement). Second treatment member 12
1B rotates counterclockwise around the rotation center 102 while the rotation center 102 moves to the upper arm side (right side in FIG. 112) from the position shown in FIG. 111. By such a movement, the first treatment member 121A and the second treatment member 121B can rotate while being separated from each other. The first treatment member 121A and the second treatment member 121B may rotate in the same direction. The first treatment member 121A and the second treatment member 121B do not need to rotate only in the same direction while moving in the direction along the muscle fiber, and may repeat forward and reverse rotation. Treatment member 1
By repeating the forward and reverse rotations of the treatment members 121A and 121B during the linear movement of the 21A and 121B, the position of the massage due to the forward and reverse rotation can be changed.

As shown in FIG. 113, the first treatment member 121A and the second treatment member 121B are located in a range where the first treatment member 121A straddles the hand 100c and the wrist (the hand 100c side of the forearm 100d), and the second treatment member 121B. Is located on the forearm 100d, the first treatment member 121A and the second
As shown in FIG. 114, the treatment member 121B can rotate and move linearly from a state in which the treatment member 121B is in close proximity. The first treatment member 121A and the second treatment member 121B expand the air cells 101a and 101b from the state shown in FIG. 113, grab and knead the body parts 100c and 100d, and further rotate and linearly move as shown in FIG. 114. be able to.

In FIG. 114, the first treatment member 121A moves to the hand side (left side in FIG. 114) and rotates clockwise around the center of rotation 102. The second treatment member 121B moves to the upper arm side (right side in FIG. 114) and rotates counterclockwise around the center of rotation 102.

115 and 116 show an example of the massage unit 10. The massage unit 10 of FIG. 115 is provided with three treatment members 121A and 121B shown in FIGS. 91 and 92. The massage unit 10 of FIG. 115 includes a first treatment member 121A for massaging (grasping and kneading) the shoulder 100h, which is the first range, and a second treatment member 121B for massaging (grabbing and rubbing) the upper arm 100a, which is the second range. It has a third treatment member 121C for massaging (grasping and kneading) the forearm 100d, which is the third range. Shoulder 100h, which is the first range
The user's shoulder joint is located between the upper arm 100a, which is the second range, and the user's elbow joint is located between the upper arm 100a, which is the second range, and the forearm 100d, which is the third range. To position.

The massage unit 10 of FIG. 115 has mechanical portions 103A and 10 shown in FIGS. 91 and 92.
Similar to 3B, the first treatment member 121A, the second treatment member 121B, and the third treatment member 121
A mechanism unit for rotating each of C around the center of rotation 102 is provided.

As shown in FIG. 116, the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C each grasp and knead the body parts 100h, 100a, and 100c while kneading them.
It can rotate (swing) to the center of rotation 102. For example, the first treatment member 121A, the second
The treatment member 121B and the third treatment member 121C are the treatment members 121A and 121B.
, 121C At least one of the two or more treatment members performing the gripping and kneading can be rotated around the rotation center 102 in a state where the gripping and kneading is performed by the two or more treatment members.

More specifically, the shoulder 100h by the first treatment member 121A and the second treatment member 121B
In a state where the upper arm 100a is gripped and kneaded, either one or both of the first treatment member 121A and the second treatment member 121B can be rotated around their rotation center 102. Further, the first treatment member 1 is in a state where the first treatment member 121A and the third treatment member 121C are gripping and rubbing the shoulder 100h and the forearm 100d.
Either one or both of 21A and the third treatment member 121C can be rotated around their rotation center 102. In addition, the second treatment member 121B and the third treatment member 1
With 21C gripping and rubbing the upper arm 100a and forearm 100d,
One or both of the second treatment member 121B and the third treatment member 121C can be rotated around their rotation center 102. In addition, the first treatment member 121A, the second treatment member 121B, and the second treatment member 121C are gripping and rubbing the shoulder 100h, the upper arm 100a, and the forearm 100d by the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. Any one or two of 121B and the third treatment member 121C,
Or all can be rotated around their center of rotation 102. Multiple treatment members 1
The rotation directions of 21A, 121B, and 121C may be the same or different.

117 to 121 show an example of the massage unit 10. 117 to 12
The massage unit 10 shown in 1 is provided on the backrest portion 3, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, the neck 100i. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the neck 100i are oriented in the longitudinal direction of the neck 100i (Y direction in FIG. 117).

The massage unit 10 has a treatment unit 101 that massages (grabbing and rubbing) the neck 100i. The treatment unit 101 has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are arranged so as to have a space between them so that the neck 100i to be massaged can be arranged. Each of the pair of pressing members 101a and 101b is composed of an air cell. The air cells 101a and 101b expand and contract due to air supply and exhaust, and press the neck 100i from the left and right. Gripping and kneading can be obtained by pressing the pair of air cells 101a and 101b.

The treatment unit 101 grips and massages the neck 100i from a direction (X direction in FIGS. 117 and 118) intersecting the direction of the muscle fibers in the neck 100i (longitudinal direction of the neck; Y direction in FIG. 117).

The massage unit 10 of FIGS. 117 to 121 is a mechanism unit 1 for moving the treatment unit 101.
03 is further provided. The mechanism unit 103 includes a first support member 153a to which one of the paired air cells 101a and 101b (first air cell) 101a is attached, and a second support member 153b to which the other air cell (second air cell) 101b is attached. And have. Both support members 153a and 153b are formed in a plate shape, and are arranged so as to be inclined so that the distance between the two support members 153a and 153b becomes larger toward the front side (left side in FIG. 117).

The mechanism unit 103 rotates the first air cell 101a around the first rotation center 102A, and the second air cell 101a is second.
The air cell 101b is rotated around the second rotation center 102B, and further, the first air cell 101b is rotated.
It is configured so that a and the second air cell 101b can be rotated around the third rotation center 102C. 1st rotation center 102A, 2nd rotation center 102B, and 3rd rotation center 10
In each of the 2Cs, the in-plane direction (X- in FIGS. 117 and 118) intersects the muscle fibers of the neck 100i.
It faces the direction in the Z plane).

A first rotating shaft 102a is attached to the rear end of the first support member 153a, and a first driving unit 154a for rotationally driving the first rotating shaft 102a is connected to the first rotating shaft 102a. When the first rotation shaft 102a is rotationally driven by the first drive unit 154a, the first air cell 101a can rotate around the first rotation center 102A.
A second rotation shaft 102b is attached to the rear end of the second support member 153b, and the second support member 153b has a second rotation shaft 102b.
A second drive unit 154b that rotationally drives the second rotary shaft 102b is connected to the rotary shaft 102b. When the second rotation shaft 102b is rotationally driven by the second drive unit 154b, the second air cell 101b can rotate around the second rotation center 102B.

The first drive unit 154a and the second drive unit 154b are held by the base unit 155. A third rotating shaft 102c is attached to one end of the base portion 155 in the left-right direction, and a third driving portion 154c for rotationally driving the third rotating shaft 102c is connected to the third rotating shaft 102c. When the third rotation shaft 102c is rotationally driven by the third drive unit 154c, the base unit 155 can rotate around the third rotation center 102C in the left-right direction (X direction).

As shown in FIGS. 118 and 119, the first air cell 101a rotates (swings) around the first rotation center 102A while the neck 100i is grasped and kneaded by the treatment unit 101, and the second
By rotating (swinging) the air cell 101b around the second rotation center 102B, it is possible to give a massage to the neck 100i by adding rotation to grasping and kneading. The rotation directions of the first rotation shaft 102a and the second rotation shaft 102b may be the same as each other or may be opposite to each other.

As shown in FIGS. 120 and 121, the first air cell 101a and the second air cell 101b are located around the third rotation center 102C located behind the neck 100i while the neck 100i is grasped and kneaded by the treatment unit 101. By rotating (swinging), the first air cell 101a and the second air cell 101b are swung up and down. By this movement, the neck 100i can be moved up and down while grasping and rubbing the neck 100i. The rotation around the first rotation center 102A, the second rotation center 102B, and the third rotation center 102C may be performed independently or all at the same time.

122 and 123 show an example of the massage unit 10. The massage unit 10 shown in FIGS. 122 and 123 is provided on the backrest portion 3, and the shoulder 100 of the person to be treated is provided.
Massage h. The massage includes grabbing and rubbing the shoulders for 100 hours. The muscle fibers of the shoulder 100h are oriented in the left-right direction of the shoulder (X direction in FIGS. 122 and 123).

The massage unit 10 has a treatment unit 101 for massaging (grasping and kneading) the shoulder 100h. The treatment unit 101 has a first treatment member 121A that massages the left shoulder and a second treatment member 121B that massages the right shoulder. The first treatment member 121A and the second treatment member 121B have a pair of pressing members 101a and 101b, respectively. One of the pair of pressing members 101a and 101b (first pressing member) 101a is the upper shoulder 1
00ha is pressed, and the other pressing member (second pressing member) 101b is on the back side of the shoulder (back side of the shoulder).
It is arranged to press 100 hb. Each of the pair of pressing members 101a and 101b is composed of an air cell. The air cells 101a and 101b expand and contract due to air supply and exhaust. The air cell 101a, which is the first pressing member, expands downward and 100ha above the shoulder.
Press downward. The air cell 101b, which is the second pressing member, expands forward and the shoulder rear side 10
Press 0hb forward. The shoulder 10 is pressed by the pair of air cells 101a and 101b.
Gripping and rubbing for 0h can be obtained.

The massage unit 10 of FIGS. 122 and 123 includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A for moving the first treatment member 121A and a second mechanism unit 103B for moving the second treatment member 121B.

The first mechanism unit 103A is a support member 1 to which a pair of air cells 101a and 101b are attached.
Has 53. The support member 153 has a first support member 153a to which the first air cell 101a is attached and a second support member 153b to which the second air cell 101b is attached. The first support member 153a is arranged so as to face the upper shoulder side 100ha, and the second support member 153b is arranged so as to face the shoulder rear side 100hb. First support member 153
The rear end of a and the upper end of the second support member 153b are connected to each other, and as shown in FIG. 122, the support member 153 is formed in an L shape in a side view.

The first mechanism portion 103A further includes a rotation shaft (rotation center) 102 connected to the support member 153 (second support member 153b). The rotation shaft 102 is rotationally driven by the drive unit 154.

The rotation axis (rotation center) 102 faces the in-plane direction (Z direction) intersecting the direction (X direction) of the muscle fibers of the shoulder 100h. The rotation axis (rotation center) 102 may be oriented in the Y direction or another direction (in-plane direction intersecting the direction (X direction) of the muscle fibers of the shoulder 100h).
The drive unit 154 rotationally drives the support member 153 around the rotation axis (rotation center) 102.
The air cells 101a and 101b have a rotation axis (rotation center) 1 as the support member 153 rotates.
It rotates around 02. The air cells 101a and 101b are rotated in the forward and reverse directions of the drive unit 154, so that the air cells 101a and 101b are rotated in the forward and reverse directions.
Forward and reverse rotation around the rotation axis (center of rotation) 102 is possible.

The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and can operate in the same manner. That is, the second mechanism portion 103B has a support member 153 and a rotation shaft (rotation center) 102. The rotation shaft 102 of the second mechanism unit 103B is also rotationally driven by the drive unit 154. The first mechanism unit 103A and the second mechanism unit 103B may be driven by different drive units 154, or may be driven by a common drive unit 154.

FIG. 123 shows the left and right shoulders 10 by the first treatment member 121A and the second treatment member 121B.
It shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in opposite directions with each other in a state where 0h is grasped and kneaded. In FIG. 123, the first treatment member 121A rotates counterclockwise, and the second treatment member 121B rotates clockwise. First treatment member 12
By rotating the 1A and the second treatment member 121B, it is possible to perform gripping and kneading as if loosening the shoulder 100h.

The first treatment member 121A and the second treatment member 121B may be rotated in the same direction, or only one of the first treatment member 121A and the second treatment member 121B may be rotated. Further, the first support member 153a and the second support member 153b may be configured to rotate independently, and in this case, only one of the pair of pressing members may be rotated. Further, after the first treatment member 121A and the second treatment member 121B rotate the first treatment member 121A and the second treatment member 121B to change the position of gripping and kneading while the shoulder 100h is not gripped and kneaded. You may grab your shoulders and rub them.

124 to 126 show an example of the massage unit 10. 124 to 12
The massage unit 10 shown in 6 is provided on the backrest portion 3 and massages the person to be treated. The massage includes grabbing and rubbing the subject's shoulder (left shoulder in the figure) 100h or neck 100i. The muscle fibers of the neck 100i are oriented in the longitudinal direction of the neck (Y direction in FIG. 124).

The massage unit 10 has a treatment unit 101 that massages (grabbing and rubbing) the shoulder 100h or the neck 100i. The treatment unit 101 has a pair of pressing members 101a and 101b. One of the pair of pressing members 101a and 101b (first pressing member) 101
a is arranged so as to press 100ha on the upper side of the shoulder, and the other pressing member (second pressing member) 101b presses 100hb on the back side of the shoulder (back side of the shoulder). Pair of pressing members 101a, 10
Each of 1b is composed of an air cell. The air cells 101a and 101b expand and contract due to air supply and exhaust. The air cell 101a, which is the first pressing member, expands downward and presses the upper shoulder 100ha downward. The air cell 101b, which is the second pressing member, expands forward and presses the shoulder rear side 100hb forward. By pressing the pair of air cells 101a and 101b, gripping and rubbing against the shoulder 100h can be obtained.

The massage unit 10 of FIGS. 124 to 126 is a mechanism unit 1 for moving the treatment unit 101.
It is equipped with 03. The mechanism unit 103 has a support member 153 to which a pair of air cells 101a and 101b are attached. The support member 153 includes a first support member 153a to which the first air cell 101a is attached and a second support member 153 to which the second air cell 101b is attached.
It has a b and a third support member 153c to which the second support member 153b is attached.
The first support member 153a is arranged so as to face the upper shoulder 100ha, and the second support member 15
3b is arranged so as to face the back side 100hb of the shoulder. The rear end of the first support member 153a and the upper end of the second support member 153b are connected, and as shown in FIG. 124, the first support member 153a and the second support member 153b are L in the side view as a whole. It is formed in a character shape.

The mechanism unit 103 is a rotating shaft (a rotating shaft that connects the second support member 153b and the third support member 153c).
(Rotation center) 102 is further provided. The third support member 153c is provided with a drive unit 154 that rotates the rotation shaft 102. The rotation axis (rotation center) 102 faces the in-plane direction (Z direction) intersecting the direction (X direction) of the muscle fibers of the shoulder 100h. Rotation axis (center of rotation)
102 may be oriented in the Y direction or another direction (in-plane direction intersecting the direction (X direction) of the muscle fibers of the shoulder 100h).
The drive unit 154 rotationally drives the first support member 153a and the second support member 153b around the rotation axis (rotation center) 102. The air cells 101a and 101b rotate around the rotation axis (rotation center) 102 as the support member 153 rotates. The air cells 101a and 101b are
By rotating the drive unit 154 in the forward and reverse directions, it is possible to rotate the drive unit 154 in the forward and reverse directions around the rotation axis (rotation center) 102.

The mechanism unit 103 is configured so that the third support member 153c can be moved in the left-right direction (X direction) with respect to the backrest 3. Specifically, the backrest portion 3 has a rack 164 whose longitudinal direction is oriented in the left-right direction (X direction). A pinion 163 that meshes with the rack 164 is connected to a drive unit 161 provided on the third support member 153c via a rotation shaft 162. The drive unit 161 rotationally drives the pinion 163 to drive the pinion 163.
As shown in FIG. 125 (a), the pinion 163 moves left and right on the rack 164.
As a result, the third support member 153c provided with the drive unit 161 moves in the left-right direction. Due to the movement of the third support member 153c, the first support member 153a and the second support member 153b
Also moves to the left and right. Therefore, the treatment unit 101 (air cells 101a, 101b)
The drive unit 161 can be moved in the left-right direction by rotating in the forward and reverse directions.
The third support member 153c is provided with an attachment body 167 to which the drive unit 161 is attached, and a support shaft 166 extending from the attachment body 167 to the backrest portion 3 side. Support shaft 16
A guide roller 165 is rotatably attached to the rear end of the rack 6, and is in rotatably contacting the lower surface of the rack 164. The rolling contact of the guide roller 165 with the rack 164 guides the movement of the third support member 153c in the left-right direction.

The second support member 153b can be rotated by the drive unit 154 as shown in FIG. 125 (b) in a state where the entire support member 153 is moved to an arbitrary position in the left-right direction by the drive unit 161. For example, as shown in FIG. 126 (a), the support member 153 is located at the left outer end of the left shoulder 100h, and the treatment portion 101 can massage the shoulder 100h (left shoulder) from the state to the vicinity of the base of the neck 100i. As it moves, the second support member 153b can rotate clockwise around the center of rotation 102. As shown in FIG. 126 (b), after rotation, the first support member 153a is located on the side of the neck 100i (left-handed), and the second support member 153b is located behind the neck 100i. Therefore, by the treatment unit 101, the neck 1
You can grab and knead 00i from the side and behind. In this way, the mechanism unit 103 has a shoulder 1
The treatment unit 101 that massages 00h can be moved to the position of the neck 100i so that the treatment unit 101 can grasp and massage the neck 100i.

The first support member 153a and the second support member 153b may be configured to rotate independently, and in this case, only one of the pair of pressing members may be rotated. Further, the treatment unit 101 of FIGS. 124 to 126 massages the left shoulder, but by providing the same treatment unit 101 for the right shoulder, both the left and right shoulders can be massaged.

127 shows the directions of muscle fibers 163a to 163h in the body part suitable for providing the massage unit 10 shown in FIGS. 87 to 126, and the treatment unit 101 (treatment members 121A to 1).
An example of the rotation directions 166A and 166B in 21D) is shown. As shown in FIG. 127, the treatment unit 101 (treatment members 121A to 121D) intersects the muscle fiber directions 163a to 163h (
Assuming a plane 165 (orthogonal), the in-plane direction (for example, the direction 102A in FIG. 127) is assumed.
, 102B) rotates in the rotation directions 166A and 166B with the rotation center as the center of rotation. The in-plane direction is not limited to the directions 102A and 102B in FIG. 127, and may be other in-plane directions.

<Section 3: In-plane movement that intersects the direction of muscle fibers in the body part>
The embodiments in this section will be listed and described. The reference numerals given in the explanations in this section are shown in FIG.
And are used in FIGS. 128-150.
[Explanation of Embodiments of the Present Invention]
(59) In the massage device (one embodiment) 1 of the present invention, the gripping and kneading is performed in a state where the treatment unit 101 that grips and massages the body part and the treatment unit 101 grips and massages. It includes a mechanism unit 103 that moves the treatment unit 101 in the in-plane direction that intersects the direction of the muscle fibers in the body part 100.

By moving the treatment unit 101 in the in-plane direction intersecting the direction of the muscle fibers of the body part 100 in which the gripping and kneading is performed, further movement is added to the gripping and kneading, and the massage feeling is improved as compared with the simple gripping and kneading. The directions of the muscle fibers include, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the lateral direction of the shoulder, and the longitudinal direction of the neck. In the case of the treatment unit 101 that grips and massages the arm, leg, or neck, the treatment unit 101 moves, for example, in a direction intersecting the longitudinal direction of the arm, leg, or neck. When the longitudinal direction of a body part such as an arm, leg or neck is oriented in the vertical direction, the above-mentioned in-plane direction includes the left-right direction of the body part or the anteroposterior direction of the body part. In the case of the treatment unit 101 that grips and massages the shoulder, the treatment unit 101 moves, for example, in a direction intersecting the left and right directions of the shoulder. The in-plane direction intersecting the left-right direction of the shoulder includes, for example, the front-back direction of the shoulder and the up-down direction of the shoulder.

The in-plane movement of the treatment unit 101 need only have the in-plane movement component as the main component of the movement, and may have a movement component in another direction. The movement component in the other direction is, for example, a movement component in the out-of-plane direction (normal direction of the surface). The movement of the treatment unit 101 in the in-plane direction does not have to be a linear motion, but may be a curved motion.

The mechanical unit 103 does not need to move the entire treatment unit 101, and may move at least a part of the treatment unit 101. When the treatment unit 101 includes a pair of pressing members 101a, 101b described later, the mechanism unit 103 moves at least one of the pair of pressing members 101a, 101b.

(60) The treatment unit 101 is configured to grasp and knead a body part from a direction intersecting the direction of muscle fibers, and the mechanism unit 103 is a direction included in the in-plane direction and a direction of gripping and kneading by the treatment unit 101. It is preferable that the treatment unit 101 is configured to move in the direction of intersecting with. When the treatment unit 101 moves in a direction that intersects the direction of gripping and kneading, a movement occurs across the muscle fibers of the body part that is being gripped and kneaded, and such movement can, for example, loosen the muscle.

(61) The treatment unit 101 is configured to grasp and knead a body part from a direction intersecting the direction of muscle fibers, and the mechanism unit 103 is included in the in-plane direction and in the direction of gripping and kneading by the treatment unit 101. It is preferable that the treatment unit 101 is configured to move in the direction along the line. By moving the treatment unit 101 along the direction of gripping and kneading, it is possible to change the feeling of pressure on the body part being gripped and kneaded.

(62) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and massages the body part 100, and the mechanism unit 103 is gripped by the first treatment member 121A and the second treatment member 121B. At least one of the first treatment member 121A and the second treatment member 121B is used so that the relative positional relationship between the first treatment member 121A and the second treatment member 121B changes while the kneading is being performed. It is preferably configured to move in-plane.

(63) The first treatment member 121A is provided so as to grip and knead the first range 100c of the body, and the second treatment member 121B is provided with at least one joint between the first treatment member 121A and the first range 100c. It is preferable that the second range 100d of the body, which is a range different from the first range 100c, is provided so as to be gripped and kneaded. For example, the first range is the hand and the second range is the forearm, the first range is the forearm and the second range is the upper arm, the first range is the upper arm and the second range is the shoulder, and the first range is the shoulder and the second. The range can be the neck, the first range is the foot and the second range is the lower leg, the first range is the lower leg and the second range is the thigh.

(64) The treatment unit 101 is a pair of pressing members 10 for gripping and kneading the body part.
Including 1a and 101b, the mechanism unit 103 pushes at least one of the pair of pressing members 101a and 101b in the in-plane direction so that the relative positional relationship between the pair of pressing members 101a and 101b changes. It is preferably configured to move to. Pair of pressing members 101
By moving at least one of the pressing members a and 101b, the feeling of massage is improved as compared with mere gripping and kneading.

(65) The mechanism unit 103 is preferably configured to move the first treatment member 121A and the second treatment member 121B in the in-plane direction.

(66) The mechanism unit 103 moves the first treatment member 121A and the second treatment member 121B in the in-plane direction so that the relative positional relationship between the first treatment member 121A and the second treatment member 121B changes. It is preferable that it is configured as such.

(67) The mechanism unit 103 is configured to move the first treatment member 121A and the second treatment member 121B in the in-plane direction while maintaining the relative positional relationship between the first treatment member 121A and the second treatment member 121B. It is preferable that it is.

(68) It is preferable that the first treatment member 121A is provided so as to perform gripping and kneading on the shoulder, and the second treatment member 121B is provided so as to perform gripping and kneading on the upper limbs or neck.

The treatment unit 101 includes a first treatment member provided for gripping and rubbing the hand, a second treatment member provided for gripping and rubbing the forearm, and a third treatment member provided for gripping and rubbing the upper arm. The mechanical unit 103 includes a member and a fourth treatment member provided for gripping and kneading the shoulder, and the mechanical unit 103 is one of the first treatment member, the second treatment unit, the third treatment unit, and the fourth treatment member. It is preferable that at least one of the two or more treatment members performing the gripping and kneading is moved in the in-plane direction in a state where the gripping and kneading is performed by the two or more treatment members.

The treatment unit 101 includes a first treatment member provided for gripping and rubbing the foot, a second treatment member provided for gripping and rubbing the lower leg, and a third treatment member provided for gripping and rubbing the thigh. The mechanical unit 103 includes a member and a fourth treatment member provided for gripping and kneading the waist, and the mechanism unit 103 is one of the first treatment member, the second treatment unit, the third treatment unit, and the fourth treatment member. It is preferable that at least one of the two or more treatment members performing the gripping and kneading is moved in the in-plane direction in a state where the gripping and kneading is performed by the two or more treatment members.

(69) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and massages the body part from a direction intersecting the direction of muscle fibers in the body part.
The first treatment member 121A is provided so as to grip and knead the first range 100d of the body, and the second treatment member 121B is provided with the first treatment member 121B via at least one joint between the first treatment member 121A and the first range 100d. The second range 100a of the body, which is a range different from the one range 100d, is provided to be gripped and kneaded, and the mechanism unit 103 is provided with the first treatment member 1 in the first direction included in the in-plane direction.
It is preferable that the 21A is moved and the second treatment member 121B is moved in the second direction which is included in the in-plane direction and intersects the first direction.

(70) The body part 100 is the shoulder 100h, and the mechanical part 103 is treated in the in-plane direction intersecting the direction of the muscle fibers in the shoulder 100h in a state where the treatment unit 101 is gripping and rubbing the shoulder 100h. It is preferable that the unit 101 is configured to move.

(71) The treatment unit 101 is the first treatment member 121A that grips and massages one of the left and right shoulders.
-1, and the second treatment member 121A-2 that grips and massages the other left and right shoulders.
The mechanical unit 103 is in a state where the first treatment member 121A-1 and the second treatment member 121A-2 are gripping and rubbing the left and right shoulders, and the first treatment member 121A-1 and the second treatment member 121A- 2 It is preferable that each of the shoulders is configured to move in the in-plane direction intersecting the direction of the muscle fibers in the shoulder.

[Details of Embodiments of the present invention]
128 to 130 show an example of the massage unit 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the hand 100c and the forearm 100d are the hand 100.
It faces the longitudinal direction of c and the forearm 100d (Z direction in FIG. 128).

The massage unit 10 has a treatment unit 101 for massaging (grasping and rubbing) the hands 100c and the forearms 100d. The treatment unit 101 has a first treatment member 121A for massaging (grasping and kneading) the hand 100c and a second treatment member 1 for massaging (grabbing and rubbing) the forearm 100d.
21B and.
The number of the treatment members 121A and 121B provided on the armrest portion 4 may be one or three or more. The treatment members 121A and 121B shown in FIGS. 71 to 130 may be provided in the massage device 1 so as to massage (grab and knead) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.

The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are arranged so as to have a space between them so that the hand 100c to be massaged can be placed. Each of the pair of pressing members 101a and 101b is composed of an air cell. Of the pair of pressing members 101a and 101b, the upper pressing member 1
The number of air cells constituting 01a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b receive air supply and exhaust by an air circuit (not shown). The air cells 101a and 101b expand and contract due to air supply and exhaust. The pair of expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 131). Gripping and kneading can be obtained by pressing the pair of air cells 101a and 101b.

The first treatment member 121A is in the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c;
Grasp and knead the hand 100c from the direction intersecting the Z direction in FIG. 128 (Y direction in FIG. 128).
Gripping and kneading is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. in this way,
For grabbing and rubbing, a simple operation of sandwiching the body part 100 is sufficient.

The second treatment member 121B has the same configuration as the first treatment member 121A and operates in the same manner. That is, the second treatment member 121B has a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is composed of an air cell.

The massage unit 10 of FIGS. 128 to 130 further includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 has a first mechanism unit 103A for moving the first treatment member 121A and a second mechanism unit 103A for moving the second treatment member 121B.
The mechanism unit 103B and the like are included.

The first mechanism unit 103A includes a first support member 153a to which one of the paired air cells 101a and 101b (first air cell) 101a is attached, and the other air cell (second air cell).
The second support member 153b to which the air cell) 101b is attached, the third support member 153c that connects the first support member 153a and the second support member 153b on the outside (pinkie side) of the hand, and the second
A nut portion 156 connected to the support member 153b and a screw shaft 155 for linearly moving the nut portion 156 are provided. The screw shaft 155 is rotationally driven by the drive unit 154.

The screw shaft 155 faces the direction (X direction) at which the muscle fiber of the hand 100c intersects the direction (Z direction). The rotationally driven screw shaft 155 moves the nut portion 156 in the X direction of FIG. 130.
When the nut portion 156 moves in the X direction, the support members 153a, 1 provided with the nut portion 156
53b and 153c also move in the X direction. As the support members 153a, 153b, 153c move in the X direction, the air cells 101a, 101b also move in the X direction. The air cells 101a and 101b can reciprocate in the X direction by rotating the drive unit 154 in the forward and reverse directions.

The screw shaft 155 may be arranged in the Y direction. In this case, the air cell 101a
, 101b can move in the Y direction. The screw shaft 155 may be arranged in a direction other than the X direction and the Y direction included in the XY plane (another in-plane direction). In this case, the air cells 101a and 101b can move in other directions in the XY plane.
In FIGS. 128 to 130, the XY plane is a plane in a direction orthogonal to the direction of the muscle fiber (Z direction). However, the directions in which the air cells 101a and 101b can move are not limited to the directions orthogonal to the Z direction, and any direction intersecting the Z direction is sufficient.

The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes the support members 153a, 153b, 153c and the nut portion 1.
It has 56 and a screw shaft 155. The screw shaft 155 of the second mechanism unit 103B is also the drive unit 154.
Driven by rotation.
In FIG. 131, the first mechanism unit 103A and the second mechanism unit 103B are driven by different drive units 154, but the first mechanism unit 103A and the second mechanism unit 103B are driven by a common drive unit. May be good.

132 and 133 show a state in which one of the treatment members 121A and 121B is moved in the X direction while the hand 100c and the forearm 100d are grasped and kneaded by the first treatment member 121A and the second treatment member 121B. There is. In FIG. 132, the second treatment member 121B is X.
The first treatment member 121A is moving in the X direction (the little finger side of the hand 100c) without moving in the direction. Due to such movement of the first treatment member 121A, the joint located between the first treatment member 121A and the second treatment member 121B in a state where the position of the forearm 100d is fixed (FIG. 132).
The wrist joint) can be used as a bending point, and the hand 100c can be bent in the X direction (left and right) with respect to the forearm 100d, and a stretching action is generated. By repeating the reciprocating movement of the first treatment member 121A in the X direction, the wrist joint can be repeatedly bent in the left-right direction.

In FIG. 133, the first treatment member 121A does not move in the X direction, but the second treatment member 121A moves in the X direction (the little finger side of the hand 100c). Due to such movement of the second treatment member 121B, the joint (wrist joint in FIG. 133) located between the first treatment member 121A and the second treatment member 121B is bent at the bending point while the position of the hand 100c is fixed. As forearm 100
d can be bent in the X direction with respect to the hand 100c, and a stretching action is generated. By repeating the reciprocating movement of the second treatment member 121B in the X direction, the wrist joint can be repeatedly bent in the left-right direction.

When the air cells 101a and 101b are moved in the X direction as described above, the air cells 101a and 101b that are grasping and kneading the hand 100c can cross the muscle fibers of the hand 100c.
It has the effect of relaxing muscles. Further, as shown in FIG. 134, each of the first treatment member 121A and the second treatment member 121B may be simultaneously moved in the opposite directions in the X direction. Further, each of the first treatment member 121A and the second treatment member 121B may be simultaneously moved in the opposite directions in the Y direction. As a result, the bending of the wrist joint can be increased.

In this way, the first treatment member 121A and the second treatment member 121B move so as to change their relative positional relationship, so that the body is grasped and rubbed by each of the first treatment member 121A and the second treatment member 121B. It is possible to give each body part a force that relatively shifts the parts. Therefore, when the joint is located between the first treatment member 121A and the second treatment member 121B, the joint can be bent. First treatment member 121A and second treatment member 121
The relative positional relationship of B can also be changed by shifting the respective operation timings or by making the respective movement speeds different.
The second treatment member 121A and the second treatment member 121B may move while maintaining their relative positional relationship. That is, as shown in FIG. 135, the first treatment member 121A and the second treatment member 121B may be moved simultaneously in the same direction in the X direction. Further, the first treatment member 121A and the second treatment member 121B may be moved simultaneously in the same direction in the Y direction.

When the air cells 101a and 101b are moved in the Y direction, the wrist joint mounted on the armrest portion 4 can be bent in the vertical direction. Since the Y direction is the gripping and kneading direction by the air cells 101a and 101b, when the air cells 101a and 101b are moved in the Y direction by the mechanism unit 103, the pressing force in the Y direction changes, and the massage feeling due to the gripping and kneading is changed. You can also do it.

The first treatment member 121A and the second treatment member 121B may be arranged so that the joint (wrist joint) is not located between them. For example, both treatment members 121A and 121B are attached to the forearm 1.
It may be used for 00d. In this case, when both treatment members 121A and 121B move, the forearm 100
The position of the gripping and kneading portion in the plurality of d can be changed.

136 and 137 show an example of the massage unit 10. The massage unit 10 shown in FIGS. 136 and 137 has substantially the same configuration as the massage unit 10 shown in FIGS. 128 to 130. The difference is that the first support member 153a and the second support member 153b in the massage unit 10 shown in FIGS. 136 and 137 are independently configured to be movable in the X direction.

In the massage unit 10 of FIGS. 136 and 137, the first mechanism unit 103A for moving the first treatment member 121A includes a mechanism for moving the first support member 153a and a mechanism for moving the second support member 153b. ing. First support member 1 of the first support member 153a
A nut portion 156 is connected to 53a and the second support member 153b, respectively. Similarly, a nut portion 156 is connected to the first support member 153a and the second support member 153b of the second treatment member 121B, respectively.
Each of the nut portions 156 moves linearly by the rotation of the screw shaft 155 that is rotationally driven by the drive portion 154. Each screw shaft 155 faces a direction (X direction) that intersects the direction (Z direction) of the muscle fibers of the hand 100c. The rotationally driven screw shaft 155 has a nut portion 156, FIG.
Move in the X direction of 37.
With the above configuration, in the massage unit 10 shown in FIGS. 136 and 137, the paired air cells 101a and 101b can move independently. FIG. 13
6 and the screw shaft 155 of FIG. 137 may also be oriented in other directions included in the in-plane direction intersecting the Y direction and the direction of the muscle fiber. The pair of air cells 101a and 101b may be driven by a common drive unit and move in conjunction with each other. In this case, the pair of air cells 101a,
Although the 101b moves in conjunction with each other, it is possible to make the movements of the paired air cells 101a and 101b different.

FIG. 138 shows a body part (hand 100c or forearm 1) by air cells 101a and 101b.
It shows a state in which one air cell (first air cell) 101a is reciprocated in the X direction while the position of the other air cell (second air cell) 101b is fixed while the 00d) is grasped and kneaded. In this case, the first air cell 10 is on the upper side of the hand 100c or the forearm 100d in FIG. 138.
Since 1a moves in the X direction (left-right direction; direction orthogonal to the muscle fiber), it is possible to loosen the muscle at the portion where the first air cell 101a is in contact.

FIG. 139 shows the body part (hand 100c or forearm 1) by the air cells 101a and 101b.
It shows a state in which the pair of air cells 101a and 101b are simultaneously reciprocated in the X direction while grasping and kneading 00d). The paired air cells 101a and 101b operate synchronously in the same direction so as to maintain their relative positional relationship, for example. In this case, since the air cells 101a and 101b operate in the direction of intersecting the muscle fibers, the action of loosening the muscles can be obtained.
As shown in FIG. 140, the paired air cells 101a and 101b may reciprocate in the opposite directions in synchronization so that their relative positional relationship changes. In this case, the action of moving the muscles in opposite directions can be obtained. The reciprocating motions of the paired air cells 101a and 101b may have different cycles or strokes of the reciprocating motions.

FIG. 141 shows a body part (hand 100c or forearm 1) by air cells 101a and 101b.
It shows a state in which one air cell (second air cell) 101b is reciprocated in the X direction while the position of the other air cell (first air cell) 101a is fixed while the 00d) is grasped and kneaded. In this case, the second air cell 10 is on the lower side of the hand 100c or the forearm 100d in FIG. 141.
Since 1b moves in the X direction (left-right direction; direction orthogonal to the muscle fiber), it is possible to loosen the muscle at the portion where the second air cell 101b is in contact.

FIGS. 142 to 144 show an example of the massage unit 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the hand 100c and the forearm 100d are the hand 100.
It faces the longitudinal direction of c and the forearm 100d (Z direction in FIG. 142).

The massage unit 10 has a treatment unit 101 for massaging (grasping and rubbing) the hands 100c and the forearms 100d. The treatment unit 101 has a first treatment member 121A for massaging (grasping and kneading) the hand 100c and a second treatment member 1 for massaging (grabbing and rubbing) the forearm 100d.
21B and.
The number of the treatment members 121A and 121B provided on the armrest portion 4 may be one or three or more. The treatment members 121A and 121B shown in FIGS. 142 to 144 may be provided in the massage device 1 so as to massage (grab and knead) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.

The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are arranged so as to have a space between them so that the hand 100c to be massaged can be placed. Each of the pair of pressing members 101a and 101b is composed of an air cell. Of the pair of pressing members 101a and 101b, the upper pressing member 1
The number of air cells constituting 01a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b receive air supply and exhaust by an air circuit (not shown). The air cells 101a and 101b expand and contract due to air supply and exhaust. The pair of expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 143). Gripping and kneading can be obtained by pressing the pair of air cells 101a and 101b.

The first treatment member 121A is in the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c;
Grasp and knead the hand 100c from the direction intersecting (Z direction in FIG. 142) (Y direction in FIG. 142).
Gripping and kneading is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. in this way,
For grabbing and rubbing, a simple operation of sandwiching the body part 100 is sufficient.

The second treatment member 121B has the same configuration as the first treatment member 121A and operates in the same manner. That is, the second treatment member 121B has a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is composed of an air cell.

The massage unit 10 of FIGS. 142 to 144 further includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 has a first mechanism unit 103A for moving the first treatment member 121A and a second mechanism unit 103A for moving the second treatment member 121B.
The mechanism unit 103B and the like are included.

The first mechanism unit 103A includes a first support member 153a to which one of the paired air cells 101a and 101b (first air cell) 101a is attached, and the other air cell (second air cell).
The second support member 153b to which the air cell) 101b is attached, the third support member 153c that connects the first support member 153a and the second support member 153b on the outside (pinkie side) of the hand, and the second
A rod 158 connected to the support member 153b via a ball joint 159, and an eccentric cam 157 provided at the end of the rod 158 on the side opposite to the ball joint 159 side.
A first screw shaft 155a and a holding portion 156a are provided. The first screw shaft 155a is rotationally driven by the first driving unit 154a provided in the holding unit 156a. Holding part 156a
A nut portion 156b is attached to the. The nut portion 156b is a second drive portion 154.
It is screwed onto the second screw shaft 155b which is rotationally driven by b.

The first screw shaft 155a faces the direction (X direction) intersecting the direction (Z direction) of the muscle fibers of the hand 100c or the forearm 100d. Eccentric cam 1 rotationally driven by the first screw shaft 155a
57 is rotatably held at the end of the rod 158. Second support member 153b
1 extends toward the holding portion 156a and has a tip inserted into the holding portion 156a.
It has 53d. The regulating member 153d is, for example, a rod-shaped member, and its tip is located in the holding portion 156a through a through hole 156c provided in the holding portion 156a. The regulating member 153d is slidable with respect to the peripheral surface forming the through hole 156c, whereby
The second support member 153b is allowed to move in the vertical direction (Y direction), but in the front-rear direction (Z).
Regulate swaying in the direction).

The eccentric cam 157 rotates eccentrically with the rotation of the first screw shaft 155a driven by the first drive unit 154a, and supports members 153a, 153b, 153c via a rod 158 attached to the eccentric cam 157. Move back and forth in the vertical direction (Y direction). Support member 15
By moving 3a, 153b, 153c in the Y direction, the air cells 101a, 101b
Also moves in the Y direction. In this way, the air cells 101a and 101b can move in the Y direction.

The second screw shaft 155b faces the direction (X direction) at which the muscle fiber (Z direction) of the hand 100c intersects. The second screw shaft 155b rotationally driven by the second drive unit 154b has a nut portion 1
56b is moved in the X direction. As the nut portion 156b moves in the X direction, the air cells 101a and 101b also move in the X direction. Therefore, when the first drive unit 154a and the second drive unit 154b operate at the same time, the air cells 101a and 101b can move in the Y direction while moving in the X direction. In this case, the treated portions 100c and 100d can be massaged in a wide range. The first drive unit 154a and the second drive unit 154b may operate independently.

The second screw shaft 155b may be arranged in a direction other than the X direction included in the XY plane (another in-plane direction). In this case, the air cells 101a and 101b can move in other directions in the XY plane.
In FIGS. 142 to 144, the XY plane is a plane in a direction orthogonal to the direction of the muscle fiber (Z direction). However, the directions in which the air cells 101a and 101b can move are not limited to the directions orthogonal to the Z direction, and any direction intersecting the Z direction is sufficient.

The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes the support members 153a, 153b, 153c and the rod 15.
8, ball joint 159, eccentric cam 157, first screw shaft 155a, and holding portion 1
It has 56a, a nut portion 156b, a second screw shaft 155b, and a regulating member 153d. The first screw shaft 155a of the second mechanism unit 103B is rotationally driven by the first drive unit 154a, and the second screw shaft 155b is rotationally driven by the second drive unit 154b.
In FIGS. 142 to 144, the first mechanism unit 103A and the second mechanism unit 103B are driven by separate second drive units 154b, but the first mechanism unit 103A and the second mechanism unit 1
03B may be driven by a common second drive unit 154b.

As shown in FIG. 143, by operating the first drive unit 154a in a state where the hand 100c or the forearm 100d is grasped and kneaded by the expansion of the air cells 101a and 101b, the treated portion 100c and 100d are grasped and kneaded while being kneaded. The treated portions 100c and 100d can be grasped and moved in the direction of kneading. In FIG. 143, when the first treatment unit 121A is moving downward, the second treatment member 121B is moving upward. In this way, the first treatment members 121A, 1
By moving the 21B so as to change the relative positional relationship, a stretching action of bending the wrist joint up and down can be obtained. Further, in the present embodiment, since the first treatment members 121A and 121B also move in the left-right direction (X direction), a stretching effect of bending the wrist joint left and right can also be obtained.
Both members 121A and 121B may be moved upward or downward at the same time so as to maintain the relative positional relationship between the first treatment member 121A and the second treatment member 121B. Further, the pair of pressing members 101a and 101b constituting the treatment members 121A and 121B may be moved independently. At this time, the massage feeling can be changed by moving the pair of pressing members 101a and 101b so that the relative positional relationship between the pair of pressing members 101a and 101b changes.

The first treatment member 121A and the second treatment member 121B may be arranged so that the joint (wrist joint) is not located between them. For example, both treatment members 121A and 121B are attached to the forearm 1.
It may be used for 00d. In this case, when both treatment members 121A and 121B move, the forearm 100
The position of the gripping and kneading portion in the plurality of d can be changed.

FIGS. 145 to 147 show an example of the massage unit 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage involves grabbing and rubbing the body part 100.

The massage unit 10 massages (grabbing and rubbing) the forearm 100d and the upper arm 100a.
It has a treatment unit 101 to be treated. The treatment unit 101 includes a first treatment member 121A for massaging (grasping and kneading) the forearm 100d, which is the first range, and a second treatment member 121B for massaging (grabbing and rubbing) the upper arm 100a, which is the second range. The elbow joint is located between the forearm 100d, which is the first range, and the upper arm 100a, which is the second range.
The number of the treatment members 121A and 121B provided on the armrest portion 4 may be one or three or more. The treatment members 121A and 121B shown in FIGS. 145 to 147 may be provided in the massage device 1 so as to massage (grab and knead) the neck, shoulders, hands, thighs, lower legs, feet, and other body parts. good.

The massage unit 10 includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. As the mechanism unit 103A for moving the first treatment member 121A, the same mechanism unit 103 as shown in FIGS. 128 to 135 or 136 to 141 is adopted. Therefore, the first treatment member 121A can move in the left-right direction (X direction; the first direction included in the in-plane direction intersecting the direction of the muscle fibers of the forearm 100d). As the mechanism unit 103B for moving the second treatment member 121B, the one shown in FIG. 146 is adopted. The mechanism unit 103B of FIG. 146 attaches the second treatment member 121B in the vertical direction (Y direction; upper arm 100d).
It is for moving in the second direction included in the in-plane direction intersecting the direction of the muscle fibers of the above.
The mechanism unit 103B of FIG. 146 vertically (vertically) the screw shaft 155 of the mechanism unit 103 shown in FIG. 130.
The nut portion 156, which is arranged toward (Y direction) and is linearly moved by the screw shaft 155, is
It is connected to the third support member 153c. As the mechanism unit 103B for moving the second treatment member 121B in the vertical direction, the mechanism unit 103 shown in FIGS. 142 to 144 may be adopted.

As shown in FIG. 147, the first treatment member 121A is movable in the left-right direction (first direction), whereas the second treatment member 121B is movable in the up-down direction (second direction). .. The first treatment member 121A and the second treatment member 121B can move while grasping and kneading the body parts 100d and 100a. In addition, the first treatment member 121A and the second treatment member 1
The 21B can move in a state where the body parts 100d and 100a are not grasped and kneaded, and then the body parts 100d and 100a can be grasped and kneaded.

148 and 149 show an example of the massage unit 10. As a treatment unit, the massage unit 10 massages (grabbing and rubbing) the left and right shoulders with a pair of shoulder treatment members 121A-1 and 121A-2, and massages (grabbing and rubbing) each of the left and right shoulders.
A pair of neck treatment members 121B-1 and 121B-2 and a pair of upper arm treatment members 121C-1 and 121C-2 for massaging (grasping and kneading) the left and right upper arms are provided.

These treatment members 121A-1, 121A-2, 121B-1, 121B-2, 121
C-1 and 121C-2 have a pair of pressing members (air cells) like the treatment members 121A and 121B shown in FIGS. 128 to 147. Shoulder treatment members 121A-1, 121A-
In 2, for example, the shoulder 100h can be pressed from the front-back direction (Z direction). The neck treatment members 121B-1 and 121B-2 can press the neck 100i from the front-back direction (Z direction), for example. The upper arm treatment members 121C-1 and 121C-2 are, for example, the upper arm 100a.
Can be pressed from the front-back direction (Z direction).

The massage units 10 of FIGS. 148 and 149 are the treatment members 121A-1,121, respectively.
A mechanism for moving A-2, 121B-1, 121B-2, 121C-1, 121C-2 in the in-plane direction intersecting the muscle fibers of the body parts 100h, 100i, 100a to be massaged is provided. There is. As this mechanical unit, the mechanical unit 103 shown in FIGS. 128 to 147 (
103A, 103B) can be adopted. The mechanical part is a shoulder treatment member 121A-1, 121A-
For example, the shoulder treatment members 121A-1 and 121A-2 can be moved in the Z direction or the Y direction, which is the in-plane direction intersecting the muscle fiber direction (X direction) of the shoulder 100h. In addition, the mechanism unit uses the neck treatment members 121B-1 and 121B-2 in the X direction or the Z direction, which is an in-plane direction intersecting the muscle fiber direction (Y direction) of the neck 100i, for example. 121B-1,
121B-2 can be moved. In addition, the mechanical part is a treatment member 121C-1 for the upper arm.
, 121C-2 can move the upper arm treatment members 121C-1 and 121C-2 in the X direction or the Z direction, which is the in-plane direction intersecting the muscle fiber direction (Y direction) of the upper arm 100a.

The mechanical parts of the massage unit shown in FIGS. 148 and 149 are the treatment members 121A-1, 121A-2, which are gripping and kneading while being gripped and kneaded by each treatment member.
By moving any or all of 121B-1, 121B-2, 121C-1, 121C-2, each treatment unit 121A-1, 121A-2, 121B-1, 121B-2
, 121C-1 and 121C-2 can be changed to change the massage feeling.

For example, as shown in FIG. 149, the shoulder treatment members 121A-1, 121A-2 are gripped and rubbed against the left and right shoulders by the shoulder treatment members 121A-1, 121A-2.
By moving the shoulder downward (in the Y direction), a massage that presses the shoulder downward while grasping the shoulder can be obtained.

150 shows the directions of muscle fibers 163a to 163i in the body part suitable for providing the massage unit 10 shown in FIGS. 128 to 149, and the treatment unit 101 (treatment member 121A,
An example of the movement (reciprocating movement) directions 170A and 170B of 121B) is shown. As shown in FIG. 150, the treatment unit 101 (treatment members 121A, 121B) has muscle fiber directions 163a to 16
Assuming a plane 165 that intersects (orthogonally) 3i, the in-plane direction (for example, FIG. 150)
It moves in the direction of 170A, 170B). Direction 170A and 170B in FIG. 150 are shown in FIGS. 128 to 128.
Corresponds to the X or Y direction of FIG. 141. The in-plane directions are the directions 170A and 170 in FIG. 150.
It is not limited to B, and may be in another in-plane direction.

<Section 4: Movement of muscle fibers in body parts>
The embodiments in this section will be listed and described. The reference numerals given in the explanations in this section are shown in FIG.
And are used in FIGS. 151-173.
[Explanation of Embodiments of the Present Invention]
(72) The massage device (one embodiment) 1 of the present invention includes a treatment unit 101 that grips and massages a body part, and a body that is gripped and massaged while the treatment unit grips and massages. The mechanism unit 103 that moves the treatment unit in the direction of movement along the direction of the muscle fibers at the site, and
It has.

By moving the treatment unit 101 in the direction of the muscle fibers of the body part 100 where the gripping and kneading is performed, further movement is added to the gripping and kneading, and the massage feeling is improved as compared with the simple gripping and kneading. The directions of the muscle fibers include, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the lateral direction of the shoulder, the longitudinal direction of the neck, and the longitudinal direction of the finger. In the case of the treatment unit 101 that grips and massages the arm, leg, or neck, the treatment unit 101 moves, for example, in the longitudinal direction of the arm, leg, or neck. Treatment department 1 that grips and massages the shoulders
In the case of 01, the treatment unit 101 moves, for example, in the left-right direction of the shoulder. In the case of a massage device provided with a treatment unit 101 that grips and massages a finger, it is preferable that a finger positioning member is further provided.

The movement of the treatment unit 101 need only have a movement component in the direction of the muscle fiber as a main component of the movement, and may have a movement component in another direction. The movement component in the other direction is, for example, a movement component in the direction intersecting the muscle fiber. The movement of the treatment unit 101 does not have to be a linear movement, but may be a curved movement.

The mechanical unit 103 does not need to move the entire treatment unit 101, and may move at least a part of the treatment unit 101. When the treatment unit 101 includes a pair of pressing members 101a, 101b described later, the mechanism unit 103 moves at least one of the pair of pressing members 101a, 101b.

(73) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and rubbed.
1A and 2nd treatment member 121B are included, and 1st treatment member 121A and 2nd treatment member 121B
Are juxtaposed in the direction intersecting the direction of the muscle fibers of the body part, and the mechanism unit 103 is the first treatment member 1
It is preferable that at least one of the first treatment member and the second treatment member is moved in the moving direction so that the relative positional relationship between the 21A and the second treatment member 121B changes. The first treatment member 121A and the second treatment member 121B may be arranged so as to be offset in the direction of the muscle fibers. The relative positional relationship between the first treatment member 121A and the second treatment member 121B can be changed, for example, by moving only one of them or moving in opposite directions, or by having different moving speeds. ..

(74) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and massaged.
1A and 2nd treatment member 121B are included, and 1st treatment member 121A and 2nd treatment member 121B
Are juxtaposed in the direction intersecting the direction of the muscle fibers of the body part, and the mechanism unit 103 is the first treatment member 1
While maintaining the relative positional relationship between 21A and the second treatment member 121B, the first treatment member 121A
And the second treatment member 121B may be configured to move in the moving direction.

(75) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and massaged.
The mechanism unit 103 includes the first treatment member 121A and the second treatment member 121B, and the mechanism unit 103 includes the first treatment member 121A and the second treatment member 121B.
At least one of the treatment members 121B is configured to move in the moving direction, and the first treatment member 121A and the second treatment member 121B are the first range of the body to be gripped and kneaded by the first treatment member 121A, and the first 2 It is preferable that the second range of the body to be gripped and kneaded by the treatment member 121A is provided so as to be included in the same range not including the joints of the body.

(76) The body part is preferably an upper limb or a lower limb.

(77) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and rubbed.
The first treatment member 121A includes 1A and the second treatment member 121B so as to perform gripping and kneading on the wrist, and the second treatment member 121B is gripped on the forearm at a position closer to the elbow than the first treatment member 121A. The mechanism unit 103 is provided so as to perform kneading, and the mechanism unit 103 is the first treatment member 1.
The first treatment member 1 is being gripped and rubbed by the 21A and the second treatment member 121B.
It is preferable that the second treatment member 121B is configured to move away from 21A.
The first treatment member 121A and the second treatment member 121B may be provided so as to grab and knead other body parts. For example, the first treatment member 121A grabs and rubs the foot, and the second treatment member 12
1B may grab and rub the lower leg. Further, the first treatment member 121A may grab and knead the toes of the foot, and the second treatment member 121B may grab and knead the heel. Further, the first treatment member 121A may grab and knead the ankle, and the second treatment member 121B may grab and knead the calf.

(78) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and rubbed.
The mechanism unit 103 includes the first treatment member 121A and the second treatment member 121B, and the mechanism unit 103 includes the first treatment member 121A and the second treatment member 121B.
While the treatment member is being gripped and rubbed by 121B, the second treatment member 121B is rotated around the center of rotation 102 along the direction of the muscle fiber, and the second treatment member is moved away from the first treatment member 121A. It is preferably configured to move 121B.

(79) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and massaged.
The mechanism unit 103 includes the first treatment member 121A and the second treatment member 121B, and the mechanism unit 103 includes the first treatment member 121A and the second treatment member 121B.
The first treatment member 121A and the second treatment member 121A and the second while the treatment member 121B is gripping and kneading.
It is configured to move at least one of the first treatment member 121A and the second treatment member 121B in the movement direction while rotating at least one of the treatment members 121B around the center of rotation along the direction of the muscle fibers. It is preferable to have.

(80) The mechanism unit 103 rotates the first treatment member 121A and the second treatment member 121B at the rotation center 1.
The first treatment member 121A and the second treatment member 121 while rotating in opposite directions around 02.
The first treatment member 121A and the second treatment member 121B so that the relative distance from B becomes large.
It is preferable that at least one of the above is moved in the moving direction.

(81) The treatment unit 101 is a pair of pressing members 10 for gripping and kneading the body part.
Including 1a and 101b, the mechanism unit 103 moves at least one of the pair of pressing members 101a and 101b in the moving direction so that the relative positional relationship between the pair of pressing members 101a and 101b changes. It is preferably configured to move to.

(82) The mechanism unit 103 is preferably configured to move the pair of pressing members 101a and 101b so as to move in opposite directions to each other.

(83) The body part is a shoulder, and the mechanical part 103 is configured to move the treatment part 101 in a direction along the muscle fibers in the shoulder while the treatment part 101 is gripping and rubbing the shoulder. Is preferable.

(84) The treatment unit 101 is the first treatment member 121A that grips and massages one of the left and right shoulders.
And a second treatment member 121B that grips and massages the other left and right shoulders, and includes the mechanism unit 1
In the state where the first treatment member 121A and the second treatment member 121B are gripping and rubbing the left and right shoulders, the first treatment member 121A and the second treatment member 121B are respectively along the muscle fibers in the shoulder. It is preferably configured to move in the direction.

(85) The treatment unit 101 is a first treatment member 12 in which each body part is gripped and massaged.
1A, 2nd treatment member 121B, 3rd treatment member 121C, 1st treatment member 121A
Is provided to perform gripping and kneading with respect to the first range of the body, and the second treatment member 121B is a range different from the first range via at least one joint with the first range. The third treatment member 121C is different from the first range and the second range through at least one other joint between the second range and the second range. It is preferable that the third range of the body, which is the range, is provided so as to perform gripping and kneading. For example, the first 1
The third range is selected from the group consisting of hands, forearms, upper arms, shoulders and neck, respectively. In addition, the first to third ranges are selected from the group consisting of legs, lower legs, thighs, hips, back, shoulders, and neck, respectively.

(86) The mechanism unit 103 performs gripping and kneading in a state where two or more of the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping and kneading. It is preferable that at least one of the two or more treatment members is moved in the moving direction.

(87) The mechanical unit 103 has the first treatment member 121A, the second treatment member 121B, and the second treatment member 121B in a state where the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping and kneading. It is preferable that at least one of the third treatment member 121C is configured to move in the moving direction.

(88) The mechanism unit 103 moves the second treatment member 121B in the moving direction in a state where the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping and kneading. It is preferably configured. The second treatment member 121B is preferably located between the first treatment member 121A and the third treatment member 121C.

(89) The mechanism unit 103 holds the first treatment member 121A and the third treatment member 121C in a state where the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping and kneading. It is preferably configured to move in the moving direction.

[Details of Embodiments of the present invention]
FIGS. 151 to 158 show an example of the massage unit 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, a hand 100c and a forearm 100d. Massage is
Includes grabbing and rubbing of body part 100. The muscle fibers of the hand 100c and the forearm 100d are the hand 100c.
And the forearm 100d is oriented in the longitudinal direction (Z direction in FIG. 151).

The massage unit 10 has a treatment unit 101 for massaging (grasping and rubbing) the hands 100c and the forearms 100d. The treatment unit 101 has a pair of hand treatment members 121A-2, 121B-2 for massaging (grasping and kneading) the hand 100c and a pair of forearm treatment members 121A-1, 121B- for massaging (grasping and rubbing) the forearm 100d. It has 1 and. The pair of hand treatment members 121A-2 and 121B-2 are arranged side by side in the left-right direction (X direction), which is the direction intersecting the muscle fiber direction (Z direction) of the hand 100c. Pair of hand treatment members 121A-2,121
The B-2s are arranged so as to face each other so that the hand 100c is located between them.
The pair of forearm treatment members 121A-1 and 121B-1 are also arranged side by side in the left-right direction (X direction), which is the direction intersecting the muscle fiber direction (Z direction) of the forearm 100d. Pair of forearm treatment members 12
1A-1 and 121B-1 are arranged so as to face each other so that the forearm 100d is located between them. In addition, in FIG. 151, two pairs of treatment members 1 for the hand 100c and the forearm 1
Although 21A-2, 121B-2, 121A-1, 121B-1 are provided, they may be paired or may be three or more pairs. Treatment members 121A-2, 121B shown in FIGS. 151 to 158
-2, 121A-1, 121B-1 may be provided in the massage device 1 so as to massage (grab and knead) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts.

As shown in FIG. 152, each treatment member 121A-2, 121B-2, 121A-1, 12
1B-1 has a pair of pressing members 101a and 101b, respectively. Note that FIG. 152
Indicates the configuration of the treatment members 121A-2, 121A-1, and the treatment members 121B-2, 121
The configuration of B-1 is a left-right reversal of the configuration shown in FIG. 152.

The pair of pressing members 101a and 101b are arranged so as to have a space between them so that the hand 100c or the forearm 100d to be massaged can be placed. Pair of pressing members 101a
, 101b are each composed of an air cell. Pair of pressing members 101a, 10
Of 1b, the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b receive air supply and exhaust by an air circuit (not shown). The air cells 101a and 101b expand and contract due to air supply and exhaust. The pair of inflated air cells 101a, 101b is a hand 100c or a forearm 100.
Press from both sides of d. Gripping and kneading can be obtained by pressing the pair of air cells 101a and 101b. The treatment members 121A-1 and 121A-2 of FIG. 152 are the hand 100c or the forearm 10.
Grasp and knead the hand 100c or the arm 100d from the direction of the muscle fiber (Y direction) at 0d.

The massage units 10 of FIGS. 151 to 158 are the treatment members 121A-2 and 121B, respectively.
Further, a mechanical unit 103 for moving −2, 121A-1 and 121B-1 is provided. The mechanism unit 103 is a plurality of mechanism units 103A-2, 103B-2, 103A-1, 103B that move each of the four treatment members 121A-2, 121B-2, 121A-1, 121B-1.
Contains -1. Each mechanism part 103A-2, 103B-2, 103A-1, 103B-1
Is a first support member 153a to which one of the paired air cells 101a and 101b (first air cell) 101a is attached, and the other air cell (second air cell), respectively.
A second support member 153b to which the 101b is attached, a third support member 153c that connects the first support member 153a and the second support member 153b on the outside of the hand, and a nut portion 156 attached to the third support member 153c. Screw shaft 1 that linearly moves the nut portion 156 by rotation
It is equipped with 55. The screw shaft 155 is rotationally driven by the drive unit 154. When the screw shaft 155 is rotationally driven by the drive unit 154, the nut unit 156 moves in the moving direction along the muscle fiber direction (Z direction) of the hand 100c or the forearm 100d. By moving the nut portion 156 in the Z direction, each treatment member 121A-2, 121B-2, 121A-1,1
21B-1 can also move in the Z direction.

The mechanical part includes a plurality of treatment members 121A-2, 121B-2, 121A-1, 121B-1.
In the state where the body parts 100c and 100d are gripped and kneaded by any or all of the above, in the moving direction (Z direction) along the direction of the muscle fibers of the body parts 100c and 100d where the gripping and kneading is performed. Treatment members 121A-2, 121B-2, 121A-1 that are being grabbed and rubbed
, 121B-1 can be moved. In addition, each treatment member 121A-2, 121B-
2,121A-1 and 121B-1 can move independently.

For example, as shown in FIG. 153, one of the pair of hand treatment members 121A-2 and 121B-2 (first treatment member) 121A-2 is moved in the Z direction (elbow side) of FIG. 153. By not moving the other treatment member 121B-2 (second treatment member) 121B-2,
The relative positional relationship between both treatment members 121A-2 and 121B-2 changes, and both treatment members 121A-
There is a change in the feeling of massage due to 2,121B-2.
Similarly, one of the pair of forearm treatment members 121A-1 and 121B-1 (the first treatment member 121A-1 is moved in the Z direction (elbow side), while the other treatment member (second treatment member). )
By not moving the 121B-1, the relative positional relationship between the two treatment members 121A-1 and 121B-1 changes, and the massage feeling of both the treatment members 121A-1 and 121B-1 changes. The positional relationship between the two treatment members may be changed by moving both the treatment members together and changing the moving speeds thereof.

Further, for example, each treatment member 121A-2, 121B-2, 121A-1, 121B-1
However, in the state of grasping and kneading at the position of FIG. 154, as shown in FIG. 155, all the treatment members 121A-2, 121B-2, 121A-1, 121B-1 are moved in the Z direction (elbow side). By moving, each treatment member 121A-2, 121B-2, 121A-1, 121B-1
Each treatment member can be moved while maintaining the relative positional relationship of. In this case, the position of the gripping and kneading can be changed while the gripping and rubbing.

156 to 161 show an example of the massage unit 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, an upper limb such as a hand 100c and a forearm 100d. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction of the hand 100c and the forearm 100d (Z direction in FIG. 156).

The massage unit 10 has a treatment unit 101 for massaging (grasping and rubbing) the hand 100c or the forearm 100d. The treatment unit 101 includes a first treatment member 121A for massaging (grasping and kneading) the hand 100c or the forearm 100d, and a second treatment member 121B for massaging (grabbing and rubbing) the forearm 100d.
The number of the treatment members 121A and 121B provided on the armrest portion 4 may be one or three or more. The treatment members 121A and 121B shown in FIGS. 156 and 161 are the neck, shoulder, upper arm, and the like.
The massage device 1 may be provided so as to massage (grab and knead) the thighs, lower legs, feet, and other body parts.

The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b have a forearm 100d (or a hand 100c) to be massaged between them.
) Are arranged so as to have a space in which they can be arranged. Pair of pressing members 101a, 101
b Each is composed of an air cell. Of the pair of pressing members 101a and 101b, the number of air cells constituting the upper pressing member 101a is two, and the lower pressing member 10
The number of air cells constituting 1b is one. The air cells 101a and 101b receive air supply and exhaust by an air circuit (not shown). The air cells 101a and 101b expand and contract due to air supply and exhaust. The pair of expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 157). Gripping and kneading can be obtained by pressing the pair of air cells 101a and 101b.

The first treatment member 121A grips and massages the forearm 100d from the direction (Y direction in FIG. 156) intersecting the direction of the muscle fibers in the forearm 100d (longitudinal direction of the forearm 100d; Z direction in FIG. 156).
Gripping and kneading is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. in this way,
For grabbing and rubbing, a simple operation of sandwiching the body part 100 is sufficient.

The second treatment member 121B has the same configuration as the first treatment member 121A and operates in the same manner. That is, the second treatment member 121B has a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is composed of an air cell.

The massage unit 10 of FIGS. 156 to 161 further includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 has a first mechanism unit 103A for moving the first treatment member 121A and a second mechanism unit 103A for moving the second treatment member 121B.
The mechanism unit 103B and the like are included.

The first mechanism unit 103A includes a first support member 153a to which one of the paired air cells 101a and 101b (first air cell) 101a is attached, and the other air cell (second air cell).
The second support member 153b to which the air cell) 101b is attached, the third support member 153c that connects the first support member 153a and the second support member 153b on the outside (pinkie side) of the hand, and the third
A nut portion 156 connected to the support member 153c and a screw shaft 155 for linearly moving the nut portion 156 are provided. The screw shaft 155 is rotationally driven by the drive unit 154. The screw shaft 155 is provided so that the axial direction is the Z direction, and the screw shaft 1 is provided by the drive unit 154.
When the 55 is rotationally driven, the nut portion 156 moves in the Z direction, and the first treatment member 121A is Z.
Move in the direction.

The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes the support members 153a, 153b, 153c and the nut portion 1.
It has 56 and a screw shaft 155. The screw shaft 155 of the second mechanism unit 103B is also the drive unit 154.
Driven by rotation.

In FIG. 156, both the first treatment member 121A and the second treatment member 121B are arranged so as to massage the forearm 100d. The first treatment member 121A is a forearm 100.
The first range, which is the range on the wrist side of d, is massaged, and the second treatment member 121B is the forearm 100.
Massage the second range, which is the range on the elbow side of d. Both the first range and the second range are within the same range of the forearm 100d (the range not including the joint) between the wrist joint and the elbow joint.

As shown in FIG. 157, the forearm 100d is being grasped and kneaded by the first treatment member 121A and the second treatment member 121B, and further, as shown in FIG. 158, the second treatment member 1
By moving 21B backward (elbow side), massage can be performed so as to extend the forearm 100.

Further, in FIG. 159, the first treatment member 121A is arranged so as to massage the wrist, and the second treatment member 121B is to grip and massage the forearm 100d at a position closer to the elbow than the first treatment member 121A. Is located in. As shown in FIG. 160, while the wrist and forearm 100d are being grasped and massaged by the first treatment member 121A and the second treatment member 121B, the second treatment member 121B is further rearward (as shown in FIG. 161). By moving it to the elbow side), it is possible to massage so as to extend the forearm 100a.

FIG. 162 shows an example of the massage unit 10. This massage unit 16
Reference numeral 2 denotes a massage unit 10 of FIGS. 156 to 161 arranged side by side so as to correspond to each of the left and right legs (lower limbs). In other respects, the massage unit 10 of FIG. 162 is similar to the massage unit 10 of FIGS. 156 to 161. With the massage unit 10 of FIG. 162, each of the left and right lower legs 100f can be massaged in the same manner as the forearm 100d.

163 to 167 show an example of the massage unit 10. The massage unit 10 is provided on the armrest portion 4, for example, and massages the body portion 100 of the person to be treated. The body part 100 is, for example, an upper limb such as a hand 100c and a forearm 100d. The massage involves grabbing and rubbing the body part 100. The muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction of the hand 100c and the forearm 100d (Z direction in FIG. 163).

The massage unit 10 has a treatment unit 101 for massaging (grasping and rubbing) the hand 100c or the forearm 100d. The treatment unit 101 includes a first treatment member 121A for massaging (grasping and kneading) the hand 100c or the forearm 100d, and a second treatment member 121B for massaging (grabbing and rubbing) the forearm 100d.
The number of the treatment members 121A and 121B provided on the armrest portion 4 may be one or three or more. The treatment members 121A and 121B shown in FIGS. 163 to 167 include the neck, shoulders, and upper arms.
The massage device 1 may be provided so as to massage (grab and knead) the thighs, lower legs, feet, and other body parts.

The first treatment member 121A has a pair of pressing members 101a and 101b (see FIG. 165). The pair of pressing members 101a and 101b have the forearm 100d to be massaged between them.
(Or hands 100c) are arranged to face each other so as to have a space in which they can be arranged. Each of the pair of pressing members 101a and 101b is composed of an air cell. Air cell 101a,
101b receives air supply and exhaust by an air circuit (not shown). The air cells 101a and 101b expand and contract due to air supply and exhaust. The pair of expanded air cells 101a and 101b are hand 100c.
Press from both sides of. Gripping and kneading can be obtained by pressing the pair of air cells 101a and 101b.

The first treatment member 121A is directed by the muscle fibers in the hand 100c or the forearm 100d (FIG. 16).
Hand 100c or forearm 100 from the direction intersecting (Z direction of 3) (for example, Y direction of FIG. 163)
Grip and massage d. Gripping and kneading is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the gripping and kneading is sufficient with a simple operation of sandwiching the body part 100.

The second treatment member 121B has the same configuration as the first treatment member 121A and operates in the same manner. That is, the second treatment member 121B has a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is composed of an air cell.

The massage unit 10 of FIGS. 163 to 167 further includes a mechanism unit 103 for moving the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 has a first mechanism unit 103A for moving the first treatment member 121A and a second mechanism unit 103A for moving the second treatment member 121B.
The mechanism unit 103B and the like are included.

As shown in FIG. 165 (b), the first mechanism portion 103A and the second mechanism portion 103B each include a first support member 113a to which a pair of air cells 101a and 101b are attached. The first support member 113a is formed in a ring shape. Pairs of air cells 101a and 101b are arranged to face each other on the inner peripheral surface of the first support member 113a. The patient is 100 hands
c or the forearm 100d can be inserted into the first support member 113a from one of the openings on both sides of the first support member 113a in the longitudinal direction. Hand 100 inserted in the first support member 113a
c or the forearm 100d is located between the pair of air cells 101a, 101b.
The first support member 113a is a second support member 1 provided on the outer peripheral side of the first support member 113a.
With respect to 13b, it is rotatably supported around the center of rotation 102 via a guide (not shown). The second support member 113b is configured as a cover that covers the first support member 113a.

The first mechanism portion 103A and the second mechanism portion 103B each further include a rack 114 formed on the outer peripheral side of the first support member 113a over the entire circumference, and a pinion 111 that meshes with the rack 114. The pinion 111 includes a rotating shaft 112, and the rotating shaft 112 is rotationally driven by the first drive unit 154a to rotate the pinion 111. The rotation of the pinion 111 causes the first support member 113a to rotate around the rotation center 102. The air cells 101a and 101b have a rotation center 1 as the first support member 113a rotates.
It rotates around 02. The center of rotation 102 is the direction of the muscle fibers of the hand 100c or the forearm 100d (
Orientation along the longitudinal direction of the hand or forearm). The air cells 101a and 101b that rotate around the center of rotation 102 move along the circumferential direction of the hand 100c or the forearm 100d. The direction of gripping and kneading can be changed by moving the air cells 101a and 101b along the circumferential direction. The air cells 101a and 101b can rotate forward and reverse around the rotation center 102 by the forward and reverse rotation of the first drive unit 154a.

In FIG. 163, since the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B are rotationally driven by separate first drive units 154a, they can rotate independently of each other. is there. The air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B may be rotationally driven by a common drive unit.

The air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B are identified around the rotation center 102, respectively. The positions of the respective rotation centers 102 may be the same or may be different as shown in FIG. 164.
The position of the rotation center 102 can be different in at least one of the X direction and the Y direction of FIG. 164.
The mechanism for rotating the air cells 101a and 101b around the body part is not limited to the one having the rack 114 and the pinion 111, and it is sufficient if the air cells 101a and 101b are configured to rotate around the body part.

The first mechanism portion 103A and the second mechanism portion 103B each further include a nut portion 156 provided on the second support member 113b and a screw shaft 155 for linearly moving the nut portion 156. The screw shaft 155 is rotationally driven by the second drive unit 154b. Screw shaft 155
Is provided so that the axial direction is the Z direction, and the screw shaft 155 is provided by the second drive unit 154b.
Is rotationally driven, the nut portion 156 moves in the Z direction, and the first treatment member 121A and / or the second treatment portion 121B moves in the Z direction.

In FIG. 166 (a), the first treatment member 121A is arranged so as to massage the hand 100c, and the second treatment member 121B is arranged so as to massage the forearm 100d. At the position shown in FIG. 166 (a), the first treatment member 121A and the second treatment member 121B
However, while massaging (grasping and rubbing), the first mechanism part 103A and the second mechanism part 10
By operating the first drive unit 154a of either one or both of 3B, each treatment member 12
Either one or both of 1A and 121B can be rotated around the rotation center 102. As shown in FIG. 166 (a), the plurality of treatment members 121A and 121B may rotate in the same direction or may rotate in opposite directions to each other. By rotating in the same direction, hand 100
c and the entire forearm 100d can be twisted. The wrist can be twisted by rotating in the opposite direction.

At the position shown in FIG. 166 (a), the first treatment member 121A and the second treatment member 121B are
While massaging (grasping and rubbing), each treatment member 121A, 121B is rotated around the center 1
The second treatment member 121B can be moved as shown in FIG. 166 (b) while rotating around 02. That is, by moving the second treatment member 121B away from the first treatment member 121A (to the right in FIG. 166), the wrist can be extended while twisting. Figure 1
In 66, the first treatment member 121A was not moved in the Z direction and the second treatment member 121B was moved in the Z direction, but the second treatment member 121B was not moved in the Z direction and the first treatment member 121 was moved.
A may be moved in the Z direction.

In FIG. 167 (a), the first treatment member 121A is arranged so as to massage the vicinity of the wrist, and the second treatment member 121B is arranged so as to massage the forearm 100d.

At the position shown in FIG. 167 (a), the first treatment member 121A and the second treatment member 121B are
While massaging (grasping and rubbing), each treatment member 121A, 121B is rotated around the center 1
While rotating around 02, the first treatment member 121A and the second treatment member 121B are shown in FIG. 168.
It can be moved as in (b). That is, a twist is applied by moving the first treatment member 121A and the second treatment member 121B in the Z direction so that the relative distance between the first treatment member 121A and the second treatment member 121B in the Z direction becomes large. However, you can greatly extend your wrist. While the first treatment member 121A and the second treatment member 121B move in the Z direction,
By rotating around the rotation center 102 in opposite directions, a massage feeling including a pulling feeling and a twisting feeling can be obtained.

168 and 169 show an example of the massage unit 10. The massage unit 10 is a treatment member 121A-2 of the massage unit 10 of FIGS. 156 to 161.
, 121B-2, each of the pair of pressing members 101a and 101b constituting 121B-2 is configured to be independently movable. The pair of pressing members 101a and 101b constituting the treatment members 121A-1 and 121B-1 of the massage unit 10 of FIGS. 156 to 161 are respectively.
It may be configured to be independently movable.

Treatment members 121A-2, 121B- of the massage unit 10 of FIGS. 168 and 169.
The mechanism unit 103A-2 (103B-2,103) for moving 2 is a treatment member 121A-2.
, 121B-2, among the pair of pressing members (air cells) 101a and 101b, the first support member 153a for supporting the first air cell 101a and the second support member 153b for supporting the second air cell 101b are provided. ing. The first support member 153a and the second support member 153b are separated from each other and can move independently. The mechanism portion 103A-2 includes a first nut portion 156 attached to the first support member 153a, a first screw shaft 155 for linearly moving the first nut portion 156, and a second support member 153b attached to the second support member 153b. Nut part 156 and
A second screw shaft 155 that linearly moves the second nut portion 156 is further provided. Screw shaft 1
The 55 and 155 are rotationally driven by the drive units 154 and 154, respectively. Screw shaft 155
, 155 are axially oriented in the Z direction, and the pair of pressing members 101a and 101b are Z.
Can move in the direction.

When the pair of pressing members (air cells) 101a and 101b are present at the same position in the Z direction as shown in FIG. 168, the forearm 100d is grasped and kneaded, and in that state, FIG.
As in 9, the first air cell 101a moves to the elbow side, and the second air cell 101b moves to the hand 100c side in the opposite direction, so that the relative positions of both air cells 101a and 101b can be changed. In the case of FIG. 169, the relative distance between the two air cells 101a and 101b is shown in FIG.
It is larger than the case of 8.

170 and 171 show an example of the massage unit 10. The massage unit 10 includes a pair of shoulder treatment members (first treatment member 121A, second treatment member 121B) for massaging (grasping and kneading) the left and right shoulders as a treatment unit. These treatment members 121A and 121B are the treatment members 121A-2 and 12 shown in FIGS. 151 and 152.
Like 1B-2, 121A-1, 121B-1, it has a pair of pressing members (air cells). The shoulder treatment members 121A and 121B press, for example, the shoulder 100h from the front-rear direction (Z direction).

The massage unit 10 of FIGS. 170 and 171 includes a mechanism for moving the treatment members 121A and 121B in the directions along the muscle fibers of the left and right shoulders 100h, respectively. As the mechanism portion, similarly to the mechanism portion 103 shown in FIGS. 151 and 152, a mechanism having a screw shaft 155 and a nut portion 156 arranged in a direction along the muscle fiber can be adopted. This mechanical portion moves the treatment members 121A and 121B in the direction along the muscle fibers of the shoulder 100h in a state of grasping and kneading the shoulder 100h. As a result, a more effective massage on the shoulder can be performed as compared with a simple gripping and rubbing of the shoulder 100h.

FIGS. 170 and 171 show how the left and right treatment members 121A and 121B are repeatedly reciprocated in opposite directions. As a result, the left and right treatment members 121A, 121
B can effectively massage the shoulder 100h over a wide range by repeating the proximity separation while grasping and kneading the shoulder 100h. In the operation shown in FIGS. 170 and 171
Although the relative positional relationship between the left and right treatment members 121A and 121B has changed due to the movement of the left and right treatment members 121A and 121B, both may be moved so that the relative positional relationship between the left and right treatment members 121A and 121B is maintained. Further, only one of the left and right treatment members 121A and 121B may be moved.

172 and 173 show an example of the massage unit 10. The massage unit 10 has a first treatment member 121A for massaging (grasping and kneading) the shoulder 100h, which is the first range, and a second treatment member 121B for massaging (grabbing and rubbing) the upper arm 100a, which is the second range. And a third treatment member 121C for massaging (grasping and kneading) the forearm 100d, which is the third range. The shoulder joint is located between the shoulder 100h, which is the first range, and the upper arm 100a, which is the second range, and the elbow joint is located between the upper arm 100a, which is the second range, and the forearm 100d, which is the third range. To do.

The massage unit 10 of FIGS. 172 and 173 includes the treatment members 121A and 121B, respectively.
121C is massaged by each treatment member 121A, 121B, 121C.
It is provided with a mechanism for moving in a direction along the muscle fibers of 0h, 100a, and 100d. As the mechanism portion, similarly to the mechanism portion 103 shown in FIGS. 151 and 152, a mechanism having a screw shaft 155 and a nut portion 156 arranged in a direction along the muscle fiber can be adopted. This mechanical unit moves the body parts 100h, 100a, 100d in the direction along the muscle fibers in a state where the treatment members 121A, 121B, 121C are grasping and kneading the body parts 100h, 100a, 100d. This makes it possible to perform a more effective massage than simply grabbing and rubbing.

All of the treatment members 121A, 121B, 121C may operate at the same time, or any two or any one of them may operate at the same time. For example, three treatment members 121A,
With all 121B and 121C gripping and kneading, the three treatment members 121A and 12
Any one or two of 1B can be moved. More specifically, FIG. 17
As shown in 2, in a state where all three treatment members 121A, 121B, 121C are grasping and kneading, the second treatment member 100a for the upper arm 100a is moved in the direction (elbow side) along the muscle fiber of the upper arm 100a. By moving it, you can stretch to pull the shoulder joint. At this time, the shoulder joint is moved by moving the forearm 100d in the direction (hand side) along the muscle fiber of the forearm 100a.
It can be pulled more effectively.

Further, as shown in FIG. 173, the first treatment member 121A for the shoulder 100h is moved to the shoulder joint side in a state where all three treatment members 121A, 121B, and 121C are gripping and kneading, and the forearm 100d is used. By moving the third treatment member 121C to the hand side, a massage that extends the range from the shoulder 100h to the arm can be performed.

Further, in a state where two of the three treatment members 121A, 121B, and 121C are gripping and kneading, one or two of the two treatment members that are gripping and kneading are moved. You may. For example, the three treatment members 121A, 121B, 121 in FIG. 172.
Of C, the first treatment member 121A for the shoulder 100h and the second treatment member 121 for the upper arm 100a
While B is grasping and kneading, the upper arm 100a is the second treatment member 100a for the upper arm 100a.
By moving in the direction along the muscle fiber of a (elbow side), the shoulder joint can be stretched. Further, the elbow joint is pulled by moving the third treatment member 121C to the hand side while the second treatment member 121B for the upper arm 100a and the third treatment member 121B for the forearm 100d are grasping and kneading. be able to.

<Additional notes>
The gripping operation described in Chapter 3 can also be realized when the massage unit 10 described in Chapter 2 is used as the treatment unit 101 for gripping and kneading.
The respective operations described in Sections 1 to 4 of Chapter 3 may be combined.

The treatment unit 101 or the treatment member 121 (121A, 121B) described in Chapter 3 may include a member other than the air cells 101a, 101b. Members other than the air cells 101a and 101b are, for example, vibrators. The vibrators are, for example, air cells 101a, 10
It is provided on the body side of 1b. The movement of the vibrator can give vibration to the body. By expanding the air cells 101a and 101b while operating the vibrator, it is possible to grip and knead while vibrating the body.

Further, the members other than the air cells 101a and 101b may be treatment elements. The treatment child is
For example, it is provided on the body side of the air cells 101a and 101b, and in this case, the air cells 101a
When 101b expands, the treatment child can be pressed against the body. The treatment element may be capable of operating the treatment element itself by driving a motor or the like, in addition to the operation by the air cells 101a and 101b. In this case, a complicated massage operation in which the operation of the treatment child is added to the pressing by the air cells 101a and 101b can be obtained. The treatment element may be an acupressure element, for example, one that does not operate by itself and moves only with the expansion and contraction of the air cells 101a and 101b. The treatment member may be a member other than the air cells 101a and 101b.
Further, the treatment member may include a heater.

A massage device having a plurality of treatment members such as the first treatment member 121A and the second treatment member 121B may treat the body independently of each of the plurality of treatment members.

The plurality of treatment members arranged along the longitudinal direction of the body are all air cells 101a, 1
It is not necessary to have the mechanism unit 103 for operating the 01b, and any of the plurality of treatment members has the air cells (pressing members) 101a and 101b, but does not have the mechanism unit 103. There may be.

1: Massage device 7: Control unit (control unit)
10: Massage unit 11: 1st member 12: 2nd member 20: Link mechanism 31: 1st air cell (massage part)
50: Massage mechanism 51: 1st mechanism 52: 2nd mechanism 60: Articulated mechanism 61: 1st link member (front link member)
62: 2nd link member 63: 3rd link member 64: Pressing member (massage part) 64c: Suction part 65a, 65b: Air cell 66a, 66b, 66c: Spring (elastic member)
67a, 67b, 67c: Cam member B: Arm B-1: First retracting position B-2: Second retracting position F-1: First advancing position F-2: Second advancing position S1: Space 100, 100c, 100d: Body part 101: Treatment part 101a, 101b: Pressing member (air cell)
102, 102A, 102B: Rotation center 121, 121A, 121B, 121C, 121D: Treatment member 103, 103A, 103B: Mechanical part

Claims (8)

It has a first mechanism part and a second mechanism part provided along the circumferential direction of the body part of the person to be treated, and one side of the space formed between the first mechanism part and the second mechanism part is said. Equipped with a massage unit that is open for taking in and out of body parts
The first mechanism part is
A massage part for pressing the body part and
The first mechanism portion is displaced in the direction of narrowing the space and the opening side, and the second mechanism portion is displaced in the direction of narrowing the space and opposite to the opening side. A link mechanism that displaces in the direction of
It has an operating mechanism for operating the link mechanism, and has
The link mechanism
A first link member that reciprocates between a first retracting position away from the body part and a first forward position approaching the body part to which the massage portion is attached.
The first link member is attached so as to be capable of reciprocating, and has a second link member that reciprocates between a second retracting position away from the body part and a second advancing position approaching the body part. ,
The second link member can move to the second forward position together with the first link member to perform an operation of grasping the body part, and the second link member moves together with the first link member. A massage device that can perform massage operations. The first aspect of claim 1, wherein, as the massage operation, the second link member in the second forward position moves to the second retracted position together with the first link member in the first forward position. Massage device. The first mechanism part is
It has a plurality of link members including the first link member and the second link member, and also has a plurality of joint portions for connecting the adjacent link members, and a plurality of the link members starting from the plurality of the joint portions. With an articulated mechanism that can operate
A massage portion provided on the tip link member close to the body part of the person to be treated among the plurality of link members and for pressing the body part is provided.
From the state in which the first mechanism portion and the second mechanism portion are provided along the circumferential direction of the body part, the articulated mechanism includes a plurality of the link members starting from the plurality of the joint portions. By operating in the direction, the movement operation of moving the massage part to the position on the opening side in comparison with the state before the operation in the one direction at a position where the massage part can be in contact with the body part is performed. The massage device according to claim 1 or 2. The articulated mechanism performs the moving operation from a state in which the first mechanism portion and the second mechanism portion are provided along the circumferential direction of the body part, and is in a state after the moving operation. The massage device according to claim 3 , wherein a massage operation is performed in which at least a link member other than the tip link member among the plurality of link members is operated in a direction opposite to the one direction. The operation mechanism is
An air cell that pushes and moves the first mechanism by expanding,
The massage device according to any one of claims 1 to 4, further comprising an elastic member that generates an urging force that returns the moved first mechanical portion to the position before the movement. The operation mechanism is
Distance distance from the rotation center to the outer periphery from the long portion and the rotation center to the outer periphery has a short portion to advance the long portion the first mechanism portion by pressing the first mechanism portion, the short a cam member for a retractable said first mechanism portion in a state where part pushes the first mechanism portion,
The massage device according to any one of claims 1 to 4, further comprising an elastic member that generates an urging force for retracting the first mechanism portion. A plurality of the massage units provided along the longitudinal direction of the body part, and
The massage device according to any one of claims 1 to 6 , further comprising a control unit that controls the operation of each of the massage units by making the operation timings of the plurality of massage units different. The massage unit further
The massage device according to any one of claims 1 to 7 , further comprising a suction portion provided together with the first mechanism portion and capable of sucking the body portion.

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