JP7053044B2 - Massage machine - Google Patents

Description

The present invention relates to a massage machine.

Conventionally, there is known a massage device in which an upper unit arranged on a relatively upper side and a lower unit arranged on a relatively lower side are provided on a backrest portion. The upper unit is equipped with a shoulder unit and a scapula unit, and the lower unit is equipped with a back unit and a waist unit. In addition, the shoulder unit is massaged so that the treatment child pushes down the shoulder part due to the expansion of the air bag, and the scapula unit is massaged so that the treatment child pushes up the shoulder blade part due to the expansion of the air bag. Therefore, the treatment child of the shoulder unit and the treatment child of the scapula unit can give a massage effect that sandwiches the shoulder portion and the scapula portion (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2002-20961

However, in the massage device described in Patent Document 1, for example, when looking at the upper unit, the shoulder unit arranged on the upper side and the scapula unit arranged on the lower side are treated without changing their relative positions. It is a monotonous massage that sandwiches the part. Therefore, the present invention has been made to solve the above-mentioned problems, and an object thereof is to improve the experience of massage by a massage machine.

In the present invention, in a massage machine in which a plurality of massage mechanisms having a pair of left and right massagers are provided along the height direction, the massage mechanism is relative to the first massage mechanism which is relatively arranged on the upper side. The first and second massage mechanisms include a second massage mechanism which is specifically arranged on the lower side and a control means for controlling the operation of the first and second massage mechanisms, and the first and second massage mechanisms are the pair of treatment elements. The control means has a massage driving unit that causes at least one of a kneading motion of approaching or separating from each other or a tapping motion in which the pair of treatments alternately advance and retreat, and the control means causes one massage mechanism to perform the kneading motion or the kneading motion. It is characterized in that the massage driving unit is controlled so that the pair of massagers are brought close to each other to perform pinching, and at the same time, the other massage mechanism is made to perform an operation including the tapping operation .
With such a configuration, it is possible to give a feeling as if two or more masseurs are performing different types of massage.

Further, according to the present invention, in a massage machine in which a plurality of massage mechanisms having a pair of left and right massagers are provided along the height direction, the first massage mechanism is arranged relatively upward as the massage mechanism. The first and second massage mechanisms have the second massage mechanism relatively lower and the control means for controlling the operation of the first and second massage mechanisms, and the first and second massage mechanisms are the pair. A massage driving unit that performs at least one of a kneading motion in which the treatment elements approach or separate, or a tapping motion in which the pair of treatment children alternately advance and retreat, and at least one of the first and second massage mechanisms in the height direction. The control means has an elevating motor that elevates and elevates along the above, and the control means causes one massage mechanism to perform the kneading operation or the tapping operation, and causes the other massage mechanism to ascend or descend along the height direction. It is characterized by controlling a massage drive unit and the elevating motor .
With such a configuration, the masseuse feels as if the masseuse is rubbing or striking the treated area with one hand while rubbing or stretching the body with the other hand. Can be obtained.

Further, according to the present invention, in a massage machine in which a plurality of massage mechanisms having a pair of left and right massagers are provided along the height direction, the first massage mechanism is arranged relatively upward as the massage mechanism. The first and second massage mechanisms have the second massage mechanism relatively lower and the control means for controlling the operation of the first and second massage mechanisms, and the first and second massage mechanisms are the pair. A massage driving unit that performs at least one of a kneading motion in which the treatment elements approach or separate, or a tapping motion in which the pair of treatment children alternately advance and retreat, and at least one of the first and second massage mechanisms in the height direction. The control means has an elevating motor that moves up and down along the line, and the control means moves the other massage mechanism along the height direction with the pair of massagers of one massage mechanism close to each other and sandwiches the treated portion. It is characterized in that the massage drive unit and the elevating motor are controlled so as to be raised or lowered .
With such a configuration, it is possible to obtain a realistic sensation as if the masseuse was holding one hand to fix the body and then rubbing or stretching the treated area with the other hand. be able to.

Further, according to the present invention, in a massage machine in which a plurality of massage mechanisms having a pair of left and right massagers are provided along the height direction, the first massage mechanism is arranged relatively upward as the massage mechanism. The first and second massage mechanisms have the second massage mechanism relatively lower and the control means for controlling the operation of the first and second massage mechanisms, and the first and second massage mechanisms are the pair. A massage driving unit that performs at least one of a kneading motion in which the treatment elements approach or separate, or a tapping motion in which the pair of treatment children alternately advance and retreat, and at least one of the first and second massage mechanisms in the height direction. The control means controls the elevating motor so as to elevate the second massage mechanism along the height direction with the first massage mechanism arranged on the shoulder. It is characterized by doing.
With such a configuration, the treatment element of the first massage mechanism can be strongly brought into contact with the shoulder.

Further, according to the present invention, in a massage machine in which a plurality of massage mechanisms having a pair of left and right massagers are provided along the height direction, the first massage mechanism is arranged relatively upward as the massage mechanism. The first and second massage mechanisms include a second massage mechanism arranged relatively lower and a control means for controlling the operation of the first and second massage mechanisms, and the first and second massage mechanisms are the treatment elements. The control means includes an advance / retreat drive unit for advancing and retreating in the front-rear direction with respect to the user, and an elevating motor for raising and lowering at least one of the first and second massage mechanisms along the height direction. The elevating motor and the advance / retreat drive unit so as to synchronize the movement of the first and second massage mechanisms in directions close to each other along the height direction of the first and second massage mechanisms and the advancement of the treatment child of the first and second massage mechanisms. It is characterized by controlling .
With such a configuration, the upper body can be bent while stretching the back muscles.

Further, according to the present invention, in a massage machine in which a plurality of massage mechanisms having a pair of left and right massagers are provided along the height direction, the first massage mechanism is arranged relatively upward as the massage mechanism. The first and second massage mechanisms include a second massage mechanism arranged relatively lower and a control means for controlling the operation of the first and second massage mechanisms, and the first and second massage mechanisms are the treatment elements. The control means includes an advance / retreat drive unit for advancing and retreating in the front-rear direction with respect to the user, and an elevating motor for raising and lowering at least one of the first and second massage mechanisms along the height direction. The control means is the elevating motor so as to synchronize the movement of the first and second massage mechanisms in a direction away from each other along the height direction of the first and second massage mechanisms and the advancement of the treatment element of the first and second massage mechanisms. It is characterized by controlling the advance / retreat drive unit .
With such a configuration, it is possible to stretch the upper body while bending it.

Further, according to the present invention, in a massage machine in which a plurality of massage mechanisms having a pair of left and right massagers are provided along the height direction, the first massage mechanism is arranged relatively upward as the massage mechanism. The first and second massage mechanisms have the second massage mechanism relatively lower and the control means for controlling the operation of the first and second massage mechanisms, and the first and second massage mechanisms are the pair. It has a massage driving unit that causes a massager to perform a kneading operation in which the treatment element approaches or separates, and a sensor that detects the proximity of the first massage mechanism and the second massage mechanism, and the control means includes the first massage mechanism and the first massage mechanism. The first massage mechanism and the second massage mechanism are different from each other in a state where the second massage mechanism or the treatment child of the first massage mechanism and the treatment child of the second massage mechanism are close to each other in the height direction. It is preferable to control the massage driving unit so that the kneading operation is performed at a speed .
With such a configuration , the kneading operation from the vertical direction by the treatment child of the upper first massage mechanism and the treatment child of the lower second massage mechanism can be changed with the passage of time. The massage effect is enhanced.

According to the present invention, the experience of massage can be improved.

It is a perspective view of the massage machine which concerns on one Embodiment of this invention. It is a functional block diagram of a massage machine. It is a front view of the backrest part. It is a perspective view of the 1st massage unit. It is a perspective view of the 1st massage unit which omitted a part of a member. It is a front view of the 1st massage unit. It is a side view of the 1st massage unit, and shows the state which the 1st massage mechanism retracted. It is a side view of the 1st massage unit, and shows the state which the 1st massage mechanism has advanced. It is a front view of a kneading shaft and a tapping shaft. It is a perspective view of the 2nd massage unit. It is a perspective view of the 2nd massage unit which omitted a part of the member. It is a front view of the 2nd massage unit. It is a side surface of the second massage unit, and shows a state in which the second massage mechanism is retracted. It is a side surface of the second massage unit, and shows a state in which the second massage mechanism has advanced. It is a perspective view of the arm of the 2nd massage unit. It is explanatory drawing of the kneading operation. It is explanatory drawing of the kneading operation. It is explanatory drawing of the kneading operation. It is explanatory drawing of the kneading operation. It is a flow chart of operation 1. It is explanatory drawing of operation 1. FIG. It is a flow chart of operation 2 and operation 3. It is explanatory drawing of operation 2 and operation 3. It is explanatory drawing of operation 4. It is explanatory drawing of operation 5. It is explanatory drawing of operation 6. It is explanatory drawing of operation 7. It is explanatory drawing of operation 8. It is a flow chart of operation 9 and operation 10. It is a front view of the massage unit which concerns on other embodiment. It is a front view of the massage mechanism which concerns on other embodiment. It is explanatory drawing of the link which concerns on other embodiment. It is explanatory drawing of the sensor which concerns on other embodiment. It is a flow chart of operation 11. It is explanatory drawing of operation A. It is explanatory drawing of operation B. It is explanatory drawing of operation C. It is explanatory drawing of operation D. It is explanatory drawing of operation E. It is explanatory drawing of operation F. It is explanatory drawing of operation a. It is explanatory drawing of operation b. It is explanatory drawing of operation c. It is explanatory drawing of operation d. It is explanatory drawing of operation e. It is explanatory drawing of operation f. It is explanatory drawing of operation g. It is explanatory drawing of operation h. It is explanatory drawing of operation i. It is explanatory drawing of operation j.

[overall structure]
Hereinafter, the overall configuration of the massage machine 1 of the present invention will be described. FIG. 1 is a perspective view of a massage machine 1 according to an embodiment of the present invention. FIG. 2 is a functional block diagram of the massage machine 1. FIG. 3 is a front view of the backrest portion 3. In addition, the concept of the direction used in the following description shall be the same as the concept of the direction when viewed from the user sitting on the massage machine 1 in the standing posture shown in FIG. 1, and in other cases, it shall be described as appropriate. do.

As shown in FIG. 1, the massage machine 1 of the present invention mainly includes a seat 2 on which the user sits, a backrest 3 on the rear of the seat 2 on which the user can recline, and a seat. A footrest 4 provided on the front portion of the portion 2 so as to be swingable up and down to support the user's legs and feet, and an armrest portion provided on both the left and right sides of the seat portion 2 on which the user rests his / her arms. It has a pillow portion 6 provided above the backrest portion 3 to support the user's head, and a leg frame 7 that supports the seat portion 2 and is installed on the floor surface. The backrest portion 3 is provided with a plurality of massage units 8 and 9 along the height direction for massaging the upper body of the user from behind.

Further, an air cell 10 for pressing or holding the upper arm or the shoulder from the left-right direction is provided on the side portion of the backrest portion 3. The seat portion 2 is provided with an air cell 11 that presses the buttocks or thighs of the user from below, and an air cell 12 that presses or holds the buttocks or thighs from the left-right direction. The footrest 4 is provided with an air cell 13 that presses or holds the user's legs and feet from the left-right direction. The armrest portion 5 is provided with an air cell 14 that presses or holds the forearm from above and below. These air cells 10 to 14 expand and contract by supplying and exhausting air from an air unit 20 (see FIG. 2) including a pump and a valve provided below the seat.

As shown in FIGS. 1 and 2, the backrest portion 3 is configured to be able to recline in the front-rear direction with respect to the seat portion 2 by an actuator 21 provided below the seat portion 2, and is upright as shown in FIG. It is possible to stop at any position between the posture and the reclining posture where the backrest surface is almost horizontal to the floor surface. The armrest portion 5 is configured to move backward in conjunction with the reclining of the backrest portion 3 and to move forward in conjunction with the standing of the backrest portion 3. The footrest 4 is configured to be swingable in the vertical direction with respect to the seat portion 2 by an actuator 22 provided below the seat portion 2, and the leg portion is in a state where the knee is extended from the hanging posture shown in FIG. And it is possible to stop at any position until the ascending posture in which the foot is supported.

As shown in FIG. 2, below the seat portion 2, an air unit 20 including a pump and a valve for supplying and exhausting air to each of the air cells 10 to 14 and the advancing / retreating air cells 15 and 16 described later is provided. The air unit 20 is preferably configured so that the air cells 10 to 14 and the advancing / retreating air cells 15 and 16 can be maintained at an arbitrary expansion amount. In this case, the expansion amounts of the air cells 10 to 14 and the advancing / retreating air cells 15 and 16 are adjusted. can do. Further, the massage machine 1 is provided with a control means 23 made of a programmable microcomputer or the like, and the massage units 8 and 9 and the air unit 20 are provided according to an instruction from the actuator 27 by the user or a predetermined program. , And the actuators 21 and 22 are configured to control each operation.

The control means 23 is provided in the main control unit 24 provided below the seat portion 2 to control the operations of the massage units 8, 9, the air unit 20, and the actuators 21 and 22, and massage units 8 and 9. It has sub-control units 25 and 26 that control the ascent and descent of the units 8 and 9. Further, the control means 23 stores a plurality of massage courses that automatically operate at least one of the massage units 8, 9, the air unit 20, and the actuators 21 and 22 according to a predetermined program. When the user selects a desired massage course, various operations are automatically performed until the set course time elapses.

[Composition of backrest]
As shown in FIGS. 1 and 3, the backrest portion 3 guides the back frame 3a made of resin or the like formed in a gate shape in front view and the elevating and lowering of the massage units 8 and 9 attached to the back frame 3a. It is composed of a guide mechanism 3b and a back pad 3c having a cushioning property arranged on the front side of the back frame 3a. The guide mechanism 3b extends along the height direction and is curved so that the upper part and the lower part are respectively located in front of the middle part (see FIG. 21). Further, a rack is formed on the front side and a rail is formed on the rear side. A plurality of massage units 8 and 9 are supported by the guide mechanism 3b so as to be able to move up and down.

[Massage unit configuration]
Hereinafter, the configurations of the massage units 8 and 9 will be described.
FIG. 4 is a perspective view of the first massage unit 8. FIG. 5 is a perspective view of the first massage unit 8 in which a part of the member is omitted. FIG. 6 is a front view of the first massage unit 8. FIG. 7 is a side view of the first massage unit 8 and shows a state in which the first massage mechanism 31 is retracted. FIG. 8 is a side view of the first massage unit 8 and shows a state in which the first massage mechanism 31 has advanced. FIG. 9 is a front view of the kneading shaft 41 shown in (a) and the tapping shaft 42 shown in (b). FIG. 10 is a perspective view of the second massage unit 9. FIG. 11 is a perspective view of the second massage unit 9 in which a part of the member is omitted. FIG. 12 is a front view of the second massage unit 9. FIG. 13 is a side surface of the second massage unit 9, and shows a state in which the second massage mechanism 51 is retracted. FIG. 14 is a side surface of the second massage unit 9, and shows a state in which the second massage mechanism 51 has advanced. FIG. 15 is a perspective view of the arm 60 of the second massage unit 9.

As shown in FIGS. 3 to 15, a plurality of massage units 8 and 9 are provided in the height direction. In the present embodiment, the first massage unit 8 arranged on the relatively upper side and the second massage unit 9 arranged on the relatively lower side are provided in the backrest portion 3. Each of the massage units 8 and 9 mainly supports the main body frames 30 and 50 that are vertically supported by the guide mechanism 3b, the massage mechanisms 31 and 51 having the treatment elements 34 and 54, and the massage mechanisms 31 and 51. A link that connects the frames 32, 52, the advancing / retreating drive portions 15, 16 that advance / retreat the massage mechanisms 31/51 with respect to the treated portion, the main body frames 30, 50, and the support frames 32, 52, and swings in the front-rear direction. It is configured to have 33, 53 and.

Hereinafter, the configuration of the upper first massage unit 8 will be described in detail.
As shown in FIGS. 4 to 8, the main body frame 30 includes a rear wall 30a, a side wall 30b erected from both the left and right sides of the rear wall 30a, a bottom wall 30c erected from the lower part of the rear wall 30a, and a rear wall 30c. It is configured in a box shape with the front open by the upper wall 30d erected from the upper part of the wall 30a. Further, above the inside of the main body frame 30, an elevating motor 35 for elevating and lowering the first massage unit 8, an elevating shaft 36 extending in the left-right direction, and a deceleration of the rotation of the elevating motor 35 are transmitted to the elevating shaft 36. An elevating mechanism composed of a speed reducer 37 is housed. The elevating shaft 36 is rotatably supported by both side walls 30b. The side wall 30b is provided with a guide roller 38 and a pinion 39 attached to the elevating shaft 36 at the upper portion, and a guide roller 38 and a pinion 39 are provided at the lower portion. The guide mechanism 3b is sandwiched between the pinion 39 and the guide roller 38, and when the elevating motor 35 is driven, the first massage unit 8 can be elevated and lowered along the height direction. Since the elevating mechanism is arranged on the upper part of the first massage unit 8, the treatment child 34 can be brought close to the treatment child 54 (upper treatment child 54a) of the second massage mechanism 51.

The first massage mechanism 31 has a pair of left and right arms 40 that support the treatment element 34 at the tip thereof, and a drive mechanism that drives the arms 40 to perform massage. This drive mechanism supports the arm 40 and causes the pair of treatment elements 34 to move in close proximity to each other in the left-right direction to perform a kneading operation, and the pair of treatment elements 34 to alternately advance and retreat to perform a tapping operation. A tapping shaft 42, a massage motor 43 as a massage drive unit for driving the kneading shaft 41 and the tapping shaft 42, and a speed reducer 44 for decelerating the rotation of the massage motor 43 and transmitting the massage to the kneading shaft 41 and the tapping shaft 42. Have. The drive mechanism is supported by a box-shaped frame 45. In this embodiment, the treatment element 34 of the first massage unit 8 is single in the vertical direction.

As shown in FIG. 9A, the kneading shaft 41 is extended in the left-right direction, and inclined shafts 41a inclined with respect to the axis 41b are provided on both the left and right sides. Then, the arm 40 is rotatably attached to the inclined shaft 41a via a bearing. The left and right tilted axes 41a are not parallel to each other and are tilted so as to have a substantially C shape when viewed from the front. Further, the kneading shaft 41 is provided with a width sensor 46 that detects the distance between the pair of treatment elements 34. As shown in FIG. 9B, the tapping shaft 42 extends in the left-right direction, and eccentric shafts 42a eccentric with respect to the shaft center 42b are provided on both the left and right sides. Further, as shown in FIG. 5, a connecting member 47 connecting the tapping shaft 42 and the rear portion of the arm 40 is provided so as to be rotatable on the eccentric shaft 42a via a bearing. The left and right eccentric shafts 42a have different phases around the axis 42b of the tapping shaft 42.

When the kneading shaft 41 rotates, the arm 40 rotates three-dimensionally while the rotation around the kneading shaft 41 is restricted by the connecting member 47. That is, as shown in FIG. 16, when the kneading shaft 41 is continuously rotated in one direction, the treatment element 34 operates by drawing a loop-shaped locus having at least left-right and vertical components, and a pair of left-right treatment elements. As 34, it operates in the left-right direction and separates from each other. In this way, the kneading operation is performed. On the other hand, when the tapping shaft 42 rotates, the pair of arms 40 move back and forth alternately with the kneading shaft 41 as a fulcrum due to the vertical movement of the connecting member 47. In this way, the tapping operation is performed. In the present embodiment, a clutch is provided on the tapping shaft 42 and a single massage motor 43 is inverted in the forward direction to switch between the kneading operation and the kneading tapping operation. However, the massage motor 43 is individually provided for kneading. The operation and the tapping operation may be performed independently.

The support frame 32 has a plate surface in the front-rear direction, and the frame 45 is fixed to the front side to support the first massage mechanism 31. Between the main body frame 30 and the support frame 32, there is an advancing / retreating air cell 15 as an advancing / retreating driving unit that expands / contracts due to air supply / exhaust from the air unit 20 to advance / retreat the first massage mechanism 31 with respect to the treated portion. It is provided. Further, on the side of the support frame 32, a link 33 that connects the main body frame 30 and the support frame 32 and swings in the front-rear direction is provided. The reason why the link 33 is arranged on the side of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be suppressed as compared with the case where the link 33 is arranged behind the support frame 32. The links 33 are arranged side by side in the front-rear direction and have a first link portion 33a relatively arranged on the rear side and a second link portion 33b relatively arranged on the front side. That is, the link 33 constitutes a four-node link mechanism.

As shown in FIGS. 7 and 8, the lengths of the first link portion 33a and the second link portion 33b are different, and specifically, the length of the first link portion 33a is larger than the length of the second link portion 33b. Is also set to be short. The upper portion of the first link portion 33a is pivotally supported on the side wall 30b of the main body frame 30 via the swing shaft A1 in the vicinity of the elevating shaft 36, and the lower portion thereof is pivotally supported on the upper portion of the support frame 32 via the pivot shaft A2. Has been done. The upper portion of the second link portion 33b is pivotally supported on the side wall 30b of the main body frame 30 via the swing shaft A3 in the vicinity of the elevating shaft 36, and the lower portion thereof is pivotally supported on the lower portion of the support frame 32 via the pivot shaft A4. Has been done. The swing shaft A1 of the first link portion 33a is located slightly behind the swing shaft A3 of the second link portion 33b. Then, the first link portion 33a and the second link portion 33b are formed by fitting the pivot axes A2 and A4 to the downwardly convex arcuate guide portions 30e and 30f (see FIG. 4) provided on the side wall 30b, respectively. , Its operation is guided. Further, as shown in FIGS. 7 and 8, a reinforcing portion 48 is provided to connect and reinforce the first link portion 33a and the second link portion 33b at the connecting portion with the main body frame 30. In this way, the vicinity of the swing shafts A1 and A3 of the link 33 to which the load is applied can be reinforced by the elevating shaft 36 and the reinforcing portion 48.

The link 33 has a connecting portion with the main body frame 30 located in front of the connecting portion with the support frame 32 in a state where the first massage mechanism 31 is most retracted. That is, in the first link portion 33a, the swing axis A1 is located in front of the pivot axis A2, and in the second link portion 33b, the swing axis A3 is located in front of the pivot axis A4. Therefore, when the advancing / retreating air cell 15 expands, the link 33 swings in a downwardly convex arcuate locus, so that the first massage mechanism 31 is advanced / retracted in a locus close to parallel to the direction facing the treated portion. Can be done. Further, since the four-node link mechanism is adopted, when the advancing / retreating air cell 15 expands from the state where the first massage mechanism 31 is most retracted, the first link portion 33a swings forward about the swing shaft A1. However, since the support frame 32 is pivotally supported by the second link portion 33b, which is longer than the first link portion 33a, in front of and below the pivot A2 of the first link portion 33a, the first massage mechanism 31 swings. It is possible to advance and retreat in a trajectory that is closer to parallel to the direction facing the treated area.

Further, since the lengths of the first link portion 33a and the second link portion 33b are different, even if the first link portion 33a and the second link portion 33b are provided close to each other in the front-rear direction, the first massage mechanism 31 is sufficient. A large amount of advancement can be secured, and the thickness of the first massage unit 8 in the front-rear direction can be suppressed. Further, since the length of the first link 33a arranged on the rear side is relatively short, a sufficient amount of movement of the front-back component is obtained immediately after the start of advancement, starting from the state where the first massage mechanism 31 is most retracted. be able to. Further, in the process of advancing the first massage mechanism 31, the first link portion 33a abuts on the second link portion 33b from the rear, so that the advance of the first massage mechanism 31 is restricted at a predetermined front-rear position. That is, since the second link portion 33b functions as a stopper, it is not necessary to separately provide a stopper, and the number of parts can be reduced.

Hereinafter, the configuration of the lower second massage unit 9 will be described in detail.
As shown in FIGS. 9 to 15, the main body frame 50 includes a rear wall 50a, a side wall 50b erected from both the left and right sides of the rear wall 50a, a bottom wall 50c erected from the lower part of the rear wall 50a, and a rear wall. It is configured in a box shape with an open front by an upper wall 50d erected from the upper part of the wall 50a. Further, below the inside of the main body frame 50, an elevating motor 55 for elevating and lowering the second massage unit 9, an elevating shaft 56 extending in the left-right direction, and a deceleration of the rotation of the elevating motor 55 are transmitted to the elevating shaft 56. An elevating mechanism composed of a speed reducer 57 is housed. The elevating shaft 56 is rotatably supported by both side walls 50b . The side wall 50b is provided with a guide roller 58 and a pinion 59 attached to the elevating shaft 56 at the lower portion , and a guide roller 58 and a pinion 59 are provided at the upper portion . The guide mechanism 3b is sandwiched between the pinion 59 and the guide roller 58, and when the elevating motor 55 is driven, the second massage unit 9 can be elevated and lowered along the height direction. Since the elevating mechanism is arranged at the lower part of the second massage unit 9, the treatment child 54 (upper treatment child 54a) can be brought close to the treatment child 34 of the first massage mechanism 31.

The second massage mechanism 51 has a pair of left and right arms 60 that support the treatment element 54 at the tip thereof, and a drive mechanism that drives the arms 60 to perform massage. This drive mechanism includes a kneading shaft 61 that supports the arm 60 and causes a pair of treatment elements 54 to move apart from each other in the left-right direction to perform a kneading operation, and a massage motor 63 as a massage driving unit that drives the kneading shaft 61. It has a speed reducer 64 that slows down the rotation of the massage motor 63 and transmits it to the kneading shaft 61. The drive mechanism is supported by a box-shaped frame 65. The arm 60 is formed in a dogleg shape in a side view, and a relatively large-diameter upper treatment child 54a is provided at the upper end thereof, and a relatively small-diameter lower treatment child 54b is provided at the lower end thereof. ing. That is, unlike the first massage unit 8, two treatment elements 54 are provided in the vertical direction.

As shown in FIG. 9A, the kneading shaft 61 has the same configuration as the kneading shaft 41 of the first massage mechanism 31, extends in the left-right direction, and is inclined with respect to the axis 61b on both the left and right sides. An inclined shaft 61a is provided. Then, the arm 60 is rotatably attached to the inclined shaft 61a via the bearing. The left and right tilted shafts 61a are not parallel to each other and are tilted so as to have a substantially C shape when viewed from the front. As shown in FIG. 15, behind the arm 60, a connecting member 67 having a ball joint at the rear end is provided to connect the arm 60 and the support frame 52. A groove 69 along the left-right direction is provided on the front surface side of the support frame 52, and the ball joint of the connecting member 67 is fitted in the groove 69. Further, the kneading shaft 61 is provided with a width sensor 66 that detects the distance between the pair of treatment elements 54.

When the kneading shaft 61 rotates, the arm 60 rotates three-dimensionally while the rotation around the kneading shaft 61 is restricted by the connecting member 67. That is, as shown in FIG. 16, when the kneading shaft 61 is continuously rotated in one direction, the treatment element 54 operates by drawing a loop-shaped locus having at least left-right and vertical components. Further, the left-right pair of treatment elements 54 operate in the left-right direction, and when the upper treatment child 54a is close to each other, the lower treatment child 54b is separated, and when the upper treatment child 54a is separated, the lower treatment child 54b is close to each other. In this way, the kneading operation is performed. In the present embodiment, the second massage mechanism 51 is configured to perform only the kneading operation, but it may be configured to be able to perform the tapping operation as well as the first massage mechanism 31.

The support frame 52 has a plate surface in the front-rear direction, and the frame 65 is fixed to the front surface side to support the second massage mechanism 51. Between the main body frame 50 and the support frame 52, there is an advancing / retreating air cell 16 as an advancing / retreating drive unit that expands / contracts due to air supply / exhaust from the air unit 20 to advance / retreat the second massage mechanism 51 with respect to the treated portion. It is provided. Further, on the side of the support frame 52, a link 53 that connects the main body frame 50 and the support frame 52 and swings in the front-rear direction is provided. The link 53 is arranged side by side in the front-rear direction and has a first link portion 53a arranged relatively rearward and a second link portion 53b relatively arranged on the front side. That is, the link constitutes a four-section link mechanism.

The lengths of the first link portion 53a and the second link portion 53b are different, and specifically, the length of the first link portion 53a is set to be shorter than the length of the second link portion 53b. .. The lower portion of the first link portion 53a is pivotally supported on the side wall 50b of the main body frame 50 via the swing shaft A5 in the vicinity of the elevating shaft 56, and the upper portion thereof is pivotally supported on the lower portion of the support frame 52 via the pivot shaft A6. Has been done. The lower portion of the second link portion 53b is pivotally supported on the side wall 50b of the main body frame 50 via the swing shaft A7 in the vicinity of the elevating shaft 56, and the upper portion thereof is pivotally supported on the upper portion of the support frame 52 via the pivot shaft A8. Has been done. The swing shaft A5 of the first link portion 53a is located slightly behind the swing shaft A7 of the second link portion 53b. The first link portion 53a and the second link portion 53b are provided with the side wall 50b, and the pivot axes A6 and A8 are fitted to the convex arcuate guide portions 50e and 50f (see FIG. 10), respectively. , Its operation is guided. Further, as shown in FIGS. 13 and 14, a reinforcing portion 68 is provided to connect and reinforce the first link portion 53a and the second link portion 53b at the connecting portion with the main body frame 50. In this way, the vicinity of the swing shafts A5 and A7 of the link 53 to which the load is applied can be reinforced by the elevating shaft 56 and the reinforcing portion 68.

In the link 53, the connecting portion with the main body frame 50 is located in front of the connecting portion with the support frame 62 in the state where the second massage mechanism 51 is most retracted. That is, in the first link portion 53a, the swing axis A5 is located in front of the pivot axis A6, and in the second link portion 53b, the swing axis A7 is located in front of the pivot axis A8. Therefore, when the advancing / retreating air cell 16 expands, the link 53 swings in an upwardly convex arcuate locus, so that the second massage mechanism 51 is advanced / retracted in a locus close to parallel to the direction facing the treated portion. Can be done. Further, since the four-node link mechanism is adopted, when the advancing / retreating air cell 16 expands from the state where the second massage mechanism 51 is most retracted, the first link portion 53a swings forward about the swing shaft A5. However, since the support frame 52 is pivotally supported by the second link portion 53b, which is longer than the first link portion 53a, in front of and above the pivot axis A6 of the first link portion 53a, the second massage mechanism 51 swings. It is possible to advance and retreat in a trajectory that is closer to parallel to the direction facing the treated area.

Further, since the lengths of the first link portion 53a and the second link portion 53b are different, even if the first link portion 53a and the second link portion 53b are provided close to each other in the front-rear direction, the second massage mechanism 51 is sufficient. A large amount of advancement can be secured, and the thickness of the second massage unit 9 in the front-rear direction can be suppressed. Further, since the length of the first link 53a arranged on the rear side is relatively short, a sufficient amount of movement of the anteroposterior component is obtained immediately after the start of advancement, starting from the state where the second massage mechanism 51 is most retracted. be able to. Further, in the process of advancing the second massage mechanism 51, the first link portion 53a abuts on the second link portion 53b from the rear, so that the advance of the second massage mechanism 51 is restricted at a predetermined front-rear position. That is, since the second link portion 53b functions as a stopper, it is not necessary to separately provide a stopper, and the number of parts can be reduced.

[Sensor configuration]
As shown in FIG. 2, the massage machine 1 has a sensor 70 that detects the relative positions of the first massage unit 8 and the second massage unit 9. Hereinafter, the sensor 70 will be described in detail.

As shown in FIG. 4, the bottom wall 30c, which is the lower part of the first massage unit 8, is provided with a magnet holder 73 having a magnet attached to one side in the left-right direction, and the first is to detect the proximity of the magnet to the other side in the left-right direction. A sub-control unit 25 (see FIG. 2) electrically connected to the sensor unit 71 and the first sensor unit 71 is provided. On the other hand, as shown in FIG. 10, the upper wall 50d, which is the upper part of the second massage unit 9, is electrically connected to the second sensor unit 72 and the second sensor unit 72 that detect the proximity of the magnet on one side in the left-right direction. A sub-control unit 26 (see FIG. 2) is provided, and a magnet holder 74 to which a magnet is attached is provided on the other side in the left-right direction. The sub control units 25 and 26 are electrically connected to the elevating motors 35 and 55, respectively, and can control the elevating and lowering of the massage units 8 and 9, respectively. It is also electrically connected to the main control unit 24.

The first sensor unit 71 substantially coincides with the magnet holder 74 provided in the second massage unit 9 at positions orthogonal to the vertical direction, and detects the proximity of the second massage unit 9 to the first massage unit 8. can do. On the other hand, the position of the second sensor unit 72 that is orthogonal to the magnet holder 73 provided in the first massage unit 8 in the vertical direction is substantially the same, and the position of the second sensor unit 72 is substantially the same as that of the first massage unit 8 with respect to the second massage unit 9. Can be detected. That is, the sensor 70 is a non-contact type sensor composed of the first sensor unit 71 and the second sensor unit 72. As described above, the respective massage units 8 and 9 detect the proximity of the massage units 9 and 8 on the other side, and the respective sub control units 25 and 26 control the elevating motors 33 and 55 to prevent collision. Increased accuracy.

It is preferable that the sensor 70 can detect the distance between the massage units 8 and 9 in a plurality of stages as the relative positions of the first massage unit 8 and the second massage unit 9. For example, it suffices to be able to detect a two-stage state in which the distance between the massage units 8 and 9 is close to a predetermined distance, and the state is slightly separated from the close state. Therefore, the detection range of the relative positions of the first massage unit 8 and the second massage unit 9 is widened. Further, both massage units 8 and 9 can be moved up and down integrally with a predetermined relative position (for example, a proximity state or a pre-proximity state) while maintaining this relative position.

As shown in FIG. 2, the backrest portion 3 includes an upper limit sensor 75 for detecting the upper limit position of the elevating range of the first massage unit 8 and a lower limit sensor 76 for detecting the lower limit position of the elevating range of the second massage unit 9. , Are provided so that the first and second massage units 8 and 9 do not separate from the backrest portion 3. Further, the first and second massage units 8 and 9, respectively, have elevating sensors 77 and 78 that detect the vertical position by detecting the rotation speeds of the elevating shafts 36 and 56, respectively. The up-down position of the first massage unit 8 is detected by the elevating sensor 77 detecting how many rotations of the elevating shaft 36 are from the upper limit position. The up-down position of the second massage unit 9 is detected by the elevating sensor 78 detecting how many rotations of the elevating shaft 56 are from the lower limit position.

[Collision avoidance operation control]
If it is detected that both massage units 8 and 9 are in a predetermined relative position (for example, a close state or a pre-close state) while both massage units 8 and 9 are moving in a direction approaching each other, a sub The control unit 25 controls to stop or reverse the drive of the elevating motor 35, and the sub control unit 26 controls to stop or reverse the drive of the elevating motor 55. Further, each of the sub control units 25 and 26 informs the main control unit 24 that the above control has been performed. In this way, the collision of both massage units 8 and 9 is avoided.

When one massage unit (for example, the first massage unit 8) is stopped to move up and down, and the other massage unit (for example, the second massage unit 9) is moving in a direction approaching one massage unit. When it is detected that both massage units 8 and 9 are in a predetermined relative position (for example, a proximity state or a proximity state), the sub control unit 26 controls to stop or reverse the drive of the elevating motor 55. do. Further, each of the sub control units 25 and 26 informs the main control unit 24 that the above control has been performed. In addition to or in addition to the above control, the sub control unit 25 may drive the elevating motor 35 to control the first massage unit 8 to move away from the second massage unit 9. In this way, the collision of both massage units 8 and 9 is avoided.

[Detection of shoulder position]
The massage machine 1 is configured to be able to detect the shoulder position as a specific part of the user. Hereinafter, a configuration for detecting the shoulder position will be described.
The first massage unit 8 is provided with a specific site detection sensor (not shown) that detects that the first massage mechanism 31 has advanced by a predetermined amount with respect to the main body frame 30. The detection of the shoulder position is performed in a process of raising the first massage unit 8 from the waist or back position along the height direction in a state where a predetermined amount of air is supplied to or continuously supplied to the advancing / retreating air cell 15. In this detection process, it is preferable to inflate the air cell 10 provided in the backrest portion 3 to hold the upper body of the user in the backrest portion 3.

When the treatment child 34 reaches the shoulder position in the process of ascending the first massage unit 8, the load from the user is released and the amount of advancement of the first massage mechanism 31 reaches a predetermined amount. The shoulder position of the user is detected based on the vertical position of the first massage unit 8 when the specific site detection sensor detects the advancement of a predetermined amount of the first massage mechanism 31. In addition, other parts such as the neck, scapula, back, hips, and hips are calculated based on the detected shoulder position. The specific site to be detected does not have to be the shoulder position, but may be another site such as the waist.

During the execution of the massage course, the first massage unit 8 can perform massage according to the height of the user based on the position information of the shoulder and / or other parts detected by the specific part detection sensor. Further, during the execution of the massage course, the second massage unit 9 can perform massage according to the height based on the position information detected by the specific site detection sensor included in the first massage unit 8. The second massage unit 9 is also provided with a specific site detection sensor, and the second massage unit 9 is also the height of the user based on the position information of the shoulder and / or other sites detected by the specific site detection sensor. It may be possible to perform a massage according to the situation. Alternatively, the second massage unit 9 may be operated based on the position information of each predetermined portion. In this case, it is preferable to store the position information of each part based on the average height in the control means 23.

When both massage units 8 and 9 move up or down in the same direction, the massage unit on the front side in the traveling direction is controlled so that the ascending / descending speed is faster than the massage unit on the rear side in the traveling direction, or the massage unit on the front side in the traveling direction. Controls to start moving before the massage unit on the rear side in the direction of travel. By doing so, the accuracy of collision prevention is further improved. Further, if the ascending / descending speed of the massage unit on the front side in the traveling direction is relatively slightly increased, or if the movement of the massage unit on the front side in the traveling direction is started relatively slightly earlier, both massage units 8 and 9 are brought closer to each other. It can be smoothly moved in the same direction in the state. That is, it is possible to prevent the sensor 70 from frequently detecting the proximity state and causing the massage unit on the rear side in the traveling direction to stop or separate in small steps.

[Massage operation]
Hereinafter, the kneading operation will be described in detail.
FIG. 16 is an explanatory diagram of the kneading operation. 17A and 17B are explanatory views of a kneading operation, in which (a) is a kneading operation in a state where the ascending / descending of the massage unit 8 is stopped, (b) is a kneading operation while lowering the massage unit 8, and (c) is a massage unit. It shows a kneading operation while raising 8. FIG. 18 is an explanatory diagram of a kneading operation, in which (a) is a kneading operation in a state where the ascending / descending of the massage unit 8 is stopped, (b) is a kneading operation while raising the massage unit 8, and (c) is a massage unit. It shows a kneading operation while lowering 8. FIG. 19 is an explanatory diagram of the kneading operation. 16 and 19 show a state in which the first massage unit 8 is arranged at the neck position and the second massage unit 9 is arranged at the shoulder position.

As shown in FIG. 16, when the massage motors 43 and 63 are driven to continuously rotate the kneading shafts 41 and 61 in one direction, the left and right and vertical components are viewed from the front as the treatment elements 34 and 54. It operates by drawing a loop-shaped locus. On the other hand, when the kneading shafts 41 and 61 are inverted before being rotated once, the treatment elements 34 and 54 operate by drawing an arc-shaped locus having left-right and vertical components in the front view. In any of the above cases, the left and right pairs of treatment elements 34 and 54 operate in the left-right direction and separate from each other. In this way, the kneading operation is performed.

As shown in FIGS. 7 and 13, in the massage machine 1 according to the present embodiment, the distance d1 between the treatment child 34 of the first massage mechanism 31 and the kneading shaft 41 is the treatment child 54 (upper treatment child) of the second massage mechanism 51. It is set to be shorter than the distance d2 between 54a) and the kneading shaft 61. Therefore, as shown in FIG. 16, the treatment child 34 of the first massage mechanism 31 and the treatment child 54 of the second massage mechanism 51 have different operating ranges in the left-right direction in the kneading operation. The operating range W1 of the 34 is narrower than the operating range W2 of the treatment element 54. Further, the treatment child 34 of the first massage mechanism 31 and the treatment child 54 of the second massage mechanism 51 are different in the vertical dimension of the locus of the kneading operation. Specifically, the vertical dimension of the locus of the treatment child 34 is different. H1 is smaller than the vertical dimension H2 of the locus of the treatment element 54. It should be noted that the vertical dimension of the locus can also be made different from the operating range by making the inclination angles of the inclined shafts 41a and 61a different from the axial centers 41b and 61b of the kneading shafts 41 and 61. Specifically, the larger the inclination angle of the inclined shafts 41a and 61a with respect to the axial centers 41b and 61b of the kneading shafts 41 and 61, the larger the vertical dimension of the operating range and the locus can be increased.

With such a configuration, the first massage mechanism 31 performs a relatively fine kneading operation on the neck having a narrow treatment range, and the second massage mechanism 51 performs a relatively fine kneading operation, and the second massage mechanism 51 performs a treatment portion below the neck having a wide treatment range ( For example, a dynamic massage motion can be performed on the shoulder, back, waist, etc.). That is, an effective kneading operation can be performed according to the treatment site. Further, since both massage units 8 and 9 can be raised and lowered, the first massage unit 8 and the second massage unit 9 can be switched to perform different kneading operations on the same treated portion.

Further, by raising and lowering each of the massage units 8 and 9 along the height direction in synchronization with the kneading operation, the vertical dimension of the locus of the kneading operation can be changed. Explaining the treatment element 34 as an example, as shown in FIG. 17B, if the first massage unit 8 is lowered in synchronization with the downward operation due to the kneading operation of the treatment element 34, the vertical dimension of the locus of the kneading operation. H1 becomes large, and as shown in FIG. 17C, if the first massage unit 8 is raised in synchronization with the downward movement due to the kneading operation of the treatment element 34, the vertical dimension H1 of the kneading operation becomes small. Alternatively, as shown in FIG. 18B, if the first massage unit 8 is raised in synchronization with the upward movement due to the kneading movement of the treatment element 34, the vertical dimension H1 of the locus of the kneading movement becomes large, and FIG. As shown in c), if the first massage unit 8 is lowered in synchronization with the upward movement of the massager 34 due to the kneading operation, the vertical dimension H1 of the kneading operation becomes smaller.

With such a configuration, the feeling of the kneading operation can be changed in various ways. For example, the horizontal movement range of the kneading operation is performed by switching the massage units 8 and 9 that massage the treated area, and the vertical dimension of the kneading operation trajectory is performed by adding the raising and lowering of the massage units 8 and 9. Just do it. Although the treatment element 34 of the first massage mechanism 31 is illustrated in FIGS. 17 and 18, the same kneading operation can be performed on the treatment element 54 of the second massage mechanism 51. Further, in the case where the kneading operation by the massage motor is such that the left and right pairs of the treatment elements have only the left and right direction components and are separated from each other, the massage unit is moved up and down to make the treatment child a circle having the vertical direction components. It can be changed to an operation of drawing an arc-shaped or loop-shaped locus.

As another embodiment, as shown in FIG. 19, the first massage mechanism 31 and the second massage mechanism 51 are set so that the separation distances of the left and right pairs of treatment elements 34 and 54 when they are closest to each other in the kneading operation are different. May be. Specifically, it is preferable that the separation distance D1 of the first massage mechanism 31 is set to be narrower than the separation distance D2 of the second massage mechanism 51. The separation distance is caused by the distance between the attachment positions of the paired arms 40 and 60 to the kneading shafts 41 and 61, or the inclination angle of the tilting shafts 41a and 61a with respect to the axis 41b and 61b of the kneading shafts 41 and 61. With such a configuration, the first massage mechanism 31 performs a firm kneading operation on the neck, and the second massage mechanism 51 performs a treatment portion below the neck having a wide treatment range (for example, shoulders and back). , The waist, etc.) can be massaged while avoiding the vicinity of the center line of the body (for example, the spine). That is, an effective kneading operation can be performed according to the treatment site.

Hereinafter, the cooperation between the first massage mechanism 31 and the second massage mechanism 51 will be described.

[Operation 1]
FIG. 20 is a flow chart of operation 1. 21 is an explanatory diagram of operation 1, in which (a) is a state in which the first massage mechanism 31 is advanced and the second massage mechanism 51 is retracted, and (b) is a state in which the first massage mechanism 31 is retracted and the second massage mechanism 51 is retracted. Shows the state of advancement.
The operation 1 is an operation of advancing and retreating the first massage mechanism 31 and the second massage mechanism 51 at different timings, and preferably includes the operations of the treatment elements 34 and 54 driven by the massage motors 43 and 63. Hereinafter, as shown in FIG. 21, a case where the operation 1 is performed with the first massage unit 8 arranged at the neck position and the second massage unit 9 arranged at the back position of the shoulder will be illustrated.

As shown in FIG. 20, first, the first massage mechanism 31 is relatively advanced with respect to the second massage mechanism 51 (step S1). Subsequently, the second massage mechanism 51 is advanced while maintaining the front-back position of the first massage mechanism 31 (step S2). Subsequently, the first massage mechanism 31 is retracted relative to the second massage mechanism 51 while maintaining the front-back position of the second massage mechanism 51 (step S3). Subsequently, the second massage mechanism 51 is retracted while maintaining the front-back position of the first massage mechanism 31 (step S4). The cycle of steps S1 to S4 is repeated for a predetermined time. In steps S1 to S4, the second massage mechanism 51 may be advanced first. Further, the position where the massage units 8 and 9 are arranged is not particularly limited, and for example, the first massage unit 8 may be arranged at the neck position and the second massage unit 9 may be arranged at the waist position.

In steps S1 to S4, it is preferable to drive the massage motors 43 and 63 to cause the treatment elements 34 and 54 to perform a massage including a kneading operation or a tapping operation, and the massage may be performed at all times. Alternatively, the massage may be performed intermittently, for example, the massage is performed when the massage mechanisms 31 and 51 are advanced, and the massage is performed when the massage mechanisms 31 and 51 are retracted. You may stop. Further, the advancement or retreat of the massage mechanisms 31 and 51 may be synchronized with the massage. In this case, it is possible to obtain a feeling as if the masseuse performs a kneading operation or a tapping operation while changing the force. Can be done. Alternatively, the advance or retreat of the massage mechanisms 31 and 51 may be synchronized with the operation of bringing the left and right pairs of the treatment elements 34 and 54 close to each other. Alternatively, it is possible to obtain a feeling as if pulling while grasping the treated portion. The term "synchronization" as used herein means a massage motor 43 that performs a kneading operation, a tapping operation, or an operation of bringing a pair of treatment elements into close proximity to the advancing / retreating drive units 15 and 16 that advance or retreat the massage mechanisms 31 and 51. , 63 may be driven in parallel regardless of the rear end, and further includes the case where the massage motors 43 and 63 are driven after the advancement or retreat of the massage mechanisms 31 and 51 is completed.

Further, the massage mechanisms 31 and 51 may be alternately advanced and retreated so as to retract the other massage mechanism in synchronization with the advancement of one massage mechanism. In this case, the masseuse alternates between the left hand and the right hand. You can get the feeling as if you are doing a massage by switching to. Further, with one massage mechanism advanced, the other massage mechanism may repeat advancement and retreat for a predetermined time. In this case, the masseuse attaches one hand to the treated area and the other. You can get the feeling of repeating acupressure with your hands.

Further, in steps S1 to S4, the elevating motors 35 and 55 may be driven to move the massage units 8 and 9 up and down. For example, the advancement of the massage mechanisms 31 and 51 and the ascent or descent of the massage units 8 and 9 may occur. In this case, it is possible to obtain a feeling as if the masseuse pushes up or pushes down the treated portion. In addition, it is preferable that this operation also synchronizes the operation of bringing the left and right pairs of treatment elements close to each other.

In this way, in the operation 1, since the massage mechanisms 31 and 51 move forward and backward at different timings to perform the massage, it is possible to obtain a realistic sensation as if the masseuse massages with both hands. can. In particular, when performing a kneading motion as the massage, the left and right pair of massagers of one massage mechanism simulates the kneading motion of the masseuse's left thumb and other fingers, and the left and right pair of the other massage mechanism. The treatment child can simulate the massaging motion with the thumb and other fingers of the masseuse's right hand. Further, since the operation 1 is performed in a state where both massage mechanisms 31 and 51 are brought close to each other in the vertical direction, a sense of realism becomes remarkable. Therefore, it is preferable to perform the operation 1 in the above-mentioned close state or pre-close state based on the sensor 70. ..

Further, in the above-described embodiment, the massage mechanisms 31 and 51 are advanced or retracted at different timings to realize a realistic sensation, but the speeds at which the massage mechanisms 31 and 51 are advanced or retracted are set to each other. You can get the same experience even if you make them different. For example, when the advance speed of the first massage mechanism 31 is made relatively faster than the advance speed of the second massage mechanism 51, even if the advancement of the massage mechanisms 31 and 51 starts at the same time, the advance speed of the first massage mechanism 31 After pushing the treated portion with the treatment child 34, the treated portion is pushed with the treatment child 54 of the second massage mechanism 51 with a slight delay. Therefore, it is possible to obtain a feeling as if the masseuse pushes the left hand and the right hand into the treated portion in sequence.

[Operation 2]
FIG. 22 is a flow chart of operation 2 and operation 3. 23 is an explanatory diagram of operation 2 and operation 3, in which (a) is a state in which the first and second massage mechanisms 31 and 51 are retracted, and (b) is a state in which the first and second massage mechanisms 31 and 51 are advanced. The state, (c), shows a state in which the first massage mechanism 31 has advanced and the second massage mechanism 51 has retracted. In FIG. 23, the shaded treatment elements 34, 54a, 54b indicate the advanced state, and the shaded treatment elements 34, 54a, 54b indicate the retracted state.

The operation 2 is an operation in which the treatment child 34 of the first massage mechanism 31 and the treatment child 54 of the second massage mechanism 51 advance to the treated portion. Hereinafter, as shown in FIG. 23, a case where the operation 2 is performed with the 1 massage unit 8 arranged at the back position of the shoulder and the 2nd massage unit 9 arranged at the upper part of the back will be illustrated.

As shown in FIG. 22, first, the massage units 8 and 9 are moved up and down so that they are close to each other in the height direction (step S1). In this example, the first massage unit 8 is arranged at the back position of the shoulder, and the second massage unit 9 is arranged at the upper back. Therefore, as shown in FIG. 23, the treatment child 34 and the upper treatment child 54a are in a state of being close to each other in the height direction. Subsequently, the massage motors 43 and 63 are driven to make the positions of the treatment child 34 of the first massage mechanism 31 and the treatment child 54 of the second massage mechanism 51 different in the left-right direction as shown in FIG. 23 (a) (step). S2). Subsequently, the advance / retreat drive units 15 and 16 are driven to advance the first massage mechanism 31 and the second massage mechanism 51 as shown in FIG. 23 (b) (step S3).

In step S1, the vertical distance between the massage units 8 and 9 may be determined based on the sensor 70, and may be, for example, the above-mentioned proximity state or pre-proximity state. Further, in step S2, the left-right positions of the treatment elements 34 and 54 may be determined based on the width sensors 46 and 66. Further, step S1 and step S2 may be performed in parallel. Further, in step S3, the first massage mechanism 31 and the second massage mechanism 51 may be advanced at the same time, or may be advanced at different timings.

In step S3, the massage motors 43 and 63 may be driven to perform a kneading operation or a tapping operation. For example, in the backrest portion 3, it is preferable to have one massage mechanism perform a kneading operation and, in parallel with it, cause the other massage mechanism to perform an operation including a tapping operation. By operating in this way, it is possible to give the feeling as if two or more masseurs are performing different types of massage on the upper body. Although the masseuse can perform the kneading motion with one hand, the masseuse cannot perform the tapping motion with one hand, so that one masseuse cannot perform the kneading motion and the tapping motion in parallel.

In this way, in the operation 2, the treatment child 34 of the first massage mechanism 31 and the treatment child 54 (upper treatment child 54a) of the second massage mechanism 51 are arranged side by side in the left-right direction, so that it is as if the masseuse had both hands. You can use it to get a realistic feeling as if you were doing a massage (acupressure) with your thumb and other fingers. That is, in the state shown in FIG. 23, the treatment child 34 located on the left and right inside corresponds to the thumb, and the upper treatment child 54a or the lower treatment child 54b located on the left and right outside corresponds to the other fingers. Further, in the above-described embodiment, the case where the operation 2 is performed in a state where the first massage mechanism 31 and the second massage mechanism 51 are close to each other has been described, but the operation 2 may be performed in a state where the first massage mechanism 31 and the second massage mechanism 51 are separated from each other. In this case, for example, the lower treatment child 54 (upper treatment child 54a or lower treatment child 54b) corresponds to the thumb, and the upper treatment child 34 corresponds to the other finger.

[Operation 3]
The operation 3 is an operation in which the treatment child 34 of the first massage mechanism 31 and the treatment child 54 of the second massage mechanism 51 are positioned differently in the left-right direction, and the treatment child of one of the massage mechanisms is retracted from the advanced state. Is. Hereinafter, as shown in FIG. 22, a case where the operation 3 is performed following the operation 2 will be illustrated.

Following step S3 of operation 2, the advance / retreat drive unit is driven to retract one of the massage mechanisms (step S4). In the example shown in FIG. 23, the advancing / retreating driving unit 16 is driven to retract the second massage mechanism 51. Then, the treated portion strongly abuts on the treated child 34 of the first massage mechanism 31 that has advanced, and it is possible to obtain a feeling as if the acupressure is being pressed by the treated child 34. It should be noted that the operation 3 is preferably performed in the above-mentioned close state or pre-close state based on the sensor 70 because the feeling of acupressure becomes remarkable when both massage mechanisms 31 and 51 are close to each other. Further, in the operation 2 and the operation 3, the positions where the massage units 8 and 9 are arranged are not particularly limited. For example, the first massage unit 8 is arranged at the neck or back position and the second massage unit 9 is arranged at the waist position. May be placed in.

[Operation 4]
FIG. 24 is an explanatory diagram of operation 4. In addition, in FIG. 24, the illustration of the lower treatment child 54b is omitted for ease of understanding.
The operation 4 is an operation in which the treatment child 34 of the first massage mechanism 31 and the treatment child 54 of the second massage mechanism 51 are kneaded at different speeds, and the massage mechanisms 31 and 51 are in close proximity to each other in the height direction. It is preferable to carry out as.

First, the massage units 8 and 9 are moved up and down so that they are close to each other in the height direction. Subsequently, the massage motors 43 and 63 are continuously driven in one direction, and the massager 34 of the first massage mechanism 31 and the treatment child 54 of the second massage mechanism 51 perform a kneading operation. This kneading operation is performed by driving the respective massage motors 43 and 63 at different speeds to rotate the respective kneading shafts 41 and 61 at different speeds. In the example shown in FIG. 24, the rotation of the kneading shaft 41 is relatively fast. The vertical distance between the massage units 8 and 9 may be determined based on the sensor 70, and may be, for example, the above-mentioned proximity state or pre-proximity state.

In this way, the operation 4 repeats the cycle in which the treatment elements 34 and 54 of the massage mechanisms 31 and 51 make one round of the loop-shaped locus to perform the kneading operation. Then, the positional relationship with the treatment child of the other massage mechanism is different in each cycle. For example, when the treatment child 34 of the first massage mechanism 31 is viewed, the pair of treatment children 54 of the second massage mechanism 51 are on the trajectory of the kneading motion in the state where the pair of treatment children 34 in the first cycle are most separated. Although it is located at the upper end, in the state where the pair of treatment elements 34 in the second cycle are most separated from each other, the pair of treatment elements 54 of the second massage mechanism 51 are located at the lower end on the trajectory of the kneading operation. In this way, the operation 4 can change the kneading operation from the vertical direction by the treatment child 34 of the first massage mechanism 31 and the treatment child 54 of the second massage mechanism 51 with the passage of time, and the massage effect is enhanced. ..

[Operation 5]
25 is an explanatory diagram of operation 5, in which (a) is a state in which the first and second massage mechanisms 31 and 51 are retracted, and (b) is a state in which the first massage mechanism 31 is retracted and the second massage mechanism 51 is advanced. It shows the state.
As shown in FIG. 25, the operation 5 is an operation in which the second massage mechanism 51 is advanced with the first massage unit 8 arranged at the shoulder position and the second massage unit 9 arranged at the waist position, and is a massage motor. It is preferable to include the operation of the treatment element 34 driven by the 43. By advancing the second massage mechanism 51 at the waist position, the waist is pushed forward and the upper body is in a posture of leaning back. Therefore, the shoulder strongly abuts on the treatment element 34 of the first massage mechanism 31. At this time, if the treatment child 34 of the first massage mechanism 31 is subjected to a kneading operation or a tapping operation, the massage effect is enhanced.

[Operation 6]
26 is an explanatory diagram of operation 6, in which the first massage unit 8 is arranged at the shoulder position and the second massage unit 9 is arranged at the waist position, and FIG. 26B shows the first massage unit 8 at the waist position. It shows a state in which the second massage unit 9 is arranged at the shoulder position and is raised to the back position.
As shown in FIG. 26, the operation 6 is an operation of raising the second massage unit 9 in the height direction while the first massage unit 8 is arranged at the shoulder position, and the operation of the treatment child 34 driven by the massage motor 43. It is preferable to include. By raising the second massage unit 9, the upper body is lifted. Therefore, the shoulder strongly abuts on the treatment element 34 of the first massage mechanism 31. At this time, if the treatment child 34 of the first massage mechanism 31 is subjected to a kneading operation or a tapping operation, the massage effect is enhanced.

[Operation 7]
27 is an explanatory diagram of the operation 7, in which the first massage mechanism 31 advances and the neck is pinched and the second massage mechanism 51 is arranged at the shoulder position, and FIG. 27B is the first massage mechanism. It shows a state in which 31 advances, holds the neck, and the second massage mechanism 51 descends to the waist position.
The operation 7 is an operation of raising or lowering the other massage mechanism in the height direction while the treated portion is sandwiched between the pair of treatment elements of one massage mechanism. In the example shown in FIG. 27, the second massage unit 9 is lowered while the first massage mechanism 31 is advanced and the pair of treatment elements 34 are brought close to each other and the neck is sandwiched. By lowering the second massage unit 9, the upper body is pulled downward. Therefore, since the neck is sandwiched by the treatment child 34 of the first massage mechanism 31, a stretching effect of stretching the neck can be obtained. Further, if the second massage unit 9 is repeatedly raised and lowered while the neck is pinched by the first massage mechanism, it is as if the masseuse attaches one hand and fixes the neck with the other hand. You can get the feeling of rubbing or stretching the treated area.

In the operation 7, the position where the massage units 8 and 9 are arranged is not particularly limited. Further, the massage mechanism that sandwiches the treated portion and the massage mechanism that raises or lowers the treated portion can be appropriately selected. For example, the first massage unit 8 may be raised or lowered at the back position while the second massage unit 9 is arranged at the waist position and the waist is sandwiched by the pair of treatment elements 54.

[Operation 8]
28 is an explanatory diagram of the operation 8, in which the first massage mechanism 31 performs a kneading operation, the second massage mechanism 51 is in an ascending process, and in (b), the first massage mechanism 31 is kneading. The operation is performed, and the second massage mechanism 51 shows the state of the descending process. The operation 8 is an operation in which one massage mechanism is made to perform a kneading operation or a tapping operation, and the other massage mechanism is raised or lowered. Hereinafter, based on FIG. 28, a case where the first massage mechanism 31 is used as the one massage mechanism to perform a kneading operation and the second massage mechanism 51 is raised or lowered as the other massage mechanism will be illustrated.

As shown in FIG. 28 (a), by raising the second massage mechanism 51 toward the first massage mechanism 31 and bringing it closer to the first massage mechanism 31, the muscles of the treated portion are brought closer to the first massage mechanism 31 side. , This gathered muscle can be massaged by a pair of treatment elements 34 of the first massage mechanism 31. On the other hand, as shown in FIG. 28 (b), by lowering the second massage mechanism 51 from the first massage mechanism 31 and separating them from each other, the muscles of the treated portion are pulled, and the pulled muscles are pulled. It can be massaged by a pair of treatment elements 34 of the first massage mechanism 31. Moreover, blood circulation can be promoted by pointing the treated portion by raising or lowering the second massage mechanism 51, and the first massage mechanism 31 massages the treated portion with increased blood circulation. The massage effect is further enhanced. In the operation 8, the first massage mechanism 31 may be raised or lowered, and the second massage mechanism 51 may perform a kneading operation or a tapping operation.

[Operation 9]
FIG. 29 is a flow chart of operation 9 and operation 10.
The operation 9 is an operation of moving the first massage mechanism 31 and the second massage mechanism 51 in a direction close to each other along the height direction, and the treatments 34 and 54 of the first and second massage mechanisms 31 and 51 are treated. It is an operation to synchronize with the operation of advancing to the part. As shown in FIG. 29, first, the massage units 8 and 9 are moved in directions close to each other (step S1). The operation of step S1 is continuously performed until the relative positions of the massage units 8 and 9 are in the close state or the pre-close state. After the completion of step S1 or in parallel with step S1, the treatment elements 34 and 54 of the first and second massage mechanisms 31 and 51 are advanced (step S2). By operating in this way, the back muscles are stretched by the movement of the massage mechanisms 31 and 51 along the height direction, and the upper body can be bent by the advance of the treatment children 34 and 54, and the massage effect is enhanced. Then, after the completion of step S2, the treatment elements 34 and 54 of the first and second massage mechanisms 31 and 51 are retracted (step S3). In step S1, it is preferable that the first and second massage mechanisms 31 and 51 are brought close to each other with the waist position as the target position, and in this case, the effect of bending the upper body is enhanced.

[Operation 10]
The operation 10 is an operation of moving the first massage mechanism 31 and the second massage mechanism 51 in a direction away from each other along the height direction, and the treatments 34 and 54 of the first and second massage mechanisms 31 and 51 are treated. It is an operation to synchronize with the operation of advancing to the part. Hereinafter, as shown in FIG. 29, a case where the operation 10 is performed following the operation 9 will be illustrated.
Following step S3 of the operation 9, the first and second massage units 8 and 9 in the proximity state or the pre-proximity state are moved in the directions away from each other (step S4). The operation of step S4 is continuously performed until the first massage unit 8 is in the neck position and the second massage unit 9 is in the lower limit position of the elevating range. Then, in parallel with step S4, the treatment elements 34 and 54 of the first and second massage mechanisms 31 and 51 are advanced (step S5). By operating in this way, it is possible to stretch the upper body by the separation operation along the height direction of the massage mechanisms 31 and 51 while bending the upper body by advancing the treatment elements 34 and 54, and the massage effect is enhanced.

[Operation 11]
FIG. 34 is a flow chart of the operation 11.
The motion 11 is a motion of stretching the user's body. In the operation 11, the treatment child 34 of the first massage mechanism 31 is positioned at the neck by driving the elevating motor 35, and the pair of treatment elements 34 are brought close to each other by driving the massage motor 43 to grab the neck, and the elevating motor 55. The second massage mechanism 51 is moved to the waist by driving the second massage mechanism 51, and the second massage mechanism 51 is advanced by the drive of the advancing / retreating drive unit 16 to press the waist, and the second massage mechanism 3 is provided on the backrest portion 3. 2 The operation of holding the upper body on the backrest 3 by the air cell 10 as the pressing holding means, the operation of holding the lower limbs on the footrest 4 by the air cell 13 as the first pressing holding means provided on the footrest 4, and the driving of the actuator 21. The operation of reclining the backrest portion 3 backward and the operation of lowering the footrest 4 by driving the actuator 22 are performed in synchronization with each other.

In the operation 11, it is sufficient to synchronize at least the operation of grasping the neck, the operation of pressing the waist, and the operation of reclining the backrest portion 3 backward. According to such an operation, the second massage mechanism 51 pushes up the waist while the displacement of the upper body with respect to the backrest portion 3 due to the reclining of the backrest portion 3 is suppressed by holding the neck, so that the upper body is effective. It can be warped and a high stretching effect can be expected.

Further, if the action of holding the upper arm or shoulder is added by the air cell 10, the displacement of the upper body with respect to the backrest portion 3 due to the reclining of the backrest portion 3 is further suppressed by holding the upper arm or shoulder, and a higher stretching effect is obtained. You can expect it. Further, if the motion of holding the lower limbs and the motion of lowering the footrest 4 are added, the backrest portion 3 and the footrest 4 are operated while the neck and the lower limbs are held, so that the whole body can be pulled, which is higher. A stretch effect can be expected. Further, if the first massage mechanism 31 in the advanced state is retracted by the drive of the advance / retreat drive unit 15 in synchronization with the reclining of the backrest portion 3, the neck is pulled downward, so that a higher stretching effect can be expected. .. The "synchronization" referred to in the operation 11 may mean that each operation is performed in parallel regardless of the rear, and further, the advancement of the second massage mechanism 51 is the reclining of the backrest portion 3 or the footrest 4. Including the case where it is performed after the descent of.

Hereinafter, the individual operations of the first massage mechanism 31 and the second massage mechanism 51 will be described. FIG. 35 is an explanatory diagram of operation A. FIG. 36 is an explanatory diagram of operation B. FIG. 37 is an explanatory diagram of operation C. FIG. 38 is an explanatory diagram of operation D. FIG. 39 is an explanatory diagram of operation E. FIG. 40 is an explanatory diagram of operation F. FIG. 41 is an explanatory diagram of operation a. FIG. 42 is an explanatory diagram of the operation b. FIG. 43 is an explanatory diagram of the operation c. FIG. 44 is an explanatory diagram of the operation d. FIG. 45 is an explanatory diagram of the operation e. FIG. 46 is an explanatory diagram of the operation f. FIG. 47 is an explanatory diagram of the operation g. FIG. 48 is an explanatory diagram of operation h. FIG. 49 is an explanatory diagram of the operation i. FIG. 50 is an explanatory diagram of operation j.

Operations A to F are operations of the first massage mechanism 31. Operations a to j are operations of the second massage mechanism 51. The operations A to F of the first massage mechanism 31 and the operations a to j of the second massage mechanism 51 can be arbitrarily combined. That is, in the present embodiment, there are 60 combinations of operations of the first massage mechanism 31 and the second massage mechanism 51. By combining the movements A to F, a to j of the massage mechanisms 31 and 51 provided on the backrest portion 3 along the height direction, a wide range of muscles such as the trapezius muscle M are collectively massaged. be able to. Moreover, it is possible to massage parts separated in the height direction at the same time. In the operations a to j, the lower treatment element 54b is omitted from the treatment child 54 in order to facilitate understanding.

The position to be massaged by the first massage mechanism 31 in the operations A to F is determined based on the position information of each part detected or calculated by the specific part detection sensor. On the other hand, the position where the second massage mechanism 51 massages in the operations a to j is the position information of each part detected based on the specific part detection sensor of the first massage unit 8 or the second massage unit 9, or the position in advance. It is determined based on the position information stored in the control means 23.

[Operation A]
As shown in FIG. 35, the operation A is an operation in which the massage motor 43 is driven at the shoulder position and the paired treatment elements 34 of the first massage mechanism 31 perform a kneading operation in which they are separated from each other. In operation A, the treatment element 34 may act on either the upper part or the posterior part of the shoulder. When acting on the posterior part of the shoulder, the upper side is preferable to the scapula B. Further, when acting on the scapula B as the rear part of the shoulder, it is preferable to perform the kneading operation in a state where the advancing / retreating air cell 15 is contracted and the first massage mechanism 31 is retracted so as not to cause excessive pain. ..

[Operation B]
As shown in FIG. 36, the operation B is an operation in which the massage motor 43 is driven at the neck position to bring the pair of treatment elements 34 of the first massage mechanism 31 close to each other and grab the neck. In this operation, the massage motor 43 is stopped for a predetermined time with the pair of treatment elements 34 in close proximity to each other.

[Operation C]
As shown in FIG. 37, the motion C is a motion of the first massage mechanism 31 from the neck to the shoulder by the treatment element 34. Specifically, the pair of treatment elements 34 are placed close to each other at the neck position, and the elevating motor 35 and the massage motor 43 are driven to lower the first massage mechanism 31 while separating the pair of treatment elements 34 ( Operation C-1). Alternatively, the pair of treatment elements 34 are kept apart from each other at the shoulder position, and the elevating motor 35 and the massage motor 43 are driven to raise the first massage mechanism 31 while bringing the pair of treatment elements 34 close to each other (operation C-). 2). The operation C-1 and the operation C-2 may be repeated alternately.

[Operation D]
As shown in FIG. 38, the operation D is an operation in which the elevating motor 35 is driven from above the shoulder position, the first massage mechanism 31 is lowered, and the shoulder is acupressured from above by the pair of treatment elements 34. This operation is preferably performed with the pair of treatment elements 34 separated from each other. Further, it is preferable that a predetermined amount of air is supplied to the advancing / retreating air cell 15 and the treatment element 34 is advanced.

[Operation E]
As shown in FIG. 39, the operation E is an operation in which the elevating motor 35 is driven at the neck position to elevate and lower the first massage mechanism 31 and the neck is pointed by the pair of treatment elements 34.

[Operation F]
As shown in FIG. 40, the motion F is an motion of touching the shoulder or the back between the left and right shoulder blades B by the treatment element 34 of the first massage mechanism 31. Specifically, in a state where the pair of arms 40 are substantially parallel to each other in the shoulder or back position, the treatment child 34 is kept from contacting the scapula B, and the elevating motor 55 is driven to perform the first step. The massage mechanism 31 is raised or lowered. The separation distance of the pair of treatment elements 34 in the operation F may be wider than the separation distance of the pair of treatment elements 34 in the operation E.

[Operation a]
As shown in FIG. 41, the motion a is an motion of touching the back between the left and right shoulder blades B by the treatment child 54 of the second massage mechanism 51. The vertical range pointing to the back in this movement includes the positions corresponding to the upper and lower ends of the scapula B. Specifically, in a state where the pair of arms 60 are substantially parallel to each other at the position of the scapula, the treatment elements 54a and 54b are kept from contacting the scapula B, and the elevating motor 55 is driven to drive the second arm. 2 Raise or lower the massage mechanism 51. That is, the motion a is an motion of touching a wide area between the entire left and right shoulder blades.

[Operation b]
As shown in FIG. 42, the motion b is an motion of touching the back between the left and right shoulder blades B by the treatment child 54 of the second massage mechanism 51. In this movement, the vertical range pointing to the back includes the lower side of the center of the scapula B and does not include the position corresponding to the upper end. Specifically, in a state where the pair of arms 60 are substantially parallel to each other at the position of the scapula, the treatment elements 54a and 54b are kept from contacting the scapula B, and the elevating motor 55 is driven to drive the second arm. 2 Raise or lower the massage mechanism 51. That is, the motion b is a motion centering on the lower portion between the left and right shoulder blades B.

[Operation c]
As shown in FIG. 43, the motion c is a motion of touching the back between the left and right shoulder blades B by the treatment child 54 of the second massage mechanism 51. In this movement, the vertical range pointing to the back includes the upper side of the center of the scapula B and does not include the position corresponding to the lower end. Specifically, in a state where the pair of arms 60 are substantially parallel to each other at the position of the scapula, the treatment elements 54a and 54b are kept from contacting the scapula B, and the elevating motor 55 is driven to drive the second arm. 2 Raise or lower the massage mechanism 51. That is, the motion c is a motion centering on the upper portion between the left and right shoulder blades B.

[Operation d]
As shown in FIG. 44, the motion d is an motion of pointing the range from the waist to the back by the treatment child 54 of the second massage mechanism 51. Specifically, in a state where the pair of arms 60 are substantially parallel in front view, the treatment elements 54a and 54b are kept from contacting the scapula B, and the elevating motor 55 is driven to drive the second massage mechanism 51. Ascends or descends. The lower limit of the elevating range of the second massage mechanism 51 may be determined based on a limit sensor (not shown) provided at the lower part of the backrest portion 3. Since the upper treatment child 54a acts stronger than the lower treatment child 54b in the structure of the second massage mechanism 51, the pair of upper treatment children 54a is treated with the pair of lower treatment children 54a without making the arm 60 substantially parallel in front view. Each operation a to d may be performed so that the upper treatment child 54a does not come into contact with the scapula B in a state closer to the child 54b.

[Operation e]
As shown in FIG. 45, the operation e is an operation in which the treatment element 54 of the second massage mechanism 51 performs a kneading operation on the lower edge of the scapula B. Specifically, the treatment child 54 (for example, the upper treatment child 54a) is positioned slightly below the lower end of the scapula B, and the massage motor 63 is driven to drive the treatment child 54 of the pair of the second massage mechanism 51. Performs a kneading operation that separates from each other.

[Operation f]
As shown in FIG. 46, the motion f is an motion of pointing the inner edge of the scapula B by the treatment element 54 of the second massage mechanism 51. Specifically, the pair of treatment elements 54 (for example, the upper treatment element 54a) are placed close to each other between the left and right shoulder blades B, and the elevating motor 55 and the massage motor 63 are driven to drive the second massage mechanism. While lowering the 51, the pair of treatment elements 54 (for example, the upper treatment element 54a) are separated from each other (operation f-1). Alternatively, the pair of treatment elements 54 (for example, the upper treatment element 54a) are left apart between the left and right shoulder blades B, and the elevating motor 55 and the massage motor 63 are driven to raise the second massage mechanism 51. The pair of treatment elements 54 (for example, 54a) are brought close to each other (operation f-2). The operation f-1 and the operation f-2 may be repeated alternately.

[Operation g]
As shown in FIG. 47, the motion g is a motion of rubbing the back and / or the waist by the treatment child 54 of the second massage mechanism 51. Specifically, the elevating motor 55 and the massage motor 63 are driven to move the pair of treatment elements 54 closer to each other while raising or lowering the second massage mechanism 51. In this operation, the range for raising and lowering the second massage mechanism 51 may be from the waist to the back, or may be only the back or the waist.

[Operation h]
As shown in FIG. 48, the operation h is an operation of rubbing the rear portion of the buttocks (the portion abutting on the backrest portion 3) by the treatment element 54 of the second massage mechanism 51. Specifically, the massage motor 63 is driven so that the pair of treatment elements 54 of the second massage mechanism 51 are brought close to each other at the hip position. The buttock position may be determined based on a limit sensor (not shown) provided at the lower part of the backrest portion 3.

[Operation i]
As shown in FIG. 49, the operation i is an operation in which the treatment element 54 of the second massage mechanism 51 presses the rear portion of the tail (the portion abutting on the backrest portion 3). Specifically, the massage motor 63 is driven to bring the pair of treatment elements 54 (for example, the upper treatment element 54a) of the second massage mechanism 51 close to each other at the hip position, and the massage motor 63 is stopped for a predetermined time in that state. .. The buttock position may be determined based on a limit sensor (not shown) provided at the lower part of the backrest portion 3.

[Operation j]
As shown in FIG. 50, the operation j is an operation in which the treatment element 54 of the second massage mechanism 51 points to the rear part of the waist and / or the buttocks (the part that abuts on the backrest portion 3). Specifically, the elevating motor 55 is driven to raise or lower the second massage mechanism 51. In this operation, the range for raising and lowering the second massage mechanism 51 may be from the waist to the buttocks, or may be only the waist or the buttocks.

[Structure of massage unit according to other embodiments]
Hereinafter, the massage unit 100 according to another embodiment will be described. FIG. 30 is a front view of the massage unit 100 according to another embodiment. In the massage unit 100, the above-mentioned massage mechanism 31 and the second massage mechanism 51 are collectively provided in a single main body frame 110. That is, since the massage mechanisms 31, 51 and the support frames 32, 52 that support the massage mechanisms 31, 51 have the same configuration as described above, the same reference numerals are given below and the description thereof will be omitted.

As shown in FIG. 30, the massage unit 100 includes a first massage mechanism 31 arranged on the relatively upper side and a second massage mechanism 51 arranged on the relatively lower side, and is provided on the backrest portion 3. ing. The massage unit 100 mainly includes a main body frame 110 supported by a guide mechanism 3b so as to be able to move up and down, a first massage mechanism 31 and a second massage mechanism 51, and support frames 32 and 52 supporting the respective massage mechanisms 31 and 51. , The advancing / retreating drive units 15 and 16 that advance and retreat each massage mechanism 31 and 51 with respect to the treated portion, and the links 33 and 53 that connect the main body frame 110 and the support frames 32 and 52 and swing in the front-rear direction. Has and is configured.

The massage unit 100 includes an elevating motor 111, an elevating shaft 112, and pinions 39 attached to both ends of the elevating shaft 112, and by driving the elevating motor 111, the elevating shaft 112 rotates to cause the massage unit 100 to rotate. It goes up and down along the height direction. The treatment child 34 can perform a kneading operation or a tapping operation by driving the massage motor 43, and the treatment child 54 can perform a kneading operation by driving the massage motor 63.

[Structure of massage mechanism according to other embodiments]
Hereinafter, the massage mechanism 200 according to another embodiment will be described. FIG. 31 is a front view of the massage mechanism 200 according to another embodiment.
The essential difference from the first massage mechanism 31 described above is that the massage mechanism 200 is provided with the treatment elements 91 above and below the arm 90, and the lower treatment child 91 is provided on the left and right sides of the arm 90. It is a point. Since the other configurations are the same as those of the first massage mechanism 31, the same reference numerals are given below and the description thereof will be omitted.

The massage mechanism 200 has left and right paired arms 90 to which the treatment element 91 is attached, and the arms 90 are connected to a kneading shaft 41 and a tapping shaft 42. The treatment child 91 has an upper treatment child 91a provided on the upper side of the arm 90 and a lower treatment child 91b provided on the lower side of the arm 90. Further, the lower treatment child 91b is provided so as to form a pair on the left and right sides of the arm 90. The lower treatment child 91b is configured to have a smaller diameter than the upper treatment child 91a, the lower treatment child 91b imitates the thumb of the masseuse, and the upper treatment child 91a imitates the fingers other than the thumb of the masseuse. There is. Then, by driving the massage motor 43, it is possible to perform a kneading operation in which the left and right pairs of treatment elements 91 are close to each other and a tapping operation in which the left and right pairs of treatment elements 91 alternately advance and retreat. When this massage mechanism 200 is applied to the above-mentioned massage machine 1, it is preferable to provide the massage mechanism 200 in place of the first massage mechanism 31. That is, in the backrest portion 3, the massage mechanism 200 is arranged on the relatively upper side, and the second massage mechanism 51 is arranged on the relatively lower side. Then, the respective massage mechanisms 51 and 200 can be independently moved up and down along the height direction.

It is effective that the massage mechanism 200 performs a kneading operation in the vicinity of the neck and shoulder positions. That is, the neck and shoulders can be rubbed at the same time by the upper treatment child 91a and the lower treatment child 91b, respectively. Further, in the process of proximity of the pair of lower treatments 91b, the inner lower treatment 91b effectively acts on the shoulder, and in the process of separation of the pair of lower treatments 91b, the outer lower treatment 91b effectively acts on the shoulder. do. From the viewpoint of exerting this effect, it is not necessary to provide a plurality of massage mechanisms 200 along the height direction, and if a single massage mechanism 200 is provided on the backrest portion 3 so as to be able to move up and down along the height direction. good. Further, the lower treatment child 91b may be provided only on either the inside or the outside of the arm 90.

[Structure of links according to other embodiments]
Hereinafter, the case where the link 93 according to another embodiment is applied to the first massage unit 8 will be described as an example, but the link 93 can also be applied to the second massage unit 9. 32 is an explanatory view of the link 93 according to another embodiment, where FIG. 32A shows a state in which the massage mechanism 31 is retracted, and FIG. 32B shows a state in which the massage mechanism 31 is advanced. In the following, the same reference numerals will be given to the members corresponding to the first massage unit 8 provided with the link 33 described above, and the description thereof will be omitted.

As shown in FIG. 32, a link 93 that connects the main body frame 30 and the support frame 32 and swings in the front-rear direction is provided on the side of the support frame 32. The reason why the link 93 is arranged on the side of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be suppressed as compared with the case where the link 93 is arranged behind the support frame 32. The links 93 are arranged side by side in the front-rear direction and have a first link portion 93a relatively arranged on the rear side and a second link portion 93b relatively arranged on the front side. That is, the link 93 constitutes a four-section link mechanism. Further, unlike the link 33, the first link portion 93a and the second link portion 93b have the same length, and the link 93 constitutes a parallel link mechanism. Therefore, the first massage mechanism 31 can be moved forward and backward in parallel and stably.

As described above, the first massage unit 8 advances and retreats the main body frame 30, the massage mechanism 31 having the treatment element 34, the support frame 32 supporting the massage mechanism 31, and the massage mechanism 31 with respect to the treated portion. It has a drive unit 15, a link 93 that connects the main body frame 30 and the support frame 32 and swings in the front-rear direction, and the link 93 is connected to the main body frame 30 in a state where the massage mechanism 31 is most retracted. The portions A1 and A3 are located in front of the connecting portions A2 and A4 with the support frame 32.

[Sensor configuration according to other embodiments]
Hereinafter, another embodiment of the sensor 80 for detecting the relative positions of the first massage unit 8 and the second massage unit 9 will be described with reference to FIG. 33. FIG. 33 is an explanatory diagram of the sensor 80 according to another embodiment.
The sensor 80 is composed of a third sensor unit (elevation sensor 77) that detects the vertical position of the first massage unit 8 and a fourth sensor unit (elevation sensor 78) that detects the vertical position of the second massage unit 9. It is configured. Then, the detection value (height "7" in FIG. 33) indicating the vertical position (height) of the first massage unit 8 detected by the elevating sensor 77 and the second massage unit 9 detected by the elevating sensor 78. Based on the detection value (height "6" in FIG. 33) indicating the vertical position (height) and the difference value (difference value "1" in FIG. 33), the first and second massage units 8 and 9 Detect relative position. That is, the smaller the difference value, the narrower the distance between the two massage units 8 and 9, and the larger the difference value, the wider the distance between the two massage units 8 and 9. For example, the relative position where the difference value is "1" may be set as the proximity state, and the relative position where the difference value is "2" may be set as the pre-proximity state.

As described above, the up-down position of the first massage unit 8 is detected by the elevating sensor 77 detecting how many rotations of the elevating shaft 36 have been made from the upper limit position. The up-down position of the second massage unit 9 is detected by the elevating sensor 78 detecting how many rotations of the elevating shaft 56 are from the lower limit position. In the present embodiment, the difference value indicating the distance between the two massage units 8 and 9 can be detected in 9 steps, and the relative positions of the first and second massage units 8 and 9 are compared with the case where the sensor 70 is used. The detection range is expanded.

Further, the massage machine of the present invention is not limited to the illustrated form, and may be another form within the scope of the present invention.
For example, the number of treatment elements is not limited, and the number of treatment elements 34 of the first massage mechanism 31 may be a plurality in the vertical direction as in the case of the second massage mechanism 51. Further, in the above-described embodiment, the arms supporting the treatment child are paired on the left and right, but a plurality of pairs on the left and right may be provided across the center line of the body, or a plurality of treatment children may be provided in the left-right direction with respect to one arm. It may be provided. Further, the number of massage units provided along the height direction is not limited, and may be three or more.
Further, from the viewpoint of the above-mentioned operations 1 to 8, a plurality of massage units 8 and 9 may be provided in the height direction, and the operation ranges W1 and W2 in the left-right direction in the kneading operation and the vertical dimension H1 of the locus of the kneading operation. , H2, or the separation distances D1 and D2 of the pair of treatment elements when they are closest to each other in the kneading motion may be the same in the first massage mechanism 31 and the second massage mechanism 51.
Further, a guide mechanism 3b is also provided on the seat portion 2 or the seat portion 2 and the footrest 4, and at least one of the first and second massage units 8 and 9 is provided from the backrest portion 3 to the seat portion along the height direction. It may be possible to move to 2 or footrest 4.

Further, the sensor 70 that detects the proximity state or the pre-proximity state as the relative position of both massage units 8 and 9 may be a contact type sensor using a volume switch or the like. For example, instead of the magnet holders 73 and 74, a volume switch may be provided at the tip of the spring urged in the extension direction. Further, if an additional volume switch is provided on the bottom wall 30c of the first massage unit 8 or the upper wall 50d of the second massage unit 9, the volume switch provided at the tip of the spring is pushed to "pre-proximity state". Is detected, and the "proximity state" can be detected by pressing the volume switch provided on the bottom wall 30c or the upper wall 50d against the urging force of the spring.

The present invention can be applied to a massage machine that improves the experience of massage.

1 Massage machine 2 Seat 3 Backrest 4 Footrest 8 1st massage unit (massage unit)
9 Second massage unit (massage unit)
10 Air cell (second pressing holding means)
13 Air cell (first pressing holding means)
15 Advance / retreat air cell (advance / retreat drive unit)
16 Advance / retreat air cell (advance / retreat drive unit)
23 Control means 30 Main body frame 30b Side wall 31 First massage mechanism (massage mechanism)
32 Support frame 33 Link 33a First link part 33b Second link part 34 Treatment child 35 Elevating motor 36 Elevating shaft 40 Arm 43 Massage motor (massage drive unit)
48 Reinforcing part 50 Main body frame 50b Side wall 51 Second massage mechanism (massage mechanism)
52 Support frame 53 Link 53a First link part 53b Second link part 54 Treatment child 55 Elevating motor 56 Elevating shaft 63 Massage motor (massage drive unit)
68 Reinforcing part 70 Sensor 71 First sensor part 72 Second sensor part 77 Elevating sensor (third sensor part)
78 Lifting sensor (4th sensor part)
80 Sensor 90 Arm 91 Treatment child 91a Upper treatment child 91b Lower treatment child 93 Link 93a First link part 93b Second link part 100 Massage unit 200 First massage mechanism (massage mechanism)
D1 Separation distance of the pair of treatment elements when they are closest to each other in the kneading operation D2 Separation distance of the pair of treatment elements when they are closest to each other in the kneading operation H1 Vertical dimension of the locus of the kneading operation H2 Vertical dimension of the locus of the kneading operation W1 Left-right movement range of the treatment child in movement W2 Left-right movement range of the treatment child in kneading movement

Claims (6)

In a massage machine in which a plurality of massage mechanisms having a pair of left and right treatment children are provided along the height direction,
As the massage mechanism, a first massage mechanism arranged on the relatively upper side, a second massage mechanism arranged on the relatively lower side, and the like.
It has a control means for controlling the operation of the first and second massage mechanisms, and has.
The first and second massage mechanisms are massages that perform at least one of a kneading motion in which the paired treatments on the left and right are close to each other or separated from each other, or a tapping motion in which the paired treatments on the left and right alternately advance and retreat. Has a drive unit
The first massage mechanism is a neck massage mechanism that performs the kneading operation or the tapping operation on the user's neck.
The second massage mechanism is a back massage mechanism that performs the kneading operation or the tapping operation on the treatment site below the user's neck.
The control means causes the first massage mechanism to hold the neck from the left-right direction for a predetermined time by bringing the pair of treatments on the left and right close to each other, and at the same time, taps the second massage mechanism. A massage machine characterized in that the massage driving unit is controlled so as to perform an operation including an operation. Further, it has an elevating motor that elevates and lowers at least one of the first and second massage mechanisms along the height direction.
The control means according to claim 1 or 2, wherein the control means controls the elevating motor so as to raise the second massage mechanism along the height direction while the first massage mechanism is arranged on the shoulder. Massage machine. Further, it has an elevating motor that elevates and lowers at least one of the first and second massage mechanisms along the height direction.
The control means causes the first massage mechanism to hold the neck from the left-right direction by bringing the pair of left and right massagers close to each other, and at the same time, moves the second massage mechanism along the height direction. The massage machine according to claim 1 or 2, wherein the massage drive unit and the elevating motor are controlled so as to perform an operation including the tapping operation while ascending or descending. The first and second massage mechanisms include an advance / retreat drive unit that advances and retreats the treatment child in the front-rear direction with respect to the user.
Further, it has an elevating motor that elevates and lowers at least one of the first and second massage mechanisms along the height direction.
The control means moves up and down so as to synchronize the movement of the first and second massage mechanisms in directions close to each other along the height direction of the first and second massage mechanisms and the advancement of the treatment child of the first and second massage mechanisms. The massage machine according to any one of claims 1 to 3 , wherein the motor and the advance / retreat drive unit are controlled. The first and second massage mechanisms include an advance / retreat drive unit that advances and retreats the treatment child in the front-rear direction with respect to the user.
Further, it has an elevating motor that elevates and lowers at least one of the first and second massage mechanisms along the height direction.
The control means moves up and down so as to synchronize the movement of the first and second massage mechanisms in a direction away from each other along the height direction of the first and second massage mechanisms and the advancement of the treatment element of the first and second massage mechanisms. The massage machine according to any one of claims 1 to 4 , wherein the motor and the advance / retreat drive unit are controlled. Further, it has an elevating motor that elevates and lowers at least one of the first and second massage mechanisms along the height direction.
The first and second massage mechanisms further include sensors for detecting the proximity of the first massage mechanism and the second massage mechanism.
The control means is such that the first massage mechanism and the second massage mechanism, or the treatment child of the first massage mechanism and the treatment child of the second massage mechanism are close to each other in the height direction. The massage machine according to any one of claims 1 to 5 , wherein the massage driving unit is controlled so that the massage mechanism and the second massage mechanism perform the kneading operation at different speeds.

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