JP7282418B2 - Massage machine - Google Patents

Description

The present invention relates to massage machines.

2. Description of the Related Art Conventionally, there has been known a massage machine that performs treatment by nipping and massaging or hitting the shoulder of a person to be treated. For example, in Patent Literature 1, there is provided shoulder massaging means for sandwiching the front and back of the right and left shoulders of a user in a supine position with a pair of massaging hands, and the pair of massaging hands move the shoulders forward and backward toward and away from each other. A massage machine (stationary massage device) having a massage mechanism that realizes the above is disclosed.

In Patent Literature 2, a first arm and a second arm which are arranged at a distance and come close to and away from each other to sandwich the shoulder of the user with a contact portion at the distal end thereof, and the distance between the first arm and the second arm. and a rotation axis rotatably mounted with respect to the first and second arms to change the A massager is disclosed.

JP 2005-046541 A JP 2012-120549 A

Originally, a massage machine is a machine that mechanically performs a massage performed by a person (a person to be treated) on a person to be treated. It is preferable to reproduce the movement of the fingers when massaging the shoulder of a person. For example, when stimulating the shoulder, which is a point on the shoulder of the person to be treated, it is preferable to apply pressure (shiatsu) from above the shoulder with the thumb while holding the front of the shoulder with four fingers. However, in the massage machine described in Patent Document 1, a pair of massaging hands repeatedly move toward and away from each other so as to sandwich the shoulders of the user from the front and back. While holding the other hand, do not press the shoulder from above.

Also, in the second embodiment of the massage machine described in Patent Document 2, the pair of abutting portions repeatedly move toward and away from each other so as to sandwich the shoulders of the user from the front and back. While the contact part holds the front part of the user's shoulder, the other contact part does not press the shoulder from above. In the first embodiment described in Patent Document 2, the contact portion of the first arm presses the shoulder from above. The purpose of this is to prevent the shoulder from rising upwards, and the treatment by the contact portion of the first arm is only secondary.

Thus, there is a need for a massage machine in which a pair of treatment elements operate in coordination, one treatment element holding the front of the shoulder of the person to be treated and the other treatment element pressing the shoulder from above for treatment. ing.

In order to solve the above-described problems, the massage machine according to the present invention is characterized by: a seat on which a user sits; a backrest supporting the back of the user seated on the seat; and a shoulder treatment mechanism attached to the base for massaging the shoulders of the user while the user is seated on the seat. The mechanism includes a drive unit attached to the base and having an output shaft that rotates when energized, a first treatment element that presses the shoulder of the user from above, and a second treatment element. When viewed along the width direction, the second treatment element is located forward of the first treatment element, and when viewed along the width direction of the backrest portion, the output shaft rotates. Accordingly, the shoulder of the person to be treated is treated so that the distance between the first treatment element and the second treatment element changes accordingly.

In order to press and treat the shoulder of the user from above, the movements of the first treatment element and the second treatment element are linked, and the shoulder of the user is held by the second treatment element in the shoulder treatment mechanism while the first treatment element is pressed. It is appropriate to press the shoulder from above with a treatment device. Therefore, with such a characteristic configuration, the shoulder of the user can be appropriately treated from above by the first treatment element while the front of the user's shoulder is held by the second treatment element.

Therefore, with the configuration as described above, the pair of treatment elements operate in a coordinated manner, and one treatment element holds the front of the user's shoulder while the other treatment element presses the shoulder from above for treatment. I was able to create a massage machine.

In the massage machine according to the present invention, the shoulder treatment mechanism includes a swash plate cam attached in an inclined posture to the output shaft extending in the vertical direction, and a swash plate cam attached to the swash plate cam to rotate the swash plate cam. and a treatment element holding part that swings vertically without rotating together, wherein the first treatment element is integrally attached to the treatment element holding part, and the second treatment element is: It is preferable that the base end side is attached so as to be able to swing around a swing axis along the width direction provided in the treatment element holding portion, and the tip side is used to treat the shoulder of the user.

By using the swash plate cam, the first treatment element can be vertically swung with a simple structure, and the shoulder of the person to be treated can be pressed from above. In addition, by attaching the second treatment element so as to be able to swing around the swing axis along the width direction, the shoulder of the user can be held appropriately.

In the massage machine according to the present invention, the second treatment element is further supported by a link, one end of which is rotatably attached to the base, and the other end of which is attached to the second treatment element. It is preferable that the second treatment element is supported so as to be swingable about a swing axis along the width direction between the proximal end side and the distal end side.

Moreover, in the massage machine according to the present invention, it is preferable that the link extends in the vertical direction, the one end is positioned above, and the other end is positioned below.

By supporting the second treatment element with the link, it is possible to realize more complex movements than when the second treatment element is attached as a rigid body to the treatment element holding portion, and the shoulder by the finger of the treatment person can be moved. It can be brought closer by the movement of fingers when rubbing.

In the massage machine according to the present invention, it is preferable that the swash plate cam includes an annular bearing, and the output shaft is attached eccentrically to the center of the annular bearing.

With such a configuration, the movement of the first treatment element and the second treatment element by the swash plate cam can be added to the movement in the vertical direction and the movement in the front, rear, left, and right directions. As a result, not only the specific portion of the shoulder but also the surrounding area can be pressed, so that the stiffness of the shoulder can be relieved and the therapeutic effect can be enhanced.

In the massage machine according to the present invention, it is preferable that the base portion is inclined in a direction away from the seat portion toward the inner side in the width direction from the side surface of the backrest portion when viewed in the front-rear direction.

When a person is viewed from the front, the person's shoulders are slanted upward as they approach the spine. Therefore, with the above configuration, the shoulder treatment mechanism attached to the base can be efficiently fitted to the shoulder of the user.

In the massage machine according to the present invention, it is preferable that the base portion is inclined in a direction closer to the backrest portion as it goes inward in the width direction from the side surface of the backrest portion when viewed in the up-down direction.

When a person is viewed from above, the ends of the shoulders of a person are the most forward and slope backward as they approach the spine. Therefore, with the above configuration, the shoulder treatment mechanism attached to the base can be efficiently fitted to the shoulder of the user.

In the massage machine according to the present invention, the base portion has a first base portion and a second base portion, the second base portion has a base end side attached to the first base portion so as to be swingable, and the drive portion includes A biasing member attached to the second base portion and disposed between the first base portion and the second base portion to bias the distal end side of the second base end portion in a direction away from the first base portion. It is preferable to have

With such a configuration, even if the first treatment element and the second treatment element swing vertically due to the biasing force of the biasing member, these treatment elements are kept away from the shoulder of the user during treatment. It is possible to press the shoulder from above while always holding the shoulder from the front without letting the shoulder move. At this time, the force with which the first treatment element presses the shoulder can be cyclically changed by the vertical rocking motion of the first treatment element and the biasing force of the biasing member. It is possible to obtain a feeling of treatment close to that of treatment with a person's finger.

In the massage machine according to the present invention, it is preferable that the width of the tip of the second treatment element is larger than the width of the tip of the first treatment element.

In the massage machine of the present invention, the first treatment element imitates the thumb and the second treatment element imitates the remaining four fingers. Therefore, according to the above configuration, it is possible to make the movement of the user's fingers more similar to the movement of the user's shoulder when the user rubs the user's shoulder with the thumb and four fingers.

In the massage machine according to the present invention, it is preferable that the tip portion of the second treatment element is located below the tip portion of the first treatment element when viewed along the width direction of the backrest portion. is.

In the massage machine of the present invention, the first treatment element imitates the thumb and the second treatment element imitates the remaining four fingers. Then, when the user massages the shoulder of the user, the remaining four fingers are positioned below the thumb when viewed along the width direction. Therefore, according to the above configuration, it is possible to make the movement of the user's fingers more similar to the movement of the user's shoulder when the user rubs the user's shoulder with the thumb and four fingers.

In the massage machine according to the present invention, it is preferable that the shoulder treatment mechanism is vertically movable.

With such a configuration, even when treatment recipients with different sitting heights are seated on the seat, the shoulder treatment mechanism can be moved to an optimum height according to the shoulder height of each treatment recipient.

In the massage machine according to the present invention, it is preferable that the shoulder treatment mechanism is movable in the width direction.

With such a configuration, even when persons to be treated having different shoulder widths are seated on the seat, the shoulder treatment mechanism can be moved to an optimum width according to the shoulder width of each person to be treated.

In the massage machine according to the present invention, it is preferable that the first treatment element and/or the second treatment element have an air bag.

With such a configuration, the shoulder can be treated and held by the air bag from the front and/or above.

The massage machine according to the present invention preferably has an air supply/exhaust part capable of inflating and contracting the air bag, and the air supply/exhaust part is capable of adjusting the intensity of treatment by the air bag and holding the treatment part. .

With such a configuration, it is possible to adjust the strength of the treatment according to the individual and to maintain it according to the individual's body shape.

The massage machine according to the present invention has a control unit capable of controlling the drive unit and the air supply/exhaust unit, and the control unit can independently control the drive unit and the air supply/exhaust unit. Preferably.

With such a configuration, it is possible to perform treatment in which the mechanical treatment by the drive unit and the pneumatic treatment by the air supply/exhaust unit are combined.

In the massage machine according to the present invention, the support provided on the side of the user from the air bag, the third treatment element provided on the support, and the expansion and contraction of the air bag allow the support to be covered. It is preferable to have an advance/retreat mechanism that can advance/retreat toward the user.

With such a configuration, the strength of the treatment by the third treatment element can be changed by the expansion and contraction of the air bag. In addition, a treatment different from pressure treatment using an air bag can be performed.

The massage machine according to the present invention further includes a pillow for supporting the head of the user, and the pillow is provided with position adjusting means capable of adjusting the position of the user's head in the front-rear direction. It is preferable to have

With such a configuration, when the back is treated by the treatment section in the backrest, it is possible to eliminate the oppressive feeling of the shoulder treatment mechanism located on the side of the user's head. Moreover, when performing treatment with the shoulder treatment mechanism, treatment can be performed at an optimum position.

In the massage machine according to the present invention, the urging member comprises an air bag and an air supply/exhaust unit capable of inflating/contracting the air bag, and has a control unit capable of controlling the drive unit and the air supply/exhaust unit. Further, it is preferable that the control section can independently control the driving section and the air supply/exhaust section.

With such a configuration, it is possible to appropriately adjust the strength of the treatment by the first treatment element and the second treatment element. For example, the pressure applied to the shoulder can be changed by adjusting the expansion/contraction amount of the air bag during treatment with the first treatment element and the second treatment element by the drive unit.

In the massage machine according to the present invention, there are provided moving means capable of moving the shoulder treatment mechanism in the height direction of the user, first detection means for detecting a specific position of the shoulder treatment mechanism in the height direction, and the first base. and a control section capable of controlling the movement means, wherein the control section controls the shoulder treatment by the first detection means. A first step of detecting a specific position of the mechanism in the height direction and a second step of detecting the swinging position of the second base by the second detection means are performed, and the shoulder treatment mechanism for the shoulder of the user is performed. It is preferable to identify the optimal treatment location for .

With such a configuration, it is possible to specify the optimal treatment position of the shoulder treatment mechanism for the shoulder of the user, and to effectively treat the shoulder of the user.

In the massage machine according to the present invention, it is preferable that the moving means has an elevating motor, and the control unit stops the elevating motor when the load applied to the elevating motor exceeds a predetermined value.

With such a configuration, by stopping the elevating motor, it is possible to safely prevent the shoulder of the user from being excessively moved.

In the massage machine according to the present invention, the backrest includes a mechanical treatment unit that can move in the height direction of the user with respect to the back of the user, and a mechanical treatment unit that can move in the height direction of the user by moving the treatment unit. and a third detection means for detecting a specific position in the first step, wherein the control section sets the shoulder position of the user detected by the third detection means as a reference position, and performs the first step based on the reference position. It is preferable to specify the movement position of the shoulder treatment mechanism in .

With such a configuration, the shoulder position information of the backrest can be reflected in the treatment position of the shoulder treatment mechanism, and the detection time of the treatment position can be shortened.

The massage machine according to the present invention has reclining means for reclining the backrest portion with respect to the seat portion, and the control portion adjusts the positional deviation of the user with respect to the backrest portion caused by the reclining means as the first step. It is preferable to perform the second step to correct the treatment position of the user in the shoulder treatment mechanism.

With such a configuration, it is possible to correct the positional deviation of the person to be treated with respect to the backrest portion, and to receive treatment in a suitable position even if the patient's posture changes.

In the massage machine according to the present invention, it is preferable that the controller stops driving the shoulder treatment mechanism when the rocking position detected by the second detection means exceeds a predetermined value.

With such a configuration, when the user leaves the shoulder treatment mechanism during treatment with the shoulder treatment mechanism, the separation can be detected and the user can safely leave the place. In addition, it is possible to prevent the head from being treated when moving to the vicinity of the head during treatment by the shoulder treatment mechanism.

In the massage machine according to the present invention, it is preferable that the fourth treatment element is attached at a position facing at least the lateral surface of the shoulder or the lateral surface of the upper arm of the user.

With such a configuration, it is possible to treat the lateral surface of the shoulder or the lateral surface of the upper arm of the user.

In the massage machine according to the present invention, it is preferable that the fourth treatment element is attached to a side wall portion projecting rearward from the widthwise outer side of the second treatment element.

With such a configuration, the shoulder or upper arm of the user can be treated and held by the treatment element not only from the front and/or above, but also from the side.

In the massage machine according to the present invention, it is preferable that the fourth treatment element has an air bag.

With such a configuration, the shoulder or upper arm can be treated and held by the air bag.

In the massage machine according to the present invention, it is preferable that the air bag is attached to the side wall portion on the front side in the front-rear direction as a fulcrum.

With such a configuration, the shoulder or upper arm can be treated and held from the rear side. For example, while the second treatment element treats and/or holds the shoulder or upper arm from the front and/or above, the air bag (fourth treatment element) can treat and hold the shoulder or upper arm from the side. That is, the shoulder or upper arm can be treated and held from three directions.

The massage machine according to the present invention includes a seat on which a person to be treated sits and a treatment mechanism for treating the person to be treated, wherein the treatment mechanism is attached to the base and rotates when energized. A drive unit having an output shaft, a first treatment element and a second treatment element for treating the treatment area of the user, a swash plate cam attached in an inclined posture along the output shaft, and the swash plate. a treatment element holding part attached to the cam, wherein the first treatment element is integrally attached to the treatment element holding part, and the second treatment element has the treatment element holding part on the proximal end side thereof. The treatment mechanism is mounted to be swingable about a swing axis along an axial direction that intersects with the output shaft provided on the body, and the treatment mechanism is provided on the seat and is attached to the buttocks and thighs of the user. Preferably, at least one of the parts can be treated. With such a characteristic configuration, at least one of the buttocks and thighs of the user seated on the seat can be held by the second treatment element and appropriately treated by the first treatment element. By providing a plurality of treatment mechanisms for the seat, it is also possible to simultaneously treat a plurality of sites on the buttocks and thighs.

The massage machine according to the present invention comprises a backrest on which a person to be treated leans, and a treatment mechanism for applying treatment to the person to be treated, wherein the treatment mechanism is attached to the base and rotates when energized. a first and second treatment elements for treating the treatment area of the user; a swash plate cam attached in an inclined posture along the output shaft; a treatment element holding part attached to the plate cam, wherein the first treatment element is integrally attached to the treatment element holding part, and the second treatment element has a proximal end extending from the treatment element. The treatment mechanism is mounted swingably around a swing axis extending in an axial direction intersecting with the output shaft provided on the holding portion, and the treatment mechanism is provided on the backrest portion, and is configured to move between the neck of the treated person and the patient's neck. Preferably, at least one of the back and waist can be treated. With such a characteristic configuration, at least one of the neck, back, and waist of the person to be treated who is leaning on the backrest can be held by the second treatment element and appropriately treated by the first treatment element. . By providing a plurality of treatment mechanisms for the backrest, it is possible to simultaneously treat a plurality of areas such as neck and back, neck and waist, back and waist, neck and waist and back. good.

The massage machine according to the present invention includes a footrest portion that supports the lower legs of a user, and a treatment mechanism that performs treatment on the user. a drive unit having a rotating output shaft; a first treatment element and a second treatment element for treating the treatment area of the user; a swash plate cam attached in an inclined posture along the output shaft; a treatment element holding portion attached to the swash plate cam, wherein the first treatment element is integrally attached to the treatment element holding portion; The treatment mechanism is mounted swingably around a swing axis along an axial direction intersecting with the output shaft provided in the child holding section, and the treatment mechanism is provided in the footrest section, and the patient's Preferably, at least one of the legs and feet can be treated. With such a characteristic configuration, at least one of the legs and feet of the user supported by the footrest portion can be held by the second treatment element and appropriately treated by the first treatment element. . It should be noted that a plurality of treatment mechanisms may be provided for the footrest so that a plurality of locations on the leg and foot can be treated at the same time.

The massage machine according to the present invention comprises an armrest for supporting the arm of a person to be treated and a treatment mechanism for treating the person to be treated. a drive unit having an output shaft that rotates by means of a force, a first treatment element and a second treatment element that treat the treatment area of the user, a swash plate cam attached in an inclined posture along the output shaft; a treatment element holding portion attached to the swash plate cam, wherein the first treatment element is integrally attached to the treatment element holding portion; The treatment mechanism is attached to the treatment element holding portion so as to be pivotable about a pivot axis along an axial direction intersecting with the output shaft provided on the treatment element holding portion, and the treatment mechanism is provided on the armrest portion, It is preferable that the arm can be treated. With such a characteristic configuration, the arm of the user supported by the armrest can be held by the second treatment element and appropriately treated by the first treatment element. By providing a plurality of treatment mechanisms on the armrest, for example, multiple locations such as the fingertip and forearm, the fingertip and upper arm, the forearm and upper arm, and the fingertip, forearm and upper arm can be treated simultaneously. may be made possible.

In order to press and treat the treatment portion of the person to be treated, the movements of the first treatment element and the second treatment element are coordinated, and the first treatment is performed while the second treatment element in the treatment mechanism holds the treatment area of the person to be treated. It is appropriate to press the treatment area with a finger.
Therefore, with the configuration as described above, a massage machine is realized in which a pair of treatment elements operate in cooperation with each other, and one treatment element holds the treatment target part while the other treatment element presses and treats the treatment target part. We were able to.
Further, by using the swash plate cam, the first treatment element can be vertically swung with a simple structure, and the treatment portion of the person to be treated can be pressed from above. By attaching the second treatment element so as to be able to swing around the swing axis extending in the width direction, it is possible to appropriately hold the treatment portion of the user.

The second treatment element is further supported by a link, one end of which is rotatably attached to the base, and the other end of which is attached to the base end side and the distal end side of the second treatment element. It is preferable that the second treatment element is supported so as to be swingable about a swing axis extending in the width direction between the two.
By supporting the second treatment element with the link, it is possible to realize more complex movements than when the second treatment element is attached as a rigid body to the treatment element holding portion, and the shoulder by the finger of the treatment person can be moved. It can be brought closer by the movement of fingers when rubbing.

It is preferable that the first treatment element and/or the second treatment element have an air bag. With such a configuration, it is possible to treat or hold the treated area with the air bag.

The treatment mechanisms are provided in a pair on the left and right sides of the center line of the body of the user in the left-right direction, and are attached along the height direction of the user. are positioned closer to the center line, and the second treatment element is preferably positioned further away from the center line than the first treatment element. With such a configuration, it is possible to treat or hold the inner side of the treated area in the left-right direction with the first treatment element and the outer side of the treated area in the left-right direction with the second treatment element.

The treatment mechanisms are provided in a pair on the left and right sides of the center line of the body of the person to be treated in the left-right direction, and the second treatment element is positioned closer to the center line than the first treatment element. , Preferably, the first treatment element is positioned further away from the center line than the second treatment element. With such a configuration, it is possible to treat or hold the laterally outer side of the treated area with the first treatment element and the laterally inner side of the treated area with the second treatment element.

It is a perspective view showing the whole massage machine composition concerning a 1st embodiment. It is a perspective view of a support part and a shoulder treatment mechanism. It is an exploded perspective view of a supporter. FIG. 12 is a perspective view of the base and shoulder treatment mechanism; Fig. 2 is an exploded perspective view of the base and shoulder treatment mechanism; Fig. 10 is a left side view of the treatment motor driving section and the swash plate cam; FIG. 10 is an exploded perspective view of the treatment motor driving portion and the swash plate cam with the speed reduction mechanism case removed; FIG. 4 is an exploded perspective view of a swash plate cam; 4 is a front view of a swash plate cam, a treatment element holding portion, and first and second treatment elements; FIG. Fig. 3 is a left side view of a swash plate cam, a treatment element holding portion, and first and second treatment elements; 4 is an exploded perspective view of a swash plate cam, a treatment element holding portion, and first and second treatment elements; FIG. FIG. 4 is a cross-sectional view of a swash plate cam and a treatment element holding portion; FIG. 10 is a diagram showing actions of the first and second treatment elements; FIG. 10 is a diagram showing actions of the first and second treatment elements; FIG. 10 is a diagram showing actions of the first and second treatment elements; It is a figure showing the operation|movement of the 2nd base with respect to a 1st base, and a shoulder treatment mechanism. It is a figure showing the operation|movement of the 2nd base with respect to a 1st base, and a shoulder treatment mechanism. It is a left view of the 1st treatment element of the massage machine which concerns on 2nd Embodiment, and a 2nd treatment element. It is a functional block diagram of a massage machine according to a second embodiment. It is a perspective view showing the whole massage machine composition concerning a 2nd embodiment. It is a figure which shows the operation|movement flow of the massage machine which concerns on 2nd Embodiment. It is a figure which shows the operation|movement flow of the massage machine which concerns on 2nd Embodiment. It is a figure which shows the operation|movement flow of the massage machine which concerns on 2nd Embodiment. It is a figure which shows the operation|movement flow of the massage machine which concerns on 2nd Embodiment. It is a front view of the shoulder treatment mechanism which concerns on 3rd Embodiment. It is a perspective view of the shoulder treatment mechanism which concerns on 3rd Embodiment. FIG. 11 is a side view showing a state in which the shoulder treatment mechanism according to the third embodiment is brought into contact with a person to be treated; FIG. 3 is a schematic diagram showing a massage machine in which a treatment mechanism is applied to the seat; FIG. 3 is a schematic diagram showing a massage machine in which a treatment mechanism is applied to a backrest portion; FIG. 10 is a schematic diagram showing a state in which a treatment mechanism is applied to a footrest portion composed of a leg unit and a foot unit; FIG. 4 is a schematic diagram showing a case where a treatment mechanism treats a treatment site, (a) showing the left leg viewed from above, and (b) showing the left leg viewed from the side. . FIG. 3 is a schematic diagram showing a massage machine in which a treatment mechanism is applied to armrests; FIG. 4 is a schematic diagram showing a state in which the first treatment element is positioned to face the inside of the user in the left-right direction, and the second treatment element is positioned to face the outside of the user in the left-right direction. FIG. 4 is a schematic diagram showing a state in which the first treatment element is positioned so as to face the outside of the user in the left-right direction, and the second treatment element is positioned to face the inside of the user in the left-right direction.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In addition, the embodiment described below is an illustration for demonstrating this invention, and does not limit this invention only to these embodiments. Therefore, the present invention can be embodied in various forms without departing from the gist thereof.

1. First Embodiment [Overall Configuration]
FIG. 1 shows the overall structure of a massage machine 1 according to this embodiment. The massage machine 1 comprises a seat portion 11 , a backrest portion 12 , a support portion 100 (not shown), and a shoulder treatment mechanism 200 . The seat portion 11 is for the user to sit on with their buttocks or thighs in contact with each other, and the backrest portion 12 supports the back of the user sitting on the seat portion 11 . Hereinafter, when the user is seated on the seat portion 11 of the massage machine 1, the ventral side is "front", the back side is "rear", the right side is "right", the left hand side is "left", and the head side is "left". Define “top” and foot side as “bottom”. In addition, the direction parallel to the width direction of the user's shoulders is the "width direction" or the "left-right direction", the direction parallel to the direction from front to back is the "front-back direction", and the direction perpendicular to both the width direction and the front-back direction is the direction. Define "vertical direction".

In the following description of the embodiment, the support section 100, the base section 210, and the shoulder treatment mechanism 200 on the left side (for treating the left shoulder) shown in FIG. 1 will be described. Since the support part 100, the base part 210, and the shoulder treatment mechanism 200 have symmetrical shapes on the left side and the right side, description of the shape on the right side will be omitted.

[Support part]
The support portion 100 is attached to the left and right side surfaces 14, 14 of the backrest portion 12, which are surfaces that intersect the back support surface 13 against which the back of the user abuts. In this embodiment, the support part 100 is attached to the backrest part 12, but if the backrest part 12 is reclining in conjunction with the reclining, the support part 100 may not be attached to the backrest part 12. - 特許庁

As shown in FIGS. 2 and 3, the support section 100 includes an elevation slide rail 110, a slide screw 120 (a male screw 122 and an elevation member 124), an elevation motor drive section 130, a first metal plate 142, a second metal plate 143, A third metal plate 144 , left and right slide rails 146 and a slide plate 150 are provided. The elevating slide rail 110 is formed by bending a metal plate such as iron into a rectangular cross section. It has a pair of claw portions 116 that are bent inward. A male screw 122 parallel to the extending direction of the elevating slide rail 110 is attached to a space defined by the bottom portion 112 , the side portion 114 and the claw portion 116 of the elevating slide rail 110 . One end of the male screw 122 is connected to an elevation motor driving portion 130 connected to the elevation slide rail 110 , and the other end of the male screw 122 is a male screw holding portion 118 erected from the bottom portion 112 of the elevation slide rail 110 . supported by

The lifting motor drive unit 130 includes a brushless DC motor (hereinafter referred to as "lifting motor") 131 having an output shaft, which is a moving means capable of moving the shoulder treatment mechanism 200, which will be described later, in the height direction of the user. 131, a small-diameter pulley 133 that is attached to the output shaft of the elevating motor 131 and rotates together, and large-diameter pulleys 134 and 2 that are attached to one end of the male screw 122 and rotate together. It has a pulley belt 135 that is attached between the two pulleys 133 and 134 and transmits the rotation of the output shaft to the male screw 122 . With this configuration, the rotation of the output shaft of the lifting motor 131 is decelerated and transmitted to the male screw 122 to rotate the male screw 122 . However, if the lift motor 131 is of a high-torque, low-rotation type, the male screw 122 may be rotated directly without using a pulley.

The elevation slide rail 110 is attached with an elevation member 124 containing therein a nut (not shown) screwed onto the male screw 122 . The elevating member 124 is made of resin or the like having good slidability. In this embodiment, the male screw 122 and the elevating member 124 constitute the slide screw 120 . The elevating member 124 has a substantially rectangular parallelepiped shape having a convex portion (not shown) that is surrounded and engaged by the bottom portion 112 , the side portion 114 and the claw portion 116 of the elevating slide rail 110 . As the male screw 122 rotates forward and backward, the elevating member 124 causes the internal nut to linearly move in both directions along the extending direction of the male screw 122 . That is, the lifting member 124 moves vertically while being in sliding contact with the lifting slide rail 110 by forward and reverse rotation of the lifting motor 131 . A shoulder treatment mechanism 200 is attached to the support part 100 via a base part 210, which will be described later. The shoulder treatment mechanism 200 is moved in the vertical direction, which is the height direction of the user, so that the height of each user's shoulder is optimal even when the user is seated on the seat 11. can be made A ball screw having balls between the male screw 122 and the nut may be used instead of the slide screw.

The first metal plate 142 is attached to a support member 125 attached to the elevating member 124 of the support section 100 with screws or the like. Four hooking claws 125a are formed in the support member 125, and four slit holes 142a formed in the first metal plate 142 are engaged with the hooking claws 125a (see FIG. 2). . A second metal plate 143 connected to the first metal plate 142 by screws or the like extends from the elevation slide rail 110 to the front of the backrest portion 12 . A third metal plate 144 connected to the second metal plate 143 by screws or the like extends inwardly in front of the backrest portion 12 (in a direction overlapping the backrest portion 12 when viewed in the front-rear direction). . In addition, the third metal plate 144 extends so as to match the structure of the shoulder of the user (human). That is, the third metal plate 144 is not parallel to the backrest surface 13 of the backrest portion 12 and to the width direction, but approaches the backrest portion 12 as it extends inward from the connection portion with the second metal plate 143 and extends upward. It is configured so as to be slanted toward.

Left and right slide rails 146 made of metal are attached to the inside (lower side) of the third metal plate 144 . The left-right slide rail 146 extends parallel to the extending direction of the third metal plate 144 and has a bottom portion 147 , a side portion 148 and a claw portion 149 like the elevating slide rail 110 . A slide plate 150 is attached to the inner space of the left/right slide rail 146 so as to contact the left/right slide rail 146 and move along its extending direction. A shoulder treatment mechanism 200 is attached to the slide plate 150 via a base 210 . By moving the shoulder treatment mechanism 200 in the width direction along the left and right slide rails 146, the slide plate 150 and the base 210 are also moved in the width direction, and the shoulder treatment mechanism 200 can be adjusted to the appropriate position of the shoulder of the user. can. In this embodiment, the movement of the shoulder treatment mechanism 200 in the width direction is performed manually.

In this embodiment, the elevation of the elevation member 124 is performed by the elevation motor 131, but it may be constructed so that it can be manually elevated. In addition, the movement of the shoulder treatment mechanism 200 in the width direction may be configured so as to be driven by a motor instead of by hand. These lifting and moving methods can be freely combined.

〔base〕
As shown in FIGS. 4 and 5, the base 210 consists of a first base 211 and a second base 216 . The base 210 is attached parallel to the third metal plate 144 . That is, when viewed along the front-rear direction, the base portion 210 is not parallel to the width direction, but inclined in a direction away from the seat portion 11 as it goes inward in the width direction from the side surface 14 of the backrest portion 12. . Further, when viewed along the vertical direction, the base portion 210 is not parallel to the backrest surface 13 of the backrest portion 12, but is inclined in a direction closer to the backrest portion 12 as it goes inward in the width direction from the side surface 14 of the backrest portion 12. is configured as

The first base portion 211 is formed by bending a metal plate into a U shape, and has a bottom portion 212 and a pair of side portions 213 . A bottom portion 212 of the first base portion 211 is attached to the slide plate 150 with screws or the like via four spacers (not shown). Circular joint holding through-holes 214 are formed in the side portions 213 at opposing locations. The first base portion 211 extends in the front-rear direction, and the joint holding through hole 214 is formed in the front end portion of the side portion 213 .

The second base portion 216 is formed by bending a metal plate into a rectangular parallelepiped box shape with an open bottom surface. The second base portion 216 is positioned between the bottom portion 212 and the side portion 213 of the first base portion 211 . A bottom portion 217 of the second base portion 216 faces the bottom portion 212 of the first base portion 211 . A bottom portion 217 of the second base portion 216 extends forward at its front end to form a tongue portion 218, and the tip of the tongue portion 218 is bent and extends downward. A tongue portion through-hole 219 is formed near the tip of the tongue portion 218 .

Between the two joint holding through-holes 214 of the first base 211 is a joint part 220 . The joint part 220 is configured in a rectangular parallelepiped shape by combining two resin parts, and a pair of cylindrical protrusions are formed on both end surfaces of the joint part 220 facing the pair of side parts 213 of the first base part 211 . 221 are formed. The projection 221 is fitted in the joint holding through hole 214 of the first base portion 211, so that the joint portion 220 can swing back and forth and up and down with respect to the first base portion 211 around the projection 221 as an axis. is. A pair of protrusions 221 has a through hole formed in the center thereof, through which the shaft 215 is inserted (see FIG. 4).

A depression 222 is formed in the central portion of the surface positioned in front of the surface parallel to the pivot axis of the joint portion 220 . A tongue portion 218 of the second base portion 216 is fitted in the recess 222, and a screw or the like is inserted through a tongue portion through hole 219 formed in the tongue portion 218 to fix the second base portion to the joint portion 220. 216 is fixed to the joint portion 220 . Accordingly, when the joint portion 220 swings with respect to the first base portion 211, the second base portion 216 also swings at the same time.

A compression coil spring 228 , which is an example of a biasing member 239 , is attached between the bottom portion 212 of the first base portion 211 and the bottom portion 217 of the second base portion 216 . A force (biasing force) in a direction away from the first base portion 211 is constantly applied with the protrusion 221 of the portion 220 as the swing axis (see FIGS. 16 and 17).

As shown in FIGS. 16 and 17, a magnet 229 is attached to the side of the compression coil spring 228 near the second base portion 216, and a substrate 226 is attached to the first base portion 211 so as to face the magnetic pole surface of the magnet 229. A plurality of Hall elements 227 (or Hall ICs), which are the second detection means 321 described later, are mounted along the direction of expansion and contraction of the compression coil spring 228 . By specifying the Hall element 227 whose Hall voltage is detected by the approach of the magnet 229, the expansion/contraction amount of the compression coil spring 228 can be detected. In addition, a plurality of Hall elements 227 (five in the embodiment) mounted on the substrate 226 of the first base 211 are arranged within a range in which the magnet 229 of the second base 216 rotates around the projection 221 as the swing axis. In addition, the two Hall elements 227 are separated from each other so that the magnet 229 straddles the two Hall elements 227 . By approaching the magnet 229 so as to straddle the two Hall elements 227, the amount of expansion and contraction can be detected more finely. By doing so, when the compression spring 228 is replaced by an air bag 300, which will be described later, the amount of expansion of the air bag 300 can be adjusted, and the amount of expansion and contraction can be adjusted more finely. A configuration in which the Hall element 227 is attached to the compression coil spring 228 and the first base portion 211 is provided with a plurality of magnets 229 so as to face the Hall element 227 may be employed.

Note that instead of the compression coil spring 228, an air bag 307 whose volume expands and contracts when air is taken in and out may be used as the biasing member 239. FIG. Generally, the massage machine 1 includes an air bag 300 for treating places other than the shoulders, such as the forearms, back, and calves, and an air compressor 301, which is an air compressor for taking air in and out of the air bag 307, which will be described later. ing. Therefore, even if the air bag 307 is used, a force (biasing force) in a direction away from the first base portion 211 can be applied to the distal end side of the second base portion 216 without increasing costs. By adjusting the amount of air, the force (biasing force) in the separating direction can be adjusted. For example, a person who desires a strong shoulder pressure may increase the amount of inflation, and a person who desires a weak shoulder pressure may decrease the inflation amount. In addition, by independently controlling the drive section for driving the first treatment element 261 and the second treatment element 265 and the air supply/exhaust section 301, during the treatment of the first treatment element 261 and the second treatment element 265 by the drive section, By adjusting the pressing force on the shoulder, the shoulder of the user can be treated in a variety of ways.

[Shoulder treatment mechanism]
The shoulder treatment mechanism 200 is for treating the shoulder of the person to be treated, particularly by pressing the shoulder from above. As shown in FIGS. 4 to 12, the shoulder treatment mechanism 200 has a treatment motor drive section 230, a swash plate cam 240, a treatment element holding section 250, a first treatment element 261 and a second treatment element 265. . The shoulder treatment mechanism 200 is configured to be movable together with the base portion 210 along the extending directions of the elevation slide rail 110 and the left and right slide rails 146 .

(1) Treatment Motor Drive Section As shown in FIGS. 5 to 7, a treatment motor drive section 230, which is an example of a drive section, is accommodated in the internal space of the second base section 216. FIG. The treatment motor drive unit 230 includes a brushless DC motor (hereinafter referred to as "treatment motor") 231 having a worm output shaft 232, a treatment motor drive circuit 233 for driving the treatment motor 231, and the worm output shaft 232 of the treatment motor 231. It has a worm reduction mechanism 234 that reduces the rotation of the treatment motor 231 , a treatment output shaft 235 (an example of an output shaft) that meshes with the worm reduction mechanism 234 , and a reduction mechanism case 237 .

The worm output shaft 232 and the worm reduction mechanism 234 are housed inside a reduction mechanism case 237 . The treatment motor 231 excluding the worm output shaft 232 and the treatment motor drive circuit 233 are screwed to a reduction mechanism case 237 via a stay 238 . The reduction mechanism case 237 is fixed to the side surface of the second base 216 with screws or the like, and the treatment motor driving section 230 is integrated with the second base 216 . A swash plate cam 240 is attached to the treatment output shaft 235, which will be described later.

(2) Swash plate cam As shown in FIGS. 6 to 8, the swash plate cam 240 is configured by sandwiching a ball bearing 242, which is an example of an annular bearing, and an inner ring of the ball bearing 242 from both sides in the axial direction. It consists of a cylindrical cam body 244 made of resin that rotates together with the inner ring, and fixing plates 246 attached to the two bottom surfaces of the cam body 244 and sandwiching the cam body 244 from the outside. The swash plate cam 240 has two holes that pass through the cam body 244 and the fixed plate 246 . A bolt 247 is passed through one of the holes from one fixed plate 246 to the cam body 244 and the other fixed plate 246 and fastened with a nut 248 . Thereby, the fixed plate 246, the cam body 244, and the ball bearing 242 are integrated. A treatment output shaft 235 is inserted through the other hole and fastened with a nut 249 . A detent pin 236 protruding in the radial direction is inserted into the treatment output shaft 235 , and one of the fixed plates 246 is formed in a shape to fit with the detent pin 236 , whereby the treatment output shaft 235 and the treatment output shaft 235 are fitted together. The swash plate cam 240 (excluding the outer ring of the ball bearing 242) rotates together.

The axis X of the treatment output shaft 235 is the rotation axis of the swash plate cam 240 , but the treatment output shaft 235 is attached eccentrically from the rotation center of the ball bearing 242 , that is, the axis of the cam body 244 . Also, the rotation axis of the ball bearing 242 is inclined with respect to both the axis of the cam body 244 and the bottom surface. Specifically, a point on the circumference where a radial half straight line starting from the axial center of the cam body 244 and passing through the center of the treatment output shaft 235 intersects the outer peripheral surface of the cam body 244 is assumed. The ball bearing 242 is inclined so that the part of the ball bearing 242 which is the farthest from the treatment motor driving portion 230 is positioned on a line parallel to the axis of the cam body 244 . In other words, the portion of the ball bearing 242 closest to the treatment output shaft 235 is the farthest from the treatment motor drive section 230 , and the portion farthest from the treatment output shaft 235 is the closest to the treatment motor drive section 230 . As a result, when the treatment output shaft 235 rotates, the inner ring of the ball bearing 242 of the swash plate cam 240 rotates eccentrically and angularly with respect to the axis X. It should be noted that, in the ball bearing 242 , not the portion closest to the treatment output shaft 235 but any other location may be configured to be the furthest away from the treatment motor drive section 230 . Also, a roller bearing or a slide bearing may be used instead of the ball bearing 242 .

(3) Treatment Element Holding Portion As shown in FIGS. 5 and 9 to 12, the treatment element holding portion 250 is attached to the swash plate cam 240 . The treatment element holding part 250 is formed by fastening a plate-like first member 252 made of a metal plate and a second member 254 made of resin and having a bottom surface and side surfaces erected so as to surround the bottom surface with screws or the like. It is configured. The first member 252 functions as a lid that covers the periphery of the cam holding through hole 255 of the second member 254 . A cam holding through hole 255 having a circular cross section is formed in the treatment element holding portion 250 from the first member 252 to the second member 254 and fits into the outer ring of the ball bearing 242 of the swash plate cam 240 . The hole 255 is formed by a cylindrical protrusion 255a vertically erected from the bottom surface of the second member 254. As shown in FIG. An outer ring of the ball bearing 242 is attached to the inner peripheral surface of the protrusion 255a by a method such as press fitting or adhesion. That is, the treatment element holding part 250 is attached perpendicularly to the rotation axis of the ball bearing 242 . Therefore, the treatment element holding part 250 is inclined at the same angle as the ball bearing 242 with respect to the treatment output shaft 235 . A cover 257 is attached to the swash plate cam 240 on the opposite side of the bottom surface of the second member 254 where the projections are formed so as to cover the end.

(4) Treatment element As shown in FIGS. A first treatment element 261 (an example of a treatment element) made of resin, rubber, or the like is attached to the inner side in the width direction (that is, the left side of the swash plate cam 240 when viewed from the front to the rear) so as to be integrated with screws or the like. It is The first treatment element 261 has a substantially L-shaped cross section, and a contact portion 262 that contacts the shoulder of the person to be treated protrudes downward from a portion connected to the treatment element holding portion 250 . has a substantially hemispherical shape. The first treatment element 261 imitates the treatment by the thumb of the person to be treated. press .

A second treatment element 265 is attached to the treatment element holding section 250 in the vicinity of and in front of the portion where the swash plate cam 240 is attached so as to be capable of swinging in the longitudinal direction and the vertical direction with respect to the treatment element holding section 250 . . The second treatment element 265 has a connecting member 266 , a second treatment element main body 276 and a connecting shaft (an example of a link) 280 .

The connecting member 266 is made of resin and has a columnar shape having a right-angled triangular cross-section with rounded corners. Of two sides (a long side and a short side) sandwiching a right angle, at a corner formed by a long side and an oblique side, a rotation shaft 274 is formed so as to protrude to both sides from the plane forming the right triangle. The rotating shaft 274 is inserted into a U-shaped groove 256 formed in the second member 254 of the treatment element holding portion 250, and the first member 252 covers the U-shaped groove 256. As shown in FIG. As a result, the connecting member 266 is held by the treatment element holding portion 250 so as to be capable of swinging in the longitudinal direction and the vertical direction about the rotation shaft 274 . The connecting member 266 is attached to the treatment element holding part 250 so that the rotation shaft 274 is parallel to the width direction of the treatment element holding part 250 . A first pin through-hole 270 is formed at a right-angled corner of the connecting member 266 so as to penetrate through the plane forming the right-angled triangle.

The second treatment element main body 276 is made of resin, rubber, or the like, and is integrated with the connecting member 266 by fixing its base end side to the surface forming the oblique side of the right-angled triangle of the connecting member 266 with a screw or the like. The second treatment element main body 276 is located outside the first treatment element 261 in the width direction and extends forward from the treatment element holding portion 250 . That is, when viewed along the width direction, the second treatment element main body 276 is positioned forward of the first treatment element 261, and the distal end portion of the second treatment element main body 276 is positioned relative to the distal end portion of the first treatment element 261. is also located below. Further, when viewed along the width direction, the projection 221 of the joint portion 220 (the joint holding through-hole 214 of the first base portion 211) is located between the tip portion of the first treatment element 261 and the tip portion of the second treatment element main body 276. is located between

The distal end side of the second treatment element main body 276 is a portion that abuts on the shoulder of the user, and the second treatment element main body 276 is bifurcated from the middle. The two forks have different sizes in the width direction, and the first contact portion 277 on the inner side in the width direction is smaller than the second contact portion 278 on the outer side in the width direction. Further, the total width of the distal end portion of the second treatment element main body 276 is larger than the width of the first treatment element 261 (the diameter of the hemispherical portion). Furthermore, the first contact portion 277 and the second contact portion 278 have a plurality of grooves 279 in a direction perpendicular to their extending directions. As a result, even when a hard material is used for the second treatment element main body 276, the pressure when the first contact portion 277 and the second contact portion 278 press the shoulder of the user can be weakened. . The second treatment element main body 276 imitates treatment by the four fingers of the treatment person excluding the thumb. press . The second treatment element main body 276 may not be bifurcated and may be integral.

The connecting shaft 280 extends vertically and is positioned above the connecting member 266 and the second treatment element main body 276 . The upper end of the connecting shaft 280 is supported by the joint portion 220 , and the other lower end is attached to the connecting member 266 so as to be swingable. The connecting shaft 280 has a cylindrical shape, and the side closer to one end is a columnar small diameter portion 281 having a smaller diameter than the diameter of the central portion, and the tip (one end) of the small diameter portion 282 has a larger diameter than the small diameter portion 281 . It has become. Among the surfaces of the joint portion 220, the surface facing the connecting shaft 280 has a circular opening, and a hole 223 is formed therein. The hole 223 is composed of a mortar-shaped hole 224 whose diameter narrows from the surface toward the inside, and a spherical hole 225 that communicates with the bottom of the mortar-shaped hole 224 and can hold the tip of the connecting shaft 280 (see FIG. 9). ). The bottom diameter of the mortar-shaped hole 224 is smaller than the diameter of the spherical hole 225 . Accordingly, when the joint portion 220 is assembled with the spherical portion 282 of the connecting shaft 280 fitted in the spherical hole 225, one end of the connecting shaft 280 is prevented from moving in the longitudinal direction, the vertical direction, and the width direction with respect to the joint portion 220. Although restricted, it is rotatable and swingable about the spherical portion 282 within the angular range of contact with the mortar-shaped hole 224 . That is, one end of the connecting shaft 280 and the joint portion 220 are connected by a so-called ball joint.

A second pin through hole 283 is formed in the other end of the connecting shaft 280 in the radial direction. It is attached to the connecting member 266 so as to be swingable. Since the connecting pin 284 is attached parallel to the width direction of the treatment element holding portion 250 , that is, parallel to the rotation shaft 274 , the second treatment element 265 (connecting member 266 ) is attached to the connection pin by the connection shaft 280 . 284 as an axis, it is supported so as to be able to swing in the front-rear direction and in the vertical direction. In addition, the connecting portion of the connecting shaft 280 and the connecting member 266 is located between the proximal end side and the distal end side of the second treatment element 265 .

With the configuration as described above, the second treatment element 265 has the connecting member 266 forming a swingable link with respect to the treatment element holding portion 250, and the connecting shaft 280 forming a ball joint and a swingable link. It has a so-called two-link mechanism. Therefore, the second treatment element 265 is vertically movable with respect to the treatment element holding section 250 and rotatable with respect to the joint section 220 .

[Motion of the treatment device]
Next, operations of the first treatment element 261 and the second treatment element 265 when the massage machine 1 according to this embodiment is operated will be described with reference to FIGS. 13 to 17. FIG.

First, the treatment motor 231 is driven while the person to be treated is not seated on the seat portion 11 of the massage machine 1, ie, the first treatment element 261 and the second treatment element 265 are not in contact with anything. At this time, as shown in FIG. 17, the distal end side of the second base portion 216 is separated from the first base portion 211 by the biasing force of the compression coil spring 228 . However, the following description assumes that the biasing force of the compression coil spring 228 does not act on the second base portion 216 as shown in FIGS. 13 to 15 .

When the treatment motor 231 is driven, the speed is reduced by the worm reduction mechanism 234 and the treatment output shaft 235 rotates. As the treatment output shaft 235 rotates, the cam body 244 of the swash plate cam 240, the fixed plate 246, and the inner ring of the ball bearing 242 rotate together. However, the treatment element holding part 250 does not rotate together. This is because the second treatment element 265 attached to the treatment element holding part 250 is supported by the first base part 211 via the connecting shaft 280 and the joint part 220 . However, since the treatment element holding part 250 is fixed to the outer ring of the ball bearing 242, even if the treatment element holding part 250 does not rotate, the treatment output shaft 235, the cam main body 244, the fixing plate 246, and the inner ring of the ball bearing 242 will be rotated. There is no resistance when the is rotating.

As described above, since the treatment output shaft 235 is mounted eccentrically with respect to the axis of the cam body 244 of the swash plate cam 240, the cam body 244 of the swash plate cam 240 rotates as the treatment output shaft 235 rotates. revolves around the axis X. That is, the swash plate cam 240 rotates eccentrically with respect to the axis X of the treatment output shaft 235 .

Since the rotational axis of the ball bearing 242 is inclined with respect to both the axial center and the bottom surface of the cam body 244, the treatment element holding portion 250 mounted perpendicularly to the rotational axis of the ball bearing 242 is also attached to the cam body. 244 is inclined with respect to both the axis and the bottom surface. When the treatment output shaft 235 is rotated in this state, as shown in FIGS. 13), and at the same time it oscillates in the same angular range as the oscillating angular range (vertical deflection) of the ball bearing 242 (see FIGS. 14 and 15). That is, the longitudinal and widthwise positions and the inclination direction of the treatment element holding part 250 change continuously according to the rotation angle of the treatment output shaft 235 .

As described above, the first treatment element 261 is integrally attached to the treatment element holding portion 250 . When the state in which the treatment element holding part 250 is positioned most forward with respect to the treatment output shaft 235 is taken as the rotation reference (0 degrees) ((I) in each of FIGS. 13 to 15), the first treatment element 261 is: When viewed along the vertical direction, as shown in FIG. 13, as the treatment output shaft 235 rotates counterclockwise when viewed from below, the right (treatment output shaft) rotates in conjunction with the movement of the treatment element holder 250. The rotation angle of 235 is 90 degrees, FIG. 13 (II)), back (180 degrees, FIG. 13 (III)), left (270 degrees, FIG. 13 (IV)), and then forward again (0 degrees, FIG. 13 ( I)) to move (circular motion). At the same time, as shown in FIGS. 14 and 15, the first treatment element 261 is in the middle position (0 degrees, (I) in each of FIGS. ), the upper position (90 degrees, (II) in each of FIGS. 14 and 15), the middle position (180 degrees, (III) in each of FIGS. 14 and 15), the lower position (270 degrees, FIG. 14, It moves (swings) to the middle position (0 degrees) again through each (IV) of FIG. 15 . This is because the ball bearing 242 fitted in the treatment element holding portion 250 (first treatment element 261) rotates eccentrically and angularly with respect to the treatment output shaft 235. As shown in FIG. The upper position means the uppermost position where the first treatment element 261 can be positioned in the vertical direction and its vicinity, and the lower position means the lowest position where the first treatment element 261 can be positioned in the vertical direction and its vicinity. means the position of A middle position means a position between the upper value and the lower position.

At this time, as shown in FIGS. 13 to 15, the second treatment element 265 is rotated ( 13 to 15 (I)), the base end side of the second treatment element 265 is, when viewed along the vertical direction, as shown in FIG. As it rotates clockwise, it rotates to the right (the rotation angle of the treatment output shaft 235 is 90 degrees, FIG. 13(II)), rearward (180 degrees, FIG. Via the left (270 degrees, FIG. 13(IV)), it moves forward again (0 degrees, FIG. 13(I)) (circular motion). The distal end side (first contact portion 277, second contact portion 278) of the second treatment element main body 276 of the second treatment element 265 moves in the same manner as the proximal side, but due to the action of the two-link mechanism, the proximal end The amount of movement in the front-rear direction is smaller than that in the side. At the same time, when viewed along the width direction, as shown in FIG. 14, the distal end side of the second treatment element main body 276 moves from the intermediate position (0 degrees, FIG. 14(I)) to the upper position (90 degrees). , FIG. 14 (II)), the middle position (180 degrees, FIG. 14 (III)), the lower position (270 degrees, FIG. 14 (IV)), and then swings back to the middle position (0 degrees). . Furthermore, when viewed along the front-rear direction, as shown in FIG. 15, the distal end side of the second treatment element main body 276 moves from the intermediate position (0 degrees, FIG. 15(I)) to the right position (90 degrees, FIG. 15(I)). 15(II)), intermediate position (180 degrees, FIG. 15(III)), left position (270 degrees, FIG. 15(IV)), and swings again to the intermediate position (0 degrees). However, due to the action of the two-link mechanism, the vertical movement (rocking amount) is smaller than that of the treatment element holding portion 250 (first treatment element 261). Movement in the width direction is equivalent to that of the first treatment element 261 . The connecting shaft 280 supported by the joint portion 220 (second base portion 216 ) rotates around the spherical portion 282 but does not contact the wall surface of the mortar-shaped hole 224 of the joint portion 220 .

The above-mentioned upper position means the uppermost position where the second treatment element main body 276 can be positioned in the vertical direction and its vicinity, and the lower position means the lowermost position where the second treatment element main body 276 can be positioned in the vertical direction. It means the position in the neighborhood. A middle position means a position between the upper value and the lower position. The left position means the leftmost position at which the second treatment element main body 276 can be positioned in the width direction and its vicinity, and the right position means the rightmost position at which the second treatment element main body 276 can be positioned in the width direction. It means the position in the neighborhood. A middle position means a position halfway between the left position value and the right position.

As described above, when viewed along the width direction, the first treatment element 261 moves (rocks) back and forth in conjunction with the movement of the treatment element holding portion 250 . The distal end side of the second treatment element main body 276 of the second treatment element 265 also swings back and forth in conjunction with the movement of the treatment element holding portion 250, but the amount of movement (swing amount) is small. Therefore, when viewed along the width direction, the distance between the first treatment element 261 and the second treatment element main body 276 on the distal end side changes according to the rotation of the treatment output shaft 235 . Then, the first treatment element 261 and the second treatment element main body 276 move together so that the distance on the distal end side of each other becomes shorter, so that the user's shoulder is held from the front by the second treatment element main body 276. At the same time, the shoulder of the person to be treated can be treated by pressing it from above with the first treatment element 261 .

Thus, the simple configuration using the swash plate cam 240 allows the first treatment element 261 and the second treatment element 265 to swing vertically. The movement of the first treatment element 261 and the second treatment element 265 due to the rotation angle of the treatment output shaft 235 varies depending on the positional relationship between the treatment output shaft 235 and the ball bearing 242 that is the farthest away from the treatment motor drive unit 230. come.

Next, the movement of the first treatment element 261 and the second treatment element 265 when the user is seated on the massage machine 1 will be described. First, while the person to be treated is seated on the seat portion 11 of the massage machine 1, the shoulder treatment mechanism 200 supported by the support portion 100 is aligned with the position of the shoulder. Specifically, the first treatment element 261 is positioned above the shoulder, and the second treatment element 265 is positioned in front of the shoulder. At this time, the distal end side of the second base portion 216 is separated from the first base portion 211 by the action of the compression coil spring 228 . As a result, the first treatment element 261 presses the shoulder of the user from above, and the second treatment element 265 holds the shoulder from the front. In that state, the treatment motor 231 is driven.

By the action of the compression coil spring 228, the second treatment element 265 holds the user's shoulder from the front, while the first treatment element 261 presses the user's shoulder from above. , and the second treatment element 265 does not separate from the shoulder of the person to be treated due to vertical swing, and can be pressed from above while always holding the shoulder. During pressing from above by the first treatment element 261, the vertical swing of the first treatment element 261 and the biasing force of the compression coil spring 228 cause the first treatment element 261 to press the shoulder of the user in cycles. Since it is possible to change the position of the finger, it is possible to obtain a feeling of treatment close to that of treatment by fingers of the user. Therefore, in the massage machine 1 according to the present embodiment, the second treatment elements 265 hold the shoulders of the user so that they do not rise from the backrest portion 12, and the first treatment elements 261 support the shoulders, which are pressure points on the shoulders, from above. Wells can be stimulated.

In addition, since the first treatment element 261 and the second treatment element 265 move in the front, back, left, and right directions, it is possible to press not only a specific portion of the shoulder of the person to be treated, but also the periphery thereof. can be further increased.

In the shoulder treatment mechanism 200 of the present embodiment, as described above, the first treatment element 261 moves in the front-rear and left-right directions to perform so-called circular motion (see FIG. 13), and the first treatment element 261 is moved by the two-link mechanism. and the second treatment element 265 repeatedly approach and separate from each other in the front-rear direction (see FIG. 14). be able to. The trapezius muscle is thick and strong while the levator scapula muscle is thin and weak. In particular, women and people with sloping shoulders are prone to stiff shoulders due to their weak levator scapulae muscles.

Therefore, in the shoulder treatment mechanism 200, the first treatment element 261 circularly moves around the treatment output shaft 235 extending in the vertical direction, thereby controlling the movement of the user's fingers and the rotation of the ball of the thumb during kneading. You can reproduce it and press a slightly wider range than Shiatsu to loosen the shoulder muscles such as the levator scapula muscle and the upper trapezius muscle. At this time, the second treatment element 265 grasps and supports the body of the person to be treated so as not to escape during the kneading motion by the first treatment element 261 . That is, the second treatment element 265 grasps the shoulder muscles of the user when the first treatment element 261 and the second treatment element 265 are close to each other, and supports the body of the user when they separate. As a result, the shoulder muscles of the user can be effectively loosened.

The vertical movement of the elevating members 124, 124 provided on the left and right side surfaces 14, 14 of the backrest 12, respectively, and the widthwise movement of the shoulder treatment mechanisms 200, 200 can be performed independently. . Further, as for the treatment motors 231, 231 of the left and right shoulder treatment mechanisms 200, 200, only one treatment motor 231 can be driven, or the respective rotation speeds can be varied. That is, each of the treatment motors 231, 231 can be controlled independently. As a result, when the left and right shoulders have different heights due to individual differences in the person being treated, and when the pressing position, pressing force, etc. desired by the person being treated differ between the left and right shoulders, only one of the left and right shoulders can be adjusted. It is possible to easily deal with cases such as when one wants to treat the

2. Second Embodiment (1) Treatment Elements FIG. 18 shows a left side view of a first treatment element 261 and a second treatment element 265 of a massage machine 400 according to a second embodiment. FIG. 19 shows a functional block diagram of a massage machine 400 according to the second embodiment. The basic configuration of the second embodiment is the same as that of the first embodiment, and the configurations of the first treatment element 261 and the second treatment element 265 of the shoulder treatment mechanism 200 are different.

As shown in FIGS. 18 and 19, the first treatment element 261 and/or the second treatment element 265 have an air bag 300. As shown in FIGS. The air bag 300 of the first treatment element 261 is located on the same side of the second member 254 of the treatment element holding part 250 as the treatment subject side, and is composed of the above-described air compressor and valve for taking in and out air. The air supply/exhaust part 301 that allows the air bag 300 to be inflated and contracted keeps the air bag 300 in contact with the shoulder of the user from above, and the air bag 300 is repeatedly inflated and contracted. The strength of the treatment can be adjusted by performing pressure treatment or by adjusting the amount of air in the air bag 300 . In addition, the air bag 300 of the second treatment element 265 is attached to the member 290 provided on the connecting member 266, and the above-described air supply/exhaust section 301 is applied to the user's shoulder. The strength of the treatment can be adjusted by holding the air bag 300 in contact from the front, performing pressure treatment by repeating expansion and contraction of the air bag 300, and adjusting the amount of air in the air bag 300. can be done. By doing so, it is possible to adjust the strength of the treatment according to the individual and to maintain it according to the individual's body shape.

As shown in FIG. 19 , the air supply/exhaust unit 301 is electrically connected to the control unit 310 , and the control unit 310 can adjust the air amount and control the timing of inflation and deflation of the air bag 300 . In addition, the driving units such as the lifting motor 131 and the treatment motor 231 are electrically connected to the control unit 310 , and the driving of the lifting motor 131 and the treatment motor 231 can be controlled by the control unit 310 . The control unit 310 can independently control the air supply/exhaust unit 301 and the driving unit. By doing so, the air bag 300 is expanded and contracted by controlling the air supply/exhaust part 301, and the driving part is controlled while maintaining the state in which the air bag 300 is in contact with the shoulder of the user. Then, the shoulder of the person to be treated can be treated. It is possible to perform treatment in which pneumatic treatment by the air supply/exhaust unit 301 and mechanical treatment by the drive unit are combined.

(2) Retractable Mechanism Next, the retractable mechanism 304 that allows the third treatment element 303 to advance and retract toward the person to be treated will be described.
As shown in FIG. 18, a support 302 provided closer to the user than the air bag 300 of the second treatment element 265, a third treatment element 303 provided at the distal end of the support 302, and the air bag 300 The member 290 is provided with an advancing/retreating mechanism 304 that allows the support 302 to advance/retreat toward the user by expansion and contraction of the member 290 . One of the connecting members 305 is provided on the member 290 and the other is pivotally supported on the support body 302 via the pivot 306 . The advance/retreat mechanism 304 can rotate the support body 302 around the pivot 306 by the expansion and contraction of the air bag 300 to advance/retreat the support body 302 toward the user. By doing so, the shoulder can be treated by the third treatment element 303 provided at the tip of the support 302 , which is different from the treatment by the air bag 300 . Further, by controlling the air supply/exhaust unit 301 with the control unit 310 to adjust the amount of air to the air bag 300, the strength of the treatment can be changed. In the above example, the support member 302, the third treatment element 303, and the advance/retreat mechanism 304 are provided on the second treatment element 265 side.

The perspective view which shows the whole structure of the massage machine 400 which concerns on FIG. 20 at 2nd Embodiment is shown. A later-described pillow portion 401 for supporting the head of the person to be treated and a later-described treatment portion 403 provided in the backrest portion 12 are different from those of the massage machine 1 of the first embodiment.

As shown in FIGS. 19 and 20, the massage machine 400 according to the second embodiment has, in addition to the above-described first embodiment, a back support surface 13 of the backrest portion 12 against which the user's back abuts. A pillow portion 401 for supporting the head of the patient and a treatment portion 403 for performing a kneading motion by driving a kneading motor and/or a tapping motion by driving a tapping motor are provided in the backrest portion 12. are doing. The pillow portion 401 is provided with a position adjusting means 402 capable of adjusting the position of the user's head in the front-rear direction. The position adjusting means 402 is composed of an air bag 300 and an air supply/exhaust section 301 that allows the air bag 300 to expand and contract. By deflating the air bag 300, the user's head can be moved backward. In the above description, the position adjusting means 402 has been described as being composed of the air bag 300 and the air supply/exhaust section 301, but it is not limited to this. For example, the mechanical position adjusting means 402 that can adjust the head position of the user using a motor-driven jack may be used.

When treating the back of the user with the treatment unit 403, the shoulder treatment mechanism 200 is normally positioned on the side of the user's head, so the user performs the treatment while feeling pressure on the side of the user's head. will receive. With the configuration described above, the person to be treated can move and adjust the head to a position where he or she does not feel pressure, and can receive treatment without feeling pressure. When the shoulder treatment mechanism 200 does not treat the shoulder of the user, the control unit 310 controls the air supply/exhaust unit 301 to inflate the air bag 300 of the position adjusting means 402, thereby always You may try not to feel pressured.

When treating the shoulder of the user with the shoulder treatment mechanism 200, the head position of the user can be adjusted by the position adjusting means 402 so that the user can receive the treatment at the optimum position with respect to the shoulder. For example, the control unit 310 controls the air supply/exhaust unit 301 to deflate the air bag 300 of the position adjusting means 402 so that the back of the user is brought into close contact with the backrest 12 . The user's shoulders can be treated with the shoulder treatment mechanism 200 while the user's back is in close contact with the backrest portion 12 . Examples of the position adjustment means 402 are not limited to the examples described above. For example, the treatment unit 403 and the position adjustment means 402 are interlocked, and when the treatment unit 403 performs treatment, the head position of the person to be treated is adjusted to change the treatment posture of the person to be treated. It is also possible to change the part and the strength of the treatment.
In addition, the shoulder treatment mechanism 200 and the position adjustment means 402 are interlocked, and when the shoulder treatment mechanism 200 is performing treatment, the position adjustment means 402 moves the head of the person to be treated forward, so that the shoulder is While treating and holding the shoulder from the front, stretching to extend the neck can be performed at the same time.

(3) Shoulder position detection The massage machine 400 according to the second embodiment includes moving means capable of moving the shoulder treatment mechanism 200 in the height direction of the user and a specific position of the shoulder treatment mechanism 200 in the height direction. 1 detection means 320, a second detection means 321 for detecting the swinging position of the second base portion 216 with respect to the first base portion 211, and a control portion 310 for controlling the moving means. The moving means has an elevating motor 131, and by controlling the driving of the elevating motor 131, the shoulder treatment mechanism 200 can be moved in the height direction of the user as in the massage machine 1 according to the first embodiment. .

The first detection means 320 for detecting the specific position of the shoulder treatment mechanism 200 in the height direction can be achieved by detecting the number of revolutions of the large-diameter pulley 134 (see FIG. 2) of the lifting motor drive section 130 described above. Specifically, a magnet (not shown) is arranged on the large-diameter pulley 134, and a Hall element (not shown) is fixedly arranged at a position facing the magnet. One rotation of the large pulley 134 brings the magnet closer to the Hall element and counts as one rotation. The movement distance of the shoulder treatment mechanism 200 can be calculated from the number of rotations, and the position in the height direction can be specified. Also, the first detection means 320 is not limited to the above. For example, a microswitch may be provided in the first treatment element 261 or the second treatment element 265 of the shoulder treatment mechanism 200, and the position at which the microswitch is turned ON may be specified as the shoulder position of the user. In addition, the first treatment element 261 and the second treatment element 265 of the shoulder treatment mechanism 200 are provided with a pressure sensor and an air pressure sensor capable of measuring the air pressure of the air bag 300 described above, and the position where the pressure reaches a predetermined pressure value or more is detected by the user. may be specified as the shoulder position of Alternatively, the current value of the lifting motor 131, which is a moving means, may be detected in real time, and the position at which the current value becomes equal to or greater than a predetermined value when a load is applied during lifting may be specified as the shoulder position of the user. good. Although it has been described that the load applied to the lifting motor 131 is detected as the first detection means 320, the current value described above may be detected during treatment by the shoulder treatment mechanism 200 or when the shoulder treatment mechanism 200 is being moved in the height direction. becomes equal to or greater than a predetermined value, the lifting motor 131 may be stopped. By doing so, it is possible to safely prevent the shoulder of the user from moving excessively. It can also be used as a countermeasure against overloading the lifting motor 131 .

The base 210 of the shoulder treatment mechanism 200 has an air bag 307 as a biasing member 239 between the bottom 212 of the first base 211 and the bottom 217 of the second base 216, and the second base 216 with respect to the first base 211 described above. and a second detection means 321 for detecting the swing position of the. Inflating the air bag 307 allows the second base portion 216 to swing with respect to the first base portion 211 , and the swing position can be detected by the second detection means 321 . By swinging the second base portion 216, the first treatment element 261 and the second treatment element 265 provided on the second base portion 216 are made to follow the shoulder of the user, hold it, and perform pressure treatment. It can be carried out. Further, by detecting the rocking position with the second detection means 321, the first treatment element 261 and the second treatment element 265 can be moved to the treatment position suitable for the person.

As shown in FIG. 20, the backrest portion 12 of the massage machine 400 includes the above-described treatment portion 403 that is movable in the height direction of the user with respect to the back of the user, and the movement of the treatment portion 403 allows the user to and a third detection means 322 for detecting a specific position of the . Also, a plurality of treatment units 403 (one in this embodiment) may be provided along the height direction. The treatment unit 403 includes left and right arms 404 and treatment elements 405 provided at both upper and lower ends of the arms 404. The left and right treatment elements 405 are driven by a massage motor or a beating motor. A kneading motion of approaching and separating from each other and a tapping motion of alternately advancing and retreating the left and right treatment elements 405 toward and away from the person to be treated can be performed. The treatment section 403 can be moved upward or downward along the height direction by driving an elevation motor (not shown) to change its position with respect to the body or perform rolling massage. The arm 404 can swing back and forth, and is biased by biasing means (not shown) such as a spring so that the upper treatment element 405 protrudes forward. The third detection means 322 is a sensor (not shown) provided on the arm 404 of the treatment section 403, detects that the arm 404 has reached a predetermined swinging position, and detects the movement of the treatment subject at the time of detection. position in the height direction is detected as a specific position. Specifically, when the upper treatment element 405 reaches above the shoulder of the user in the process of raising the treatment part 403 along the height direction of the user under the control of the control unit 310, the treatment element 405 is released, the arm 404 swings forward to a predetermined swing position. A sensor (not shown) constituting the third detection means 332 detects that the arm 404 has reached the predetermined swing position, and the shoulder position is detected based on the vertical position of the treatment section 403 at that time. When identifying the optimal treatment position of the shoulder treatment mechanism 200, the shoulder position detected above is used as a reference position, and the movement position of the shoulder treatment mechanism 200 is identified based on this reference position. By doing so, the shoulder position information of the backrest portion 12 can be reflected in the treatment position of the shoulder treatment mechanism 200, and the detection time of the treatment position of the shoulder treatment mechanism 200 can be shortened. In the above description, the third detection means 322 is an example of a sensor (not shown) that detects the swinging of the arm 404 provided in the treatment section 403, but is not limited to this. A pressure sensor may be provided to determine the shoulder position by observing the change in pressure value when the load of the treatment element 405 is released.

Next, shoulder position detection of the massage machine 400 according to the second embodiment will be described with reference to FIG. 21 .
As shown in FIG. 21, the control section 310 drives the treatment section 403 and detects the shoulder position of the user using the third detection means 322 (step S1). At that time, the movement position of the shoulder treatment mechanism 200 is specified based on the shoulder position detected by the treatment section 403 as a reference position. A tall person may not be detected by the third detection means 322 in the process of raising the treatment section 403 for detecting the shoulder position described above. In that case, it may reach the upper limit provided as a limit point where it can rise. It is determined whether or not the upper limit is reached (step S2). When the upper limit is reached, the movement position of the shoulder treatment mechanism 200 is not specified, and the process proceeds to step S9 of swinging the second base 216, which will be described later, from the upper limit position of the shoulder treatment mechanism 200 in the height direction (step S3). ). Following step S2, the shoulder treatment mechanism 200 is lowered toward the movement position (step S4). In step S4, the load of the lifting motor 131 is determined (step S5). If there is no load on the lifting motor 131 and the current value is equal to or less than the predetermined value, the process proceeds to step S7 to determine whether the shoulder treatment mechanism 200 has reached the movement position. However, when a load is applied to the lifting motor 131 and the current value exceeds the predetermined value, the process proceeds to step S6 to stop the lifting motor 131 . When the process proceeds to step S6, the lifting motor 131 is stopped and the shoulder treatment mechanism 200 is stopped from descending. The stop position of the shoulder treatment mechanism 200 at that time is determined as the treatment position of the shoulder treatment mechanism 200 . In step S7, the first detection means 320 determines whether the shoulder treatment mechanism 200 has reached the movement position. After the determination, if the shoulder treatment mechanism 200 has not reached the movement position, the process proceeds to step S4 to continue the downward movement. When the shoulder treatment mechanism 200 reaches the moving position, the lifting motor 131 is stopped to stop the downward movement of the shoulder treatment mechanism 200 (step S8).

Following step S8, the air bag 307, which is the biasing member 239, is inflated between the bottom portion 212 of the first base portion 211 and the bottom portion 217 of the second base portion 216, and the first treatment element 261 is applied to the shoulder of the user. , the second base 216 is swung (step S9). In step S9, the swinging position of the second base 216 including whether the first treatment element 261 is in contact with or not in contact with the shoulder of the user is detected by the second detection means 321, and the second base 216 is detected. is within or outside a predetermined range (step S10). After the determination, if the swinging position of the second base portion 216 is within the predetermined range, the air bag 307 is held to stop swinging (step S11). The stop position of the shoulder treatment mechanism 200 and the swing stop position of the second base 216 at that time are determined as the treatment position of the shoulder treatment mechanism 200 . After the determination, it is determined that the swinging position of the second base portion 216 is out of the predetermined range, that is, the first treatment element 261 is out of contact with the shoulder of the user, and the air bag 307 is contracted to allow the second base portion 216 to swing. movement is returned to the initial position (step S12). By using biasing means such as a spring in this returning direction, the second base portion 216 can be returned to the initial position simply by contracting the air bag 307 .

Following step S12, the shoulder treatment mechanism 200 is lowered by a predetermined amount (step S13). This predetermined amount is a small amount of movement until the shoulder treatment mechanism 200 comes into contact with the shoulder because the shoulder treatment mechanism 200 has not yet reached the position where it comes into contact with the shoulder, but is positioned close to the shoulder. For example, it is a movement amount of several rotations of the lifting motor 131 and several seconds. In step S13, the load of the lifting motor 131 is determined (step S14). If there is no load on the lifting motor 131 and the current value is equal to or less than the predetermined value, the process proceeds to step S16 to determine whether the shoulder treatment mechanism 200 has reached the predetermined amount. However, when a load is applied to the lifting motor 131 and the current value is equal to or greater than the predetermined value, the process proceeds to step S15 for stopping the lifting motor 131 . When the process proceeds to step S15, the lifting motor 131 is stopped and the shoulder treatment mechanism 200 is stopped from descending. The stop position of the shoulder treatment mechanism 200 at that time is determined as the treatment position of the shoulder treatment mechanism 200 . In step S16, the first detection means 320 determines whether the shoulder treatment mechanism 200 has reached a predetermined amount. After the determination, if the shoulder treatment mechanism 200 has not reached the predetermined amount, the process returns to step S13 to continue the downward movement. When the shoulder treatment mechanism 200 reaches the predetermined amount, the lifting motor 131 is stopped to stop the lowering operation of the shoulder treatment mechanism 200, and the process proceeds to step S9, and repeats until the treatment position of the shoulder treatment mechanism 200 is determined. (Step S17). In this way, the optimum treatment position of the shoulder treatment mechanism 200 can be detected.

(4) Correction of Treatment Position of Shoulder Treatment Mechanism by Reclining As shown in FIGS. are doing. The backrest portion 12 is configured to be able to recline back and forth with respect to the seat portion 11 by an actuator 324, which is a reclining means 323 provided below the seat portion 11. By performing a standing motion and a reclining motion, the backrest portion 12 can be reclining. It is possible to change from the reclining posture where the backrest surface is almost horizontal. Control unit 310 and actuator 324 are electrically connected.

Correction of the treatment position of the shoulder treatment mechanism 200 by reclining the massage machine 400 according to the second embodiment will be described with reference to FIGS. 22 and 23. FIG. FIG. 22 is an operation flow for correcting the treatment position of the shoulder treatment mechanism 200 when reclining, and FIG. 23 is an operation flow for correcting the treatment position of the shoulder treatment mechanism 200 when standing.
The correcting operation of the treatment position of the shoulder treatment mechanism 200 when the reclining operation is performed will be described.
As shown in FIG. 22, the controller 310 detects the treatment position of the shoulder treatment mechanism 200 (step S1). Following step S1, the actuator 324 causes the backrest portion 12 to recline with respect to the seat 11 (step S2). In step S2, the user is displaced downward with respect to the backrest 12, and the treatment position of the shoulder treatment mechanism 200 detected in step S1 is not suitable for the user. . It is necessary to correct the treatment position that has been misaligned with respect to the backrest portion 12 .

The shoulder treatment mechanism 200 is lowered by a predetermined amount (step S3). This predetermined amount is displaced downward with respect to the backrest 12 of the user, but since the shoulder treatment mechanism 200 is positioned near the shoulder of the user, it can be applied to the shoulder of the user. It is a small amount of movement until it touches. For example, it is a movement amount of several rotations of the lifting motor 131 and several seconds. In step S3, the load of the lifting motor 131 is determined (step S4). If there is no load on the lifting motor 131 and the current value is equal to or less than the predetermined value, the process proceeds to step S6 to determine whether the shoulder treatment mechanism 200 has reached the predetermined amount. However, when a load is applied to the lifting motor 131 and the current value is equal to or higher than the predetermined value, the process proceeds to step S5 to stop the lifting motor 131 . When the process proceeds to step S5, the lifting motor 131 is stopped and the shoulder treatment mechanism 200 is stopped from descending. The stop position of the shoulder treatment mechanism 200 at that time is determined as the treatment position of the shoulder treatment mechanism 200 . In step S6, the first detection means 320 determines whether the shoulder treatment mechanism 200 has reached a predetermined amount. After the determination, if the shoulder treatment mechanism 200 has not reached the predetermined amount, the process returns to step S3 to continue the downward movement. When the shoulder treatment mechanism 200 reaches the predetermined amount, the lifting motor 131 is stopped to stop the downward movement of the shoulder treatment mechanism 200 (step S7).

Following step S7, the air bag 307, which is the biasing member 239, is inflated between the bottom portion 212 of the first base portion 211 and the bottom portion 217 of the second base portion 216, and the first treatment element 261 is applied to the shoulder of the user. , the second base 216 is swung (step S8). In step S8, the swinging position of the second base 216 including whether the first treatment element 261 is in contact with or not in contact with the shoulder of the user is detected by the second detection means 321, and the second base 216 is detected. is within a predetermined range or out of the predetermined range (step S9). After the determination, if the swinging position of the second base portion 216 is within the predetermined range, the air bladder 307 is held and swinging is stopped (step S10). The stop position of the shoulder treatment mechanism 200 and the swing stop position of the second base 216 at that time are determined as the treatment position of the shoulder treatment mechanism 200 . After the determination, it is determined that the swinging position of the second base portion 216 is out of the predetermined range, that is, the first treatment element 261 is out of contact with the shoulder of the user, and the air bag 307 is contracted to allow the second base portion 216 to swing. The movement is returned to the initial position, and the process proceeds to step S3 and repeats until the treatment position of the shoulder treatment mechanism 200 is determined (step S11). By using biasing means such as a spring in this returning direction, the second base portion 216 can be returned to the initial position simply by contracting the air bag 307 . In this way, it is possible to correct the treatment position of the shoulder treatment mechanism 200 caused by positional deviation with respect to the backrest portion 12 of the user due to the reclining motion, and even if the user's posture changes, the user can receive the treatment in a suitable treatment position. be able to.

A correcting operation of the treatment position of the shoulder treatment mechanism 200 when the standing action is performed will be described.
As shown in FIG. 23, the control unit 310 detects the treatment position of the shoulder treatment mechanism 200 (step S1). Following step S1, the actuator 324 raises the backrest 12 with respect to the seat 11 and raises the shoulder treatment mechanism 200 (step S2). The shoulder treatment mechanism 200 is lifted at the same time, because the treatment subject is displaced upward with respect to the backrest portion 12 during the standing motion. Following step S2, the raising of the shoulder treatment function 200 is stopped at the same time as the standing motion is stopped (step S3).

Following step S3, the air bag 307, which is the biasing member 239, is inflated between the bottom portion 212 of the first base portion 211 and the bottom portion 217 of the second base portion 216, and the first treatment element 261 is applied to the shoulder of the user. The second base portion 216 is swung to bring it into contact with (step S4). In step S4, the swinging position of the second base 216 including whether the first treatment element 261 is in contact with or not in contact with the shoulder of the user is detected by the second detection means 321, and the second base 216 is detected. is within a predetermined range or out of the predetermined range (step S5). After the determination, if the swinging position of the second base portion 216 is within the predetermined range, the air bag 307 is held and swinging is stopped (step S6). The stop position of the shoulder treatment mechanism 200 and the swing stop position of the second base 216 at that time are determined as the treatment position of the shoulder treatment mechanism 200 . After the determination, it is determined that the swinging position of the second base portion 216 is out of the predetermined range, that is, the first treatment element 261 is out of contact with the shoulder of the user, and the air bag 307 is contracted to allow the second base portion 216 to swing. movement is returned to the initial position (step S7). By using biasing means such as a spring in this returning direction, the second base portion 216 can be returned to the initial position simply by contracting the air bag 307 .

Following step S7, the shoulder treatment mechanism 200 is lowered by a predetermined amount (step S8). This predetermined amount is a small amount of movement until the shoulder treatment mechanism 200 comes into contact with the shoulder because the shoulder treatment mechanism 200 has not yet reached the position where it comes into contact with the shoulder, but is positioned close to the shoulder. For example, it is a movement amount of several rotations of the lifting motor 131 and several seconds. In step S8, the load of the lifting motor 131 is determined (step S9). If there is no load on the lifting motor 131 and the current value is equal to or less than the predetermined value, the process proceeds to step S11 to determine whether the shoulder treatment mechanism 200 has reached the predetermined amount. However, when a load is applied to the lifting motor 131 and the current value is equal to or greater than the predetermined value, the process proceeds to step S10 to stop the lifting motor 131 . When the process proceeds to step S10, the lifting motor 131 is stopped, and the lowering operation of the shoulder treatment mechanism 200 is stopped. The stop position of the shoulder treatment mechanism 200 at that time is determined as the treatment position of the shoulder treatment mechanism 200 . In step S11, the first detection means 320 determines whether the shoulder treatment mechanism 200 has reached a predetermined amount. After the determination, if the shoulder treatment mechanism 200 has not reached the predetermined amount, the process returns to step S8 to continue the downward movement. When the shoulder treatment mechanism 200 reaches the predetermined amount, the lifting motor 131 is stopped to stop the lowering operation of the shoulder treatment mechanism 200, and the process proceeds to step S4, and repeats until the treatment position of the shoulder treatment mechanism 200 is determined. (Step S12). In this way, it is possible to correct the treatment position of the shoulder treatment mechanism 200 caused by positional deviation with respect to the backrest portion 12 of the user due to the standing motion, and even if the user's posture changes, the user can receive the treatment in a suitable treatment position. be able to.

The operation of the shoulder treatment mechanism 200 of the massage machine 400 according to the second embodiment will be explained using FIG. FIG. 24 is an operation flow when the shoulder treatment mechanism 200 is separated from the user during treatment with the shoulder treatment mechanism 200 .
As shown in FIG. 24, the control unit 310 drives the treatment motor 231 of the shoulder treatment mechanism 200, the drive unit of the elevation motor 131, and the air supply/exhaust unit 301 to perform treatment on the shoulder of the user (step S1). ). At step S1, the swinging position of the second base 216 including whether the first treatment element 261 is in contact with or not in contact with the shoulder of the user is detected by the second detection means 321, and the second base 216 is detected. is within or outside a predetermined range (step S2). After the determination, if the rocking position of the second base portion 216 is within the predetermined range, the shoulder treatment mechanism 200 continues treatment (step S3). After the determination, if the rocking position of the second base 216 is out of the predetermined range, that is, if it is determined that the first treatment element 261 is not in contact with the shoulder of the user, the shoulder treatment mechanism 200 is stopped (step S4). ). Regarding the change of the first treatment element 261 from being in contact with the shoulder of the treatment recipient to being out of contact, for example, the treatment recipient himself/herself manually operates during the treatment to raise the shoulder treatment mechanism 200 or to lift the shoulder treatment mechanism 200 . When the user receives a phone call and leaves the massage machine 400 during treatment, the swinging position of the second base 216 is kept within a predetermined range because the first treatment element is in contact with the shoulder of the user. However, the first treatment element is out of contact with the user's shoulder and is out of the predetermined range. By doing so, when the user leaves the shoulder treatment mechanism 200 during the treatment of the shoulder treatment mechanism 200, it is detected that the user has left the shoulder treatment mechanism 200, and the driving of the shoulder treatment mechanism 200 is stopped. The patient can safely leave the area. Also, when the shoulder treatment mechanism 200 moves to the vicinity of the head during treatment, the head can be prevented from being treated.

3. Third Embodiment (1) Treatment Element FIG. 25 is a front view of a shoulder treatment mechanism 200 according to a third embodiment. FIG. 26 is a perspective view of a shoulder treatment mechanism 200 according to the third embodiment. FIG. 27 is a side view showing a state in which the shoulder treatment mechanism 200 according to the third embodiment is brought into contact with the person H to be treated. The basic configuration of the third embodiment is the same as that of the first embodiment, and the configurations of the second treatment element 265, the side wall portion 289, and the fourth treatment element 291 of the shoulder treatment mechanism 200 are different.

As shown in FIGS. 25 to 27, the second treatment element 265 is composed of a plate-like member. An air bag (not shown) may be provided on the rear surface of the second treatment element 265 (the surface that contacts the person H to be treated). By providing an air bag, pneumatic treatment can be performed.

A side wall portion 289 is attached to the front surface of the second treatment element 265 (the surface opposite to the surface in contact with the person H to be treated). The side wall portion 289 is composed of a substantially L-shaped plate member. The rear surface of the plate member on the short side and the front surface of the second treatment element are fixed. A fourth treatment element 291 is attached to the lateral inner surface of the long side. That is, the side wall portion 289 is attached to the second treatment element 265 so as to protrude rearward from the widthwise outer side of the second treatment element 265 .

A fourth treatment element 291 is attached to the inner side of the side wall portion 289 . The fourth treatment element 291 is positioned so as to face at least the lateral shoulder surface or the lateral upper arm surface of the person H to be treated. The fourth treatment element 291 has an air bag 292 . The air bag 292 is attached via a connecting pin 293 with the front side of the side wall portion 289 in the front-rear direction (the side approaching the second treatment element 265 ) serving as a fulcrum. The air bag 292 is held in contact with at least the lateral surface of the shoulder or the lateral side of the upper arm of the user H by the air supply/exhaust part 301 described above. The strength of the treatment can be adjusted by performing pressure treatment by repeating inflation and contraction or by adjusting the amount of air in the air bag 292 . By doing so, it is possible to adjust the strength of the treatment according to the individual and to maintain it according to the individual's body shape. Also, the operation of the second treatment element 265 and the operation of the fourth treatment element 291 may be combined. For example, the second treatment element 265 can be used to treat the shoulder or upper arm of the user H from the front and/or above, and further treat the lateral surface of the shoulder or the lateral surface of the upper arm from the side. In other words, the first treatment element 261, the second treatment element 265, and the fourth treatment element 291 can treat the shoulder or upper arm of the person H to be treated from three directions.

In addition, in the third embodiment, a configuration in which one second treatment element 265 is employed is described, but a plurality of second treatment elements 265 may be employed. When a plurality of second treatment elements 265 are employed, each of the plurality of second treatment elements 265 may be driven independently, or may be operated in conjunction with a link mechanism or the like. good too. By doing so, the operation of the shoulder treatment mechanism 200 can be varied.

In the above embodiments, the massage machine 1, 400 has the shoulder treatment mechanism 200 for treating the shoulder as an example of the treatment mechanism. However, the massage machine 1, 400 can be used instead of the shoulder treatment mechanism 200 or together with the shoulder treatment mechanism 200 to massage various parts of the body of the person to be treated, such as the neck, arms (upper arms, forearms), back or waist, buttocks, buttocks. It can also be applied as a treatment mechanism 300 that treats legs (thighs, calves) or feet (hereinafter sometimes referred to as body parts).

In this case, the treatment mechanism 300 can be arranged appropriately for each part of the body of the person to be treated. Specifically, as shown in FIGS. 28 to 34, a human ( It is possible to perform a treatment similar to that which a treatment person is treating a person to be treated.

FIGS. 28 to 34 schematically show cases where various parts of the human body are treated. 31(a), 33, and 34, a site P1 indicated by a dotted arc indicates the first treatment element 261, and a site P2 indicated by a solid-line arc indicates the second treatment element 265. ing.

33 and 34, buttocks H1, neck H2, back (including waist) H3, thigh H4, calf H5, toe (including sole) H6, upper arm H7, arm By exemplifying the forearm portion H8 and the hand portion H9, an exemplified description will be added regarding the manner in which the massage machine 1 is provided with the treatment mechanism 300 for treating these portions.

In the following, when describing each part of the patient's body, the patient's ventral side is "front", the back side is "rear", the right side is "right", the left hand side is "left", and the head side is Define “top” and foot side as “bottom”. In addition, the direction parallel to the width of the shoulders of the user is defined as the "horizontal direction," the direction parallel to the direction from front to back is defined as the "front-back direction," and the direction perpendicular to both the width direction and the front-back direction is defined as the "vertical direction." Define. Also, hereinafter, directions such as "left" and "right" in the "horizontal direction", "front" and "back" in the "front-back direction", and "top" and "bottom" in the "vertical direction" will be used without any special annotations. When described, they may be simply referred to as "left" or "right", "front" or "rear", "top" or "bottom", etc., respectively. For example, the right side and the right side in the left-right direction may simply be described as "right side" and "right side". Also, a direction approaching the center line (dashed line) shown in FIGS. 30 and 31 is defined as "inside", and a direction away from the center line (dashed line) is defined as "outside".

Since the human body has a symmetrical shape on the left side and the right side, the buttocks H1 to the fingertips H9 of the buttocks will be described only for one of the left and right sides of the body of the user, and the other side of the body will be described. Description of the side is omitted.

As shown in FIGS. 28 and 33, when treating the right buttock H1, the second treatment element 265 is arranged outside (right side) of the right buttock H1, and the first treatment element 261 is arranged inside (back side) of the right buttock H1. is placed. When the massage machine 1 is provided with the treatment mechanism 300 for treating the buttocks H1, as shown in FIG. 257 abuts the inside of the buttocks H1, and the second treatment element 265 abuts the outside of the buttocks H1. In addition, as shown in FIG. 34, the second treatment element 265 may be arranged so as to abut on the inner side (back side) of the buttocks H1.

As shown in FIGS. 29 and 33, when treating the right neck portion H2, the second treatment element 265 is arranged outside (right side surface) of the neck portion H2, and the first treatment element 265 is arranged inside (back side) of the neck portion H2. 261 are arranged. When the massage machine 1 is provided with the treatment mechanism 300 for treating the neck portion H2, for example, the treatment mechanism 300 is provided in the upper portion or the upper end portion of the backrest portion 12, and the treatment mechanism 300 includes the first treatment element 261 and the cover. 257 abut on the inner side of the neck portion H2, and the second treatment element 265 abuts on the outer side of the neck portion H2. In addition, as shown in FIG. 34, the neck portion H2 may be arranged so that the second treatment element 265 abuts on the right side surface.

When treating the right back and/or lower back H3, the second treatment element 265 is arranged outside (right side) of the back and/or lower back H3, and the first treatment element 261 is arranged inside (back side). is placed. When the massage machine 1 is provided with the treatment mechanism 300 for treating the back H3, for example, the treatment mechanism 300 is provided in the backrest portion 12, and in the treatment mechanism 300, the first treatment element 261 and the cover 257 are arranged inside the back H3. The second treatment element 265 is arranged so as to abut on the outside of the back H3. In addition, as shown in FIG. 34, the second treatment element 265 may be arranged so as to contact the right side surface of the back H3.

As shown in FIGS. 28 and 33, when treating the right thigh H4, the second treatment element 265 is arranged on the outside (right side) of the thigh H4, and the first treatment element 265 is arranged inside (back side) of the thigh H4. A treatment element 261 is arranged. When the massage machine 1 is provided with the treatment mechanism 300 for treating the thigh H4, for example, the treatment mechanism 300 is provided at the upper end of the seat portion 11 (see FIG. 28) or the footrest portion 15, and the treatment mechanism 300 , the first treatment element 261 and the cover 257 abut on the inside of the thigh H4, and the second treatment element 265 abuts on the outside of the thigh H4. In addition, as shown in FIG. 34, the second treatment element 265 may be arranged so as to contact the right side surface of the thigh H4.

As shown in FIG. 30, the footrest portion 15 is composed of a leg unit 15a and a foot unit 15b. As shown in FIG. 33, when treating the right calf H5, the second treatment element 265 is arranged on the outside (right side) of the calf H5, and the first treatment element 261 is arranged on the inside (back side). be. When the massage machine 1 is provided with the treatment mechanism 300 for treating the calf H7, for example, the treatment mechanism 300 is provided in each concave portion of the leg unit 15a and the foot unit 15b. The cover 257 is arranged to contact the inside of the calf H5, and the second treatment element 265 is arranged to contact the outside of the thigh H4. In addition, as shown in FIG. 31, the second treatment element 265 may be arranged so as to contact the left side surface of the calf H5.

As shown in FIGS. 30, 31, and 33, when treating the sole or the side surface H6 of the user's foot, the footrest section 15 is configured to include a leg unit 15a and a leg unit 15b, and the leg unit 15a and the leg unit 15b are configured to include a leg unit 15a and a leg unit 15b. This can be dealt with by providing the foot unit 15b at the lower end or below the unit 15a and providing the treatment mechanism 300 in the foot unit 15b.

FIGS. 31(a) and 31(b) schematically show the case of treating the left leg H6 of the human body. In FIG. 31, a portion P1 indicated by a dotted arc indicates the first treatment element 261. As shown in FIG.
FIG. 31(a) illustrates a case where the first treatment element 261 is arranged on the sole of the left foot H6, and the second treatment element 265 is arranged on the outside (left side surface) of the sole of the left foot H6. As a result, it is possible to perform treatment as if a person (treatment person) were treating the person (treatment person) with the four toes on the outer side of the foot and the big toe on the sole. In addition, as shown in FIG. 34, a mode in which the second treatment element 265 is arranged on the inner side (right side surface) of the sole of the left foot H6 can also be adopted.

FIG. 31(b) shows a case where the second treatment element 265 is arranged on the outside (left side surface) of the sole of the left foot H6, and the first treatment element 261 is arranged on the sole of the left foot H6. there is As a result, it is possible to perform treatment as if a person (treatment person) were treating the person (treatment person) with the four toes on the outer side of the foot and the big toe on the sole. In addition, as shown in FIG. 34, a mode in which the second treatment element 265 is arranged on the inner side (right side surface) of the sole of the left foot H6 can also be adopted.

As shown in FIGS. 32 and 33, when treating the upper arm H7 on the right side, the second treatment element 265 is arranged outside (right side surface) of the upper arm H7, and the first treatment element 265 is arranged inside (back side) of the upper arm H7. 261 are arranged. When the massage machine 1 is provided with the treatment mechanism 300 for treating the upper arm H7, for example, an armrest portion 29 is provided on the side portion of the seat portion 11 (see FIG. 32), and the treatment mechanism 300 is provided inside the armrest portion 29. In the treatment mechanism 300, the first treatment element 261 and the cover 257 are arranged to abut on the inner side of the upper arm H7, and the second treatment element 265 is arranged to abut on the outer side of the upper arm H7. In addition, as shown in FIG. 34, the upper arm H7 may be arranged such that the second treatment element 265 abuts on the right side surface.

When treating the right forearm H8, the second treatment element 265 is arranged outside (right side) of the forearm H8, and the first treatment element 261 is arranged inside (back side). When the massage machine 1 is provided with the treatment mechanism 300 for treating the forearm H8, for example, the armrest portion 29 is provided on the side portion of the seat portion 11 (see FIG. 32), and the treatment mechanism 300 is provided inside the armrest portion 29. In the treatment mechanism 300, the first treatment element 261 and the cover 257 are placed in contact with the inside of the forearm H8, and the second treatment element 265 is placed in contact with the outside of the forearm H8. In addition, as shown in FIG. 34, the second treatment element 265 may be arranged so as to contact the left side surface of the forearm H8.

When treating the right hand part H9, the second treatment element 265 is arranged outside (right side surface) of the hand part H9, and the first treatment element 261 is arranged inside (back side). When the massage machine 1 is provided with the treatment mechanism 300 for treating the hand portion H9, for example, an armrest portion 29 is provided on the side portion of the seat portion 11 (see FIG. 32), and the treatment mechanism 300 is provided inside the armrest portion 29. In the treatment mechanism 300, the first treatment element 261 and the cover 257 are arranged to abut on the inner side of the hand portion H9, and the second treatment element 265 is arranged to abut on the outer side of the hand portion H9. In addition, as shown in FIG. 34, the second treatment element 265 may be arranged so as to contact the left side surface of the hand portion H9.

In the above embodiment, the case where the treatment mechanism 300 is provided in the massage machine 1, which is a so-called massage chair, and the treatment target part of the person to be treated is treated is exemplified. However, the treatment mechanism 300 is not limited to being provided in the massage machine 1, which is a massage chair.

For example, the treatment mechanism 300 is a so-called robot arm in which one end is fixed to the ground and the other end of the fixed end is provided with one or two or more joints driven by an instruction drive unit. It can also be used for treatment of any part of the body of the person to be treated, including the shoulders, back (back), neck, arms, legs and feet of the person to be treated, or the entire body. For example, while the person to be treated is lying on the bed, the treatment mechanism 300 may be provided at the other end of a robot arm whose one end is fixed to the bed, and the treatment mechanism 300 may treat the body of the person to be treated.

In this case, the robot arm can be provided with a control unit to operate according to the user's instructions, and the control unit can control the robot arm based on the user's instructions to treat the user. For example, the user instructs the control unit about the desired part of the user's body to be treated, how, and in what order. The treatment mechanism 300 can also be driven to treat the desired site or the like.

INDUSTRIAL APPLICABILITY The present invention can be used for massage machines.

11 seat portion 12 backrest portion 14 side surface 200 shoulder treatment mechanism 210 base portion 211 first base portion 216 second base portion 228 compression coil spring (biasing member)
230 treatment motor driving unit (driving unit)
235 treatment output shaft (output shaft)
239 biasing member 240 swash plate cam 242 ball bearing (annular bearing)
250 treatment element holding part 261 first treatment element (treatment element)
265 Second treatment child (treatment child)
307 air bag (biasing member)

Claims (5)

A treatment mechanism for massaging a part of a person to be treated,
The treatment mechanism is
a base;
a drive unit attached to the base and having an output shaft that rotates when energized;
comprising a first treatment element and a second treatment element for pressing the part of the person to be treated;
The second treatment element is
attached to the first treatment element so as to be rockable via a rocking shaft;
further supported by the link,
One end of the link is rotatably attached to the base, and the other end of the link rotates around the axis of oscillation along the direction intersecting the output shaft between the proximal side and the distal side of the second treatment element. supports the second treatment element in a rockable manner,
A treatment mechanism, wherein the distance between the first treatment element and the first treatment element is changed in conjunction with the rotation of the output shaft. The treatment mechanism is
a swash plate cam attached to the output shaft in an inclined posture;
a treatment element holding part that is attached to the swash plate cam and rocks without rotating with rotation of the swash plate cam;
The first treatment element has a treatment element holding part,
The second treatment element is attached so that its base end side can swing about a swing axis extending in a direction intersecting with the output shaft provided in the treatment element holding portion, and the distal end side of the second treatment element is attached to the user. 2. The treatment mechanism according to claim 1, which treats a portion to be treated. 3. The treatment mechanism according to claim 2 , wherein said swash plate cam includes an annular bearing, and said output shaft is mounted eccentrically with respect to the center of said annular bearing. the base has a first base and a second base;
The second base is pivotably attached to the first base on the base end side,
The drive unit is attached to the second base,
4. Between the first base portion and the second base portion, there is provided a biasing member that biases the distal end side of the second base portion in a direction away from the first base portion. or the treatment mechanism according to item 1. 5. The treatment mechanism according to any one of claims 1 to 4, wherein the first treatment element and/or the second treatment element has an air bag.

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