JPH0698916A - Massage machine - Google Patents

Abstract

PURPOSE:To provide a massage machine which is comparatively simple and inexpensive, and can obtain satisfactory speed responsiveness in a wide range without imparting unplesantness to a user. CONSTITUTION:The machine is provided with a rotary medical treatment member 1, its driving means 2, the rotational position detecting means 3 of the rotary medical treatment member 1, a speed setting means 4 having a storage part 10 for storing in advance the corresponding relation of the set speed of the rotary medical treatment member 1 to each rotational position of the rotary medical treatment member 1, a speed detecting means 5 for detecting the rotational speed of the rotary medical treatment member 1, and a speed control means 11 having an arithmetic circuit for calculating a difference between the set speed and a detected speed and for controlling the driving means 2 so that the difference becomes zero. Also, the speed control means 11 has a variable means of control gain for determining the response speed for setting the difference to zero, and varies the control gain in accordance with the set speed.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a massage machine having a rotary treatment member.

[0002]

2. Description of the Related Art In general, massage is preferably close to the massager's fir pattern, in which force is gradually applied to the treatment area, and after a long pressing time, the force is suddenly removed. It is said that it is even better to change the fir pattern with the passage of time.

On the other hand, it has been proposed to change the rotation speed of a motor as a driving means in response to each rotational position of the rotation treatment member to change the speed of the rotation treatment member (Japanese Patent Application No. Hei 10 (1999) -135242). 3-088321).

[0004]

However, this proposed example requires the speed control of the motor in a wide range from a low speed to a high speed and with a high response in order to realize a desired fir pattern, and also causes a discomfort to the user. Speed control with small speed fluctuation is required so as not to give. Also, when the motor detection speed is detected by a coarse position detector like the magnetic pole detection of a brushless motor, the time interval for the detection speed to be updated becomes longer in the low speed state, so overshooting or undershooting will occur if the speed response is increased. However, there is a drawback that it becomes large and causes speed fluctuations, which makes the user uncomfortable.

On the other hand, if the speed response is slowed down, problems such as being unable to follow changes in the set speed and being unable to rotate at a high speed occur. As a result, in order to obtain a good speed response characteristic in a wide range of rotation speed, a highly responsive motor and a high-resolution position detector are required, so that there is a drawback that the massager becomes expensive.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a massager which is relatively simple and inexpensive, and which can obtain a good speed response in a wide range without causing the user discomfort.

[0007]

According to a first aspect of the present invention, there is provided a massage machine, wherein a rotary treatment member eccentrically attached to a drive shaft, drive means for rotationally driving the drive shaft, and a rotational position of the rotary treatment member are detected. And a rotation position detecting means for storing the correspondence relation of the set speed of the rotation treatment member with respect to each rotation position of the rotation treatment member, which corresponds to the rotation position obtained by the rotation position detection means. A speed setting means for outputting a set speed, a speed detecting means for detecting the rotating speed of the rotary treatment member, and a difference between the set speed output by the speed setting means and the detected speed obtained by the speed detecting means. And a speed control means for controlling the driving means so that the difference becomes zero. The speed control means determines a response speed for making the difference zero. Has a variable means of emission, is characterized in changing the control gain according to the set speed.

According to a second aspect of the present invention, in the massage machine according to the first aspect, the control gain is increased by the variable means when the set speed is higher than a constant value, and the control gain is increased when the set speed is lower than the constant value. It is to make it smaller. According to a third aspect of the present invention, in the massage machine according to the first aspect, the control gain is reduced by the variable means when the set speed is constant, and the control gain is increased when the set speed changes.

According to a fourth aspect of the present invention, in the massage machine according to the first aspect, the control gain is increased by the variable means when the set speed is larger than a constant value or the set speed changes, and the set speed is constant. The control gain is reduced when the speed is smaller than the value and the set speed is constant.

[0010]

According to the massage machine of the first aspect, the rotary treatment member is eccentrically rotated by the operation of the drive means, and the treatment site is massaged by pressing the treatment site against the surface of the rotation treatment member. Further, by controlling the drive means by the speed setting means to a set speed corresponding to the rotational position of the rotary treatment member stored in the storage section, a desired fir pattern can be obtained.

In this case, the speed control means has a control gain varying means for determining a response speed for making the difference between the set speed and the detected speed zero, and changes the control gain according to the set speed. Therefore, the control gain can be selected according to the state of each set speed such as low speed, high speed, acceleration, and deceleration, so that the optimum speed response can be obtained at each set speed. Therefore, the speed of the drive means can quickly follow the speed pattern of the storage unit, and the speed fluctuation that gives the user discomfort can be reduced. Moreover, the construction is relatively simple and inexpensive.

According to another aspect of the massage machine of the present invention, the control gain is increased by the variable means when the set speed is higher than a fixed value, and the control is performed when the set speed is lower than the fixed value. Since the gain is reduced, in addition to the effect of claim 1, in a low speed state in which the rotating treatment member treats the human body, the control gain is reduced to slow the speed response and reduce the speed fluctuation, which is uncomfortable for the user. In a high-speed state in which vibration is suppressed and the human body is not treated, the control gain is increased to speed up the speed response, so that the speed pattern can be swiftly followed.

According to the massage machine of claim 3, in claim 1, when the set speed is constant, the control gain is decreased by the variable means, and when the set speed changes, the control gain is increased. Therefore, claim 1
In addition to the above action, when the set speed changes, the speed response can be increased and the followability can be improved, and since the speed is in the transitional period, the user does not feel uncomfortable even if the speed changes. On the other hand, when the set speed is constant, the speed fluctuation can be suppressed, and therefore, the discomfort caused by the speed fluctuation can be suppressed without impairing the followability to the speed pattern.

According to the massage machine of claim 4, in claim 1, when the set speed is larger than a fixed value or the set speed changes, the control gain is increased by the variable means so that the set speed is The control gain is made smaller when the speed is smaller than the constant value and the set speed is constant. Therefore, in addition to the function of claim 1, if the set speed changes even in a low speed state in which the rotary treatment member treats a human body, the control gain changes. If the set speed does not change, the control gain can be decreased to increase the speed response at low speed and improve followability, while increasing the control gain in the high-speed state where the human body is not treated. The pattern followability is further improved.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A first embodiment of the present invention will be described with reference to FIGS. That is, this massage machine has a rotary treatment member 1, a driving unit 2, a rotational position detecting unit 3, a speed setting unit 4, a speed detecting unit 5, and a speed control unit 11.
Have and. The rotary treatment member 1 is eccentrically attached to the drive shaft 6. In the embodiment, it is formed as a pair of eccentric and slanted discs attached to the drive shaft 6, and is placed on the backrest 9 of the chair 8 as shown in FIG. To be treated directly.

The drive means 2 rotationally drives the drive shaft 6.
In the embodiment, as shown in FIG. 2, a known means is attached to the back of the backrest 9 of the chair and has a brushless motor (not shown), a speed reducer (not shown), and a timing belt (not shown). Drive shaft 6 of the rotary treatment member 1
To rotate. The rotation position detection means 3 detects the rotation position of the rotation treatment member 1. In the embodiment, the rotational position of the drive shaft 6 is detected from the BCD code obtained from the absolute encoder attached to the drive shaft 6.

The speed setting means 4 has a storage unit 10 in which the correspondence relationship between the rotational speeds of the rotary treatment member 1 and the set speeds of the rotary treatment member 1 is stored in advance, and the rotary position obtained by the rotary position detecting means 3 is stored. The set speed corresponding to is output. The storage unit 10 sets a fir pattern, and stores a plurality of types of speed patterns of the rotation speed of the driving unit 2 set in advance corresponding to the rotation position obtained from the rotation position detecting unit 3. This is performed by writing the data of the correspondence relationship between the rotational treatment member 1 and the set speed of the rotational treatment member 1 to the storage unit 10 by the operation input circuit 12. Then, the speed pattern of the driving means 2 selected by the operation input circuit 12 from a plurality of kinds of speed patterns is instructed to the speed setting means 4, and the speed setting means 4 outputs the speed command to the speed control means 11. The operation input circuit 12 is for instructing the treatment content of the rotation treatment member 1. For example, even when the rotation direction of the driving means 2 is switched, the operation setting circuit 12 controls the speed setting means 4 such as raising and lowering, and the storage unit 10 described above. Give orders.

The speed detecting means 5 detects the rotation speed of the rotary treatment member 1. For example, the detection speed of the motor is obtained from the detection signal of the detection means for detecting the magnetic pole position when the drive means 2 is a brushless motor, and the cycle of the encoder signal of the encoder attached to the motor. The speed control means 11 is
The driving means 2 is controlled so as to have a calculation circuit for calculating a difference between the set speed output from the speed setting means 5 and the detected speed obtained from the speed detecting means 5. And, it has a control gain varying means for determining a response speed for making the difference zero, and makes it possible to change the control gain according to the set speed, and to increase the control gain when the set speed is larger than a constant value. The control gain is reduced when the set speed is smaller than the constant value.

In the embodiment, the speed of the driving means 2 is made to follow the speed command of the set speed by a known means such as PI control,
The drive means 2 is controlled so that the set speed and the detected speed match. The arithmetic circuit performs, for example, proportional and integral calculation of the difference between the set speed and the detected speed, applies a voltage corresponding to the calculation result to the brushless motor, and controls to reach the set speed. FIG. 6 shows a control block in which a brushless motor is used as the driving means 2. In the figure, S is an operator, Sω is a set speed, and ω is
Is the motor speed, C ₁ is the proportional gain, C ₂ is the integral gain,
R is motor coil resistance, L is motor inductance, K
t is the torque constant, J is the inertia of the motor and the load, and TL is the load torque. Further, in this embodiment, the control gain is a proportional gain and an integral gain. The control gain varying means is, for example, an analog switch that switches a resistor that determines the gain of the operational amplifier when the arithmetic circuit is an analog circuit. Further, when the arithmetic circuit is a digital arithmetic operation of a microcomputer, a variable switching means corresponding to a control gain used in the control arithmetic is used. A comparator or the like can be used as a means for comparing the set speed with a constant value.

The power supply circuit 13 converts a commercial power supply into direct current and supplies electric power to the speed control means 11 and the like. The operation will be described. FIG. 3 shows the amount of protrusion of the rotary treatment member 1 toward the human body with respect to the rotational position of the drive shaft 6, that is, the rotational position of the rotary treatment member 1. ing. FIG. 4 shows the relationship between the rotational position of the drive shaft 6 and the rotational speed of the drive unit 2, that is, the rotational speed of the rotational treatment member 1, which represents the speed pattern set in the storage unit 10. . From FIGS. 3 and 4, the amount of protrusion of the rotary treatment member 1 to the human body side with respect to time, that is, the kneading pressure, is as shown in FIG. Since a plurality of types of speed patterns are stored in the storage unit 10, it is possible to massage another fir pattern by selecting another speed pattern.

FIG. 7 illustrates the speed response with respect to the control gain when the speed of the driving means 2 is made to follow the set speed by a step response waveform. The set speed Sω changes from the speed a according to the speed pattern with respect to the rotational position. The detected speed ω when changing to the speed b is shown. That is, the detected speed Q ₁ quickly follows the set speed Sω changed from the speed a to the speed b when the control gain is large, but overshoot and undershoot occur and speed fluctuation occurs. . When the control gain is small, the detection speed Q ₂ needs time to follow as compared with the detection speed Q ₁ , but the detection speed ω changes smoothly. If the load is large, the gain cannot be sufficient to follow the set speed Sω.

In the speed response of the driving means 2 as described above, as shown in FIG. 8 corresponding to FIG. 4, the speed control means 1
In No. 1, the control gain is increased when the set speed is larger than a predetermined constant value c, and the control gain is decreased when the set speed is smaller than the constant value c. That is, the control gain is made large in the range A of the speed pattern and made small in the range B, so that the speed response is improved without causing the user discomfort.

According to this embodiment, the rotation treatment member 1 is eccentrically rotated by the operation of the drive means 2, and the treatment portion is massaged by pressing the treatment portion against the surface of the rotation treatment member 1. Further, by controlling the drive means 2 by the speed setting means 11 to the set speed corresponding to the rotational position of the rotary treatment member 1 stored in the storage portion 10, a desired fir pattern can be obtained.

In this case, the speed control means 11 has a control gain variable means for determining a response speed for making the difference between the set speed and the detected speed zero, and is adapted to change the control gain according to the set speed. Therefore, the control gain can be selected according to the state of each set speed such as low speed, high speed, acceleration, deceleration, etc., so that optimum speed response can be obtained at each set speed. Therefore, the speed of the driving means 2 can quickly follow the speed pattern of the storage unit, and the speed fluctuation that gives the user discomfort can be reduced. Moreover, the construction is relatively simple and inexpensive.

Further, when the set speed is higher than the fixed value, the control gain is increased by the variable means, and when the set speed is lower than the fixed value, the control gain is decreased.
In the low speed state in which the rotary treatment member 1 treats the human body, the control gain is reduced to slow the speed response and reduce the speed fluctuation, thereby suppressing an unpleasant vibration to the user, while in the high speed state in which the human body is not treated. Since the control gain is increased to increase the speed response, the speed pattern can be swiftly followed.

A second embodiment of the present invention will be described with reference to FIG. That is, this massage machine controls the control gain by the variable means of the speed control means so that the control gain becomes small when the set speed is constant and becomes large when the set speed changes. . In the embodiment, whether or not the set speed has changed is judged by whether or not the speed command output from the speed setting means 4 to the speed control means 11 for each change of the rotational position is different from the set speed of the previous speed command. If the speed command value is different, the control gain is increased, and if they are equal, the control gain is decreased. As a result, the control gain is increased at the position of range A in the figure, and
Will reduce the control gain. Others are first
It is similar to the embodiment of.

According to this embodiment, when the set speed changes, the speed response can be improved and the followability can be improved, and since the speed is in the transitional period, the user does not feel uncomfortable even if the speed changes. On the other hand, when the set speed is constant, the speed fluctuation can be suppressed, and therefore, the discomfort caused by the speed fluctuation can be suppressed without impairing the followability to the speed pattern.

A third embodiment of the present invention will be described with reference to FIG. That is, in this massage machine, the control gain becomes large when the set speed is larger than a fixed value or the set speed changes, and the control gain becomes small when the set speed is smaller than the fixed value and the set speed is constant. The control gain is controlled by the variable means of the speed control means. That is, in the range A, the control gain becomes large at the position of the speed pattern, and in the range B, the control gain becomes small. Others are the same as those in the first embodiment.

According to this embodiment, the control gain is increased if the set speed changes and the control gain is decreased if the set speed does not change even in the low speed state where the rotary treatment member 1 treats the human body. The speed response at a low speed can be increased to improve the followability, while the control gain is increased in the high speed state where the human body is not treated, so the followability to the speed pattern is further improved.

[0030]

According to the massage machine of the present invention, the speed control means has a control gain varying means for determining a response speed for making the difference between the set speed and the detected speed zero, and the set speed is set. Since the control gain is changed in accordance with the above, the control gain can be selected according to the state of each set speed such as low speed, high speed, acceleration, deceleration, etc., so that optimum speed response can be obtained at each set speed. Therefore, the speed of the drive means can quickly follow the speed pattern of the storage unit, and the speed fluctuation that gives the user discomfort can be reduced. Moreover, there is an effect that the structure can be relatively simple and can be inexpensive.

According to a massage machine of a second aspect, in the first aspect, the control gain is increased by the variable means when the set speed is larger than a fixed value, and the control is performed when the set speed is smaller than the fixed value. Since the gain is reduced, in addition to the effect of claim 1, in a low speed state in which the rotating therapy member treats the human body, the speed gain is decreased and the speed fluctuation is decreased by decreasing the control gain, which is uncomfortable for the user. In a high-speed state in which vibration is suppressed and the human body is not treated, the control gain is increased to speed up the speed response, so that the speed pattern can be swiftly followed.

According to the massage machine of claim 3, in claim 1, the control gain is decreased by the variable means when the set speed is constant, and the control gain is increased when the set speed changes. Therefore, claim 1
In addition to the effect of the above, when the set speed changes, the speed response can be increased and the followability can be improved, and since the speed is in the transitional period, the user does not feel uncomfortable even if the speed changes. On the other hand, when the set speed is constant, the speed fluctuation can be suppressed, and therefore, the discomfort caused by the speed fluctuation can be suppressed without impairing the followability to the speed pattern.

According to the massage machine of claim 4, in claim 1, when the set speed is larger than a constant value or the set speed changes, the control gain is increased by the variable means so that the set speed is The control gain is reduced when the speed is smaller than the constant value and the set speed is constant. Therefore, in addition to the effect according to claim 1, if the set speed changes even in the low speed state in which the rotary treatment member treats a human body, the control gain changes. If the set speed does not change, the control gain can be decreased to increase the speed response at low speed and improve followability, while increasing the control gain in the high-speed state where the human body is not treated. The pattern followability is further improved.

[Brief description of drawings]

FIG. 1 is a block diagram of a first embodiment of the present invention.

FIG. 2 is a schematic side view of a massage machine.

FIG. 3 is a relationship diagram of the amount of protrusion of the rotation treatment member toward the human body with respect to the rotation position of the drive shaft.

FIG. 4 is a relationship diagram of a rotation speed of a drive unit with respect to a rotation position of a drive shaft.

FIG. 5 is a graph showing the relationship between fir pressure and time.

FIG. 6 is a control block diagram of speed control means.

FIG. 7 is a step response waveform chart of the speed control means.

FIG. 8 is a relationship diagram of a control gain at a rotation speed of a drive unit with respect to a rotation position of a drive shaft.

FIG. 9 is a relationship diagram of a control gain at a rotation speed of a drive unit with respect to a rotation position of a drive shaft according to a second embodiment.

FIG. 10 is a diagram showing the relationship between the control position and the control gain at the rotational speed of the drive means with respect to the rotational position of the drive shaft.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 rotation treatment member 2 drive means 3 rotation position detection means 4 speed setting means 5 speed detection means 6 drive shaft 10 storage unit 11 speed control means

Claims (4)

[Claims] 1. A rotary treatment member eccentrically attached to a drive shaft, a drive means for rotationally driving the drive shaft, and a rotational position detection means for detecting a rotational position of the rotary treatment member.
A speed setting for outputting the set speed corresponding to the rotational position obtained by the rotational position detection means, which has a storage unit that stores in advance the correspondence relationship between the rotational position of the rotational treatment member and the set speed of the rotational treatment member. Means, speed detection means for detecting the rotation speed of the rotation treatment member, and an arithmetic circuit for calculating the difference between the set speed output from the speed setting means and the detected speed obtained from the speed detection means. And a speed control means for controlling the driving means so that the difference becomes zero, the speed control means has a control gain varying means for determining a response speed for making the difference zero, and the setting A massage machine characterized in that the control gain is changed according to the speed. 2. The massage machine according to claim 1, wherein the variable means increases the control gain when the set speed is higher than a fixed value, and decreases the control gain when the set speed is lower than the fixed value. 3. The massage machine according to claim 1, wherein the variable means decreases the control gain when the set speed is constant and increases the control gain when the set speed changes. 4. The variable means increases the control gain when the set speed is larger than a fixed value or when the set speed changes, and the set speed is smaller than the fixed value and the set speed is constant. The massage machine according to claim 1, wherein the control gain is reduced.