JPH0731649A - Massage machine - Google Patents

Abstract

PURPOSE:To improve accuracy of stopping of a massaging shaft at a required rotational position and to make the amt. of projection and the distance of a thereapueutic element const. when an action of massaging is shifted from a massaging movement to either a tapping massage movement or a rolling massage movement. CONSTITUTION:This massage machine is provided with a rotational position detecting means detecting the rotational position of a massaging shaft 52 and a controlling means decreasing the rotational speed of a motor 33 from the rotational speed at a massaging movement when the action of a thereapeutic element is shifted from the massaging movement to a tapping massage movement or a rolling massage movement and stopping the rotation of the motor when the rotational position detecting means reaches the rotational position required by the massaging shaft.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a massager incorporated in a backrest portion of a chair, a bed or the like on which a user's back rests, and a massager is operated to massage the user's back or the like.

[0002]

2. Description of the Related Art Conventionally, in a massage machine, a motor massages a massage roller by rotating a massage shaft to massage a massage roller and massages a massager, and a massager stops the rotation of a massage massager to strike a massager. Alternatively, there is one that performs a rolling massage exercise (an exercise that moves the treatment element in the vertical direction).

In this massage machine, when the massage operation is changed from the massage massage operation to the hitting massage operation or the rolling massage operation,
It is necessary to stop the rotation of the motor and stop the rotation of the massage shaft. At this time, it is necessary to stop the kneading massage shaft at a certain rotation position where the protrusion amount and the interval of the treatment element are in a certain state suitable for the next massage motion.

However, if the stop position of the massaging massage shaft is indefinite, the amount of protrusion and the interval of the massager when stopped will be indefinite. It is difficult to stop at a certain rotational position that is in a certain state suitable for massage exercises.

Therefore, conventionally, when the rotation of the massaging massage shaft is stopped in order to shift the massaging motion from the massaging motion to the hitting massage motion or rolling massage motion, the rotation position detecting means provided on the massaging massage shaft is conventionally used. Detect the rotation position of the massage roller, and immediately turn off the motor to stop the rotation of the massage shaft when the massage shaft reaches the required rotation position. I have to.

[0006]

However, even if the motor for rotating the massager is rotating and the power supply to the motor is turned off and the power supply is stopped, the motor itself and each part immediately lose their inertia. Motor rotation does not stop. This tendency is remarkable especially as the rotation speed of the motor is higher.

For this reason, when the massage operation is changed from the massage massage operation to the hitting massage operation or the rolling massage operation as in the prior art, the massage axis to be performed next is the amount of protrusion of the massager or the interval between the massage elements. Even if the power supply to the motor is stopped at the time when the motor reaches a certain rotation position where it becomes a suitable certain state, the rotation of the motor does not stop instantaneously due to the presence of inertia as described above, and the rotation continues.

Therefore, the kneading massage shaft does not stop at a certain rotation position where the kneading massage shaft is in a predetermined state in which the protrusion amount and the interval of the treatment element are suitable for the massage motion to be performed next.
The rotation continues and stops at a rotational position deviating from this position.

In this way, when the operation of the massaging massage is changed from the massaging motion to the hitting massage motion or the rolling massage motion, the accuracy of stopping the massaging massage shaft at a certain rotational position required is low, and the massaging motion or The protruding amount and interval of the treatment elements in the rolling massage exercise are not constant.

The present invention has been made based on the above-mentioned circumstances, and when the operation of the massaging massage is changed from the massaging motion to the hitting massage motion or the rolling massage motion, the massaging massage shaft is moved to a certain rotational position requiring the massaging massage shaft. An object of the present invention is to provide a massage machine that can improve the accuracy of stopping and can make the protrusion amount and the interval of the treatment element in a hitting massage motion or a rolling massage motion constant.

[0011]

In order to achieve the above-mentioned object, the massage machine of the present invention uses a motor to rotate a kneading massage shaft to knead a massager for massaging, and to stop the rotation of the kneading massage shaft by a motor. In the massage machine that causes the massager to strike massage motion or rolling massage motion, a rotation position detecting unit that detects a rotation position of the massage shaft for massage, and a massage massage or rolling massage that massages the motion of the massage device from massage motion. When shifting to motion, the rotation speed of the motor is reduced from the rotation speed during massaging massaging, and when the rotation position detecting means detects that the massaging massage shaft has reached the necessary rotation position, the motor is rotated. And a control means for stopping the rotation.

[0012]

[Function] When the operation of the massager is changed from massaging motion to hitting massage motion or rolling massage motion, the control means reduces the rotation speed of the motor from the rotation speed during massaging motion, and the rotation position detecting means massages. The rotation of the motor is stopped when it is detected that the massage shaft has reached the required rotation position.

For this reason, the motor is deenergized from the high-speed rotation state without being suddenly stopped, and the power supply to the motor is stopped. Therefore, the influence of inertia is suppressed as much as possible, and the motor is kept at a constant rotational position, that is, a massage roller for massaging. Can be stopped at a certain rotation position where the protrusion amount and the interval of the treatment element are in a certain state suitable for the next massage motion.

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. The machine frame indicated by reference numeral 21 in FIGS.
The left and right side plates 22 and 23, the horizontal members 24 and 25 which are horizontally installed across the side plates 22 and 23, and the other horizontal members 26 and 2.
7 and 7. The horizontal member 26 is horizontally installed across a side plate 22 and a speed reducer case, which will be described later, connected to the side plate 23.
The horizontal member 27 is cantilevered by the side plate 22.

A drive unit 31 is arranged in the machine frame 21 at a substantially central portion in the width direction. The unit 31 includes a housing 32 that forms a gear box, and a first motor 33 that is connected to the outer surface of the housing 32 and that can rotate in the forward and reverse directions. The housing 32 is a horizontal member 2
While being abutted and supported on the inner surface of the central part of 4, 25,
It is bolted to the horizontal member 27. As shown in FIG. 7 and the like, the rotary shaft 33 a of the first motor 33 is formed in a gear shape having teeth around the entire outer periphery and is inserted into the housing 32.

A gear unit 34 is built in the housing 32. The structure of the gear unit 34 is shown in FIGS. Reference numeral 41 in these drawings denotes an input shaft which extends in the left-right direction and whose both ends are rotatably supported by bearings 42.
The input gear 43 fitted to the outer periphery and fixed so as to be integrally rotated is meshed with the rotation shaft 33 a of the first motor 33. A rubbing type transmission gear 45 is attached to the outer circumference of the input shaft 41 via a first one-way clutch 44, and a striking type transmission gear 47 is attached via a second one-way clutch 46.

When the rotary shaft 33a of the first motor 33 is reversely rotated, the first one-way clutch 44 enters the "on" state to transmit the rotation of the input shaft 41 to the massaging system transmission gear 45, and When the rotation shaft 33a of the first motor 33 is normally rotated, it is in the "off" state and cuts the rotation of the input shaft 41 to the kneading system transmission gear 45. On the contrary, the second one-way clutch 46 enters the “on” state when the rotating shaft 33a of the first motor 33 is normally rotated, and the input shaft 4
1 rotation is transmitted to the striking transmission gear 47, and
When the rotating shaft 33a of the motor 33 is rotated in the reverse direction, it is in the "off" state and cuts off the rotation of the input shaft 41 to the striking system transmission gear 47.

As shown in FIG. 7, in the housing 32, a support shaft 48 which is laid horizontally in parallel with the input shaft 41 is provided in the nut 4.
Stopped at 9. The large diameter gear portion 50 a of the first reduction gear 50 rotatably supported by the shaft 48 is meshed with the kneading system transmission gear 45. Furthermore, the housing 3
The second reduction gear 51 as a kneading system output gear is built in 2 and this gear 51 is a small diameter gear portion 5 of the first reduction gear 50.
It is meshed with 0b.

A kneading massage shaft 52 extending in the left-right direction and protruding from both side surfaces of the housing 32 is rotatably supported by a pair of bearings 53 in the housing 32. The central portion of the shaft 52 in the axial direction penetrates the boss portion 51a of the second reduction gear 51 and is spline-engaged with the inner peripheral surface of the boss portion 51a. Therefore, the kneading transmission system from the input shaft 41 to the kneading massage shaft 52 is formed by the transmission components such as the first one-way clutch 44, the kneading system transmission gear 45, the first and second reduction gears 50 and 51. .

As shown in FIG. 8, a beating system output gear 54 which is meshed with a beating system transmission gear 47 is built in the housing 32. Further, the housing 32 includes
A beating massage shaft 55 protruding from both side surfaces thereof is rotatably supported by a pair of bearings 56. This axis 5
Reference numeral 5 is parallel to the kneading massage shaft 52, and its axial center portion penetrates the boss portion 54a of the output gear 54 and is spline-engaged with the inner peripheral surface of the boss portion 54a. Therefore, by the transmission components such as the second one-way clutch 46, the beating system transmission gear 47, and the beating system output gear 54,
A hit transmission system is formed from the input shaft 41 to the hit massage shaft 55.

The drive unit 31 has an electromagnetic brake 57. The brake 57 is attached to the outer surface of the housing 32 at a position opposite to the first motor 33. The electromagnetic brake 57 is a non-excitation non-actuated type, that is, a type that exerts a function of braking the brake shaft 57a shown in FIG. 7 when energized and releases the braking function of the brake shaft 57a in the non-energized state. Has been adopted. The brake shaft 57a is inserted into the housing 32, and the brake gear 58 is fixed to the brake shaft 57a. The brake gear 58 is meshed with the massaging system transmission gear 45.

In the drive unit 31 having the above structure, when the rotating shaft 33a of the first motor 33 is normally rotated, the rotation is transmitted to the input shaft 41 via the input gear 43, and the second shaft is rotated.
The striking system transmission gear 47 is rotated via the one-way clutch 46. At this time, the first one-way clutch 44 is in the “disengaged” state, and no power is applied to the kneading massage shaft 52. Therefore, the beating massage shaft 55 is rotated via the beating system output gear 54 meshed with the beating system transmission gear 47. When the shaft 55 is rotationally driven, the electromagnetic brake 57 is energized, and the kneading massage system is prevented from moving due to the load of the user.

When the rotating shaft 33a of the first motor 33 is reversely rotated while the electromagnetic brake 57 is not operating, the rotation is transmitted through the input gear 43 and the input shaft 41 and the first one-way clutch 44. Is transmitted to the kneading type transmission gear 45. At this time, the second one-way clutch 46 is in the “disengaged” state, power is not applied to the hitting massage shaft 55, and the brake shaft 57a and the brake gear 58 rotate integrally. Therefore, the rotation of the massaging system transmission gear 45 is
It is decelerated via the first and second reduction gears 50, 51 and transmitted to the massage massage shaft 52, which is rotated at a low speed.

As shown in FIGS. 5 and 6, the kneading massage shaft 52 is screwed with a detection disk 151 located outside the housing 32. The disc 151 is coaxial with the kneading massage shaft 52, and has a light passage portion (not shown) formed of a small hole or a slit-shaped notch in the peripheral portion thereof. A rotational position sensor 153 is attached to the outer surface of the housing 32 via a bracket 152.

As the rotational position sensor 153, for example, a transmissive photoelectric sensor having a light projecting portion and a light receiving portion is used, and the detection disk 15 is provided in the gap between the light projecting portion and the light receiving portion.
It is arranged so that the peripheral part of 1 passes. Therefore, the light projected from the light projecting unit toward the light receiving unit passes through the light passing unit of the detection disk 151 that is rotated together with the rubbing massage shaft 52 and is incident on the light receiving unit. The sensor 153 detects a predetermined rotation position of the kneading massage shaft 52, and the peripheral portion of the detection disk 151 blocks the light at other rotation positions. The detection output of the rotational position sensor 153 is output to the control circuit described later.
The disk 151 and the rotational position sensor 153 constitute the rotational position detecting means 154.

Both ends of the kneading massaging shaft 52 penetrating the housing 32 have side plates 2 as shown in FIG.
It is rotatably supported by bearings 61 respectively attached to Nos. 2 and 23. As shown in FIGS. 5 to 7, 9 and 10, keys 62 are attached to the left and right side portions of the kneading massage shaft 52 that protrude from the housing 32, respectively. In FIG. 7, 63 is a retaining ring for preventing the key 62 from coming off, and 64 is a retaining screw.

Movable sleeves 65 are attached to the both sides of the kneading massage shaft 52, respectively. The pair of sleeves 65 are fitted to the both side portions so as to be slidable in the axial direction of the massage shaft 52. The movable sleeve 65 has an eccentric cam portion 65a and a connecting portion 65b as shown in FIG.

The eccentric cam portion 65a is a short-axis portion having an axis line that is eccentric and inclined with respect to the axis line of the movable sleeve 65. The inclinations of the axes of the eccentric cam portions 65a of the movable sleeves 65 are opposite to each other. The connecting portion 65b is provided concentrically with the axis of the movable sleeve 65.

A hub 67 is attached to the outer peripheral surface of the eccentric cam portion 65a via a bearing 66. Therefore, the pair of hubs 67 are provided on the both side portions of the kneading massage shaft 52,
The shaft 52 is supported while being inclined in opposite directions. As shown in FIGS. 1, 2, and 9, an arm 68 is connected to the hub 67, and a massage roller 69 is rotatably attached to the tip of the arm 68.

The housing 32 as shown in FIG.
Both ends of the hitting massage shaft 55 that penetrates the
5 is provided coaxially with the housing penetrating portion, and the side plate 2
Bearings 71 attached to the inner surfaces of the bearings 1 and 22 via bearing brackets 70 are rotatably supported. As shown in FIG. 8, the portions between both ends of the hitting massage shaft 55 and the housing penetrating portion form eccentric shaft portions 55a and 55b that are eccentric with respect to these. The eccentric shaft portions 55a and 55b are eccentric to each other by 180 °.

Metal bearings 72, which are slidable in the axial direction, are fitted in the eccentric shaft portions 55a and 55b, respectively. Figure 9
As shown in FIG. 2, band-shaped joints 73 are connected to the outer circumferences of both metal bearings 72, respectively, and one end of a connecting rod 74 commonly called a ball stud is connected to the joint 73 via a pin 75. Thus, the connecting rod 74 is rotatable about the axis of the pin 75.

The spherical other end 74a of the connecting rod 74 is connected to the hub 67. The connecting portion between the connecting rod 74 and the hub 67 is a spherical pair, and therefore, the other end of the connecting rod 74 is rotatably connected to the hub 67 in a universal joint shape.

Since the joint 73 is connected to the hub 67 via the connecting rod 74 in this manner, the rotary shaft 33a of the first motor 33 is normally rotated as described above, and the hitting massage shaft 55 is appropriately rotated. When rotated at various speeds, the joint 73 connected to the metal bearing 72 strikes the massage shaft 55.
The hitting massage shaft 55 is rotated while sliding on the inner peripheral surface of the metal bearing 72.

By the way, since the shaft centers of the eccentric shaft portions 55a and 55b in which the metal bearing 72 is fitted are eccentric, the joint 73 and the connecting rod 74 are moved in the longitudinal direction with a stroke of twice the eccentric amount. It is moved back and forth. for that reason,
The pair of hubs 67 are pushed and pulled by the corresponding connecting rods 74 and reciprocally rotated around the bearing 66. Along with this, the massage roller 69 is synchronously moved via the arm 68, and the massage roller 69 makes a striking motion.

The eccentricity of the eccentric shaft portions 55a and 55b is 1
Since the massage rollers 69 are displaced by 80 °, the pair of massage rollers 69 are moved in the opposite directions. At this time, no rotational force is applied to the massage roller 52 for massage, and the massage roller 52 is massaged by the electromagnetic brake 57. Is held stationary.

When the rotary shaft 33a of the first motor 33 is rotated in the reverse direction and the kneading massage shaft 52 is properly rotated at a low speed, a pair of movable sleeves 65 are formed together with the shaft 52 via the key 62. Is rotated. Therefore, the eccentric cam part 65a massages the massage shaft 5 according to the inclination of the axis.
It is apparently displaced so as to swing about the axis of 2.

By the way, the hub 67 fitted to the eccentric cam portion 65a through the bearing 66 is connected to the joint 73 through the connecting rod 74 and is restrained from rotating. Therefore, the hub 67 makes a swinging motion about the axis of the kneading massage shaft 52 as a fulcrum in synchronization with the apparent displacement of the eccentric cam portion 65a.

At this time, slippage occurs at the universal joint-shaped connecting portion between the hub 67 and the connecting rod 74, and at the same time the connecting rod 74 is connected.
Is rotated around the axis of the pin 75 with respect to the joint 73 to enable the swing motion.

A pair of hubs 67 operated in this way
Since the arm 68 is similarly swung with the swinging motion of
The pair of massage rollers 69 are synchronously moved toward and away from each other, whereby the massage roller 6 is moved.
9 massages.

Side plate 2 as shown in FIGS.
The bearing 8 is mounted on the inner surfaces of the bearings 2 and 23 via the bearing bracket 81.
2 are respectively supported, and a width adjusting screw shaft 83 is rotatably provided horizontally across these bearings 82. The screw shaft 83 has a mutual distance A between the pair of massage rollers 69.
It is used to vary (see FIG. 6) and is arranged parallel to each massage shaft 52, 55.

32a in FIG. 10 is a width adjusting screw shaft 83.
It is a recess formed in the housing 32 to escape. The width adjusting screw shaft 83 has screw portions 83a, respectively on shaft portions arranged so as to project to both left and right sides of the housing 32.
83b, and these screw portions 83a and 83b are reverse-threaded to each other.

As shown in FIGS. 9 to 11, a moving element 92 as an interlocking member that is moved in the axial direction of the width adjusting screw shaft 83 by interlocking with the hub 67 is attached to each of the screw portions 83a and 83b. It is screwed. As shown in FIG. 8, the pair of moving elements 92 each have an interlocking protrusion 92a having a substantially U-shape in a plan view (in FIG. 8), and the walls of the protrusions 92a facing each other are recessed. 93 is formed. Interlocking protrusion 9
The hitting massage shaft 55 is inserted into the 2a through the recess 93, and the metal bearing 72 and one end of the joint 73 sandwiching the metal bearing 72 are fitted in the interlocking protrusion 92a.

Of course, this fitting portion has a play so as not to disturb the vibration of the joint 73 due to the rotation of the hitting massage shaft 55 and the movement of the joint 73 due to the rotation of the kneading massage shaft 52.

A connecting portion 65 of the pair of movable sleeves 65.
Hub supports 96 are rotatably fitted to the outer circumferences of b. As shown in FIG. 9, interlocking members 94 are screwed to the pair of moving members 92, respectively. These interlocks 94
The arm portion 94a is provided so as to hold the hub support 96 from its outer periphery, and is screwed.

On the inner surface of one of the side plates 22, a second motor 84 for width adjustment, which is rotatable in forward and reverse directions, is mounted above the kneading massage shaft 52 in FIGS. 10 and 12. A bearing bracket 85 is attached to the outer surface of the side plate 22 so as to face one bearing bracket 81 attached to the inner surface of the side plate 22.

Bearing brackets 81 and 8 facing each other
A driven pulley 87, whose both ends are rotatably supported by bearings 86, is provided between the gears 5, and a gear portion 88 is formed on a shaft portion of the pulley 87. At one end of the side plate 22 of the width adjusting screw shaft 83, a reduction gear 89 is provided.
Is attached, and this is meshed with the gear portion 88. A drive pulley 90 having a diameter smaller than that of the driven pulley 87 is attached to the rotary shaft of the second motor 84, and a timing belt 91 is provided between the two pulleys 87, 90 so as to extend therebetween.
Is wrapped around.

The width adjusting screw shaft 83, the second motor 84,
The driven pulley 87, the reduction gear 89, the drive pulley 90, the timing belt 91, the moving element 92, the interlock element 94, the hub support 96, and the like form a roller gap adjusting mechanism 95. This mechanism 95 includes a pair of massage rollers 6
9 is moved in the opposite direction to change the mutual distance A.

That is, when the second motor 84 is operated, the rotation of its rotation shaft is transmitted to the driven pulley 87 via the drive pulley 90 and the timing belt 91, and the rotation of this pulley 87 is transmitted to the gear portion 88 thereof. The width adjusting screw shaft 83 is rotated via the reduction gear 89 meshing with the.

By the way, the screw portion 83 of the screw shaft 83
The moving elements 92 screwed into the a and 83b are connected to the movable sleeve 65 via the interlocking element 94 and the hub support 96, and are restrained from rotating. Therefore, the pair of moving elements 92 are moved in the axial direction of the screw shaft 83 as the width adjusting screw shaft 83 rotates.

Since the screw portions 83a and 83b are reverse threads, the pair of moving elements 92 are moved in opposite directions. For example, the second motors 84 are brought closer to each other by the normal rotation, and are moved so as to be separated from each other by the reverse rotation. Simultaneously with these movements, the pair of movable sleeves 65 connected to the moving element 92 via the interlocking element 94 and the hub support 96 are moved in the axial direction of the kneading massage shaft 52, so that the pair of massage rollers 69. The mutual interval A of is varied.

As shown in FIGS. 5 and 13, a speed reducer box 101 is attached to the side plate 23 of the machine frame 21, and a third motor 102 capable of rotating in the normal and reverse directions is attached to the outer surface of the box 101. Installed. Inside the box 101, a worm shaft 105 having an integral worm 103 and a reduction gear 104 attached thereto is supported at both ends via bearings 106, and a drive gear 107 meshing with the reduction gear 104 is built in. There is.
The drive gear 107 is attached to the rotary shaft 102a of the third motor 102 inserted in the speed reducer box 101.

A rotatable wheel gear shaft 108 is inserted in the speed reducer box 101. Incidentally, 122 is a retaining plate. A worm wheel gear 109 meshing with the worm 103 is attached to the wheel gear shaft 108. The wheel gear shaft 108 has a hollow structure, and one end of the wheel gear shaft 108 protruding outside the speed reducer box 101 has a pinion shaft 110 penetrating the wheel gear shaft 108 in the axial direction.
One end of each is connected by spline engagement (121 in FIG. 13 indicates a spline engagement portion).

As shown in FIG. 6, the reducer box 10
Shaft support portions 111 and 112 are provided on the side plate 1 and the side plate 22 so as to face each other, and a protective pipe 113 is laterally extended through them. A pinion shaft 110 is rotatably passed through the pipe 113. A wheel gear shaft 108 is rotatably fitted to and supported by an outer periphery of one end of the protection pipe 113, which is inserted into the reduction gear box 101, via a sleeve 125 containing lubricating oil.

A pinion gear 114 is formed by providing teeth on the outer peripheral surface of the one end portion of the wheel gear shaft 108.
At the end of the side plate 22 of the pinion shaft 110, a cap-shaped pinion gear 1 that covers the end of the protection pipe 113 is provided.
15 are connected by spline engagement. In addition,
Although not shown, this connecting structure is the same as the structure of the connecting portion between the wheel gear shaft 108 and one end of the pinion shaft 110.

The small diameter end 108a of the wheel gear shaft 108, which is connected to the pinion shaft 110, and the pinion gear 11.
A small-diameter end portion (not shown) similar to the small-diameter end portion 5 has a roller 116 rotatably supported by being fitted to the outer peripheral surface thereof.

The speed reducer box 101, the third motor 1
02, worm 103, reduction gear 104, drive gear 10
7, wheel gear shaft 108, worm wheel gear 109,
Pinion shaft 110, protection pipe 113, pinion gear 1
14, 115 and the roller 116 form a self-propelled mechanism 117 that moves the entire massage machine.

A shaft support 118 is attached to the inner surfaces of the side plates 22 and 23 as shown in FIG. 11, and a roller support shaft 119 is laid across the side plates 22 and 23 so as to penetrate therethrough. . The roller support shaft 119 is the pinion shaft 110.
Rollers 120 are rotatably attached to both ends of the machine frame 21 that are parallel to the machine frame 21 and project laterally.

As shown in FIG. 14, on the back surface of the back support portion (backrest) B of the chair in which the massage machine M is incorporated,
Rails C extending in the longitudinal direction of the back support portion B are provided on both sides in the width direction. Massage machine M has its roller 1
Rotate 16 and 120 to the pair of left and right rails C,
It is provided so as to move linearly or non-linearly in the longitudinal direction according to the shape of the back support portion B. On the back surface of the back support portion B, along the rail C, a rack D (see FIG. 10,
(See FIG. 13), and the pinion gears 114 and 115 are individually meshed with them.

The self-propelled mechanism 117 includes the third motor 10 thereof.
The operation of 2 moves the entire massage machine M. That is, the operation of the third motor 102 causes the rotation shaft 10 to move.
The rotation of 2a is transmitted to the rotating shaft 105 via the drive gear 107 and the reduction gear 104, and then further reduced via the meshing between the worm 103 and the worm wheel gear 109, and transmitted to the wheel gear shaft 108. .

Then, the pinion gear 114 is rotated at a low speed, and at the same time, the other pinion gear 115 is synchronously rotated via the pinion shaft 110 which is spline-engaged with the wheel gear shaft 108. Therefore, the engagement between the pinion gears 114 and 115 and the rack D gives a moving force to the entire massage machine M, and the massage machine M is moved by rolling its rollers 116 and 120 on the rails C.

Therefore, the rotating shaft 1 of the third motor 102
For example, when 02a is normally rotated, the entire massage machine M is raised along the back rest portion B, and when it is reversed, the entire massage machine M is lowered along the back rest portion B. Since the roller support shaft 119 and the roller 120 are provided, the massage machine M can be prevented from swinging around the pinion shaft 110, and the massage machine M can be moved smoothly.

As shown in FIGS. 5 and 9, the front wall of the housing 32 has parallel grooves 131 and 132 extending in the left-right direction (width direction of the housing 32). One of the grooves 131 has a protective pipe 113.
A half-circumferential portion of the central portion of the roller supporting shaft 119 is fitted in the other groove 132. A cover plate 133 made of sheet metal is screwed to the front wall of the housing 32.

The cover plate 133 covers most of the portion of the protective pipe 113 and the roller support shaft 119 located between the side plates 22 and 23. The cover plate 133 has a pair of shaft fitting portions 13 extending over the entire width thereof.
4, 135 are integrally formed. These shaft fitting parts 1
34 and 135 are semi-circular in cross section, and one shaft fitting portion 1
Numeral 34 covers a half-circumferential portion in the central portion of the protection pipe 113 and is fitted therein, and the other shaft fitting portion 1
The roller support shaft 119 is fitted over the roller support shaft 119 so as to cover a half circumferential portion of the roller support shaft 119.

Incidentally, reference numeral 141 in FIGS. 1 to 4 is a terminal box attached to the outer surface of the machine frame 21, respectively, and 142 in FIG.
Is a machine frame cover screwed to the side plates 22 and 23 and the housing 32. Further, this massage machine M is provided by being incorporated in the backrest portion B of the chair as described above, and its front surface (front face) including the pair of massage rollers 69 is highly flexible, not shown. Covered with epidermis.
In addition, E in FIG. 14 has shown the center line of the back support part B.

Next, the structure relating to the control relating to the kneading massage will be described with reference to FIG.

In the figure, 201 is an operation circuit, 202 is a control circuit, 203 is a servo circuit, and 204 is a motor drive circuit. The operation circuit 201 is mounted on a remote controller as an input means, and allows the user to set operation conditions such as setting massage modes such as a massage massage motion, a hitting massage motion, and a rolling massage motion, and the speed of massage motion. Along with the input, it outputs a signal instructing the operating conditions input to the control circuit 202.

The control circuit 202 receives the operation signal from the operation circuit 201 and detects the rotational position from the rotational position detecting sensor 153 of the rotational position detecting means 154 for detecting the rotational position of the kneading massage shaft 52 described above. It receives a signal, outputs a signal instructing the motor rotation speed to the servo circuit 203, and outputs an instruction to rotate and stop the motor to the motor drive circuit 204.

The servo circuit 203 receives a motor rotation speed instruction signal from the control circuit 202 and a motor from a rotation speed detector (not shown) provided in the first motor 33 that drives the kneading massage shaft 52. The rotation speed of the first motor 33 is matched with the instructed rotation speed by receiving the rotation speed detection signal and comparing the instructed rotation speed of the first motor 33 with the detected motor rotation speed detection signal. A signal for instructing the rotation speed control is output to the motor drive circuit 204.

The motor drive circuit 204 is the control circuit 2
02 receives a rotation instruction signal and a rotation stop instruction signal from the servo circuit 203 and also receives a rotation speed control signal from the servo circuit 203, and controls the current flowing through the first motor 33 to rotate the first motor 33. , Stop and control the rotation speed.

As described above, the first motor 33 is provided with a rotation speed detector such as a frequency generator.
Further, the rotational position detecting means 154 is composed of the disc 151 attached to the kneading massage shaft 52 as described above, and the sensor 153 fixed separately from the disc 151.

In the massage machine having the above-mentioned structure, the massaging machine shaft 52 and the hitting massage shaft 55 are operated by the first motor 33, the roller distance adjusting mechanism 95 is operated by the second motor 84, and the massage machine M is moved by the third motor. A motor 102 is provided.

When the first motor 33 is normally rotated as described above, the drive unit 31 rotates the hitting massage shaft 55 to give the pair of massage rollers 69 a hitting motion. . On the contrary, when the first motor 33 is rotated in the reverse direction, the kneading massage shaft 52 is rotated by the drive unit 31,
The pair of massage rollers 69 can be given an operation of performing a kneading motion.

Further, as described above, when the second motor 84 is normally rotated, the pair of hubs 67 supporting the pair of massage rollers 69 are brought closer to each other by the rotation of the width adjusting screw shaft 83, and the pair of massage rollers is moved. The mutual distance A between the pair of massage rollers 69 can be widened by rotating the width adjusting screw shaft 83 when the second motor 84 is reversely rotated.

Moreover, as described above, when the third motor 102 is rotated in the normal direction, the entire massage machine M is moved to the back rest portion C.
When the third motor 102 is rotated in the reverse direction, the entire massage machine M can be moved down along the shape of the back rest C.

Since each of the motors 33, 84 and 102 can be independently controlled, a pair of massage rollers 6 can be used depending on the size of the user's body and the part to be massaged.
9 can be appropriately arranged to select a massage or a hit massage, and the position of the pair of massage rollers 69 in the width direction or the position of the pair of massage rollers 69 in the vertical direction can be changed while the selected massage operation is performed. As a result, it is possible to realize a variety of massage modes.

Here, the control relating to the kneading massage in this massage machine will be described with reference to FIG.

The user operates the remote controller to input operating conditions such as massage mode settings such as massage massage operation, hitting massage operation, rolling massage exercise, and speed setting of massage operation into the operation circuit 201.

The operation circuit 201 instructs the control circuit 202 on the set operation conditions. The control circuit 202 is the operation circuit 2
In response to the instruction 01, the servo circuit 203 is instructed to rotate the motor, and the motor drive circuit 204 is instructed to rotate the motor. The servo circuit 203 uses the motor drive circuit 20 based on an instruction from the control circuit 202.
Indicate the motor rotation speed in 4. Motor drive circuit 2
Based on these instructions, 04 controls the first motor 33 so as to rotate at the set rotation speed.

Then, while the first motor 33 is rotating, the rotation speed detector provided on the first motor 33 is
The number of rotations is detected and the detected value is output to the servo circuit 203. The servo circuit 203 compares the motor rotation speed detected by the rotation speed detector (not shown) with the motor rotation speed detected by the rotation speed detector provided in the first motor 33, and rotates the motor 33. The motor drive circuit 204 is instructed so that the speed becomes the set rotation speed. The motor drive circuit 204 receives an instruction from the servo circuit 203 and controls the current flowing to the motor 33 to control the first motor 33.
Rotate at the set rotation speed. As a result, the kneading massage shaft 52 is rotated at a predetermined rotation speed.

When the remote controller is operated to input the stop of the massage motion to the operation circuit 201, the control circuit 202 instructs the motor drive circuit 204 to stop the rotation, and the motor drive circuit 204 causes the motor 33 to operate. Stop rotation. This stops the rotation of the kneading massage shaft 52.

Next, the control in the case of shifting from the kneading massage motion to the hitting massage motion or the rolling massage motion will be described.

Now, it is assumed that the massage machine is massaging by rubbing the operation of the pair of massage rollers 69. Here, the user operates the remote controller to input, for example, the mode of hitting massage motion to the operation circuit 201. Then, the operation circuit 201 causes the control circuit 20 to
The operation signal for hitting 2 and performing a massage exercise is output. The control circuit 202 outputs to the servo circuit 203 a speed signal which indicates the rotational speed of the first motor 33 as the slowest speed value.

The servo circuit 203 instructs the motor drive circuit 204 at the slowest rotation speed based on the instruction from the control circuit 202. Based on these instructions, the motor drive circuit 204 controls the first motor 33 so that the first motor 33 is rotated at the slowest set rotation speed. As a result, the first motor 33 gradually decreases its rotation speed from high speed to move to low speed rotation in order to perform the kneading massage movement. With the lapse of time, the rotation speed reaches the lowest speed stage designated by the first motor 33.

On the other hand, in the detecting means 154 for detecting the rotational position of the kneading massage shaft 52, the rotation position sensor 153 detects the light passage portion of the detection disk 151 as the kneading massage shaft 52 rotates. That is, it is detected that the kneading massage shaft 52 to which the detection disc 151 is attached is positioned at the predetermined rotation angle. The rotational position sensor 153 outputs a signal of the detected rotational position to the control circuit 202. Therefore, the detection means 154 can detect this when the kneading massage shaft 52 reaches a certain rotational position where the protrusion amount and the interval of the pair of massage rollers 69 are in a certain state suitable for the next hitting massage motion.

In the control circuit 202, when a predetermined time (for example, 0.5 seconds) elapses after the rotation speed of the first motor 33 is instructed to the slowest rotation speed value as described above, the rotation position detecting means. Rotational position sensor 153
From the above, a signal for detecting that the kneading massage shaft 52 has reached a certain rotation position where the protrusion amount and the interval of the pair of massage rollers 69 reach a certain state suitable for the next massage movement is input to the control circuit 202. It At this point, the control circuit 202 immediately instructs the motor drive circuit 204 to stop rotation. As a result, the motor drive circuit 204 cuts off the power supply to the first motor 33, and the first motor 3
Stop rotation at 3.

In this case, since the first motor 33 stops at the stage where the rotation speed is the lowest, the inertia of the motor 33 and each part has almost no influence, and the first motor 33 can be stopped instantaneously. That is, the first motor 33
Can be stopped at a position where the protrusion amount and the interval of the pair of massage rollers 69 are in a constant state suitable for the next massage motion. Therefore, the kneading massage shaft 52 can be stopped at a certain rotation position where the protrusion amount and the interval of the pair of massage rollers 69 are in a certain state suitable for the next massage movement.

As described above, according to the present invention, when the operation of the pair of massage rollers 69, which is an example of the massager, is changed from the massage massaging motion to the hitting massage motion or the rolling massage motion, the control means is operated by the massaging massage shaft 52. When the rotation position detecting means 154 detects that the kneading massage shaft 52 has reached the necessary rotation position, the rotation speed of the first motor 33, which is the drive source of the kneading, is reduced from the high rotation speed during the massaging motion. The rotation of the motor 33 is stopped.

Therefore, since the first motor 33 is decelerated from the high-speed rotation state without being suddenly stopped and the power supply to the motor 33 is stopped, the influence of inertia is suppressed as much as possible and the motor is rotated at a constant rotation position. That is, the kneading massage shaft 52 can be stopped at a certain rotation position where the protrusion amount and the interval of the pair of massage rollers 69 are in a certain state suitable for the next massage movement.

Accordingly, in the present invention, when the operation of the kneading massage is changed from the kneading massage movement to the hitting massage movement or the rolling massage movement, the accuracy of stopping the kneading massage shaft 52 at a certain rotation position required is increased, The amount of protrusion and the interval of the pair of massage rollers 69 in the hitting massage motion or the rolling massage motion can be made constant.

In the present embodiment, the case of directly shifting from the kneading massage motion state to the hitting massage motion or the rolling motion has been described. However, the kneading massage motion state is changed to the hitting massage motion or rolling motion after the treatment element is stopped. It is also possible to use the present invention when doing so. That is, when stopping from the kneading massage motion state, the motor may be stopped when the kneading massage shaft reaches a predetermined rotation position after reducing the rotation speed of the kneading massage shaft.

The present invention is not limited to the above-mentioned embodiments, but can be implemented with various modifications. For example, the massage rollers 69 are not limited to a pair. The treatment element is not limited to the massage roller 69. The rotational position detecting means is not limited to the embodiment.

[0092]

As described above, according to the massage machine of the present invention, when the operation of the treatment element is changed from the massaging motion to the hitting massage motion or the rolling massage motion, the motor is suddenly stopped from the high speed rotation state. Without energizing the motor, the power supply to the motor is stopped, so the influence of inertia is suppressed as much as possible and the motor is kept in a fixed rotational position, that is, the massage roller is suitable for the massage motion that the protrusion amount and the interval of the massager perform next. It can be stopped at a certain rotational position that results in a certain state.

Therefore, according to the present invention, when the operation of the kneading massage is changed from the kneading massage motion to the hitting massage motion or the rolling massage motion, the accuracy of stopping the kneading massage shaft at a certain rotational position required is improved. It is possible to obtain a massage machine capable of making the protrusion amount and the interval of the treatment element in the hitting massage motion or the rolling massage motion constant.

[Brief description of drawings]

FIG. 1 is a front view showing the overall configuration of a massage machine according to an embodiment of the present invention.

FIG. 2 is a perspective view showing the configuration of the entire massage machine according to the embodiment when viewed from the front side.

FIG. 3 is a perspective view showing the configuration of the entire massage machine according to the embodiment as viewed from the back side.

FIG. 4 is a rear view showing the overall configuration of the massage machine according to the embodiment.

FIG. 5 is a front view showing a partial cross-section of the configuration of the entire massage machine according to the embodiment.

FIG. 6 is a plan view showing the overall configuration of the massage machine according to the embodiment.

FIG. 7 is a sectional view showing the configuration of a kneading massage system of the massage machine according to the embodiment.

FIG. 8 is a sectional view showing a configuration of a hitting massage system of the massage machine according to the embodiment.

FIG. 9 shows the configuration of the massage machine according to the embodiment in FIG.
-A sectional view taken along the line Z.

FIG. 10 is a sectional view showing the structure of a roller gap adjusting mechanism of the massage machine according to the embodiment.

FIG. 11 is a plan view showing a partial cross-section of the configuration of a drive unit of the roller gap adjustment mechanism according to the embodiment.

FIG. 12 is a front view showing a configuration of a drive unit of the roller gap adjusting mechanism according to the embodiment.

FIG. 13 is a sectional view showing the configuration of a self-propelled mechanism of the massage machine according to the embodiment.

FIG. 14 is a view schematically showing the arrangement of the massage machine according to the embodiment with respect to the back rest part of the chair.

FIG. 15 is a block diagram showing a control system of a massaging massage system according to the embodiment.

[Explanation of symbols]

31 ... Drive unit, 32 ... Housing,
33 ... 1st motor, 34 ... Gear device, 4
3 ... Input shaft, 43 ... Input gear, 44
... first one-way clutch, 45 ... rubbing type transmission gear,
46 ... Second one-way clutch, 47 ... Striking system transmission gear, 50 ... First reduction gear, 51 ... Second reduction gear, 52 ... Kneading massage shaft, 54 ... Strike system output gear, 55 ... Striking massage shaft, 57 ... electromagnetic brake (brake means), 57a ... brake shaft,
57b ... brake gear, 67 ... hub,
69 ... Massage roller, 151 ... Detection disc, 154 ... Rotation position detecting means, 20
2 ... control circuit, 203 ... servo circuit, 2
04 ... Motor drive circuit.

Claims (1)

[Claims] 1. A massage machine for rotating a massaging massage shaft by a motor for massaging the massaging element, and for stopping the rotation of the massaging massaging axis by a motor for hitting or massaging the massaging element. Rotational position detecting means for detecting the rotational position of the kneading massage shaft, and rotation of the motor during kneading massage movement when the operation of the treatment element is changed from kneading massage motion to hitting massage motion or rolling massage motion. Slow down,
A massager, comprising: a control unit that stops the rotation of the motor when the rotational position detection unit detects that the kneading massage shaft has reached the required rotational position.