JPH10201805A - Massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a massage machine where a massage action with proper strength is realized. SOLUTION: The machine is provided with a rocking member where a rotary shaft, a motor 21 rotating the rotary shaft in bi-directions and a massage element executing the massage action are fitted and also a rocking operation is executed with the rotary operation of the rotary shaft and a control part by which the rotary direction of the motor is changed-over when the rotary action of the rotary shaft reaches a fixed rotary angle, the rotary shaft is rotated reciprocatively and the rotary angle of the rotary shaft is changed as necessary. The control part is constituted of a rotation reference position setting means for the rotary shaft, a writable rotary angle storage means for the rotary shaft, a rotary angle measuring means measuring the actual rotary angle of the rotary shaft, a rotary angle comparing means comparing the rotary angle stored in the rotary angle storage means with the measured one, a rotary direction control part outputting a rotary direction changeover signal to the motor when the rotary angle stored in the rotary angel storage means coincides with the actual rotary angle in the rotary angle comparing means, a rotary angle input means as against the rotary angle storage means and a rotary angle converting means increasing/decreasing an input rotary angle to the rotary angle storage means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rubbing machine in the form of a chair or a bed.

[0002]

2. Description of the Related Art For example, in a chair-shaped rubbing machine, a driving mechanism for performing a rubbing operation is stored in a backrest portion of the chair. The drive mechanism is provided with a pair of massagers, and by driving a motor arranged in the drive mechanism, the massager swings, and is configured to perform a massaging operation such as a massaging operation or a hitting operation. . Further, in order to perform the massaging operation at a desired position of the patient sitting on the chair, a backrest portion of the chair is provided with a lifting mechanism for raising and lowering a driving mechanism.
Further, an adjusting mechanism for adjusting the interval between the pair of massagers is provided.

[0003] As an example of the driving mechanism of the above-described rubbing machine, one having the following configuration is conceivable. In the drive mechanism, in order to perform a kneading operation, a pair of swash plate cams having a hexagonal cylindrical insertion hole are inserted through the first shaft into a hexagonal column-shaped first shaft rotated by the first motor. Each of the swash plate cams is attached, and a massager is provided at one end of each cam via an arm. The rotation of the first shaft causes the swash plate cam to swing, whereby the pair of massagers perform an elliptical motion toward a person sitting on the rubbing machine to perform a rubbing operation.

FIG. 11 is a view for explaining a conventional kneading operation. Hereinafter, FIG. 11 will be referred to. Anomaly machine 1 having the above configuration
In the case of performing a kneading operation, a massager 2
The movements a and 2b become elliptical movements, and the massagers 2a and 2b perform a kneading operation by pressing and pressing against the patient using the elliptical movement.

[0005]

In such a kneading operation of the prior art massaging machine 1, a certain treatment portion is
There is a case where an alternate kneading operation is performed in which a kneading operation of pushing up from below and a kneading operation of pushing down from above are alternately performed. When performing such an alternate kneading operation, the treatment is too strong if the movement width of the massager reciprocating up and down is constant,
There is a problem that the operation quality is low. In addition, the gears and the like in the drive mechanism used for performing the kneading operation, since only the teeth in the same range are repeatedly used, local fatigue of the gears occurs, and the durability of the rubbing machine 1 is reduced. There is a problem.

The inventions of claims 1 to 3 have been made in order to solve the above-mentioned technical problems, and an object of the invention is to realize a variety of kneading operations, to improve the operation quality, It is an object of the present invention to provide an rubbing machine whose driving mechanism has improved durability.

[0007]

According to a first aspect of the present invention, there is provided an rubbing machine comprising a rotary shaft, a rotary shaft driving motor for rotating the rotary shaft in both directions, and a pair of massaging rollers for performing the rubbing operation. A pair of swinging members that are attached and fixed to the rotating shaft and perform a swinging operation in accordance with the rotating operation of the rotating shaft; and a rotating shaft drive when the rotating operation of the rotating shaft reaches a certain rotation angle. And a controller for switching the rotation direction of the motor to reciprocate the rotation shaft and changing the rotation angle of the rotation shaft as needed.

[0008] With the above construction, when the rotating shaft rotates, the pair of swing members attached to the rotating shaft swing, and the pair of massagers attached to the swing member swing. A massaging operation is performed. At this time, when the rotation angle of the rotating shaft changes, the reciprocating operation width of the massager changes, so that for a given treatment target, the operation distance intervals for the massage operation to push up from below and the massage operation to push down from above, respectively. Since the kneading operation close to the hand-kneading sensation which is rich in changes can be realized, the operation quality is improved. Further, since a meshing portion of a gear or the like in the drive mechanism for rotating the rotary shaft changes, local fatigue of the drive mechanism is prevented, and the durability of the lubricating machine can be improved.

According to a second aspect of the present invention, the rubbing machine embodies the control unit according to the first aspect, wherein the control unit includes a rotation shaft rotation reference position setting unit and a predetermined rotation of the rotation shaft. A writable rotation angle storage means for storing an angle, a rotation angle measurement means for measuring an actual rotation angle of the rotation shaft, a rotation angle stored in the rotation angle storage means, and a rotation angle measured by the rotation angle measurement means. A rotation angle comparison unit for comparing the rotation angle of the rotation shaft driving motor when the rotation angle stored in the rotation angle storage unit matches the actual rotation angle. It comprises a direction controller, a rotation angle input means for inputting a rotation angle to the rotation angle storage means, and a rotation angle conversion means for increasing or decreasing the rotation angle input to the rotation angle storage means.

According to the above construction, the rotation angle is input from the rotation angle input means to the rotation angle storage means from the rotation reference position of the rotation axis preset by the rotation reference position setting means, and stored. When the rotation angle measuring means measures that the motor has just rotated, a rotation direction switching signal is issued from the rotation direction control unit, and the rotation direction of the rotation shaft drive motor is switched by the rotation direction switching signal, so that the rotation shaft is reversed. Rotate in the direction. Then, when the rotation angle measuring means measures that the rotation axis rotating in the opposite direction has rotated by the rotation angle stored in the rotation angle storage means, a rotation direction switching signal is issued from the rotation direction control unit, The rotation direction of the rotation shaft drive motor is switched by the rotation direction switching signal, and the rotation shaft rotates in the forward direction. By repeating this, the rotating shaft reciprocates and the massager reciprocates up and down. At this time, when the rotation angle of the rotation shaft input to the rotation angle storage unit is changed by the rotation angle conversion unit, the rotation angle of the rotation operation in which the rotation shaft reciprocates changes, and accordingly, the kneading unit performs a vertical reciprocation operation. Since the movement stroke of the child changes and the kneading up distance and the kneading down distance change, the kneading operation close to the hand kneading feeling can be achieved by constantly changing the rotation angle of the rotating shaft.

Further, according to a third aspect of the present invention, the rotation shaft driving motor of the rubbing machine can change the rotation speed by the rotation speed conversion means.

With this configuration, the rotation speed of the rotary shaft can be changed along with the rotation speed of the rotary shaft drive motor. Since the rotation angle and time of one rotation of the rotating shaft can be appropriately changed, the operation stroke and time of one reciprocation of the massager can be changed. In addition, an appropriate massage effect can be expected.

[0013]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to embodiments. Although the present embodiment is directed to a grooming machine in the form of a chair, it is understood from this description that the configuration in a case where the invention is applied to a grooming machine in the form of a bed.

1 to 10 show this embodiment. FIG. 1 is a perspective view of a part of a driving mechanism 15 of an rubbing machine 11 according to one embodiment of the present invention, FIG. 2 is a cross-sectional view taken along a section line X2-X2 in FIG. 1, and FIG. 15 is a front view of FIG.
FIG. 4 is a cross-sectional view of the rubbing machine 11 of the present embodiment, FIG. 5 is a block diagram illustrating the electrical configuration of the rubbing machine 11, and FIGS. 6 to 9 are timing charts illustrating the operation of the rubbing machine 11. FIG. 10 is a diagram for explaining the operation of the rubbing machine 11.

Hereinafter, an example of the overall structure of the rubbing machine 11 of the present embodiment will be described with reference to FIGS. As shown in FIG. 4, the backrest portion 1 of the chair 12 in the
A rack 14 is fixed inside 3, and a pair of pinions 16 a, 16 b provided in a drive mechanism 15 having a configuration for performing a mating operation is engaged with the rack 14.
The rotation of a DC brushless motor (hereinafter referred to as a motor) 17 for raising and lowering the drive mechanism 15 provided in the drive mechanism 15 is rotated in a rotation axis direction via an operation conversion mechanism 18 using, for example, a helical gear or a worm gear. 4 is converted into a direction perpendicular to the paper surface of FIG. By rotating the rotating shaft 19 in one of two directions by the motor 17, the pinions 16a, 16
b rotates and the drive mechanism 15 is driven up and down by the backrest portion 13 of the chair 12 by the engagement of the pinions 16a, 16b and the rack 14.

The driving mechanism 15 is mounted on the backrest portion 13 of the chair 12 and has a pair of massagers 2 provided on the driving mechanism 15 on the back and shoulders of a person leaning on the chair 12.
0a and 20b (hereinafter may be collectively indicated by reference numeral 20). Massagers 20a, 20b
Is connected to a motor 21 equipped with a pulse generator provided in the drive mechanism 15 via an operation conversion mechanism 22, and the rotation operation of the motor 21 is converted by the operation conversion mechanism 22 into the swinging operation of the massagers 20 a and 20 b. You. A massaging operation such as a kneading operation is performed on the back, neck, or shoulder of a person leaning on the chair 12 by the oscillating massagers 20a, 20b. The upper part of the rack 14 is slightly bent so as to conform to the curved surface of the back such as the neck and shoulder of the person leaning on the backrest 13 of the chair 12. The rack 14 is the chair 12
The lower portion of the backrest portion 13 of the chair 12 is configured to be bendable by a rotating portion 23 such as a hinge, for example, and is configured to be able to follow the reclining operation of the backrest portion 13 of the chair 12.

Hereinafter, the operation conversion mechanism 22 of the rubbing machine 11 will be described.
A configuration example of the driving mechanism 15 including the above will be described with reference to FIGS. In the drive mechanism 15, the rotating shaft 19 for raising and lowering, the rotating shaft 26 for kneading operation, and the rotating shaft 27 for hitting are respectively mounted between a pair of mutually parallel frames 24 and 25. The rotation shaft 19 is driven to rotate by the rotation of the motor 17 via the operation conversion mechanism 18, and the drive mechanism 15 is driven to move up and down. The rotation shaft 26 is driven to reciprocate by the rotation of the motor 21 via the motion conversion mechanism 22 to perform a kneading operation. The rotating shaft 27 is driven to rotate by rotation of a motor 29 (not shown) via a motion converting mechanism, and performs a hitting operation.

The rotating shaft 26 is formed in a hexagonal column shape between the frames 24 and 25, and a pair of cylindrical cam members 30 and 31 are respectively provided at intermediate portions thereof at a certain distance from the rotating shaft 26 with an interval therebetween. It is attached with heart. Cam member 3
The massagers 20a and 20b are respectively attached to the front ends of 0 and 31 via arms 32 and 33 bent in a crank shape. One ends of rods 34 and 35 are fixed to rear ends of the cam members 30 and 31 opposite to the arms 32 and 33, respectively.
Bearing bands 36 and 37 made of, for example, synthetic resin are fixed to the other ends of 4 and 35, respectively. Each of the bearing bands 36 and 37 is swingable on the rotating shaft 27 and is mounted at a position eccentric with respect to the axis of the rotating shaft 27. Therefore, when the rotation shaft 27 rotates, the bearing bands 36 and 37 make a revolving motion around the rotation shaft 27. As a result, the rods 34, 35 are periodically pulled by the bearing bands 36, 37. This rod 3
The movement of the cam members 30 and 31 is caused by the rotation of the rotation shaft 2.
6 so as to be rotatably connected to the cam member 3.
It is converted into 0, 31 reciprocating angular displacement motions. This allows
The massagers 20a and 20b move up and down, and a beating operation is performed.

In the vicinity of one end of the rotating shaft 26, a positioning piece 39 having, for example, a disk shape and having a notch 38 in a part of its circumference is attached as rotation reference position setting means. A sensor 40 such as a photo interrupter, which is a detection element for optically detecting, is arranged near the positioning piece 39. The installation position of the notch 38 of the positioning piece 39 becomes a rotation reference position for rotation of the rotating shaft 26. A worm wheel 41 is fixed near the other end of the rotating shaft 26 coaxially with the rotating shaft 26, and a worm gear 42 meshing with the worm wheel 41 is arranged. The worm gear 42 is driven to rotate by the motor 21. . The worm wheel 41 and the worm gear 42 constitute the operation conversion mechanism 22.

Hereinafter, details of the configuration related to the cam members 30 and 31 will be described. In the hexagonal column portion of the rotating shaft 26, sliders 43 and 44 having a hexagonal cylindrical insertion hole corresponding to the hexagonal column shape of the rotating shaft 26 and having a substantially cylindrical outer shape are respectively provided with the rotating shaft 26. It is mounted eccentrically on a hexagonal column-shaped part so as to be movable in the axial direction. The sliders 43, 44 are coaxially connected to the cam members 30, 31 via bearings (not shown).
Therefore, the cam members 30 and 31 have an axis eccentric with respect to the axis of the rotary shaft 26, and are configured such that the axis of the rotary shaft 26 passes through the eccentric position. Accordingly, the cam members 30 and 31 perform an elliptical motion in a direction perpendicular to the axis of the rotating shaft 26 according to the degree of eccentricity of the cam members 30 and 31 by the rotation of the rotating shaft 26.

Projections are provided integrally at rear ends of the cam members 30, 31 opposite to the arms 32, 33, respectively, and one ends of the rods 34, 35 are fixed to the projections. The bearing bands 36, 37 to which the other ends of the rods 34, 35 are fixed are, for example, the cam members 30,
A configuration similar to the configuration related to 31 is configured to perform an elliptical motion in a direction perpendicular to the axis of the rotation shaft 27. Engaging projections are formed on the circumference of the bearing bands 36 and 37, and each of the engaging projections includes the rods 34, 3
The other end of 5 is attached by a pin (not shown) in a direction perpendicular to the axis of the rotating shaft 27 so as to be angularly displaceable around the pin.

Hereinafter, the electrical configuration of the rubbing machine 11 according to the present embodiment, which is a feature of the present invention, will be described with reference to FIG. The massaging machine 11 includes an operation panel 49 for setting various massaging operations.
It is connected to the. The operation panel 49 includes a rotating shaft 2
Regarding 6, a rotation angle input key and a rotation angle conversion key are provided as rotation angle input means, and a rotation speed input key for converting the rotation speed of the motor 21 driving the rotation shaft 26 is provided. The microcomputer 50 is connected to a sensor 40 for setting a rotation reference position P1 of the rotation shaft 26. Further, as described above, the motor 21 is provided with the pulse generator 51 that outputs the rotation angle as a pulse signal, and the rotation state of the motor 21 is controlled by the microcomputer 5 based on the output of the pulse generator 51.
Detected by 0.

The microcomputer 50 has a rotating shaft 2
6, rotation angle storage means, rotation angle measurement means, rotation angle comparison means for comparing the rotation angle stored in the rotation angle storage means with the actual rotation angle, rotation direction control for issuing a signal for switching the rotation direction of the motor 21 , A rotation angle conversion means and a rotation speed conversion means.

The rotation angle storage means stores a rotation angle input by a rotation angle input key on the operation panel and is writable. The rotation angle measuring means determines the rotation axis 2 based on the number of pulses of the output pulse of the pulse generator 51.
6, the actual rotation angle α from the rotation reference position P1 is calculated.

The rotation angle comparing means compares the actual rotation angle calculated by the rotation angle measuring means with the rotation angle input by a rotation angle input key on the operation panel. Motor 2 from angle switch control unit
1, a signal for switching the rotation direction is issued, whereby the rotation of the motor 21 rotates in the reverse direction and the rotation shaft 26 is rotated.
Rotates in reverse. At the same time, the rotation angle input by the rotation angle conversion key is newly written in the rotation angle storage means by the rotation angle conversion means, and the rotation angle written in the rotation angle storage means and the actual rotation angle of the rotating shaft are equal to one another. That is, when the motor rotates in the reverse direction by the rotation angle stored in the rotation angle storage means, a signal for switching the rotation direction is issued from the rotation angle switching control unit to the motor 21, whereby the rotation of the motor 21 moves in the forward direction. The rotation shaft 26 rotates forward with the rotation.

The rotation angle conversion means is adapted to sequentially add the rotation angle inputted by the rotation angle conversion key to the rotation angle stored in the rotation angle storage means. When the rotation angle reaches the degree, the rotation angle inputted by the rotation angle conversion key is sequentially subtracted. When the subtracted rotation angle becomes the lower limit value, for example, 0 degrees, the rotation angle is inputted again by the rotation angle conversion key. The obtained rotation angles are sequentially added. The upper limit value and the lower limit value may be appropriately input from the operation panel.
If the length from the upper limit value to the next upper limit value is one cycle, if the motor has the same rotation speed, if a larger angle is input to the rotation angle conversion key, the rotation angle changes greatly, and It changes little by little when you enter a corner. Further, when the rotation speed of the motor 21 is changed by operating a rotation speed input key for converting the rotation speed of the motor 21 by a rotation speed conversion means incorporated in the microcomputer, the rotation speed is input by the rotation angle conversion key. Large and small rotations can be made at various speeds in combination with various rotation angles.

With such a configuration, the massager 2
The strokes 0a and 20b reciprocate up and down with reference to a predetermined position, and the reciprocating stroke β gradually increases. When the upper limit is reached, the stroke reciprocally decreases, and when the lower limit is reached, the stroke gradually increases. In addition, by changing the rotation speed of the motor, and by changing the rotation axis in small increments with the rotation angle conversion key, the operation stroke of each massager can be variously changed, and this reciprocating operation is repeated. Thereby, it is possible to realize a natural fluctuation of a mating sensation caused by a kneading operation by a human hand. In the above control, the value input by the rotation angle conversion key is 0.
In the case of (1), the operation stroke of the massager does not change, and the reciprocating operation is performed with a constant operation stroke.

The operation stroke of the massager will be described below with reference to FIGS. FIG. 6 shows a case where the rotation speed of the motor is reduced and the rotation angle input by the rotation angle conversion key is increased. According to this, the massager reciprocates slowly, and reciprocation of the massager having a large change in the operation stroke can be obtained. FIG. 7 shows a case where the rotation speed of the motor is reduced and the rotation angle input by the rotation angle conversion key is reduced. According to this, the massager reciprocates slowly and the massager has a reciprocating motion in which the operation stroke gradually changes. FIG. 8 shows a case where the rotation speed of the motor is increased and the rotation angle input by the rotation angle conversion key is increased. According to this, the massager reciprocates quickly and a reciprocating motion of the massager having a large change in the operation stroke is obtained. FIG. 9 shows a case where the rotation speed of the motor is increased and the rotation angle input by the rotation angle conversion key is reduced. According to this, the massager reciprocates quickly and the reciprocating motion of the massager in which the operation stroke gradually changes is obtained.

By applying the above results, one operation stroke can be adjusted to the pulse and one cycle can be adjusted to the respiration, so that the setting based on the health condition and age of the patient can be made.

When operating the rubbing machine 11, the operation panel 49 is used to drive the motor 17 under the control of the microcomputer 50 so that the drive mechanism 15 is raised and lowered by the backrest 13 of the chair 12, and the drive mechanism 15 is moved to a predetermined position. Set to the rubbing position. When the drive mechanism 15 is stopped at a predetermined rubbing position using the operation panel 49, a desired rubbing operation such as a kneading operation or a tapping operation, a rubbing operation A1, a rubbing down operation A2, or an alternate rubbing operation is performed on the operation panel 49. Set. When the kneading operation is selected, the motor 21 is driven, and when the beating operation is selected, the motor 29 is driven. After this,
The rubbing machine 11 is started by using the operation panel 49, and the motors 21 and 29 are individually rotated to perform the desired rubbing operation. Hereinafter, the details of the rubbing operation of the present embodiment will be described by taking the alternate rubbing operation as an example. Note that the kneading operation and the kneading operation are performed only one of the alternating kneading operations, and the kneading operation is either a reference position of the kneading operation or a bidirectional rotation of the motor 21 with respect to the kneading operation. It is clear that the operation is almost the same except that the reference pulse number data is used at the time of rotation.

In such an operation, in the alternate kneading operation, in both the kneading operation and the kneading operation, the worm gear 4 is maintained while maintaining the same lubrication strength.
Since the use range of the worm wheel 42 and the worm wheel 42 can be changed, local fatigue of the worm wheel 41 and the worm gear 42 is prevented, and the durability of the rubbing machine 11 can be improved.

The configuration described in the above embodiment shows one embodiment of the present invention, and does not limit the scope of the present invention. The present invention includes a wide range of modifications without departing from the spirit thereof.

[0033]

As described above, the massaging machine according to the first aspect of the present invention comprises a rotating shaft, a rotating shaft drive motor for rotating the rotating shaft in both directions, and a pair of massaging rollers for performing the massaging operation. A pair of swinging members that are attached and fixed to the rotating shaft and perform a swinging operation in accordance with the rotating operation of the rotating shaft; and a rotating shaft drive when the rotating operation of the rotating shaft reaches a certain rotation angle. A control unit that reciprocates the rotation shaft by switching the rotation direction of the motor and changes the rotation angle of the rotation shaft in a timely manner, so that when the rotation shaft rotates, a pair of swings attached to the rotation shaft The member swings, and a pair of massagers attached to the swinging member swing, so that a mating operation is performed. And, at this time, when the rotation angle of the rotating shaft changes, the reciprocating operation width of the massager changes, and therefore, for a certain treatment target, the kneading operation to push up from below and the kneading operation to push down from above respectively operate. Since the kneading operation close to the hand kneading sensation that is rich in changes by changing the distance interval can be realized, the operation quality is improved. Further, since a meshing portion of a gear or the like in the drive mechanism for rotating the rotary shaft changes, local fatigue of the drive mechanism is prevented, and the durability of the lubricating machine can be improved.

According to a second aspect of the present invention, there is provided the lubricating machine according to the first aspect.
The control unit comprises: a rotation reference position setting means for the rotation shaft; a writable rotation angle storage means for storing a predetermined rotation angle of the rotation shaft; and a rotation angle measurement for measuring an actual rotation angle of the rotation shaft. Means, a rotation angle comparison means for comparing the rotation angle stored in the rotation angle storage means with the rotation angle measured by the rotation angle measurement means, and a rotation angle stored in the rotation angle storage means in the rotation angle comparison means. A rotation direction control unit for issuing a rotation direction switching signal for switching the rotation direction of the rotation shaft drive motor when the actual rotation angle matches, a rotation angle input unit for inputting a rotation angle to the rotation angle storage unit, and a rotation angle storage unit And a rotation angle conversion means for increasing or decreasing the rotation angle input to the rotation axis. Thus, the rotation axis is set by the rotation angle input means from the rotation reference position of the rotation axis preset by the rotation reference position setting means. The rotational direction switching signal from the direction control unit when the rotation angle measuring means has measured that the rotation only is input and stored rotation angle emitted to the means,
The rotation direction of the rotation shaft drive motor is switched by the rotation direction switching signal, and the rotation shaft rotates in the opposite direction.
Then, when the rotation angle measuring means measures that the rotation axis rotating in the opposite direction has rotated by the rotation angle stored in the rotation angle storage means, a rotation direction switching signal is issued from the rotation direction control unit, The rotation direction of the rotation shaft drive motor is switched by the rotation direction switching signal, and the rotation shaft rotates in the forward direction. By repeating this, the rotating shaft reciprocates and the massager reciprocates up and down. At this time, when the rotation angle of the rotation shaft input to the rotation angle storage unit is changed by the rotation angle conversion unit, the rotation angle of the rotation operation in which the rotation shaft reciprocates changes, and accordingly, the kneading unit performs a vertical reciprocation operation. Since the movement stroke of the child changes and the kneading up distance and the kneading down distance change, the kneading operation close to the hand kneading feeling can be achieved by constantly changing the rotation angle of the rotating shaft.

Further, according to a third aspect of the present invention, since the rotating shaft drive motor of the rubbing machine can change the rotating speed by the rotating speed converting means, the rotating speed of the rotating shaft drive motor is changed. As a result, the rotation speed of the rotation shaft can be changed, and if the rotation angle is changed as well, it is possible to appropriately change the rotation angle and the time during which the rotation shaft makes one reciprocation. Therefore, the stroke and time of one reciprocation of the massager can be changed, so that a more appropriate massage effect in accordance with the age and health condition of the patient can be expected.

[Brief description of the drawings]

FIG. 1 shows a drive mechanism 15 of an rubbing machine 11 according to one embodiment of the present invention.
It is a perspective view of a part of.

FIG. 2 is a cross-sectional view taken along a section line X2-X2 in FIG.

FIG. 3 is a front view of the driving mechanism 15;

FIG. 4 is a sectional view of the rubbing machine 11 of the present embodiment.

FIG. 5 is a block diagram illustrating an electrical configuration of the rubbing machine 11;

FIG. 6 is a timing chart for explaining a kneading operation of the rubbing machine 11 of the present embodiment.

FIG. 7 is a timing chart illustrating a kneading operation of the rubbing machine 11 of the present embodiment.

FIG. 8 is a timing chart for explaining a kneading operation of the rubbing machine 11 of the present embodiment.

FIG. 9 is a timing chart for explaining a kneading operation of the rubbing machine 11 of the present embodiment.

FIG. 10 is a diagram for explaining a kneading operation of the rubbing machine 11 of the present embodiment.

FIG. 11 is a diagram illustrating a conventional kneading operation.

[Explanation of symbols]

1 ………………………… 2a, 2b ………
Massager 11 ……………………………………………………………………………………………… 12
Chair 13 ……… Back part 14 ……………
Rack 15 Drive mechanism 16a, 16b
Pinion 17 Motor 18 Motor 18
Motion conversion mechanism 19 Rotating shafts 20a, 20b
Massager 21 ………… Motor 22 ………………
Motion conversion mechanism 23 Rotating parts 24, 25
Frames 26, 27… Rotation axis 28 ……………
Motion conversion mechanism 29 Motors 30 and 31
Cam members 32, 33 ... Arms 34, 35 ...
Rods 36, 37… Bearing band 38 ……………
Notch 39 ……… Positioning piece 40 ………………
Sensor 41 ………… Warm wheel 42 ………………
Worm gears 43, 44 Slider 49 ……………
Operation panel 50 Microcomputer 51
Pulse generator A1 ……… Kneading operation A2 ………………
Kneading motion α α ………… Rotation angle of rotating shaft β ………………
Movement stroke of massager

Claims (3)

[Claims] 1. A rotating shaft, a rotating shaft drive motor for rotating the rotating shaft in both directions, and a pair of massagers for performing a grooming operation are respectively mounted and fixed to the rotating shaft. A pair of rocking members that perform a rocking operation in accordance with the rotation operation, and when the rotation operation of the rotation shaft reaches a certain rotation angle, the rotation direction of the rotation shaft drive motor is switched to reciprocately rotate the rotation shaft. And a control unit for changing the rotation angle of the rotating shaft at appropriate times. 2. The control unit of the rubbing machine according to claim 1, wherein: a rotation reference position setting means for the rotation shaft; a writable rotation angle storage means for storing the rotation angle of the rotation shaft; and an actual rotation angle of the rotation shaft. Rotation angle measurement means for measuring, rotation angle comparison means for comparing the rotation angle stored in the rotation angle storage means with the rotation angle measured by the rotation angle measurement means, and rotation angle storage means storing in the rotation angle storage means A rotation direction control unit that issues a rotation direction switching signal for switching the rotation direction of the rotation shaft drive motor when the rotation angle thus set matches the actual rotation angle; and a rotation angle input unit that inputs the rotation angle to the rotation angle storage unit. A rotation angle conversion means for increasing or decreasing the rotation angle input to the rotation angle storage means. 3. An rubbing machine according to claim 1, wherein the rotation shaft driving motor of the rubbing machine according to claim 1 or 2 can change the rotation speed by a rotation speed conversion means.