JPH1119150A - Massage machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To correctly recognize shoulder positions without indicating them to a massage machine by detecting the shoulder positions based on the detecting result of an angle detecting mechanism obtained by means of driving an elevating/lowering mechanism while a first treater is abutted on the back of a treated person by means of nearly fixed force. SOLUTION: The locus of the first treater 71 sliding along the back shape of the treated person is obtained by the output of a first rotary encoder as an angle made by a first link 61 and a rail orbit. Then, the angle made by the first link 61 inside a massageunit 10 and the rail orbit is helt in a memory. As the massage unit 10 comes near the shoulder positions, the angle made by the first link 61 and the rail orbit is increased so as to be compared with a value previously set in the comparing part of a control unit, it is judged that it reaches the shoulder positions when the value becomes larger than the previously set one and the elevating/lowering operation of the massage unit 10 is stopped. Then, the operation is shifted to the various kinds of massage operations based on the shoulder positions.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a massage machine in which a massage unit is incorporated in a backrest of a chair so as to be vertically movable.

[0002]

2. Description of the Related Art In general, various massage devices are known which press and stimulate a person's shoulder to eliminate stiffness. When classified by shape, these devices are chair-type, in which the user receives treatment while sitting on a chair, bed-type, in which the user lies on a bed, and hand-held in which the user holds the hand and touches the affected area. And acupuncture type, vibration type, and electrical stimulation type.

[0003] Among these devices, a chair-type massage machine (90) as shown in FIG. The massage machine (90) is provided with a backrest (92) of a chair (91) on which a person to be massaged (hereinafter, referred to as a subject) sits.
The arm (93) protrudes, and the tip of the arm (93) is
A treatment element (94) is provided for contacting the affected part of the user. The arm (93) is an arm drive unit (95) provided in the backrest (92).
The arm drive (95) allows the treatment element (94)
Performs a beating operation that reciprocates up and down and a kneading operation that approaches and separates in the lateral direction to massage the user. The arm drive section (95)
The inside of the backrest (92) can be moved up and down by the driving force of the chain or screw (97) driven by 6).

In order to safely and effectively perform the above-described beating operation and massaging operation, it is necessary for a user to indicate a shoulder position to a massage machine, and to perform a troublesome operation for the user. Had to be forced.

To solve such a problem, Japanese Patent Laid-Open Publication No.
No. 012 discloses a massage machine that detects a shoulder position based on an amount of protrusion of a treatment element toward a user when the treatment element is moved up and down while maintaining a pressure applied to the treatment element from the user. Has been proposed.

[0006]

However, in such a massage machine, since a thick person has a shoulder position farther away from the backrest than a thin person, the massager has a problem. There is a possibility that the shoulder position detected by the body type may vary, and the shoulder position may not be detected accurately.

[0007] The present invention has been made in view of such a problem, and a tip obtained by moving a massage unit along a backrest while a treatment element is in contact with the back of a user. Provided is a massage machine that detects a shoulder position based on a rotation angle of a link mechanism having a treatment element attached thereto, thereby enabling a user to recognize an accurate shoulder position without instructing a massage machine on the shoulder position. The purpose is to:

[0008]

According to the massage machine of the present invention, an arm swing mechanism (33), a first treatment element (71) is attached to a distal end portion, and a base end portion is an arm swing mechanism (33). A massage mechanism (10) including a link mechanism connected to the rotation shaft of the arm, an angle detection mechanism provided in the arm swing mechanism (33), and detecting a rotation angle (ψ) of the link mechanism; 10) one on each side of the backrest (16) of the chair (14),
A massage unit main body (20) attached so that the first treatment element (71) protrudes from the backrest (16), and an elevating mechanism for elevating and lowering the massage unit main body (20) along the backrest (16). It is composed of With such a configuration, the detection result of the angle detection mechanism obtained by driving the lifting / lowering mechanism while bringing the first treatment element (71) into contact with the back of the user (99) with a substantially constant force. The shoulder position can be detected based on (に).

[0009] Specifically, the massage machine of the present invention is provided with a comparison unit for comparing the rotation angle (ψ) of the link mechanism with a predetermined value (に min). The shoulder position is detected based on the shoulder position.

Further, the massage machine of the present invention
The rotation angle of the link mechanism obtained by driving the elevating mechanism while bringing the first treatment element (71) into contact with the back of (99) with a substantially constant force.
(ψ) is provided with a calculation unit for calculating the body type of the user (99), a predetermined value based on the calculation result
(ψmin). With this configuration, it is possible to detect the shoulder position with less error due to the body shape.

The specific structure of the link mechanism is a first link whose base end is connected to the rotation shaft of the arm swing mechanism (33).
(61), the base end is pivotally supported by the distal end of the first link (61),
The second link (6) with the second treatment element (72) attached to the distal end
2) and a third link (63) in which the intermediate portion is pivotally supported by the intermediate portion of the first link (61), and the first treatment element (71) is attached to the distal end portion.
A fourth link (64) whose base end has the same center of rotation as the base end of the first link (61), and which is linked to the hand opening / closing mechanism (36); Department and third link (63)
The fifth link (65) connecting the base end of the third link (6
A sixth link (66) connecting an intermediate portion between a pivot portion of the third link (61) with the first link (61) and a link portion of the first treatment element (71) with a distal end portion of the fourth link (64). It consists of With such a configuration, the arm swing mechanism (33) and / or the hand opening / closing mechanism (36) are driven to swing the treatment elements (71) and (72) in the approaching / separating direction, thereby performing the massage operation. It can be performed. In addition, the shoulder position detection is based on the rotation angle (ψ) of the first link (61).
Can be performed based on

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be specifically described below with reference to the drawings. FIG. 1 shows a state in which a user (99) sits on the massage machine of the present invention.

The chair (14) is a seat on which the user (99) sits.
(15), and a backrest (16) formed obliquely upward from the rear end of the seat surface (15). Backrest (16)
Is provided with a massage unit main body (20) that can be moved up and down along a rail (not shown) extending in the vertical direction.
The massage unit body (20) is, as shown in FIGS.
A massage unit (10) is provided for each of the left and right.

FIG. 6 is an exploded view of the massage unit main body (20). The massage unit body (20) accommodates the massage units (10) and (10) in a frame (22) provided with two rollers (21) on the left and right, respectively, which engage with rails inside the backrest (16). doing. The back of the frame (22) is closed by a rear plate (23), and the lower surface of the left and right massage units (1
0) A width adjusting mechanism (24) for moving the (10) closer or further away is provided.

As shown in FIG. 6, the width adjusting mechanism (24) transfers the driving force of the width adjusting motor (26) provided on the lower surface of the lower plate (25) to the belt (27) and the belt (27). ) Connected to a worm (not shown) and a worm wheel (not shown) through a lower plate (25), and a width adjusting pinion (28) penetrating the upper surface of the lower plate (25). To communicate. The width adjustment pinion (28) meshes with the racks (30) (30) provided at the lower part of the massage units (10) (10), respectively, and the width adjustment pinion (2
By the rotation of 8), the massage units (10) approach or separate from each other.

In FIG. 6, an arm swing mechanism (33) having an arm swing motor (32) is provided on the left and right inner sides of the frame (22).
Opening / closing mechanism (36) including a hand opening / closing motor (35)
Are provided respectively.

Inside the arm swing mechanism (33), two guide rods (40) (40) protrude. Guide rod (4
0) and (40) penetrate the guide holes (41) and (41) of the left and right massage units (10) and (10), and the tips are fitted to the hand opening / closing mechanism (36). (10) (1
While the rotation of (0) is regulated, the massage unit (10)
The left-right movement of (10) is guided.

The arm swing motor (32) is an arm swing mechanism.
(33), arm swing mechanism (33) via belt (42), worm and worm wheel (not shown)
Is connected to an arm rotating shaft (43) protruding from substantially the center of the arm. The arm rotation shaft (43) has arm rotation levers at each end.
(44) (44) are provided in the same direction, the tip of the two arm rotating levers (44) (44) is provided by a crank shaft (45) and a reinforcing shaft (46) for reinforcing the strength. It is linked. When the arm swing motor (32) is rotated, the crank shaft (45) and the reinforcing shaft (46) connecting the two arm rotating levers (44) (44) swing around the arm rotating shaft (43) as the center of rotation. Move. The arm swing motor (32) includes a first rotary encoder (not shown) therein. The first rotary encoder outputs a number of pulses corresponding to the amount of rotation of the arm swing motor (32) for rotating the arm rotation levers (44) (44). By counting the number of pulses, the rotation angles of the arm rotation levers (44) and (44) and the link mechanisms of the first links (61) and (61) connected to the arm rotation levers can be detected.

The hand opening / closing mechanism (36) includes a hand opening / closing motor (35) at a lower portion. The rotation of the hand opening / closing motor (35) is transmitted to a hexagonal shaft (48) having a hexagonal outer peripheral shape via a belt (47), a worm, and a worm wheel (not shown). The hexagonal shaft (48) is hollow inside, and the arm rotation shaft (43) described above penetrates in a freely rotatable state. The hand opening / closing motor (35) includes a second rotary encoder (not shown) therein. The second rotary encoder outputs a number of pulses corresponding to a rotation amount of a hand opening / closing motor (35) for rotating a fourth link (64) described later. By counting the number of pulses, the fourth
It is possible to detect the rotation angle of the link (64) and the third link (63) to which the first treatment element (71) described later connected thereto is attached.

The crankshaft (45) is pivotally supported by arm rotation levers (44) (44), and one end of the crankshaft (45) is provided by a hitting motor provided on the rear surface of the rear plate (23). (Five
0), and the pulleys (51), (51), (51) and the pulleys (51), (51), (51) are connected via belts (52), (52) connecting the pulleys (FIG. 4).
reference).

The massage units (10) and (10) are arranged on the massage unit body (20) with the two guide rods (40) and (40), the crankshaft (45) and the hexagonal shaft (48) penetrating therethrough. Have been. Since the massage units (10) and (10) are symmetrical left and right, the massage units located on the near side in FIG.
Only (10) will be described.

As shown in FIG. 7, the massage unit (10) includes a first link (61), a second link (62), and a third link (6).
3), 4th link (64), 5th link (65), 6th link (66)
, A second treatment element (72) attached to the tip of the second link (62), and a first treatment element (71) attached to the tip of the third link (63). Be composed.

The first link (61) is fitted on a hexagonal shaft (48) and is rotatable about the hexagonal shaft (48). The middle of the first link (61) is pivotally supported (61a) at the distal end of a first link lever (74) whose base end is pivotally supported by the crankshaft (45). In the present specification, the term “intermediate” does not mean a position at a half of the length, but means between end portions.

The second link (62) has a base end at the first link (6).
A pivot (62a) is provided at the tip of (1), and a second treatment element (72) is provided at the tip.
Is attached. The third link (63) is connected to the first link (61) in the middle of the pivot (61a) (62a).
3a), and a first treatment element (71) is rotatably attached to the distal end.

The fourth link (64) has a base end fitted on a hexagonal shaft (48) and is rotatable integrally with the hexagonal shaft (48). The fifth link (65) has a proximal end pivotally supported (65a) at the proximal end of the third link (63) and a distal end pivotally supported (65b) intermediate the second link (62).

The sixth link (66) has a base end at the fourth link (6).
4) is pivoted (66a), and the tip is pivoted (66b) in the middle of the third link (63). Further, the first link (61) is a pivot (63) between the base end and the third link (63) of the first link (61).
A first torque sensor (81) is provided in the middle of (a). The first torque sensor (81) detects a torque applied to the first link (61) in a black arrow direction (see FIG. 7).

Further, the third link (63) includes a second torque sensor (82) between the base end and the front end. Second
The torque sensor (82) is in the white arrow direction of the third link (63).
(See FIG. 7).

The shoulder position detecting operation of the massage machine having such a configuration will be described below with reference to the flowchart of FIG. 8, the operation explanatory diagram of FIG. 9, and the control system block diagram of FIG.

FIG. 9 shows a state in which the user (99) is seated on the massage machine. FIG. 9 (a) shows a rail () in which the massage unit (10) is provided in the backrest (16). (Not shown)
(C) shows the state where the massage unit (10) is located at the highest part of the rail, (b) shows the state where the massage unit (10) is The state in the middle of the transition from the state to the state (c) is shown. FIG. 9 shows only the massage unit (10), omitting the massage unit body (20).

In FIG. 10, when the user (99) operates the remote controller (101) to instruct the shoulder position detection, the instruction is transmitted to the control unit (100), whereby the elevating mechanism is moved.
(Not shown), the massage unit (10)
It is moved to the initial position shown in (a) (FIGS. 8 (S01) and (S02)).

The massage unit (1) moved to the initial position
(0) drives the arm swing motor (32) to drive the first link (6).
Until the value detected by the first torque sensor (81) provided in the middle part of (1) reaches the predetermined value Tq0, the first treatment element (7
1) is pressed against the back of the user (99) (FIG. 8 (S03) (S0
Four)).

When the detected value of the first torque sensor (81) reaches Tq0, the lifting mechanism is driven to activate the massage unit (10).
Starts rising from the initial position along the rail at a predetermined speed V0 (FIG. 8 (S05)).

As shown in FIG. 9B, while the massage unit (10) is moving along the rail, the user (99)
The driving force of the arm swing motor (32) is controlled according to the change in the back shape of the arm. Therefore, the detection value of the first torque sensor (81) provided on the first link (61) is
(00), and the control unit (100) calculates a correction amount at which the detection value of the first torque sensor (81) becomes Tq0 based on the value. The calculated correction amount is D / D as a correction command.
It is provided to the arm swing motor (32) via the A converter (102), and the driving force of the arm swing motor (32) is controlled.

In the meantime, the first link (61) is transmitted from the first rotary encoder (105) in the arm swing motor (32).
The number of pulses corresponding to the angle (ψ) between the pulse and the rail track is output, the number of pulses is counted by the counter (103), and the value is sent to the control unit (100). The driving force of the hand opening / closing motor (35) for driving the fourth link (61) to rotate is determined based on the value of the counter (103) corresponding to the angle (ψ) of the first link (61). (61) and the fourth
Control is performed so that the angle formed by the link (64) is constant.
Thereby, the third link having the first treatment element (71) at the tip end
Since the first link (61) and the first link (61) and the fourth link (64) rotate integrally, the trajectory of the first treatment element (71) sliding along the back shape of the user (99) As the angle (ψ) between the first link (61) and the rail track, as the first rotary encoder (105).
From the output of

Then, the first in the massage unit (10)
The angle (ψ) between the link (61) and the rail track is
4) (FIG. 8 (S06) (S07)). As shown in FIG. 9 (c), as the massage unit (10) approaches the shoulder position, the angle (ψ) between the first link (61) and the rail track increases. This angle (ψ) is compared with a preset value (ψmin) in a comparison unit (not shown) of the control unit (100), and when (ψ) becomes larger than (ψmin),
It is determined that the shoulder position has been reached, and the elevating operation of the massage unit (10) is stopped (FIG. 8 (S08) (S09)).

Then, the operation shifts to various massage operations based on the shoulder position (FIG. 8 (S10)). In the embodiment described above, the angle between the massage unit (10) and the rail track
The shoulder position was determined based on the result of comparing (ψ) with the preset value (ψmin), but the position was determined in the memory (104).
From the value of (ψ), the body type of the user (99) is calculated, and (ψmi
n) can be corrected.

A specific calculation method will be described below. FIG. 11 schematically shows a main configuration of the massage machine of the present invention. As shown in FIG. 11, the first relative coordinate system (x1, y1, z1) is fixed to the massage unit main body (20), and the reference coordinate system (x, y, z) is controlled by the control amount d in the x-axis direction.
1, a control amount d2 translated in the z-axis direction.

Further, the second relative coordinate system (x2, y2, z2)
Is fixed to a first link (61) and has a first relative coordinate system (x1,
y1, z1) is rotated by a control amount (ψ) counterclockwise about the z1 axis.

Further, a third relative coordinate system (x3, y3, z3)
Is fixed to the third link (63), and the second relative coordinate system (x
2, y2, z2) are translated by L1 in the x2 direction, and are rotated by a control amount π / 2 + θ counterclockwise about the z2 axis. In addition, the third link (63) and the second link (62)
The fifth link (65) is configured to open and close symmetrically. If the angle between the third link (63) and the second link (62) is 2θ, the third relative coordinate system is as follows: The amount of rotation about the z2 axis is π / 2 + θ.

As described above, the massage machine of the present invention is controlled by the four axes of the control amounts d1, d2, ψ, and θ. That is, by determining the values of the control amounts d1, d2, ψ, and θ, an arbitrary point in space can be specified.

Therefore, the conversion from the first relative coordinate system to the reference coordinate system is A1, the conversion from the second relative coordinate system to the first relative coordinate system is A2, and the conversion from the third relative coordinate system to the second relative coordinate system is A1. Assuming that the conversion is A3, each conversion is expressed as in the following equations (1) to (3).

[0042]

(Equation 1)

[0043]

(Equation 2)

[0044]

(Equation 3)

Therefore, the transformation T from the third relative coordinate system to the reference coordinate system is expressed as in the following equation (4).

[0046]

(Equation 4)

Therefore, the contact point between the first treatment element (71) and the user (99) is defined as P3 (L1 + R, 0,0) in the third relative coordinate system.
Then, the coordinate P0 in the reference coordinate system is expressed as in the following Expression 5.

[0048]

(Equation 5)

FIG. 12 is a graph showing the contact point P0 between the first treatment element (71) and the back of the user (99) obtained at predetermined time intervals in this manner. X at time t
The coordinate value is x (t), the y coordinate value is y (t), and the reference value yb
If the area of a region surrounded by P0 (0) to P0 (k) is M (k), M (k) is expressed by the following equation (6). This calculation is performed in a calculation unit (not shown) of the control unit (100).

[0050]

(Equation 6)

Thus, the body type of the user (99) is M
It can be approximated by (k). By correcting (ψmin) based on the value of M (k), the influence of the body shape can be further reduced, and more accurate shoulder position detection can be performed.

For example, if the value of M (k) falls between a predetermined value Mmin and Mmax, the correction of ψmin is not performed. If the value of M (k) is smaller than Mmin, it is judged that it is thin, and ψmin is reduced. If it is larger than Mmax, it may be determined that it is thick, and ψmin may be increased. By correcting ψmin in this manner, a person with a thicker body than a person with a thin body is determined to have a flatter portion of the shoulder, that is, a position further away from the backrest as a shoulder position. It should be noted that the description of the above embodiment is for the purpose of describing the present invention, and should not be construed as limiting the invention described in the claims or reducing the scope thereof. Further, each constituent element of the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made within the technical scope described in the claims.

For example, in the above embodiment, the treatment element (71)
Although the link mechanism including the first link (61) to the sixth link (66) has been described as a mechanism for supporting the (72), various mechanisms can be used without being limited thereto.

In the above embodiment, the first rotary encoder (105) provided inside the arm swing motor (32) has been described as the angle detecting mechanism. However, the present invention is not limited to this. The rotation angle of one link (61) or the like can be directly detected by a potentiometer or the like.

[0055]

As described above, according to the present invention, the rotation angle of the link mechanism obtained by moving the massage unit along the backrest while the treatment element is in contact with the back of the user. By detecting the shoulder position based on the above, the massager can recognize the shoulder position without the user instructing the massage machine on the shoulder position.

Furthermore, by correcting the reference value for judging the shoulder position according to the body type of the user, more accurate shoulder position detection can be performed.

[Brief description of the drawings]

FIG. 1 is a main part side view showing a state in which a user is sitting on a massage machine of the present invention.

FIG. 2 is a perspective view of the massage unit main body of the massage machine of the present invention as viewed obliquely from the right rear.

FIG. 3 is a perspective view of the massage unit main body of the massage machine of the present invention as viewed from the front right upper side.

FIG. 4 is a perspective view of a massage unit main body of the massage machine of the present invention as viewed from the upper front left side;

FIG. 5 is a perspective view of the massage unit main body of the massage machine of the present invention as viewed obliquely from the left rear.

FIG. 6 is an exploded view of a massage unit main body of the massage machine of the present invention.

FIG. 7 is a side view of a massage unit of the massage machine of the present invention.

FIG. 8 is a flowchart showing a shoulder position detecting operation of the massage machine of the present invention.

FIG. 9 is an operation explanatory diagram showing a shoulder position detecting operation of the massage machine of the present invention.

FIG. 10 is a block diagram showing a control system of the massage machine of the present invention.

FIG. 11 is a schematic diagram illustrating a main part configuration of a massage machine of the present invention.

FIG. 12 is a graph showing the measured shape of the back of a user with the massage machine of the present invention.

FIG. 13 is a perspective view of a conventional massage machine.

[Explanation of symbols]

 Reference Signs List 10 massage unit 16 backrest 20 massage part main body 33 arm swing mechanism 61 first link 62 second link 63 third link 64 fourth link 65 fifth link 66 sixth link 71 first treatment element 72 second treatment element

Claims (4)

[Claims] 1. An arm swing mechanism (33), a first treatment element (71) is attached to a distal end portion, and a base end portion is the arm swing mechanism.
(33) A massage unit (1) including a link mechanism connected to the rotation shaft and an angle detection mechanism provided in the arm swing mechanism (33) and detecting a rotation angle (ψ) of the link mechanism.
0), and the first treatment element (71) is attached to the left and right sides of the backrest (16) of the chair (14) such that the first treatment element (71) projects from the backrest (16). A massage machine comprising: a massage unit main body (20); and an elevating mechanism for elevating and lowering the massage unit main body (20) along the backrest (16), wherein the massager is provided on the back of the user (99). In a state in which the first treatment element (71) is brought into contact with a substantially constant force, the shoulder position is detected based on the detection result ()) of the angle detection mechanism obtained by driving the elevation mechanism. And massage machine. 2. A comparison unit for comparing a rotation angle (ψ) of the link mechanism detected by the angle detection mechanism with a predetermined value (ψmin), and a shoulder position is determined based on a comparison result of the comparison unit. The massage machine according to claim 1, wherein the massager is detected. 3. The first treatment element (7) is placed on the back of the user (99).
1) a calculation unit for calculating the body type of the user (99) based on the rotation angle (ψ) of the link mechanism obtained by driving the lifting mechanism while abutting on (1) with a substantially constant force. The predetermined value based on the calculation result of the calculation unit
The massage machine according to claim 2, wherein (ψmin) is corrected. 4. The link mechanism includes a first link (61) having a base end connected to a rotation shaft of the arm swing mechanism (33), and a base end having a tip end of the first link (61). A second link (62) pivotally supported by a part and having a second treatment element (72) attached to a distal end thereof
A third link (6) having an intermediate portion pivotally supported by an intermediate portion of the first link (61), and a distal end to which the first treatment element (71) is attached.
3) a fourth link (64) whose base end has the same center of rotation as the base end of the first link (61), and is linked to a hand opening / closing mechanism (36); A fifth link (65) linking an intermediate portion of the third link (63) and a base end of the third link (63); a pivot portion of the third link (63) with the first link (61); A sixth link (66) linking the middle of the link with the first treatment element (71) and a tip end of the fourth link (64); and the arm swing mechanism (33) and / or Or the hand opening / closing mechanism (3
6), the massage operation is performed by swinging the treatment elements (71) and (72) in the approaching and separating directions, and the first treatment element (71) is placed on the back of the user (99). The shoulder position is detected based on a rotation angle (ψ) of the first link (61) obtained by driving the elevating mechanism while making contact with a substantially constant force. The massage machine according to any one of the above.