KR20050115280A - Massage machine - Google Patents

Abstract

In a massage machine, a massage mechanism portion (100) has a first up/down motion mechanism portion for converting the rotation of a drive motor (M11) into motion in the up/down directions to cause a rear portion of a treatment-member tie (5) to move up and down, a second up/down motion mechanism portion for converting the rotation of a drive motor (M12) into motion in the up/down directions to cause portion between a front and a rear portion of the treatment-member tie (5) to move up and down, and a left/right motion mechanism for converting the rotation of a drive motor (M13) into motion in the left/right directions to cause the treatment-member tie (5) to move in the left/right directions. Forward and backward pushing motion by a treatment member (4) is performed by repeating the motion of the treatment-member tie (5) in the up/down directions performed by the drive motors (M11, M12) and the first or the second up/down motion mechanism portion. Further, sandwiching motion is performed by repeating the motion of the treatment-member tie (5) in the left/right directions performed by the drive motor (M13) and the left/right motion mechanism portion. Operation of changing a treatment position in the up/down directions is made by the cooperative rotation of the drive motors (M11, M12).

Description

Massager {MASSAGE MACHINE}

The present invention relates to a chair-type massage machine driven by a motor.

Conventionally, there is a chair-type massager capable of performing movements such as a combination of kneading motion and tapping motion by a complex motion of a sample member, and for handjob that is a driving source for a massage device mechanism for operating a sample member. It is known to have a drive motor for driving and a drive motor for tapping, and to lift them by a lifting motor and a screw feed mechanism (see, for example, Japanese Patent Laid-Open Nos. 2000-350756 and 2002-282318).

In addition, a first shaft body and a second shaft body are provided to operate the sample member, and the third shaft body having a one-way clutch is used to select and drive them. It is known to plan (see, for example, Japanese Patent No. 3124917).

However, in the massager as disclosed in the above-mentioned patent document, since the driving motor is included in the massage mechanism part which also elevates itself while operating the sample member, the massage mechanism part becomes heavy, and the inertia becomes large, and the sample position is changed. When moving the massage mechanism part, there is a problem that minute subtle operation and rapid movement of the sample position are difficult. In addition, since the drive motor is included in the massage mechanism, there is a problem that it is difficult to reduce the thickness and weight of the back of the massage chair.

1 is a side conceptual view of a massage device according to a first embodiment of the present invention.

2 is a side conceptual view illustrating a modification of the massage device of FIG. 1.

3 is a block diagram illustrating the operation of the massage device of FIG.

4 is an internal perspective view of a sample member driving unit of the massage device of FIG. 1.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 2nd Embodiment of this invention.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 3rd Embodiment of this invention.

It is an internal perspective view of the massage mechanism part of the massager which concerns on 4th Embodiment of this invention.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 5th Embodiment of this invention.

It is a block block diagram explaining the operation | movement of the massager which concerns on 6th Embodiment of this invention.

FIG. 10 is an internal perspective view of the massage mechanism part in the massage device of FIG. 9. FIG.

It is a block block diagram explaining the operation | movement of the massager which concerns on 7th Embodiment of this invention.

It is explanatory drawing of the link mechanism of the sample member sleeper in the massage device of FIG.

It is an internal perspective view of the massage mechanism part in the massage device of FIG.

14 is a side view of the massage mechanism part shown in FIG. 13.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 8th Embodiment of this invention.

FIG. 16 is a graph showing the movement of one cycle of the left sample member in the massage device of FIG. 15 as a position displacement amount from a reference position with respect to time.

FIG. 17 is a graph showing a change in the rotation amount of each drive motor in one cycle corresponding to the movement of the left sample member shown in FIG.

FIG. 18 is a diagram showing the movement of the left sample member shown in FIG. 16 as a locus in three-dimensional space.

It is a side view of the sample member sleeper part explaining the tapping operation | movement of the massage machine which concerns on 9th Embodiment of this invention.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 10th Embodiment of this invention.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 11th Embodiment of this invention.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 12th Embodiment of this invention.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 13th Embodiment of this invention.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 14th Embodiment of this invention.

It is an internal perspective view of the massage mechanism part of the massage machine which concerns on 15th Embodiment of this invention.

MEANS TO SOLVE THE PROBLEM This invention solves the said subject, and can implement | achieve the weight reduction of a massage mechanism part by the simple structure, the improvement of the back support part thinness and weight, the improvement of a massage force, the high precision of sample positioning, and the speed of sample position movement. It aims at providing a massage device.

In order to achieve the above object, the present invention is a chair-type massage device having a seat and a backrest, and having a left and right sample members for massaging the back of the subject. The left and right sample member sleepers extending in the front-rear direction holding the sample members on each front part, and the pressing operation, the forceps operation, and the vertical position change of the sample position by the sample member are performed by the rotational force of the motor. At least two of the first, second, and third drive motors of which the position is fixed with respect to the massager body, and the rotation of the first drive motor by converting the rotation of the first drive motor in the vertical direction to sleep the sample member A first up-and-down motion mechanism part for linking to each rear part of and moving them up and down, and converting the rotation of the second drive motor into up-down motion so that each of the sample member sleepers A second vertical motion mechanism part that links between the part and the rear part to move them up and down, and converts the rotation of the third drive motor into a horizontal motion to link each of the sample member sleepers to link them. And a left and right movement mechanism unit for moving left and right, and the first or second drive motor and the first or second up and down movement mechanism unit repeats the operation of moving the sample member sleeper up and down to perform the pressing operation by the sample member. And the forceps operation by the sample member is performed by repeating the movement of the third drive motor and the left and right movement mechanism to move the sample member sleeper from side to side, and the first, second, and third drive motors cooperate with each other. (I) Rotate and rotate to change the vertical position of the sample position.

According to this configuration, at least two of the three driving motors for performing the pressing operation, the forceps operation, and the up-down direction change operation of the sample position are fixed relative to the massager body, so that the massage member moves up and down while operating the sample member. The mechanism portion can be reduced in weight. Therefore, when changing the sample position up and down manually, the inertial force acting on the massage mechanism part is small, so that the positioning accuracy can be increased and the movement speed can be increased. In addition, the backrest of the chair can be made thin by reducing the weight of the massage mechanism to reduce the required value for mechanical strength or to eliminate the driving motor having a larger volume. In addition, the drive motor arranged in the fixed position can be a high-power motor, and can perform a strong sample.

In the improved invention described above, it is preferable that the three drive motors are fixed in position with respect to the massaging machine main body. According to this structure, a massage mechanism part can be further reduced in weight and thickness.

In the improved invention described above, it is preferable that the drive motor whose position is fixed with respect to the massager main body is provided outside of the movable range of the sample member of the backrest portion. According to this structure, the backrest part of a chair can be thinned.

In the improved invention described above, the straight line connecting the left and right link positions linking the sample member sleeper and the first vertical movement mechanism portion, and the left and right linking the sample member sleeper and the second vertical movement mechanism portion. It is preferable that the straight lines connecting the link positions of are parallel. According to this structure, since the structure of two vertical motion mechanisms is clear and simple, the design of a mechanism and the control of a sample member operation | movement become easy.

The present invention is the improved invention described above, wherein the first vertical movement mechanism portion is a first screw rod in the vertical direction rotated by the first drive motor, and the screw rod is screwed to the first rod The nut has a nut that moves up and down by the rotation of the drive motor, and right and left screws on both left and right sides thereof. And a left and right coupling nut for screwing each of the left and right rotating shafts and the left and right screws of the rotating shafts to link the sample member sleepers to move the sample member sleepers up and down together with the rotary shafts. The second vertical motion mechanism part is screwed up and down in a vertical direction rotated by the second drive motor, and is screwed up and down by the rotation of the second drive motor. A straight nut, a bridge member in a horizontal direction moving up and down with the nut by fixing a central portion to the nut, and sliding along the bridge member freely fixed to the left and right sides of the bridge member to link the sample member sleepers, respectively. And a left and right sliding member for moving these sample member sleepers up and down with the bridge member, wherein the left and right movement mechanism portion transmits the rotation of the third drive motor to the rotation shaft to rotate the rotation shaft. It is preferable to include a rotation transmission member for moving the left and right sample member sleepers linked to the coupling nut screwed to the rotating shaft to move the sample member sleepers from side to side.

According to this configuration, since the first and second drive motors for rotating the first and second screw rods in the vertical direction can be disposed above or below the sample member movable range of the backrest portion, the backrest portion of the chair can be made thinner. Can be.

In the improved invention described above, the first and second vertical movement mechanism parts include first and second screw rods in the vertical direction rotated by the first and second drive motors, and these The first and second horizontally moving nuts with their nuts fixed up and down with the nuts, which are screwed to the screw rods of the first and second drive motors, and the centers are fixed to the nuts. The bridge member of 2 and sliding along the bridge member are freely fixed to the left and right sides of the bridge member, respectively, and link the sample member sleepers so that the sample member sleepers move up and down with the bridge member. The left and right movement mechanism unit is screwed to the left and right rotary shafts having right and left screws on both the left and right sides, and the left and right screws of the rotary shaft, respectively, respectively The two coupling nuts which are linked and the rotation of the third drive motor are transmitted to the rotary shaft to rotate the rotary shaft, and the left and right sample member sleepers linked to the coupling nut screwed to the rotary shaft are separated from each other. Or it is preferable to provide the rotation transmission member which moves and moves these sample member sleepers to the left and right.

According to this configuration, since the first and second drive motors for rotating the first and second screw rods in the vertical direction can be easily disposed above or below the sample member movable range of the backrest portion, the backrest portion of the chair is made thin. can do.

In the improved invention described above, the rotation transmission member preferably uses a worm and a worm wheel. According to this structure, since a worm gear is used, the brake for preventing the variation of the sample member spacing by external force can be omitted.

The present invention, in the above-described improved invention, wherein the left and right movement mechanism portion is rotated by the third drive motor in place of the rotation shaft, the coupling nut, and the rotation transmission member to the left and right of the sample member sleepers. A third screw rod in a substantially central position, a nut which is screwed to the screw rod, which moves up and down by rotation of the third drive motor, and one end which is linked to the nut and the other end separated from each other. The third drive by connecting the connecting rod and the sample member sleepers on the other end of the connecting rod in the inclined direction and the other end of each connecting rod to convert the vertical movement of the nut to the horizontal movement by opening and closing operation It is preferable to provide a coupling member for moving these sample member sleepers from side to side by rotation of the motor.

According to this structure, since the 3rd drive motor which rotates the 3rd screw rod of an up-down direction can be easily arrange | positioned above or below the sample member movable range of a backrest part, the backrest part of a chair can be made thin.

The present invention, in the above-described improved invention, the coupling member, the sliding member freely sliding along the first bridge material, or the sliding freely sliding along the second bridge material It is preferable that it is a member. According to this configuration, the number of parts can be reduced, and the sample member sleepers can be moved smoothly from side to side.

In the improved invention described above, the present invention preferably includes a drive source for performing the tapping operation by the sample member. According to this configuration, the tapping operation of the sample member can be realized to enrich the sample content by the sample member, thereby further increasing the sample effect.

In order to achieve the above object, the present invention, in the chair-type massage device having a seat portion and a backrest portion, and having a left and right sample members for massaging the back of the subject in the backrest portion, the sample member in front of each At least two of the left and right sample member sleepers extending in the front-rear direction to be held in the portion, and the pressing operation, the forceps action, and the vertical position change operation of the sample position by the sample member are performed in accordance with the rotational force of the motor. The rotation of the first, second and third drive motors having a fixed position outside the sample member movable range of the backrest portion and the first drive motor is converted into left and right movements of the sample member sleepers. A first left and right movement mechanism unit for linking to each rear part to move them left and right, and converting rotation of the second drive motor into a left and right movement to Each of the sample member sleepers by linking between the front and rear portions of each of the sample member sleepers, and converting the rotation of the third drive motor into a vertical motion by connecting the second left and right movement mechanism part to move them left and right; A vertical movement mechanism portion for linking to and moving them up and down, wherein the first drive motor and the first left and right movement mechanism portion, or the second drive motor and the second left and right movement mechanism portion are sleeper of the sample member. By repeating the operation of moving the right and left, the forceps operation including the pressing operation by the sample member is performed, and the first drive motor and the first left and right movement mechanism part, the second drive motor and the second Pressing back and forth by the sample member by repeating the movement of the left and right movement mechanism to move the sample member sleeper to the left and right in opposite phases And the forceps operation including the vertical motion by the sample member is performed by repeating the operation of moving the sample member sleeper up and down by repeating the operation of the third drive motor and the vertical motion mechanism part. The drive motor of 3 is cooperatively rotated so as to perform an up-down direction change operation of the sample position.

According to this structure, since the tong operation by a sample member is performed by two motors, the massager which can perform the sample by a powerful tong operation or the sample of the normal powerful tong operation by a small motor is obtained.

In order to achieve the above object, the present invention, in the chair-type massage device having a seat portion and a backrest portion, and having a left and right sample members for massaging the back of the subject in the backrest portion, the sample member in front of each Left and right main sleepers extending in the front and rear directions held in the part, and left and right side sleepers extending in the front and rear directions by linking the front part between the front and rear portions of their main sleepers, respectively. At least two of the sample member sleepers, the pressing operation by the sample member, the forceps operation, and the up / down direction change of the sample position by the rotational force of the motor, the first and second positions of which are fixed relative to the massaging machine main body. , And the third three drive motors and the rotation of the first drive motor to the up and down movement to link to the rear of each of the main sleepers to move them up and down The first vertical motion mechanism part for pressing the member to move back and forth, and the rotation of the second drive motor is converted to the vertical motion to link to the rear part of each of the secondary sleepers to move the sample up and down The rotation of the second vertical motion mechanism portion and the third drive motor for the pressing operation to draw a circular arc to the member to the left and right movement to link to each of the sample member sleepers to move them left and right to the sample member It is characterized by having a left and right movement mechanism for the forceps operation, the first, second, and third drive motor is coordinated to rotate to perform the vertical direction change operation of the sample position.

According to this configuration, as the pressing operation by the sample member, the pressing operation in the front and rear direction in which the sample member moves forward and the pressing operation in the vertical direction moving obliquely from top to bottom by drawing an arc can be performed. Since the sample can be carried out in the front-rear direction to the back, the back, or the shoulder, or the inclined vertical direction, the sample content is increased, and the range of the sample portion is widened.

In the improved invention described above, the first and second vertical movement mechanism parts include first and second screw rods in the vertical direction rotated by the first and second drive motors, and these The first and second horizontally moving nuts with their nuts fixed up and down with the nuts, which are screwed to the screw rods of the first and second drive motors, and the centers are fixed to the nuts. 2 and a sliding member fixed to the left and right of the bridge material freely sliding along the bridge material, and the left and right movement mechanism part is rotated by the third drive motor, and the left and right sample members. A third screw rod in the up-down direction disposed at an approximately center of the sleeper, a nut screwed to the screw rod and vertically moved by the rotation of the third drive motor, and one end of the nut is connected to each other. A pair of inclined connecting rods for opening and closing the other end and converting the vertical movement of the nut into left and right movements, and installed at the other end of each connecting rod, linking the connecting rod and the left and right sample member sleepers A driving motor having a coupling member for moving these sample member sleepers from side to side by rotation of a third drive motor, the drive motor having a fixed position with respect to the massager body, is provided outside the sample member movable range of the backrest part. The rear end of the sleeper is linked to the first vertical motion mechanism through the sliding member, respectively, and moves up and down by the rotation of the first drive motor. It is preferable to be linked to the 2nd vertical movement mechanism part, and to move up and down by rotation of the said 2nd drive motor.

According to this structure, since the 1st-3rd drive motor which rotates the 1st-3rd screw rod of the up-down direction can be easily arrange | positioned above or below the sample member movable range of a backrest part, the backrest part of a chair It can be thinned.

In the improved invention described above, the main sleeper is preferably provided with a drive source for performing the tapping operation by the sample member, and the drive source is preferably a linear actuator. According to this structure, the mechanism of the tapping operation by the sample member can be compactly assembled around the sample member.

The present invention, in the improved invention described above, is provided with a tapping drive motor for performing the tapping operation by the sample member outside the sample member movable range of the backrest portion, and the secondary sleeper is tilted to the rotational force of the tapping drive motor ( It is preferable to provide a tapping-mechanism part which converts into the force for operating. According to this configuration, since the tapping drive motor is disposed at the lower part, the upper part, or the side of the sample member movable range of the backrest part, the tapping operation by the sample member can be provided without increasing the driving mechanism around the sample member.

The present invention, in the above-described improved invention, in place of the first, second, and third threaded rods and nuts moving up and down by screwing to the threaded rods, respectively, the first, second, And three driving pulleys rotated by a third driving motor, three driven pulleys paired with their respective driving pulleys, and a first moving up and down by each pair of driving pulleys and driven pulleys. A second and third wire, a wire connecting member for fixing the first and second wires to the first and second bridge members, and the third wire connecting the pair of inclined directions It is preferable to have a wire link member for linking with one end of the. According to this structure, a drive transmission mechanism can be comprised more lightly. Moreover, it is easy to install a motor on the side of the sample member movable range.

The present invention, in the above-described improved invention, in place of the first, second, and third screw rods and the nut that is screwed to these screw rods and moving up and down, the first, second, and It is preferable to provide three pairs of link mechanisms, each consisting of a first link and a second link, which convert the rotational motion of the third drive motor into linear motion to perform the vertical motion of the site where the respective nuts are installed.

According to this structure, a drive transmission mechanism can be comprised more inexpensively only by combining a link.

The present invention, in the above-described improved invention, the first, second and third screw rods, the nut is screwed to the screw rods moving up and down, and the first, second, and third It is preferable to provide a pantograph-type vertical movement mechanism for vertical movement of the site where each nut is installed, and an actuator for operating each vertical movement mechanism up and down instead of the driving motor of. According to this configuration, the actuator for moving the pantograph up and down can be directly driven, and the drive transmission can be miniaturized and thinned by using an air cylinder, a hydraulic cylinder, or a high-speed reaction voice coil motor. The instrument can be configured.

In the improved invention described above, it is preferable that at least one of the drive motors is disposed in the side region of the movable range of the sample member. According to this configuration, when there is room in the lateral space as in the case of installing the massager in the rear seat of the vehicle, the drive motor can be easily arranged and attached to the lower part or the upper part of the lateral area of the sample member movable range. useful.

In the improved invention described above, it is preferable that a drive source for performing the tapping operation by the sample member is provided inside the movable range of the sample member of the backrest portion. According to this configuration, by providing a drive source in the sample member movable range, a high speed reciprocating operation can be realized with a simple structure.

EMBODIMENT OF THE INVENTION Hereinafter, embodiment of this invention is described with reference to drawings.

(Embodiment 1)

1 shows the concept of a massage device 1 according to a first embodiment of the present invention. The massage device 1 is a chair-type massage device provided with a seat portion 2 and a backrest portion 3 and provided with a sample member 4 for massage on the backrest portion 3. The sample member 4 is constituted by a pair of left and right, and these sample members 4 are held in front of each of the left and right sample member sleepers 5 extending in the front-rear direction, and the sample member sleepers 5 It is connected to the mechanism part 6 and the drive motor 7 via the via.

The sample member 4 is driven by the mechanism part 6 to move in the movable range 8 defined in each of the predetermined ranges in the vertical direction of the backrest part 3 and the shoulder width direction (left and right directions), and You can massage. The sample member 4 is moved up and down along the backrest portion 3 in the movable range 8 to press any position from the waist of the subject to the back, shoulders, neck, and further to the head (kneading and rubbing). , Tapping, and tongs are performed to perform a massage sample. The sample member 4 which consists of a pair of left and right samples is sampled with respect to the left and right parts of a back of a sampler. By the widthwise operation of opening or narrowing the interval (width direction spacing) of the left and right sample members 4, for example, a "tweezer operation" which pinches the back of the neck can be performed. By the operation of moving the left and right sample members 4 back and forth, it is possible to perform the "back and forth pressing operation" which presses the back of the subject leaning on the backrest part forward and backward. Moreover, in another embodiment mentioned later, in addition to the back and front press operation, the "arc-shaped press operation" which presses obliquely upwards or obliquely from below is also possible.

The drive motor 7 is a drive source for driving the mechanism part 6 to perform the massage operation of the sample member 4 by the mechanical operation, and the lifting and lowering of the mechanism part 6 to which the sample member 4 is connected. It is also a drive source for performing an operation. Thus, in the case of the massager 1 shown in FIG. 1, a plurality of drive motors 7 are provided, outside the movable range 8 of the sample member 4, that is, the lower portion of the movable range 8 and the movable range. It is provided in the left side part (not shown) of (8). The massager 10 shown in FIG. 2 is a modification of the massager 1, and the drive motor 7 is provided in the upper part of the movable range 8 of the sample member 4. As shown in FIG. Hereinafter, although the whole which included the sample member 4, the sleeper 5, and the drive motor 7 in the mechanism part 6 is called a massage mechanism part, it does not limit the structure. 1 is referred to suitably in the following description.

3 shows a block configuration of the massage device 1 mainly focused on the massage mechanism part. As described above, at least two of the massagers 1 are positioned with respect to the massager main body to perform the pressing operation by the sample member 4, the forceps operation, and the up-down direction change of the sample position by the rotational force of the motor. The sample member sleepers 5 by converting the rotation of the first, second, and third drive motors M1, M2, and M3 and the first drive motor M1 to which the gears are fixed to the vertical motion. Each of the sample member sleepers 5 by converting the rotation of the first vertical motion mechanism A1 and the second drive motor M2 into the vertical motion by linking to the respective rear portions of the first and second motion mechanisms A1 to move them up and down. A sample member sleeper (5) by converting the rotation of the second vertical motion mechanism (A2) and the third drive motor (M3) to the left and right movements by linking between the front and rear portions of the upper and lower parts to move them up and down. And the left and right movement mechanism part (W) which links to each of them, and makes them move left and right, Self fee and a control unit (C) for controlling the respective drive motors on the basis of the signal from the operating section (H), and a control panel (H) for operating the massage machine.

In the pressing operation by the sample member 4, the first and second drive motors M1 and M2, and thus the first and second vertical movement mechanism parts A1 and A2, move the sample member sleeper 5 up and down. The moving operation is repeatedly performed in the reversed phase, and the sample member sleepers 5 are subjected to a seesaw operation. This pressurization operation | movement is "front and rear press operation". The forceps operation by the sample member 4 is performed by repeating the operation of causing the third drive motor M3, and thus the left and right movement mechanism part W, to move the sample member sleeper 5 from side to side. The up-down direction change operation of the sample position is performed by cooperatively rotating the first, second, and third drive motors M1, M2, and M3.

4 shows the internal structure of the massage mechanism part 100 in the massage device 1. Subsequently, a description will be given with reference to FIGS. 1 and 3. The 1st vertical motion mechanism part A1 of the massage mechanism part 100 is screwed to the 1st screw rod 101 of the up-down direction rotated by the 1st drive motor M11, and this screw rod 101. FIG. And a nut 102 moving up and down by the rotation of the first drive motor M11, and a right hand thread 113 and a left hand screw 112 on both left and right sides, and the center portion of the nut 102 is freely rotatable. It is fixed and screwed to the left and right rotating shaft 111 and the left and right rotating shaft 111 and the screw 113, 112 of the rotary shaft 111 with the nut 102 to link the sample member sleepers 5, respectively, The left and right coupling nuts 115 and 114 which move these sample member sleepers 5 up and down with the rotating shaft 111 are provided.

The 2nd vertical motion mechanism part A2 is screwed to the 2nd screw rod 131 of the up-down direction rotated by the 2nd drive motor M12, and this screw rod 131, and a 2nd drive is carried out. The nut 132 which moves up and down by the rotation of the motor M12, the bridge member 141 of the left-right direction which moves up and down with this nut 132 by fixing the center part to this nut 132, and this bridge material Sliding along the 141 is freely fixed to the left and right of the bridge member 141, respectively linking the sample member sleepers (5) to move the sample member sleepers (5) up and down with the bridge member 141, respectively The sliding member 142 is provided.

The left and right movement mechanism part W transmits the rotation of the third drive motor M13 to the rotation shaft 111, rotates the rotation shaft 111 to be screwed to the rotation shaft 111, and the coupling nuts 115 and 114. And a rotary transfer member 124 for moving the left and right sample member sleepers 5 linked to each other) to move the sample member sleepers 5 from side to side. The rotation transmission member 124 is composed of a belt spanned between the pulley and the pulley provided on the drive motor M13 and the rotating shaft 111. The rotating shaft 111 is freely slidable in the vertical direction by the sliding member 122 with respect to the vertical guide shaft 121 provided to the left and right of the backrest part 3 in the massager 1, and furthermore, its own rotating shaft. It is constrained to be freely rotated around, and moves up and down along the guide shaft 121 with the rotation of the drive motor M11. Similarly, the driving motor M13 is freely restrained in the vertical direction on the guide shaft 121 by the sliding member 123 in a state where the vertical gap with the rotation shaft 111 is kept constant.

The structure for linking the sample member sleeper 5 and the coupling nuts 115 and 114, and the sample member sleeper 5 and the sliding member 142 includes spherical joints, cylindrical joints, And combinations thereof to provide a degree of freedom for a desired movement and to realize a certain state of restraint. The structure of linking these two members is similarly used in most massaging machines described below.

The left and right link positions linking the sample member sleeper 5 and the first vertical motion mechanism part A1 are the positions of the coupling nuts 115 and 114, which are along the rotation shaft 111, and the sample member sleeper ( The left and right link positions linking 5) and the second vertical movement mechanism portion A2 are positions of the left and right sliding members 142, which are along the bridge member 141 in the left and right directions, and Bridge material 141 is provided in parallel with each other. The configuration of the two vertical motion mechanism parts A1 and A2 is clear and simple, and the design of the mechanism and the control of the sample member operation are easy, and the sample member 4 can be moved smoothly in the left and right directions.

In the above-described configuration, when the vertical movement of the rotating shaft 111 and the bridge member 141 by the rotation of the driving motor M11 and the driving motor M12 is performed at the same ratio, the driving motors M11 and M12 are operated. When rotating at constant speed, the left and right sample members 4 move up and down while maintaining a constant posture.

Further, when one of the driving motors M11 and M12, for example, the driving motor M11 is stopped, and the driving motor M12 is rotated at regular time intervals alternately in the left rotation direction and the right rotation direction, the nut 102 is moved up and down. The reciprocating motion can be performed, and the sample member sleeper 5 is tilted by the rotation of the rotary shaft 111 (seesaw operation). At this time, the sample member 4 moves back and forth between the first position state PS1 and the second position state PS2. As a result, the pressing operation before and after the sample member 4 is performed. On the other hand, the first position state PS1 is the state where the sample member sleepers 5 are most raised. At this time, the nut 102 is below and the nut 132 is above, and is largely separated from each other. The second positional state PS2 is a state in which the sample member sleepers 5 fall forward and the sample member 4 moves forward. At this time, the nut 102 and the nut 132 are closest to each other. Such tilting operation of the sample member sleeper 5 may operate only the drive motor M12, and may rotate both drive motors M11 and M12 in reverse phase.

In addition, when the driving motor M13 is rotated by repeating the forward rotation and the reverse rotation at regular time intervals, the forceps operation by the sample member 4 can be performed. By superimposing the operation of these sample members 4, the vertical movement of the sample member 4, the pressing operation, and the tongs operation can be combined.

In addition, when the driving motor M13 is integrally operated, the left and right sample member sleepers 5 move in opposite directions through the coupling nuts 115 and 114, so that the kneading width of the sample member 4 can be changed. .

The first and second drive motors M11 and M12 described above are fixed to the massager body below the sample member movable range 8 of the backrest part 3 so as to be fixed to the backrest part 3 of the chair. ) Can be thinned.

On the other hand, the sample member sleepers 5 in the respective massage mechanism portions shown in Figs. 5 to 8 described below indicate the state of the second position state PS2 described above. That is, in these figures, the pressurized state in which the sample member 4 is moved to the front is shown.

(Embodiment 2)

Fig. 5 shows the internal structure of the massage mechanism part 200 in the massage machine according to the second embodiment of the present invention. The external appearance of this massager is the same as that of the massager 1 shown in FIG. 1 mentioned above, and the block structure is the same as that shown in FIG. 3, and these figures are referred suitably. The massage mechanism 200 has a structure in which the rotating shaft 111 in the massage mechanism 100 shown in FIG. 4 is separated from the bridge member 211 and the rotating shaft 251 for vertical movement.

The first and second vertical motion mechanism parts A1 and A2 of the massage mechanism part 200 are the first and second screw rods of the vertical direction rotated by the first and second drive motors M21 and M22. 201 and 231 and nuts 202 and 232 which are screwed up and down by the rotation of the first and second drive motors M21 and M22 and screwed into the screw rods 201 and 231, and these The first and second bridge members 211 and 241 in the left and right directions and the bridge members 211, which are fixed to the nuts 202 and 232 and move substantially up and down together with their nuts 202 and 232 are fixed. Sliding along the 241 is freely fixed to the left and right of each of the bridge material, each having a sliding member (212, 242) for linking the sample member sleeper (5) to move their sample member sleeper (5) up and down with the bridge material Doing.

The left and right movement mechanism part W is screwed to the left and right rotation shaft 251 having the right screw 253 and the left screw 252 on both the left and right sides, and the left and right screws 253 and 252 of the rotation shaft 251, respectively. The two coupling nuts 255 and 254 coupled to the left and right sample member sleepers 5 and the rotation of the third drive motor M23 are transmitted to the rotation shaft 251, respectively, to couple the rotation shaft 251. ) And move the sample member sleepers 5 to the left and right by separating or approaching the left and right sample member sleepers 5 linked to the coupling nuts 255 and 254 screwed to the rotary shaft 251. Rotational transmission member 224 is provided. The rotation transmission member 224 is composed of a belt spanned between a pulley and a pulley provided on the electric motor M23 and the rotation shaft 251.

In such a configuration, when the drive motors M21 and M22 rotate so that the nuts 202 and 232 move up and down in the opposite directions, the bridge members 211 and 241 move up and down in the opposite directions with respect to the rotation shaft 251. Since the moving seesaw occurs, the pressing operation of the front and rear by the forward and backward movement of the sample member 4 becomes possible. Since the other structure, operation | movement, and effect of the massage mechanism part 200 are the same as that of the massage mechanism part 100 mentioned above, it abbreviate | omits.

(Embodiment 3)

6 shows the internal structure of the massage mechanism part 300 in the massage machine according to the third embodiment of the present invention. Reference is made suitably to FIG. 1 and FIG. 3 which show a structure common to this massager. This massage mechanism part 300 replaces the rotation transmission member 224 which consists of the belt which spreads between the pulley and the pulley of the left-right motion mechanism part W in the massage mechanism part 200 shown in FIG. 5, and replaces a worm and a worm wheel. Is to use.

The third drive motor M33 is installed below the sample member movable range 8 like the first and second drive motors M31 and M32, and its rotation is performed by the rotation shaft 351 and the worm in the vertical direction. And by the rotation direction converter mechanism 352 which consists of a worm wheel, it is transmitted to the rotation shaft 331 of the left-right direction which comprises the left-right motion mechanism part W. As shown in FIG.

By slidably configuring the rotation direction converter tool 352 in the vertical direction of the rotation shaft 351, the vertical direction change operation | movement of a sample position can be performed only by the 1st and 2nd drive motors M31 and M32. The use of a worm gear eliminates the need to install a brake to prevent variation in the sample member gap due to external forces. Since the other structure is the same as the above-mentioned, description is abbreviate | omitted.

(Embodiment 4)

FIG. 7: shows the internal structure of the massage mechanism part 400 in the massager which concerns on 4th Embodiment of this invention. Reference is made suitably to FIG. 1 and FIG. 3 which show a structure common to this massager. The massage mechanism 400 is provided on the rotary shaft 251 of the left and right exercise mechanism W in the massage mechanism 200 shown in FIG. 5, the coupling nuts 255 and 254, and the rotation transfer member 224. Instead, a link mechanism including a pair of inclined connecting rods is used.

The left and right movement mechanism part W of the massage mechanism part 400 is rotated by the third drive motor M43 and has a third screw rod in an up and down direction disposed at an approximately intermediate position of the left and right sample member sleepers 5 ( 431, the nut 432 which is screwed to the screw rod 431 and moved up and down by the rotation of the third drive motor M43, and the other end of which is connected to and separated from each other by the nut 432, respectively. A pair of inclined connecting rods 433 in the inclined direction and the other end of each connecting rod 433 to convert the vertical movement of the nut 432. The coupling member 442 which links the member sleeper 5 and moves these sample member sleepers 5 to the left and right by rotation of the 3rd drive motor M43 is provided.

The coupling member 442 includes a third bridge member 441 provided in parallel with the first and second bridge members 411 and 471 constituting the first and second vertical movement mechanism portions A1 and A2. Accordingly, the sliding is made of a sliding member fixed freely.

In such a configuration, by rotating the respective drive motors M41, M42, M43 so that each nut 402, 462, 432 rises or falls at the same moving speed, the distance between the right and left sample members 4 is not changed. Since the whole member 4 moves up and down, the vertical direction change operation | movement of a sample position can be performed.

The third drive motor M43 is provided below the sample member movable range 8 similarly to the first and second drive motors M41 and M42. According to this structure, since the 3rd drive motor M43 which rotates the 3rd screw rod 431 of an up-down direction can be arrange | positioned easily under the sample member movable range 8 of the backrest part 3, The back of the chair can be thinned. Since the other structure is the same as the above-mentioned, description is abbreviate | omitted.

(Embodiment 5)

8 shows the internal structure of the massage mechanism part 500 in the massage machine according to the fifth embodiment of the present invention. Reference is made suitably to FIG. 1 and FIG. 3 which show a structure common to this massager. This massage mechanism part 500 is a pair instead of the coupling nuts 115 and 114 of the left-right motion mechanism part W, and the rotation transmission member 124 in the massage mechanism part 100 shown in FIG. It is to use a link mechanism including a connecting rod in the inclined direction. From another viewpoint, this massage mechanism part 500 is the massage mechanism part 400 shown in FIG. 7, WHEREIN: The coupling member 442 in the left-right movement mechanism part W, and the 1st vertical movement mechanism part A1. The sliding member 412 in () is made common.

According to this structure, since the massage mechanism part 500 fixes the 3rd drive motor M53 below the sample member movable range 8, the massage mechanism part 500 has a 1st up-down movement than the massage mechanism part 100 shown in FIG. Since the mechanism portion A1 is reduced in weight and there are two bridge materials in the left and right directions, the backrest portion 3 can be made even thinner than the massage mechanism portion 400 shown in FIG. 7.

Embodiment 6

FIG. 9: shows the block structure which paid attention to the massage mechanism part in the massage machine which concerns on 6th Embodiment of this invention. Since the external appearance of this massager is the same as the massager 1 shown in FIG. 1 mentioned above, refer to this figure again.

As described above, at least two of these massagers for performing the pressing operation by the sample member 4, the forceps operation, and the up-down direction change of the sample position by the rotational force of the motor are fixed to the massager main body. The first, second, and third three drive motors M1, M2, and M3, and convert the rotation of the first drive motor M1 into a left-right direction movement to Of the sample member sleeper 5 by converting the rotation of the first left and right movement mechanism portion W1 and the second drive motor M2 into the left and right movements by linking each rear portion of Sample member sleepers (5) by converting the rotation of the second left and right movement mechanism portion (W2) and the third drive motor (M3), which link between each front and rear portions and move them to the left and right, to the vertical movement. Up and down movement to make these move up and down by linking to each of The mechanism part A is provided.

The first drive motor M1 or the second drive motor M2 and the first left and right movement mechanism portion W1 or the second left and right movement mechanism portion W2 move the sample member sleeper 5 from side to side. By repeating the operation, the forceps operation by the sample member 4 is performed while including the pressing operation. When the first drive motor M1 and the second drive motor M2, and thus the first left and right movement mechanism portion W1 and the second left and right movement mechanism portion W2 operate in the opposite phase, respectively, the sample member sleepers The seesaw operation of (5) occurs, and the pressing operation before and after the sample member 4 is performed. The forceps operation including the vertical motion by the sample member 4 is performed by repeating the operation in which the third drive motor M3 and the vertical motion mechanism A move the sample member sleeper 5 up and down. The first, second, and third drive motors M1, M2, and M3 cooperatively rotate to perform the vertical direction change operation of the sample position.

Fig. 10 shows the internal structure of the massage mechanism part 600 in this massager. The 1st left-right motion mechanism part W1 of the massage mechanism part 600 is a 1st screw rod 601 of the up-down direction rotated by the 1st drive motor M61, and this screw rod 601 is screwed on. The nut 602 moving up and down by the rotation of the first driving motor M61 and the other end connected to the nut 602 by opening and closing the other ends spaced apart from each other to move the nut 602 up and down. A first drive is provided by a pair of inclined connecting rods 611 that are converted to left and right movements, and the other end of each connecting rod 611, which links the connecting rods 611 and the left and right sample member sleepers 5 to each other. A coupling member 612 is provided to move these sample member sleepers 5 from side to side by rotation of the motor M61. The 2nd left-right motion mechanism part W2 is equipped with the same component as the 1st left-right motion mechanism part W1.

The up-and-down motion mechanism part A is screwed up and down with the 3rd screw rod 651 of the up-down direction rotated by the 3rd drive motor M63, and the 3rd drive motor M63. The nut 653 moving up and down by the rotation of the < RTI ID = 0.0 >), < / RTI > the bridge member 631 in the left and right direction and the bridge member 631 moving up and down together with the nut 653 by fixing a central portion to the nut 653. The sliding member 632 is fixed to the left and right sides of the bridge member 631 and links the sample member sleepers 5 to move the sample member sleepers 5 up and down together with the bridge member 631. ).

The bridge member 631 is freely restrained in the vertical direction by the sliding member 642 with respect to the vertical guide shaft 641 provided on the left and right sides of the backrest part 3 of the massage machine main body, and the driving motor M63. With the rotation of), it moves up and down along the guide shaft 641.

Thus, the massage mechanism part 600 is structured to drive the pressurization operation | movement and the width direction operation | movement of the sample member 4 by the two drive motors M61 and M62. The drive motor M63 has a sample member 4 and a sample member sleeper 5 and a part of the first and second left and right movement mechanism portions W1 and W2 and the vertical movement mechanism portion A through the bridge member 631. A part of) moves up and down, and at this time, since the sample member 4 also moves left and right, the tong operation is realized. When the three drive motors M61, M62, M63 rotate in the same direction at the same speed, the sample member 4 on the premise that the ratio of vertical movement of the nuts 602, 622, 653 is set to the same for each motor. ) Simply moves up or down (up and down direction change operation).

When the drive motor M63 is stopped and the drive motors M61 and M62 rotate in the same direction at the same speed, it becomes a control for separating or approaching the width of the sample member 4, whereby the forceps operation can be performed. . Since the forceps operation by the sample member 4 is performed by using two drive motors M61 and M62, a sample by the powerful forceps operation or a sample of the normal powerful forceps operation by the small motor is possible. .

When either one of the first or second drive motors M61 and M62 rotates among the three drive motors, the tongs operation including the pressing operation by the sample member 4 is realized.

When the drive motor M63 is stopped and the drive motors M61 and M62 rotate in different directions, the first and second left and right movement mechanism parts W1 and W2 operate in the opposite directions to each other, and the sleeper 5 Since the seesaw operation centering on the bridge member 631 occurs, the sample member 4 moves back and forth, including the forceps operation. At this time, the sample member 4 moves back and forth between the first position state PS1 and the second position state PS2. Thereby, the pressurization operation | movement before and after including a forceps operation | movement by the sample member 4 is performed. On the other hand, the first position state PS1 is the state where the sample member sleepers 5 are most raised. At this time, the nut 602 is below, and the nut 622 is above, and is largely separated from each other. The second position state PS2 is a state in which the sample member sleepers 5 fall forward and the sample member 4 moves forward. At this time, the nut 602 and the nut 622 are closest to each other.

(Embodiment 7)

FIG. 11: shows the block structure which paid attention to the massage mechanism part in the massage machine which concerns on 7th Embodiment of this invention, and FIG. 12 shows the link mechanism of a sample member sleeper. Since the external appearance of this massager is the same as the massager 1 shown in FIG. 1 mentioned above, refer to this figure again. As shown in Fig. 12, the sample member sleeper 5 of the massager includes the left and right main sleepers 51 extending in the front-rear direction for holding the sample members 4 at the front portions thereof, and their main sleepers ( The front and rear portions of the back 51 are respectively provided with left and right side sleepers 52 extending in the front-rear direction by linking the front portion. The movement of the sample member 4 by the sample member sleeper 5 will be described later.

As shown in Fig. 11, the massage device having the sample member sleepers 5, as described above, the pressing force and the forceps operation by the sample member 4, and the vertical direction change operation of the sample position, the rotational force of the motor At least two for carrying out are provided with the first, second, and third three drive motors M1, M2, and M3 fixed in position with respect to the massager main body, and the first drive motor M1. The first vertical motion mechanism (B1) which converts the rotation of the vertical motion into a vertical motion and links the rear part of each of the main sleepers 51 to move them up and down so as to pressurize the sample member 4 to move back and forth. ) And the rotation of the second drive motor M2 to the up-down motion to link to the rear portion of each of the secondary sleepers 52 to move them up and down to pressurize the sample member to draw an arc. 2 vertical movement mechanism part (B2), Left and right movement mechanism unit for converting the rotation of the third drive motor (M3) to the movement in the left and right direction to link to each of the left and right sample member sleepers (5) to move them to the left and right to force the force to the sample member (4) ( W) is provided. The first, second, and third drive motors M1, M2, and M3 cooperatively rotate to perform the vertical direction change operation of the sample position.

The movement of the sample member 4 by the sample member sleeper 5 will be described. In the pressing operation by the sample member 4, there is a pressing operation before and after pressing the back or the waist forward from the back or pressing the shoulder from the top down. In order to realize these pressing operations by the sample member 4 by the link mechanism, as shown in FIG. 12, the sample member sleeper 5 is provided with a main sleeper 51 and a sub sleeper 52. (Described above). The sample member 4 is provided in the front part of the main sleeper 51, and the 1st support part 22 is provided with the back part of the main sleeper 21 so that a vertical movement along the guide shaft 26 by the link mechanism is possible. Is supported. In addition, the front part of the sub sleeper 52 is rotatably coupled to the center part of the main sleeper 51 by the link part 24, and the back part of the sub sleeper 52 is guide shaft 26 by the link mechanism. It is supported by the 2nd support part 25 so that a vertical movement along this is possible.

In the link mechanism (Scott Russell approximation parallel movement mechanism) of the sample member sleeper 5, the second support portion 25 is fixed and the first support portion 22 is moved up and down along the guide shaft 26. In this case, the sample member 4 can be subjected to a linear movement in the substantially forward and backward direction as indicated by arrow 30. By such a linear operation, the pressing operation before and after pressing the back or the waist with the sample member 4 from the rear to the front is realized. In addition, when the first support part 22 is fixed and the second support part 25 is moved up and down, the sample member 4 can be operated in the arc direction as indicated by arrows 31 and 32. This operation realizes an arc-shaped pressurization operation of pressing the shoulder or the back obliquely from the upper side or the obliquely the lower back the upper side.

In this manner, by the link mechanism of the sample member sleeper 5, the pressing operation before and after the sample member 4 moves back and forth and the arc-shaped pressing operation for drawing and moving the arc can be realized. Since the sample can be carried out in the front-back direction and the inclined vertical direction with respect to the shoulder, the sample content increases and the sample range widens.

13 and 14 show the internal structure of the massage mechanism 700 in this massager. The first and second vertical movement mechanisms B1 and B2 of the massage mechanism 700 are first and second in the vertical direction rotated by the first and second drive motors M71 and M72. Nuts 702 and 732 which are screwed to the screw rods 701 and 731 and their screw rods 701 and 731 and move up and down by rotation of the first and second drive motors M71 and M72, The first and second bridge members 711 and 741 in the right and left directions moving up and down together with the nuts 702 and 732 by fixing the center portion to these nuts 702 and 732 substantially, and the bridge members ( Sliding members 712 and 742 are fixed to left and right sides of the bridge members 711 and 741 freely sliding along 711 and 741, respectively.

The left and right movement mechanism part W is rotated by the third drive motor M73, and has a third screw rod 771 in the up and down direction disposed at an approximately intermediate position of the left and right sample member sleepers 5, and The nut 772, which is screwed to the four sticks 771 and moves up and down by the rotation of the third drive motor M73, and one end is linked to the nut 772, and the other ends separated from each other are opened and closed. A pair of inclined connecting rods 781 for converting the vertical movements of the 772 into the left and right movements, and the connecting rods 781 and the left and right sample member sleepers 5 are installed at the other ends of the connecting rods 781. And a coupling member 762 which links and moves the sample member sleepers 5 to the left and right by the rotation of the third drive motor M73.

The left and right coupling members 762 slide freely along the third bridge member 761 in the left and right directions provided in parallel with the first and second bridge members 711 and 741. It is fixed to the left and right of the. Moreover, the coupling member 762 is provided in the vicinity of the position which couple | bonds the main sleeper 51 and the sub sleeper 52 in the sample member sleeper 5. As shown in FIG.

The three driving motors M71, M72, and M73 are fixed in position with respect to the massager main body, and are installed below the sample member movable range 8 of the backrest part 3, and the rear ends of the main sleepers 51 are respectively. It is linked to the 1st vertical movement mechanism part B1 via the sliding member 712, and moves up and down by rotation of the 1st drive motor M71, The rear end of the sub sleeper 52 is a sliding member 742, respectively. It is linked to the 2nd vertical movement mechanism part B2 through (), and moves up and down by rotation of the 2nd drive motor M72.

In the massage mechanism 700, the sliding member 712 corresponds to the first support 22 in FIG. 12 described above, and the sliding member 742 is similarly guided to the second support 25. The axes 721 respectively correspond to the guide axes 26.

When each of the driving motors M71, M72, and M73 rotates in the same direction at the same speed, under the predetermined precondition, the sample member 4 simply moves up and down in the intact arrangement. When the drive motors M71 and M72 are stopped and the drive motor M73 rotates, the nut 772 moves up and down, and the interval (width) of the sample member 4 is controlled. When the drive motors M71 and M73 are stopped and the drive motor M720 rotates, the nut 732 moves up and down, and the operation of the sample member 4 is obliquely pushed along the arc-shaped path from the top to the bottom. When the drive motors M72 and M73 are stopped and the drive motor M71 rotates, the nut 702 moves up and down, and the operation of the sample member 4 is almost linear from rear to front. Combining the operation of these sample members 4, the pressing operation can be applied to the sample even from the side (effective to the waist, back) or obliquely from the upper side (effective to the shoulder). As a result, the variation on the kneading side becomes wider.

According to this structure, the sample member of the backrest part 3 receives the 1st-3rd drive motors M71, M72, M73 which rotate the 1st-3rd screw rods 701, 731, 771 of an up-down direction. Since it can be easily arrange | positioned above or below the movable range 8, the backrest part 3 of a chair can be made thin.

Embodiment 8

Fig. 15 shows the internal structure of the massage mechanism part 800 in the massage machine according to the eighth embodiment of the present invention. The massage mechanism 800 has a position where the coupling member 762 linking the connecting rod 781 in the above-described massage mechanism 700 to the sample member sleeper 5 is located from the third bridge member 761. The structure moved to the 1st bridge material 711, Furthermore, a pair of connecting rod 781 has a structure spaced apart below the structure spaced apart from the upper side. That is, the nut 872 which comprises the left-right motion mechanism part in the massage mechanism part 800 is provided above the 1st bridge material 811 of the 1st up-down motion mechanism part, and a pair of left and right connection bars 881 are provided. Silver links the upper end to the nut 872, respectively, and the lower end separated from each other is linked to the sliding members 812 and 842 provided in the 1st bridge material 811. As shown in FIG. The rear end of the main sleeper 51 is linked to these sliding members 812, 842. Since the pair of connecting rods 881 are spaced apart from the lower side, unlike the case of the massage mechanism 700, the nut 872 is lowered, so that the space between the left and right sample member sleepers 5 is widened. The other structure is the same as that of the massage mechanism part 700.

16, 17, and 18, an example of the temporal massage operation of the sample member 4 in the massage mechanism 800 will be described. The sample member 4 of interest is the sample member 4 of the left side shown in FIG. The position coordinates of the sample member 4 are expressed by XYZ coordinates having an origin at a predetermined reference position. The X-axis direction is the front-rear direction, the forward direction is the positive direction, the Y-axis direction is the left-right direction, the left direction, that is, the direction in which the sample members are separated from each other in the forward direction, the Z-axis direction is in the vertical direction, and the upward direction in the forward direction. It is done.

Fig. 16 shows the positional change in one period T of the sample member operation. The sample member can repeatedly perform such a periodic motion several times to obtain a massage effect. One cycle T is about several seconds. Fig. 17 shows the rotation amounts Rx, Rz and Ry in one cycle T of the drive motors M81, M82 and M83 for causing the sample member to perform such an operation. The operation in the left-right direction (Y direction) of the sample member, that is, the Y coordinate value and the rotation amount Ry correspond to one-to-one. The movement of the sample member in the X direction and the Z direction is determined by the composite value of the rotation amounts Rx and Rz.

FIG. 18 shows the position change shown in FIG. 16 as the trajectory of the three-dimensional space. The time t1 which becomes Z = 0 in an up-down direction, the time t2 which becomes the maximum deviation width in a left-right direction, and the time t3 which becomes X = 0 in a front-back direction are shown in FIG. 18, respectively. The movement of the sample member shown in these figures is, for example, pressing forward while pressing the left shoulder of the subject from the upper side to the inclined left lower side, and then moving the sample to the direction of the subject's neck while performing the forceps operation. It is a movement which repeats the operation | movement which returns to a member origin.

(Embodiment 9)

Fig. 19 shows the structure of a sample member sleeper in a massage machine according to a ninth embodiment of the present invention. The massage motion by the sample member has a tapping motion in addition to the pressing motion, the kneading motion, and the forceps motion. The tapping operation by the sample member is an operation of alternately reciprocating the left and right sample members at high speed, and when the sample position is the shoulder, the tapping operation is performed. This tapping operation is performed by operating the left and right sample members alternately at high speed with an amplitude of several to several tens of millimeters.

The sample member 4 is supported by the link mechanism (refer to description of FIG. 12) which consists of the main sleeper 51 and the sub sleeper 52, as shown in FIG. The main sleeper 51 is provided with a linear actuator 50 between the link part 24 which links the sub sleeper 52 and the 1st support part 22 which supports the main sleeper 51. As indicated by the arrows, the linear actuator 50 vibrates in the thickness direction, and the vibration is amplified as the vibration of the sample member 4 with the link portion 24 as the point. The amplified high-speed vibration can be generated alternately or simultaneously with the left and right pair of sample members 4 to realize the tapping operation.

As an actuator capable of high-speed oscillation between small distances, for example, a supersonic element is placed in the center of an electromagnetic coil, and the vibration of the supersonic element is amplified using an enlargement mechanism such as a lever, By amplifying using resonance reduction due to natural vibrations, vibrations of several mm in amplitude can be realized. Moreover, as the linear actuator 50, an electrostrictive element, a voice coil motor, etc. can be used. By using such an actuator, the tapping mechanism can be compactly assembled to the sample member mechanism.

Embodiment 10

Fig. 20 shows the internal structure of the massage mechanism part 900 in the massage machine according to the tenth embodiment of the present invention. See FIG. 1 for the appearance of the massager. This massage mechanism 900 is provided with tapping drive motors M92 and M94 for the tapping operation by the sample member 4 below the outside of the sample member movable range 8 of the backrest 3. The tapping-movement mechanism part which converts the rotational force of tapping drive motors M92 and M94 into the force for the sub sleeper 52 to tilt-move is provided.

This massage mechanism part 900 divides | segments the 2nd bridge | bridging material 741 in the above-mentioned massage mechanism part 700 from side to side, and makes each part move up and down independently. In addition, although the space | interval adjustment of the right and left sample member 4 in the above-mentioned massage mechanism part 700 is performed using the link mechanism by the connecting rod 781, in this massage mechanism part 900, it replaces the link mechanism in the above-mentioned. Similar to the massage mechanism 300 shown in FIG. 6, the rotational direction conversion mechanism 932 including a worm and a worm wheel, and a rotation shaft 911, a left screw 912, a right screw 914, and a left and right coupling The left and right transfer mechanisms using the nuts 913 and 915 are used. In addition, the left and right coupling members 985 and 983, which are freely fixed to the third bridge member 981, are fixed to the link portions of the main sleeper 51 and the sub sleeper 52. The engaging members 983 and 985 are loosely fixed to the third bridge member 981 so as to be able to move up and down independently. In the other structure, since it is the same as what was described in any of the above, description is abbreviate | omitted.

By rotating the drive motor M93, the distance between the left and right sample members 4 can be controlled. When the drive motors M92 and M94 rotate in the same direction, the operation of the sample member 4 is the same as that in the massage mechanism 700 described above. When the vertical motions of the nuts 962 and 942 by the drive motors M92 and M94 are reversed in the small vertical vibration of the phase, the sliding members 972 and 952 move up and down in opposite directions to the left and right side sleepers 52. ) Moves up and down in the reverse direction, and the operation of the sample member 4 becomes a tapping operation. At this time, the shift of the vertical motion of the nuts 962 and 942, and therefore the left bridge material 971 and the right bridge material 951 in the reverse direction is absorbed by the coupling member 910. By the coupling member 910, for example, a parallel leaf spring or a coil spring can be used. In this way, even if the massage mechanism 900 has a tapping operation function, the tapping drive motor is disposed below, above, or on the lateral side of the sample member movable range of the backrest portion, so that the mechanism portion is lightened, and the inertia is reduced. High speed driving and thinning of the backrest can be realized.

(Embodiment 11)

FIG. 21: shows the internal structure of the massage mechanism part 700A in the massage machine which concerns on 11th Embodiment of this invention. This massager operates the sample member 4 by rotating the pulley with a drive motor to operate the wire. The massage mechanism 700A includes the first, second, and third screw rods 701, 731, and 771 in the massage mechanism portion 700 illustrated in FIG. 13 described above, and the screw rods 701, Instead of the nuts 702, 732, and 772 that are screwed to the 731, 771 and move up and down, the three motors rotated by the first, second, and third drive motors M71, M72, and M73, respectively, Drive pulley P, three driven pulleys P which are paired with each of these drive pulleys P, and a first pulled up and down by each pair of drive pulleys P and driven pulleys P; Wire connecting members for fixing the second and third wires 703, 733, 773 and the first and second wires 703, 733 to the first and second bridge members 711, 741 ( 704 and 734, and a wire link member 774 for linking the third wire 773 with one end of the pair of inclined connecting rods 781.

By the above-described configuration, the bridge members 711 and 741 are driven up and down by the drive motors M71 and M72. In addition, the coupling member 762 sliding freely fixed to the bridge member 761 is moved up and down by the drive motor M73 through the connecting rod 781. When the drive motors M71, M72, and M73 rotate at constant speed, the wire moves up and down at constant speed so that the respective wire connecting members 704 and 734 and the wire link member 774 move up and down, so that the sample member 4 is It simply moves up and down with each attached instrument. When the drive motors M71 and M72 are stopped and the drive motor M73 rotates, the wire link member 774 moves up and down to control the distance between the right and left sample members 4. When the drive motors M71 and M73 are stopped and the drive motor M72 is rotated, the wire connecting member 734 moves up and down, so that the operation of the sample member 4 becomes a pressing operation from above obliquely. When the drive motors M72 and M73 are stopped and the drive motor M71 rotates, the wire connecting member 704 moves up and down, so that the operation of the sample member 4 becomes a pressurization operation in the front-rear direction. By combining these operations of the sample member 4, the sample member 4 can be adjusted up, down, pressed, and width similarly to the massage mechanism 700 described above.

As described above, the drive mechanism using the pulley and the wire can be made lighter than using the screw rod or the nut. In addition, the wire has a small cross-sectional area compared with the screw rod, so that the drive portion can be thinner. The massage mechanism 700A is an example in which all of the vertical drive, the pressure drive, and the width drive are driven by wires, but one of the three drive mechanisms may be driven by a screw and a nut.

(Twelfth Embodiment)

FIG. 22: shows the internal structure of the massage mechanism part 700B in the massager which concerns on 12th Embodiment of this invention. The massage mechanism 700B includes the first, second, and third screw rods 701, 731, and 771 in the massage mechanism portion 700 illustrated in FIG. 13 described above, and the screw rods 701, Instead of the nuts 702, 732, and 772 that are screwed to the 731, 771 and move up and down, the rotational motion of the first, second, and third drive motors M71, M72, and M73 is converted into linear motion. And three pairs of link mechanisms each consisting of a first link LK1 and a second link LK2 for vertical movement of the site where the nut is installed.

Each drive motor controls the angle of the first link to operate the second member connected to the first link up and down to operate the sample member. Each of the driving motors M71, M72, and M73 fixes one end of the first link LK1 to rotate the link LK1, and links the link coupling portion J at the other end (lower end) of the link LK1. One end of the second link LK2 to which the rotation is freely coupled is driven through this. The other end (upper end) of the second link LK2 connected to the drive motor M71 is fixed to the bridge member 711 via a coupling member 705 which is free to rotate. The other end (upper end) of the second link LK2 connected to the drive motor M72 is fixed to the bridge member 741 via a coupling member 735 which is free to rotate. The other end (upper end) of the second link LK2 connected to the drive motor M73 is fixed to the link portions 775 of the two connecting rods 781.

By the above-described configuration of the first and second links, the bridge members 711 and 741 are driven up and down by the drive motors M71 and M72 similarly to any of the above-described driving units, and further, the bridge member ( The sliding member 762 which is freely fixed to the 761 is moved up and down by the drive motor M73. The combination of the rotational motions of the driving motors M71, M72, and M73 enables the combined operation of the top, bottom, pressing, and width adjustment of the sample member 4.

As described above, the drive mechanism employing the link can be configured at a lower cost than using a screw rod or a nut. In addition, although the above-mentioned massage mechanism 700B is a case where all of the up-down drive, the pressurization drive, and the width drive are driven using a link, any of the three drive mechanisms is a screw rod and a nut, or a pulley and a wire. You may drive.

(Embodiment 13)

FIG. 23: shows the internal structure of the massage mechanism part 700C in the massage machine which concerns on 13th Embodiment of this invention. This massager includes a mechanism for performing the operation of the sample member by operating the pan-graph lazy tong vertical movement mechanism up and down in the drive transmission mechanism. The massage mechanism 700C includes the first, second, and third screw rods 701, 731, 771 in the massage mechanism portion 700 illustrated in FIG. 13 described above, and the screw rods 701, In addition to the nuts 702, 732, and 772 that are screwed to 731 and 771 and move up and down, pantograph type up and down movement mechanisms 706, 736, and 776 for vertical movement of the portion where each nut is installed, and Actuators A71, A72, and A73 for vertically moving the vertical movement mechanisms 706, 736, and 776 are provided.

The upper end of the pantograph 706 having the actuator A71 in the lower portion is fixed to the bridge member 711 by the connecting member 704. The upper end of the pantograph 736 provided with the actuator A72 at the lower part is fixed to the bridge member 741 by the connecting member 734. In addition, the upper end of the pantograph 776 having the actuator A73 at the lower portion is fixed to the link portion of the two connecting rods 781 by the connecting member 774. By driving the respective actuators A71, A72, and A73, the connecting members 704, 704, and 774 move up and down, and like the above-described massage mechanism part, the vertical movement and pressing of the sample member 4 are performed. Therefore, the combined operation of the width adjustment is possible.

The drive mechanism using the pantograph described above can use a direct drive type actuator in addition to the motor as an actuator for moving the pantograph up and down, and can use an air cylinder, a hydraulic cylinder, a high speed reaction voice coil motor, or the like. have. In addition, although the above-mentioned massage mechanism part 700C drives all of the up-down drive, the pressurization drive, and the width drive using a pantograph, among the three drive mechanisms, a screw rod, a nut, a pulley, a wire, Alternatively, it may be driven by a link mechanism or the like.

(Embodiment 14)

24 shows the internal structure of the massage mechanism part 700D in the massage machine according to the fourteenth embodiment of the present invention. The massage mechanism 700D arranges at least one of each drive motor in the massage mechanism 700 shown in FIG. 13 described above in the side region of the movable range 8 of the sample member 4. This massage mechanism part 700D installs a drive motor in the side area | region rather than just under the ball rod. Each of the driving motors M71, M72, and M73 is a wire spanned between the pulleys P1 and P2 and the pulleys P1 and P2 in the horizontal direction to rotate the screw rods 701, 731, and 771, respectively. 707, 737, and 777 are provided. Since the operation | movement by the drive motors M71, M72, M73 of this massage mechanism part 700D is the same as that in the massage mechanism part 700, description is abbreviate | omitted.

In this way, the drive unit for arranging the drive motor in the lower part or the upper part of the side region of the sample member movable range is easy to attach and useful when there is room in the lateral space, such as when the massage device is installed in the rear seat of the vehicle. Do.

(Embodiment 15)

25 shows the internal structure of the massage mechanism part 700E in the massage machine according to the fifteenth embodiment of the present invention. The massage mechanism 700E is provided in the inside of the sample member movable range 8 of the backrest 3 with a drive source for performing the tapping operation by the sample member 4. According to this structure, by providing the drive source in the sample member movable range, a high speed reciprocating operation can be realized with a simple structure.

The massage mechanism 700E replaces the screw rods 861 and 841 used for the independent vertical movement of the left and right sample members 4 in the massage mechanism 900 shown in FIG. 20 described above. ). One end of each of the left and right secondary sleepers 52 rotates freely while sliding through the sliding members 794 and 795 at different portions of the rotation radiuses of the crank 791 reversely reversed to each other. In addition, the other ends of the left and right secondary sleepers 52 are linked to the main sleepers 51 by link portions 799 and 798, respectively.

The crank rotation motor M74 is provided in the center of the crank 791 so that the crank 791 may rotate around the rotating shaft of a motor. The crank rotation motor M74 is fixed to the nut 732 which is moved up and down by the driving motor M72 and the screw rod 731 via the supporting member 738. In addition, both ends of the crank 791 are fixed by the sliding member 793 to the vertical (up and down) guide shafts 721 provided on the left and right sides of the massaging machine body freely with the rotation about the horizontal axis. have.

In the main sleeper 51, the other end where the sample member 4 is not provided is rotated to the bridge member 711 by the sliding member 712, similar to the massage mechanism 900 in FIG. 20 described above. Free and sliding is fixed freely. Moreover, the sliding member 712 is linked to the nut 772 which is moved up and down by the drive motor M73 and the screw rod 771 via the connecting rod 781 and the connection member 774. The bridge member 711 is linked to the nut 702 which is moved up and down by the driving motor M71 and the screw rod 701 through the connecting member 704.

In the above-described configuration, when the crank rotation motor M74 rotates, the left and right sample members 4 operate respectively, and exactly the operation of hitting the back alternately with a human hand is realized. In this manner, when a high speed reciprocating operation such as a tapping operation is performed, a structure is simplified by providing a driving source in the sample member movable range 8. In addition, by the combination of the rotational motions of the driving motors M71, M72, and M73, similar to any of the aforementioned massage mechanisms, the vertical motion, pressing, and width adjustment of the sample member 4 can be combined. do.

As mentioned above, each drive motor is installed above or below the movable range of a sample member except the drive motor of small electric power, such as tapping operation drive in a massage machine in this invention. As the motor installation position, for example, the inside of the folded part of the chair or the part where the sample head touches is possible.

In addition, the massage device of the present invention includes a rotation position detector for detecting the rotational position of each drive motor and a sample member position detector for detecting the position of the sample member. The control part which calculates a kneading position and controls rotation of each motor is provided.

In addition, this invention is not limited to the said structure, A various deformation | transformation is possible. For example, the drive motors arranged in the front-rear direction can also be arranged in the left-right direction, and by doing so, the drive part and the backrest part can be made thin. In addition, a ball screw may be used in place of the screw rod, and a belt may be used instead of the wire spread over the pulley. In addition, the above-mentioned various sliding members, link members, coupling members, support members and the like are not limited to those of the illustrated shape, but may be ones having an intended function. The up-down direction change operation of the sample position may be a pressurization operation in the up-down direction by repeating the up-down movement little by little, and also the massage operation of the back part.

On the other hand, this application claims priority based on the patent application of March 26, 2003. The entire contents of the application are incorporated in the present application by reference.

Claims (20)

In a chair-type massager having a seat portion and a backrest portion, and having left and right sample members for massaging the back of the subject in the backrest portion, Left and right sample member sleepers stretched in the front-rear direction for holding the sample members in front of each other; At least two of the pressing operation by the sample member, the forceps operation, and the up / down direction change of the sample position by the rotational force of the motor are the first, second, and third of which the position is fixed with respect to the massager body. 3 drive motors, A first vertical motion mechanism unit for converting rotation of the first drive motor into vertical motion to link to the rear portion of each of the sample member sleepers to move them vertically; A second to convert the rotation of the second drive motor into a vertical motion so that the first vertical motion mechanism part of the sample member sleeper is linked to the position of the front portion of the sample member sleeper so as to move them vertically; With the vertical movement mechanism part, It is provided with a left and right movement mechanism for converting the rotation of the third drive motor to the left and right or up and down movement to link to each of the sample member sleepers to move them left and right, By repeating the operation of moving the first or second drive motor and the first or second vertical movement mechanism part up and down the sample member sleeper, the pressing member or the forceps operation by the sample member are performed. The third drive motor and the left and right movement mechanism part perform the forceps operation by the sample member by repeating the operation of moving the sample member sleeper from side to side, And the first, second and third drive motors cooperate or the first, second and third drive motors cooperate to rotate to change the sample position in the vertical direction. The method of claim 1, The three driving motors are massager, characterized in that the position is fixed with respect to the massager body. The method of claim 1, A drive motor having a fixed position with respect to the body of the massager is installed outside of the movable range of the sample member of the backrest part. The method of claim 1, A straight line connecting the right and left link positions linking the sample member sleepers and the first vertical motion mechanism part, and a straight line connecting the left and right link positions linking the sample member sleepers and the second vertical motion mechanism part, are parallel to each other. Massager. The method of claim 1, The first vertical motion mechanism part includes a first screw rod in a vertical direction rotated by the first drive motor, a nut screwed to the screw rod, and a nut moving up and down by rotation of the first drive motor; Each of the sample member has right and left screws on both left and right sides thereof, and its center portion is freely fixed to the nut, and the left and right rotating shafts move up and down together with the nut, and are respectively screwed to the left and right screws of the rotating shaft. Linking the sleepers provided with the left and right coupling nuts for moving the sample member sleepers up and down with the rotary shaft, The second vertical motion mechanism part includes a second screw rod in a vertical direction rotated by the second drive motor, a nut screwed to the screw rod and moved up and down by rotation of the second drive motor; The center member is fixed to the nut, and the left and right bridge members moving up and down together with the nut, and sliding along the bridge member is freely fixed to the left and right sides of the bridge member, respectively, linking the sample member sleepers and their sample members. It is provided with the left and right sliding members which move a sleeper up and down with the bridge material, The left and right movement mechanism unit transmits the rotation of the third drive motor to the rotary shaft to rotate or rotate the sample member sleepers of the left and right linked to the coupling nut screwed to the rotary shaft, Massage device characterized in that it comprises a rotary transfer member for moving the sample member sleeper left and right. The method of claim 1, The first and second vertical movement mechanism parts are screwed to the first and second screw rods in the vertical direction rotated by the first and second drive motors, and the screw rods, respectively. Along the first and second bridge members in the left and right directions moving up and down by the rotation of the two driving motors, the central part fixed to these nuts, and moving up and down together with these nuts, Sliding is freely fixed to the left and right of each of the bridge member, respectively, and the sliding linkage to the sample member sleeper to move their sample member sleeper up and down with the bridge material, The left and right movement mechanism unit has a left and right rotary shaft having right and left screws on both sides, two coupling nuts each screwed to the left and right screws of the rotary shaft and linked the left and right sample member sleepers, and The rotation of the third drive motor is transmitted to the rotary shaft to rotate the rotary shaft, and the left and right sample member sleepers linked to the coupling nut screwed to the rotary shaft are separated from each other or close to each other, thereby restraining the sample member sleepers. Massager characterized in that it comprises a rotary transfer member moving to. The method of claim 6, The rotation transfer member, the massager, characterized in that using the worm and worm wheel. The method of claim 6, The left and right movement mechanism portion, in place of the rotation shaft, the coupling nut, and the rotation transmission member, are rotated by the third drive motor and are arranged in a substantially center of the left and right sample member sleepers, the third screw The nut is screwed into the rod, the nut moves up and down by the rotation of the third drive motor, and one end is linked to the nut, and the other end is separated from each other. A pair of inclined connecting rods to be converted to movement, and is installed at the other end of each connecting rod is linked to the connecting rod and the left and right sample member sleepers to rotate the sample member sleepers by the rotation of the third drive motor. Massager having a coupling member to move to. The method of claim 8, The coupling member is a massage device, characterized in that the sliding member freely fixed along the first bridge material, or the sliding member freely fixed along the second bridge material. The method of claim 1, And a driving source for performing the tapping operation by the sample member. In a chair-type massager having a seat portion and a backrest portion, and having left and right sample members for massaging the back of the subject in the backrest portion, Left and right sample member sleepers extending in the front-rear direction for holding the sample members in front of each other; At least two of the pressing operation by the sample member, the forceps operation, and the up and down direction change of the sample position by the rotational force of the motor are fixed to the massager main body outside the movable range of the sample member in the backrest portion. The third, second, and third drive motors, A first left and right movement mechanism part for converting rotation of the first drive motor into left and right movements and linking each of the sample member sleepers to move them left and right; A second to convert the rotation of the second drive motor into a left-right motion so that the first left-right motion mechanism of the sample member sleeper is linked to the position of the front part of the sample member to move them to the left or right; With the left and right movement mechanism part, A vertical movement mechanism unit for converting rotation of the third drive motor into vertical movement and linking each of the sample member sleepers to move them vertically; Pressing by the sample member by repeating the first drive motor and the first left and right movement mechanism portion, or the second drive motor and the second left and right movement mechanism portion to move the sample member sleeper left and right. Perform a forceps operation including a, The first member and the first left and right movement mechanism portion, and the second drive motor and the second left and right movement mechanism portion to move the sample member sleeper to the left and right by repeating the opposite phase to the sample member Pressurization before and after The third drive motor and the vertical motion mechanism unit repeats the operation of moving the sample member sleeper up and down to perform the tong operation including the vertical motion by the sample member, And the first, second, and third drive motors rotate in cooperation with each other to perform a vertical change of the sample position. In a chair-type massager having a seat portion and a backrest portion, and having left and right sample members for massaging the back of the subject in the backrest portion, Left and right main sleepers extending in the front and rear direction holding the sample member in each front portion, and left and right having left and right side sleepers extending in the front and rear direction by linking the front portions between the front and rear portions of the main sleepers, respectively. Sample member sleepers, At least two of the pressing operation by the sample member, the forceps operation, and the up / down direction change of the sample position by the rotational force of the motor are the first, second, and third of which the position is fixed with respect to the massager body. 3 drive motors, A first vertical motion mechanism unit for converting rotation of the first drive motor into a vertical motion to link to a rear portion of each of the main sleepers so as to move them up and down to perform a pressing operation to move the sample member back and forth; A second vertical motion mechanism part for converting rotation of the second drive motor into a vertical motion to link to the rear portion of each of the secondary sleepers so as to move them up and down to pressurize a circular arc to the sample member; It is provided with a left and right movement mechanism for converting the rotation of the third drive motor to the left and right or up and down direction to link to each of the sample member sleepers to move them to the left and right to move the forceps to the sample member, And the first and second drive motors cooperate, or the first, second, and third drive motors cooperate to rotate so as to change the vertical position of the sample position. The method of claim 12, The first and second vertical movement mechanism parts are screwed to the first and second screw rods in the vertical direction rotated by the first and second drive motors, and the screw rods, respectively. Along the first and second bridge members in the left and right directions moving up and down by the rotation of the two driving motors, the central part fixed to these nuts, and moving up and down together with these nuts, The sliding member is provided with the sliding member fixed to the left and right of the bridge material freely, The left and right movement mechanism part is rotated by the third drive motor, and the third screw rod in the vertical direction which is disposed substantially in the center of the left and right sample member sleepers, and the third drive motor by screwing to the screw rod A nut moving up and down by the rotation of a pair, and a pair of inclined connecting rods each having one end linked to the nut to open and close the other ends separated from each other, and converting the vertical movement of the nut into left and right movements; A coupling member installed at the other end of the connecting rod to link the connecting rod and the left and right sample member sleepers to move the sample member sleepers left and right by rotation of the third drive motor, The drive motor whose position is fixed with respect to the massager main body is installed outside the range of the sample member movable portion of the backrest portion, The rear end of the main sleeper is linked to the first vertical movement mechanism through the sliding member, respectively, and moves up and down by rotation of the first drive motor, A rear end of the sub sleeper is linked to the second vertical movement mechanism through the sliding member, respectively, and moves up and down by rotation of the second drive motor. The method of claim 12, A massage device comprising a drive source for performing a tapping operation by the sample member on the main sleeper, and the drive source is a linear actuator. The method of claim 12, A tapping drive motor for performing a tapping operation by the sample member is provided outside the sample member moving range of the backrest portion, And a tapping motion mechanism part for converting the rotational force of the tapping drive motor into a force for tilting the secondary sleeper. The method of claim 13, In place of the first, second, and third screw rods and nuts that are screwed to these screw rods and move up and down, Three drive pulleys each rotated by the first, second and third drive motors, three driven pulleys in pairs with their respective drive pulleys, and each pair of drive pulleys and driven pulleys First, second, and third wires moving up and down by the wire, a wire connecting member for fixing the first and second wires to the first and second bridge members, and the third wire. And a wire link member for linking with one end of the pair of inclined connecting rods. The method of claim 13, In place of the first, second, and third screw rods and nuts that are screwed to these screw rods and move up and down, Three pairs of link mechanisms, in which the rotational motions of the first, second, and third drive motors are converted to linear motions to perform vertical movements of the portions in which the nuts are installed, respectively, the first link and the second link. Massager comprising a. The method of claim 13, In place of the first, second and third screw rods, nuts moving up and down by screwing into these screw rods, and the first, second and third drive motors, And a panta graph type shanghai copper mechanism for vertical movement of the site where the nut is installed, and an actuator for operating each shanghai copper mechanism up and down. The method of claim 13, And at least one of the drive motors is disposed in a side region of the movable range of the sample member. The method of claim 13, And a driving source for performing the tapping operation by the sample member in the inside of the sample member movable range of the backrest portion.