TW508237B - Message machine, unit of the message machine and control method for the masage machine - Google Patents

Message machine, unit of the message machine and control method for the masage machine Download PDF

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Publication number
TW508237B
TW508237B TW090115937A TW90115937A TW508237B TW 508237 B TW508237 B TW 508237B TW 090115937 A TW090115937 A TW 090115937A TW 90115937 A TW90115937 A TW 90115937A TW 508237 B TW508237 B TW 508237B
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Taiwan
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treatment
treated
treatment unit
kneading
unit
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TW090115937A
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Chinese (zh)
Inventor
Kentaro Mori
Akitoshi Miki
Koichi Tanaka
Kuniyoshi Takahashi
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Omron Tateisi Electronics Co
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/007—Kneading
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
    • A61H2015/0028—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis disc-like, i.e. diameter substantially greater than width
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1427—Wobbling plate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1623—Back
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1654—Layer between the skin and massage elements, e.g. fluid or ball
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A61H2201/1669—Movement of interface, i.e. force application means linear moving along the body in a reciprocating manner
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5053—Control means thereof mechanically controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/081—Back

Abstract

Acting elements 201a-d are supported with an acting unit 110 which can move along guide rails 101L and 101R. The acting unit 110 supports swingable link elements which rotatably support an up-and-down roller 409. Change of the angle of the link elements supporting the up-and-down roller 409 independently changes each position of upper and lower portions of the acting unit 110 in the forward and backward direction against the guide rails 101L and 101R.

Description

五、發明説明（1 ) [技術領域] 本發明係關於按摩機、按摩單元及按摩機之控制方法 ’及驅動治療子來對人體治療。 [技術背景] 先前，在於此種按摩機，例如特公平1 -49496號，記 載有由於在主軸之周圍擺動驅動具有一對治療子的臂， 進行揉搓按摩，並由改變臂在主軸周圍之角度用來改變 強度者。 又，於實開照56- 1 25232號，以傾斜且偏心地安裝一 對揉搓輪於第一旋轉軸，藉由偏心凸輪圓板以擺動自如 地安裝於第一旋轉軸之臂前端，設置2對揉搓具，藉由 偏心凸輪圓板以擺動自如地安裝於第二旋轉軸之桿前端 ，樞支於上述臂之中途的按摩機。此按摩機，係由改變 安裝於第二旋轉軸的偏心凸輪圓板之旋轉角度，藉由桿 改變安裝於臂內的揉搓具之突出量，形成僅一對揉搓輪 或一對揉搓輪及一對揉搓具之雙方接觸人體的構成。 又，特公昭6卜44027，揭示具備有以偏心裝於主軸的 一對輪體及側升降輥子’由於旋轉主軸改變輪體之突出 量來調整強度，同時僅以輪體或輪體與側升降輥子之雙 方接觸人體的按摩機。 然而，如上述的先前技術’產生有如下述之問題。 ①具有治療子的治療單元因只能沿導件移動，故不能 進行沿著使用者身體形狀的治療，依治療單元之位置就 使治療子從被治療部位離開’作用於被療部位的力量變 508237 五、發明説明（2 ) 弱，或反之過於鄰近使作用於被治療部位的力量變強° ② 非進行按摩時治療子成爲妨礙。 ③ 一般治療子與人體爲一定間隔，故不能因應於症狀 或部位強度之治療。又，雖有可調整治療子和人體之間 隔的按摩機，但調整量少。 ④ 不能實現指壓的刺激。V. Description of the Invention (1) [Technical Field] The present invention relates to a massage machine, a massage unit, and a control method of a massage machine, and a driving therapy device to treat a human body. [Technical Background] Previously, this type of massage machine, for example, No. 1-49496, described that the arm having a pair of treatment members was driven by swinging around the main shaft to perform kneading massage, and the angle of the arm around the main shaft was changed Used to change the intensity. Also, in real photo No. 56-1 25232, a pair of kneading wheels are installed on the first rotation shaft in an inclined and eccentric manner, and are mounted on the front end of the arm of the first rotation shaft through an eccentric cam disc to swing freely. Set 2 The kneading device is a massage machine which is rotatably mounted on the front end of the rod of the second rotation shaft by an eccentric cam circular plate and pivotally supported in the middle of the arm. This massage machine is made by changing the rotation angle of the eccentric cam disc mounted on the second rotating shaft, and changing the protruding amount of the kneading tool installed in the arm by the lever to form only a pair of kneading wheels or a pair of kneading wheels and a The composition of both sides of the kneading device in contact with the human body. In addition, Japanese Patent Publication No. 6B 44027 discloses that a pair of wheel bodies and side lifting rollers eccentrically mounted on the main shaft are provided. The strength is adjusted by changing the protrusion of the wheel body by rotating the main shaft, and only the wheel body or the wheel body and the side are raised and lowered. Massage machine where both sides of the roller contact the human body. However, the prior art as described above has the following problems. ① The treatment unit with the treatment unit can only move along the guide, so it cannot perform the treatment along the shape of the user's body. Depending on the position of the treatment unit, the treatment unit leaves the treated part. The force acting on the treated part changes. 508237 V. Description of the invention (2) Weakness, or vice versa, is too close to increase the force acting on the treated area ° ② The healer becomes an obstacle when the massage is not performed. ③ Generally, there is a certain interval between the healer and the human body, so it cannot be treated according to the symptoms or the intensity of the part. In addition, although there is a massage machine which can adjust the distance between the treatment body and the human body, the adjustment amount is small. ④ Shiatsu cannot be stimulated.

⑤ 爲一定的對人體的敲打刺激之動作方法，係爲單調 的刺激。 ⑥ 爲一定的頂接於人體之治療子數量，係爲單調的刺 激。⑤ It is a certain action method of knocking stimulation to the human body, which is a monotonous stimulation. ⑥ It is a certain number of therapies attached to the human body, and it is a monotonous stimulus.

本發明係用以解決上述先前技術之課題所實施者，係 提供一種按摩機、按摩單元及按摩機之控制方法，其目 的在於使治療子與人體之間隔調整量加大，更適當地控 制作用於被治療部位的力量，因應於症狀或部位強度之 治療，或實現更富於多樣性的治療，同時可在不進行按 摩時治療子不會產生妨礙。 [發明之啓示] 本發明爲之達成上述目的，其按摩機具備有：左右成 對的治療子；支撐該治療子，沿被治療部可移動的治療 單元；用來導引沿著上述治療單元之被治療部移動的引 導裝置；以及對上述引導裝置用來支持治療單元的支撐 裝置，構成爲具備有位置變更裝置，用來變更對卜述治 療單元之引導裝置的移動方向大致正交方向位置之按摩 機。 -4- 五、發明説明（3) 依如此實施，可變更對由支持裝置所支持的治療單元 引導裝置的移動方向，大致正交方向之位置。並不是變 更支撐治療子的構件位置或姿勢，乃爲變更沿引導裝置 移動的治療單元本身之位置，故不受拘束於治療子之驅 動構造可構成位置變更裝置，能確保更大的位置變化量 。亦即，對待治療部的突出量之變化範圍更大，故更適 當地控制作用於待治療部位的力量，可實現因應於症狀 或部位強度的治療。亦即，可富於更多樣性的治療。 又，上述治療子在治療子單元之移動方向至少設有二 對爲理想。 又，設在上述治療單元移動方向的至少二對之治療子 ，係包含二對互相不同特性之治療子爲理想。 如此設不同特性之治療子，則由於分開使用各個對之 治療子變成可作不同的治療，可作富於更多樣性的治療 。在此，所謂特性係如形狀、材質、彈性等之力學的性 質等，對使用者感觸或治療效果上指產生有差異可能性 的性質。 又，上述支撐裝置，係對上述引導裝置支持治療單元 於上述移動方向之至少2個部位，該位置變更裝置，係 依上述支持裝置作支持的各個治療單元之部位，對上述 引導裝置的移動方向用來變更大致正交的方向位置爲理 想。 又’上述位置變更裝置，係對於支持上述治療單元的 不同移動方向部位之各個支撐裝置，以具有獨立地變更 508237 五、發明説明（4 ) 該位置功能爲理想。 位置變更裝置’亦可以同步作位置變更，獨立地變更 亦可。 又，上述位置變更裝置，係對上述引導裝置以支撐裝 置所支撐的治療單元之部位位置，至少朝待治療部側具 有變更功能爲理想。 又，上述支撐裝置，具備有：繫合於上述引導裝置的 繫合部；以及支撐該繫合部，以可擺動地支撐於治療單 元的臂，該位置變更裝置，以具有變更該臂之擺動角度 功能爲理想。 又，上述位置變更裝置，係該臂之擺動中心對該繫合 部形成位於待治療部側的第一狀態，與該繫合部對臂之 擺動中心位於待治療部側的第二狀態，具有變更該臂的 擺動角度功能爲理想。 依如此實施，則治療子對待治療子作用推壓力進行治 療，於不要用時，亦可使治療子避免頂接於人體。 又，本發明係具備有：左右成對的治療子；支撐該治 療子，沿待治療部可移動的治療單元；以及導引沿著該 治療單元之待治療部移動的引導裝置之按摩機，可構成 具備有：對該引導裝置支撐治療單元的支撐裝置；以及 由該支撐裝置所支撐的治療單元，變更對該引導裝置姿 勢的姿勢變更裝置之按摩機。 如此，不只是變更治療單元全體之位置的情況，對引 導裝置變更移動方向之僅一處位置，僅變更治療單位之 508237The present invention is intended to solve the above-mentioned problems of the prior art, and to provide a massage machine, a massage unit and a method for controlling the massage machine, the purpose of which is to increase the interval adjustment amount between the treatment body and the human body, and control the effect more appropriately. The strength of the treated part can be treated according to the symptoms or the strength of the part, or more diverse treatments can be realized, and the treatment can be done without hindrance without massage. [Inspiration of the invention] In order to achieve the above object, the present invention has a massage machine comprising: a pair of left and right therapy elements; a therapy unit supporting the therapy element and movable along the treated part; A guide device for moving the treated part; and a support device for supporting the treatment unit with the above-mentioned guide device, which is provided with a position changing device for changing the position of the movement direction of the guide device of the therapy unit substantially orthogonal to the position Massage machine. V. Explanation of the invention (3) According to this implementation, the movement direction of the guide unit for the treatment unit supported by the support device can be changed to a position substantially orthogonal to the direction. It is not to change the position or posture of the component that supports the treatment element, but to change the position of the treatment unit itself that moves along the guide device. Therefore, the drive structure that is not restricted to the treatment element can constitute a position change device, which can ensure a larger amount of position change. . That is, the range of the protrusion amount of the treated part is larger, so the force acting on the part to be treated is controlled more appropriately, and the treatment according to the symptoms or the intensity of the part can be realized. That is, it can be enriched with more diverse treatments. In addition, it is desirable that the above-mentioned treatment sub-units be provided with at least two pairs in the moving direction of the treatment sub-units. In addition, it is desirable that at least two pairs of heals set in the moving direction of the treatment unit include two pairs of heals with different characteristics from each other. In this way, heals with different characteristics can be used for different treatments because they are used separately. Here, the so-called characteristics are mechanical properties such as shape, material, elasticity, and the like, which refer to properties that have a possibility of being different to the user's feeling or therapeutic effect. In addition, the supporting device supports the guiding device to support the treatment unit in at least two parts in the moving direction, and the position changing device is based on the positions of the respective treating units supported by the supporting device to the moving direction of the guiding device. Ideally, it is used to change the position of the direction substantially orthogonal. Moreover, the above-mentioned position changing device is for each supporting device supporting different moving direction parts of the above-mentioned treatment unit, and has an independent change 508237 V. Description of the invention (4) This position function is ideal. The position changing device 'can also perform position changing simultaneously or independently. The position changing device is preferably a position of the treatment unit supported by the guide device with the support device, and has a function of changing at least the side to be treated. Further, the support device includes an engaging portion coupled to the guide device, and an arm supporting the engaging portion to be swingably supported by the treatment unit, and the position changing device is provided with a swing for changing the arm. The angle function is ideal. In addition, the position changing device is a second state in which the swing center of the arm is located on the side of the portion to be treated with the engaging portion, and a second state in which the swing center of the arm is on the side of the portion to be treated with the engaging portion. The function of changing the swing angle of the arm is ideal. According to this implementation, the therapeutic agent treats the therapeutic force acting on the therapeutic agent, and when it is not used, the therapeutic agent can be prevented from abutting on the human body. In addition, the present invention is provided with a left and right pair of treatment elements, a treatment unit supporting the treatment elements and movable along the portion to be treated, and a massage machine for guiding a guide device moving along the treatment portion of the treatment unit, A massage machine including a support device that supports the treatment unit with the guide device, and a posture change device that changes the posture of the guide device with the treatment unit supported by the support device may be configured. In this way, it is not only the case that the position of the entire treatment unit is changed, but the position of the guide device is changed by only one position, and only the treatment unit is changed.

五、發明説明（5 )V. Description of the invention (5)

Sc勢日寸，亦不受治療子驅動構造之拘束可構成姿勢變更 裝置。因而’同樣增大對待治療部的突出量之變化範圍 ’更適當地控制作用於待治療部位的力量，可實現因應 於症狀或部位強度之治療。又，在治療單元之移動方向 至少P又一對左右一對之治療子時，由於變更對治療單元 之引導裝置的姿勢，並使移動方向之前方或後方或者雙 方之治療子對，可切換爲頂接於待治療部，故可變成富 於更多樣性的治療。 又，本發明係具備有：左右成對的治療子；支撐該治 療子，對待治療部可移動的支撐裝置之按摩單元，亦可 構成爲具備’對該治療單元的待治療部變更接近及離開 方向之位置的位置變更裝置之按摩單元。 本發明係如上述’不但是可構成以引導裝置導引治療 單兀沿待治療部移動的按摩機，並由可安裝於如椅子或 床等的適且選擇的對方構件，亦可以構成作治療的按摩 單兀。另由使用如此的按摩單元，同樣可實現富於多樣 性的治療。在此，對方構件並不限定於如椅子或床等者 ’只要是能安裝按摩單元者即可。使用者可作保持對方 構件的構件，將此安裝按摩單元作成可搬性之按摩裝置 構成亦可以。 又，對上述對方構件及治療單元之任一側，設置導引 上述支撐裝置的軌道構件，該支持構件係繫合於該軌道 構件，同時使其具備有隨著該軌道構件移動的繫合部亦 可。 508237 五、發明説明（ 5) 軌 道 構 件 係 如於 按 摩 機 的 引 導 裝 置 具 有 可 廣 範 圍 地 移 動 治 療 單 元 延 長 者 亦 可 更 具 短 延 長 者 也 可 以 〇 例 如 5 治 療 單 元 之 移 動 如 限 定 於 與 對 待 治 療 部 的 接 近 及 離 開 可 視 爲 相 同 的 範 圍 可 移 動 程 度 之 延 長 亦 可 〇 又 5 軌 導 構 件 亦 可 設 於 對 方 構 件 5 設 於 治 療 單 元 側 亦 可 0 移 動 治 療 單 元 係 藉 由 支 撐 裝 置 的 治 療 單 元 及 對 方 構 件 之 相 對 位 置 之 變 化 來 實 現 故 設 置 軌 道 構 件 在 治 療 單 元 與 對 方 構 件 之 任何 —· 側 亦 可 實 現 同 樣 之 移 動 〇 又 上 述 治 療 子 9 係亦 可 至 少 在 上 述 軌 道 構 件 延伸 方 向 設 置 二 對 〇 又 5几 5又 於 上 述 軌 道 構 件 延 伸 方 向 的 至 少 二 對 之 治 療 子 以 包 含 互 相 不 同 特 性 的 二 對 治 療 子 亦 可 〇 又 上 述 支 撐 裝 置 y 係 使 上 述 治 療 單 元 5 於 上 述 軌 道 構 件 延 伸 方 向 至 少 2 個 部 位 對 上 述 對 方 構 件 支 撐 該 位 置 變 更 裝 置 係 由 支 撐 裝 置 所 支 撐 的 治 療 單 元 之 各 個 部 位 用 來 變 更 對 該 待 治 療 部 作 接 近 及 離 開 方 向 之 位 置 亦 可 以 〇 又 ， 上 述 位 置 變 更 裝 置 ， 係於 治 療 單 元 y 對 支 撐 軌 道 構 件 延 伸 方 向 之 不 同 部 位 的 各 個 支 撐 裝 置 y 具 有 以 獨 的 變 更 上 述 位 置 之 功 能 爲 理 想 0 又 ， 上 述 支 撐 裝 置 係 具 備 支 撐 該 繫 合 部 5 以 可 擺 動 地 支 撐 於 治 療 單 元 及 對 方 構 件 之 任 —^ 側 的 臂 5 該 位 置 變 更 裝 置 ， 係 具 有 變 更 該 臂 之 擺 動 角 度 的 功 能 爲 理 想 0 又 5 上 述 位 置 變 更 裝 置 係 8- 具 有 形 成 該 臂 之 擺 動 中 心 508237 五、發明説明（7 ) 對繫合部位於待治療部側的第一狀態，及該繫合部對臂 之擺動中心位於待治療側的第二狀態，用來變更該臂之 擺動角度功能爲理想。 又，本發明係連結左右成對的治療子，與支撐該治療 子，對待治療部可移動的治療單元，及所安裝的對方構 件之間，同時具備用來支撐該治療單元的支撐裝置之按 摩單元，可構成爲具備依該支撐裝置所支撐的治療單元 ’對該對方構件的姿勢予以變更的姿勢變更裝置之按摩 OB .—> 單兀。 又’本發明係包含以左右成對的第一治療子，及設於 第一治療子下方向，在左右成對的第二治療子，沿待治 療部移動於上下方向’同時控制該第一治療子及第二治 療子之待治療部方向位置，用來進行按摩治療的按摩機 之控制方法’於第一治療子及第二治療子之規定移動範 圍之上端部，將第一治療子突出於待治療部側，同時後 退於使第二治療子與待治療部相反側的步驟，及於第一 治療子及弟一治療子之規定移動範圍之下端部，使第一 治療子後退於與待治療部相反側，同時突出第二治療子 於待治療部側的步驟。 又，本發明係將左右成對的第一治療子，與設於第一 治療子下方的左右成對之第二治療子，沿待治療部移動 於上下方向，同時控制該第一治療子及第二治療子之待 治療部方向位置，用來進行按摩治療的按摩機之控制方 法，包含：於第一治療子及第二治療子之規定移動範圍 508237 五、發明説明（8 ) 之上端部，使第一治療子作後退與待治療部相反側，同 時突出第二治療子於待治療部側的步驟；以及於第一治 療子及第二治療子之規定移動範圍之下端部，突出第一 治療子於待治療部側，同時使第二治療子後退於與待治 療部之相反側的步驟。 又，本發明係將左右成對的第一治療子，與設於第一 治療子下方的左右成對的第二治療子，沿待治療部往上 下方向移動，同時控制該第一治療子及第二治療子之待 治療部方向位置，用來進行按摩治療的按摩機之控制方 法’沿該待治療部往下方向移動時之移動範圍內的規定 位置’包含：使第一治療子與待治療部往相反側後退， 同時突出第二治療子於待治療部側的步驟；以及於沿該 待治療部往上方向移動時之移動範圍內之規定位置，使 第一治療子突出於待治療部側，同時往與待治療部相反 側後退第二治療子的步驟。 如此，配置於上下方向的第一治療子及第二治療子之 待治療部方向位置，由於在沿待治療部之種種移動過程 之位置作變更，於規定之移動範圍的各個治療子，可解 決沿待治療部方向之移動範圍之差。又，由變更配置於 上下方向的第一治療子及第二治療子之待治療部方向之 位置，由於切換頂接待治療部的治療子，可實現富於更 多樣性的治療。又，治療子並不限定於二對第一治療子 及第二治療子，具有二對以上之成對治療子的按摩機亦 可以。 -10- 508237 五、發明説明（9 ) 又，於按摩機之控制方法，以各個獨立的控制該第一 治療子及第二治療子之待治療部方向之位置亦可。 [圖式之簡單說明] 第1圖表示本發明實施形態的按摩機之槪略構成斜視 圖。 第2圖係本發明實施形態的按摩機之全體側面圖。 第3圖係治療單元之正視圖。 第4圖係治療單元之右側視圖。 第5圖係治療單元之背視圖。 第6圖係治療單元之正面側斜視圖。 第7圖係治療單元之背面側斜視圖。 第8圖係治療部之正視圖。 第9圖係治療部之背視圖。 第1 0圖係從治療部背面上方之斜視圖。 第1 1圖係從治療部正面右方之斜視圖。 第1 2圖係從治療部正面左方之斜視圖。 第1 3圖係從治療部背面下方之斜視圖。 第14圖表示揉搓機構之構成圖。 第15圖表示揉搓機構之構成圖。 第1 6圖表示敲打機構之構成圖。 第1 7圖表示敲打機構之構成圖。 第1 8圖表示升降部之構成圖。 第19圖表示放大升降部之一部分圖。 第20圖表示前後位置變更部之構成圖。 -11- 508237 五、發明説明（i〇) 第2 1圖係前後位置變更部之斜視圖。 第22(a)、（b)、（c)圖表示前後位置變更部對導軌改變 前後方向位置之狀態圖。 第23圖表示治療單元與靠背部之位置關係變化圖。 第24圖表示治療單元與靠背部之位置關係變化圖。 第25圖表示治療單元與靠背部之位置關係變化圖。 第26圖表示治療單元與靠背部之位置關係變化圖。 第27圖係說明按摩機基本動作的流程圖。 第28圖表示按摩機全體構成的方塊圖。 第29圖係說明揉搓球調整動作之步驟流程圖。 第30圖表示揉搓動作時之揉搓球移動圖。 第3 1圖係說明按摩機指壓動作時之步驟流程圖。 第3 2圖係說明按摩機指壓動作時之步驟流程圖。 第3 3圖係說明按摩機指壓動作時之步驟流程圖。 第34(a)、（b)、（c)圖表示第一揉搓球切換動作時之治 療單元之動作遷移圖。 第35圖係說明第一揉搓切換動作之步驟流程圖。 第36(a)、（b)、（c)圖表示第二揉搓球切換動作時之治 療單元之動作遷移圖。 第37圖係說明第二揉搓切換動作之步驟流程圖。 第38(a)〜（f)表示第三揉搓球切換動作時之治療單元之 動作遷移圖。 第3 9圖係說明第三揉搓切換動作之步驟流程圖。 第40圖表示揉搓球之其他構成例圖。 -12-The Sc potential can be configured as a posture changing device without being restricted by the driving structure of the treatment element. Therefore, 'the range of change in the amount of protrusion of the portion to be treated is also increased', so that the force acting on the portion to be treated is more appropriately controlled, and the treatment according to the symptoms or the strength of the portion can be realized. In addition, when the moving direction of the treatment unit is at least P and another pair of left and right healers, the posture of the guide unit for the treatment unit is changed, and the movement direction of the forward or backward or both of the healer pairs can be switched to It is connected to the department to be treated, so it can become a more diverse treatment. In addition, the present invention is provided with a left-right pair of treatment elements, and a massage unit supporting the treatment element and a movable supporting device for the treatment unit can be configured to include a change of the treatment unit to be approached and separated from the treatment unit. Massage unit of position changing device of direction position. According to the present invention, as described above, not only can a massage machine with a guiding device be used to guide the treatment unit to move along the portion to be treated, and an appropriate and selected counterpart member that can be installed on a chair or a bed, for example, can also be constituted for treatment. Vulture massage. In addition, the use of such a massage unit can also achieve a variety of treatments. Here, the counterpart member is not limited to a person such as a chair or a bed, as long as it is a person who can mount a massage unit. The user can make a component that holds the other component, and can also construct the massaging device that is portable with this mounted massage unit. Further, a rail member for guiding the support device is provided on either side of the counterpart member and the treatment unit, and the support member is coupled to the rail member and is provided with a coupling portion that moves with the rail member. Yes. 508237 V. Description of the invention (5) The orbital member is such that the guide device of the massage machine has a wide range of extension of the treatment unit, and the extension unit can also be shorter. For example, the movement of the treatment unit is limited to the treatment to be treated. The approach and departure of the department can be regarded as the same range. The extension of the degree of movement is also possible. 5 rail guide members can also be set on the counterpart member. 5 can be set on the treatment unit side. 0 Mobile treatment units are supported by the treatment unit and The relative position of the opposing member is changed to achieve the same. Therefore, the orbital member can be set to the same movement on any side of the treatment unit and the opposing member. The 9th series of the above treatment member can also be provided at least two pairs in the extending direction of the orbiting member. Another 5 to 5 is ruled by at least two pairs in the extending direction of the above rail member It is also possible to use two pairs of treatment elements with mutually different characteristics. The support device y is used to support the treatment unit 5 to the counterpart member in at least two positions in the direction in which the track member extends. The position changing device is supported by the support device. Each part of the treatment unit can be used to change the position for approaching and leaving the part to be treated. The above-mentioned position changing device is attached to each support device y of the treatment unit y in different parts of the direction in which the support rail member extends. It is ideal to have a unique function of changing the above position. The support device is provided with an arm 5 that supports the coupling portion 5 to swingably support either the treatment unit or the counterpart member. The position changing device The function to change the swing angle of the arm is Ideal 0 and 5 The above-mentioned position changing device 8- has a swing center forming the arm 508237 V. Description of the invention (7) The first state where the engaging portion is located on the side to be treated and the swing center of the engaging portion to the arm The second state on the side to be treated is ideal for changing the swing angle function of the arm. In addition, the present invention is a massage that connects the left and right pair of heals, and supports the heals, a treatment unit that can be moved to the treatment unit, and a counterpart component installed, and a support device for supporting the treatment unit. The unit may be configured as a massage OB provided with a posture changing device that changes the posture of the counterpart member in accordance with the treatment unit supported by the supporting device .— > "The invention also includes a first treatment element paired left and right, and a second treatment element paired on the left and right sides, and a second treatment element paired on the left and right, moving up and down along the part to be treated" while controlling the first The position of the to-be-treated part of the healer and the second healer, and the control method of the massage machine for massaging treatment 'is to protrude the first healer above the prescribed movement range of the first and second healer On the side of the to-be-treated part, retreat at the same time as the step of making the second healer opposite to the to-be-treated part, and at the lower end of the specified movement range of the first and the first healer, make the first healer retreat with the The steps of the opposite side of the part to be treated, and simultaneously protruding the second healer on the side of the part to be treated. In addition, the present invention is to control the first treatment element and the first treatment element paired left and right, and the second treatment element paired left and right arranged below the first treatment element along the portion to be treated, while controlling the first treatment element and The position of the second treatment unit in the direction of the to-be-treated part, the control method of the massage machine for massaging treatment, includes: the prescribed movement range of the first treatment unit and the second treatment unit 508237 V. Description of the invention (8) Upper end , Making the first healer back to the opposite side of the to-be-treated part, while highlighting the steps of the second healer on the side of the to-be-treated part; and at the ends of the first healer and the second healer below the prescribed movement range, the first A step in which one healer is on the side of the part to be treated, and at the same time, a second healer is set back on the side opposite to the part to be treated. In addition, the present invention is to move the first healer paired left and right, and the second healer paired left and right below the first healer to move up and down along the portion to be treated, while controlling the first healer and The position of the second treatment unit in the direction of the to-be-treated part, the control method of the massage machine for performing massage treatment 'a prescribed position within a movement range when moving in the downward direction of the to-be-treated part' includes: The step of retreating the treatment part to the opposite side while highlighting the step of the second treatment part on the side of the treatment part; and the prescribed position within the movement range when moving along the treatment part for upward direction, so that the first treatment part is protruding out of the treatment part Step on the part side, and at the same time back to the opposite side of the part to be treated. In this way, the positions of the first treatment element and the second treatment element in the direction of the to-be-treated portion arranged in the up-and-down direction can be resolved due to changes in the positions along the various moving processes of the to-be-treated portion. The difference in the range of movement in the direction of the part to be treated. In addition, by changing the positions of the first treatment unit and the second treatment unit in the direction of the to-be-treated portion, switching the treatment unit of the treatment unit can realize more diverse treatments. Moreover, the treatment unit is not limited to two pairs of the first treatment unit and the second treatment unit, and a massage machine having two or more pairs of treatment units may be used. -10- 508237 V. Description of the invention (9) Also, in the control method of the massage machine, it is also possible to independently control the position of the direction of the to-be-treated part of the first and second therapists with each other. [Brief description of the drawings] Fig. 1 is a perspective view showing a schematic configuration of a massage machine according to an embodiment of the present invention. Fig. 2 is an overall side view of the massage machine according to the embodiment of the present invention. Figure 3 is a front view of the treatment unit. Figure 4 is a right side view of the treatment unit. Figure 5 is a back view of the treatment unit. Figure 6 is an oblique front view of the treatment unit. Figure 7 is an oblique view of the back side of the treatment unit. Figure 8 is a front view of the treatment section. Figure 9 is a back view of the treatment section. Figure 10 is an oblique view from above the back of the treatment section. Figure 11 is an oblique view from the front right side of the treatment section. Figure 12 is an oblique view from the front left of the treatment section. Figure 13 is an oblique view from the back of the treatment section. Fig. 14 is a configuration diagram of the kneading mechanism. Fig. 15 is a configuration diagram of the kneading mechanism. Fig. 16 shows a configuration diagram of the striking mechanism. Figure 17 shows the structure of the tapping mechanism. Fig. 18 is a diagram showing the configuration of the lifting section. Fig. 19 is a partial enlarged view of the lifting portion. FIG. 20 is a configuration diagram of the front-back position changing section. -11-508237 V. Description of the Invention (i〇) Figure 21 is a perspective view of the front-back position changing section. Figures 22 (a), (b), and (c) are diagrams showing the state where the front-back position changing unit changes the position in the front-back direction of the guide rail. FIG. 23 is a diagram showing a change in the positional relationship between the treatment unit and the backrest. Fig. 24 is a diagram showing a change in the positional relationship between the treatment unit and the backrest portion. Fig. 25 is a diagram showing a change in the positional relationship between the treatment unit and the backrest portion. Fig. 26 is a diagram showing a change in the positional relationship between the treatment unit and the backrest portion. Fig. 27 is a flowchart illustrating basic operations of the massage machine. Fig. 28 is a block diagram showing the overall configuration of the massage machine. FIG. 29 is a flowchart illustrating the steps of the kneading ball adjustment operation. Fig. 30 is a diagram showing the movement of the kneading ball during the kneading operation. Fig. 31 is a flowchart illustrating the steps of the massage machine during acupressure operation. Fig. 32 is a flowchart showing the steps of the massage machine during the Shiatsu operation. Figure 3 3 is a flowchart illustrating the steps of the massage machine during the Shiatsu operation. Figures 34 (a), (b), and (c) show the operation transition diagram of the treatment unit when the first kneading ball is switched. Fig. 35 is a flowchart showing the steps of the first kneading switching operation. Figures 36 (a), (b), and (c) show the operation transition diagram of the treatment unit when the second kneading ball is switched. Fig. 37 is a flowchart illustrating the steps of the second kneading switching operation. Numbers 38 (a) to (f) show the movement transition diagram of the treatment unit when the third kneading ball is switched. Fig. 39 is a flowchart illustrating the steps of the third kneading switching operation. Fig. 40 is a diagram showing another configuration example of the kneading ball. -12-

五、發明説明（11 ) 第41(a)、（b)表示導軌之其他例構成圖。 第42(a)、（b)表示導軌之其他例構成圖。 [用以實施發明之較佳形態] 以下參照圖面說明本發明最合適的實施形態。 第1圖表示本發明實施形態之按摩機1 〇槪略構成之 斜視圖。於第1圖中，省略靠背部1 〇〇a之蓋板及緩衝 。第2圖係同按摩機1 〇之全體側視圖，對於靠背部 l〇〇a與外形一起表示內部構成。 按摩機1 0係於可往復調整自如地椅子1 〇〇之靠背部 l〇〇a，組裝治療單元11〇者。依朝自治療單元11〇至靠 背部1 00a之蓋板所覆蓋的表面側突設的揉搓球（治療 子）20 la〜d，對人體進行按摩。揉搓球由沿脊樑配置左 右一對於上方的揉搓球201a、201b (第一治療子），及 配置左右一對於其下方的揉搓球201c、201d (第二治療 子）所成。 治療單元1 1 〇係沿靠背部丨00a，由配置爲開口相對的 剖面=字形（箱形）之一對導軌（引導裝置、軌道構件 )1 0 1 R、1 0 1 L所支撐。治療單元11 0係設於兩側的後述 升降小齒輪3 1 0及升降輥子3 11，嚙合於設在導軌1 0 1 R 、1 0 1 L內側的齒條，由旋轉驅動升降小齒輪3 1 0而沿導 軌1 0 1 R、1 0 1 L作上下移動。 第3圖係治療單元1 1 0之正視圖，第.4圖係同右側視 圖，第5圖係同背視圖，第6圖係同正面側斜視圖，第 7圖係同背面側斜視圖。 -13- 508237 五、發明説明（12) 治療單兀1 1 0之前面以板狀之底座構件1 1 1覆蓋。底 座構件1 1 1係彎曲上端部於背面側，同時在中央設置突 出揉搓球20 la〜d的大致矩形之開口部1 m。又，底座 構件1 11 a以不干涉於齒輪等設置缺口部111 2及開□部 1 1 1 3。包含治療單元1 1 〇及後述之治療單元前後位置變 更部400構成爲按摩單元。 (治療部之槪略構成） 第8圖係安裝於底座構件1 1 1的治療部2 0 0之正視圖 ，第9圖係同背視圖，第1 〇圖係從同背面上方之斜視 圖，第1 1圖係從同正面右方之斜視圖，第1 2圖係從同 正面左方之斜視圖，第1 3圖係從同背面下方之斜視圖 〇 4個揉搓球20 la〜d係於大致V字形揉搓球臂202R、 202L之前端部，分別以軸支持爲轉動自如。揉搓球臂 202R、202L之基端部係固定於臂支撐構件203R、203L 。在揉搓軸205之左右兩側，分別對軸方向傾斜固定圓 筒形狀套筒207R、207L。對於傾斜套筒207R、207L軸 方向的傾斜係設定爲左右對稱。在傾斜套筒207 R、207 L 之外周藉由沿周面轉動的軸承以轉動自如地嵌合軸承殼 203 1 R、203 1 L。臂支撐構件203R、203L係固定於軸承 殼203 1 R、203 1 L之側面。軸承殼203 1 R、203 1 L係同時 與嵌合傾斜套筒207外周的基部203 1 1 R、203 1 1 L，具有 突設於周方向的連桿承受部2031 2R、203 1 2L。在連桿承 受部20312R、20312L嵌合形成有球狀的連桿209R、 -14- 508237 五、發明説明（13 ) 209L之一端，連桿209R、209L係沿球面支撐爲擺動自 如者。 在揉搓軸205之上方，平行於揉搓軸205配置敲打軸 206。對應於敲打軸206之左右兩側之傾斜套筒207位置 ’固定有偏心於徑方向的筒狀偏心套筒208、208。對於 敲打軸206以互相偏心於反方向安裝左右之偏心套筒 208。在偏心套筒208之外周藉由沿周面轉動的軸承以 轉動自如地嵌合於軸承殼208 1 R、208 1 L。軸承殼208 1 R 、208 1L係與嵌合於偏心套筒208外周的基部208 1 1 R、 20811L —起，具有突設於周方向的連桿承受部20812R 、20 8 1 2L。一端連結軸承殻203 1 R、203 1 L的連桿209R 、209L之另一端部，係對連桿承受部208 1 2R、208 1 2L 以擺動自如地支撐於敲打軸206之軸方向。 (揉搓機構） 以下，說明治療部200之揉搓機構。 揉搓軸205及敲打軸206係在夾住揉搓球臂202R、 2 0 2L兩側，藉由軸承依板狀之治療軸保持托架204R、 204L支撐爲旋轉自如。治療軸保持托架204R、204L係 固定於底座構件111。 第14圖及第15圖表示揉搓機構之構成圖。皆爲從底 座構件1 1 1之背面側所視圖，但爲了說明方便上，省略 適當構件來圖示。 由揉搓用馬達210驅動揉搓軸205。揉搓用馬達210 係固定於揉搓、升降用馬達支撐構件1 1 2。揉搓、升降 -15- 508237 五、發明説明（14) 用馬達支撐構件1 1 2爲大致彎曲Μ字形的板狀構件，以 跨越揉搓軸205及敲打軸206之背面側地覆蓋，固定端 部於底座構件111 a之背面側。 在揉搓用馬達2 1 0之驅動軸2 1 0a安裝揉搓用小帶輪 2 1 1。繞掛於揉搓用小帶輪2 1 1外周的無端狀揉搓用帶 2 1 3，亦同樣繞掛於安裝在揉搓用蝸桿2 1 4軸的揉搓用 大帶輪212之外周。揉搓用蝸桿214與揉搓用蝸輪215 嚙合。揉搓用蝸輪215係以同心的固定於揉搓軸205之 外周。揉搓用蝸桿214與揉搓用蝸輪215，係以可旋轉 地收容於安裝在治療軸保持托架204R的揉搓用齒輪箱 218 ° 因而，揉搓用馬達2 1 0之驅動力，係依揉搓用小帶輪 211-揉搓用帶213—揉搓用大帶輪21 2-揉搓用蝸桿 2 1 4->揉搓用蝸輪2 1 5邊減速邊傳達，旋轉驅動揉搓軸 205 〇 (敲打機構） 以下，說明治療部200之敲打機構。 第16圖及第17圖表示敲打機構之構成圖。 敲打軸206係由敲打用馬達220驅動。敲打用馬達 220係藉由保持構件113a、113b固定於底座構件111a 之背面側（參照第5圖）。 安裝敲打用小帶輪2 2 1於敲打用馬達2 2 0之驅動軸。 繞掛於敲打用小帶輪221外周的無端狀之敲打用帶223 ，係同樣亦繞掛於敲打用大帶輪222之外周。敲打用大 -16- 508237 五、發明説明（^ ) 帶輪222乃以同心的固定於敲打軸206之外周。 因而，敲打用馬達220之驅動力，係以敲打用小帶輪 221—敲打用帶223->敲打用大帶輪222邊減速邊傳達， 予旋轉驅動敲打軸206。 (治療單元升降部） 以下，說明治療單元之升降部之機構。 第1 8圖係表示從底座構件1 1 1之背面側所視升降部 之構成圖，第1 9圖係放大其一部表示圖。於第1 8圖及 第19圖亦爲說明方便上，省略適當構件表示。 設於導軌1 01 R、10 1L之內面而未圖示的嚙合齒條的 升降用小齒輪3 1 0、3 1 0，係固定於升降用軸308之兩端 部。在升降用小齒輪3 10 $軸方向外側，以鄰接固定作 轉動的輥子311於導軌101R、101L之內面上（參照第5 圖）。升降用軸308，以旋轉自如地支撐於升降用輥子 支撐連桿409a、409b之一端。在升降用輥子支撐連桿 409a、409b之另一端以同心的固定於前後位置變更軸 410 ° 升降用小齒輪3 1 0係由升降用馬達30 1所驅動。固定 升降用馬達30 1於揉搓、升降用馬達保持構件1 1 2。在 升降用馬達301之驅動軸301a安裝有升降用小帶輪302 。繞掛於揉搓用小帶輪302外周的無端狀之升降用帶 304，同樣亦繞掛在安裝於升降用蝸桿305軸的升降用 大帶輪303之外周。升降用蝸桿305嚙合於升降用蝸輪 3 06。升降用蝸輪306以旋轉自如地支撐於前後位置變 -17- 508237 五、發明説明（16 ) 更用軸410之外周。升降用蝸桿305及升降用蝸輪306 ，係以可旋轉地收容於固定在底座構件1 1 1 a之背面側 的升降用齒輪箱312。升降用蝸輪306嚙合於固定在升 降用軸308外周的升降用齒輪307。 因而，升降用馬達301之驅動力，係依升降用小帶輪 302—升降用帶304—升降用大帶輪303—升降用蝸桿 305—升降用蝸輪306—升降用齒輪307邊減速邊傳達， 與升降用軸308 —起旋轉驅動升降用小齒輪310。 又，在升降用軸308之外周固定有圓板狀之升降位置 指示板309。並以連續的形成開縫於升降位置指示板 309之外周緣，依配置在夾住升降位置指示板309外周 緣的位置之升降位置光感測器3 1 3，從升降位置指示板 309之旋轉數檢測沿導軌101R、101L的治療單元110之 升降位置。又，導軌1 〇 1R、1 〇 1L設置升降上界限感測 器3 1 4及升降下界限感測器3 1 5 (參照第1圖），用來 檢測治療單元11 〇是否分別存在於上界限位置及下界限 位置。 (治療單元前後位置變更部） 其次，說明治療單元Π0之前後位置變更部400之機 構。 第20圖表示前後位置變更部400之構成圖，第21圖 係其斜視圖。 前後位置變更部400係安裝於固定在底座構件111側 方兩端部之背面側的側板413。升降用輥子支撐連桿 -18- 508237V. Description of the Invention (11) Sections 41 (a) and (b) show the structure of other examples of the guide rail. Figures 42 (a) and (b) show other examples of the configuration of the guide rail. [Best Mode for Carrying Out the Invention] The most suitable embodiment of the present invention will be described below with reference to the drawings. Fig. 1 is a perspective view showing a schematic configuration of a massage machine 100 according to an embodiment of the present invention. In Figure 1, the cover and cushion of the backrest 100a are omitted. Fig. 2 is a side view of the entire body of the massage machine 10. The internal structure of the backrest 100a is shown together with the external shape. The massage machine 10 is arranged on the backrest 100a of the chair 100 which can be adjusted back and forth freely, and the treatment unit 11 is assembled. Massage the human body by rubbing balls (therapies) 20 la ~ d protruded from the treatment unit 110 to the surface covered by the cover of the backrest 100a. The kneading ball is formed by arranging left and right kneading balls 201a and 201b (first treatment element) along the spine, and arranging left and right kneading balls 201c and 201d (second treatment element) below it. The treatment unit 1 10 is supported along the backrest portion 00a by a pair of guide rails (guides, track members) 1 0 1 R, 1 0 1 L, which are configured as one pair of cross-sections (character boxes) with opposite openings. The treatment unit 11 0 is a later-described lifting pinion 3 1 0 and a lifting roller 3 11 provided on both sides, and is engaged with a rack provided inside the guide rails 1 0 1 R and 1 0 1 L. The lifting pinion 3 1 is driven by rotation. 0 while moving up and down along the guide rails 1 0 1 R, 1 0 1 L. Figure 3 is a front view of the treatment unit 110, Figure 4 is the same as the right side view, Figure 5 is the same back view, Figure 6 is the front oblique view, and Figure 7 is the back oblique view. -13- 508237 V. Description of the invention (12) The front face of the treatment unit 1 1 0 is covered with a plate-shaped base member 1 1 1. The base member 1 1 1 has a curved upper end portion on the back side, and a substantially rectangular opening portion 1 m protruding from the center of the kneading ball 20 la to d is provided in the center. In addition, the base member 1 11 a is provided with a notch portion 111 2 and an opening portion 1 1 1 3 so as not to interfere with a gear or the like. The front-rear position changing unit 400 including the treatment unit 110 and a treatment unit described later is configured as a massage unit. (Simplified structure of the treatment section) FIG. 8 is a front view of the treatment section 2000 installed on the base member 1 1 1, FIG. 9 is a back view, and FIG. 10 is an oblique view from above the same back, Fig. 11 is an oblique view from the right side of the same front, Fig. 12 is an oblique view from the left side of the same front, and Fig. 13 is an oblique view from the bottom side of the same back. 04 kneading balls 20 la ~ d The front ends of the roughly V-shaped kneading arms 202R and 202L can be freely rotated with shaft support, respectively. The base ends of the kneading ball arms 202R and 202L are fixed to the arm supporting members 203R and 203L. On the left and right sides of the kneading shaft 205, cylindrical sleeves 207R and 207L are fixed to the shaft direction, respectively. The tilt system of the tilt sleeves 207R and 207L in the axial direction is set to be bilaterally symmetrical. The bearing housings 203 1 R and 203 1 L are rotatably fitted to the outer periphery of the inclined sleeves 207 R and 207 L by bearings that rotate on the peripheral surface. The arm support members 203R and 203L are fixed to the side surfaces of the bearing housings 203 1 R and 203 1 L. The bearing housings 203 1 R and 203 1 L are simultaneously provided with the base portions 203 1 1 R and 203 1 1 L of the outer periphery of the fitting inclined sleeve 207, and have link receiving portions 2031 2R and 203 1 2L protruding in the circumferential direction. Ball connecting rods 209R and -14-508237 are fitted to the connecting rod receiving portions 20312R and 20312L. 5. Description of the invention (13) One end of 209L. The connecting rods 209R and 209L are supported along the spherical surface to swing freely. Above the kneading shaft 205, a tapping shaft 206 is arranged parallel to the kneading shaft 205. Cylindrical eccentric sleeves 208 and 208 eccentric to the radial direction are fixed corresponding to the positions of the inclined sleeves 207 on the left and right sides of the striking shaft 206. The left and right eccentric sleeves 208 are mounted on the shaft 206 so as to be eccentric to each other in opposite directions. Bearings 208 1 R and 208 1 L are rotatably fitted to the outer periphery of the eccentric sleeve 208 by bearings rotating on the peripheral surface. The bearing housings 208 1 R and 208 1L are connected to the base portions 208 1 1 R and 20811L fitted to the outer periphery of the eccentric sleeve 208 and have link receiving portions 20812R and 20 8 1 2L protruding in the circumferential direction. One end of the connecting rods 209R and 209L connected to the bearing housings 203 1 R and 203 1 L supports the connecting rod receiving portions 208 1 2R and 208 1 2L in the axial direction of the tapping shaft 206 to swing freely. (Kneading mechanism) The kneading mechanism of the treatment unit 200 will be described below. The kneading shaft 205 and the tapping shaft 206 are supported on both sides of the kneading ball arms 202R and 202L, and are supported by the plate-shaped treatment shaft holding brackets 204R and 204L for free rotation. The treatment shaft holding brackets 204R and 204L are fixed to the base member 111. Figures 14 and 15 show the configuration of the kneading mechanism. They are all viewed from the back side of the base member 1 1 1, but for the sake of convenience of explanation, suitable members are omitted for illustration. The kneading shaft 205 is driven by the kneading motor 210. The kneading motor 210 is fixed to the kneading and elevating motor support member 1 1 2. Kneading and lifting -15- 508237 V. Description of the invention (14) The motor supporting member 1 1 2 is a substantially curved M-shaped plate-shaped member that covers the back side of the kneading shaft 205 and the tapping shaft 206, and the fixed end portion is The back side of the base member 111a. Install the kneading pulley 2 1 1 on the driving shaft 2 1 0a of the kneading motor 2 1 0. The endless kneading belt 2 1 3 is wound around the outer periphery of the kneading small pulley 2 1 1, and is similarly wound around the outer periphery of the kneading large pulley 212 mounted on the kneading worm shaft 2 1 4. The kneading worm 214 meshes with the kneading worm wheel 215. The kneading worm wheel 215 is concentrically fixed to the outer periphery of the kneading shaft 205. The kneading worm 214 and the kneading worm wheel 215 are rotatably accommodated in a kneading gear box 218 mounted on the treatment shaft holding bracket 204R. Therefore, the driving force of the kneading motor 2 10 is a kneading belt. Wheel 211-Kneading belt 213-Kneading large belt wheel 21 2-Kneading worm 2 1 4- > Kneading worm wheel 2 1 5 Speeds down while conveying and rotates the kneading shaft 205 〇 (beating mechanism) The following explains the treatment The beat mechanism of the Department 200. Figures 16 and 17 show the configuration of the striking mechanism. The striking shaft 206 is driven by a striking motor 220. The striking motor 220 is fixed to the back surface side of the base member 111a by the holding members 113a and 113b (see FIG. 5). Install the tapping pulley 2 2 1 on the drive shaft of the tapping motor 2 2 0. The endless tapping belt 223 wound around the outer periphery of the small tapping pulley 221 is also wound around the outer periphery of the big tapping pulley 222. Large tapping -16- 508237 V. Description of the invention (^) The pulley 222 is concentrically fixed to the outer periphery of the tapping shaft 206. Therefore, the driving force of the beating motor 220 is transmitted by the beating small pulley 221—the beating belt 223-> the beating large pulley 222 while decelerating, and the beating shaft 206 is rotationally driven. (Therapeutic unit elevating unit) The mechanism of the elevating unit of the therapeutic unit will be described below. Fig. 18 is a view showing the configuration of the lifting portion as viewed from the back side of the base member 1 1 1, and Fig. 19 is an enlarged view of a part thereof. Figures 18 and 19 are also for convenience of explanation, and the description of the appropriate components is omitted. The lifting pinions 3 1 0, 3 1 0, which are provided on the inner surfaces of the guide rails 1 01 R and 10 1L, and are not shown, are fixed to both ends of the lifting shaft 308. Roller 311, which rotates adjacently to the outer side of the lifting pinion 3 10 $ in the axial direction, is on the inner surfaces of the guide rails 101R and 101L (see Fig. 5). The lifting shaft 308 is rotatably supported on one end of the roller supporting links 409a and 409b for lifting. The other ends of the roller support links 409a and 409b for lifting are concentrically fixed to the front-rear position changing shaft 410 °. The lifting pinion 3 1 0 is driven by the lifting motor 301. The lifting motor 30 1 is fixed to the kneading and lifting motor holding member 1 1 2. A lifting pulley 302 is attached to a driving shaft 301a of the lifting motor 301. The endless lifting belt 304 wound around the outer periphery of the small kneading pulley 302 is also wound around the outer periphery of the large lifting pulley 303 mounted on the shaft of the lifting worm 305. The lifting worm 305 is meshed with the lifting worm wheel 306. The lifting worm gear 306 is rotatably supported at the front and rear positions. -17- 508237 V. Description of the invention (16) The outer periphery of the shaft 410 is used. The lifting worm 305 and the lifting worm wheel 306 are rotatably housed in a lifting gear box 312 fixed to the rear side of the base member 1 1 a. The lifting worm gear 306 meshes with a lifting gear 307 fixed to the outer periphery of the lifting shaft 308. Therefore, the driving force of the lifting motor 301 is transmitted according to the speed of the small lifting pulley 302—the lifting belt 304—the lifting large pulley 303—the lifting worm 305—the lifting worm gear 306—the lifting gear 307 while decelerating, The pinion 310 for lifting is rotationally driven together with the shaft 308 for lifting. A circular plate-shaped elevation position indicating plate 309 is fixed to the outer periphery of the elevation shaft 308. It is continuously formed on the outer periphery of the elevating position indicating plate 309, and is rotated from the elevating position indicating plate 309 according to the elevating position light sensor 3 1 3 disposed at a position sandwiching the outer periphery of the elevating position indicating plate 309. The position of the treatment unit 110 along the guide rails 101R and 101L is detected. In addition, the guide rails 〇1R and 〇1L are provided with a lifting upper limit sensor 3 1 4 and a lifting lower limit sensor 3 1 5 (refer to FIG. 1), and are used to detect whether the treatment unit 11 〇 exists at the upper limit, respectively. Position and lower limit position. (Front and rear position changing unit of treatment unit) Next, the mechanism of the front and back position changing unit 400 of the treatment unit Π0 will be described. FIG. 20 is a configuration diagram of the front-rear position changing unit 400, and FIG. 21 is a perspective view thereof. The front-rear position changing section 400 is attached to a side plate 413 fixed to the back side of both end portions on the side of the base member 111. Lifting roller support link -18- 508237

五、發明説明（) 409，一端以旋轉自如地軸支持升降用輥子3 1 1，另一端 固定於前後位置變更用軸4 1 0。在前後位置變更用軸 410同樣固定連桿408之一端。連桿408之另一端係藉 由銷407a連結於連桿407之一端，以銷407a作中心支 撐成互相可轉動。連桿4 0 7之另一端以可轉動地支撐於 設在進給螺帽保持具406的銷406c。在此，升降用輥子 3 11係繫合部、升降用輥子支撐連桿409相當於臂，與 作擺動中心的前後位置變更用軸4 1 0 —起構成支撐裝置 進給螺帽保持具406，係一體的收容螺合於進給螺桿 405外周的進給螺帽，進給螺桿405，係在進給螺帽之 兩側由進給螺桿保持構件411及進給螺桿保持構件412 以旋轉自如地保持。進給螺桿保持構件4 1 1及進給螺桿 保持構件4 1 2係都固定於側板4 1 3。 進給螺桿405之端部外周以同心的固定前後位置變更 用大帶輪403。安裝於前後位置變更用馬達401之驅動 軸的前後位置變更用小帶輪402，與前後位置變更用大 帶輪403之外周繞掛有無端狀之前後位置變更用帶404 。前後位置變更用馬達40 1係使驅動軸與進給螺桿405 形成平行，安裝於側板413。 在此，由前後位置變更用馬達40 1、前後位置變更用 小帶輪402、前後位置變更用大帶輪403、前後位置變更 用帶404、進給螺桿405、進給螺帽保持具.406、銷406c 、連桿B407、銷407a、連桿A408及前後位置變更用軸 -19- 508237 五、發明説明（18 ) 4 1 0，構成爲位置變更裝置及姿勢變更裝置。 在進給螺桿保持具406固定彎曲爲〕字形板狀之前後 位置指示板保持構件4 1 4。一端固定於進給螺帽保持具 406的前後位置指示板保持構件4 1 4，係彎曲成夾住側 板4 1 3，另一端繞道進入側板4 1 3之外側。在前後位置 指示板保持構件4 1 4之另一端，將延伸於進給螺桿405 軸方向的板狀之前後位置指示板4 1 5以平行保持於側板 4 1 3。前後位置指示板4 1 5，係插通於安裝在側板4 1 3的 前後位置檢測基板4 1 6之檢測部。在前後位置指示板保 持構件414，開設開縫415a在進給螺桿405之軸方向。 開縫4 1 5 a係正交於進給螺桿405之軸方向設置4列，進 給螺桿405軸方向之開縫位置係各列成爲不同。並於前 後位置檢測基板46 1之檢測部，設置檢測有無開縫的前 後位置檢測感測器。4個前後檢測感測器係配置於正交 進給螺桿405軸方向的方向，對應於各個開縫位置，故 由與進給螺帽一起移動的前後位置指示板4 1 5之相對位 置，作變化的開縫之有無組合以4個前後位置檢測感測 器417a〜d來檢測，所以可檢測進給螺桿4 0 5軸方向之位 置。 第20圖及第2 1圖，係以擺動設在治療單元1 1 〇上側 的升降用輥子支撐連桿409c、409d，表示用來變更治療 單元1 1 0上部之前後位置的前後位置變更部400A (參照 第5圖）。設於底座構件1 1.1之（從正面看）左側背面 ，擺動設在治療單元110下側的升降用輥子支撐連桿409a -20- 508237 五、發明説明（19 ) 、409b，變更治療單元110下部之前後位置的前後位置 變更部400B，亦具有與前後位置變更部400A大致同樣 之構成。並於前後位置變更部400B，係在升降輥子支撐 用連桿409c、409d之端部，加上升降用輥子311插通有 安裝升降用小齒輪3 1 0的升降用軸308，此點即與前後 位置變更部400A不同。 . 其次，說明前後位置變更部之動作。 第2 2圖係前後位置變更部4 0 0 B對導軌1 01 L表示變 化前後方向之位置圖。分別表示第22U)圖係前後位置 變更部400B在後退位置的情況，第22(b)圖在中立位置 的情況，第22(c)圖在突出位置的情況。於第22圖雖僅 表示前後位置變更部400B，但是治療單元110全體亦與 前後位置變更部400B同樣，予以變化對導軌101L的前 後位置。又，在第22(a)、（b)、（c)圖所示各情況，前後 位置變更部400A亦同樣予動作。 首先，如第22(a)圖所示，對進給螺帽保持具406位 於進給螺桿405之下端部（圖中，右方爲靠背部下方、 左方爲同上方）時加以說明。在此，前後位置變更軸 4 1 0係以旋轉自如地安裝於底座構件m，故同樣藉由 側板4 1 3對固定於底座構件1 1 1的進給螺桿405之相對 的位置關係，乃通過前後位置變更動作之間求變化。又 ，升降用輥子支撐連桿409b與連桿B408係一起固定在 前後位置變更軸4 1 0，互相之角度不變化。因而在第 22(a)圖，連桿A407將銷推出於前方，往前方轉動所連 -21- 508237 五、發明説明（2G ) 結的連桿B408，故藉由前後位置變更用軸410連結爲一 體的升降用輥子支撐連桿409b亦往前方轉動。如上述 ’前後位置變更用軸4 1 0係安裝於底座構件1 1 1，故治 療單元全體1 1 〇對導軌1 〇 1 L爲背面側，亦即從待治療 部往遠離的方向後退。 其次，如第22(b)圖所示，進給螺帽保持具406大致 在進給螺桿405之中間位置時，連桿A407將銷407a拉 入背面側，轉動所連結的連桿B 4 0 8於背面側，故藉由 前後位置變更用軸4 1 0使連結一體的升降用輥子支撐連 桿409b，更轉動於較第22(a)圖的背面側。在此情況， 升降用輥子支撐連桿4 0 9 b乃大致與底座構件1 1 1位於 平行，故底座構件1 1 1變成大致與導軌1 0 1 L位於同一 面上。 其次，如第22(c)圖所示，說明進給螺帽保持具406 位於進給螺桿405之上端部的狀況。此時，連桿A407 更將銷407a拉入背面側，將連結的連桿更轉動於背面 側，故藉由前後位置變更用軸4 1 0使連結爲一體的升降 用輥子支撐連桿409b，係更轉動於較第22(b)圖的背面 側。使升降用輥子支撐連桿409b位於前後位置變更用 軸4 1 0的更背面側，故結果，使治療單元全體1 1 〇更在 導軌1 0 1 L的前面，亦即突出於靠近待治療部方向。 第23圖係於第22(b)所示中立位置至第22(c)圖所示 突出位置’表示變更治療單元1 1 0之前後位置時的揉搓 球20 la〜d與靠背部100a之位置關係。第24圖係於第 -22- 508237 五、發明説明（21 ) 22(b)圖所示中立位置至第22(a)圖所示退避位置，表示 變更治療單元1 10之前後位置時的揉搓球20 la〜d與靠背 部1 00a之位置關係。依如此作成，可調整對揉搓球 20 1 a〜d之待治療部側的突出量，如後述的實現指壓動作 及治療之強度調整變成可能。 於第23、24圖，說明了 2個前後位置變更部400A、 400B作同樣動作之情況，但前後位置變更部400A、 400B係分別具有前後位置變更用馬達401 A、401B，可 獨立地控制。因而，可使對配置於治療單元1 1 0上方的 升降用輥子3 1 1的治療單元1 1 〇之相對位置關係不同。 亦即，不只是治療單元1 1 0全體大致前後平行於導軌 1 0 1 R、1 0 1 L，分別可獨自控制對治療單元1 1 0上部與下 部之導軌1 0 1 R、1 0 1 L相對的位置關係。 第25圖，係表示同時將前後位置變更部400A、400B 從中立位置，僅以前後位置變更部400A形成突出位置 地變化時，治療單元110與靠背部l〇〇a之相對的位置關 係。在此，僅治療單元1 1 0之上部往前方突出，故僅上 側2個揉搓球201a、201b突出（上球突出位置）。一方 面，第26圖係表示同時將前後位置變更部400A、400B 從中立位置狀態，僅以前後位置變更部400B成爲突出 位置地變化時，治療單元1 1 0與靠背部1 00a之相對的位 置關係。在此，僅治療單元1 1 0之下部往前方突出，故 僅下側2個揉搓球201 c、201 d突出（下球突出位置）。 -23- 508237 五、發明説明（22 ) 如此，在以下之說明，係將前後位置變更部400各部 之名稱對應於其功能，分別稱前後位置變更用馬達40 1 A 、401B爲揉搓球上調整馬達401 A、揉搓球下調整馬達 4 0 1 B，分別設於前後位置變更部4 0 0 A、4 0 0 B的4個前 後位置檢測感測器4 1 7 a〜d等，稱爲揉搓球上調整位置 感測器（1)〜（4)417A及揉搓下調整位置感測器（1)〜（4)417B 。又，揉搓球上調整馬達4 0 1 A、揉搓球下調整馬達 40 1 B，係同時使治療單元1 1 〇對導軌1 〇 1 R、1 〇 1 L接近 於待治療部側（突出）方向驅動時爲正轉，治療單元 110對導軌101R、101L從待治療部側遠離（退開）方向 驅動時爲逆轉。 於本實施形態，如上述，由沿導軌1 0 1 R、1 0 1 L上方 之升降用輥子支撐連桿409c及409d，與沿導軌1〇1 R、 1 OIL下方之升降用輥子支撐連桿409a及409b任一都作 擺動，雖變更了治療單元1 1 0之前後方向位置，但使沿 導軌1 0 1 R、1 0 1 L上方或下方一對之升降用輥子對治療 單元11 0保持於一定位置，僅另一側之一對升降用輥子 構成爲支撐於同樣之連桿作擺動亦可。如此構成位置變 更裝置的升降用支撐連桿，僅設在上下方向之任何一側 時，亦可調整揉搓球之前後方向位置，亦即，往待治療 部之突出量，可用來進行指壓動作及調整治療強度。又 ，擺動的連桿亦構成姿勢變更裝置。 上述的治療單元前後變更部之動作，可與沿導軌 1 10R、1 10L的治療單元升降動作獨立的實現。因而，作 -24- 508237 五、發明説明（23 ) 爲軌導構件，例如，構成爲具相當於導軌110R、l1〇L 的構件，以包含治療單元1 1 0之前後方向移動及姿勢變 化之際，升降用輥子3 1 1之可動範圍的延長，將此設於 以適宜選擇的對方構件，可實現包含後述「揉搓」、「 敲打」、「指壓」按摩動作及由調整揉搓球突出量的調 整治療強度，及所使用揉搓球之切換動作。 (按摩機之基本動作） 其次，說明進行按摩時之按摩機動作。第27圖係說 明按摩機1 0之基本動作流程圖。第28圖表示按摩機1 0 之槪略構成方塊圖。按摩機1 〇係形成CPU控制電路9 依據自操作部11之指示及各感測器之資訊，發送命令 於馬達控制電路1 2驅動各馬達，或顯示資訊在操作部 的構成。 首先，於第28圖所示操作部1 1以ON電源ON/OFF 開關（步驟1 )。此時電源ΟΝ/OFF開關之LED點燈， 報知電源開關被ON狀況（步驟2 )。 其次，將升降用馬達301、揉搓用馬達210、揉搓球 上調整馬達401A、揉搓球下調整馬達401B (第28圖以 揉搓球上調整馬達401 A、揉搓球下調整馬達401B合計 來標記爲「揉搓球切換馬達」。），分別動作於初期位 置方向（步驟3 )。判定是否各馬達完成往初期位置之移 動（步驟4 )，未完成時返回步驟3，完成時停止升降 用馬達301、揉搓用馬達210、揉搓球上調整馬達401 A 、揉搓球下調整馬達40 1 B之動作（步騾5 )。 -25- 五、發明説明（24 ) 接著’判定是否選擇爲手動模式與自動路線之任一方 (步驟6)。 選擇爲手動模式時，辨別是否選擇手動模式中任一之 動作（步驟7)，並按照選擇進行各種之手動動作（步 驟8 )。作爲手動模式，可從「上揉搓」、「下揉搓」 、「敲打」、「指壓」、「脊樑延伸」、「部分脊樑延 伸」、「往上」、「往下」之中加以選擇。進行各種手 動動作1 5分細（步驟9 ) ’經過1 5分鐘的時期結束各 種手動動作（步驟10 ) ，OFF電源〇N/〇FF開關之同時 熄燈LED (步驟1 1 )。 選擇自動模式時，辨別是否選擇了自動路線之中任一 之路線（步驟12 )。 選擇上半身自動路線時，則進行按照上半身自動路線 之選單動作（步驟1 3 )，在結束選單的時期（步驟14 )，進到步驟1 1。在此，所謂上半身自動路線，係例如 ’適宜組合脖子至肩膀、至背及腰之遍及上半身全體的 脊樑放長、揉搓、敲打及指壓動作來進行的路線。選擇 脖子肩膀自動路線時，進行按照脖子路線之選單的動作 (步驟1 5 )，結束選單時期（步驟1 6 )，進到步驟1 1 。在此，所謂脖子肩膀自動路線，係例如，適宜組合於 遍及脖子至肩膀之部位的脊樑放長、揉搓、敲打及指壓 動作來進行的路線。選擇腰自動路線時，進行按照腰自 動路線之選單的動作（步驟17 )，於結束選單時期（步 驟1 8 )，進到步驟1 1。在此，所謂腰自動路線，係適 -26- 508237 五、發明説明（25 ) 宜組合於腰部周邊的脊樑放長、揉搓、敲打及指壓動作 來進行的路線。 (揉搓球調整動作） 第2 9圖係說明揉搓球調整動作之步驟流程圖。 在按摩機1 0於上述基本動作之中途由操作部1 1之開 關操作，隨時可進行揉搓球調整。 進行各動作中途按揉搓球調整開關時，首先判別所選 擇開關之種類（步驟21 )。 按「上球出」開關時，暫時停止各種動作（步驟22 ) 。其次，正轉揉搓球上調整馬達40 1 A (步驟23 )。判 定「上球出」開關是否未按下（步驟24 ) 。「上球出」 開關未按下時，揉搓球上調整位置感測器（1)〜（4)417A， 係檢測出上球突出界限位置至反覆步驟23及24 (步驟 25 )，於檢測上球突出界限位置時期停止揉搓球上調整 馬達401A (步驟26)，再開始各種動作（步驟27)。 在步驟24，未按下「上球出」開關時，進到步驟26。 按下「四球」開關時，暫時停止各種動作（步驟2 8 ) 。其次，判定揉搓球上調整位置感測器（丨）〜（4)41 7A (第 29圖係省略爲「揉搓球上調整位置感測器」標記。）是 否檢測中立位置（步驟29 )。揉搓球上調整位置感測器 (1)〜（4)417A檢測中立位置時，停止揉搓球上調整馬達 4 10A (步驟30)，揉搓球下調整位置感測器（1)〜（4)4 1 7B 判定是否檢測出中立位置（步驟3 1 )。揉搓球上調整位 置感測器4 1 7 A未檢測出中立位置時，正轉或逆轉揉搓 -27- 508237 五、發明説明（26 ) 球上調整馬達401A，當揉搓球上調整位置感測器（1)〜（4) 4 17A檢測中立位置時（步驟32 )，進到步驟30，停止 揉搓球上調整馬達40 1 A。在此，上2個揉搓球20 1 a、b 之前後方向位置，予以正轉或逆轉揉搓球上調整馬達 40 1 A，則可使上2個揉搓球回到中立位置（對於下2個 揉搓球之前後方向位置亦同樣。）。於步驟3 1，當揉搓 球下調整位置感測器（1)〜（4)41 7B (在第29圖省略爲「 揉搓球下調整感測器」標記。）檢測中立位置時，停止 揉搓球下調整馬達401B (步驟33 )，進到步驟27。揉 搓球下調整位置感測器（1)〜(4)417B未檢測出中立位置， 則正轉或逆轉揉搓球下調整馬達40 1 B，於當揉搓球下調 整位置感測器（1)〜（4)417B檢測出中立位置時（步驟34 )，進到步驟3 3，停止揉搓球下調整馬達40 1 B。 按下「下球出」開關時，暫時停止各種動作（步驟35 )。其次，正轉揉搓球下調整馬達401B (步驟36)_。 其次，判定是否按下「下球出」開關（步驟3 7 )。按下 「下球出」開關時，判定揉搓球下調整位置感測器 (1)〜（4)41 7B，是否檢測出下球突出界限位置（步驟38 ) 。在此，揉搓球下調整位置感測器（1)〜（4)41 7B檢測有下 球突出界限位置，則停止揉搓球下調整馬達4 01 B (步驟 39 )，再開始各種動作（步驟27 )。揉搓球下調整位置 感測器（1)〜（4)417B未檢測到下球突出界限位置時，回到 步驟3 6，再予正轉揉搓球下調整馬達4 0 1 B。在步驟3 7 未按下「下球出」開關時，進到步驟39。 -28- 508237 五、發明説明（27) 以下’詳細說明依按摩機構的各種按摩動作。 (揉搓動作） 於揉搓動作時，停止旋轉敲打軸206，僅旋轉揉搓軸 205 °揉搓球臂202R、202L，係旋轉自如地支撐於對揉 搓軸205以傾斜安裝的傾斜套筒207之外周，同時藉由 連桿用來限制揉搓軸205周圍之旋轉。因而，治療子 20 1係自揉搓軸205軸心之距離邊予變化擺動於揉搓軸 205之軸方向。如此地揉搓球之移動從正面視之圖表示 於第30圖。此時左右揉搓球間之間隔會變化，故依如 此的動作可實現揉搓身體的「揉搓動作」。欲進行如上 述揉搓動作之際，由於切換揉搓用馬達2 1 0之旋轉方向 ，可予逆轉揉搓球之運動方向，故可實現「上揉搓」及 「下揉搓」之2種動作。 (敲打動作） 於敲打動作時，停止揉搓軸2 0 5之旋轉，旋轉敲打軸 206。此時，揉搓球臂202R、202L大致正交於揉搓軸 205，以保持於揉搓球大致正交於背的狀態（揉搓原點 位置），用來控制傾斜套筒207之旋轉方向位置。揉搓 軸205之端部以同心的固定揉搓原點檢測板2 1 6及揉搓 位置指示板2 1 7 (參照第1 4圖）。揉搓原點檢測板2 1 6 係爲外周緣之一地方設置開縫的圓板狀構件，相對於底 座構件1 1 1背面之位置，依如夾住揉搓原點檢測板2 1 6 所配置的揉搓原點光感測器，形成可檢測揉搓原點位置 。連桿49係伴隨敲打軸206之旋轉藉由偏心旋轉的偏 -29- 508237 五、發明説明（28 ) 心套筒208，以旋轉自如地支撐，故由於旋轉敲打軸 206，會改變敲打軸206之軸心與連桿之端部，用來改 變嵌合的連桿承受部2 0 3 1 R、2 0 3 1 L之距離。揉搓球臂 202R、202L·係以旋轉自如地支撐於揉援軸205之周圍， 故驅動敲打馬達由使敲打軸206旋轉適當的速度，揉搓 球臂202R、202L擺動於揉搓軸205之周圍，實現了敲 打動作。 (指壓動作） 以下’說明指壓動作時之步驟。第3 1、3 2及3 3圖係 說明按摩機1 0之指壓動作時之步驟流程圖。 首先，選擇手動馬達之動作（步驟5 1 )，進行調整揉 搓球之上下位置（步驟52 )。此時，利用者係於操作部 1 1按下「往上」開關或「往下」開關（步驟5 3 )。應 答於此，動作升降用馬達3 0 1往指定的方向（步驟5 4 ) 。利用者係直到希望之位置爲止移動了揉搓球20 1時， 放開升降輥子「往上」開關或「往下」開關（步驟55 ) ^其次’利用者按下指壓開關（步驟5 6 )。應答於此， 低速正轉揉搓球上調整馬達4 0 1 A (步驟5 7 )。揉搓球 上調整位置感測器（1)〜（4)41 7A判定爲是否檢測到上球 突出界限位置（步驟5 8 )。揉搓球上調整位置感測器 (1)〜（4)4 1 7A未檢測到上球突出界限位置時回到步驟57 ，再以低速旋轉揉搓球上調整馬達40 1 A。當揉搓球上調 整位置感測器（1)〜（4)41 7A檢測到上球突出界限位置時， 停止揉搓球上調整馬達40 1 A (步驟5 9 )，等待規定時 -30- 508237 五、發明説明（29 ) 間（步驟60 )，其次，高速逆轉揉搓球上調 40 1 A (步驟6 1 )。其次，判定揉搓球上調整 (1)〜（4)417A是否檢測出中立位置（步驟62) 上調整位置感測器（1)〜（4)417A未檢測出中立 步驟6 1，再以高速的逆轉揉搓球上調整馬達 搓球上調整位置感測器（1)〜（4)41 7A檢測出中 停止揉搓球上調整馬達4 01 A (步驟6 3 )，等 間（步驟64 )，判定是否切換揉搓球（是否 調整開關）（步驟65 )。不切換揉搓球時回 ，低速旋轉揉搓球上調整馬達40 1 A。需作切 ，判定選擇有任一之揉搓球調整開關（步驟 在步驟6 6選擇「上球出」開關時，停止g 整馬達401A (步驟67 )，等待規定時間（步 低速正轉揉搓球上調整馬達401 A (步驟69 ) 判定揉搓球上調整位置感測器（1)〜（4) 4 1 7 A是 球突出界限位置（步驟7 0 )。揉搓球上調整 (1)〜（4) 4 1 7 A是未檢測出上球突出界限位置時 69再低速正轉揉搓球上調整馬達401A。揉搓 位置感測器（1)〜（4)4 17A檢測出上球突出界限 止揉搓球上調整馬達40 1 A (步驟7 1 )，等待 (步驟7 2 ) ’接著，局速逆轉揉搓球上調整 (步驟73)。其次，判定揉搓球上調整位置 (1)〜（4)417A是否檢測出中立位置（步驟74 ) 上調整位置感測器（1)〜（4) 4 1 7 A未檢測出中立 整馬達 位置感測器 ，揉搓球 位置時回到 401 A。揉 立位置時， ^待規定時 按壓揉搓球 到步驟5 7 換揉搓球時 66 ) ° ^搓球上調 •騾 68)， ，其次， 否檢測出上 位置感測器 ，回到步驟 :球上調整 位置時，停 :規定時間 馬達4 0 1 A 感測器 ，揉搓球 位置時回到 -31- 508237 五、發明説明（30 ) 步驟73，再以速逆轉揉搓球上調整馬達401 A。揉搓球上 調整位置感測器（1)〜（4)417A檢測出中立位置時，停止揉 搓球上調整馬達40 1 A (步驟75 )，等待規定時間（步驟 7 6 )，判定是否再一次按下指壓開關（步驟7 7 )。再一次 按下指壓開關時，結束指壓動作（步驟7 8 )。未再一次 按下指壓開關時，回到步驟69，再以低速正轉揉搓球上 調整馬達401A。 在步驟6 6選擇爲「四球」開關時，停止揉搓球上調整馬 達401A (步驟79)，等待規定時間（步驟80)，低速正 轉揉搓球上調整馬達401A (步驟8 1 )。其次，揉搓球上 調整位置感測器（1)〜（4)4 17A判定是否檢測出上球突出界 限位置（步驟82)。揉搓球上調整位置感測器（1)〜（4)417A 未檢測到上球出突出界限位置時回到步驟8 1，再低速正 轉揉搓球上調整馬達401A。揉搓球上調整位置感測器 (1)〜（4)417A檢測出上球出突出界限位置時，停止揉搓球 上調整馬達401A (步驟83)，等待規定時間（步驟84) ，其次，高速逆轉揉搓球上調整馬達401A (步驟85)。 接著，判定揉搓球上調整位置感測器（1)〜（4)417A是否檢 測出中立位置（步驟86)，揉搓球上調整位置感測器（1)〜 (4)4 17A未檢測出中立位置時回到步驟85，再以高速逆轉 揉搓球上調整馬達40 1 A。揉搓球上調整位置感測器 (1)〜（4)417A檢測出中立位置時，停止揉搓球上調整馬達 401A (步驟87)，等待規定時間（步驟88)，低速正轉 揉搓球下調整馬達401 B (步驟89 )，其次，判定揉搓 球下調整位置感測器（1)〜（4)41 7B是否檢測出下球突 -32- 508237 五、發明説明（31 ) 出界限位置（步驟90 )。揉搓球下調整位置感測器 (1)〜（4)41 7B未檢測出下球突出界限位置時回到步驟89 ，再低速正轉揉搓球下調整馬達40 1 B。揉搓球下調整位 置感測器（1)〜（4)417B檢測出下球突出界限位置時，停止 揉搓球下調整位置感測器（1)〜（4)41 7B檢測出下球突出界 限位置時，停止揉搓球下調整馬達40 1 B (步驟9 1 )， 等待規定時間（步驟92 )，其次，高速逆轉揉搓球下調 整馬達401B (步驟93 )。接著，判定揉搓球下調整位 置感測器（1)〜（4)4 17B是否檢測出中立位置（步驟94 ) ，揉搓球下調整位置感測器（1)〜（4)41 7B未檢測出中立位 置時回到步驟93，再以高速逆轉揉搓球下調整馬達 401B。揉搓球下調整位置感測器（1)〜（4)417B檢測出中立 位置時，停止揉搓球下調整馬達401B (步驟95)，等 待規定時間（步驟96 )，再一次判定是否按下指壓開關 (步驟97 )。再一次按下指壓開關時結束指壓動作（步 驟78 )。未再一次按下指壓開關時回到步驟78停止揉 搓球下調整馬達401 A。 在步驟66選擇「下球出」開關時，停止揉搓球下調 整馬達401A (步驟98)，等待規定時間（步驟99)， 低速正轉揉搓球下調整馬達401 B (步驟100)。其次， 判定揉搓球下調整位置感測器（1)〜（4)4 1 7B是否檢測出下 球突出界限位置（步驟1 0 1 )。揉搓球下調整位置感測 器（1)〜（4) 4 1 7 B未檢測出下球突出界限位置時回到步驟 1 00 .，再低速正轉揉搓球下調整馬達40 1 B。揉搓球下調 -33- 508237 五、發明説明（32 ) 整位置感測器（1)〜（4)417B檢測出下球突出界限位置時， 停止揉搓球下調整馬達401B (步驟102 )，等待規定時 間（步驟1 0 3 )，其次，以高速逆轉揉搓球下調整馬達 40 1 B (步驟1 04 )。接著，判定揉搓球下調整位置感測 器（1)〜（4)41 7B是否檢測出中立位置（步驟1〇5 )，揉搓 球下調整位置感測器（1)〜（4) 4 1 7 B未檢測出中立位置時回 到步驟1 04，再以高速逆轉揉搓球下調整馬達40 1 B。揉 搓球下調整位置感測器（1)〜（4)417B檢測出中立位置時， 停止揉搓球下調整馬達40 1 B (步驟1 06 )，等待規定時 間（步驟1 07 )，再一次判定是否按下指壓開關（步驟 10 8)。未再一次按下指壓開關時，回到步驟1 0 0，再以 低速旋轉揉搓球下調整馬達401 B。 (脊樑伸長） 於脊樑伸長動作時，停止雙方之揉搓軸2 0 5及敲打軸 206，將揉搓球臂202R、202L保持於揉搓原點位置，驅 動升降用馬達30 1使按摩機構1全體沿軌道上下移動。 此時，使用的揉搓球之種類（上或下之揉搓球），數量 及突出量係以適宜切換揉搓球調整開關。 又，亦於操作部11以調整揉搓球選擇「拉進」時， 一起逆轉揉搓球上調整馬達401 A及揉搓球下調整馬達 40 1 B，如第24圖所示退開治療單元1 1 0於背面側。 (揉搓球切換動作） 邊移動於自肩膀跨於腰之上下方向，用來進行脊樑伸 長治療或此治療與敲打或揉搓治療之複合動作時，治療 -34- 508237 五、發明説明（33 ) 單元1 10係升降於沿導軌1 10R、1 10L的移動範圍之上 端部與下端部之間。僅使用上側之揉搓球20 1 a、20 1 b或 下側之揉搓球20 1 c、20 1 d之任何一側之揉搓球，進行如 上述之治療時，治療單元1 1 0之移動範圍亦係相同者。 可是，對於上側之揉搓球20 1 a、20 1 b與下側之揉搓球 201c、201d治療單元110的安裝位置，在上下方向有若 干之間隔。因此，僅使用上側之揉搓球2 0 1 a、2 0 1 b進行 治療脊樑伸長等時，係下端部（亦即腰部），僅使用下 側之揉搓球201 c、20 1 d進行治療脊樑伸長等時係上端部 (亦即肩部），各個揉搓球不頂接於待治療部會產生不 能進行治療的範圍。從肩跨及腰之一部分範圍邊移動於 上下方向，用來進行部分伸長治療時亦在治療單元1 1 0 ，於移動範圍上端部及下端部發生同樣的問題。 對於此，如以下所說明，於治療單元Π 〇移動範圍之 上端部及下端部，由於切換用來進行治療的揉搓球，僅 以上下任一之揉搓球的不能包涵待治療部範圍，由另一 側之揉搓球可用來進行治療。以下說明係對3個揉搓球 切換動作，但亦可以進行控制3個切換動作之任何2個 或複合3個者。又，僅由2個揉搓球進行治療之過程， 包含使用4個揉搓球來進行治療的過程亦可以。又，在 以下之說明，對於揉搓、敲打等之治療並未有普及，但 邊進行此等之動作邊進行以下之切換動作亦可以，含切 換動作的脊樑伸長或部分伸長治療之間，亦可以進行揉 搓、敲打等之治療。 -35- 508237 五、發明説明（34 ) (第一揉搓球切換動作） 以下說明脊樑伸長治療時之第一揉搓球切換之動作步 驟。第34圖係表示治療單元1 1 0之動作遷移圖。第3 5 圖係說明揉搓球切換動作之步驟流程圖。 首先，如第34(a)圖所示，上側之揉搓球201a、201b 突出.於待治療部側，下側之揉搓球2 0 1 c、2 0 1 d與待治療 部後退於相反側狀態，使治療單元1 1 0從導軌1 0 1 R、 1 OIL之上端部往下方向驅動升降用馬達301 (步驟1 11 )，治療單元110係對導軌1 〇 1 R、101L以同樣姿勢被 支撐的狀態，沿待治療部下降。升降下界限感測器3 1 5 成〇N時（步驟1 12 )，停止升降用馬達301 (步驟1 13 )。其次，如第35(b)圖所示，正轉揉搓球下調整馬達 401B (步驟1 14 )，將下側之揉搓球201c、201d爲突出 至規定位置狀態，由揉搓球下調整位置感測器檢測出時 (步驟1 1 5 )，停止揉搓球下調整馬達40 1 B (步驟1 1 6 )。接著，逆轉揉搓球上調整馬達40 1 A (步驟1 1 7 )， 爲上側之揉搓球20 1 a、20 1 b後退至規定位置的狀態，由 揉搓球上調整位置感測器檢測出時（步驟1 1 8 )，停止 揉搓球上調整馬達401A (步驟119 )。 接著，如第34(c)圖所示，往上方向驅動升降用馬達 301 (步驟120)。治療單元11〇係對導軌101R、101L 以同樣姿勢支撐的狀態沿著待治療部作上昇。升降上界 限感測器成ON時（步驟1 2 1 )，停止升降用馬達30 1 ( 步驟122)。其次，如第34(d)圖所示，正轉揉搓球上調 -36- 五、發明説明（35 ) 整馬達401A (步驟123 )，將上側之揉搓球201a、201b 爲突出至規定之位置狀態，由揉搓球上調整位置感測器 檢測出時（步驟1 24 )，停止揉搓球上調整馬達40 1 A ( 步驟125 )。其次，逆轉揉搓球下調整馬達401B (步驟 126 )，將下側之揉搓球201c、201d後退至規定之位置 狀態，由揉搓球下調整馬達401B (步驟128 )。 以後，回到步驟111，治療單元再度下降，反覆上述 之動作。 如此於第一揉搓球切換動作，在導軌1 〇 1R、1 〇 1L之 上端部及下端部變更治療單元11 〇之姿勢。而沿導軌 101R、101L於治療單元下降時，上側之揉搓球201a、 20 l b突出於待治療部側，下側之揉搓球20 1 c、20 1 d保 持後退於與待治療部相反側的姿勢，在上升時，下側之 揉搓球20 1 c、20 1 d突出於待治療部側，上側之揉搓球 20 1 a、20 1 b保持後退於與待治療部相反側的姿勢。 (第二揉搓球切換動作） 以下說明脊樑伸長治療時之第二揉搓球之動作步驟。 第36圖係表示治療單元1 10之動作遷移圖。第37圖係 說明揉搓球切換動作之步驟流程圖。 首先’如第36(a)圖所不’上側之揉援球201a、201b 往與待治療部側相反側後退，下側之揉搓球20 1 c、20 1 d 以突出於待治療部的狀態，治療單元π 〇從導軌1 〇 1R、 1 0 1 L之上端部往下方向驅動升降用馬達30 1 (步驟1 3 1 )。治療單元1 1 0係對導軌1 0 1 R、1 0 1 L以支撐在同樣 -37- 508237 五、發明説明（36 ) 姿勢狀態下沿著待治療部下降。當升降下界限感測器 3 15成ON時（步驟132 )，停止升降用馬達301 (步驟 133)。其次，如第36(b)圖所示，正轉揉搓球上調整馬 達401 A (步驟134 )，將上側之揉搓球201a、201b爲在 突出至規定位置的狀態，由揉搓球上調整位置感測器檢 測出時（步驟135)，停止揉搓球上調整馬達401A (步 驟36 )。其次，逆轉揉搓球下調整馬達401B (步驟137 )，將下側之揉搓球201c、201d爲在後退至規定位置的 狀態，由揉搓球下調整位置感測器檢測出時（步驟1 3 8 )，停止揉搓球下調整馬達401 B (步驟139)。 接著，如第36(c)圖所示，往上方向驅動升降用馬達 3 0 1 (步驟1 40 )。治療單元1 1 0就對導軌1 0 1 R、1 〇 1 L 以支撐爲同樣姿勢的狀態，沿著待治療部上升。當升降 界限感測器3 14成ON時（步驟1 4 1 )，停止升降用馬 達301 (步驟142 )。其次，如第36(d)圖所示，正轉揉 搓球下調整馬達401B (步驟143 )，將下側之揉搓球 201c、201d爲在突出至規定位置的狀態，由揉搓球下調 整位置感測器檢測出時（步驟1 44 )，停止揉搓球下調 整馬達401B (步驟145 )。其次，逆轉揉搓球上調整馬 達401A (步驟146)，將上側之揉搓球201a、201b爲在 後退至規定位置的狀態，由揉搓球上調整位置感測器檢 測出時（步驟1 47 )，停止揉搓球上調整馬達40 1 A (步 驟 1 4 8 )。 以後，回到步驟1 3 1，待治療單元再度下降，反覆上 -38- 508237 五、發明説明（37 ) 述之動作。 如此於第二揉搓球切換動作，係與第一揉搓球切換動 作同樣’在導軌1 0 1 R、1 0 1 L之上端部及下端部變更了 治療單元1 1 〇之姿勢。可是，於第二揉搓球動作，係沿 著導軌1 0 1 R、1 0 1 L使治療單元1 1 〇下降時，下側之揉 搓球20 1 c、20 1 d突出於待治療部側，上側之揉搓球 20 1 a、20 1 b保持著後退於與待治療部相反側的姿勢，在 上升時上側之揉搓球20 1 a、20 1 b突出於待治療部側，下 側之揉搓球20 1 c、20 1 d保持著後退於與待治療部相反側 的姿勢。 (第三揉搓球切換動作） 以下說明脊樑伸長治療時之第三揉搓球切換之動作步 驟。第38圖表示遷移治療單元1 10之動作圖。第39圖 係說明揉搓球切換動作之步驟流程圖。 首先，如第38(a)圖所示，上側之揉搓球201a、201b 突出於待治療部，下側之揉搓球20 1 c、20 1 d以後退到與 待治療部相反側的狀態，使治療單元1 1 0從導軌1 0 1 R、 101L之上端部往下方向驅動升降用馬達301 (步驟151 )。治療單元1 1 0係對導軌1 0 1 R、1 0 1 L以支撐於同樣 姿勢的狀態，沿待治療部下降。升降位置檢測感測器 3 1 3檢測出規定位置時（步驟1 5 2 )，停止升降用馬達 301 (步驟153 )。其次，如第38(b)圖所示，正轉揉搓 球下調整馬達40 1 B (步驟1 54 )。將下側之揉搓球20 1 c 、2 0 1 d爲在突出到規定位置的狀態，由揉搓球下調整位 -39- 508237 五、發明説明（38 ) 置感測器檢測出時（步驟155 )，停止揉搓球下調整馬 達401B (步驟156)。其次，逆轉揉搓球上調整馬達 401A (步驟157 )，揉搓球上調整位置至感測器檢測出 上側之揉搓球20 1 a、20 1 b作後退定之位置時（步驟1 58 ) ，停止揉搓球上調整馬達40 1 A (步驟1 5 9 )。其次，往 下方向驅動升降用馬達30 1 (步驟1 60 )，停止升降用 馬達3 0 1 (步驟1 6 2 )。 接著，如第38(d)圖所示，往上方向驅動升降用馬達 301 (步驟163 )。當升降位置檢測感測器313檢測出規 定之位置時（步驟164 )，停止升降用馬達301 (步驟 165)。其次，如第38(e)圖所示，正轉揉搓球上調整馬 達401A (步驟166 )，將上側之揉搓球201a、201b爲在 突出至規定位置狀態，由揉搓球上調整位置感測器檢測 出時（步驟167 )，停止揉搓球上調整馬達401A (步驟 168 )。其次，逆轉揉搓球下調整馬達401B (步驟169 )，將下側之揉搓球20 1 c、20 1 d爲在後退至規定之位置 狀態，由揉搓球下調整位置感測器檢測出時（步驟1 70 )，停止揉搓球下調整馬達40 1 B (步驟1 7 1 )。接著， 往上方向驅動升降用馬達301 (步驟172)。治療單元 1 1 ◦係對導軌1 0 1 R、1 0 1 L以支撐在同樣姿勢的狀態下， 沿待治療部上升。如第38(f)圖所示，升降上界限感測器 3 14成ON時（步驟173 )，停止升降用馬達301 (步驟 174)。 以後，回到步驟1 5 1，待治療單元再度下降，反覆上 -40- 508237 五、發明説明（39 ) 述之動作。 如此，於第三揉搓球切換動作，係在導軌1 0 1 R、 1 0 1 L之上端部及下端部以外之中途規定位置，用來變更 治療部之姿勢。因此，於導軌1 0 1 R、1 0 1 L之上端側， 係上升時、下降時一起，使上側之揉搓球20 1 a、20 1 b突 出於待治療部側，下側之揉搓球20 1 c、20 1 d保持在後退 於與待治療部相反側的姿勢，在導軌1 〇 1 R、1 〇 1 L之下 端側，上升時、下降時一起，使下側之揉搓球2 0 1 c、 2 0 1 d突出於待治療部側，上側之揉搓球2 0 1 a、2 0 1 b保 持在後退於與待治療部相反側的姿勢。 上述之動作，係在治療單元1 1 0之移動範圍中途停止 升降用馬達301，用來變更治療單元no之姿勢，但是 亦可邊移動來變更姿勢。又，治療單元1 1 〇之上昇時與 下降時之姿勢變更位置亦可爲同樣位置，亦可爲不同位 置。 又，於上述之第一至第三之揉搓球切換動作，往待治 療側的突出及與待治療部相反側的後退動作，可適宜設 疋爲從上側之揉援球2 0 1 a、2 0 1 b與下側揉援球2 0 1 c、 2 0 1 d之任一方先進行，並不限定於如上述的順序者。又 ，亦可同時進行此等之動作，隔以規定時間來進行亦可 以。 (揉搓球構成之變形例） 於上述之實施形態，上側之揉搓球2 0 1 a、2 0 1 b，與下 側之揉搓球20 1 c、20 1 d係成爲同樣形狀。因而，使用任 -41- 508237 五、發明説明（4()) 何一個上側之揉搓球20 1 a、20 1 b或下側之揉搓球20 1 c 、201d，使用者之感觸或治療效果乃不變。可是如第40 圖所示，將上側之揉搓球20 1 a、20 1 b之周面構成爲平滑 的曲面，在下側之揉搓球20 1 c、20 1 d之周面上配置複數 之小突起20 1 2的形狀亦可。如此使上側之揉搓球20 1 a 、201b與下側之揉搓球201c、201d，互相爲不同形狀時 ，以僅使用上側之揉搓球20 1 a、20 1 b時與僅使用下側之 揉搓球201c、201d時，可實現不同的感觸與治療效果。 又，於具有如此構成的揉搓球的按摩機，進行如上述 的揉搓球之切換控制，則可實現富於多樣性的按摩。 (導軌之變形例） 第4 1、42圖係都表示上述實施形態與導軌之構成爲 不同的按摩機槪略構成。導軌以外之構成係與上述之實 施形態同樣，故對同樣之構成用同樣之符號省略其說明 ，僅說明特徵性的構成。 第41圖係表示具有延長於上方的導軌1101R、1101L 的按摩機1000。第41(a)、41(b)圖，係表示治療單元 1 1 0分別位於導軌1 1 0 1 R、1 1 0 1 L移動範圍之上端部及下 端部的狀況。在第41 (a)圖，下側之揉搓球201c、20 Id 位於使用者之肩膀，上側之揉搓球20 1 a、20 1 b係位於大 致頭部之中央部。第4 1 (b)圖，係下側之揉搓球20 1 c、 20 1 d與上述實施形態同樣在使用者之腰位置。亦即，有 自肩膀遍及於腰之全範圍僅使用下側之揉搓球20 1 c、 20 1 d治療的可能，於上側之揉搓球20 1 a、20 1 b與下側 -42- 508237 41 五、發明説明（） 之揉搓球20 1 c、20 1 d具有不同形狀時特別有效。 第42圖係表示具有延長於下方的導軌1102R、1102L 的按摩機2000。第42(a)、42(b)圖，係表示治療單元 110分別位於導軌1102R、1102L之移動範圍之上端部及 下端部的狀況。第42(a)圖，係表示治療單元110位於導 軌1 102R、1 102L移動範圍之上端部的情況，並與上述 實施形態同樣上側之揉搓球20 1 a、20 1 b位於使用者之肩 膀。第42(b)圖，係上側之揉搓球201a、201b位於使用 者之腰，下側之揉搓球20 1 c、20 1 d係位於使用者之腰更 下方。亦即，可從肩膀遍及腰之全範圍僅使用上側揉搓 球201a、201b的治療，其上側之揉搓球201a、201b與 下側之揉搓球20 1 c、20 1 d爲具有不同形成時特別有效。 [產業上之利用可能性] 如以上所說明，依本發明對支撐治療子的治療單元本 身之引導裝置的移動方向，可使其變更大致正交的位置 ，故可使治療子與人體之間隔調整量大，更適當地控制 作用於待治療部位的力，因應於症狀或部位強度的治療 ，或者，實現了更富於多樣性的治療，同時未進行按摩 時可形成不會妨礙到治療子。 符號說明 10…按摩機 110…治療單元 101R、101L…導軌（引導裝置、軌道構件） 200…治療部 •43- 508237 4? 五、發明説明（） 201a〜d…揉搓球（治療子） 202R、202L.··揉搓臂 205…揉搓球 2 0 6…敲打軸 400、400A、400B…前後位置變更部 -44- 508237 令/年Μ厶日V. Description of the invention () 409, one end supports the lifting roller 3 1 1 with a freely rotating shaft, and the other end is fixed to the front and rear position changing shaft 4 1 0. Similarly, one end of the link 408 is fixed to the front-rear position changing shaft 410. The other end of the connecting rod 408 is connected to one end of the connecting rod 407 by a pin 407a, and is supported so as to be rotatable with the pin 407a as a center. The other end of the link 4 0 7 is rotatably supported by a pin 406c provided on the feed nut holder 406. Here, the lifting roller 3 11 series engaging portion and the lifting roller support link 409 correspond to an arm, and constitute a support device feed nut holder 406 together with the front and rear position changing shaft 4 1 0 as a swing center. The integrated receiving screw nut is screwed onto the outer periphery of the feeding screw 405, and the feeding screw 405 is fastened on both sides of the feeding nut by the feeding screw holding member 411 and the feeding screw holding member 412 to rotate freely. maintain. Both the feed screw holding member 4 1 1 and the feed screw holding member 4 1 2 are fixed to the side plate 4 1 3. The outer periphery of the end portion of the feed screw 405 is changed in a concentrically fixed front-rear position by a large pulley 403. A small pulley 402 for changing the front-to-rear position is mounted on a drive shaft of the motor 401 for changing the front-to-rear position, and an endless front-rear position-changing belt 404 is wound around the outer periphery of the large pulley 403 for changing the front-rear position. The front-back position changing motor 40 1 is mounted on the side plate 413 so that the drive shaft is parallel to the feed screw 405. Here, from the front and rear position change motor 40 1, the front and back position change small pulley 402, the front and back position change large pulley 403, the front and back position change belt 404, the feed screw 405, the feed nut holder. 406, pin 406c, link B407, pin 407a, link A408, and front-rear position changing shaft -19-508237 V. Description of the invention (18) 4 1 0, which is configured as a position changing device and a posture changing device. The position indicating plate holding member 4 1 4 is fixed before and after the feed screw holder 406 is fixedly bent into a [] shape. One end is fixed to the front-rear position indicating plate holding member 4 1 4 of the feed nut holder 406, and is bent to sandwich the side plate 4 1 3, and the other end is detoured to enter the outside of the side plate 4 1 3. At the other end of the forward and backward position indicating plate holding member 4 1 4, a plate-shaped forward and backward position indicating plate 4 1 5 extending in the axial direction of the feed screw 405 is held in parallel to the side plate 4 1 3. The front-rear position indicator plate 4 1 5 is inserted into a detection portion of the front-rear position detection substrate 4 1 6 mounted on the side plate 4 1 3. In the front-rear position indicating plate holding member 414, a slit 415a is opened in the axial direction of the feed screw 405. The slits 4 1 5 a are arranged in four rows orthogonal to the axial direction of the feed screw 405, and the slit positions in the axial direction of the feed screw 405 are different for each row. A front-rear position detection sensor for detecting the presence or absence of a slit is provided in the detection section of the front-rear position detection substrate 461. The four front and rear detection sensors are arranged in the direction of the orthogonal feed screw 405 axis direction, corresponding to each slit position, so the relative position of the front and rear position indicator plate 4 1 5 that moves with the feed nut is used as The combination of the presence or absence of the change in the slit is detected by the four forward and backward position detection sensors 417a to d, so that the position of the feed screw in the direction of the 0.05 axis can be detected. Figures 20 and 21 show the forward and backward position changing section 400A for changing the front and back positions of the upper part of the treatment unit 1 10 by swinging the roller support links 409c and 409d provided on the upper side of the treatment unit 1 10. (Refer to Figure 5). Installed on the base member 1 1. 1st (viewed from the front) the left and rear sides swing the lifting roller support link 409a -20- 508237 located below the treatment unit 110. 5. Description of the invention (19) and 409b, change the front and back position of the lower part of the treatment unit 110. The position changing unit 400B also has a configuration substantially the same as that of the front-back position changing unit 400A. The front and rear position changing section 400B is connected to the ends of the lifting roller supporting links 409c and 409d, and the lifting roller 311 is inserted through the lifting shaft 308 to which the lifting pinion 3 1 0 is mounted. The front-back position changing section 400A is different. .  Next, the operation of the front-back position changing section will be described. Fig. 22 is a diagram showing the position of the front-back position changing section 4 0 B and the guide rail 1 01 L for changing the front-back direction. Fig. 22U) shows the case where the front-back position changing unit 400B is in the retracted position, Fig. 22 (b) is the neutral position, and Fig. 22 (c) is the protruding position. Although only the front-back position changing section 400B is shown in Fig. 22, the entire treatment unit 110 is also changed in the front-back position of the guide rail 101L similarly to the front-back position changing section 400B. In each of the cases shown in Figs. 22 (a), (b), and (c), the front-rear position changing unit 400A operates similarly. First, as shown in Fig. 22 (a), the description will be given of the case where the feed nut holder 406 is located at the lower end of the feed screw 405 (in the figure, the right side is below the backrest portion and the left side is the same above). Here, the front-rear position changing shaft 4 1 0 is rotatably mounted on the base member m. Therefore, the relative positional relationship between the side plate 4 1 3 and the feed screw 405 fixed to the base member 1 1 1 is also adopted. Change between forward and backward position changes. In addition, the roller support link 409b for lifting is fixed to the front-rear position changing shaft 4 10 together with the link B408, and the angles therebetween do not change. Therefore, in Figure 22 (a), the connecting rod A407 pushes the pin forward, and rotates the connected -21-508237 forward. 5. The description of the invention (2G) connecting rod B408, so the shaft 410 is changed by the forward and backward position. The integrally connected lifting roller support link 409b also rotates forward. As described above, the shaft 4 1 0 for front-to-rear position change is mounted on the base member 1 1 1. Therefore, the entire treatment unit 1 1 0 pair of guide rails 1 0 1 L is on the back side, that is, moves backward from the portion to be treated. Next, as shown in FIG. 22 (b), when the feed nut holder 406 is approximately at the middle position of the feed screw 405, the link A407 pulls the pin 407a into the back side, and rotates the linked link B 4 0 8 is on the back side, so that the integrally integrated lifting roller support link 409b is rotated by the front and rear position changing shaft 4 1 0 more than the back side in FIG. 22 (a). In this case, since the lifting roller supporting link 4 0 b is located substantially parallel to the base member 1 1 1, the base member 1 1 1 becomes substantially on the same plane as the guide rail 1 0 1 L. Next, as shown in FIG. 22 (c), a state where the feed nut holder 406 is positioned at the upper end of the feed screw 405 will be described. At this time, the link A407 further pulls the pin 407a into the back side and rotates the linked link further to the back side. Therefore, the lifting and lowering roller support link 409b is integrally connected by the front and rear position changing shaft 4 10, It is rotated further on the back side than in Fig. 22 (b). The lifting roller support link 409b is located on the rear side of the front-rear position changing shaft 4 1 0. As a result, the entire treatment unit 1 1 0 is positioned in front of the guide rail 1 0 1 L, that is, it protrudes closer to the portion to be treated. direction. Figure 23 shows the position of the kneading ball 20 la ~ d and the backrest 100a when changing the position of the treatment unit 1 1 0 from the neutral position shown in Figure 22 (b) to the protruding position shown in Figure 22 (c). relationship. Figure 24 is on page -22-508237 V. Explanation of the invention (21) 22 (b) to the neutral position shown in Figure 22 (a) to the retracted position shown in Figure 22 (a), showing the kneading when changing the front and rear positions of the treatment unit 1 10 The positional relationship between the balls 20 la to d and the backrest 100 a. In this way, the amount of protrusion of the kneading ball 20 1 a to d on the side to be treated can be adjusted, and it is possible to adjust the intensity of the shiatsu action and treatment as described later. In Figs. 23 and 24, the case where the two front-back position changing sections 400A and 400B perform the same operation is described, but the front-back position changing sections 400A and 400B each have front-back position changing motors 401 A and 401B and can be independently controlled. Therefore, the relative positional relationship between the treatment unit 1 10 for the elevating roller 3 1 1 arranged above the treatment unit 1 10 can be made different. That is, not only the entire treatment unit 1 1 0 is substantially parallel to the guide rails 1 0 1 R, 1 0 1 L, but the upper and lower guide rails 1 0 1 R, 1 0 1 L of the treatment unit 1 1 0 can be controlled independently. Relative positional relationship. Fig. 25 shows the relative positional relationship between the treatment unit 110 and the backrest 100a when the front-rear position changing sections 400A and 400B are changed from the neutral position and only the front-rear position changing section 400A forms a protruding position. Here, only the upper part of the treatment unit 110 is protruded forward, so only the upper two kneading balls 201a and 201b protrude (upper ball protruded position). On the other hand, FIG. 26 shows the relative positions of the treatment unit 1 10 and the backrest 100a when the front and rear position changing sections 400A and 400B are changed from the neutral position and only the front and rear position changing sections 400B are changed to the protruding position. relationship. Here, only the lower part of the treatment unit 110 is protruded forward, so only the two kneading balls 201 c and 201 d on the lower side protrude (the protruded position of the lower ball). -23- 508237 V. Description of the invention (22) So, in the following description, the names of each of the forward and backward position changing sections 400 correspond to their functions, and the forward and backward position changing motors 40 1 A and 401B are referred to as kneading ball adjustments, respectively. The motor 401 A, the kneading ball adjustment motor 4 0 1 B, and the four front and rear position detection sensors 4 1 7 a to 4 d provided in the front and rear position changing sections 4 0 A and 4 0 B are called kneading. Adjust the position sensors (1) to (4) 417A on the ball and adjust the position sensors (1) to (4) 417B by kneading. In addition, the adjustment motor 4 0 1 A on the kneading ball and the adjustment motor 40 1 B on the kneading ball make the treatment unit 1 10 pair of guide rails 1 〇1 R, 1 〇1 L close to the direction of the part to be treated (protruded). When driving, it is forward rotation. When the treatment unit 110 drives the guide rails 101R and 101L away from the side to be treated (retracted), it is reverse rotation. In this embodiment, as described above, the lifting rollers support the links 409c and 409d along the guide rails 10 1 R and 1 0 1 L, and the lifting rollers support the links along the guide rails 10 R and 1 OIL. Either 409a or 409b is oscillated. Although the position of the front and rear directions of the treatment unit 1 10 is changed, the pair of lifting rollers above or below the guide rail 1 0 1 R, 1 0 1 L is held by the treatment unit 11 0. At a certain position, only one pair of lifting rollers on the other side may be configured to be supported by the same link to swing. The support link for raising and lowering that constitutes the position changing device can be adjusted to the front and back direction of the kneading ball only when it is provided on either side of the up and down direction, that is, the amount of protrusion to the treatment portion can be used for finger pressing And adjust the intensity of treatment. The swinging link also constitutes a posture changing device. The operation of the front-back change unit of the treatment unit can be realized independently of the ascending and descending operation of the treatment unit along the guide rails 10R and 110L. Therefore, -24-508237 V. Invention description (23) is a rail guide member. For example, it is configured as a member corresponding to the guide rails 110R and 110L to include the front and back directions of the treatment unit 1 10 and changes in posture. In this case, the movable range of the lifting roller 3 1 1 is extended, and this is set to a suitable choice of the counterpart member, which can realize the "kneading", "knock", and "shiatsu" massage actions described later and adjust the protruding amount of the kneading ball. Adjust the intensity of treatment and the switching action of the rubbing ball used. (Basic Operation of Massage Machine) Next, the operation of the massage machine during massage will be described. Fig. 27 is a flowchart showing the basic operation of the massage machine 10. Fig. 28 is a block diagram showing a schematic configuration of the massage machine 10. The massage machine 10 is formed by the CPU control circuit 9 according to the instruction from the operation section 11 and the information of each sensor, and sends commands to the motor control circuit 12 to drive each motor, or displays the information on the operation section. First, the operation section 11 shown in FIG. 28 is turned ON / OFF with the power supply (step 1). At this time, the LED of the ON / OFF switch of the power supply is turned on, and the power switch is reported to be ON (step 2). Next, mark the lifting motor 301, the kneading motor 210, the kneading ball upper adjustment motor 401A, and the kneading ball lower adjusting motor 401B (Fig. 28 as a total of the kneading ball adjusting motor 401A and the kneading ball lower adjusting motor 401B. The kneading ball switching motor ".), Respectively, moves in the initial position direction (step 3). Determine whether each motor has moved to the initial position (step 4). If it is not completed, return to step 3. Stop the lifting motor 301, kneading motor 210, kneading ball adjustment motor 401 A, and kneading ball adjustment motor 40 1 when completed. The action of B (step 5). -25- V. Description of Invention (24) Next, it is determined whether one of the manual mode and the automatic route is selected (step 6). When the manual mode is selected, it is discriminated whether to select any action in the manual mode (step 7), and various manual actions are performed according to the selection (step 8). As a manual mode, you can choose from "rubbing up", "rubbing down", "knock", "shiatsu", "spine extension", "partial spine extension", "upward", "downward". Perform various manual actions for 15 minutes (step 9) ′ End various manual actions after 15 minutes (step 10), turn off the power ON / OFF switch and turn off the LED (step 11). When the automatic mode is selected, it is discriminated whether any of the automatic routes is selected (step 12). When the upper body automatic route is selected, the menu operation according to the upper body automatic route is performed (step 13), and when the menu is ended (step 14), proceed to step 11. Here, the so-called upper body automatic course is, for example, a route suitable for combining spine lengthening, rubbing, tapping, and acupressure movements from the neck to the shoulders, to the back and the waist to the entire upper body. When the neck and shoulder automatic route is selected, perform the operation according to the menu of the neck route (step 15), end the menu period (step 16), and proceed to step 11. Here, the "neck and shoulder automatic route" refers to, for example, a route suitable for combination of lengthening, rubbing, tapping, and acupressure movements of the spine extending from the neck to the shoulder. When the waist automatic route is selected, perform the operation according to the menu of the waist automatic route (step 17), and at the end of the menu period (step 18), proceed to step 11. Here, the so-called waist automatic route is suitable -26- 508237 V. Description of the Invention (25) It is suitable to combine the spine around the waist to lengthen, rub, beat and shiatsu. (Kneading ball adjustment operation) Fig. 29 is a flowchart illustrating the steps of the kneading ball adjustment operation. The massaging machine 10 is operated by the switch of the operation unit 11 in the middle of the basic operation, and the kneading ball can be adjusted at any time. When the kneading ball adjustment switch is pressed halfway through each operation, the type of the selected switch is judged first (step 21). When the "up ball" switch is pressed, various actions are temporarily stopped (step 22). Next, the kneading ball is rotated forward to adjust the motor 40 1 A (step 23). It is determined whether the "up ball" switch is not pressed (step 24). When the "up ball out" switch is not pressed, adjust the position sensors (1) to (4) 417A on the ball to detect the protruding position of the upper ball to repeat steps 23 and 24 (step 25). When the ball protrudes from the limit position, the kneading ball adjustment motor 401A is stopped (step 26), and then various actions are started (step 27). If the "up ball out" switch is not pressed in step 24, the process proceeds to step 26. When the "four-ball" switch is pressed, various actions are temporarily stopped (step 2 8). Next, it is determined whether or not the position adjustment sensor (丨) ~ (4) 41 7A on the kneading ball (Fig. 29 is omitted as the "position adjustment sensor on the kneading ball" mark). Whether the neutral position is detected (step 29). When the position sensor (1) ~ (4) 417A on the kneading ball detects the neutral position, stop adjusting the motor 4 10A on the kneading ball (step 30), and adjust the position sensors (1) ~ (4) 4 under the kneading ball 1 7B Determine whether a neutral position is detected (step 31). Adjust the position sensor on the kneading ball 4 1 7 A When the neutral position is not detected, forward or reverse kneading-27-508237 V. Description of the invention (26) Adjust the position sensor on the ball 401A, adjust the position sensor on the kneading ball (1) ~ (4) 4 When 17A detects the neutral position (step 32), go to step 30, stop the kneading ball and adjust the motor 40 1A. Here, the forward and backward positions of the upper two kneading balls 20 1 a and b are adjusted forward or backward by adjusting the motor 40 1 A to return the upper two kneading balls to the neutral position (for the next two kneading balls) The same is true for the ball's front and back direction.). In step 31, when the position sensor (1) ~ (4) 41 7B is adjusted under the kneading ball (the figure is omitted as "the sensor is adjusted under the kneading ball" in Fig. 29). When the neutral position is detected, the ball is stopped. The adjustment motor 401B is lowered (step 33), and the process proceeds to step 27. Adjust the position sensor (1) ~ (4) 417B under the kneading ball. If the neutral position is not detected, adjust the motor 40 1 B forward or reverse the kneading ball and adjust the position sensor (1) ~ (4) When 417B detects a neutral position (step 34), proceed to step 3 3, and stop the kneading ball to adjust the motor 40 1 B. When the "Down Ball Out" switch is pressed, various operations are temporarily stopped (step 35). Next, adjust the motor 401B under the forward rotation kneading ball (step 36). Next, it is determined whether or not the "down ball out" switch is pressed (step 37). When the "lower ball out" switch is pressed, it is determined whether the position sensors (1) to (4) 41 7B are adjusted by rubbing the ball, and whether the lower ball protruding limit position is detected (step 38). Here, the position adjustment sensors (1) to (4) 41 7B under the kneading ball detect the lower ball protruding limit position, stop the kneading ball adjustment motor 4 01 B (step 39), and then start various actions (step 27 ). Adjust the position under the rubbing ball When the sensors (1) to (4) 417B do not detect the lower ball protruding limit position, go back to step 3, and then adjust the motor 4 0 B by turning the rubbing ball forward. If the "Down Ball Out" switch is not pressed in step 37, proceed to step 39. -28- 508237 V. Description of the invention (27) The following ′ will describe in detail the various massage actions by the massage mechanism. (Kneading action) During the kneading action, stop rotating the tapping shaft 206 and rotate the kneading shaft 205 only. The kneading arm 202R, 202L is rotatably supported on the outer periphery of the inclined sleeve 207 which is installed at an angle to the kneading shaft 205. The link is used to restrict the rotation around the kneading shaft 205. Therefore, the treatment element 20 1 swings in the axial direction of the kneading shaft 205 while changing the distance from the axis of the kneading shaft 205. The front view of the movement of the kneading ball is shown in Fig. 30. At this time, the interval between the left and right kneading balls will change, so this action can realize the "kneading action" of rubbing the body. In order to perform the kneading action described above, since the rotation direction of the kneading motor 2 10 is switched, the movement direction of the kneading ball can be reversed, so two kinds of actions, "up kneading" and "down kneading", can be realized. (Tap action) During the tap action, the rotation of the kneading shaft 205 is stopped, and the tap shaft 206 is rotated. At this time, the kneading ball arms 202R, 202L are substantially orthogonal to the kneading axis 205, and are maintained in a state where the kneading ball is approximately orthogonal to the back (kneading origin position), and are used to control the position of the rotation direction of the tilt sleeve 207. The end of the kneading shaft 205 rubs the origin detecting plate 2 1 6 and the kneading position indicating plate 2 1 7 in a concentric fixed manner (refer to FIG. 14). The kneading origin detection plate 2 1 6 is a circular plate-shaped member provided with a slit at one of the outer edges. The position relative to the back of the base member 1 1 1 is configured by sandwiching the kneading origin detection plate 2 1 6 The rubbing origin light sensor is formed to detect the rubbing origin position. The connecting rod 49 is eccentric -29- 508237 that eccentrically rotates with the rotation of the striking shaft 206. 5. Description of the invention (28) The core sleeve 208 is rotatably supported. Therefore, rotating the striking shaft 206 will change the striking shaft 206. The axis of the shaft and the end of the connecting rod are used to change the distance between the fitted connecting rod receiving portions 2 0 3 1 R and 2 0 3 1 L. The kneading ball arms 202R and 202L are rotatably supported around the kneading shaft 205, so the driving motor is driven to rotate the tapping shaft 206 at an appropriate speed, and the kneading ball arms 202R and 202L swing around the kneading shaft 205 to achieve The knocking action. (Shiatsu operation) Hereinafter, the steps in the Shiatsu operation will be described. Figures 31, 3, 2 and 3 3 are flowcharts showing the steps when the Shiatsu operation of the massage machine 10 is performed. First, select the action of the manual motor (step 51), and adjust the upper and lower positions of the kneading ball (step 52). At this time, the user is tied to the operation section 1 1 and presses the "up" switch or the "down" switch (step 5 3). In response to this, the lift motor 3 0 1 moves in the specified direction (step 5 4). When the user has moved the kneading ball 20 to the desired position, release the "up" or "down" switch of the lifting roller (step 55) ^ Next, the user presses the finger pressure switch (step 5 6) . In response to this, the low-speed forward rotation kneading ball adjusts the motor 4 0 1 A (step 5 7). Knead the ball. Adjust the position sensors (1) to (4) 41 7A to determine whether the upper ball protrusion limit position is detected (step 5 8). When the position adjustment sensors (1) to (4) 4 1 7A are not detected on the kneading ball, return to step 57 when the upper ball protruding limit position is not detected, and then rotate the kneading ball adjustment motor 40 1 A at a low speed. When the position adjustment sensors (1) ~ (4) 41 7A on the kneading ball detect the upper ball protruding limit position, stop the kneading ball adjustment motor 40 1 A (step 5 9) and wait for the specified time -30-508237 5 2. Description of the invention (29) (step 60). Secondly, the kneading ball is reversed by 40 1 A at high speed (step 6 1). Next, determine whether the neutral position is detected by adjusting (1) ~ (4) 417A on the kneading ball (step 62). Neutral step 6 is not detected by adjusting the position sensor (1) ~ (4) 417A at step 1, and then at high speed. Reverse rotation of the adjustment motor on the rubbing ball (1) ~ (4) 41 7A Detect the stop of the rubbing ball on the adjustment motor 4 01 A (step 6 3), wait (step 64), determine whether Switch the kneading ball (whether the switch is adjusted) (step 65). When the kneading ball is not switched back, rotate the kneading ball at a low speed to adjust the motor 40 1 A. Need to make a cut, determine whether one of the kneading ball adjustment switches is selected (when the "up ball out" switch is selected in step 6 and step 6, stop the whole motor 401A (step 67), and wait for a predetermined time (step forward to rotate the kneading ball at a low speed) Adjustment motor 401 A (step 69) It is determined that the position sensors (1) to (4) 4 1 7 A on the kneading ball are the limit positions where the ball protrudes (step 7 0). (1) to (4) 4 1 7 A is when the upper ball protruding limit position is not detected 69 and then the low-speed forward rotation kneading ball adjusts the motor 401A. The rubbing position sensors (1) to (4) 4 17A detects the upper ball protruding limit to stop the rubbing ball. Adjust the motor 40 1 A (step 7 1) and wait (step 7 2) 'Next, reverse the ball speed to adjust the kneading ball (step 73). Next, determine whether the adjustment position (1) to (4) 417A on the kneading ball is detected Out of neutral position (step 74), adjust the position sensors (1) to (4) 4 1 7 A No neutral motor position sensor is detected, and return to 401 A when rubbing the ball position. When rubbing the neutral position, ^ Press the kneading ball to step 5 at the specified time until step 7 7 When changing the kneading ball 66) ° ^ The kneading ball is adjusted upwards 骡 骡 68), followed by No If the upper position sensor is detected, go back to the step: When adjusting the position on the ball, stop: the motor is a 4 1 A sensor at a specified time, and return to -31- 508237 when rubbing the ball position V. Description of the invention (30) Step 73. Reverse the kneading ball and adjust the motor 401 A at high speed. When the position adjustment sensors (1) to (4) 417A on the kneading ball detect a neutral position, stop the kneading ball adjustment motor 40 1 A (step 75), wait for a predetermined time (step 7 6), and determine whether to press again Push down the switch (step 7 7). When the finger pressure switch is pressed again, the finger pressure operation is ended (step 7 8). When the finger pressure switch is not pressed again, go back to step 69, and then turn the ball 401A in the forward rotation at a low speed. When the “four-ball” switch is selected in step 66, stop adjusting the motor 401A on the kneading ball (step 79), wait for a predetermined time (step 80), and rotate the motor 401A on the kneading ball at a low speed (step 8 1). Next, rub the ball and adjust the position sensors (1) to (4) 4 17A to determine whether the upper ball protruding limit position is detected (step 82). When the position sensors (1) to (4) 417A on the kneading ball are not detected when the upper ball is out of the protruding limit position, return to step 81, and then turn the kneading ball forward adjustment motor 401A at a low speed. When the position adjustment sensors (1) to (4) 417A on the kneading ball detect the protruding position of the upper ball, stop the kneading ball adjustment motor 401A (step 83), wait for a predetermined time (step 84), and secondly, reverse at high speed Adjust the motor 401A on the ball (step 85). Next, it is determined whether the neutral position is detected by the adjustment position sensors (1) to (4) 417A on the rubbing ball (step 86), and the neutral position is not detected by the adjustment position sensors (1) to (4) 4 17A on the rubbing ball. When it is in position, return to step 85, and then adjust the motor 40 1 A by reversing the kneading ball at high speed. When the position adjustment sensors (1) to (4) 417A on the kneading ball detect a neutral position, stop the kneading ball adjustment motor 401A (step 87), wait for a predetermined time (step 88), and adjust the motor under the low-speed forward rotation kneading ball 401 B (step 89), secondly, determine whether to adjust the position sensors (1) to (4) 41 under the rubbing ball 7B whether the lower ball protrusion is detected -32- 508237 V. Description of the invention (31) Out of limit position (step 90 ). Adjust the position sensors under the rubbing ball (1) ~ (4) 41 7B When the lower ball protruding limit position is not detected, go back to step 89, and then rotate the rubbing ball down adjustment motor 40 1 B at a low speed. Adjust the position sensor (1) to (4) 417B under the kneading ball when the lower ball protruding limit position is detected, stop adjusting the position sensor (1) to (4) 41 under the kneading ball 7B detects the lower ball protruding limit position At this time, the kneading ball adjustment motor 40 1 B is stopped (step 9 1), and a predetermined time is waited (step 92). Next, the kneading ball adjustment motor 401B is reversed at high speed (step 93). Next, it is determined whether the neutral position is detected by adjusting the position sensors (1) to (4) 4 17B under the rubbing ball (step 94), and the position sensors (1) to (4) 41 7B are not detected by adjusting the rubbing ball. In the neutral position, return to step 93, and then adjust the motor 401B under the kneading ball at high speed. When the position adjustment sensors (1) to (4) 417B under the kneading ball detect a neutral position, stop the kneading ball adjustment motor 401B (step 95), wait for a predetermined time (step 96), and determine whether to press the finger pressure again Switch (step 97). When the finger pressure switch is pressed again, the finger pressure operation is ended (step 78). When the finger pressure switch is not pressed again, return to step 78 to stop the kneading ball adjustment motor 401 A. When the "Down Ball Out" switch is selected in step 66, the kneading ball is adjusted down and the motor 401A is stopped (step 98), and a predetermined time (step 99) is waited. Next, it is determined whether the position sensors (1) to (4) 4 1 7B under the kneading ball have detected the lower ball protruding limit position (step 1 0 1). Adjust the position sensors (1) ~ (4) 4 1 7 B under the ball and return to step 1 00 when the lower ball protruding limit position is not detected. Then, adjust the motor 40 1 B under the low-speed forward rotation kneading ball. Kneading ball down-33- 508237 V. Description of the invention (32) The whole position sensors (1) to (4) 417B stop the kneading ball and adjust the motor 401B (step 102), and wait for the regulation Time (step 103), and secondly, adjust the motor 40 1 B under the kneading ball at a high speed (step 104). Next, it is determined whether the position sensors (1) to (4) 41 7B are adjusted under the rubbing ball (step 105), and the position sensors (1) to (4) are adjusted under the rubbing ball 4 1 7 When B does not detect the neutral position, go back to step 104, and then adjust the motor 40 1 B under the rubbing ball at a high speed. When the position sensors (1) to (4) 417B under the kneading ball detect a neutral position, stop adjusting the motor 40 1 B under the kneading ball (step 1 06), wait for a predetermined time (step 1 07), and judge again Press the finger switch (step 10 8). When the finger pressure switch is not pressed again, return to step 100, and then adjust the motor 401 B by rotating the kneading ball at a low speed. (Spine elongation) During spine elongation, stop the kneading shafts 205 and tap shaft 206 on both sides, keep the kneading arms 202R and 202L at the kneading origin position, and drive the lifting motor 30 1 to make the entire massage mechanism 1 track. Moving up and down. At this time, the type of rubbing ball (upper or lower rubbing ball), the number and the amount of protrusion are used to appropriately switch the rubbing ball adjustment switch. In addition, when the operation part 11 selects "pulling in" by adjusting the kneading ball, reverse the kneading ball upper adjustment motor 401 A and the kneading ball lower adjustment motor 40 1 B together, and withdraw the treatment unit 1 1 0 as shown in FIG. 24. On the back side. (Kneading ball switching action) When moving from the shoulder to the waist up and down, it is used for spinal elongation treatment or a combination of this treatment and tapping or rubbing treatment. Treatment-34- 508237 V. Description of the invention (33) unit The 1 10 series is lifted between the upper end and the lower end of the moving range along the guide rails 1 10R and 1 10L. Use only the kneading balls on the upper side 20 1 a, 20 1 b or the kneading balls on the lower side 20 1 c, 20 1 d. When performing the treatment as described above, the moving range of the treatment unit 1 1 0 is also Department of the same. However, there are some intervals between the upper kneading balls 20 1 a and 20 1 b and the lower kneading balls 201 c and 201 d. Therefore, when only using the upper kneading balls 2 0 1 a, 2 0 1 b for spinal elongation, etc., the lower end (that is, the waist) is used, and only the lower kneading balls 201 c, 20 1 d are used for treating spinal elongation. Isochronous is the upper end (that is, the shoulder), and each kneading ball does not abut against the part to be treated, which results in a range that cannot be treated. Part of the range from the shoulder to the waist is moved in the up-down direction, and the same problem occurs in the upper and lower ends of the moving range when the treatment unit 110 is used for partial elongation treatment. In this regard, as explained below, at the upper end and lower end of the moving range of the treatment unit Π 〇, since the kneading ball used for the treatment is switched, only the kneading ball of any one of the upper and lower can not cover the range of the treatment part, The rubbing ball on one side can be used for treatment. The following description is for three kneading ball switching actions, but it is also possible to control any two of the three switching actions or a combination of three. In addition, the process of treating with only two kneading balls may include the process of treating with four kneading balls. In the following description, treatments such as rubbing and tapping are not popular, but the following switching operations may be performed while performing these operations, and it may be performed between spinal elongation or partial elongation treatments including switching operations. Perform rubbing, tapping, etc. -35- 508237 V. Description of the Invention (34) (First Kneading Ball Switching Action) The following describes the operation steps of the first kneading ball switching during spinal elongation treatment. Fig. 34 is a movement transition diagram of the treatment unit 110. Figure 3 5 is a flowchart illustrating the steps of the kneading ball switching operation. First, as shown in Figure 34 (a), the upper kneading balls 201a and 201b protrude. On the side of the part to be treated, the kneading balls on the lower side 2 0 1 c, 2 0 1 d and the part to be treated are moved back to the opposite side, so that the treatment unit 1 1 0 goes down from the upper end of the guide rail 1 0 1 R, 1 OIL The lifting motor 301 is driven in a direction (step 1 11), and the treatment unit 110 is supported along the guide rails 101R and 101L in the same posture and descends along the portion to be treated. When the lower limit sensor 3 15 is raised and lowered to ON (step 1 12), the lifting motor 301 is stopped (step 1 13). Next, as shown in FIG. 35 (b), the forward rotation of the kneading ball is adjusted by the motor 401B (step 1 14), the lower kneading balls 201c and 201d are protruded to a predetermined position, and the position sensing is adjusted by the lower of the kneading ball. When the device detects it (step 1 1 5), stop the kneading ball and adjust the motor 40 1 B (step 1 1 6). Next, the kneading ball adjustment motor 40 1 A is reversed (step 1 1 7), and the kneading balls 20 1 a and 20 1 b on the upper side are retracted to a predetermined position, and detected by the position adjustment sensor on the kneading ball ( Step 1 1 8), stop the kneading ball to adjust the motor 401A (Step 119). Next, as shown in Fig. 34 (c), the lifting motor 301 is driven upward (step 120). The treatment unit 110 raises the guide rails 101R and 101L along the portion to be treated while supporting the guide rails 101R and 101L in the same posture. When the upper and lower limit sensors are turned on (step 1 2 1), the lift motor 30 1 is stopped (step 122). Next, as shown in Figure 34 (d), the forward rotation rubbing ball is raised -36- V. Description of the invention (35) The whole motor 401A (step 123), the upper rubbing balls 201a and 201b are protruded to a predetermined position. When detected by the adjustment position sensor on the kneading ball (step 1 24), stop the adjustment motor 40 1 A on the kneading ball (step 125). Next, the kneading ball down adjustment motor 401B is reversed (step 126), the lower kneading balls 201c and 201d are moved back to a predetermined position, and the kneading ball is adjusted under the motor 401B (step 128). After that, return to step 111, the treatment unit is lowered again, and the above-mentioned actions are repeated. In this manner, in the first kneading ball switching operation, the posture of the treatment unit 11 0 is changed on the upper end portion and the lower end portion of the guide rails 101R and 101L. When the treatment unit descends along the guide rails 101R and 101L, the upper kneading balls 201a and 20 lb protrude from the side to be treated, and the lower kneading balls 20 1 c and 20 1 d stay in the posture opposite to the side to be treated When rising, the lower kneading balls 20 1 c and 20 1 d protrude from the side of the part to be treated, and the upper kneading balls 20 1 a and 20 1 b staying in the posture opposite to the side to be treated. (Second Kneading Ball Switching Action) The operation steps of the second kneading ball during spinal extension treatment will be described below. Fig. 36 is a diagram showing the operation transition of the treatment unit 110. Fig. 37 is a flowchart showing the steps of the kneading ball switching operation. First, as shown in Figure 36 (a), the upper kneading balls 201a and 201b move backward to the side opposite to the part to be treated, and the lower kneading balls 20 1 c and 20 1 d to protrude from the part to be treated The treatment unit π 〇 drives the elevating motor 30 1 from the upper end portions of the guide rails 〇 1R and 10 1 L in a downward direction (step 1 3 1). The treatment unit 1 0 is supported on the guide rails 1 0 1 R and 1 0 1 L in the same manner -37- 508237 V. Description of the invention (36) The posture is lowered along the part to be treated. When the lower limit sensor 3 15 is turned ON (step 132), the lifting motor 301 is stopped (step 133). Next, as shown in FIG. 36 (b), the forward rotation kneading ball adjusts the motor 401 A (step 134), and the upper kneading balls 201a and 201b are projected to a predetermined position, and the positional feeling is adjusted by the kneading ball. When the sensor detects it (step 135), stop the kneading ball adjustment motor 401A (step 36). Next, the kneading ball adjustment motor 401B is reversed (step 137), and the lower kneading balls 201c and 201d are moved backward to a predetermined position, and detected by the kneading ball adjustment position sensor (step 1 3 8) , Stop adjusting the motor 401 B under the rubbing ball (step 139). Next, as shown in FIG. 36 (c), the lifting motor 3 0 1 is driven upward (step 1 40). The treatment unit 1 10 then guides the rails 1 0 1 R and 1 〇 1 L with the support in the same posture and rises along the portion to be treated. When the elevating limit sensor 3 14 is ON (step 1 41), the elevating motor 301 is stopped (step 142). Next, as shown in FIG. 36 (d), the forward rotation of the kneading ball is adjusted by the motor 401B (step 143), and the lower kneading balls 201c and 201d are projected to a predetermined position, and the positional feeling is adjusted by the kneading ball. When the tester detects it (step 1 44), stop adjusting the motor 401B under the ball (step 145). Next, the kneading ball adjustment motor 401A is reversed (step 146), and the upper kneading balls 201a and 201b are retracted to a predetermined position, and when detected by the kneading ball adjustment position sensor (step 1 47), stop Knead the ball to adjust the motor 40 1 A (step 1 4 8). After that, go back to step 1 31, the unit to be treated drops again, and repeat the action described in -38-508237 V. Invention Description (37). In this way, the second kneading ball switching operation is the same as the first kneading ball switching operation. The position of the treatment unit 1 10 is changed on the upper end and the lower end of the guide rails 1 0 1 R and 10 1 L. However, in the second kneading ball movement, when the treatment unit 1 10 is lowered along the guide rails 1 0 1 R and 1 0 1 L, the lower kneading balls 20 1 c and 20 1 d protrude from the side to be treated. The upper kneading balls 20 1 a and 20 1 b maintain the posture of reversing to the side opposite to the part to be treated, and when rising, the upper kneading balls 20 1 a and 20 1 b protrude from the side to be treated, and the lower kneading ball 20 1 c and 20 1 d maintained the postures of receding on the opposite side to the part to be treated. (Third Kneading Ball Switching Operation) The operation steps of the third kneading ball switching during the spine extension treatment will be described below. FIG. 38 shows the operation of the migration therapy unit 110. Fig. 39 is a flowchart illustrating the steps of the kneading ball switching operation. First, as shown in FIG. 38 (a), the upper kneading balls 201a and 201b protrude from the portion to be treated, and the lower kneading balls 20 1 c and 20 1 d are retracted to the opposite side from the portion to be treated, so that The treatment unit 110 drives the lifting motor 301 downward from the upper ends of the guide rails 101 R and 101L (step 151). The treatment unit 1 0 is supported along the guide rails 1 0 1 R and 1 0 1 L in the same posture, and descends along the portion to be treated. When the lift position detection sensor 3 1 3 detects a predetermined position (step 1 5 2), the lift motor 301 is stopped (step 153). Next, as shown in Fig. 38 (b), the motor 40 1 B is adjusted under the forward rotation of the kneading ball (step 1 54). The lower kneading balls 20 1 c and 2 0 1 d are in a state of protruding to a predetermined position, and adjusted by the lower position of the kneading ball -39- 508237 V. Description of the invention (38) When it is detected by the sensor (step 155 ), Stop kneading the ball adjustment motor 401B (step 156). Next, reverse the kneading ball adjustment motor 401A (step 157), and adjust the position on the kneading ball until the sensor detects the upper kneading ball 20 1 a, 20 1 b as the back position (step 1 58), stop the kneading ball Adjust the motor 40 1 A (step 1 5 9). Next, the lifting motor 30 1 is driven downward (step 1 60), and the lifting motor 30 1 is stopped (step 16 2). Next, as shown in FIG. 38 (d), the lifting motor 301 is driven upward (step 163). When the predetermined position is detected by the lifting position detection sensor 313 (step 164), the lifting motor 301 is stopped (step 165). Next, as shown in FIG. 38 (e), the forward rotation kneading ball adjustment motor 401A (step 166), the upper kneading balls 201a and 201b are projected to a predetermined position, and the position sensor is adjusted by the kneading ball. When detected (step 167), the kneading ball adjustment motor 401A is stopped (step 168). Next, the kneading ball adjustment motor 401B is reversed (step 169), and the lower kneading balls 20 1 c and 20 1 d are retracted to a predetermined position when detected by the kneading ball adjustment position sensor (step 1 70), stop adjusting the motor 40 1 B under the rubbing ball (step 1 7 1). Next, the elevating motor 301 is driven upward (step 172). The treatment unit 1 1 ◦ Ascend along the part to be treated with the support rails 1 0 R and 1 0 1 L in the same posture. As shown in FIG. 38 (f), when the lifting upper limit sensor 3 is turned ON (step 173), the lifting motor 301 is stopped (step 174). After that, go back to step 151, the unit to be treated drops again, and repeat the action described in (39) of -40-508237. In this way, the third kneading ball switching operation is performed at a predetermined position midway beyond the upper end portion and the lower end portion of the guide rails 10 1 R and 10 1 L to change the posture of the treatment unit. Therefore, on the upper end side of the guide rails 1 0 1 R and 1 0 1 L, the kneading balls 20 1 a and 20 1 b on the upper side protrude from the side to be treated and the kneading balls 20 on the lower side are the same when rising and falling. 1 c, 20 1 d Keep the posture of backing on the opposite side to the part to be treated. On the lower end side of the guide rails 1 〇 1 R, 1 〇 1 L, make the lower side kneading ball 2 0 1 c, 2 0 1 d protrude on the side of the part to be treated, and the upper kneading balls 2 0 1 a, 2 0 1 b are maintained in a posture of receding on the side opposite to the part to be treated. The above-mentioned operation is to stop the lifting motor 301 in the middle of the movement range of the treatment unit 110 to change the posture of the treatment unit no, but it is also possible to change the posture while moving. In addition, the posture changing position when the treatment unit 110 is raised and when it is lowered may be the same position or different positions. In addition, in the above-mentioned first to third kneading ball switching operations, the protrusion to the side to be treated and the backward movement to the side opposite to the part to be treated can be suitably set to the kneading ball from the upper side 2 0 1 a, 2 Either 0 1 b or 2 0 1 c and 2 0 1 d are played first, and the ball is not limited to the order described above. These operations may be performed at the same time, and may be performed at predetermined intervals. (Modified Example of Kneading Ball Configuration) In the above embodiment, the upper kneading balls 2 0 1 a and 2 0 1 b have the same shape as the lower kneading balls 20 1 c and 20 1 d. Therefore, using Ren-41- 508237 V. Description of the invention (4 ()) Which of the upper kneading balls 20 1 a, 20 1 b or the lower kneading balls 20 1 c, 201d, the user's feeling or treatment effect is constant. However, as shown in FIG. 40, the peripheral surfaces of the upper kneading balls 20 1 a and 20 1 b are formed as smooth curved surfaces, and a plurality of small protrusions are arranged on the peripheral surfaces of the lower kneading balls 20 1 c and 20 1 d. The shape of 20 1 2 is also possible. In this way, when the upper kneading balls 20 1 a and 201 b and the lower kneading balls 201 c and 201 d are different from each other, the upper kneading balls 20 1 a and 20 1 b are used and the lower kneading balls are used. In 201c and 201d, different feelings and treatment effects can be achieved. In addition, by performing the above-mentioned switching control of the kneading ball in the massage machine having the kneading ball configured as described above, a variety of massages can be realized. (Modifications of the guide rails) Figs. 41 and 42 show the structure of the massage machine which is different from the configuration of the guide rails in the above embodiment. The structure other than the guide rail is the same as that of the above-mentioned embodiment. Therefore, the description of the same structure is omitted by using the same symbols, and only the characteristic structure will be described. Fig. 41 shows a massage machine 1000 having guide rails 1101R and 1101L extended above. Figures 41 (a) and 41 (b) show the condition of the treatment unit 1 10 located at the upper end and lower end of the guide rails 1 1 0 1 R and 1 1 0 1 L, respectively. In Fig. 41 (a), the kneading balls 201c and 20 Id on the lower side are located on the shoulders of the user, and the kneading balls 20 1 a and 20 1 b on the upper side are located at the center of the head. Figure 4 1 (b) shows the lower kneading balls 20 1 c and 20 1 d at the waist position of the user in the same manner as in the above embodiment. That is, it is possible to use only the lower side kneading ball 20 1 c, 20 1 d from the shoulder to the entire range of the waist, and the upper side kneading ball 20 1 a, 20 1 b and the lower side -42- 508237 41 V. Description of the invention () The kneading balls 20 1 c and 20 1 d are particularly effective when they have different shapes. Fig. 42 shows a massage machine 2000 having guide rails 1102R and 1102L extended below. Figures 42 (a) and 42 (b) show the condition where the treatment unit 110 is located at the upper end and the lower end of the moving range of the guide rails 1102R and 1102L, respectively. Fig. 42 (a) shows the case where the treatment unit 110 is located at the upper end of the moving range of the guide rails 1 102R and 1 102L, and the kneading balls 20 1 a and 20 1 b on the upper side are located on the shoulders of the user as in the above embodiment. In Fig. 42 (b), the kneading balls 201a and 201b on the upper side are located on the waist of the user, and the kneading balls 20 1 c and 20 1 d on the lower side are located further below the user's waist. In other words, it is possible to use only the upper kneading balls 201a and 201b from the entire shoulder to the waist. The upper kneading balls 201a and 201b and the lower kneading balls 20 1 c and 20 1 d are particularly effective when they have different formations. . [Industrial Applicability] As explained above, according to the present invention, the moving direction of the guiding device of the treatment unit supporting the treatment unit can be changed to a substantially orthogonal position, so that the treatment unit can be spaced from the human body. The adjustment amount is large, and the force acting on the site to be treated is more appropriately controlled according to the treatment of symptoms or site strength, or a more diverse treatment is achieved. At the same time, it can be formed without massaging without hindering the treatment. . DESCRIPTION OF SYMBOLS 10 ... Massage machine 110 ... Treatment unit 101R, 101L ... Guide rail (guide device, rail member) 200 ... Treatment department • 43-508237 4? V. Description of the invention () 201a ~ d ... Kneading ball (therapist) 202R, 202L. ·· rubbing arm 205 ... rubbing ball 2 0 6 ... hitting shaft 400, 400A, 400B ... fore and aft position changing section -44- 508237 reams / year Μ 厶 day

附件2 第90 1 1 5 93 7號申請專利範圍修正前、後對照表 修正前 附屬項 修正後 附屬項 1 1 (已修正內容） 2 1 2 1 3 2 3 2 4 1〜3 4 1〜3 5 4 5 4 6 1〜5 6 1〜3 7 1〜6 (刪除） 8 7 7 6 9 8 (已修正內容） 10 9 (改句點） 11 10 10 9 12 11 11 10 13 12 12 11 14 11 〜13 13 10 〜12 15 14 14 13 16 11 〜15 (刪除） 17 16 15 10 〜12 18 10 〜17 16 9〜12 19 Π (已修正內容） 20 18 21 19 22 20 23 20 〜22 21 18 〜20Attachment No. 90 1 1 5 93 No. 7 patent application scope before and after revision of the table before and after the amendment of the supplementary item after the amendment of the supplementary item 1 1 (the contents of the amendment) 2 1 2 1 3 2 3 2 4 1 ~ 3 4 1 ~ 3 5 4 5 4 6 1 to 5 6 1 to 3 7 1 to 6 (deleted) 8 7 7 6 9 8 (revised content) 10 9 (change period) 11 10 10 9 12 11 11 10 13 12 12 11 14 11 ～ 13 13 10 ～ 12 15 14 14 13 16 11 ～ 15 (Deleted) 17 16 15 10 ～ 12 18 10 ～ 17 16 9 ～ 12 19 Π (Modified content) 20 18 21 19 22 20 23 20 ～ 22 21 18 ~ 20

Claims (1)

508237 六、申請專利範圍 第90115937號「按摩機、按摩機單元及按摩機之控制方 法」專利案 (91年8月2日修正） 六申請專利範圍： 1. 一種按摩機，具備：左右成對之治療子；治療單元， 用來支撐該治療子，可沿待治療部移動；引導裝置， 用來導引該治療單元沿待治療部之移動；支撐裝置， 以相對該引導裝置支撐該治療單元，位置變更裝置， 用以變更治療單元其與相對於該引導裝置之移動方向 大致正交之方向的位置； 其中該支撐裝置係具有用來繫合於引導裝置的繫合 部，和用以支撐該繫合部、以可擺動地支撐於該治療 單元的臂，而該位置變更裝置係具有變更該臂之擺動 角度的功能。 2 ·如申請專利範圍第1項之按摩機，其中該治療子在 該治療單元之移動方向至少設置二對。 3 .如申請專利範圍第2項之按摩機，其中設在該治療 單元的移動方向之至少二對之治療子，係包含互相 特性不同的二對治療子。 4 ·如申請專利範圍第1至3項中任一項之按摩機，其中 該支撐裝置，係使治療單元，在該移動方向之至少2 個部位對該引導裝置支挺， 該位置變更裝置，由支撐裝置所支撐的治療單元之 508237 六、申請專利 範 圍 各 個 部 位 ， 用 來 變 更 對 引導 裝 置 大 致 正交於 該 移 動 方 向 的 方 向位 置 〇 5 .如 甲 三主 5円 專 利 範 圍 第 4 項 之按 摩 機 1 其 中該 位 置 變 更 裝 置 係 业_L 支 撐 該 治 療 單 元的不 同 移 動 方向 之 部 位的各 個 支 撐 裝 置 以 獨 具 有變 更 該 位 置 的功 能 〇 6 ·如 串 三主 專 利 範 圍 第 1 至 3項 中 任 一 項 之按 摩 機 ， 其 中 該 位 置 變 更 裝 置 係 對 依該 支 撐 裝 置 所支 撐 的 該 治 療 單 元 部 位之 引 導 裝 置 的位置 至 少 朝 向待治 療 部 側 具 有 變 更 的功 能 〇 7·如 甲 請 專 利 範 圍 第 6 項 之按 摩 機 其 中該 位 置 變 更 裝 置 係 由 臂 之 擺 動 中 心 對繫 合 部 位於待治 療 部 側 的 第 一 狀 態 > 及 該 繫 合 部 對 臂之 擺 動 中心位於待治 療 部 側 的 第 二 狀 能 形成 具 有 變更 該 臂 之 擺 動角 度 的功 能 〇 8 . * 種 按 摩 機 1 具 備 • 左右成 對 之 治 療 子； 治 療 單 元 ， 用 來支 撐 該 治 療 子 可 沿待治 療 部 移 動； 引 導 裝 置 用 來 導 引 該 治 療 單 元 沿待治 療 部 之 移 動； 支 撐 裝 置 1 以 相 對 該 引 導 裝 置 支 撐 該治 療 單 元 姿勢 變 更 裝 置 5 用 以 變 更 由 該 支 撐 裝 置 所支 撐 之治 療 單元 其相 對 於 該 引 導 裝 置 的位 置 > 其 中 該 支 撐 裝 置 係 具 有用 來 繫 合於引導 裝 置 的 繫 合 部 > 和用 以 支 撐 該 繫 合 部、 以可 擺 動 地支 撐 於 Μ 治 療 單 元 的 臂 ， 而 該 姿 勢 變 更裝 置 係 具 有 變更 該 臂 之 擺 動 角 度 的功 能 〇 • 2-508237 VI. Patent Application No. 90115937 "Massage Machine, Massage Machine Unit and Control Method of Massage Machine" Patent Case (Amended on August 2, 1991) 6. Scope of Patent Application: 1. A massage machine with: left and right pairs Treatment unit; a treatment unit for supporting the treatment unit that can be moved along the portion to be treated; a guide device for guiding the treatment unit to move along the portion to be treated; a support device for supporting the treatment unit relative to the guide device , A position changing device for changing the position of the treatment unit in a direction substantially orthogonal to the direction of movement of the guide device; wherein the support device has an engaging portion for engaging the guide device, and for supporting The engaging portion is swingably supported by the arm of the treatment unit, and the position changing device has a function of changing the swing angle of the arm. 2. The massage machine according to item 1 of the patent application range, wherein the treatment unit is provided with at least two pairs in the moving direction of the treatment unit. 3. The massaging machine according to item 2 of the patent application range, wherein at least two pairs of therapies provided in the moving direction of the treatment unit include two pairs of therapies with different characteristics. 4 · The massage machine according to any one of claims 1 to 3, wherein the support device is a treatment unit that supports the guide device at at least two places in the moving direction, the position changing device, 508237 of the treatment unit supported by the support device 6. Various parts of the patent application scope are used to change the direction position of the guide device which is approximately orthogonal to the direction of movement. Machine 1 Where the position changing device is industry_L Each support device supporting the different moving directions of the treatment unit has a unique function of changing the position. The massage machine of item, wherein the position changing device has a function of changing the position of the guide device of the treatment unit part supported by the support device at least toward the side to be treated. For example, please apply the massage machine according to item 6 of the patent, wherein the position changing device is the first state where the center of the arm is located on the side of the part to be treated > and the center of the arm is located on the side of the part to be treated > The second shape on the side of the part can form the function of changing the swing angle of the arm. 8 * The massage machine 1 has: • left and right pair of treatment elements; a treatment unit for supporting the treatment element to move along the treatment portion; The guide device is used to guide the movement of the treatment unit along the portion to be treated; the support device 1 supports the posture change device 5 of the treatment unit relative to the guide device to change the treatment unit supported by the support device relative to the guide device Position > wherein the support device has a coupling portion for coupling to the guide device, and a support portion for supporting the coupling portion to be swingably supported on the M rule An arm unit, and the posture becomes more means for changing power system having a swing angle of the arm can move the square • 2- 508237 六、申請專利範圍 9. 一種按摩單元’具備：左右成對之治療子；治療單元， 用來支撐該治療子，可對待治療部移動；支撐裝置， 係用以欲安裝的對象構件間之連接，同時支撐該治療 ;丨立®^更裝置，用以變更該治療單元其相對於 該待治療部作接近及離開之方向的位置； 其中該支撐裝置係具有用來繫合於引導裝置的繋 合部’和用以支撐該繫合部、以可擺動地支撐於該治 療單元的臂’而該位置變更裝置係具有變更該臂之擺 動角度的功能。 I 0 .如申請專利範圍第9項之按摩機單元，其中該對方 構件及治療單元之任一側，設用來導引支撐裝置之軌 道構件， 該支撐裝置’係具備繫合於該軌道構件，同時按照 該軌道構件移動的繫合部。 II .如申請專利範圍第1 0項之按摩機單元，其中該治療 子，在該軌道構件延伸的方向至少設置二對。 1 2 ·如申請專利範圍第1 1項之按摩機單元，其中設置於 該軌道構件延伸方向的至少二對之治療子，係包含互 相不同特性的二對治療子。 1 3 ·如申請專利範圍第1 0至1 2項中任一項之按摩機單 元，其中該支撐裝置，係該軌道構件延伸的方向於至 少2個部位，對該對方構件支撐該治療單元， 該位置變更裝置，係對依該支撐裝置所支撐的各個 508237 六、申請專利範圍 治療單元之該待治療部，用來變更接近及離開方向之 位置。 1 4 ·如申請專利範圍第1 3項之按摩機單元，其中該位置 變更裝置，係於該治療單元，支撐軌道構件延伸方向 之不同部位的各個支撐裝置，具有以獨立變更該位置 的功能。 1 5 .如申請專利範圍第1 0至1 2項之按摩機單元，其中 該位置變更裝置，係使其形成該臂之擺動中心位於待 治療部側的第二狀態，具有變更臂之擺動角度的功 倉b 45 1 6 .如申請專利範圍第9至1 2項中任一項之按摩機單 元，其中該位置變更裝置，係由支撐裝置所支撐對治 療單元部位之對方構件位置，具有至少朝向待治療部 變更的功能。 17. —種按摩機單元，具備··左右成對之治療子；治療 單元，用來支撐該治療子，可沿待治療部移動；支撐 裝置，係用以欲安裝的對象構件間之連接，同時支撐 該治療單元；姿勢變更裝置，用以變更由該支撐裝置 所支撐之治療單元其相對於該對象構件之姿勢； 其中該支撐裝置係具有用來繫合於引導裝置的繫合 部，和用以支撐該繫合部、以可擺動地支撐於該治療 單元的臂，而該姿勢變更裝置係具有變更該臂之擺動 角度的功能。 508237 六、申請專利範圍 18.— -種按摩機之控制方法， 係左右成 對 的第一 治 療子 > 與 設於第一治療子下方的 左右成對 的 第二治 療 子， 沿 待治療部移動於上下方向 ，同時控 制 該第一 治 療子 及 第 二治療子之待治療方向 之位置， 用 來進行 按 摩治 療 ，其中包括： 於第一治療子及第二治 療子之規 定 移動範 圍 之上 端 部 使第一治療子突出於被 治療部側 同時使 第 2治 療 子 退後於與待治療部相反 側的步驟 9 以及 於第一治療子及第二治 療子之規 定 移動範 圍 之下 上山 朗 部 ，使第一治療子後退於 與待治療 部 相反側 同時 使 第 二治療子突出於待治療 部側的步 驟 0 19 .- -種按摩機之控制方法， 係左右成對的第- -治療 子 ，與設於第一治療子下 方的左右成 對的第 二 治療 子 ，係左右成對的第一治 療子，同 時 控制該 第 一治 療 子 及第二治療子之待治療 部方向之位 置，用 來 進行 按 摩 治療，其中包括： 使第一治療子後退於與 待治療部 相反側， 同 時使 第 二 治療子突出的待治療部 側的步驟 9 於第一治療子及第二治 療子之規 定 移動範 圍 之下 端 部 ’使第一治療子突出於待治療部 側 ，同時使 第二 治 療 子後退於與待治療部相 反側的步 驟 〇 2 0.- -種按摩機之控制方法： -5- ，係左右成對的第- -治療508237 VI. Application for patent scope 9. A massage unit 'equipped with: left and right pair of treatment elements; treatment unit for supporting the treatment elements, which can be moved by the treatment part; support device, which is used to connect between the components of the object to be installed Connect and support the treatment at the same time; stand-up device is used to change the position of the treatment unit relative to the part to be treated in the direction of approach and departure; wherein the support device has a An engaging portion 'and an arm for supporting the engaging portion and swingably supporting the treatment unit', and the position changing device has a function of changing the swing angle of the arm. I 0. The massage machine unit according to item 9 of the scope of the patent application, wherein either side of the counterpart member and the treatment unit is provided with a track member for guiding a supporting device, and the supporting device is provided with the track member At the same time, the joint moves according to the track member. II. The massage machine unit according to item 10 of the patent application scope, wherein the treatment unit is provided with at least two pairs in the direction in which the track member extends. 1 2 · The massage machine unit according to item 11 of the patent application scope, wherein at least two pairs of therapeutic elements provided in the extending direction of the track member include two pairs of therapeutic elements having different characteristics from each other. 1 3 · The massage machine unit according to any one of claims 10 to 12 in the scope of the patent application, wherein the supporting device is a direction in which the track member extends in at least two parts, and the treatment unit is supported by the counterpart member, The position changing device refers to each of the 508237 supported by the supporting device. 6. The to-be-treated portion of the patent-applied treatment unit is used to change the position of approaching and leaving directions. 14 · For the massage machine unit according to item 13 of the patent application scope, wherein the position changing device is attached to the treatment unit, and each supporting device supporting different parts of the extending direction of the track member has the function of independently changing the position. 1 5. The massage machine unit according to claims 10 to 12 of the scope of patent application, wherein the position changing device is to form a second state in which the swing center of the arm is located on the side of the part to be treated, and the swing angle of the arm is changed. The power storage b 45 1 6. The massaging machine unit according to any one of the items 9 to 12 of the scope of patent application, wherein the position changing device is the position of the opposite member of the treatment unit supported by the supporting device, and has at least A function that changes towards the part to be treated. 17. —A massage unit with left and right pairs of treatment elements; a treatment unit to support the treatment elements that can be moved along the part to be treated; a support device for connecting the components of the object to be installed, Support the treatment unit at the same time; a posture changing device for changing the posture of the treatment unit supported by the support device with respect to the object member; wherein the support device has a coupling portion for engaging the guide device, and The arm is used for supporting the engaging portion and swingably supported by the arm of the treatment unit, and the posture changing device has a function of changing the swing angle of the arm. 508237 VI. Application for patent scope 18.—A control method for a massage machine, which is a pair of left and right first treatments and a pair of left and right second treatments located below the first treatment, along the treatment section Move in the up and down direction, and simultaneously control the positions of the first and second healers to be treated for massage treatment, including: the ends above the prescribed movement range of the first and second healers Make the first healer protrude to the side of the treated part while retreating the second healer to step 9 on the side opposite to the part to be treated, and go up to the hillside below the prescribed movement range of the first and second healer, Step 19 of making the first healer back to the side opposite to the part to be treated while protruding the second healer to the side of the to-be-treated part. The second healer paired with the left and right pair below the first healer is the first healer paired with left and right And simultaneously controlling the positions of the first treatment sub and the second treatment sub in the direction of the to-be-treated part for massage treatment, which includes: making the first treatment sub backward on the opposite side from the to-be-treated part, and simultaneously making the second treatment sub Step 9 on the side of the treatment target that is protruded below the end of the prescribed movement range of the first treatment target and the second treatment target, so that the first treatment target is protruded from the treatment target side, and at the same time, the second treatment target is retracted to the treatment target. Steps on the opposite side of the 〇2 0.--control method of a massage machine: -5-, the left and right pairs of--treatment 508237 六、申請專利範圍 子，與設於第一治療子之下方左右成對的第二治療 子，沿待治療部往上下方向移動，同時控制該第一治 療子及第二治療子之待治療部方向之位置，用來進行 按摩治療，其中包括： 於沿該待治療部往下方向移動時之移動範圍內規定 位置，使第一治療子後退於與待治療部相反側，同時 使第二治療子突出在待治療部側的步驟；以及 於沿該待治療部往上方向移動時之移動範圍內之規 · 定位置，使第一治療子突出於待治療部側，同時使第 二治療子後退於與待治療部之相反側的步驟。 2 1 ·如申請專利範圍第1 8至20項中任一項之按摩機之 控制方法，其中以各個獨立的控制該第一治療子及 第一治療子之待治療部方向位置。508237 6. The scope of the patent application, the second treatment left and right paired below the first treatment, move up and down along the part to be treated, while controlling the treatment of the first treatment and the second treatment The position in the direction of the part is used for massage treatment, and includes: a predetermined position within a range of movement when moving in the downward direction of the part to be treated, so that the first healer moves backward to the side opposite to the part to be treated, while making the second The step of protruding the proximate to the side to be treated; and a predetermined position within the movement range when moving along the upward direction of the to-be-treating part, so that the first healer protrudes from the side of the to-be-treating part while making the second treatment The child steps back on the opposite side of the part to be treated. 2 1 · The method for controlling a massage machine according to any one of claims 18 to 20 of the scope of patent application, wherein the direction of the first treatment sub and the direction of the to-be-treated part of the first treatment sub are controlled independently.
TW090115937A 2000-06-30 2001-06-29 Message machine, unit of the message machine and control method for the masage machine TW508237B (en)

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