TWI403315B - Massage apparatus - Google Patents

Abstract

When a massage device (1) starts a massage operation, first, a treatment element (8), which is on standby at a home position (Ya), starts to move upwards towards a position (Yb) at which shoulder position determination starts. At this time, the treatment element (8) moves upward by the weakest rolling, with the target pressure set to P1. Then, after the treatment element (8) has reached the position (Yb) at which shoulder position determination starts, initially a provisional shoulder detection operation is executed. At this time, the treatment element (8) is moved upwards by a pressure-controlled rolling with the target pressure set to P2, which is higher than P1. When the provisional shoulder position determination is complete, the real shoulder position determination operation is executed. At this time, the treatment element (8) is lowered from the provisional shoulder position, and the position where the detected pressure is P3 is set as the real shoulder position.

Description

Massage machine

The present invention relates to a massage machine that massages a user's shoulder or the like by a knocking operation by a treatment unit.

Heretofore, a massage machine (for example, refer to Patent Document 1, etc.) has been widely used as a machine for kneading a human body that relaxes a user. For example, the massaging machine mechanically massages the user by, for example, a knocking action by the treatment unit. In the massage machine, before the mechanical massage is started, the position of the user's shoulder is determined by the treatment portion being moved to the back of the user, and the treatment portion is held at the determined shoulder position to perform the action of tapping the shoulder.

Here, a general shoulder position determination method will be described. First, as shown in FIG. 7(a), the treatment portion 8 that is in the home position (lowest position) is pushed up toward the neck while pressing the user's back. The amount of protrusion Z of the treatment portion is changed so that the pressure applied to the rising treatment portion becomes the target pressure. The control for raising the treatment portion 8 while changing the amount of protrusion Z of the treatment portion 8 in accordance with the pressure applied to the treatment portion 8 is referred to as force control rolling. When it is detected that a substantial external pressure is applied to the rising treatment portion 8, it is determined that the user is seated in the massage machine.

As shown in Fig. 7(b), when the treatment portion 8 is raised to the intermediate position Yk, the massage machine temporarily stops the treatment portion 8 at the position Yk. Here, if the user cannot be detected during the ascent to the intermediate position Yk, the massage machine lowers the treatment unit 8 back to the origin position. On the other hand, when the user is detected during the ascent to the intermediate position Yk, the massage machine is caused to continue to move after the treatment unit 8 is temporarily stopped, and the treatment unit 8 is caused to follow the force control to roll and then rise again. Then, as shown in FIG. 7(c), when the amount of protrusion Z of the treatment portion 8 controlled by the pressure applied to the monitored treatment portion 8 becomes the threshold value Zk, the massage machine determines that the treatment portion 8 has reached the shoulder position (assumed The shoulder is stopped and the treatment portion 8 is stopped.

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2008-272041

However, in the previous shoulder position determination, the treatment portion 8 follows the force control from the origin position to the vertical position Yk, and temporarily stops the treatment portion 8 at the intermediate position Yk, and then follows the force control to control the rolling and rises again. Determine the position of the user's shoulder. In order to maintain the accuracy of the pressure monitoring, it takes a long time to control the rise of the rolling treatment portion 8 in accordance with the force. Further, the rise of the treatment portion 8 is temporarily stopped at the intermediate position Yk. As a result, the time required for the previous shoulder position determination is long, and thus the waiting time from the massage machine for the previous shoulder position determination to the start of the massage is long. Due to the long waiting time, the user feels that the massage machine is slow. Further, in order to maintain the accuracy of the determination of the shoulder position and increase the ascending speed of the treatment portion 8, it is necessary to have a higher-priced component, which leads to an increase in the manufacturing cost of the massage machine.

It is an object of the present invention to provide a massage machine that reduces the time required to determine the position of the shoulder.

In order to solve the above problems, one aspect of the present invention provides a massage machine that can determine a position of a user's shoulder via a treatment portion and perform a mechanical massage from the determined shoulder position.

The massage machine includes: a treatment portion moving device that simply moves the treatment portion from an origin position to a shoulder position determination start position; and a shoulder position determination device that detects that the treatment portion reaches the shoulder position The start position is determined, and the shoulder position determination is performed.

In one example, the treatment unit moving device performs a force control that rolls the force of the treatment portion while changing the amount of protrusion of the treatment portion while the pressure applied to the treatment portion is the target pressure, and the target pressure is determined in advance so that the target pressure is determined in advance. The amount of protrusion of the aforementioned treatment portion is increased almost or not at all.

In one example, the shoulder position determining device determines the amount of protrusion of the treatment portion while changing the amount of protrusion of the treatment portion, and controls the force of the movement of the treatment portion to determine the shoulder of the user. position.

In one example, the shoulder position determining device performs tentative shoulder detection, raises the treatment portion from the origin position, roughly determines the shoulder position of the user, and performs an actual shoulder determination on the assumed shoulder detection. Thereafter, the treatment portion is lowered to determine the final shoulder position.

In one example, when the fall of the treatment portion reaches a reference fall distance or a reference fall time period, and the determination of the shoulder position is not completed, the shoulder position determining device stops the lowering of the treatment portion and forcibly ends the shoulder portion. Position determination.

In one example, the treatment unit moving device segment and the shoulder position determining device can control the force of the movement of the treatment portion while controlling the amount of protrusion of the treatment portion, so that the pressure applied to the treatment portion becomes the target pressure. When the treatment portion is within a range from the origin position to the position before the shoulder position determination start position, the treatment portion moving device lowers the target pressure, and the treatment portion is determined from the origin position to the shoulder position. When the range from the position before the start position is excluded, the shoulder position determining device increases the target pressure.

In one example, the shoulder position determining device does not perform the shoulder position determination while the treatment portion moves within a range from the origin position to the position before the shoulder position determination start position, and the treatment unit reaches the aforementioned At the time point when the shoulder position determination start position is made, the shoulder position determining means starts determining the shoulder position.

According to another aspect of the present invention, a massage machine for detecting a position of a shoulder of a user includes: a treatment portion that moves in a range of movement between an origin position and an uppermost position, and Changing a protrusion amount; a pressure sensor detecting a pressure applied to the treatment portion; and a controller moving the treatment portion while controlling a protrusion amount of the treatment portion according to a pressure detected by the pressure sensor The shoulder position determination process for determining the position of the user's shoulder can be performed. When the treatment portion is within a range from the origin position to the shoulder position determination start position, the controller moves the treatment portion almost or completely without changing the amount of protrusion of the treatment portion, and detects that the treatment portion reaches the aforementioned When the shoulder position determination start position is made, the controller responds to start the aforementioned shoulder position determination processing.

In one example, the controller controls the amount of protrusion of the treatment portion based on the pressure detected by the pressure sensor and the target pressure, and the treatment portion is within a range from the origin position to the position before the shoulder position determination start position. The controller reduces the target pressure so that the amount of protrusion of the treatment portion is not changed at all or completely. When the treatment portion reaches the shoulder position determination start position, the controller causes the target pressure to be the target pressure. increase.

In one example, the shoulder position determination start position is separated from the origin position by an intermediate position in the movement range of the treatment portion.

According to the present invention, the time required for the determination of the shoulder position can be shortened

Hereinafter, a massage machine according to an embodiment of the present invention will be described with reference to Figs.

As shown in FIGS. 1(a) and 1(b), the massaging machine 1 can be a chair type including the seat portion 2 and the backrest portion 3. The backrest portion 3 is attached to the seat portion 2 by being tilted forward and backward by a support shaft 4 at the lower end. Below the seat surface 5, for example, a pouring mechanism 6 for electrically tilting the backrest portion 3 is provided. The armrest portion 7 is fixed to the left side surface and the right side surface of the backrest portion 3.

As shown in FIGS. 1 and 2, the backrest portion 3 is provided with a mechanical massage mechanism 9 for massaging the user. The mechanical massage mechanism 9 includes a pair of treatment portions 8 and a mechanism body 10 that drives the treatment portion 8. The mechanism main body 10 is provided with a vertical motion motor 11 that reciprocates the mechanism main body 10 (indirectly, the treatment portion 8) in the vertical direction in proximity to and from the seat surface 5. The mechanism body 10 is reciprocally movable between the lowermost end position or the origin position Ya and the highest position Yc along the guide rail 12 (refer to FIG. 2) extending longitudinally toward the backrest portion 3. A strong motor 13 coupled to the treatment portion 8 is provided in the mechanism body 10. The strong and weak motor 13 operates in accordance with a drive signal. For example, the treatment portion 8 is displaced forward and backward, the length (protrusion amount) Z of the treatment portion 8 is changed, or the treatment portion 8 is finely vibrated. In the illustrated example, the amount of protrusion Z of the treatment portion 8 can be changed to adjust the pressing force to the user.

The mechanical massage mechanism 9 can perform various mechanical massages including shoulder massage. When the mechanical massage mechanism 9 performs shoulder massage, first, the massage machine 1 drives the vertical motion motor 11 so that the height Y of the treatment portion 8 is fitted to the shoulder of the user. Next, the strong and weak motor 13 is driven to increase the amount of protrusion of the treatment member 8, and the treatment portion 8 is carried on the shoulder of the user. The mechanical massage mechanism 9 is configured to vibrate the treatment portion 8 in this state to massage the user. The mechanical massage has, for example, an upward kneading action, a downward kneading action, a rubbing action, a finger pressing action, a pressing action, and the like.

The controller 14 of the massage machine 1 will be described with reference to Fig. 3 . The operation of the massage machine 1 is controlled by the controller 14. The controller 14 includes, for example, a microprocessor (Micro Processing Unit; MPU) and a memory. The controller 14 is coupled to the operator 15 and the pressure sensor 19. The operator 15 is operated by the user, and an operation signal for setting the operation plan, the operation mode, and the like of the massaging machine 1 is supplied to the controller 14 in accordance with the user's operation. The pressure sensor 19 detects the pressure applied to the treatment portion 8, and supplies an inductor signal corresponding to the detected pressure to the controller 14. The pressure sensor 19 can be provided, for example, in the mechanical massage mechanism 9. The controller 14 is connected to the vertical motion motor 11 via the upper and lower motor drive unit 16, and is connected to the strong and weak motor 13 via the strong and weak motor drive unit 17.

The user selects an operation plan, an operation mode, and the like by the operator 15, and presses an operation start button of the operator 15. The controller 14 controls the vertical movement motor 11 and the strong and weak motor 13 in accordance with the operation signal supplied from the operator 15 in the selected operation scheme, operation mode, and the like, and starts the massage. The massaging machine 1 is provided with a shoulder position determining device 18 for determining the position of the user's shoulder via the mechanical massaging mechanism 9 before performing the mechanical massage. In the illustrated example, the shoulder position determining device 18 is incorporated in the controller 14. The shoulder position determining device 18 determines the shoulder position based on the same force control scroll as in the prior art. However, the shoulder position determining device 18 simply raises the treatment portion 8 to the shoulder position without performing special control while raising the treatment portion 8 that is in the home position Ya waiting until the shoulder position determination start position Yb. The start position Yb is determined. The shoulder position determination start position Yb is separated from the origin position Ya and can be located slightly in the middle of the movement range of the treatment portion 8.

The force control scrolls the control to raise the treatment portion 8 while changing the amount of protrusion Z of the treatment portion 8, so that the pressure applied to the treatment portion 8 becomes the target pressure. The force control scrolling system includes position detection of the treatment portion 8. The shoulder position determining device 18 checks whether or not the protruding amount Z is the threshold value Zc during the ascending period of the treatment portion 8, thereby determining whether or not the treatment portion 8 is positioned at the shoulder position of the user, that is, determining the shoulder position of the user.

The pressure sensor 19 starts detecting the pressure applied to the treatment portion 8 as soon as the massage machine 1 is operated, and sequentially supplies the sensor signals corresponding to the detected pressure to the controller 14. The controller 14 can monitor the pressure applied to the treatment portion 8 based on the sensor signal. The movement of the treatment portion 8 at the time of determining the shoulder position is as shown in Fig. 2, and the serpentine path La is taken. The pressure sensor 19 corresponds to a pressure detecting device.

The shoulder position determining device 18 will be described in detail herein. The shoulder position determining device 18 includes an operation of simply raising the treatment unit 8 from the origin position Ya to the shoulder position determination start position Yb before the start of the shoulder position determination, that is, the start position movement of the start position movement operation. Department 20. As shown in FIG. 4, the starting position moving unit 20 moves the treatment unit 8 up to the shoulder position determination start position Yb in a state where the treatment portion 8 is most sunk inside the backrest portion 3 (the amount of protrusion Z = the minimum value Za). So far (the weakest scroll). The start position moving unit 20 sets the target pressure of the weakest rolling to P1 (for example, “0.1 V”), and causes the treatment unit 8 to roll up in accordance with the force control. In an embodiment, the target pressure P1 may be determined in advance so that the amount of protrusion of the treatment portion 8 controlled based on the detected pressure of the pressure sensor 19 and the target pressure is almost or completely unchanged. Although the weakest rolling is one type of force control rolling, since the target pressure P1 in the weakest rolling is small, the operation for driving the strong and weak motor 13 to increase the detection pressure of the pressure sensor 19 is hardly performed. As a result, the amount of protrusion Z of the treatment portion 8 is almost or completely unchanged. The calculation load of the start position moving unit 20 is low, and the protrusion amount Z control of the treatment unit 8 is almost or completely not performed as the start position moving unit 20. "Simple raising (moving)" means that the amount of protrusion Z of the treatment portion 8 is raised (moved) by the treatment portion 8 almost or completely unchanged. For example, in the example of FIG. 4, the treatment unit 8 moves in a straight trajectory from the origin position Ya to the shoulder position determination start position Yb. Further, the start position moving unit 20 corresponds to the treatment unit moving device.

The shoulder position determining device 18 includes an operation of determining the tentative shoulder position of the user via the treatment unit 8 after the treatment portion height Y reaches the shoulder position determination start position Yb, that is, a provisional shoulder portion of the provisional shoulder detecting operation. Detection unit 21. As shown in FIG. 5( a ), the tentative shoulder detecting unit 21 sets the target pressure to P2 (>P1) when the treatment unit 8 reaches the shoulder position determination start position Yb, and determines the treatment unit 8 from the shoulder position. The starting position Yb follows the force control to control the rolling and rises. The target pressure P2 is determined in advance so that the treatment portion 8 changes the amount of protrusion Z on the surface of the back of the user. When the projection amount Z of the treatment portion 8 is detected as the threshold value Zb, the tentative shoulder detecting portion 21 determines that the height position of the treatment portion 8 at the time point is the tentative shoulder position, and temporarily stops the lifting operation of the treatment portion 8. The provisional shoulder position is also referred to as the approximate shoulder position.

The tentative shoulder detecting unit 21 performs the widening operation of expanding the interval (the treatment portion interval X) between the pair of treatment portions 8 and the treatment portion 8 after the tentative shoulder determination, as shown in FIG. 5( b ). The amount of protrusion increases to a protruding operation until the amount of protrusion Z becomes the threshold value Zc. When the amount of protrusion Z becomes the threshold value Zc, the treatment portion 8 is positioned above the shoulder of the user. The operation of expanding the interval between the pair of treatment portions 8 can be performed by a conventional mechanism, and thus detailed description thereof will be omitted. Further, the tentative shoulder detecting unit 21 constitutes a shoulder position determining device.

The shoulder position determining device 18 includes an actual shoulder determining unit 22 that actually determines the position of the user's shoulder via the treatment unit 8 after the provisional shoulder determination, that is, the actual shoulder determining operation. As shown in FIG. 6, the actual shoulder determining unit 22 monitors the sensing signal of the pressure sensor 19 while lowering the treatment portion 8 located at the tentative shoulder position. The actual shoulder determining unit 22 determines a time point at which the pressure detected by the pressure sensor 19 is, for example, P3 (>P2), and determines that the height position of the treatment portion 8 at the time point is the actual shoulder portion, and stops the treatment portion 8. decline. The actual shoulder determining unit 22 is attached to the actual shoulder position, and causes the treating unit 8 to perform a massaging operation. Further, the actual shoulder determining unit 22 constitutes a shoulder position determining device. The actual shoulder position is also referred to as the exact shoulder position.

Next, the operation of the shoulder position determining device 18 will be described with reference to Figs. 4 to 6 .

First, when the massage machine 1 is stopped, the treatment unit 8 stands by at the origin position Ya as shown in Fig. 4 . When the massage machine 1 starts to operate, the shoulder position determining device 18 starts the shoulder position determining operation. At this time, the movement position portion 20 is started so that the treatment portion 8 rises from the home position Ya by the weakest rolling and moves to the shoulder position determination start position Yb. In the weakest rolling, only the slight detection pressure is applied. Therefore, the treatment portion 8 maintains the amount of protrusion Z at the minimum value Za, simply rises, and reaches the shoulder position determination start position Yb in a short time. When the treatment portion 8 reaches the shoulder position determination start position Yb, the treatment portion 8 is temporarily stopped at this position.

On the other hand, the start position moving unit 20 is a period in which the treatment unit 8 is raised from the origin position Ya to the shoulder position determination start position Yb, and when it is detected that the protrusion amount Z of the treatment unit 8 exceeds a predetermined value, it is determined to be used. The person is not seated in the massage machine 1. At this time, the start position moving unit 20 lowers the treatment unit 8 that has reached the shoulder position determination start position Yb, and returns to the origin position Ya. Therefore, the treatment unit 8 folds back the rising path and returns to the origin position Ya.

When the treatment portion 8 reaches the shoulder position determination start position Yb, the provisional shoulder detection portion 21 performs the tentative shoulder detection operation. At this time, as shown in FIG. 5( a ), the treatment portion height Y is Yb, and the amount of protrusion Z is Za. From this state, the tentative shoulder detecting unit 21 changes the target pressure of the force control scroll from P1 to P2, and restarts the lifting operation of the treatment unit 8. When the rising treatment portion 8 approaches the shoulder portion, the pressure applied to the treatment portion 8 decreases with the transition from the back to the shoulder portion, and the amount of protrusion Z of the treatment portion 8 sharply increases. When the tentative shoulder detecting unit 21 detects that the protruding amount Z is the threshold value Zb, it is determined that the height Y of the treatment portion at this time point is the tentative shoulder position, and the rise of the treatment portion 8 is stopped.

When the provisional shoulder detecting unit 21 stops the lifting operation of the treatment unit 8 by the provisional shoulder detection, as shown in FIG. 5( b ), the widening operation for increasing the interval X of the treatment portion to Xa is simultaneously performed, and The protruding amount Z is increased to the protruding action of Zc. The widening action is performed simultaneously with the protruding motion, so that the treatment portion 8 interferes with the user's head when the amount of protrusion Z is increased to Zc. When the treatment portion interval X reaches Xa and the protrusion amount Z reaches Zc, the tentative shoulder detecting portion 21 ends the tentative shoulder detecting operation.

When the tentative shoulder detecting operation is completed, the actual shoulder determining unit 22 performs an actual shoulder determining operation. As shown in FIG. 6, the actual shoulder determining unit 22 starts the lowering of the treatment unit 8 while maintaining the treatment portion interval X at Xa and the amount of protrusion Z being Zc. At this time, the actual shoulder determining unit 22 lowers the treatment portion 8 until the detection pressure reaches P3. When the actual shoulder determining unit 22 detects that the detected pressure is P3 during the lowering, it is determined that the height Y of the treatment portion at this time point is the actual shoulder position, and the lowering of the treatment portion 8 is stopped at the actual shoulder position. Thereafter, the action portion 8 performs a knocking action of one action of the mechanical massage.

On the other hand, in the actual shoulder determining operation, even if the lowered treatment portion 8 reaches the determination lower end position Yd, and the detected pressure is equal to or lower than the determination lower limit value Pk (for example, "0.5 V"), the actual shoulder determination unit 22 determines the use. When the person is not seated, the lowering of the treatment portion 8 that determines the action according to the actual shoulder is forcibly terminated. The lower limit value Pk is determined to be smaller than P3. In other words, when the treatment portion 8 is lowered in the actual shoulder determination operation, when the treatment portion 8 is in the range from the uppermost position Yc to the lower end position Yd, the detection pressure can be detected. In P3, it is determined that the user is not seated, and the lowering operation according to the actual shoulder determining operation is forcibly terminated, so that the treatment portion 8 is forcibly avoided from the origin position. As described above, the massage machine 1 causes the treatment portion 8 that is in the home position Ya to simply rise to the shoulder position determination start position Yb of the predetermined height before the mechanical massage is performed, and detects that the treatment portion 8 reaches the shoulder. When the position determination start position Yb is determined, the actual shoulder position determination is performed. When the treatment unit 8 is in the range from the origin position Ya to the shoulder position determination start position Yb, the shoulder position determination is not performed, and the treatment portion 8 is simply raised, and the shoulder position determination is only at the shoulder position. The period after the determination start position Yb is executed. By shortening the execution range of the shoulder position determination to a part of the movable range of the treatment portion 8, the time required for the shoulder position determination can be shortened. As a result, the massaging machine 1 of the present embodiment can shorten the time required for the determination of the shoulder position as compared with the previous example in which the shoulder position determination is started from the origin position.

According to the configuration of this embodiment, the effects described below can be obtained.

(1) The massage unit 1 that has been in the position of the home position Ya is raised, and the massage machine 1 that performs the determination of the shoulder position simply raises the treatment unit 8 from the home position to the shoulder position determination start position Yb, and responds to the detection. The shoulder position determination start position Yb is reached, and the shoulder position determination is performed. Since it is only necessary to raise the treatment portion from the origin position to the shoulder position determination start position, it is possible to achieve a shorter required time when the treatment portion is raised to the shoulder position determination start position. The time required to determine the position of the shoulder can be shortened. Thereby, the waiting time until the actual massage start is short with the start of the mechanical massage by the manipulator 15, and the massager which does not make the user feel unresponsive.

(2) The massage machine 1 causes the treatment unit 8 to roll up from the origin position Ya to the shoulder position determination start position Yb in the weakest range. Therefore, even if the ascending speed of the treatment unit 8 is increased, the use can be detected. Whether the person is seated in the massage machine 1. When the user is not seated, the treatment portion 8 can be returned to the home position.

(3) The massage machine 1 detects the pressure applied to the treatment portion 8 by the pressure sensor 19, and determines the pressure of the user to determine the shoulder position. The treatment portion 8 is directly moved to the body (back) of the user, whereby the position of the shoulder of the user can be determined with high precision.

(4) The massage machine 1 can raise the treatment portion 8 while changing the amount of protrusion Z of the treatment portion 8, so that the pressure applied to the treatment portion 8 becomes the target pressure, and the measurement is performed with high precision. Shoulder position.

(5) The shoulder position determination in this example is based on the pressure applied to the rising treatment portion 8 to perform the tentative shoulder detection operation, and after the provisional shoulder position detection, the actual shoulder is performed based on the pressure applied to the lowered treatment portion 8. The department determines the action and determines the final shoulder position. As a result, the shoulder position is roughly determined by the tentative shoulder detecting operation, and the shoulder position is determined in detail by the actual shoulder determining operation. Therefore, the shoulder position of the user can be accurately determined.

(6) The massage machine 1 determines that the user is not within the range from the uppermost position Yc to the lower end position Yd when the treatment portion 8 is lowered by the actual shoulder portion, and the detection pressure is equal to or less than the determination lower limit value Pk. When seated, the lowering operation of the treatment unit 8 is forcibly terminated. Thereby, the treatment portion 8 is not lowered without any trouble, and safety can be ensured.

(7) When the massage machine 1 is stopped, the treatment unit 8 is placed at the home position Ya, and when the user is seated on the massage machine 1, the treatment unit 8 does not come into contact with the body, and does not cause an obstacle.

Further, the embodiment is not limited to the configuration described so far, and may be changed to the following aspects.

‧ The ascending speed of the treatment portion 8 in the start position movement operation and the ascending speed of the treatment portion 8 in the tentative shoulder detection operation are not limited to the same speed. For example, it is also possible to make the former rise faster than the latter. At this time, even if the ascending speed of the treatment portion 8 is increased within the range from the origin position Ya to the shoulder position determination start position Yb, the shoulder position determination accuracy is not affected, so that the shoulder position can be shortened. Determine the time required.

‧ The starting position movement is not limited to the weakest scroll, and may be, for example, a simple rising motion that does not perform the force control scroll.

When the treatment portion 8 reaches the shoulder position determination start position Yb, it is not limited to temporarily stop at the position Yb. In other words, even if the treatment portion 8 reaches the shoulder position determination start position Yb, the ascending operation is continued without stopping the position Yb, and the start position movement operation is continuously shifted to the provisional shoulder detection operation.

The shoulder position determination start position Yb is not limited to the slightly intermediate position, and may be a predetermined position higher than the origin position Ya.

‧ The shoulder position determination is not limited to the method of determining based on the detection pressure applied to the treatment unit 8, and for example, the shape of the user's human body may be specified depending on the reflection of light induced by the light sensor.

‧ The shoulder position determination is not limited to analyzing the provisional shoulder by the tentative shoulder detection operation, and then the final shoulder position is determined by the actual shoulder determination operation. For example, only the provisional shoulder detection operation may be performed.

‧ Weak scrolling when starting position movement is not limited to the weakest scroll, as long as the target pressure is lower than normal scrolling.

‧The position determination of the shoulder is not limited to the control of the roller according to the force, and other determination methods can be used.

In the actual shoulder determining operation, the condition that the lowering of the lowering of the treatment portion 8 is not limited to be equal to or lower than the determination lower limit value Pk even if the treatment portion 8 exceeds the determination lower end position Yd. For example, the detection pressure may be less than P3 even if the treatment portion 8 exceeds the determination lower end position Yd.

‧ In the actual shoulder determination operation, the condition that the lowering of the treatment unit 8 is forcibly stopped may be, for example, within a certain period of time, and the detection pressure is not equal to the predetermined pressure.

‧ It is determined that the lower end position Yd is not limited to a height slightly lower than the shoulder position determination start position Yb, and can be appropriately changed.

The drive source of the mechanical massage mechanism 9 is not limited to a motor, and may be, for example, a piston, an electromagnetic coil, or the like. The mechanical massage mechanism 9 is not limited to the configuration of the embodiment, and can be appropriately changed.

The massage machine 1 is not limited to a model that can perform only mechanical massage, and for example, an air massage by an air bag can also be performed.

In addition, the technical ideas and effects obtained by the above-described embodiment and other examples are additionally described below.

(A) In any one of the first to fifth aspects, the shoulder position determining device is configured to move the pair of treatment portions from the origin position to the upward direction, and after confirming the shoulder of the user, simultaneously perform a pair The widening operation in which the treatment portions are separated from each other in the width direction and the protruding operation in which the treatment portion is largely protruded outward. According to this configuration, since the separation operation and the protruding operation of the treatment portion are simultaneously performed, the time required from the determination of the shoulder position to the actual start of the mechanical massage can be shortened.

(B) Patent Application No. 1 to 5, wherein any one of the above technical ideas (A) includes a pressure detecting device that detects a pressure applied to the treatment portion, and the treatment portion moving device or the shoulder position determining device is The shoulder position of the user is determined based on the pressure applied to the treatment portion. According to this configuration, since the position of the shoulder of the user is determined by the pressure applied to the treatment portion, the shoulder of the user can be determined by the form in which the treatment portion directly moves to the user's body with high precision. position.

1. . . Massage machine

2. . . Seating department

3. . . Backrest

4. . . Support shaft

5. . . Seat

6. . . Dumping mechanism

7. . . Armrest

8. . . Treatment department

9. . . Mechanical massage mechanism

10. . . Institutional ontology

11. . . Up and down motion motor

12. . . guide

13. . . Strong and weak motor

14. . . Controller

15. . . Operator

16. . . Up and down motion motor drive

17. . . Strong and weak motor drive

18. . . Shoulder position determining device

19. . . Pressure sensor

20. . . Starting position moving part

twenty one. . . Tentative shoulder detection department

twenty two. . . Actual shoulder decision

La. . . Snake track

U. . . user

X. . . Treatment interval

Xa. . . Treatment interval

Y. . . height

Ya. . . Origin position

Yb. . . Shoulder position determination start position

Yc. . . Top position

Yd. . . Determine the lower end position

Z. . . Prominent amount

Za. . . Minimum value

Zb. . . Threshold

Zc. . . Threshold

Zk. . . Threshold

1(a) and 1(b) are a side view and a front view, respectively, of a massage machine of an embodiment.

Fig. 2 is an operation explanatory view showing an operation of the shoulder position determining device.

Fig. 3 is a block diagram showing an electrical configuration of a shoulder position determining device.

FIG. 4 is an explanatory diagram showing a specific operation of the start position movement operation.

5(a) and 5(b) are explanatory views showing the specific operation of the tentative shoulder detecting operation.

Fig. 6 is an explanatory view showing a specific operation of the actual shoulder determining operation.

7(a) to 7(c) are explanatory views showing an operation aspect of the prior massage machine.

1. . . Massage machine

3. . . Backrest

8. . . Treatment department

9. . . Mechanical massage mechanism

10. . . Institutional ontology

12. . . guide

La. . . Snake track

Y. . . height

Ya. . . Origin position

Yb. . . Shoulder position determination start position

Yc. . . Top position

Z. . . Prominent amount

Claims (10)

A massage machine for determining a position of a shoulder of a user via a treatment portion, and performing a mechanical massage from the determined shoulder position, comprising: a treatment portion moving device for simply positioning the treatment portion from an origin position The shoulder position determining start position is raised; and the shoulder position determining means detects the arrival of the treatment portion to the shoulder position determination start position and performs the shoulder position determination. The massage machine according to the first aspect of the invention, wherein the treatment unit moving device performs the step of changing the amount of protrusion of the treatment portion while the pressure applied to the treatment portion is the target pressure, and the treatment portion is raised. The force control scrolls, and the aforementioned target pressure is determined in advance so that the amount of protrusion of the aforementioned treatment portion is increased little or not at all. The massage machine according to the first aspect of the invention, wherein the shoulder position determining device moves the treatment portion while changing a protrusion amount of the treatment portion by causing a pressure applied to the treatment portion to be a target pressure The force control scrolls to determine the position of the shoulder of the aforementioned user. The massage machine according to any one of claims 1 to 3, wherein the shoulder position determining device performs tentative shoulder detection, raises the treatment portion from the origin position, and roughly determines the user's The shoulder position; and the actual shoulder determination, after the assumed shoulder detection, lowers the aforementioned treatment portion to determine the final shoulder position. The massaging machine according to claim 4, wherein the lowering of the treatment portion reaches a time point at which the reference descending distance or the reference descending period is reached, and when the determination of the shoulder position is not completed, the shoulder position determining device is The lowering of the treatment portion is stopped, and the determination of the shoulder position is forcibly terminated. The massage machine according to the first aspect of the invention, wherein the treatment portion moving device segment and the shoulder position determining device are configured to control the force of the movement of the treatment portion while controlling the amount of protrusion of the treatment portion. When the pressure applied to the treatment portion is the target pressure, the treatment portion moving device lowers the target pressure when the treatment portion is within a range from the origin position to the position before the shoulder position determination start position. When the treatment portion is outside the range from the origin position to the position before the shoulder position determination start position, the shoulder position determination device increases the target pressure. The massaging machine according to claim 1, wherein the shoulder position determining device does not rise during a period in which the treatment portion rises within a range from the origin position to the position before the shoulder position determination start position. The shoulder position determination is performed, and the shoulder position determining device starts determining the shoulder position at a time point when the treatment portion reaches the shoulder position determination start position. A massage machine, which is a massage machine that detects the position of a user's shoulder, and has: a treatment portion that moves in a range of movement between an origin position and an uppermost position and that can change a protrusion amount; a pressure sensor that detects a pressure applied to the treatment portion; and a controller that is based on the pressure sensor The detected pressure is controlled by moving the treatment portion while controlling the amount of protrusion of the treatment portion, and a shoulder position determination process for determining the position of the shoulder of the user can be performed, and the treatment portion is determined from the origin position to the shoulder position. When the controller is in the range from the start position, the controller increases the amount of protrusion of the treatment portion, and raises the treatment portion. When the treatment portion reaches the shoulder position determination start position, the controller responds. The aforementioned shoulder position determination processing is started. The massaging machine according to claim 8, wherein the controller controls the amount of protrusion of the treatment portion according to the pressure detected by the pressure sensor and the target pressure, and the treatment portion is at the origin position to the shoulder. When the position is within the range from the position determination start position, the controller lowers the target pressure so that the amount of protrusion of the treatment portion does not change at all or at all, and the time when the treatment portion reaches the shoulder position determination start position The aforementioned controller increases the aforementioned target pressure. The massaging machine according to claim 8 or 9, wherein the shoulder position determination start position is separated from the origin position by an intermediate position in a range of movement of the treatment portion.