TWI604838B - Massage machine - Google Patents

Description

Massage machine

The present invention relates to a massage machine.

Heretofore, there has been known a massage apparatus in which a backrest portion is provided to be opposed to the upper upper unit and to the lower lower unit. The upper unit includes a shoulder unit and a shoulder blade unit, and the lower unit includes a back unit and a waist unit. Further, the shoulder unit massages the treatment member by pressing the shoulder portion by the expansion of the air bag, and the shoulder blade unit massages the treatment member by pushing the shoulder bone portion by the expansion of the air bag. Therefore, it is possible to utilize the therapeutic member of the shoulder unit and the treatment member of the shoulder blade unit to produce a massage effect of squeezing the shoulder or the shoulder blade (for example, refer to Patent Document 1).

[Previous Technical Literature]

[Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2002-209961

However, in the massage monotony of the massaging apparatus disclosed in Patent Document 1, for example, the upper unit is observed, and the shoulder unit disposed on the upper side and the shoulder sac unit disposed on the lower side are pressed against the treatment portion without changing the relative position. Therefore, the present invention has been made in order to eliminate the above problems, and an object thereof is to improve the body feeling of the massage generated by the massage machine.

The present invention relates to a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment members are provided along a height direction, the massage machine having a first massage mechanism disposed opposite to the upper side and disposed opposite to each other a second massage mechanism as the massage mechanism; and a control mechanism for controlling the operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit and a forward/backward drive unit, and the massage drive The portion performs at least one of a kneading operation for bringing the pair of treatment members into proximity or separation, or a tapping operation for alternately advancing and retracting the pair of treatment members, wherein the advancement and retraction driving unit causes the treatment member to be relative to the user The control unit advances and retracts the advance/retract drive unit such that the treatment member of the first massage mechanism and the treatment member of the second massage mechanism are ejected or retracted in a time-shifted manner.

According to this configuration, the treatment members of the first and second massage mechanisms that can perform the kneading operation or the tapping operation can be ejected or retracted in a staggered manner. Therefore, it is possible to obtain the use of both hands by the masseur. The massage has a sense of presence.

Moreover, the present invention is a massage machine in which a plurality of massage mechanisms having left and right paired treatment members are provided along a height direction, and the massage machine is characterized in that: the first massage mechanism is disposed opposite to the upper side, and is disposed opposite to each other. a second massage mechanism on the lower side as the massage mechanism; and a control mechanism that controls the operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit and a forward/backward drive unit, The massage drive unit performs at least one of a kneading operation for bringing the pair of treatment members into proximity or separation, or a tapping operation for alternately advancing and retracting the pair of treatment members, and the advance/retract drive unit causes the treatment member to be used relative to the use. And advance and retreat in the forward and backward directions; the above control mechanism advances into the advance and retreat drive unit The line control is such that the treatment member of the first massage mechanism and the treatment member of the second massage mechanism are ejected or retracted at different speeds.

According to this configuration, the treatment members of the first and second massage mechanisms that can perform the kneading operation or the tapping operation can be ejected or retracted at different speeds from each other. Therefore, it can be obtained as if it were used by a masseur. The massage with both hands has a sense of presence.

Further, preferably, the control means controls the advance/retract drive unit to cause the treatment member of the other massage mechanism to be ejected after the treatment member of one of the first and second massage mechanisms is ejected. Eject.

With such a configuration, it is possible to obtain a sense of body that is like a masseur who pushes the left hand and the right hand to the treated portion in order.

Further, preferably, the control means controls the advance/retract drive unit to retreat the treatment member of the other massage mechanism after the treatment member of one of the first and second massage mechanisms is retracted. .

With such a configuration, it is possible to obtain a sense of presence that is like a masseur who sequentially releases the massage performed by the left hand and the massage performed by the right hand.

Further, preferably, the control unit controls the driving unit such that the treatment member of the other massage mechanism retreats in synchronization with the ejection of the treatment member of one of the first and second massage mechanisms .

With such a configuration, it is possible to obtain a sense of presence that is similar to that of a masseur by alternately switching between the left hand and the right hand.

Further, preferably, the control unit controls the advance/retract drive unit such that the treatment members of the first and second massage mechanisms have different positions in the left-right direction, and One of the treatment members of the first or second massage mechanism is retracted from the state in which the treatment member of the first and second massage mechanisms is pushed out.

With such a configuration, it is possible to obtain a sense of presence that is like a massage by a masseur using both hands and other fingers. Further, the treatment portion is strongly abutted against the treatment member in the state in which it has been ejected, so that a body feeling like a finger pressure can be obtained.

Further, preferably, the control means controls the advancing and retracting drive unit to cause the other massage mechanism to be in a state in which the treatment member of one of the first and second massage mechanisms has been ejected. The treatment member is repeatedly ejected and retracted.

With such a configuration, it is possible to obtain a sense of body that is like a massage therapist placing one hand on the treated portion and repeatedly pressing the finger with the other hand.

Further, preferably, the control unit controls the advance/retract drive unit and the massage drive unit to cause the treatment member of at least one of the first and second massage mechanisms to be ejected or retracted, and The above-described kneading action or the above-described striking action of one massage mechanism is synchronized.

With such a configuration, it is possible to obtain a sense of presence that is like a kneading action or a tapping action when the masseur changes the strength.

Further, preferably, the control unit controls the advance/retract drive unit and the massage drive unit to cause the treatment member of at least one of the first and second massage mechanisms to be ejected or retracted, and The action of the pair of therapeutic members of the one massaging mechanism is synchronized.

With such a configuration, it is possible to obtain a sense of sensation that is felt by the masseur by pinching the treated portion or pinching the portion to be treated.

Further, it is preferable to have an elevating motor that elevates and lowers at least one of the first and second massaging mechanisms along the height direction, and the control unit controls the advancing and retracting driving unit and the elevating motor to make the one massage The ejector of the institution is synchronized with the ascent or descent.

With such a configuration, it is possible to obtain a sense of presence that is like a masseur's feeling of being pushed up or down by the masseur.

Moreover, the present invention is a massage machine in which a plurality of massage mechanisms having left and right paired treatment members are provided along a height direction, and the massage machine is characterized in that: the first massage mechanism is disposed opposite to the upper side, and is disposed opposite to each other. a second massage mechanism on the lower side as the massage mechanism; and a control mechanism that controls the operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit and a forward/backward drive unit, The massage drive unit performs at least one of a kneading operation for bringing the pair of treatment members into proximity or separation, or a tapping operation for alternately advancing and retracting the pair of treatment members, and the advance/retract drive unit causes the treatment member to be used relative to the use. The control mechanism advances and retreats in the forward and backward directions. The control unit controls the advance/retract drive unit such that the first massage mechanism is disposed on the shoulder portion, and the second massage mechanism is disposed on the waist portion to cause the second massage. The above-mentioned therapeutic components of the mechanism are ejected.

With such a configuration, the upper body can be tilted back and the treatment member of the first massage mechanism can be strongly abutted against the shoulder.

Moreover, the present invention is a massage machine in which a plurality of massage mechanisms having left and right paired treatment members are provided along a height direction, and the massage machine is characterized in that: the first massage mechanism is disposed opposite to the upper side, and is disposed opposite to each other. a second massage mechanism on the lower side as the massage mechanism; and a control mechanism for controlling the operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit, and the massage drive unit performs Make the above pairs At least one of a kneading action in which the treatment member approaches or separates, or a tapping operation in which the pair of treatment members alternately advance and retreat; and at least one of the first and second massage mechanisms is disposed along the height The hoisting and lowering motor; the control unit controls the massage driving unit and the hoisting motor to cause the one massage mechanism to perform the kneading operation or the knocking operation, and to raise or lower the other massage mechanism in the height direction.

With such a configuration, it is possible to obtain a sense of body that feels like a massage by a masseur by rubbing or stretching the body with the other hand, and kneading or tapping the portion to be treated with one hand.

Moreover, the present invention is a massage machine in which a plurality of massage mechanisms having left and right paired treatment members are provided along a height direction, and the massage machine is characterized in that: the first massage mechanism is disposed opposite to the upper side, and is disposed opposite to each other. a second massage mechanism on the lower side as the massage mechanism; and a control mechanism for controlling the operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit, and the massage drive unit performs At least one of a kneading action of approaching or separating the pair of treatment members or a tapping operation of alternately advancing and retracting the pair of treatment members; and having at least one of the first and second massage mechanisms a lifting motor that moves up and down along the height direction; the control mechanism controls the massage driving unit and the lifting motor so that the pair of treatment members of one massage mechanism are brought close to each other to hold the portion to be treated, Let another massage mechanism rise or fall along the height direction.

With such a configuration, it is possible to obtain a sense of presence that is felt by the masseur when the body is fixed with one hand and the other is rubbed or stretched with the other hand.

Moreover, the present invention is a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment members are disposed along a height direction, and the massage machine is characterized by: relative arrangement a first massage mechanism on the upper side and a second massage mechanism disposed on the lower side as the massage mechanism; and a control mechanism for controlling the operation of the first and second massage mechanisms; the first and second massages The mechanism includes a massage driving unit that performs at least one of a kneading operation for bringing the pair of treatment members into proximity or separation, or a tapping operation for alternately advancing and retracting the pair of treatment members; At least one of the first and second massage mechanisms is a lifting motor that moves up and down along the height direction, and the control unit controls the lifting motor so that the first massage mechanism is placed on the shoulder. The second massage mechanism rises in the direction of the height.

According to this configuration, the treatment member of the first massage mechanism can be strongly abutted against the shoulder.

Moreover, the present invention is a massage machine in which a plurality of massage mechanisms having left and right paired treatment members are provided along a height direction, and the massage machine is characterized in that: the first massage mechanism is disposed opposite to the upper side, and is disposed opposite to each other. a second massage mechanism on the lower side as the massage mechanism; and a control mechanism for controlling the operation of the first and second massage mechanisms; the first and second massage mechanisms include an advance/retract drive unit, and the advance/retract drive unit The treatment member advances and retreats in the front-rear direction with respect to the user, and has an elevation motor that raises and lowers the first and second massage mechanisms along the height direction; and the control unit controls the elevation motor and the forward/backward drive unit to The movement of the first and second massage mechanisms in the approaching direction in the height direction is synchronized with the ejection of the treatment member of the first and second massage mechanisms.

With such a configuration, the upper body can be tilted while the back muscles are stretched.

Moreover, the present invention is a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment members are disposed along a height direction, and the massage machine is characterized by: relative arrangement a first massage mechanism on the upper side and a second massage mechanism disposed on the lower side as the massage mechanism; and a control mechanism for controlling the operation of the first and second massage mechanisms; the first and second massages The mechanism includes an advance/retract drive unit that advances and retracts the treatment member in the front-rear direction with respect to the user, and an elevation motor that moves the first and second massage mechanisms up and down along the height direction; and the control mechanism lifts the lift The motor and the advance/retract drive unit are controlled such that the movement of the first and second massage mechanisms in the direction of separation in the height direction is synchronized with the ejection of the treatment member of the first and second massage mechanisms.

With such a configuration, the upper body can be stretched while being tilted back.

Further, the present invention relates to a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment members are disposed along a height direction of a backrest portion against which a user leans, and the massage machine is characterized in that it is disposed opposite to the upper side. a first massage mechanism and a second massage mechanism disposed opposite to the lower side as the massage mechanism; and a control mechanism for controlling operations of the first and second massage mechanisms; the first and second massage mechanisms have a massage driving unit that performs at least one of a kneading operation for bringing the pair of treatment members into proximity or separation, or a tapping operation for alternately advancing and retracting the pair of treatment members; and the control mechanism is for the massage The driving unit controls the one massage mechanism to perform the kneading operation or the clamping of the pair of treatment members, and the other massage mechanism performs the operation including the above-described tapping operation.

With such a configuration, it is possible to produce a body feeling that is different from the upper body by two or more masseurs.

Moreover, the present invention is a massage machine in which a plurality of massage mechanisms having left and right pairs of treatment members are disposed along a height direction, and the massage machine is characterized by: relative arrangement a first massage mechanism on the upper side and a second massage mechanism disposed on the lower side as the massage mechanism; and a control mechanism for controlling the operation of the first and second massage mechanisms; the first and second massages The mechanism includes a massage driving unit that performs a kneading operation for bringing the pair of treatment members into proximity or apart, and the control unit controls the massage driving unit to control the first massage mechanism and the second massage mechanism The kneading action described above is performed at different speeds.

According to this configuration, when the kneading operation is continuously performed by the first and second massage mechanisms, the treatment member of the upper first massage mechanism and the second massage mechanism of the lower side can be provided. The kneading action in the upper and lower directions of the treatment member changes as time passes, and the massage effect is improved.

Moreover, it is preferable that the first massage mechanism, the second massage mechanism, or the treatment member of the first massage mechanism and the treatment member of the second massage mechanism are close to each other in the height direction. The above-described treatment members of the first and second massage mechanisms perform the kneading operation described above.

According to this configuration, it is possible to further feel the kneading operation in the up-down direction of the treatment member of the upper first massage mechanism and the treatment member of the second massage mechanism of the lower side.

Moreover, the present invention is a massage machine having a seat portion on which a user is seated, and a backrest portion that is rectilinearly provided at a rear portion of the seat portion and that the user leans against, and is provided with left and right sides along the height direction. a plurality of massage mechanisms for treating the member, the massage machine having a first massage mechanism disposed opposite to the upper side and a second massage mechanism disposed opposite to the lower side as the massage mechanism; And a control mechanism for controlling the operation of the second massage mechanism and the backrest movement of the backrest portion; the control mechanism performs the following operation, The operation of kneading the neck by the treatment member of the first massage mechanism, the pressing of the waist by the treatment member of the second massage mechanism, and the backward movement of the backrest portion The action is synchronized.

According to this configuration, the positional deviation of the upper body from the backrest portion caused by the backrest portion being reclined is suppressed by holding the neck portion, and the upper body can be effectively leaned back.

Further, it is preferable to have a foot seat that is vertically swayably provided at a front portion of the seat portion and supports a lower limb of a user, and the foot seat has a first pressing and holding mechanism that presses or holds a lower limb of a user; The control mechanism synchronizes the operation of lowering the limb by the first pressing and holding mechanism and the operation of lowering the foot with the synchronized operation.

With such a configuration, the whole body can be effectively pulled.

Preferably, the second pressing and holding mechanism that presses or holds the upper arm or the shoulder of the user; and the control mechanism synchronizes the operation of holding the upper arm or the shoulder by the second pressing and holding mechanism in synchronization with the synchronized operation.

With such a configuration, the positional deviation of the upper body with respect to the backrest portion due to the backrest portion being reclined is suppressed by holding the upper arm or the shoulder portion, and the upper body can be effectively leaned back.

According to the present invention, it is possible to enhance the body feeling of the massage.

1‧‧‧Massage machine

2‧‧‧s

3‧‧‧Backrest

8‧‧‧1st massage unit (massage unit)

9‧‧‧2nd massage unit (massage unit)

10‧‧‧ air chamber (second press holding mechanism)

13‧‧‧ air chamber (first press holding mechanism)

15‧‧‧Advance and retreat chamber (advance and retreat drive unit)

16‧‧‧Intake and retreat chamber (advance and retreat drive unit)

23‧‧‧Control agency

30‧‧‧ Ontology framework

30b‧‧‧ side wall

31‧‧‧1st massage mechanism (massage mechanism)

32‧‧‧Support framework

33‧‧‧ Connecting rod

33a‧‧‧1st link

33b‧‧‧2nd link

34‧‧‧ treatment parts

35‧‧‧ Lift motor

36‧‧‧ Lifting shaft

40‧‧‧ Arms

43‧‧‧Massage motor (massage drive unit)

48‧‧‧ Strengthening Department

50‧‧‧ ontology framework

50b‧‧‧ side wall

51‧‧‧2nd massage mechanism (massage mechanism)

52‧‧‧Support framework

53‧‧‧ linkage

53a‧‧‧1st link

53b‧‧‧2nd link

54‧‧‧therapy parts

55‧‧‧ Lift motor

56‧‧‧ lifting shaft

63‧‧‧Massage motor (massage drive unit)

68‧‧‧ Strengthening Department

70‧‧‧ sensor

71‧‧‧1st sensor unit

72‧‧‧2nd sensor section

77‧‧‧ Lifting sensor (3th sensor part)

78‧‧‧ Lifting sensor (4th sensor part)

80‧‧‧ sensor

90‧‧‧arm

91‧‧‧therapy parts

91a‧‧‧Upper treatment parts

91b‧‧‧ under treatment parts

93‧‧‧ Connecting rod

93a‧‧‧1st link

93b‧‧‧2nd link

100‧‧‧ massage unit

200‧‧‧1st massage mechanism (massage mechanism)

D1‧‧‧ the distance between pairs of therapeutic components that are closest to the kneading action

D2‧‧‧ the distance between pairs of therapeutic components that are closest to the kneading action

The upper and lower dimensions of the H1‧‧‧ kneading action

The upper and lower dimensions of the H2‧‧‧ kneading action

W1‧‧‧Action range of the treatment component in the left and right direction during kneading

W2‧‧‧Action range of the treatment part in the left and right direction during the kneading action

Fig. 1 is a perspective view of a massage machine according to an embodiment of the present invention.

Figure 2 is a functional block diagram of the massage machine.

Figure 3 is a front elevational view of the backrest portion.

Fig. 4 is a perspective view of the first massage unit.

Fig. 5 is a perspective view of the first massage unit after a part of the member is omitted.

Fig. 6 is a front view of the first massage unit.

Fig. 7 is a side view of the first massage unit, showing a state in which the first massage mechanism has been retracted.

Fig. 8 is a side view of the first massage unit, showing a state in which the first massage mechanism has been ejected.

Figure 9 is a front elevational view of the kneading axis and the striking axis.

Fig. 10 is a perspective view of the second massage unit.

Fig. 11 is a perspective view of the second massage unit with a part of the member omitted.

Figure 12 is a front elevational view of the second massage unit.

Fig. 13 is a side view of the second massage unit, showing a state in which the second massage mechanism has retreated.

Fig. 14 is a side view of the second massage unit, showing a state in which the second massage mechanism has been ejected.

Fig. 15 is a perspective view of the arm portion of the second massage unit.

Fig. 16 is an explanatory view of the kneading action.

Figure 17 is an explanatory view of the kneading action.

Figure 18 is an explanatory view of the kneading action.

Fig. 19 is an explanatory view of the kneading action.

Figure 20 is a flow chart of action 1.

Fig. 21 is an explanatory diagram of the action 1.

Figure 22 is a flow chart of action 2 and action 3.

FIG. 23 is an explanatory diagram of the operation 2 and the operation 3.

Fig. 24 is an explanatory diagram of action 4.

Fig. 25 is an explanatory diagram of action 5.

Fig. 26 is an explanatory diagram of action 6.

Fig. 27 is an explanatory diagram of action 7.

28 is an explanatory diagram of action 8.

29 is a flow chart of action 9 and action 10.

Figure 30 is a front elevational view of the massage unit of another embodiment.

Figure 31 is a front elevational view of a massage mechanism of another embodiment.

Figure 32 is an explanatory view of a link of another embodiment.

Figure 33 is an explanatory view of a sensor of another embodiment.

Figure 34 is a flow chart of action 11.

Fig. 35 is an explanatory diagram of the action A.

36 is an explanatory diagram of action B.

37 is an explanatory diagram of the operation C.

38 is an explanatory diagram of the action D.

Fig. 39 is an explanatory diagram of the action E.

40 is an explanatory diagram of the action F.

Fig. 41 is an explanatory diagram of the action a.

Fig. 42 is an explanatory diagram of the action b.

Figure 43 is an explanatory diagram of action c.

Figure 44 is an explanatory diagram of the action d.

Fig. 45 is an explanatory diagram of the action e.

Fig. 46 is an explanatory diagram of the action f.

Fig. 47 is an explanatory diagram of the action g.

Fig. 48 is an explanatory diagram of the action h.

Figure 49 is an explanatory diagram of action i.

Fig. 50 is an explanatory diagram of the action j.

[Overall composition]

Hereinafter, the overall configuration of the massage machine 1 of the present invention will be described. Fig. 1 is a perspective view of a massage machine 1 according to an embodiment of the present invention. Fig. 2 is a functional block diagram of the massage machine 1. Figure 3 is a front elevational view of the backrest portion 3. Furthermore, the concept of the direction used in the following description is consistent with the concept of the direction in which the user seated in the massage machine 1 in the standing posture shown in FIG. 1 observes, and in other cases, the concept is appropriately performed. Description.

As shown in FIG. 1, the massage machine 1 of the present invention mainly has a seat portion 2 on which a user is seated, and a backrest portion 3 which is disposed rearwardly on the rear portion of the seat portion 2 and is for the user to lean on; The armrest portion 5 is disposed on the rear portion of the seat portion 2 and supports the leg portion and the leg portion of the user; the armrest portion 5 is disposed on the left and right sides of the seat portion 2 for the user to place the arm portion; the pillow portion 6 The upper portion of the backrest portion 3 is disposed to support the neck of the user; and the foot frame 7 supports the seat portion 2 and is disposed on the ground. Further, the backrest portion 3 is provided with a plurality of massage units 8, 9 that massage the upper body of the user from the rear and are along the height direction.

Further, a side portion of the backrest portion 3 is provided with a gas chamber 10 that presses or holds the upper arm or shoulder from the left and right direction. The seat portion 2 is provided with a gas chamber 11 that presses the buttocks or the thighs of the user from below, and a gas chamber 12 that presses or holds the buttocks or the thighs from the left and right directions. The foot 4 is provided with a gas chamber 13 that presses or holds the leg and the leg of the user from the left and right direction. The armrest portion 5 is provided with a gas chamber 14 that presses or holds the front arm from above and below. Contains pumps, valves, etc., located below the seat The air unit 20 (see Fig. 2) supplies air or exhaust air, whereby the air chambers 10 to 14 expand or contract.

As shown in FIGS. 1 and 2, the backrest portion 3 can be tilted back and forth in the front-rear direction with respect to the seat portion 2 by the actuator 21 provided under the seat portion 2, and can be stopped at the stand shown in FIG. The posture is any position between the backrest surface and the ground substantially horizontal back posture. Further, the armrest portion 5 is configured to move rearward in conjunction with the backrest portion 3 in the backward direction, and to move forward in conjunction with the standing of the backrest portion 3. The foot 4 can be rocked in the vertical direction with respect to the seat 2 by the actuator 22 provided under the seat 2, and can be stopped at any position between the hanging posture and the rising potential shown in FIG. The ascending posture refers to a posture that supports the leg and the foot in a state in which the knee is stretched.

As shown in Fig. 2, below the seat portion 2, an air unit 20 that supplies air to each of the air cells 10 to 14 and the intake and exhaust air chambers 15, 16 to be described later or that discharges air, including a pump and a valve, is provided. It is preferable that the air unit 20 can maintain the respective air chambers 10 to 14 and the intake and exhaust chambers 15 and 16 with an arbitrary expansion amount. In this case, the expansion amounts of the air chambers 10 to 14 and the intake and exhaust chambers 15 and 16 can be adjusted. . Further, in the massaging machine 1, a control unit 23 including a programmable microcomputer or the like is provided, and the massage unit 8, 9 and the air unit 20 are controlled and actuated according to an instruction from a user of the operator 27 or a predetermined program. The actions of the devices 21, 22.

The control mechanism 23 has a main control unit 24 that is disposed below the seat 2 and controls each of the massage units 8, 9, the air unit 20, and the actuators 21, 22; and sub-control units 25, 26, It is disposed on the massage units 8, 9 and controls the lifting of the massage units 8, 9. Further, a plurality of massage modes are stored in the control mechanism 23, and the plurality of massage modes automatically cause at least one of the massage units 8, 9, the air unit 20, and the actuators 21, 22 to automatically according to a specific program. Take action. After the user selects the desired massage mode, various actions are automatically performed until the set mode time elapses.

[Composition of the backrest]

As shown in FIGS. 1 and 3, the backrest portion 3 includes a back frame 3a which is formed in a gate shape in front view and contains resin or the like, and a guiding mechanism 3b which lifts and lowers the massage units 8, 9 assembled to the back frame 3a. Guided; and a back pad 3c disposed on the front surface side of the back frame 3a and having cushioning properties. The guide mechanism 3b is extended along the height direction, and is curved so that the upper part and the lower part are located further forward than the middle part (refer FIG. 21). Further, a rack is formed on the front side, and a guide rail is formed on the rear side. Moreover, a plurality of massage units 8, 9 are supported by the guide mechanism 3b in a liftable manner.

[Composition of massage unit]

Hereinafter, the configuration of the massage units 8 and 9 will be described.

4 is a perspective view of the first massage unit 8. Fig. 5 is a perspective view of the first massage unit 8 after a part of the member is omitted. Fig. 6 is a front view of the first massage unit 8. Fig. 7 is a side view of the first massage unit 8, showing a state in which the first massage mechanism 31 has retreated. Fig. 8 is a side view of the first massage unit 8, showing a state in which the first massage mechanism 31 has been ejected. Figure 9 is a front elevational view of the kneading shaft 41 shown in (a) and the striking shaft 42 shown in (b). FIG. 10 is a perspective view of the second massage unit 9. Fig. 11 is a perspective view of the second massage unit 9 with a part of the member omitted. Fig. 12 is a front view of the second massage unit 9. Fig. 13 is a side view of the second massage unit 9, and shows a state in which the second massage mechanism 51 has retreated. Fig. 14 is a side view of the second massage unit 9, and shows a state in which the second massage mechanism 51 has been ejected. Fig. 15 is a perspective view of the arm portion 60 of the second massage unit 9.

As shown in FIGS. 3 to 15, a plurality of massage units 8, 9 are provided along the height direction. In the present embodiment, the first massage unit 8 disposed on the upper side is disposed opposite to the first massage unit 8 The second massage unit 9 on the lower side is provided on the backrest portion 3. Each of the massage units 8 and 9 mainly includes: a body frame 30, 50 supported by the guiding mechanism 3b so as to be movable up and down; a massage mechanism 31, 51 having the treatment members 34, 54; a support frame 32 supporting the massage mechanism 31, 51, 52; advance and retreat driving portions 15, 16 for moving the massage mechanisms 31, 51 with respect to the treatment portion; and links 33, 53 for connecting the main body frames 30, 50 and the support frames 32, 52 in the front-rear direction.

Hereinafter, the configuration of the upper first massage unit 8 will be described in detail.

As shown in FIGS. 4-8, the main body frame 30 has a rear wall 30a, side walls 30b erected from the left and right sides of the rear wall 30a, a bottom wall 30c erected from a lower portion of the rear wall 30a, and a rear wall 30a. The upper portion is erected with the upper wall 30d and is formed in a box shape with a front opening. Further, an elevating mechanism is provided above the main body frame 30, and the elevating mechanism is an elevating motor 35 for elevating and lowering the first massage unit 8, an elevating shaft 36 extending in the left-right direction, and a rotation of the elevating motor 35. The speed reducer 37 that decelerates and transmits the rotation to the lift shaft 36 is constructed. The lifting shaft 36 is rotatably supported by the two side walls 30b. A guide roller 38 and a pinion 39 attached to the lift shaft 36 are disposed at an upper portion of the side wall 30b, and a guide roller 38 and a pinion 39 are disposed at a lower portion thereof. When the pinion gear 39 and the guide roller 38 sandwich the guide mechanism 3b, and the lift motor 35 is driven, the first massage unit 8 can be moved up and down along the height direction. Since the elevating mechanism is disposed on the upper portion of the first massage unit 8, the treatment member 34 can be brought close to the treatment member 54 (the upper treatment member 54a) of the second massage mechanism 51.

The first massage mechanism 31 has left and right paired arm portions 40 that support the treatment member 34 at the distal end and a drive mechanism that drives the arm portion 40 to massage. The driving mechanism has a kneading shaft 41 that supports the arm portion 40, and causes the pair of treatment members 34 to be separated and separated in the left-right direction to perform a kneading action; the shaft 42 is tapped, which alternately pairs the treatment members 34 Pushing and retreating to perform a tapping action; as a massage driving portion of the massage motor 43, driving the kneading shaft 41 and the striking shaft 42; And a speed reducer 44 that decelerates the rotation of the massage motor 43 and transmits the rotation to the kneading shaft 41 and the striking shaft 42. Moreover, the drive mechanism is supported by a box-shaped frame 45. Furthermore, in the present embodiment, the treatment member 34 of the first massage unit 8 is unitary in the vertical direction.

As shown in Fig. 9(a), the kneading shaft 41 is extended in the left-right direction, and the inclined shaft 41a inclined with respect to the axial center 41b is provided in the left and right sides. Further, the arm portion 40 is rotatably attached to the tilt shaft 41a via a bearing. Further, the left and right tilting axes 41a are not parallel to each other, but are inclined in a substantially eight-word manner in front view. Further, a width sensor 46 for detecting the interval between the pair of treatment members 34 is provided on the kneading shaft 41. As shown in FIG. 9(b), the striking shaft 42 is extended in the left-right direction, and the eccentric shaft 42a which is eccentric with respect to the axial center 42b is provided in the left and right sides. Moreover, as shown in FIG. 5, the connection member 47 which connects the tapping shaft 42 and the rear part of the arm part 10 is rotatably provided in the eccentric shaft 42a via a bearing. Further, the phases of the left and right eccentric shafts 42a surrounding the axis 42b of the striking shaft 42 are different from each other.

After the kneading shaft 41 is rotated, the rotation of the arm portion 40 around the kneading shaft 41 is restricted by the connecting member 47, and the arm portion 40 is three-dimensionally rotated. In other words, as shown in Fig. 16, after the kneading shaft 41 is continuously rotated in one direction, the treatment member 34 draws an annular trajectory having at least right and left and vertical components, and operates the right and left pair of treatment members 34. Move in the left and right direction to approach separation. This is the kneading action. On the other hand, after the knocking shaft 42 rotates, the pair of arm portions 40 alternately advance and retreat with the kneading shaft 41 as a fulcrum by the upper and lower movements of the connecting member 47. This is done in a tapping action. Further, in the present embodiment, the clutch is provided on the striking shaft 42, and the single massage motor 43 is reversed, whereby the kneading/kneading action can be switched, but the massage motor can be separately provided. 43 and kneading action and tapping action independently.

The support frame 32 has a plate surface in the front-rear direction, and a frame 45 is fixed to the front surface side, thereby supporting the first massage mechanism 31. On the body frame 30 and An intake and retreat chamber 15 as an advancing and retracting drive unit is provided between the support frames 32. The advancing and retracting chamber 15 as the advancing and retracting drive unit expands and contracts due to the supply and discharge of air from the air unit 20, so that the first massage mechanism 31 is opposed to the first massage mechanism 31. Being treated by the treatment department. Further, a link 33 is provided on the side of the support frame 32, and the link 33 connects the body frame 30 and the support frame 32 and swings in the front-rear direction. The reason why the link 33 is disposed on the side of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be suppressed as compared with the case where it is disposed behind the support frame 32. The links 33 are arranged side by side in the front-rear direction, and have a first link portion 33a disposed opposite to the rear side and a second link portion 33b disposed opposite to the front side. That is, the link 33 constitutes a four-node link mechanism.

As shown in FIGS. 7 and 8, the lengths of the first link portion 33a and the second link portion 33b are different, and specifically, the length of the first link portion 33a is set shorter than that of the second link portion 33b. length. The first link portion 33a is adjacent to the lift shaft 36, and the upper portion is pivotally supported by the side wall 30b of the body frame 30 via the swing axis A1, and the lower portion is pivotally supported by the upper portion of the support frame 32 via the pivot A2. The second link portion 33b is adjacent to the side of the elevating shaft 36, and the upper portion is pivotally supported by the side wall 30b of the main body frame 30 via the rocking axis A3, and the lower portion is pivotally supported by the lower portion of the support frame 32 via the pivot A4. Further, the rocking axis A1 of the first link portion 33a is located slightly rearward of the rocking axis A3 of the second link portion 33b. Further, the pivots A2 and A4 are inserted into the arcuate guide portions 30e and 30f (see FIG. 4) which are provided in the side wall 30b and are convex downward, whereby the first link portion 33a and the second portion The respective actions of the link portions 33b are guided. Further, as shown in FIGS. 7 and 8, a reinforcing portion 48 is provided at a connecting portion that is connected to the main body frame 30, and the reinforcing portion 48 is connected to and strengthens the first link portion 33a and the second link portion 33b. In this manner, the vicinity of the rocking axes A1 and A3 of the load-bearing link 33 can be reinforced by the lift shaft 36 and the reinforcing portion 48.

In a state where the first massaging mechanism 31 has completely retreated, the connecting portion of the link 33 that is connected to the main body frame 30 is located forward of the connecting portion that is connected to the support frame 32. That is, the rocking axis A1 of the first link portion 33a is located further forward than the pivot A2, and the rocking axis A3 of the second link portion 33b is located further forward than the pivot A4. Therefore, after the expansion and retreat chamber 15 is inflated, the link 33 draws a downwardly convex arc-shaped trajectory and is swung, so that the first massage mechanism 31 can advance and retreat in a direction substantially parallel to the direction opposite to the portion to be treated. . In addition, since the four-node link mechanism is used, the first link portion 33a is swung forward from the rocking axis A1, and the first link portion 33a is swollen from the state in which the first massage mechanism (31) is fully retracted. However, the support frame 32 is pivotally supported by the second link portion 33b which is longer than the first link portion 33a at a position lower than the pivot axis A2 of the first link portion 33a. It is possible to suppress the shaking of the first massage mechanism 31, and it is possible to advance and retreat the first massage mechanism 31 in a direction that is more nearly parallel to the direction in which the treatment portion faces.

Further, since the lengths of the first link portion 33a and the second link portion 33b are different, the first link mechanism 33a and the second link portion 33b can be provided close to each other in the front-rear direction, and the first massage mechanism can be secured. The sufficient amount of ejection of 31 can suppress the thickness of the first massage unit 8 in the front and rear directions. Further, since the length of the first link 33a disposed on the rear side is relatively short, the amount of movement of the front and rear direction components can be obtained immediately after the start of the ejection, starting from the state in which the first massage mechanism 31 is completely retracted. . In the process of ejecting the first massage mechanism 31, the first link portion 33a abuts against the second link portion 33b from the rear, whereby the first massage mechanism 31 is ejected at a predetermined position. restricted. In other words, since the second link portion 33b functions as a stopper, the number of components can be reduced without separately providing a stopper.

Hereinafter, the configuration of the lower second massage unit 9 will be described in detail.

As shown in FIGS. 9 to 15, the main body frame 50 is provided with a rear wall 50a, side walls 50b erected from the left and right sides of the rear wall 50a, a bottom wall 50c erected from a lower portion of the rear wall 50a, and a rear wall 50a. The upper portion is erected with the upper wall 50d and is formed in a box shape with a front opening. Further, an elevating mechanism is provided below the inside of the main body frame 50, and the elevating mechanism is an elevating motor 55 for elevating and lowering the second massage unit 9, an elevating shaft 56 extending in the left-right direction, and a rotation of the elevating motor 55. The speed reducer 57 that decelerates and transmits the rotation to the lift shaft 56 is constructed. The lifting shaft 56 is rotatably supported by the two side walls 56b. A guide roller 58 and a pinion 59 attached to the lift shaft 56 are disposed at an upper portion of the side wall 56b, and a guide roller 58 and a pinion 59 are disposed at a lower portion thereof. When the pinion 59 and the guide roller 58 sandwich the guide mechanism 3b, and the lift motor 55 is driven, the second massage unit 9 can be moved up and down along the height direction. Since the elevating mechanism is disposed at the lower portion of the second massage unit 9, the treatment member 54 (the upper treatment member 54a) can be brought close to the treatment member 34 of the first massage mechanism 31.

The second massage mechanism 51 has left and right paired arm portions 60 that support the treatment member 54 at the distal end and a drive mechanism that drives the arm portion 60 to massage. The drive mechanism has a kneading shaft 61 that supports the arm portion 60, and causes the pair of treatment members 54 to be separated and separated in the left-right direction to perform a kneading action; as the massage driving portion, the massage motor 63 drives the kneading shaft And a speed reducer 64 that decelerates the rotation of the massage motor 63 and transmits the rotation to the kneading shaft 61. Moreover, the drive mechanism is supported by a box-shaped frame 65. Further, the arm portion 60 is formed in a U-shape when viewed from the side, and a treatment member 54a having a relatively large diameter is provided at the upper end, and a treatment member 54b having a relatively small diameter is provided at the lower end. That is, unlike the first massage unit 8, two treatment members 54 are provided in the vertical direction.

As shown in Fig. 9(a), the kneading shaft 61 has the same configuration as the kneading shaft 41 of the first massaging mechanism 31, and is disposed to extend in the left-right direction, and is provided on the left and right sides with respect to the axis thereof. The inclined axis 61a of the heart 61b is inclined. Further, the arm portion 60 is rotatably attached to the tilt shaft 61a via a bearing. Further, the left and right tilting axes 61a are not parallel to each other, but are inclined in a substantially eight-word manner in front view. As shown in FIG. 15, a connecting member 67 is provided behind the arm portion 60, and the connecting member 67 has a ball joint at the rear end to connect the arm portion 60 with the support frame 52. A groove 69 in the left-right direction is provided on the front surface side of the support frame 52, and the ball joint of the connecting member 67 is fitted to the groove 69. Further, a width sensor 66 for detecting the interval between the pair of treatment members 54 is provided on the kneading shaft 61.

After the kneading shaft 61 is rotated, the rotation of the arm portion 60 around the kneading shaft 61 is restricted by the connecting member 67, and the arm portion 60 is three-dimensionally rotated. That is, as shown in FIG. 16, after the kneading shaft 61 is continuously rotated in one direction, the treatment member 54 draws an annular trajectory having at least right and left and vertical components to operate. Further, the pair of right and left treatment members 54 are operated in the left-right direction. When the upper treatment member 54a approaches, the lower treatment member 54b is separated, and when the upper treatment member 54a is distant, the lower treatment member 54b approaches. This is the kneading action. In the present embodiment, the second massage mechanism 51 is configured to perform only a kneading operation. However, similarly to the first massage mechanism 31, a configuration in which a tapping operation can be performed may be employed.

The support frame 52 has a plate surface in the front-rear direction, and a frame 65 is fixed to the front surface side, thereby supporting the second massage mechanism 51. An intake and retreat chamber 16 as an advancing and retracting drive unit is disposed between the main body frame 50 and the support frame 52. The advancing and retracting chamber 16 as the advancing and retracting drive unit expands and contracts due to the supply and discharge of air from the air unit 20, so that the second The massage mechanism 51 advances and retreats relative to the portion to be treated. Further, a link 53 is provided on the side of the support frame 52, and the link 53 connects the body frame 50 and the support frame 52 and swings in the front-rear direction. The links 53 are arranged side by side in the front-rear direction, and have a first link portion 53a disposed opposite to the rear side and a second link disposed opposite to the front side. Rod portion 53b. That is, the link 53 constitutes a four-node link mechanism.

The length of the first link portion 52a and the second link portion 53b are different. Specifically, the length of the first link portion 53a is set shorter than the length of the second link portion 53b. The first link portion 53a is adjacent to the lift shaft 56, and the lower portion is pivotally supported by the side wall 50b of the body frame 50 via the swing axis A5, and the upper portion is pivotally supported by the lower portion of the support frame 52 via the pivot A6. The second link portion 53b is adjacent to the lift shaft 56, and the lower portion is pivotally supported by the side wall 50b of the body frame 50 via the swing axis A7, and the upper portion is pivotally supported by the upper portion of the support frame 52 via the pivot A8. Further, the rocking axis A5 of the first link portion 53a is located slightly rearward of the rocking axis A7 of the second link portion 53b. Further, the pivots A6 and A8 are fitted to the guide portions 50e and 50f (see FIG. 10) which are provided in the side wall 50b and which are convex upward in an arc shape, whereby the first link portion 53a and the second link are provided. The respective actions of the rod portions 53b are guided. Further, as shown in FIGS. 13 and 14, a reinforcing portion 68 is provided at a connecting portion that is connected to the main body frame 50, and the reinforcing portion 68 is connected to and strengthens the first link portion 53a and the second link portion 53b. In this manner, the vicinity of the swing axes A5 and A7 of the link 53 that receives the load can be reinforced by the lift shaft 56 and the reinforcing portion 68.

In a state where the second massaging mechanism 51 has completely retreated, the connecting portion of the link 53 that is connected to the main body frame 50 is located forward of the connecting portion that is connected to the support frame 62. That is, the rocking axis A5 of the first link portion 53a is located further forward than the pivot A6, and the rocking axis A7 of the second link portion 53b is located further forward than the pivot A8. Therefore, after the expansion and retraction chamber 16 is inflated, the link 53 draws an upwardly convex arc-shaped trajectory and is swung, so that the second massage mechanism 51 can advance and retreat in a direction substantially parallel to the direction opposite to the portion to be treated. . In addition, since the four-node link mechanism is used, the first link portion 53a is swung forward from the rocking axis A5, and the first link portion 53a is swollen from the state in which the second massage mechanism 51 is fully retracted. Of course Further, the support frame 52 is pivotally supported by the second link portion 53b which is longer than the first link portion 53a at a position lower than the pivot A6 of the first link portion 53a. It is possible to suppress the shaking of the second massage mechanism 51, and it is possible to advance and retreat the second massage mechanism 51 in a direction closer to a direction parallel to the direction in which the treatment portion is opposed.

Further, since the lengths of the first link portion 53a and the second link portion 53b are different, the second link mechanism can be secured even if the first link portion 53a and the second link portion 53b are provided close to each other in the front-rear direction. The sufficient amount of ejection of 51 can suppress the thickness of the second massage unit 9 in the front and rear directions. In addition, since the length of the first link 53a disposed on the rear side is relatively short, the amount of movement of the front and rear direction components can be obtained immediately after the start of the ejection, starting from the state in which the second massage mechanism 51 is completely retracted. . In the process of ejecting the second massage mechanism 51, the first link portion 53a abuts against the second link portion 53b from the rear, whereby the second massage mechanism 51 is ejected at a predetermined position. restricted. In other words, since the second link portion 53b functions as a stopper, the number of components can be reduced without separately providing a stopper.

[The composition of the sensor]

As shown in FIG. 2, the massaging machine 1 has a sensor 70 that detects the relative position of the first massage unit 8 and the second massage unit 9. Hereinafter, the sensor 70 will be described in detail.

As shown in FIG. 4, a magnetic supporter 73 to which a magnet is attached is provided on one side in the left-right direction on the bottom wall 30c which is a lower portion of the first massage unit 8, and the first of the proximity of the detecting magnet is provided on the other side in the left-right direction. The sensor unit 71 and the sub-control unit 25 (see FIG. 2) electrically connected to the first sensor unit 71. On the other hand, as shown in FIG. 10, the second sensor portion 72, which is close to the detection magnet, is electrically connected to the second sensation in the upper wall 50d which is the upper portion of the second massage unit 9. The sub-control unit 26 (see FIG. 2) of the detector unit 72 is in the other direction in the left-right direction. A magnetic support 74 to which a magnet is mounted is provided on the side. The sub-controllers 25 and 26 are electrically connected to the elevating motors 35 and 55, respectively, so that the elevation of each of the massage units 8 and 9 can be controlled. Further, the sub-controllers 25 and 26 are also electrically connected to the main control unit 24.

The position of the first sensor unit 71 orthogonal to the magnetic support 74 provided in the second massage unit 9 in the vertical direction substantially coincides with the magnetic support 74, and the second massage massage unit 9 can be detected for the first The proximity of the massage unit 8. On the other hand, the second sensor unit 72 is substantially perpendicular to the magnetic support 73 at a position orthogonal to the magnetic support 73 provided in the first massage unit 8 in the vertical direction, and the first massage massage unit can be detected. 8 is close to the second massage unit 9. That is, the sensor 70 is a non-contact type sensor including the first sensor unit 71 and the second sensor unit 72. As described above, the proximity of the massage units 9 and 8 on the other side is detected by the respective massage units 8 and 9, and the elevation motors 33 and 55 are controlled by the respective sub-control units 25 and 26, so that the accuracy of collision prevention is improved.

Further, the sensor 70 preferably detects the interval between the two massage units 8 and 9 as a relative position of the first massage unit 8 and the second massage unit 9 in a plurality of stages. For example, it is sufficient to detect the "proximity state" in which the distance between the two massage units 8 and 9 approaches a certain distance, and the state of the "proximity state" which is slightly separated from the approach state. Therefore, the detection range of the relative position of the first massage unit 8 and the second massage unit 9 is expanded. Further, the two massage units 8 and 9 can be integrally moved up and down in a state of maintaining a specific relative position (for example, a near state or a near state).

As shown in FIG. 2, the backrest portion 3 is provided with an upper limit sensor 75 for detecting an upper limit position of the lift range of the first massage unit 8, and a lower limit sensor 76 for detecting a lower limit position of the lift range of the second massage unit 9. Therefore, the first and second massage units 8 and 9 are not separated from the backrest portion 3. Further, the first and second massage units 8 and 9 have lift sensors 77 and 78, respectively, and the lift sensors 77 and 78 detect the vertical position by detecting the number of rotations of the lift shafts 36 and 56. The elevation sensor 77 of the first massage unit 8 detects how many turns the lifting shaft 36 has rotated from the upper limit position, thereby detecting the upper and lower positions of the first massage unit 8. The elevation sensor 78 of the second massage unit 9 detects how many turns the lifting shaft 56 has rotated from the lower limit position, thereby detecting the upper and lower positions of the second massage unit 9.

[Action Control to Avoid Collision]

When the two massage units 8, 9 are moved toward each other, in the case where it is detected that the two massage units 8, 9 have reached a specific relative position (for example, a near state or a near state), the sub-control portion 25 The drive of the lift motor 35 is stopped or reversed, and the sub-control unit 26 controls the drive of the lift motor 55 to stop or reverse. Further, each of the sub-control units 25 and 26 notifies the main control unit 24 that the above control has been performed. In this way, collision of the two massage units 8, 9 is avoided.

When one massage unit (for example, the first massage unit 8) has stopped moving up and down, and another massage unit (for example, the second massage unit 9) moves toward a massage unit, two massage units 8 are detected. When the state 9 has reached a specific relative position (for example, a near state or a near state), the sub-control unit 26 controls the driving of the lift motor 55 to be stopped or reversed. Further, each of the sub-control units 25 and 26 notifies the main control unit 24 that the above control has been performed. Further, instead of or in addition to the above control, the sub-control unit 25 may control the elevation motor 35 to move the first massage unit 8 in a direction away from the second massage unit 9. In this way, collision of the two massage units 8, 9 is avoided.

[Detection of shoulder position]

The massage machine 1 is configured to detect the position of the shoulder as a specific part of the user. to make. Hereinafter, the configuration of detecting the position of the shoulder will be described.

A specific portion detecting sensor (not shown) is provided in the first massage unit 8, and the specific portion detecting sensor detects that the first massaging mechanism 31 is ejected with respect to the main body frame 30 by a specific amount. The shoulder position is detected during the state in which the massaging unit 8 is raised from the waist or the back position in the height direction in a state where a certain amount of air is supplied to the intake/exhaust chamber 15 or the supply of the specific amount of air is continued. In the detection process, it is preferable that the air chamber 10 provided in the backrest portion 3 is inflated, and the upper body of the user is held in the backrest portion 3 in advance.

During the ascent of the first massage unit 8, after the treatment member 34 reaches the shoulder position, the load from the user is released, and the amount of ejection of the first massage mechanism 31 reaches a certain amount. The position detection sensor detects the vertical position of the first massage unit 8 when the first massage mechanism 31 has ejected a certain amount, and detects the shoulder position of the user. Further, other parts such as the neck, the shoulder blade, the back, the waist, and the buttocks are calculated based on the detected shoulder position. Furthermore, the specific part to be detected may not be the shoulder position, and may be other parts such as the waist.

During the execution of the massage mode, the first massage unit 8 can perform massage corresponding to the height of the user based on the position information of the shoulder and/or other parts detected by the sensor. Further, during the execution of the massage mode, the second massage unit 9 can perform the massage corresponding to the height based on the position information detected by the specific portion detection sensor included in the first massage unit 8. Further, the second massage unit 9 may be provided with a specific portion detecting sensor, and the second massage unit 9 can also detect the position information of the shoulder and/or other portions detected by the sensor based on the specific portion. Perform a massage corresponding to the height of the user. Alternatively, the second massage unit 9 may operate based on the position information of each predetermined portion. In this case, the position information of each part based on the average height can be memorized in advance in the control unit 23.

When the two massage units 8, 9 are raised or lowered in the same direction, the lifting speed of the massage unit on the front side in the forward direction is controlled faster than the lifting speed of the massage unit on the rear side in the forward direction, or The massage unit on the front side of the row direction is controlled in such a manner that the massage unit on the rear side in the forward direction starts moving. Thereby, the accuracy of preventing collision is further improved. Further, if the lifting speed of the massage unit on the front side in the forward direction is relatively slightly increased, or the massage unit on the front side in the forward direction is slightly moved first, the two massage units 8 and 9 can be brought closer to each other. The ground moves in the same direction. That is, it is possible to prevent the sensor 70 from frequently detecting the above-described approach state and causing the massage unit on the rear side in the forward direction to frequently stop or separate.

[massage action]

Hereinafter, the kneading action will be described in detail.

Fig. 16 is an explanatory view of the kneading action. Fig. 17 is an explanatory view of the kneading operation, wherein (a) shows the kneading operation in a state where the massage unit 8 stops moving up, (b) shows the kneading operation performed while the massage unit 8 is lowered, and (c) shows The kneading action is performed while the massage unit 8 is raised. 18 is an explanatory view of a kneading operation, wherein (a) shows a kneading operation in a state where the massage unit 8 stops moving up, (b) shows a kneading operation performed while raising the massage unit 8, and (c) shows The kneading action is performed while the massage unit 8 is lowered. Fig. 19 is an explanatory view of the kneading action. In addition, FIG. 16 and FIG. 19 show a state in which the first massage unit 8 is placed at the neck position and the second massage unit 9 is placed at the shoulder position.

As shown in FIG. 16, when the massage motors 43 and 63 are driven to continuously rotate the kneading axes 41 and 61 in one direction, each of the treatment members 34 and 54 draws a ring shape having a right and left and up and down direction components in a front view. Move with the track. On the other hand, when the kneading axes 41 and 61 are rotated one turn before being rotated one turn, each of the treatment members 34 and 54 is drawn to face up. The arc-shaped trajectories of the left and right and vertical components are operated. In either case, the left and right pair of treatment members 34 and 54 operate in the left-right direction and are close to each other. This is the kneading action.

As shown in FIG. 7 and FIG. 13, in the massaging machine 1 of the present embodiment, the distance d1 between the treatment member 34 of the first massage mechanism 31 and the kneading shaft 41 is set to be shorter than the treatment member 54 of the second massage mechanism 51. The distance d2 between the upper treatment member 54a and the kneading shaft 61. Therefore, as shown in FIG. 16, the treatment member 34 of the first massage mechanism 31 and the treatment member 54 of the second massage mechanism 51 have different operation ranges of the kneading operation in the left-right direction, specifically, the action of the treatment member 34. The range W1 is smaller than the operating range W2 of the treatment member 54. Further, the treatment member 34 of the first massage mechanism 31 and the treatment member 54 of the second massage mechanism 51 have different trajectories of the kneading operation, and specifically, the upper and lower dimensions H1 of the trajectory of the treatment member 34 are smaller than the treatment member. The above trajectory of 54 is above the dimension H2. Further, the inclination axes 41a and 61a are different in inclination angle with respect to the axial centers 41b and 61b of the kneading axes 41 and 61, whereby the above-described operation range can be made different from the above-described trajectory size. Specifically, the larger the inclination angle of the tilt axes 41a and 61a with respect to the axial centers 41b and 61b of the kneading axes 41 and 61, the larger the above-described operation range and the upper and lower dimensions of the above-described track.

According to the configuration described above, the first massage mechanism 31 can perform a relatively fine kneading operation on the neck portion having a narrow treatment range, and the second massage mechanism 51 can be used to treat the neck portion having a large therapeutic range. The body of the treatment (such as the shoulders, back, waist, etc.) performs a dynamic kneading action. That is, an effective kneading action can be performed according to the treatment site. Further, since the two massage units 8 and 9 can be moved up and down, the first massage unit 8 and the second massage unit 9 can be switched to perform different kneading operations on the same treated portion.

Further, each of the massage units 8 and 9 is moved up and down in the height direction in synchronization with the kneading operation, whereby the upper and lower dimensions of the trajectory of the kneading operation can be changed. By exemplifying the treatment member 34, as shown in FIG. 17(b), when the first massage unit 8 is lowered in synchronization with the lower movement caused by the kneading operation of the treatment member 34, the trajectory of the kneading operation is up and down. When H1 is increased, as shown in FIG. 17(c), when the first massage unit 8 is raised in synchronization with the lower movement caused by the kneading operation of the treatment member 34, the upper and lower dimensions H1 of the kneading operation are reduced. In addition, as shown in FIG. 18(b), when the first massage unit 8 is raised in synchronization with the upper movement caused by the kneading operation of the treatment member 34, the upper and lower dimensions H1 of the kapping operation are increased. As shown in Fig. 18 (c), when the first massage unit 8 is lowered in synchronization with the upward movement caused by the kneading operation of the treatment member 34, the upper and lower dimensions H1 of the kneading operation are reduced.

With the configuration described above, it is possible to variously change the body feeling of the kneading operation. For example, by switching the massage units 8 and 9 that massage the treatment portion, the range of motion of the kneading motion in the left and right direction may be changed, and the kneading action may be performed by adding the lifting and lowering of the massage units 8 and 9. The size of the upper and lower tracks can be changed. Further, although the treatment member 34 of the first massage mechanism 31 is illustrated in FIGS. 17 and 18, the treatment member 54 of the second massage mechanism 51 can perform the same kneading operation. Further, the treatment member having the right and left pairs has only the up-and-down component of the left-right direction component, and the massage unit is moved up and down, whereby the kneading operation of the massage motor can be changed to an arc having the up-and-down component drawn by the treatment member. The action of a shape or a circular trajectory.

As another embodiment, as shown in FIG. 19, the first massage mechanism 31 and the second massage mechanism 51 are set as follows, that is, the treatment members 34 and 54 that are paired in the right and left of the kneading operation. The distance between the two is different. Specifically, the upper part of the first massage mechanism 31 The separation distance D1 is preferably set to be smaller than the above-described separation distance D2 of the second massage mechanism 51. The above-described separation distance is an interval of the mounting position when the pair of arm portions 40, 60 are attached to the kneading shafts 41, 61, or the inclination of the inclined shafts 41a, 61a with respect to the axial centers 41b, 61b of the kneading axes 41, 61. Caused by the angle. With such a configuration, the first massage mechanism 31 can perform a kneading action on the neck portion, and the second massage mechanism 51 can avoid the vicinity of the body center line (for example, the spine). Kneading is performed on the treated part (such as the shoulder, back, waist, etc.) under the neck. That is, an effective kneading action can be performed according to the treatment site.

Hereinafter, the cooperation between the first massage mechanism 31 and the second massage mechanism 51 will be described.

[Action 1]

Figure 20 is a flow chart of action 1. 21 is an explanatory view of the operation 1, (a) shows a state in which the first massage mechanism 31 is pushed out and the second massage mechanism 51 is retracted, and (b) shows a state in which the first massage mechanism 31 is retracted and the second massage mechanism 51 is pushed out. .

In the first operation, the first massage mechanism 31 and the second massage mechanism 51 are moved forward and backward in a staggered manner, and it is preferable to include the operation of the treatment members 34 and 54 driven by the massage motors 43 and 63. In the following, as shown in FIG. 21, the first massage unit 8 is placed at the neck position, and the second massage unit 9 is placed at the back position of the shoulder, and the operation 1 is performed.

As shown in FIG. 20, first, the first massage mechanism 31 is relatively ejected with respect to the second massage mechanism 51 (step S1). Then, the second massage mechanism 51 is pushed out in a state where the front and rear positions of the first massage mechanism 31 are maintained (step S2). Then, while the front and rear positions of the second massage mechanism 51 are maintained, the first massage mechanism 31 is relatively moved backward with respect to the second massage mechanism 51 (step S3). Next, in a state in which the front and rear positions of the first massage mechanism 31 are maintained, the first 2 The massage mechanism 51 moves backward (step S4). The loop of steps S1 to S4 is repeated at a specific time. Further, in the steps S1 to S4, the second massage mechanism 51 may be first ejected. Further, the arrangement position of each of the massage units 8 and 9 is not particularly limited. For example, the first massage unit 8 may be disposed at the neck position, and the second massage unit 9 may be disposed at the waist position.

In steps S1 to S4, it is preferable to drive the massage motors 43 and 63 to cause the treatment members 34 and 54 to perform a massage including a kneading action or a tapping motion, and the massage may be always performed. Alternatively, the massage may be intermittently performed. For example, when the massage mechanisms 31 and 51 are ejected, the massage is performed, and when the massage mechanisms 31 and 51 are retracted, the massage is stopped. Moreover, the ejection or retreat of the massage mechanisms 31 and 51 can be synchronized with the above-described massage. In this case, it is possible to obtain a body sensation of performing a kneading action or a tapping action as if the masseur is changing the strength. Alternatively, the massage mechanisms 31 and 51 may be pushed out or retracted to synchronize with the action of the pair of right and left treatment members 34 and 54. In this case, it is possible to obtain a massage of the treated portion by the masseur. Or the body feeling of being pinched by the treatment part. Further, the term "synchronization" as used herein refers to the advancement or retreat of the advance/retract drive portions 15, 16 of the massaging mechanisms 31, 51 in parallel, and the kneading action, the tapping action, or the pairing. It is only necessary to apply the massage motors 43 and 63 to which the components are close to each other, and also includes the case where the massage motors 43 and 63 are driven after the ejection mechanisms 31 and 51 are ejected or retracted.

Further, the massage mechanism 31, 51 can be alternately advanced and retracted in such a manner that the other massage mechanism retreats in synchronization with the ejection of the massage mechanism. In this case, it is possible to alternately switch the left and right hands as if by the masseur. Come to the sense of body massage. Moreover, in a state in which one massage mechanism is ejected, another massage mechanism can be repeatedly ejected and retracted within a specific time. In this case, it can be obtained as if the masseur placed one hand on the treatment. Ministry Repeat the sensation of finger pressure with the other hand.

Further, in steps S1 to S4, the lift motors 35 and 55 may be driven to raise and lower the massage units 8, 9 and, for example, the ejection of the massage mechanisms 31 and 51 may be synchronized with the rise or fall of the massage units 8, 9. In this case, it is possible to obtain a sense of body that is pushed up or down by the masseur by the masseur. Furthermore, it is preferable that the operation is synchronized with the action of bringing the pair of left and right treatment members close to each other.

As described above, in the operation 1, the massaging mechanisms 31 and 51 advance and retreat and massage in a staggered manner. Therefore, it is possible to obtain a sense of body that feels like a massage by a masseur using both hands. In particular, when the kneading action is performed as the above-described massage, the left and right paired therapeutic members of one massage mechanism can simulate the kneading action of the thumb and other fingers of the masseur's left hand, and the left and right paired therapeutic components of the other massage mechanism. It can simulate the kneading action of the thumb of the masseur's right hand and other fingers. Further, since the action 1 is performed in a state where the two massage mechanisms 31 and 51 are brought close to each other in the vertical direction, the sense of presence becomes conspicuous. Therefore, it is preferable to use the sensor 70 in the approaching state or the proximity. This action 1 is performed in the previous state.

Further, in the above-described embodiment, each of the massage mechanisms 31 and 51 is pushed out or retracted in a staggered manner to realize a sense of presence with a sense of presence. However, the speeds of the respective massage mechanisms 31 and 51 are different from each other. , still able to get the same sense of body. For example, when the ejection speed of the first massage mechanism 31 is relatively faster than the ejection speed of the second massage mechanism 51, even if the massage mechanisms 31 and 51 simultaneously start to eject, the first massage mechanism will be used. After the treatment member 34 of 31 pushes the treatment portion, the treatment portion is pressed by the treatment member 54 of the second massage mechanism 51 with a slight delay. Therefore, it is possible to obtain a body feeling like the masseur presses the left hand and the right hand in order to the treated portion.

[Action 2]

Figure 22 is a flow chart of action 2 and action 3. 23 is an explanatory view of the operation 2 and the operation 3, wherein (a) shows a state in which the first and second massage mechanisms 31 and 51 have retreated, and (b) shows a state in which the first and second massage mechanisms 31 and 51 have been ejected. (c) shows a state in which the first massage mechanism 31 has been ejected and the second massage mechanism 51 has retreated. Further, in Fig. 23, the treatment members 34, 54a, 54b with oblique lines indicate the state in which they have been ejected, and the treatment members 34, 54a, 54b not provided with oblique lines indicate the state in which they have been retracted.

In Act 2, the treatment member 34 of the first massage mechanism 31 and the treatment member 54 of the second massage mechanism 51 are ejected with respect to the treatment portion. In the following, as shown in FIG. 23, the first massage unit 8 is placed at the back surface position of the shoulder portion, and the second massage unit 9 is placed on the upper portion of the spine, and the operation 2 is performed.

As shown in Fig. 22, first, each of the massage units 8 and 9 is moved up and down, and is formed in a state close to the height direction (step S1). In this example, the first massage unit 8 is placed on the back side of the shoulder, and the second massage unit 9 is placed on the upper back. Therefore, as shown in FIG. 23, the treatment member 34 and the upper treatment member 54a are close to each other in the height direction. Next, as shown in FIG. 23(a), the massage motor 43 and 63 are driven to position the treatment member 34 of the first massage mechanism 31 and the treatment member 54 of the second massage mechanism 51 in the left-right direction (step S2). Next, the advancing and retracting drive units 15 and 16 are driven, and as shown in FIG. 23(b), the first massage mechanism 31 and the second massage mechanism 51 are pushed out (step S3).

In addition, in step S1, the upper and lower intervals of the two massage units 8 and 9 may be determined based on the sensor 70, and for example, the approaching state or the approaching state may be used. Further, in step S2, each of the treatment members 34, 54 is determined based on the width sensors 46, 66. The left and right position can be. Further, steps S1 and S2 may be performed in parallel. Further, in step S3, the first massage mechanism 31 and the second massage mechanism 51 can be simultaneously ejected, and the first massage mechanism 31 and the second massage mechanism 51 can be ejected in a staggered manner.

In step S3, the massage motors 43 and 63 may be driven to perform a kneading action or a tapping action. For example, it is preferable that the backrest portion 3 is configured to perform a kneading operation by one massage mechanism, and in parallel with this, the other massage mechanism is subjected to an operation including a tapping motion. By operating in the above manner, it is possible to produce a body feeling that is different from the upper body by two or more masseurs. Furthermore, even if the masseur can perform the kneading action with one hand, the masseur cannot perform the tapping action with one hand, and therefore, one masseur cannot perform the kneading action and the tapping action at the same time.

In the operation 2, the treatment member 34 of the first massage mechanism 31 and the treatment member 54 (the upper treatment member 54a) of the second massage mechanism 51 are placed side by side in the left-right direction, so that it is possible to obtain a double use as a masseur. The thumb of the hand and the other fingers massage (shiatsu) have a sense of presence. That is, in the state shown in Fig. 23, the treatment member 34 located on the left and right inner sides corresponds to the thumb, and the treatment member 54a or the lower treatment member 54b on the left and right outer sides corresponds to the other fingers. Further, in the above-described embodiment, the operation 2 is performed in a state where the first massage mechanism 31 and the second massage mechanism 51 are close to each other, but the first massage mechanism 31 and the second massage mechanism 51 may be separated from each other. Act 2 below. In this case, for example, the treatment member 54 (the upper treatment member 54a or the lower treatment member 54b) located on the lower side corresponds to a thumb, and the treatment member 34 located on the upper side corresponds to another finger.

[Action 3]

Act 3 is an operation in which the treatment member 34 of the first massage mechanism 31 and the treatment member 54 of the second massage mechanism 51 are positioned differently in the left-right direction, and the treatment portion of one massage mechanism is provided. The piece is retracted from the top out state. Hereinafter, as shown in FIG. 22, the case where the operation 3 is performed in the following operation 2 is exemplified.

In step S3 of the subsequent operation 2, the advancing and retracting drive unit is driven to retreat any of the massage mechanisms (step S4). In the example shown in FIG. 23, the advancing and retracting drive unit 16 is driven to retract the second massage mechanism 51. As described above, the treatment portion strongly abuts against the treatment member 34 of the first massage mechanism 31 that has been ejected, so that a feeling of being pressed by the treatment member 34 can be obtained. Further, the operation 3 is performed in a state in which the two massage mechanisms 31 and 51 are close to each other, whereby the body feeling of the finger pressure becomes remarkable. Therefore, it is preferable to use the sensor 70 based on the proximity state or the proximity state. This action 3 is performed in the state. Further, in the operations 2 and 3, the arrangement positions of the massage units 8 and 9 are not particularly limited. For example, the first massage unit 8 may be disposed at the neck or the back position, and the second massage unit 9 may be disposed at the waist. position.

[Action 4]

Fig. 24 is an explanatory diagram of action 4. Further, in Fig. 24, the illustration of the lower treatment member 54b is omitted for the sake of easy understanding.

In the operation 4, the treatment member 34 of the first massage mechanism 31 and the treatment member 54 of the second massage mechanism 51 perform the kneading operation at different speeds, and it is preferable that the massage mechanisms 31 and 51 are approached in the height direction. This action 4 is performed in the state.

First, each of the massage units 8 and 9 is moved up and down to be in a state of approaching in the height direction. Then, the massage motors 43 and 63 are continuously driven in one direction, and the treatment member 34 of the first massage mechanism 31 and the treatment member 54 of the second massage mechanism 51 perform a kneading operation. The respective massage motors 43 and 63 are driven at different speeds, whereby the kneading axes 41 and 61 are rotated at different speeds to perform the kneading operation. In the example shown in Fig. 24, the rotation of the kneading shaft 41 is made relatively accelerate. Further, the upper and lower intervals of the two massage units 8 and 9 may be determined based on the sensor 70. For example, the approach state or the approach state may be used.

As described above, in the operation 4, the treatment members 34 and 54 of the massage mechanisms 31 and 51 repeatedly perform a kneading operation by circulating around the circular path. However, if attention is paid to the treatment member of one massage mechanism, it is in each cycle. The positional relationship between the treatment component of the one massage mechanism and the treatment component of the other massage mechanism is different. For example, when focusing on the treatment member 34 of the first massage mechanism 31, the pair of treatment members 54 of the second massage mechanism 51 are in the kneading action in a state in which the pair of treatment members 34 are completely separated in the first cycle. In the upper end of the trajectory, in the state in which the pair of treatment members 34 in the second cycle are completely separated, the pair of treatment members 54 of the second massage mechanism 51 are located at the lower end of the trajectory of the kneading action. In the operation 4, the kneading operation in the up-down direction of the treatment member 34 of the first massage mechanism 31 and the treatment member 54 of the second massage mechanism 51 can be changed over time, and the massage effect is improved.

[Action 5]

25 is an explanatory view of the operation 5, wherein (a) shows a state in which the first and second massage mechanisms 31 and 51 have retreated, and (b) shows a state in which the first massage mechanism 31 has retreated and the second massage mechanism 51 has been ejected. .

As shown in FIG. 25, the operation 5 is an operation in which the first massage unit 8 is placed at the shoulder position, and the second massage unit 9 is placed at the waist position, and the second massage mechanism 51 is pushed out. This action preferably includes the action of the treatment member 34 caused by driving the massage motor 43. The second massage mechanism 51 is pushed out at the waist position, whereby the waist is pushed forward and the upper body is reclined. Therefore, the shoulder portion strongly abuts against the treatment member 34 of the first massage mechanism 31. At this time, if the treatment member 34 of the first massage mechanism 31 is kneaded or struck, the massage effect is improved.

[Action 6]

26 is an explanatory view of the operation 6, wherein (a) shows that the first massage unit 8 is disposed at the shoulder position, and the second massage unit 9 is disposed at the waist position, and (b) shows that the first massage unit 8 is disposed at the shoulder. The position and the second massage unit 9 have been raised to the state of the back position.

As shown in FIG. 26, the operation 6 is an operation of raising the second massage unit 9 in the height direction while the first massage unit 8 is placed at the shoulder position, and preferably includes the driving massage motor 43. The action of the treatment component 34 is caused. The upper body is lifted by raising the second massage unit 9. Therefore, the shoulder portion strongly abuts against the treatment member 34 of the first massage mechanism 31. At this time, if the treatment member 34 of the first massage mechanism 31 is kneaded or struck, the massage effect is improved.

[Action 7]

Fig. 27 is an explanatory view of the operation 7, wherein (a) shows a state in which the first massage mechanism 31 is pushed out to sandwich the neck portion, and the second massage mechanism 51 is placed at the shoulder position, and (b) shows that the first massage mechanism 31 is ejected. On the other hand, the neck portion is gripped and the second massaging mechanism 51 has been lowered to the waist position.

Act 7 is an operation in which the other massage mechanism is raised or lowered in the height direction by the pair of treatment members sandwiching the treatment portion. In the example shown in FIG. 27, the second massage unit 9 is lowered in a state where the first massage mechanism 31 is ejected and the pair of treatment members 34 are brought close to each other to sandwich the neck portion. The upper body is pulled downward by lowering the second massage unit 9. Therefore, since the neck portion is sandwiched by the treatment member 34 of the first massage mechanism 31, the stretching effect of the stretched neck portion can be obtained. Further, as long as the second massage unit 9 is repeatedly raised and lowered in a state in which the neck portion is held by the first massage mechanism, the following body feeling can be obtained, which is similar to that used by the masseur. With one hand fixed the state of the neck, with the other hand The treatment unit performs sputum or stretching.

In the operation 7, the arrangement position of each of the massage units 8 and 9 is not particularly limited. Further, it is possible to appropriately select the massage mechanism that holds the treatment portion and the massage mechanism that rises or falls. For example, the first massage unit 8 may be raised or lowered at the back position in a state where the second massage unit 9 is disposed at the waist position and the waist is held by the pair of treatment members 54.

[Action 8]

28 is an explanatory view of the operation 8, wherein (a) the first massage mechanism 31 performs a kneading operation, the second massage mechanism 51 is in a state of ascending process, and (b) shows that the first massage mechanism 31 performs a kneading operation, and The second massage mechanism 51 is in a state of descending process. Act 8 is an action in which one massage mechanism performs a kneading action or a tapping action, and causes another massage mechanism to ascend or descend. In the following, a case where the first massage mechanism 31 is kneaded as the one massage mechanism and the second massage mechanism 51 is raised or lowered as the other massage mechanism will be described based on FIG.

As shown in Fig. 28 (a), the second massage mechanism 51 is gradually raised toward the first massage mechanism 31 to approach the first massage mechanism 31, whereby the muscle of the treatment portion is close to the first massage mechanism 31 side. The paired muscles are kneaded by the pair of treatment members 34 of the first massage mechanism 31. On the other hand, as shown in FIG. 28(b), the second massage mechanism 51 is gradually lowered and separated from the first massage mechanism 31, whereby the muscle of the treatment portion is pulled, and the first massage mechanism 31 can be used. The pair of treatment members 34 kneads the muscle to be pulled. In addition, the treatment portion is smashed by the raising or lowering of the second massage mechanism 51, whereby blood circulation can be promoted, and the first massage mechanism 31 kneads the treated portion whose blood circulation has been accelerated, thereby massaging The effect is further improved. Further, in the operation 8, the first massage mechanism 31 may be raised or lowered to cause the second massage mechanism 51 to perform a kneading operation or a tapping operation.

[Action 9]

29 is a flow chart of action 9 and action 10.

Act 9 is an operation in which two operations are synchronized, and one operation means that the first massage mechanism 31 and the second massage mechanism 51 move in the direction of the height direction, and the other operation refers to the first and second massages. The treatment members 34, 54 of the mechanisms 31, 51 are ejected with respect to the treatment portion. As shown in Fig. 29, first, each of the massage units 8, 9 is moved in the direction in which they approach each other (step S1). The operation of the step S1 is continued until the relative position of each of the massage units 8, 9 reaches the approaching state or the approaching state. After the completion of step S1, or in parallel with step S1, the treatment members 34 and 54 of the first and second massage mechanisms 31 and 51 are ejected (step S2). By operating in the above manner, the back muscles can be stretched by the movement of the massage mechanisms 31 and 51 in the height direction, and the upper body can be tilted backward by the ejection of the treatment members 34 and 54 to improve the massage. effect. Next, after the completion of step S2, the treatment members 34 and 54 of the first and second massage mechanisms 31 and 51 are retracted (step S3). Further, in step S1, it is preferable that the first and second massage mechanisms 31 and 51 are gradually approached to each other with the waist position as the target position, and in this case, the effect of the upper body reclining is increased.

[Action 10]

Act 10 is an operation in which two operations are synchronized, and one operation refers to moving the first massage mechanism 31 and the second massage mechanism 51 in the direction in which they are separated from each other in the height direction, and the other operation refers to the first and second massages. The treatment members 34, 54 of the mechanisms 31, 51 are ejected with respect to the treatment portion. Hereinafter, as shown in FIG. 29, the case where the operation 10 is performed by the connection operation 9 is exemplified.

In step S3 of the subsequent operation 9, the first and second massage units 8 and 9 in the approaching state or the approaching state are moved in the direction in which they are separated from each other (step S4). The action of step S4 continues straight The first massage unit 8 reaches the neck position, and the second massage unit 9 reaches the lower limit position of the lifting range. Next, the treatment members 34 and 54 of the first and second massage mechanisms 31 and 51 are ejected in parallel with step S4 (step S5). By operating in the above manner, the upper body can be tilted backward by the ejection of the treatment members 34 and 54, and the upper body can be stretched by the separation operation of the massage mechanisms 31 and 51 in the height direction. Improve the massage effect.

[Action 11]

Figure 34 is a flow chart of action 11.

Act 11 is an action that causes the user's body to stretch. In the operation 11, the following operations are performed in synchronization with the operation of the elevation motor 35 to cause the treatment member 34 of the first massage mechanism 31 to be located in the neck portion, and the massage motor 43 is driven to perform the paired treatment. When the member 34 approaches, the neck portion is kneaded, and the treatment member 54 of the second massage mechanism 51 is placed at the waist by driving the elevation motor 55, and the second massage mechanism 51 is ejected by driving the advance/retract drive unit 16 to the waist. Pressing; the upper chamber is held by the backrest portion 3 by the air chamber 10 as the second pressing and holding mechanism provided in the backrest portion 3; and the air chamber 13 serving as the first pressing and holding mechanism of the foot 4 is The lower limb is held by the foot 4; the backrest portion 3 is tilted rearward by driving the actuator 21; and the foot 4 is lowered by driving the actuator 22.

In the operation 11, at least the operation of gripping the neck, the operation of pressing the waist, and the operation of tilting the backrest 3 back may be performed. According to such an operation, the second massaging mechanism 51 pushes up the waist portion in the following state. Therefore, the upper body can be effectively tilted back, and a high stretching effect can be expected. The positional deviation of the upper body relative to the backrest portion 3 caused by the backrest portion 3 receding is suppressed.

Moreover, if the movement of the upper arm or the shoulder is maintained by the air chamber 10, When the upper arm or the shoulder is held, the positional deviation of the upper body with respect to the backrest portion 3 due to the backrest portion 3 receding is further suppressed, and a higher stretching effect can be expected. In addition, when the action of holding the lower limb and the action of lowering the foot 4 are added, the backrest portion 3 and the footrest 4 are operated while the neck portion and the lower limb are held, so that the whole body can be pulled and the whole body can be pulled Expect a higher stretching effect. In addition, when the first massage mechanism 31 in the ejected state is retracted by the driving of the advancing and retracting drive unit 15 in synchronization with the reclining of the backrest portion 3, the neck portion is pulled downward, so that it can be expected Higher stretching effect. In addition, the "synchronization" in the operation 11 may be performed in parallel without any successive steps, and may include the case where the backrest of the backrest portion 3 or the lowering of the footrest 4 is completed, and the second is made. The massage mechanism 51 is ejected.

Hereinafter, each operation of the first massage mechanism 31 and the second massage mechanism 51 will be described. Fig. 35 is an explanatory diagram of the action A. 36 is an explanatory diagram of action B. 37 is an explanatory diagram of the operation C. 38 is an explanatory diagram of the action D. Fig. 39 is an explanatory diagram of the action E. 40 is an explanatory diagram of the action F. Fig. 41 is an explanatory diagram of the action a. Fig. 42 is an explanatory diagram of the action b. Figure 43 is an explanatory diagram of action c. Figure 44 is an explanatory diagram of the action d. Fig. 45 is an explanatory diagram of the action e. Fig. 46 is an explanatory diagram of the action f. Fig. 47 is an explanatory diagram of the action g. Fig. 48 is an explanatory diagram of the action h. Figure 49 is an explanatory diagram of action i. Fig. 50 is an explanatory diagram of the action j.

The actions A to F are the actions of the first massage mechanism 31. The actions a to j are the actions of the second massage mechanism 51. The operations A to F of the first massage mechanism 31 and the operations a to j of the second massage mechanism 51 can be arbitrarily combined. That is, in the present embodiment, the combination of the operations of the first massage mechanism 31 and the second massage mechanism 51 is 60 types. By combining the actions A to F and a to j of the plurality of massage mechanisms 31 and 51 provided in the backrest portion 3 along the height direction, it is possible to collectively perform the muscles over a wide range such as the trapezius muscle M. massage. Moreover, it is possible to simultaneously face in the height direction Massage the separated parts. Further, in the operations a to j, the treatment member 54 is illustrated with the lower treatment member 54b omitted for the sake of easy understanding.

The position massaged by the first massage mechanism 31 in the operations A to F is determined based on the position information of each part detected or calculated by the specific part detecting sensor. On the other hand, the second massage mechanism is determined based on the position information of each part detected by the sensor detected by the specific portion of the first massage unit 8 or the second massage unit 9 or the position information previously stored in the control unit 23. 51 The position of the massage in action a~j.

[Action A]

As shown in FIG. 35, the operation A is an operation of driving the massage motor 43 at the shoulder position and performing a kneading operation in which the pair of treatment members 34 of the first massage mechanism 31 are brought close to each other. In action A, the treatment component 34 can also act on either the upper or the rear of the shoulder. In the case of acting on the back of the shoulder, it is preferable to have the shoulder blade B on the upper side. Further, in the case of acting on the shoulder blade B which is the rear portion of the shoulder portion, it is preferable to perform the state in which the first and second massage mechanisms 31 are retracted while the intake and exhaust air chamber 15 is contracted without causing excessive pain. Kneading action.

[Action B]

As shown in FIG. 36, the operation B is an operation in which the massage motor 43 is driven at the neck position, and the pair of treatment members 34 of the first massage mechanism 31 are brought close to each other to knead the neck portion. In this operation, the massage motor 43 is stopped for a specific time while the pair of treatment members 34 are approaching.

[Action C]

As shown in FIG. 37, the operation C is an operation from the neck to the shoulder by the treatment member 34 of the first massage mechanism 31. Specifically, in a state where the pair of treatment members 34 are brought close to the neck position, the lift motor 35 and the massage motor 43 are driven to lower the first massage mechanism 31, and And the pair of treatment members 34 are separated (action C-1). Alternatively, in a state where the pair of treatment members 34 are separated from each other in the shoulder position, the elevation motor 35 and the massage motor 43 are driven to raise the first massage mechanism 31, and the pair of treatment members 34 are brought close (action C- 2). The operation C-1 and the action C-2 may be repeated alternately.

[Action D]

As shown in FIG. 38, the operation D is an operation of driving the elevation motor 35 from above the shoulder position, lowering the first massage mechanism 31, and performing the pair of treatment members 34 from above to the shoulder. Shiatsu. This action is preferably performed in a state where the pair of treatment members 34 have been separated. Further, it is preferable to perform this operation in a state where a certain amount of air is supplied to the intake and exhaust chamber 15 and the treatment member 34 is ejected.

[Action E]

As shown in FIG. 39, the operation E is an operation in which the elevation motor 35 is driven at the neck position to raise and lower the first massage mechanism 31, and the neck portion is twisted by the pair of treatment members 34.

[Action F]

As shown in FIG. 40, the operation F is an operation in which the shoulder or the back is rubbed between the left and right shoulder blades B by the treatment member 34 of the first massage mechanism 31. Specifically, at the shoulder or the back position, the pair of arm portions 40 are brought into contact with the shoulder blade B in advance in a state where the pair of arm portions 40 are substantially parallel in front view, and the lift motor 55 is driven to raise the first massage mechanism 31 or decline. Furthermore, the distance between the pair of treatment members 34 in the action F may be greater than the distance between the pair of treatment members 34 in the action E.

[Action a]

As shown in FIG. 41, the action a is an operation of the treatment unit of the second massage mechanism 51. In the piece 54, the back of the spine is twisted between the left and right shoulder blades B. In this operation, the range in which the spine is turned up and down includes a position corresponding to the upper end and the lower end of the shoulder blade B. Specifically, at the position of the shoulder blade, the pair of arm portions 60 are brought into contact with the shoulder blade B in advance without causing the treatment members 54a and 54b to come into contact with each other, and the second massage mechanism 51 is raised or lowered. . That is, the action a is a wide range, and the entire left and right shoulder blades are swung together.

[Action b]

As shown in FIG. 42, the operation b is an operation in which the spine is twisted between the left and right shoulder blades B by the treatment member 54 of the second massage mechanism 51. In this operation, the range in which the spine is turned up and down includes a position lower than the center of the shoulder blade B, and does not include a position corresponding to the upper end. Specifically, at the position of the shoulder blade, the pair of arm portions 60 are brought into contact with the shoulder blade B in advance without causing the treatment members 54a and 54b to come into contact with each other, and the second massage mechanism 51 is raised or lowered. . In other words, the operation b is an operation in which the lower side portion between the left and right shoulder blades B is centered.

[action c]

As shown in Fig. 43, the operation c is an operation in which the spine is twisted between the left and right shoulder blades B by the treatment member 54 of the second massage mechanism 51. In this operation, the range in which the spine is turned up and down includes a position higher than the center of the shoulder blade B, and does not include a position corresponding to the lower end. Specifically, in the state where the pair of arm portions 60 are substantially parallel in front view, the treatment members 54a and 54b are not brought into contact with the shoulder blade B in advance, and the elevation motor 55 is driven to raise or lower the second massage mechanism 51. In other words, the operation c is an operation in which the upper side portion between the left and right shoulder blades B is centered.

[Action d]

As shown in FIG. 44, the operation d is an operation in which the range from the waist to the back is rubbed by the treatment member 54 of the second massage mechanism 51. Specifically, in a state in which the paired arm portions 60 are substantially parallel in front view, the treatment members 54a and 54b are not brought into contact with the shoulder blade B in advance, and the elevation motor 55 is driven to raise or lower the second massage mechanism 51. Further, the lower limit of the lifting range of the second massage mechanism 51 may be determined based on a limit sensor (not shown) provided at a lower portion of the backrest portion 3. Further, in the second massage mechanism 51, since the upper treatment member 54a functions more strongly than the lower treatment member 54b, the arm portion 60 may not be substantially parallel when viewed from the front, and may be made In a state in which the upper treatment member 54a is closer to the pair of lower treatment members 54b, the upper treatment member 54a is brought into contact with the shoulder blade B to perform the respective operations a to d.

[Action e]

As shown in FIG. 45, the operation e is an operation of kneading the edge of the lower portion of the shoulder blade B by the treatment member 54 of the second massage mechanism 51. Specifically, the treatment member 54 (for example, the upper treatment member 54a) is positioned slightly below the lower end of the shoulder blade B, and the massage motor 63 is driven to close the pair of treatment members 54 of the second massage mechanism 51. Pinch action.

[action f]

As shown in Fig. 46, the operation f is an operation in which the edge of the inner side of the shoulder blade B is twisted by the treatment member 54 of the second massage mechanism 51. Specifically, in a state where the pair of treatment members 54 (for example, the upper treatment member 54a) are approached between the left and right shoulder blades B, the elevation motor 55 and the massage motor 63 are driven to lower the second massage mechanism 51, and The pair of treatment members 54 (for example, the upper treatment member 54a) are separated (action f-1). Alternatively, it is assumed that the pair of treatment members 54 (for example, the upper treatment member 54a) are separated from the left and right shoulder blades B in advance, and the lifting horse is driven. When the massage motor 63 is reached 55 and the second massage mechanism 51 is raised, the pair of treatment members 54 (for example, the upper treatment member 54a) are approached (operation f-2). The operation f-1 and the action f-2 may be repeated alternately.

[Action g]

As shown in FIG. 47, the operation g is an operation of kneading and kneading the back and/or the waist by the treatment member 54 of the second massage mechanism 51. Specifically, the lift motor 55 and the massage motor 63 are driven to raise or lower the second massage mechanism 51, and the pair of treatment members 54 are brought close to each other. The lifting range of the second massage mechanism 51 in this operation may be from the waist to the back, or may be only the back or the waist.

[action h]

As shown in FIG. 48, the operation h is an operation of kneading the rear portion of the buttocks (the portion abutting against the backrest portion 3) by the treatment member 54 of the second massage mechanism 51. Specifically, the massage motor 63 is driven to cause the pair of treatment members 54 of the second massage mechanism 51 to be separated from each other at the buttock position. Further, the hip position may be determined based on a limit sensor (not shown) provided at a lower portion of the backrest portion 3.

[Action i]

As shown in FIG. 49, the operation i is a finger pressing of the rear portion of the buttocks (the portion abutting against the backrest portion 3) by the treatment member 54 of the second massage mechanism 51. Specifically, the massage motor 63 is driven to bring the pair of treatment members 54 (for example, the upper treatment member 54a) of the second massage mechanism 51 closer to the buttock position, and in this state, the massage motor 63 is stopped for a specific period of time. Further, the hip position may be determined based on a limit sensor (not shown) provided at a lower portion of the backrest portion 3.

[Action j]

As shown in FIG. 50, the operation j is an operation in which the rear portion of the waist portion and/or the buttocks (the portion that abuts against the backrest portion 3) is rubbed by the treatment member 54 of the second massage mechanism 51. Specifically In other words, the lift motor 55 is driven to raise or lower the second massage mechanism 51. The lifting range of the second massage mechanism 51 in this operation may be from the waist to the buttocks, or may be only the waist or the buttocks.

[Configuration of Massage Unit of Other Embodiments]

Hereinafter, the massage unit 100 of another embodiment will be described. Figure 30 is a front elevational view of the massage unit 100 of another embodiment. The massage unit 100 collectively provides the massaging mechanism 31 and the second massaging mechanism 51 to a single body frame 110. In other words, the support frames 32 and 52 supporting the massage mechanisms 31 and 51 and the massage mechanisms 31 and 51 are the same as those described above, and therefore, the same reference numerals will be given below, and the description thereof will be omitted.

As shown in FIG. 30, the massage unit 100 includes a first massage mechanism 31 that is disposed on the upper side and a second massage mechanism 51 that is disposed on the lower side, and is provided on the backrest portion 3. The massage unit 100 mainly has a main body frame 110 supported by the guiding mechanism 3b, a first massage mechanism 31 and a second massage mechanism 51, and support frames 32 and 52 supporting the massage mechanisms 31 and 51; The portions 15, 16 allow the massage mechanisms 31, 51 to advance and retreat with respect to the portion to be treated; and the links 33, 53 that connect the body frame 110 to the support frames 32, 52 and are rocked in the front-rear direction.

The massage unit 100 includes an elevation motor 111, a lifting shaft 112, and pinions 39 attached to both ends of the lifting shaft 112. By driving the lifting motor 111, the lifting shaft 112 rotates, and the massage unit 100 moves up and down along the height direction. The treatment member 34 can perform a kneading operation or a tapping operation by driving the massage motor 43, and the treatment member 54 can perform a kneading operation by driving the massage motor 63.

[Configuration of Massage Mechanism of Other Embodiments]

Hereinafter, the massage mechanism 200 of another embodiment will be described. Figure 31 is another embodiment Front view of the massage mechanism 200.

The first massage mechanism 200 is substantially different from the first massage mechanism 31 in that the massage mechanism 200 is provided with a treatment member 91 on the upper and lower sides of the arm portion 90, and the lower treatment member 91 is disposed on the left and right sides via the arm portion 90. The other configuration is the same as that of the first massage mechanism 31. Therefore, the same reference numerals will be given below, and the description thereof will be omitted.

The massaging mechanism 200 has left and right paired arm portions 90 to which the treatment member 91 is attached, and the arm portion 90 is coupled to the kneading shaft 41 and the striking shaft 42. The treatment member 91 has a treatment member 91a provided on the upper side of the arm portion 90 and a treatment member 91b provided below the lower side of the arm portion 90. Further, the lower treatment member 91b is provided in a pair of right and left sides via the arm portion 90. The diameter of the lower treatment member 91b is smaller than the diameter of the upper treatment member 91b, the lower treatment member 91b simulates the thumb of the masseur, and the upper treatment member 91a simulates the fingers of the masseur other than the thumb. Then, by driving the massage motor 43, it is possible to perform a kneading operation in which the left and right paired treatment members 91 are separated from each other, and a tapping operation in which the left and right paired treatment members 91 are alternately advanced and retracted. When the massage mechanism 200 is applied to the massage machine 1, it is preferable to provide the massage mechanism 200 instead of the first massage mechanism 31. That is, in the backrest portion 3, the massage mechanism 200 is disposed to face the upper side, and the second massage mechanism 51 is disposed to face the lower side. Further, each of the massaging mechanisms 51 and 200 can be independently raised and lowered in the height direction.

The massaging mechanism 200 can effectively perform a kneading action near the neck and shoulder positions. That is, the neck portion and the shoulder portion can be kneaded by the upper treatment member 91a and the lower treatment member 91b, respectively. Moreover, during the approach of the pair of therapeutic members 91b, the inner lower treatment member 91b acts effectively on the shoulder, and during the separation of the pair of treatment members 91b, the outer lower treatment member 91b Effectively applied to the shoulders. Furthermore, according to the viewpoint of exerting the above effects, it is not necessary to provide a plurality of massage mechanisms 200 along the height direction, as long as the body is along The single massage mechanism 200 can be placed on the backrest portion 3 in a high direction. Further, the lower treatment member 91b may be provided only on either one of the inner side or the outer side of the arm portion 90.

[Configuration of Link of Other Embodiments]

Hereinafter, the case where the link 93 of the other embodiment is applied to the first massage unit 8 will be described, but the link 93 can also be applied to the second massage unit 9. Fig. 32 is an explanatory view of the link 93 of the other embodiment, wherein (a) shows a state in which the massage mechanism 31 has been retracted, and (b) shows a state in which the massage mechanism 31 has been ejected. In the following, members corresponding to those of the first massage unit 8 including the above-described link 33 are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 32, a link 93 is provided on the side of the support frame 32, and the link 93 connects the body frame 30 and the support frame 32 and swings in the front-rear direction. The reason why the link 93 is disposed on the side of the support frame 32 is that the thickness of the massage unit 8 in the front-rear direction can be suppressed as compared with the case where it is disposed behind the support frame 32. The link 93 is arranged side by side in the front-rear direction, and has a first link portion 93a disposed opposite to the rear side and a second link portion 93b disposed opposite to the front side. That is, the link 93 constitutes a four-node link mechanism. Further, unlike the link 33, the first link portion 93a and the second link portion 93b have the same length, and the link 93 constitutes a parallel link mechanism. Therefore, the first massage mechanism 31 can advance and retreat in parallel and stably.

As described above, the first massage unit 8 includes a body frame 30, a massage mechanism 31 having a treatment member 34, and a support frame 32 that supports the massage mechanism 31 and the advance/retract drive portion 15, which causes the massage mechanism 31 to be opposed to the treated portion. And the connecting rod 93 is connected to the main body frame 30 and the support frame 32 and is rocked in the front-rear direction; the connecting rod 93 is located in the state where the massage mechanism 31 is completely retracted, and the connecting portions A1 and A3 connected to the main body frame 30 are located at the same time. The connecting portions A2 and A4 connected to the support frame 32 are located further forward.

[Configuration of Sensor of Other Embodiments]

Hereinafter, another embodiment will be described based on FIG. 33 with respect to the sensor 80 that detects the relative positions of the first massage unit 8 and the second massage unit 9. Figure 33 is an explanatory view of a sensor 80 of another embodiment.

The sensor 80 is a fourth sensor unit (elevation sensor 77) that detects the vertical position of the first massage unit 8, and a fourth sensor that detects the vertical position of the second massage unit 9. The device portion (elevation sensor 78) is configured. Further, the detection value (the height "7" in FIG. 33) indicating the vertical position (height) of the first massage unit 8 detected by the elevation sensor 77 and the detection detected by the elevation sensor 78 are indicated. (2) The difference between the detected value of the vertical position (height) of the massage unit 9 (the height "6" in FIG. 33) (the difference value "1" in FIG. 33), and the detection of the first and second massage units 8, 9 relative position. That is, the smaller the difference value is, the narrower the interval between the two massage units 8, 9 is, and the larger the difference value is, the larger the interval between the two massage units 8 and 9. For example, if the relative position of the difference value "1" is set to the close state, the relative position of the difference value "2" may be set to the near state.

As described above, the elevation sensor 77 of the first massage unit 8 detects how many turns the lifting shaft 36 has rotated from the upper limit position, thereby detecting the upper and lower positions of the first massage unit 8. The elevation sensor 78 of the second massage unit 9 detects how many turns the lifting shaft 56 has rotated from the lower limit position, thereby detecting the upper and lower positions of the second massage unit 9. In the present embodiment, the difference value indicating the interval between the two massage units 8 and 9 can be detected in nine stages, and the first and second massage units 8 and 9 can be compared with the case where the sensor 70 is used. The detection range of the relative position is expanded.

Further, the massage machine of the present invention is not limited to the illustrated embodiment, and may be other forms within the scope of the present invention.

For example, the number of the treatment members is not limited, and the treatment member 34 of the plurality of first massage mechanisms 31 may be provided in the vertical direction in the same manner as the second massage mechanism 51. Further, in the above-described embodiment, the arm portion supporting the treatment member is a pair of right and left, but the left and right plural pairs may be provided so as to be spaced apart from the center line of the body, and a plurality of left and right directions may be provided for one arm portion. Treatment parts. Further, the number of massage units provided along the height direction is not limited, and may be three or more.

Further, according to the above-described operations 1 to 8, the plurality of massage units 8 and 9 may be provided in the height direction, and the first massage mechanism 31 and the second massage mechanism 51 may perform the horizontal movement in the kneading operation. The distances W1 and D2 of the pair of treatment members in the range W1, W2, the upper and lower dimensions H1, H2 of the kneading action, or the closest in the kneading operation may be the same.

Further, the guide portion 3b may be provided in the seat portion 2 or the seat portion 2 and the foot base 4, and at least one of the first and second massage units 8 and 9 may be moved from the backrest portion 3 along the height direction. Until the seat 2 or the foot 4 .

Further, the sensor 70 that detects the relative position or the near-front state as the relative positions of the two massage units 8, 9 may be a contact sensor using a volume switch or the like. For example, instead of the magnetic holders 73 and 74, a capacity switch may be provided at the tip end of the spring biased in the extending direction. Further, when a capacity switch is additionally provided to the bottom wall 30c of the first massage unit 8 or the upper wall 50d of the second massage unit 9, the "close proximity state" can be detected after the capacity switch provided at the front end of the spring is pressed. When the capacity switch provided on the bottom wall 30c or the upper wall 50d is pressed against the biasing force of the spring, the "proximity state" can be detected.

[Industrial availability]

The present invention can be applied to a massage machine that enhances the body feeling of massage.

3b‧‧‧Guiding agency

8‧‧‧1st massage unit (massage unit)

9‧‧‧2nd massage unit (massage unit)

30‧‧‧ Ontology framework

31‧‧‧1st massage mechanism (massage mechanism)

34‧‧‧ treatment parts

50‧‧‧ ontology framework

51‧‧‧2nd massage mechanism (massage mechanism)

54a‧‧‧Upper treatment parts

54b‧‧‧ under treatment parts

Claims (22)

A massage machine having a plurality of massage mechanisms having left and right pairs of treatment members along a height direction, the massage machine having a first massage mechanism disposed opposite to the upper side and a second portion disposed opposite to the lower side (2) a massage mechanism as the massage mechanism; and a control mechanism that controls an operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit and a forward/backward drive unit, wherein the massage drive unit performs At least one of a kneading action in which the pair of treatment members approach or separate, or a tapping operation in which the pair of treatment members alternately advance and retreat, the advance/retract drive unit causes the treatment member to move forward and backward with respect to the user The first massage mechanism and the second massage mechanism are independently movable up and down in the height direction, and the control unit controls the advance/retract drive unit to control the treatment member of the first massage mechanism and the second massage mechanism The treatment component is ejected or retracted in a staggered time. A massage machine having a plurality of massage mechanisms having left and right pairs of treatment members along a height direction, the massage machine having a first massage mechanism disposed opposite to the upper side and a second portion disposed opposite to the lower side (2) a massage mechanism as the massage mechanism; and a control mechanism that controls an operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit and a forward/backward drive unit, wherein the massage drive unit performs At least one of a kneading action in which the pair of treatment members approach or separate, or a tapping operation in which the pair of treatment members alternately advance and retreat, the advance/retract drive unit causes the treatment member to move forward and backward with respect to the user advance and retreat; The first massage mechanism and the second massage mechanism are independently movable up and down in a height direction, and the control unit controls the advance/retract drive unit to control the treatment member of the first massage mechanism and the treatment member of the second massage mechanism Eject or retreat at different speeds. The massaging machine according to claim 1 or 2, wherein the control means controls the advancing and retracting drive unit to eject the therapeutic member of one of the first and second massage mechanisms The above-described treatment member of the other massage mechanism is ejected. The massage machine according to any one of claims 1 to 2, wherein the control unit controls the advance/retract drive unit to cause the treatment unit of one of the first and second massage mechanisms After the retreat, the above-described treatment member of the other massage mechanism is retracted. The massage machine according to any one of claims 1 to 2, wherein the control unit controls the driving unit to cause the treatment member of the other massage mechanism and the first and second massage mechanisms The ejection of the above-described treatment member of a massage mechanism is synchronously retracted. The massage machine according to any one of claims 1 to 2, wherein the control unit controls the advance/retract drive unit to position the treatment member of the first and second massage mechanisms in the left-right direction. In contrast, one of the treatment members of the first or second massage mechanism is retracted from the state in which the treatment member of the first and second massage mechanisms is pushed out. For example, the massage machine of claim 1 or 2, wherein The control unit controls the advance/retract drive unit to repeatedly cause the treatment member of the other massage mechanism to be repeatedly placed in a state in which the treatment member of one of the first and second massage mechanisms has been ejected. Out and back. The massage machine according to claim 1 or 2, wherein the control unit controls the advance/retract drive unit and the massage drive unit to cause the at least one of the first and second massage mechanisms to be The ejecting or retreating of the treatment member is synchronized with the above-described kneading action or the above-described striking action of one of the massaging mechanisms. The massage machine according to claim 1 or 2, wherein the control unit controls the advance/retract drive unit and the massage drive unit to cause the at least one of the first and second massage mechanisms to be The ejection or retreat of the treatment member is synchronized with the action of bringing the pair of treatment members of the one massaging mechanism into proximity. A massage machine according to claim 1 or 2, further comprising: a lifting motor that raises and lowers at least one of the first and second massaging mechanisms along a height direction; and the control means for the advancing and retracting driving unit and the The hoist motor is controlled to synchronize the ejection of the above massage mechanism with the ascent or descent. A massage machine having a plurality of massage mechanisms having left and right pairs of treatment members along a height direction, the massage machine having a first massage mechanism disposed opposite to the upper side and a second portion disposed opposite to the lower side a massage mechanism as the massage mechanism; and a control mechanism for controlling the operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit and a forward/backward drive unit, and the massage drive The moving portion performs at least one of a kneading operation for bringing the pair of treatment members into proximity or separation, or a tapping operation for alternately advancing and retracting the pair of treatment members, wherein the advancement and retraction driving unit causes the treatment member to be relative to the user And the first massage mechanism and the second massage mechanism are independently movable up and down in the height direction; the control mechanism controls the advance/retract drive unit to arrange the first massage mechanism on the shoulder and The second massage mechanism is placed in the waist and the treatment member of the second massage mechanism is ejected. A massage machine having a plurality of massage mechanisms having left and right pairs of treatment members along a height direction, the massage machine having a first massage mechanism disposed opposite to the upper side and a second portion disposed opposite to the lower side (2) a massage mechanism as the massage mechanism; and a control mechanism that controls an operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit that performs the pairing At least one of a kneading action in which the treatment member approaches or separates, or a tapping operation in which the pair of treatment members alternately advance and retreat; and at least one of the first and second massage mechanisms is disposed along the height a lifting motor that moves up and down; the first massaging mechanism and the second massaging mechanism can be independently raised and lowered in a height direction; and the control mechanism controls the massaging driving unit and the lifting motor to cause the massaging mechanism to perform the kneading action or The above-described tapping action causes another massage mechanism to ascend or descend along the height direction. A massage machine is provided with a pair of left and right pairs of therapeutic components along the height direction a plurality of massage mechanisms characterized in that: a first massage mechanism disposed opposite to the upper side and a second massage mechanism disposed opposite to the lower side as the massage mechanism; and the first and second massage mechanisms a control mechanism for controlling the operation; the first and second massage mechanisms include a massage drive unit that performs a kneading operation for bringing the pair of treatment members closer to or apart, or alternates the pair of treatment members At least one of the stepping action of the advancement and retreat; and an elevating motor for elevating and lowering at least one of the first and second massaging mechanisms along the height direction; wherein the first massaging mechanism and the second massaging mechanism are The height control direction is independently raised and lowered; the control mechanism controls the massage driving unit and the lifting motor so that another massage mechanism is placed along the state in which the pair of treatment members of one massage mechanism are brought close to each other to hold the treatment portion. Rising or falling in the direction of height. A massage machine having a plurality of massage mechanisms having left and right pairs of treatment members along a height direction, the massage machine having a first massage mechanism disposed opposite to the upper side and a second portion disposed opposite to the lower side (2) a massage mechanism as the massage mechanism; and a control mechanism that controls an operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit that performs the pairing At least one of a kneading action in which the treatment member approaches or separates, or a tapping operation in which the pair of treatment members alternately advance and retreat; and at least one of the first and second massage mechanisms is disposed along the height square The lifting and lowering motor; the first massaging mechanism and the second massaging mechanism are independently movable up and down in a height direction; and the control means controls the lifting motor so that the first massaging mechanism is disposed on the shoulder portion The second massage mechanism is raised in the height direction. A massage machine having a plurality of massage mechanisms having left and right pairs of treatment members along a height direction, the massage machine having a first massage mechanism disposed opposite to the upper side and a second portion disposed opposite to the lower side a massage mechanism as the massage mechanism; and a control mechanism for controlling an operation of the first and second massage mechanisms; wherein the first and second massage mechanisms include an advance/retract drive unit that causes the treatment member to face the treatment member The user moves forward and backward in the forward and backward directions; and has an elevating motor that elevates and lowers the first and second massaging mechanisms along the height direction; and the control unit controls the elevating motor and the advancing and retracting driving unit to control the first and the first The movement of the massage mechanism in the approach direction in the height direction is synchronized with the ejection of the treatment member of the first and second massage mechanisms. A massage machine having a plurality of massage mechanisms having left and right pairs of treatment members along a height direction, the massage machine having a first massage mechanism disposed opposite to the upper side and a second portion disposed opposite to the lower side a massage mechanism as the massage mechanism; and a control mechanism for controlling an operation of the first and second massage mechanisms; wherein the first and second massage mechanisms include an advance/retract drive unit that causes the treatment member to face the treatment member The user advances and retreats in the forward and backward directions; And a lift motor that moves the first and second massage mechanisms up and down along the height direction; the control unit controls the lift motor and the forward/backward drive unit such that the first and second massage mechanisms are along a height direction The movement in the direction of separation from each other is synchronized with the ejection of the treatment member of the first and second massage mechanisms. A massage machine is provided with a plurality of massage mechanisms having left and right pairs of treatment members along the height of the backrest portion of the user, the massage machine having a first massage mechanism disposed opposite to the upper side And a second massage mechanism disposed opposite to the lower side as the massage mechanism; and a control mechanism for controlling the operations of the first and second massage mechanisms; the first and second massage mechanisms have a massage drive unit, The massage driving unit performs at least one of a kneading operation for bringing the pair of treatment members into proximity or separation, or a tapping operation for alternately advancing and retracting the pair of treatment members; the first massage mechanism and the second massage mechanism The control unit can independently raise and lower the massage driving unit to control the massage driving unit to perform the kneading operation or the clamping of the pair of treatment members, and at the same time Another massage mechanism performs an action including the above-described tapping action. A massage machine having a plurality of massage mechanisms having left and right pairs of treatment members along a height direction, the massage machine having a first massage mechanism disposed opposite to the upper side and a second portion disposed opposite to the lower side (2) a massage mechanism as the massage mechanism; and a control mechanism that controls an operation of the first and second massage mechanisms; the first and second massage mechanisms include a massage drive unit, wherein the massage drive unit performs the above a kneading action in which the pair of treatment members approach or separate; the first massage mechanism and the second massage mechanism are independently movable up and down in the height direction; and the control mechanism controls the massage drive unit to control the first massage mechanism and The second massage mechanism performs the kneading operation at different speeds from each other. The massaging machine of claim 18, wherein the first massage mechanism, the second massage mechanism, or the first massage mechanism and the second massage mechanism are in the height direction In the approaching state, the kneading operation is performed by the above-described treatment members of the first and second massage mechanisms. A massage machine having a seat portion on which a user sits and a backrest portion that is rectilinearly disposed at a rear portion of the seat portion and that is placed by a user, and a pair of left and right treatment members are disposed along the height direction a plurality of massage mechanisms characterized by having a first massage mechanism disposed opposite to the upper side and a second massage mechanism disposed opposite to the lower side as the massage mechanism; and having the first and second massage mechanisms a control mechanism for controlling the backrest portion to move forward; the first massage mechanism and the second massage mechanism are independently movable up and down in a height direction; and the control mechanism performs an operation of the first massage mechanism by the first massage mechanism The treatment member kneads the neck portion, the waist portion is pressed by the treatment member of the second massage mechanism, and the backrest portion is tilted rearward. The massage machine of claim 20, wherein the massager has a foot seat that is vertically swayably disposed at a front portion of the seat portion and supports the user The lower leg includes a first pressing and holding mechanism that presses or holds the lower limb of the user, and the control mechanism maintains the operation of the lower limb by the first pressing and holding mechanism and the operation of lowering the foot and the The synchronization action is synchronized. A massage machine according to claim 20 or 21, further comprising: a second pressing and holding mechanism that presses or holds an upper arm or a shoulder of the user; and the control mechanism holds the upper arm or shoulder by the second pressing and holding mechanism The actions of the department are synchronized with the synchronized actions described above.