WO1997001999A1

WO1997001999A1 - Massage appliance for body massage

Info

Publication number: WO1997001999A1
Application number: PCT/DE1996/001229
Authority: WO
Inventors: Kai WÖLTJE; Hansjörg VOLZ
Original assignee: Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V.
Priority date: 1995-07-06
Filing date: 1996-07-04
Publication date: 1997-01-23
Also published as: EP0957882A1; AU6412296A; DE19524666C1

Abstract

The invention concerns a massage appliance for massaging the body, e.g. the back and legs, on a treatment bed and comprises a drive arrangement for a massage device on which a movable and interchangeable massaging head is mounted. The massage appliance is equipped in each case with three shafts moving in the three spatial directions, these shafts being perpendicular to one another. One shaft carries a massage arm disposed perpendicular to the massaging site. The massage arm comprises a ball-and-socket joint for adaptation to rises and inclinations of the surface to be massaged, i.e. the skin. The massage appliance comprises a plurality of safety devices which inter alia prevent a set operating pressure at a predetermined breaking point from being exceeded and a set operating torque from being exceeded by means of a slip clutch on the massage arm. At the end of a massage, in normal operation and when the appliance malfunctions, the massage arm is automatically withdrawn from the massage site into a predetermined rest position. Furthermore, one of the three shafts, namely the shaft carrying the massage arm, can be folded into the plane formed by the other two shafts. In this way the massage appliance can be transported in a case-like housing and its volume considerably reduced. A control device is provided and monitors the settings of the massage areas and the triggering of safety commands to prevent injury and undesired massage movements during massage. The control device also enables the massage programmes and sequences to be established and selected and the massage tool to be controlled such that a constant pressure is set at the massage site, for example.

Description

MASSAGE MACHINE FOR BODY MASSAGE

DESCRIPTION

Massager for body massage, e.g. the back and the legs on a treatment level with a drive device for a massage device with the features of the type described in the preamble of claim 1.

Massage devices are known in different versions. From DE-OS 24 29 808 a massage device with a driven rotor, for example a roller or brush, with a stationary guide column for vertically movable guidance of a support arm for the rotor arranged with a horizontal axis and drive is known. It has a vertically arranged actuating cylinder supported by a column and on the piston rod of which the support arm can be clamped in various relative positions, the length of the piston rod being considerably greater than the piston stroke. The piston of the cylinder can be alternately actuated and locked by a pressure medium by means of a control valve. The angular support arm arranged on the guide column is provided with a motor for driving a rotor. The rotor in the form of a massage roller can be exchanged for a cleaning brush. This massage device can be used to massage the chest or back as well as the upper and lower legs of the human body. If the piston is actuated from below by actuating a control valve, the support arm goes with the rotating massage roller upwards. The control valve can be switched over at any height and thus the direction of movement can be reversed. However, the full stroke of the cylinder can also be exploited, the control valve being automatically reversed in the end positions by a limit switch.

From DE-PS 33 15 041 a massage device with a rotating brush unit is known, which can be raised and lowered on a vertical guide column with the aid of a pressure medium-operated cylinder / piston unit. The brush assembly is set in rotation on a drive rail, whereby the piston of the cylinder is alternately acted upon by the pressure medium through a control valve. The brush assembly consists of two oppositely driven brushes, each arranged on a shaft with a pinion and mounted in a housing. The pinions engage in racks on the side of the guide column. As soon as the inlet to the cylinder / piston unit for the pressure medium is open, it flows in from one side and moves the brush unit into one end position, the pressure medium flowing in from the other side by switching over at a valve and this Brush unit moved in the opposite direction. The brushes rotate against each other in this way, automatic operation of the brush unit is guaranteed.

From DE-PS 31 51 338 is a massager with a main shaft and a pair on this obliquely mounted massage wheels, a device supporting the main shaft, which is displaceable together with the main shaft in a direction intersecting the axis of the main shaft, and with one Established fixed drive motor for driving the massage wheels known. The massage wheels are connected to the drive motor via a gear device such that the distance on the main shaft can be adjusted as a function of a control device during the rotational movement of the massage wheels. The main The shaft and the massage wheels are designed to be rotatable forwards and backwards depending on the control device. The massage device is built into the back of a chair.

The massage device according to DE-PS 31 51 338 can be operated with an operating device, the operating device being connected to a control circuit. The control unit receives the save, operate and stop positions. It is also possible to choose different massages, such as neck massage, shoulder massage, back massage and waist massage. The operating device or the control contains switches or devices for the manual adjustment of the height of the massage wheels. Another switch is used to move the massage wheels upwards, while another switch is used to move the wheels downwards. The control unit also contains switches for manually adjusting the distance between the massage wheels.

The disadvantages of DE-OS 24 29 808, DE-PS 33 15 041 and DE-PS 31 51 338 are, inter alia, that in none of the subjects of these three writings does a defined working point or working level exist between the massaging and the massage tool is, because it depends on how close the person to be massaged in the OS 24 29 808 and the PS 33 15 041 approaches the massage tool or in the case of the PS 31 51 338 how large its weight is or how strong it is himself or his back against the back of the chair with the massager. A constant pressure during the massage and thus exactly repeatable massage results are not possible with such massage devices. The three mentioned writings do not contain any safety precautions against injuries and undesired massage movements for the person to be massaged. Furthermore, no measures have been taken in the three cited documents to automatically adapt the massage tool to the plane of a back or legs, which is by no means flat. During a massage, the person to be massaged take a relaxed position in order to optimize the success of the massage. The objects of DE-OS 24 29 808, DE-PS 31 51 338 and DE-PS 33 15 041 do not completely relax the body part to be massaged ensures that the massage takes place standing up or the massager works under the pressure of the body weight lying on it.

The invention is therefore based on the object of creating a simple, inexpensive and mass-produced massager for the back and leg massage, which works automatically, in particular without specialist instructions from operating personnel for setting and operating the apparatus and the massage processes, which Offers security against the risk of injury and undesired massage movements during self-service and during the execution of the massage processes for the person to be massaged, in whom a non-stationary structure of the massage device is to be ensured without disassembly or disassembly, so that the massage device can be dismantled at any time should be designed so that it can be reconstructed at another treatment site, and finally the massager should be able to massage the body or parts of the body in a relaxed, resting position on a couch, thereby freeing the massage from the patient in each case different pressure of the body weight of the person to be massaged or of its body parts to always subject the side of the body opposite the support side on the bed to a massage treatment, and which allows adaptation to the slopes and inclinations of the massage surface at the massage site.

According to the invention, these objects are achieved by the features specified in the characterizing part of patent claim 1. Advantageous further developments of the subject matter of the invention are characterized in the features of subclaims 2 to 35. The advantages of the invention are, in particular, that the training of three axes on the massage device according to the invention, each of which is arranged perpendicular to one another in the three spatial axes, makes it possible for any desired massage location to be used for certain parts of the body without special training of the massage device to treat. For this purpose, a massage arm is provided, which is arranged perpendicular to the treatment site using the three spatial axes. This generally enables the pressure and the torque to be applied vertically, and by means of a force sensor provided for pressure and torque and a corresponding regulation in connection with the control device, it is always possible to maintain a constant pressure on the massage site with the massage tool exercise. This happens regardless of the fact that there are inclines and inclinations on the massage field, for example the back. For this purpose, a ball joint is provided in the massage arm, which is firmly connected to a bottle plate. This flange plate has a quick-release fastener, so that any desired and different massage tools can be attached to it alternately. The ball joint allows adaptation to the particular increase or decrease in the skin and at the same time, together with the regulation in the control device and the force sensor, the exertion of a constant pressure on the massage site with the help of the massage arm. With the guidance of the massage arm just described, together with the massage sequence that can be selected in the control device and the massage field, which can also be determined with the help of the control device, an automatically performed massage of the back or of the person lying on a treatment couch can be carried out automatically Perform legs.

Further advantages of the invention consist in the fact that a whole series of safety measures are provided which result in the massage arm or massage tool being disengaged from the massaged body part in the event of any conceivable fault. So are this For example, a predetermined breaking point is provided at the massage site when a predetermined working pressure is exceeded. Furthermore, a slip clutch is integrated in the massage arm, which prevents a transmission of this increased torque when a predetermined working torque is exceeded. A very important advantage of this massage device according to the invention is the automatic retraction of the massage arm from the massage location to a defined rest position in the normal case and in the event of a fault, that is to say in the event of a defect, in the event of a fault, in the case of a normal shutdown or in the event of an emergency Circuit. A further advantageous safety measure in the present massage device is the provision of an actuating means which must be actuated continuously by the person to be massaged at the start, during the period of operation and until the massage is ended. If the person to be massaged lets go of the actuating means, the massage arm automatically returns to its rest position. Only when the actuating means is pressed again does he start again with the massage at the massage site. In cooperation with the control device, sensors, tactile and control means for setting and limiting the massage field or fields at the massage location are provided. The extension of the massage field in the longitudinal direction is adjusted by adjustable slides, each of which works with a position sensor to report the position of these slides to the control device. The lateral expansion, that is to say the width of the massage field, can be carried out by moving the massage arm along the lateral expansion. If a pre-programmed angle of inclination of the massage tool or the ball joint is exceeded, a corresponding signal is sent to the control device. Of course, the setting of the lateral and longitudinal dimensions of the measuring field can also be carried out by electrical input devices alone in the control device. By arranging a quick-release fastener on the flange plate of the ball joint, all desired massage tools can be quickly attached to this flange plate, such as a tool head as Vibration motor or a tool head with integrated massage attachment or a tool head without its own drive.

A very important advantage of the massage device according to the invention is the provision of a folding mechanism for one of the three spatial axes. With the help of this folding mechanism, one of the axes can be designed to be foldable into the plane formed by the other two axes. This makes it possible to decisively reduce the spatial extent of the massager for body massage, so that it is possible to have the massager with an axis folded into the plane formed by the other two axes in a transportable housing which has a suitcase-like shape has to be installed there from the outset or inserted into such a case-like housing. Neither the setting of the massage field, the pressure at the massage site, the massage programs, nor the assembly and disassembly of the massage device during transport to another site requires the support of operating personnel or any other assistance to be massaged. The person to be massaged can perform the massage using simple steps and is carried out by an automatically controlled massage without having to carry a safety risk for himself.

The invention is explained in more detail below using an exemplary embodiment and drawings.

Show it:

Fig. 1 shows a schematic diagram of the principle of the

Massage device according to the invention in the working position, Fig. 2 shows the mechanism for folding the axis in the x direction in the plane formed by the axes in the z and y direction, Fig. 3 in a perspective sketch of a schematic diagram of the

Massage device in rest position, 4 shows, as a detail of the massage arm, a ball joint with a flange plate, FIG. 5 shows a partial sketch of the massage arm with massage attachments as a schematic diagram, FIG. 6 shows a predetermined breaking point of an axis in the z direction, FIG. 7 shows one of the axes in the z direction assigned tension spring and Fig. 8 the determination of the length of the massage field for the massage tracks of the massage arm.

1 shows the massage device according to the invention with an axis 1 in the y direction, an axis 2 in the z direction and an axis 3 in the x direction as a pure basic drawing. As a rule, all of the drawings in FIGS. 1 to 8 are only shown in a schematic diagram in order to maintain clarity and to allow concentration on the essential features. The axis 1 in the y direction is perpendicular to the axis 2 in the z direction and the axis 3 in the x direction is again perpendicular to the axis 2 in the z direction. The axes 1, 2 and 3 are each assigned adjustment means 4 for the axis 1 in the y direction, adjustment means 5 for the axis 2 in the z direction and adjustment means 6 for the axis 3 in the x direction. The adjustment means 4, 5 and 6 for the axes 1, 2 and 3 can be designed as pneumatic drives. However, at any time it is also possible to provide electric drives or any other drive suitable for such a displacement of axes 1, 2 and 3. Axes 1, 2 and 3 themselves are designed as linear axes, since a simple programmable logic controller is sufficient. In the axis 3 in the x direction, a massage arm 7, which extends in the z direction and is perpendicular to the x axis, is assigned via the adjusting means 6. From the direction of the massage arm 7 to the axis 3 in the z direction, the massage arm stands perpendicularly above the massage location or the treatment table 8 on which the front side of the massager 9 to be massaged lies, see FIG. 8. The one shown in FIG. 1 Massage arm 7 is only a schematic diagram and does not reflect all parts of this arm. There The back and legs of the people to be massaged can hardly be reached by self-massage of the person to be massaged, especially not in a relaxed, rest position for the muscles, the massage device according to the invention is particularly suitable for treating the back and legs. Of course, all other parts of the body can also be massaged with it.

It can be seen from FIGS. 1, 2 and 3 that at least one of the three axes 1, 2 and 3 can be folded in the y, z and x directions in the plane formed by the other two axes. In the exemplary embodiment according to FIGS. 1 to 3, the axis 3 in the x direction, which carries the massage arm 7 arranged vertically on it via the adjusting means 6, is by means of a folding mechanism in the direction of the two axes 1 and 2 in the y direction. and the z-direction formed plane can be folded. At the junction of axis 3 in the x direction and axis 2 in the z direction, a swivel joint and a locking device for this swivel joint are provided. As can be seen in particular from FIG. 2, the locking means is designed here as a hand screw 10, which connects the axes 2 and 3 with a thread (not shown here). A groove 11 is provided in the axis 2 in the z direction, into which a corresponding raised projection 12 in the axis 3 engages in the x direction. In a recess 13 which extends over the axes 2 and 3, a compression spring 14 is arranged around the axis 15 of the hand screw 10. The force of the compression spring 14 is oriented such that the axis 2 is pressed apart in the z and the axis 3 in the x direction.

With the help of the above-described swivel joint between the axes 2 and 3, the massage device can be folded together with the massage arm 7 by rotating the axis 3 into the plane formed by the axes 1 and 2 and thus reduced in size. In order to fold the axis 3 in or out, the swivel joint is loosened with the hand screw 10, the hand screw 10 not being completely removed. is rotated. The compression spring 14 located in the recess 13 presses the axis 3 upwards so that it is lifted out of the groove 11. The axis 3 in the x direction can now be adjusted by hand at an angle of 90 °. After completion of the rotation, the swivel joint is fixed again with the hand screw 10, the axis 3 in the x-direction plunges again into the groove 11 provided for this purpose and thus ensures an exact positioning of the arm 3 in the extended or retracted position.

With the axis 3 folded in, the massager can be installed in a transportable and case-like housing 16. However, the collapsed massage device can also only be inserted into such a housing 16. The case-like housing 16 enables easy transportation of the massager. However, the possibility of folding one axis of the three existing axes into the plane of the other two axes also makes it possible to downsize the massager when it is not in use. The described problem-free folding or unfolding of the arm 3 of the massager makes it possible for any layperson to insert the massager into the case-like housing and to reassemble it at another location.

The massage arm 7 arranged perpendicular to the axis 3 in the x-direction consists of an arm part 17, a slip clutch 18, a force sensor 19 for pressure and torque, a ball joint 20 and a massage tool. The aforementioned parts of the massage arm 7 will now be explained in more detail below. The ball joint 20 is inserted into the massage arm 7 between the force sensor 19 and the massage tool, see FIG. 5. FIG. 4 shows that the ball joint 20 is fixed to a flange plate 21 by means of a connecting web 27 connected is. A quick-release fastener for fastening massage tools is arranged on the flange plate 21, the quick-release fastener each but is neither described in detail in the figures nor in the description, since it corresponds to the prior art. At the same time, electrical connections for the power supply of the massage tool are provided on the flange plate 21, which automatically lead to a power supply for the massage tool when it is fastened to the flange plate by means of the quick-release fastener, but this is not shown. The ball joint 20 enables a floating mounting of the massage tool, the function of which will be discussed later.

The ball joint 20 consists of an upper 22 and a lower 23 ball socket, which form a spherical cavity 24 inside for receiving a ball 25 with the flange plate 21. The spherical cavity 24 in the lower ball socket 23 has an opening 26 which extends vertically downwards. The connecting web 27 runs between the ball 25 and the flange plate 21 in the opening 26. The connecting web 27 or the flange plate 21 is guided in the opening 26 in two ways. On the one hand, the edge 28 of the opening 26 in the lower ball socket 23 which is furthest away from the ball 25 is used as a stop for deflecting the ball joint 20 or the flange plate 21. Secondly, at least two springs 30 acting on the connecting web 27 between the ball 25 and the flange plate 21 are provided in the opening 26 in the lower ball socket 23. These springs 30 align the bottle plate 21 in the vertical position, that is to say that the connecting web 27 or the massage tools connected to the flange plate by means of a quick-release fastener are aligned with the direction of the massage arm 7. However, the vertical position of the connecting web 27 is only established when do not apply any transverse forces to the massage tool or the flange plate 21. The springs 29 are adjustable by means of screws 30 and, together with the spring, form an adjustable spring stabilizer. As already mentioned, the ball joint 20 in the massage arm 7 enables the massage tool to be floatingly supported, which together with the springs 29 acting on the connecting web 27 leads to the fact that, as a rule, a vertical force is applied to the massages if none at the same time Apply transverse forces to the flange plate. The floating mounting of the massage tool also compensates for slight static friction. It is therefore possible to adapt the massage arm or the massage tool to the slopes and inclinations of the massage surface, that is to say the skin, at the massage site itself. When the massage tool slides over the skin, the massage tool can occasionally get caught or get caught in a skin fold. The ball joint 20 built into the massage arm 7 now enables the massage tool to retreat slightly. The springs 29 then apply increasing pressure in the machining direction, so that the massage tool then makes a jerky movement forward and can then be moved on normally.

Depending on the deflection of the flange plate 21, the restoring forces in the springs 29 increase. The resulting moment is detected by the force sensor 19. In this way, the inclined position of the massage tool arranged on the flange plate 21 by means of a quick-release fastener is determined. By measuring the inclined position of the massage tool, states which are not in accordance with the program can be detected, for example if the person to be massaged moves or the head does not slide correctly, this is registered in the control device and corresponding preprogrammed measures can then be initiated such as the automatic retraction of the massage arm from the massage site to an intended rest position or, for example, the reduction in the pressure exerted by the massage tool. The massage tool, which will be described in more detail later, exerts constant pressure on the person to be massaged at the massage site during the massage. In the tax Direction, a regulation is provided that in the event of a change in the position of the massaging and thus the pressure or the massage location, the massage tool constantly maintains a constant pressure at the massage location by correspondingly changing the pressure by means of the control device. The size of the pressure exerted by the massage tool on the massage site can be selected on the control device.

The ball joint 20 does not allow any inclination of the flange plate and thus the massage tool, since the edge 28 of the opening 26 acts as a stop for the connecting web 27 of the swivel joint 20. Due to the increased torque when tilted, which results from the fact that the massage tool tries to evade and presses directly against the stop 28, that is, this increased torque can be determined with the aid of the force sensor 19 and thus a lateral work space limitation of the massage tool can be determined. For this purpose, the lateral expansion, that is the width, of the massage field is determined by moving the massage arm 7 in the x-direction as a result of exceeding an angle of inclination of the massage tool preprogrammed in the control device, and a corresponding signal is sent to the control device. The setting of the lateral extent or width of the measuring field or fields can of course also be programmed into the control device by an electrical input device.

As can be seen from FIGS. 4 and 5, massage tools can be attached to the flange plate 21 with a quick-release fastener not shown in the figures and in the description. These massage tools can be designed differently. For example, the massage tool can be designed as a tool head 31 with a built-in drive; a massage attachment 32 is then interchangeably attached to this tool head 31. Depending on requirements, these massage attachments can be made of natural bristles, foam rubber and any other covering suitable for such a massage. Generally the tool head be designed as a vibration motor for generating the required vibrations. Another possibility of training the massage tool is that the massage attachment is integrated inseparably into the tool head with drive. These massage tools are particularly suitable for complex movements, for example a massage tool 33 with moving fingers for massage. A third possibility of executing the massage tool is that no drive at all is required for the massage tool and the massage tool is therefore designed as a massage attachment without a drive, for example in the form of a roller attachment 34. The massage tools can also be equipped with heating, whereby a Increased blood circulation and well-being at the massage site is achieved. This heater can be integrated in the tool head 31 or in the massage attachments 32.

In order to eliminate the risk of injury to the person to be massaged, a number of safety devices are provided in the present massage device. One of these is that if a predetermined working pressure on the massage site is exceeded, a predetermined breaking point eliminates this excessive pressure, since a maximum massage pressure must not be exceeded under any circumstances. In normal operation of the massage device, this is ensured by the force sensor 19, which detects both pressures and torques. If the adjustment means 4, 5 and 6 for the axes 1, 2 and 3 are pneumatic, a pressure relief valve is installed upstream in the force-transmitting axis, which ensures that the maximum force in the pneumatic cylinder is not exceeded. However, if the adjustment means 4, 5 and 6 are implemented by electric drives or in the event of a malfunction of the pressure relief valve, a predetermined breaking point is provided in the force-transmitting axis 2 in the z direction. This predetermined breaking point comes into effect when the permissible maximum force during the power transmission for the massage at the massage site is exceeded. As can be seen from FIGS. 6 and 7, the guide carriage 35 of the axis 2 in the z direction is for this purpose on the guide carriage 36 of the axis 1 in the y direction. tion attached. A drive carriage 37 is provided for driving the axis 2 in the z direction. This drive carriage 37 is connected to the guide carriage 35 of the axis 2 in the z direction by means of a force-locking element 38. The force-locking element 38 is provided with a predetermined breaking point which responds to a certain force and is detachably arranged on the drive slide 37 or the guide slide 35, here for example by means of a screw connection, so that if the force-locking element 38 breaks, this element easily passes through Exchange can be replaced. The axis 2 can move freely in the vertical direction on the guide carriage 35 of the axis 2 in the z direction. The axis 2 is driven in the z direction via the drive carriage 37. By driving the carriage 37, the entire axis 2 is displaced vertically in the z direction. If an overload occurs, the force-locking element 38 breaks. The axis 2 in the z direction then still sits on the guide slide 35 of the axis 2, but it no longer has a functioning drive, since the fastening in the vertical direction is missing. The axis 2 in the z direction would therefore fall down for reasons of gravitational force. In the event of a malfunction, however, in the case of an automatic massage device, the massage arm 7 must be withdrawn from the massage site into a designated rest position and is also automatically required. For this purpose, as can be seen from FIG. 7, the guide slide 35 of the axis 2 is connected or clamped in the z direction by means of a tension spring 39 to the lower end 43 of the axis 2 in the z direction. In the normal operating state, the axis 2 works in the z-direction, thus in a downward movement against the tension spring 39. In the event of a break at the predetermined breaking point of the force-locking element 38, the tension spring 39 pulls the axis guided in the guide carriage 35 for the axis 2 in the z-direction upwards and thus from the massage site or away from the patient to be massaged into the preprogrammed rest position.

In order to be able to fold the axis 3 in the x direction with the massage arm 7 in the y and z direction formed by the other two axes 1, 2 To ensure level, the spring is equipped with a handle 40, the tension spring 39 is attached with the handle 40 to the guide slide 35 of the axis 2 so that it can be detached in the z-direction, so the tension spring 39 can simply be removed with the handle 40 from the Bracket are pulled. The axis 2 can then be pushed downward in the z direction without force. When the massager is rebuilt, the spring must be re-attached accordingly. As described, the massage arm 7 is retracted into the preprogrammed rest position, that is to say if the force-locking element 38 breaks by means of the tension spring 39 arranged on the axis 2 in the z direction, or in the normal case by means of a corresponding programming of the control device by means of a corresponding command .

A further safety device against the risk of injury and undesired massage movements in the person to be massaged is achieved in that, at the start, during operation and until the end of the massage, an actuation means is constantly required by the person to be massaged, this actuation means with the Control device is connected. The actuating means can be designed, for example, as a push button, which is not shown here, but the push button must either be completely force-free or can only be actuated with little force. This prevents tension in the massaging. For example, the button can be integrated in a small ergonomic hand-held device and connected to the control device via cables, this hand-held device not being shown here.

A control device and corresponding input arrangements are required for the automatic execution of the massage for the massage device according to the invention, but neither the control device nor the operating arrangements and also the already mentioned hand-held device are shown here. The massage device thus has a control device for determining and selecting the massage programs and the massage sequences. In addition, the control of the mass is controlled by means of the control device. saw tool carried out, furthermore the setting of the massage field or fields and the monitoring and triggering of safety commands against injuries and undesired massage movements during the massage at the massage site. The control of the massage tool by the control device also includes the monitoring of the massage pressure, the changes to produce a constant massage pressure and the selection of the desired massage pressure. Finally, the control device can be used to save user-specific settings for the massage programs, and the control device is also used to define one or more massage fields. To determine the massage fields, sensors, tactile and control means for setting and limiting the field at the massage location are used in the present massage device. As can be seen from FIG. 8, adjustable sliders 41 are used to adjust the extent of the massage field in the longitudinal direction, that is to say in the direction of the axis 1 in the y direction. These slides 41 are provided with position sensors to report the position of the slider to the control device and are accordingly connected to the control device. The setting of the lateral extent, i.e. the width, of the massage field has already been described. Of course, the setting of the length extension of the massage field or fields can also be entered into the control device by means of an electrical input device, for example a joystick can be used for this purpose. The method for determining the massage field for the massage of legs is best carried out using a joystick.

The massage arm 7 travels transversely from the person to be massaged into the central position of the associated axis, here the assumed position of the spine. The limitation of the massage field along that to be massaged can be chosen as desired and depends on the desired massage program. The massage arm is then moved vertically downwards with the massage tool until the force sensor 19 reports contact with the massage site, ie the body surface. Now will again a movement transverse to the mass to be carried out until the moment reported by the force sensor 19 detects and reports a strong inclination of the massage tool. The lateral limitation of the massage field is now defined. A corresponding movement is also carried out on the other side and the massage field to be massaged is obtained with the two transverse borders and the previously defined longitudinal borders. Of course, several separate massage fields can also be defined. The lateral limitation in the width of the massage field can also be determined by the person to be massaged himself by means of a manual control if the entire body is not to be massaged.

As an example, a number of massage movements are listed below, which can be carried out within the defined massage fields. These are longitudinal movements in the direction of the head and slightly transversely displaced, further longitudinal movements in the direction of the head without physical contact and slightly transversely displaced back in the direction of the head and finally longitudinal movements in the direction of the foot without physical contact and slightly transversely displaced again in the direction of the foot. Transverse movements with a slight transverse offset are also possible; in addition, any programmed massage tracks 42 can be carried out within the defined massage field. Of course, simple longitudinal movements are also possible for the leg massage. The massager for body massage according to the invention can thus be used in a comprehensive manner for the automatic self-massage of the back and legs and of course also other parts of the body. LIST OF REFERENCE NUMBERS

Axis in the y direction Axis in the z direction Axis in the x direction Adjustment means for axis 1 in the y direction Adjustment means for axis 2 in the z direction Adjustment means for axis 3 in the x direction Massage arm Treatment couch of the hand screw groove to be massaged raised Projection recess compression spring axle housing arm part slip clutch force sensor ball joint flange plate upper ball socket lower ball socket spherical cavity ball opening connecting web edge of opening 26 springs Screws Tool head Massage attachment Massage tool with moving fingers Roller attachment Guide slide of the axis 2 Guide slide of the axis 1 Drive slide Force-locking element with predetermined breaking point Spring Handle Slider Massage track lower end of the axis 2

Claims

PATENT CLAIMS

1. Massage device for body massage for example of the back and legs on a treatment level with a drive device for a massage device, to which a movable and interchangeable massage head is attached, which also has a control for the massage device, characterized in that the massage device is equipped with three axes (1, 2, 3), which are arranged perpendicular to each other in the y, z and x directions, that the three axes (1, 2, 3) each have an adjusting means (4, 5, 6 ) is assigned, so that a massage arm (7) or massage tool can be moved in the y, z and x directions so that the massage arm (7) for massage is perpendicular to the axis (2) in z- Direction, and thus perpendicular to the massage site, is that a predetermined breaking point (38) and a fixed working torque are used as safety devices to prevent a specified working pressure from being exceeded Coupling (18) on the massage arm (7) are provided that when the massage is ended due to normal switch-off, malfunction, defect or emergency stop circuit, the massage arm (7) is automatically retracted from the massage location into an intended rest position, and that we ¬ at least one axis of the three axes (1, 2, 3) in the y, z and x direction is designed to be foldable into the plane formed by the other two axes.

2. Massage device according to claim 1, characterized in that the axis (3) in the x direction with the massage arm (7) in the plane formed by the two other axes (1, 2) in the y and z directions ¬ is designed to be foldable.

3. Massage device according to one or more of claims 1 to 2, da¬ characterized in that at the junction of the axis (3) in the x direction and the axis (2) in the z direction, a pivot joint and a locking means are provided.

4. Massage device according to claim 3, characterized in that the locking means is designed as a .hand screw, that in the axis (2) in the z direction a groove (1 1) is provided, in which a corresponding raised projection (12) of the axis (2) engages in the x direction and that a compression spring (14) around the axis (15) of the locking means between the axis (3) in the x direction and the axis (2) in z -Direction is attached, the force of the compression spring (14) being directed such that the axes (3, 2) are pressed apart in the x and z directions.

5. Massage device according to one or more of claims 1 to 4, characterized in that the massage device has a Steuerein¬ device for determining and selecting the massage programs and -ab¬ runs and for controlling the massage tool and that in the control device, the setting or the massage fields and the monitoring and triggering of safety commands against injuries and undesired massage movements are integrated in the massage at the massage site.

6. Massage device according to one or more of claims 1 to 5, da¬ characterized in that the three axes (1, 2, 3) in the y, z and x directions are designed as linear axes.

7. Massage device according to one or more of claims 1 to 6, da¬ characterized in that the adjusting means of the axes (4, 5, 6) in the y, z and x directions are designed as pneumatic drives.

8. Massage device according to one or more of claims 1 to 6, da¬ characterized in that the adjusting means of the axes (1, 2, 3) in the y, z and x directions are designed as electric drives.

9. Massage device according to one or more of claims 1 to 8, characterized in that the massage arm (7) consists of an arm part (17), a slip clutch (18), a force sensor (19) for pressure and torque, a ball joint (20) and a massage tool.

10. Massage device according to one or more of claims 1 to 9, da¬ characterized in that the ball joint (20) is inserted in the Massage¬ arm (7) between the force sensor (19) and massage tool that with the ball joint (20) by means of a connecting web (27) a flange plate (21) is firmly connected and that a quick-release fastener for fastening a massaging tool is arranged on the flange plate (21).

1 1. Massage device according to one or more of claims 1 to 10, characterized in that the power supply to the massage tool is produced by means of its attachment to the quick-release fastener of the flange plate (21).

12. Massage device according to one or more of claims 1 to 1 1, characterized in that the ball joint (20) consists of an obe¬ ren (22) and a lower (23) ball socket, which has a spherical cavity (24) inside Form a ball (25) with the flange plate (21) so that an opening (26) extends vertically downwards from the spherical cavity (24) in the lower ball socket (23), in which the connecting web (27) between the ball ( 25) and flange plate (21) is guided.

13. Massage device according to one or more of claims 1 to 12, da¬ characterized in that the furthest from the ball (25) removed edge (28) of the opening (26) in the lower Kugelpfan¬ ne (23) as a stop for the deflection of the ball joint (20) or of the flange plate (21) is formed.

14. Massage device according to one or more of claims 1 to 13, characterized in that in the opening (26) in the lower ball socket (23) at least two on the connecting web (27) between the ball (25) and flange plate ( 21) engaging springs (30) are provided which align the flange plate (21) in the vertical position when no transverse forces are applied.

15. Massage device according to one or more of claims 1 to 14, characterized in that the massage tool is designed as a tool head (31) with a built-in drive, and that on this tool head (31) a massage attachment (32) is exchangeable ange¬ is brought.

16. Massage device according to one or more of claims 1 to 15, characterized in that the tool head (30) is designed as a vibration motor.

17. Massage device according to one or more of claims 1 to 14, characterized in that the massage tool is ausgebil¬ det that the massage attachment is inseparably integrated in the tool head with drive.

18. Massage device according to one or more of claims 1 to 14, 17, characterized in that the massage tool is equipped with moving fingers (33) for complex movements.

19. Massage device according to one or more of claims 1 to 14, characterized in that the massage tool is designed as a massage attachment without a drive.

20. Massage work according to one or more of claims 1 to 14, 19, characterized in that the massage attachment is designed as a roller attachment (34).

21. Massage device according to one or more of claims 1 to 20, characterized in that the massage tool is formed aus¬ heated.

22. Massage device according to one or more of claims 1 to 21, characterized in that the massage tool exerts a constant pressure on the massages to be massaged at the massage site during massaging and that a regulation is provided that the massage tool constantly the constant when the massage site changes position Maintains pressure at the massage site.

23. Massage device according to one or more of claims 1 to 22, characterized in that the size of the pressure exerted on the massage site by the massage tool can be selected at the control device.

24. Massage device according to one or more of claims 1 to 23, characterized in that a predetermined breaking point (38) is arranged in the z-direction against the exceeding of a predetermined working pressure at the massage location on the axis (2).

25. Massage device according to one or more of claims 1 to 24, characterized in that the guide carriage (35) of the axis (2) in the z-direction on the guide carriage (36) of the axis (1) It is fastened in the y direction that a drive slide (37) is provided for driving the axis (2) in the z direction, that this drive slide (37) is connected to the guide slide (35) via a force-locking element (38) with a defined predetermined breaking point ) the axis (2) is connected in the z direction and that the force-locking element (38) is detachably arranged.

26. Massage device according to one or more of claims 1 to 25, characterized in that the guide carriage (35) of the axis (2) in the z direction by means of a tension spring (39) with the lower end (43) of the axis (2) in is connected or tensioned in the z direction, that the tension spring (39) is provided with a handle (40), and that the tension spring (39) is attached to the guide carriage (35) of the axis (2) so that it can be detached in the z direction .

27. Massage device according to one or more of claims 1 to 26, characterized in that the retraction of the massage arm into the rest position takes place by means of a preprogrammed control command from the control device.

28. Massage device according to one or more of claims 1 to 26, characterized in that the retraction of the massage arm into the rest position takes place by means of a tension spring (39) arranged on the axis (2) in the z direction.

29. Massage device according to one or more of claims 1 to 28, characterized in that a triggering of an actuating means by the person to be massaged is required continuously at the start, during the duration of the operation and until the end of the massage.

30. Massage device according to claim 29, characterized in that the actuating means is designed as a button.

31 Massage device according to one or more of claims 1 to 30, characterized in that sensors, pushbuttons and control means are provided for setting and limiting the massage field or fields at the massage location.

32. Massage device according to one or more of claims 1 to 31, characterized in that to adjust the extent of the massage field in the longitudinal direction (y direction) adjustable slide (41) each with a position sensor for reporting the position of the slide (41) to the control device.

33. Massage device according to one or more of claims 1 to 32, characterized in that the lateral extent (width) of the massage field is determined by moving the massage arm (7) in the x direction as a result of exceeding a pre-programmed angle of inclination of the massage tool and a corresponding signal is given to the control device.

34. Massage device according to one or more of claims 1 to 31, characterized in that the setting of the lateral expansion (width) of the massage field and the setting of the longitudinal expansion of the massage field or fields are each carried out by electrical input devices in the control device .

35. Massage device according to one or more of claims 1 to 34, characterized in that the massage device with one in the plane formed by the other two axes (1, 2) folded axis (3) in a portable, case-like housing (16) ¬ builds or is designed to be insertable.