WO2002002045A1

WO2002002045A1 - Vibrator, vibration unit, and vibrator control method

Info

Publication number: WO2002002045A1
Application number: PCT/JP2001/005672
Authority: WO
Inventors: Kentaro Mori; Akitoshi Miki; Koichi Tanaka; Kuniyoshi Takahashi
Original assignee: Omron Corporation
Priority date: 2000-06-30
Filing date: 2001-06-29
Publication date: 2002-01-10
Also published as: JP2002078767A; AU2001266360A1; KR100522861B1; EP1297813A4; EP1297813A1; KR20030014396A; CN1457250A; TW508237B

Abstract

A vibrator, wherein massaging balls (treating elements) (201a to 201d) are supported by a treating unit (110) allowed to move along guide rails (101L, 101R), and the treating unit (110) swingably supports a roller support link for lifting (409) rotatably supporting a roller for lifting (311), whereby the position of the treating unit (110) in longitudinal direction relative to the guide rails (101L, 101R) can be altered on either the upper and lower sides by altering the swing angle of the roller support link for lifting (409).

Description

Description Control method of massaging machine, massage unit and massaging machine

Technical field

TECHNICAL FIELD The present invention relates to a massage machine, a massaging unit, and a method for controlling a massage machine for treating a human body by driving a treatment element.

Background art

Conventionally, as this type of massage machine, for example, Japanese Patent Publication No. 114494/96, massage massage was performed by swinging an arm equipped with a pair of treatment elements around a main shaft. It describes that the strength is changed by changing the angle around the main axis of the arm.

In addition, in Japanese Utility Model No. 56-125-32, a pair of fir wheels are attached to the first rotating shaft with inclination and eccentricity, and the first rotating shaft is rocked via an eccentric cam disk. A massage machine provided with a pair of firs at the tip of an arm movably attached, and the tip of a lever swingably attached to a second rotating shaft via an eccentric cam disk in the middle of the arm. Is disclosed. In this massaging machine, by changing the rotation angle of the eccentric cam disk attached to the second rotating shaft, the amount of protrusion of the fir attached to the arm via the lever is changed, and a pair of fir wheels is provided. Only or a pair of fir wheels and a pair of fir tools are configured to contact the human body.

In addition, Japanese Patent Publication No. 61-144027 has a pair of wheels that are eccentrically mounted on the main shaft and side elevation rollers, and changes the amount of protrusion of the wheel by rotating the main shaft. A massage machine has been disclosed in which the strength is adjusted and only the wheel body or both the wheel body and the side elevator are in contact with the human body. Have been.

However, in the above-described conventional technology, the following problems have occurred.

(1) Since the treatment unit equipped with the treatment element can only move along the guide, treatment cannot be performed according to the user's body shape, and depending on the position of the treatment unit, the treatment element may be subject to treatment. The force acting on the treatment site away from the treatment site weakens, or conversely, the force acting on the treatment site increases too close.

② When massage is not performed, the treatment child gets in the way.

(3) In general, the distance between the treatment child and the human body is constant, and treatment cannot be performed with the strength appropriate for the symptoms and site. There is also a massage machine that can adjust the distance between the treatment element and the human body, but the amount of adjustment is small.

刺激 I cannot realize the stimulus of acupressure.

動作 The motion direction of the tapping stimulus to the human body is constant, and the stimulus is monotonous.

⑥The number of treatment elements in contact with the human body is fixed, and the stimulation is monotonous. The present invention has been made to solve the above-mentioned problems of the prior art, and an object of the present invention is to increase the amount of adjustment of the distance between the treatment element and the human body, thereby increasing the force acting on the treatment site. Mazur surgeon can control treatment more appropriately, achieve treatment with the strength corresponding to the symptoms and parts, or treatment with more variety, and keep the treatment child out of the way when massage is not performed. An object of the present invention is to provide a machine, a massage unit, and a method of controlling a massage machine.

Disclosure of the invention

In order to achieve the above object, the present invention provides a treatment element that forms a pair on the left and right, a treatment unit that supports the treatment element, and is movable along a treatment target; A massaging machine comprising: a guide unit for guiding movement of a treatment unit along a treatment portion; and a support unit for supporting the treatment unit with respect to the guide unit. The massaging machine includes a position changing unit that changes a position of the guiding unit in a direction substantially orthogonal to the moving direction.

This makes it possible to change the position of the treatment unit supported by the support means in the direction substantially perpendicular to the direction of movement with respect to the guide means. It does not change the position or posture of the member that supports the treatment element, but changes the position of the treatment unit that moves along the guide means. A change means can be configured, and a larger position change amount can be secured. That is, since the range of change in the amount of protrusion relative to the treatment target portion is increased, the force acting on the treatment target portion can be more appropriately controlled, and treatment with a strength corresponding to the symptoms and the site can be realized. In other words, treatments with a greater variety can be achieved.

Further, it is preferable that at least two treatment elements are provided in the moving direction of the treatment unit.

In addition, it is preferable that at least two pairs of treatment elements provided in the moving direction of the treatment unit include two pairs of treatment elements having different characteristics. If treatment elements with different characteristics are provided in this way, different treatments can be performed by using different pairs of treatment elements, and treatments with more variety can be performed. Here, the characteristic refers to a property that may cause a difference in the feel or treatment effect to the user, such as a mechanical property such as a shape, a material, and elasticity.

The support means supports the treatment unit with respect to the guide means at at least two positions in the movement direction, and the position changing means includes a treatment unit supported by the support means. Each of the It is preferable to change the position of these parts in a direction substantially perpendicular to the moving direction with respect to the guide means.

Further, it is preferable that the position changing means has a function of independently changing the position of each of the supporting means for supporting a position of the treatment unit in a different moving direction.

The position changing means may change the position synchronously or may change the position independently.

In addition, it is preferable that the position changing means has a function of changing a position of the treatment unit supported by the support means with respect to the guide means at least toward the treatment part side.

Further, the support means includes: an engagement portion that engages with the guide means; and an arm that supports the engagement portion and is swingably supported by the treatment unit. It is preferable to have a function of changing the swing angle of the arm.

In addition, the position changing means includes: a first state in which a pivot center of the arm is located on a treatment section side with respect to the engagement section; It is preferable to have a function of changing the swing angle of the arm so as to be in the second state located on the treatment section side.

In this way, the treatment element can perform treatment by applying a pressing force to the treatment target portion, and when unnecessary, the treatment element can be evacuated so as not to come into contact with the human body. .

In addition, the present invention provides a pair of treatment elements on the left and right, a treatment unit supporting the treatment element and movable along the treatment section, and guiding movement of the treatment unit along the treatment section. A massager provided with guide means for performing the treatment, wherein the support means supports the treatment unit with respect to the guide means, and the guide means of the treatment unit supported by the support means is provided. It can be configured as a massage machine provided with a posture changing means for changing the posture to perform. .

In this way, not only when the position of the entire treatment unit is changed, but also when the position of only one position in the movement direction is changed with respect to the planned means and only the posture of the treatment unit is changed, The attitude changing means can be configured without being restricted to the driving structure of the above. Therefore, similarly, the range of the change in the amount of protrusion to the treatment part is increased, the force acting on the treatment part is more appropriately controlled, and treatment with the strength corresponding to the symptoms and the part can be realized. When at least two pairs of left and right treatment elements are provided in the moving direction of the treatment unit, the posture of the treatment unit with respect to the guide means is changed, so that the treatment element is moved forward or rearward in the moving direction or both. Since the pair can be switched so as to be in contact with the treatment section, treatments with a greater variety can be performed. In addition, the present invention provides a treatment element that forms a pair on the left and right, a treatment unit that supports the treatment element and is movable with respect to a treatment section, and a mating member to be attached. A massage unit provided with support means for supporting the treatment unit, comprising: a position changing means for changing a position of the treatment unit in a direction approaching and separating from the treatment target. Can also be configured as

The present invention is not limited to a massage unit in which the treatment unit is guided by the guide means and moves along the treatment target as described above. By attaching to a suitably selected partner member, it can be configured as a massage unit that enables treatment. By using such a massage unit, it is also possible to realize a treatment rich in parasites. Here, the mating member is not limited to a chair or a bed, but may be a member to which a massage unit can be attached. A member that allows the user to hold the mating member However, a massage unit can be attached to this to constitute a portable massage device.

Further, a track member for guiding the support means is provided on one of the counterpart member and the treatment unit, and the support means engages with the track member and engages with the track member to move in accordance with the track member. A part may be provided.

The track member may have an extension capable of moving the treatment unit over a wide range, such as a guide means in a massage machine, or may have a shorter extension. For example, the treatment unit may be extended to such an extent that the movement of the treatment unit is limited to a range that can be identified with approaching and separating from the treatment target. Further, the track member may be provided on the counterpart member, or may be provided on the treatment unit side. Since the movement of the treatment unit is realized as a relative position change between the treatment unit and the partner member via the support means, the same movement is performed regardless of whether the track member is provided on either the treatment unit or the partner member. Can be realized.

Further, the treatment element may be provided at least in two pairs in the direction in which the track member extends.

Further, at least two pairs of treatment elements provided in a direction in which the track member extends may include two pairs of treatment elements having different characteristics from each other.

Further, the support means supports the treatment unit with respect to the counterpart member at at least two portions in a direction in which the track member extends, and the position changing means supports the treatment unit by the support means. The positions of the respective parts of the treatment unit that are set in the direction of approaching and separating from the treatment target part may be changed.

Further, the position changing means may be independent of each of the support means for supporting a portion of the treatment unit in which a track member extends in a different direction. It is preferable to have a function of changing the position.

Further, the support means includes: an arm that supports the engaging portion, and is swingably supported by one of the treatment unit and the counterpart member. The position changing means includes a swing of the arm. It is preferable to have a function to change the moving angle.

Further, the position changing means includes: a first state in which the swing center of the arm is located on the treatment section side with respect to the engagement section; and wherein the engagement section has a swing center with respect to the swing center of the arm. It is preferable to have a function of changing the swing angle of the arm so as to be in the second state located on the treatment section side.

Further, it is preferable that the position changing means has a function of changing a position of the part of the treatment unit supported by the support means with respect to the counterpart member at least toward the treatment part.

In addition, the present invention provides a pair of treatment elements on the left and right sides, a treatment unit that supports the treatment elements and is movable with respect to a treatment section, and a mating member to be attached. A massage unit having support means for supporting the unit, wherein the massage unit includes a posture changing means for changing a posture of the treatment unit supported by the support means with respect to the counterpart member. Can be configured as

Further, the present invention provides a left and right pair of a first treatment element and a left and right pair of second treatment elements provided below the first treatment element in an upward and downward direction along a treated portion. A method of controlling a pine surge machine that performs a massage treatment by controlling the positions of the first treatment element and the second treatment element in the direction of the treatment section while moving the first treatment element and the second treatment element. At the upper end of the predetermined movement range of the treatment element (2), the first treatment element is protruded toward the treatment section, and the second treatment element is retracted to the opposite side to the treatment section. The first treatment element is treated at the lower end of the predetermined movement range of the treatment element of the second treatment element and the treatment element of the second treatment element. Retreating to the opposite side of the section and projecting the second treatment element to the treatment section side.

The present invention also provides a left and right pair of a first treatment element and a left and right pair of second treatment elements provided below the first treatment element in an upward and downward direction along a treated portion. A method for controlling a massage machine that performs massage treatment by controlling the positions of the first treatment element and the second treatment element in the direction of the treatment section while moving the first treatment element and the second treatment element. At the upper end of the predetermined movement range of the second treatment element, the first treatment element is retracted to the opposite side to the treatment section, and the second treatment element is projected to the treatment section side; At the lower end of the predetermined movement range of the first treatment element and the second treatment element, the first treatment element is made to protrude toward the treatment section, and the second treatment element is moved to the opposite side from the treatment section. Retracting.

Further, the present invention provides a left and right pair of a first treatment element and a left and right pair of second treatment elements provided below the first treatment element in an upward and downward direction along a treated portion. A method of controlling a massage machine that performs a massage treatment by controlling the positions of the first treatment element and the second treatment element in the direction of the treatment section while moving the treatment section. At a predetermined position within the movement range when moving downward, the first treatment element is retracted to the opposite side to the treatment section, and the second treatment element is projected to the treatment section side; At a predetermined position within the movement range when moving upward along the treatment section, the first treatment element is protruded toward the treatment section side, and the second treatment element is moved to the opposite side to the treatment section. Retreating to.

In this way, by changing the positions of the first treatment element and the second treatment element arranged in the vertical direction in the treatment section direction at various positions in the movement process along the treatment section. In addition, it is possible to eliminate the difference in the moving range of each treatment element in the direction along the treated portion within the predetermined moving range. Also, on By changing the position of the first treatment element and the second treatment element arranged in the downward direction in the direction of the treatment section, the treatment element in contact with the treatment section is switched, so that the parasite is richer. Treatment can be realized. In addition, the treatment child

The massage machine is not limited to two pairs of the first treatment element and the second treatment element, and may be a massage machine having more than two pairs of treatment elements.

Further, in the control method of the massage machine, the positions of the first treatment element and the second treatment element in the treatment portion direction may be independently controlled. BRIEF DESCRIPTION OF THE FIGURES

FIG. 1 is a perspective view showing a schematic configuration of a massage machine according to an embodiment of the present invention.

FIG. 2 is an overall side view of the massage machine according to the embodiment of the present invention. Figure 3 is a front view of the treatment unit.

Figure 4 is a right side view of the treatment unit.

Fig. 5 is a rear view of the treatment unit.

FIG. 6 is a front perspective view of the treatment unit.

FIG. 7 is a rear perspective view of the treatment unit.

FIG. 8 is a front view of the treatment section.

FIG. 9 is a rear view of the treatment section.

FIG. 10 is a perspective view of the treatment section as viewed from the upper rear side.

FIG. 11 is a perspective view from the front right side of the treatment section.

FIG. 12 is a perspective view from the front left side of the treatment section.

FIG. 13 is a perspective view of the treatment section from the lower rear side.

FIG. 14 is a diagram showing the configuration of the fir mechanism.

FIG. 15 is a diagram showing the configuration of the fir mechanism. FIG. 16 is a diagram showing the configuration of the tapping mechanism.

FIG. 17 is a diagram showing the configuration of the tapping mechanism.

FIG. 18 is a diagram showing the configuration of the lifting unit.

FIG. 19 is an enlarged view of a part of the lifting unit.

FIG. 20 is a diagram showing the configuration of the front / rear position changing unit.

FIG. 21 is a perspective view of the front / rear position changing unit.

FIGS. 22 (a), (b), and (c) are diagrams showing a state in which the front / rear position changing unit changes the position in the front / rear direction with respect to the guide rail.

FIG. 23 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.

FIG. 24 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.

FIG. 25 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.

FIG. 26 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.

FIG. 27 is a flowchart for explaining the basic operation of the massaging machine. FIG. 28 is a block diagram showing the overall configuration of the massage machine.

FIG. 29 is a flowchart for explaining the procedure of the rice ball adjusting operation. FIG. 30 is a diagram showing the movement of the fir ball during the fir operation.

Fig. 31 is a flowchart explaining the procedure during the acupressure operation of the massage machine.

FIG. 32 is a flowchart for explaining the procedure during the acupressure operation of the massage machine.

FIG. 33 is a flowchart for explaining the procedure during the acupressure operation of the massage machine. Fig. 34 (a), (b), (c) and (d) are diagrams showing the operation transition of the treatment unit at the time of the first fir ball switching operation.

FIG. 35 is a flowchart illustrating the procedure of the first rice ball switching operation.

Figure 36 (a), (b), (c), and (d) are diagrams showing the operation transition of the treatment unit at the time of the second rice ball switching operation.

FIG. 37 is a flowchart for explaining the procedure of the second rice ball switching operation.

Fig. 38 (a) to (f) are diagrams showing the operation transition of the treatment unit at the time of the third fir ball switching operation.

FIG. 39 is a flowchart for explaining the procedure of the third rice ball switching operation.

FIG. 40 is a diagram showing another configuration example of the fir ball.

FIGS. 41 (a) and (b) are diagrams showing other examples of the configuration of the guide rail. FIGS. 42 (a) and (b) are diagrams showing other examples of the configuration of the guide rail. BEST MODE FOR CARRYING OUT THE INVENTION

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view showing a schematic configuration of a massage machine 10 according to an embodiment of the present invention. In FIG. 1, the force par seat and the cushion of the backrest portion 100a are omitted. FIG. 2 is an overall side view of the massage machine 10, and shows the internal configuration of the backrest portion 100 a together with the outer shape. The massage machine 100 has a treatment unit 110 incorporated in a backrest 100 a of a reclining chair 100. Pine balls (treatment elements) 201 protruding from the treatment unit 110 toward the front side covered with the force par sheet of the backrest 100a, and the pine against the human body by the treatment elements 201a-d. Perform a surge. The fir balls are a pair of left and right fir balls 201 a and 201 b (first treatment element) arranged upward along the spine direction, and a pair of fir balls 201 and 1 left and right below the fir balls. c, 201 d (second treatment element).

The treatment unit 110 is composed of a pair of guide rails (guide means, track members) having a U-shaped cross section (box shape) arranged so that the openings face each other along the backrest portion 100a. Supported by 1R, 101L. The treatment unit 110 is connected to a rack provided on the inside of guide rails 101 R and 101 L by a lifting pinion 310 and a lifting roller 3101, which will be described later, provided on both sides. By rotating and driving the pinion 310, it moves up and down along the guide rails 101R and 101L.

Fig. 3 is a front view of the treatment unit 110, Fig. 4 is a right side view thereof, Fig. 5 is a rear view thereof, Fig. 6 is a front perspective view thereof, and Fig. 7 is a rear perspective view thereof.

The front surface of the treatment unit 110 is covered with a plate-like base member 111. The base member 111 has a substantially rectangular opening 111 from which the upper end portion is bent to the rear side and from which the millet balls 201 a to d protrude in the center. In addition, the base member 111a is provided with a cutout 111 and an opening 111 so as not to interfere with gears and the like. A massage unit is configured including the treatment unit 110 and a treatment unit front / rear position changing unit 400 described later.

(Schematic configuration of treatment section)

FIG. 8 is a front view of the treatment section 200 attached to the base member 111, FIG. 9 is a rear view of the same, FIG. 10 is a perspective view of the same from above the rear, and FIG. FIG. 12 is a perspective view from the front left side, and FIG. 13 is a perspective view from the lower rear side.

Four fir balls 2 0 1 a to d are approximately V-shaped fir ball arms 2 0 2 R, 20 Each of the 2 L ends is rotatably supported by a shaft. The base ends of the fir ball arms 202 R, 202 L are fixed to arm support members 203 R, 203 L. On both left and right sides of the fir shaft 205, cylindrical inclined sleeves 200R and 207L are fixed to be inclined with respect to the axial direction, respectively. The inclination of the 7 L with respect to the axial direction is set to be symmetrical. Bearing cases 200 31 R and 203 1 L are rotatable around the outer circumference of the inclined sleeves 200 R and 207 L via bearings rolling along the peripheral surface. Is fitted. The arm support members 203 R and 203 L are fixed to the side surfaces of the bearing case 203 R and 203 L. The bearing case 2 0 3 1 R, 2 0 3 1 L protrudes in the circumferential direction together with the base 2 0 3 1 1 R, 2 0 3 1 1 L fitted on the outer periphery of the inclined sleeve 2 07 It has link receivers 203, R and 203, 12L. One end of the spherically formed link 209 R, 209 L is fitted in the link receiving portion 203 213 R, 209 31 L, and the link 209 R , 209 L are swingably supported along the spherical surface.

Above the fir shaft 205, a beating shaft 206 is arranged in parallel with the fir shaft 205. Cylindrical eccentric sleeves 208, 208 eccentric in the radial direction are fixed at positions corresponding to the inclined sleeps 207 on both the left and right sides of the tapping shaft 206. The left and right eccentric sleeves 208 are mounted so as to be eccentric in the opposite directions to the beating axis 206. Bearings 2081R and 2081L are rotatably fitted to the outer periphery of the eccentric sleep 208 via bearings rolling along the peripheral surface. The bearing case 2081R, 2081L is circumferentially protruded together with the base 21081R, 20911L fitted to the outer periphery of the eccentric sleeper 208. Link receiving portions 2082R and 20812L. The other ends of the links 209 R and 209 L, one end of which is connected to the bearing case 203 R and 209 L, With respect to the link receiving portions 2081R and 20812L, they are swingably supported in the axial direction of the tapping shaft 206.

(Fir mechanism)

Hereinafter, the fir mechanism of the treatment section 200 will be described.

The fir shaft 205 and the striking shaft 206 are plate-shaped treatment shaft holding brackets 204 through the bearings on both sides of the fir ball arm 202 R and 202 L, respectively. It is rotatably supported by 4 L. The treatment shaft holding brackets 204 R and 204 L are fixed to the base member 111.

FIGS. 14 and 15 are diagrams showing the configuration of the fir mechanism. Each is a view from the back side of the base member 111, but for convenience of explanation, the members are omitted as appropriate.

The fir shaft 205 is driven by a fir motor 210. The fir motor 210 is fixed to the elevating / lowering motor support member 112. Fir · Lifting motor support member 1 1 2 is a plate-like member bent in a substantially M-shape, covering it over the back side of fir shaft 205 and striking shaft 206 and covering the end. It is fixed to the back side of the base member 1 1 1a.

A small fir pulley 2 11 is attached to the drive shaft 2 10 a of the fir motor 2 10. The endless fir belt 2 13 wound around the outer periphery of the small fir pulley 2 1 1 is also mounted on the outer periphery of the large fir pulley 2 1 2 attached to the shaft of the fir worm gear 2 14. It is wound. The worm gear 2 14 for fir mates with the worm wheel 2 15 for fir. The fir worm wheel 2 15 is concentrically fixed to the outer periphery of the fir shaft 205. The fir worm gear 2 14 and the fir worm wheel 2 15 are rotatably stored in the fir gear box 2 18 attached to the treatment shaft holding bracket 204 R.

Therefore, the driving force of the fir motor 2 110 is Fir belt 2 1 3 → Large fir pulley 2 1 2 → Fir worm gear 2.14 → Fir worm wheel 2 15 Transmitted at a reduced speed, and fir shaft 205 is rotated.

(Striking mechanism)

Hereinafter, the tapping mechanism of the treatment section 200 will be described.

FIG. 16 and FIG. 17 are diagrams showing the configuration of the tapping mechanism.

The beating shaft 206 is driven by a beating motor 220. The tapping motor 220 is connected to the base member 1 via the holding members 113a and 113b.

It is fixed to the back side of 11a (see Fig. 5).

A small tapping pulley 221 is attached to the drive shaft of the tapping motor 222. An endless beating belt 2 23 wound around the outer periphery of the small haul pulley 22 1 is also wound around the outer periphery of the large haul pulley 22 2. The tapping large pulley 2 2 2 is fixed concentrically to the outer periphery of the tapping shaft 206.

Therefore, the driving force of the tapping motor 222 is equal to the small pulley 222.

→ Tapping belt 2 2 3 → Tapping large pulley 2 2 2 It is transmitted at a reduced speed and the tapping shaft 206 is driven to rotate.

(Treatment unit elevating section)

The mechanism of the elevating unit of the treatment unit will be described below.

FIG. 18 is a diagram showing the configuration of the elevating unit as viewed from the back side of the base member 111, and FIG. 19 is a diagram showing a part of the same in an enlarged manner. In FIGS. 18 and 19, members are omitted as appropriate for convenience of explanation.

The elevating pinions 310 and 310 for the racks (not shown) provided on the inner surfaces of the guide rails 101R and 101L are fixed to both ends of the elevating shaft 3108. . Rollers 3 1 1 that roll on the inner surfaces of guide rails 1 0 1 R and 1 0 1 L are fixed to the outside of the lifting pinion 3 10 in the axial direction. (See Figure 5). The elevating shaft 308 is rotatably supported at one end of an elevating roller support link 409a, 409b. The other ends of the lifting roller support links 409a and 409b are concentrically fixed to the front / rear position changing shaft 410.

The lifting pinion 310 is driven by a lifting motor 310. The elevating motor 301 is fir · It is fixed to the elevating motor holding member 112. A small lifting pulley 302 is attached to a drive shaft 301 a of the lifting motor 301. An endless lifting belt 304 wound around the outer periphery of the small pulley 302 is attached to the outer periphery of the large lifting pulley 303 attached to the shaft of the lifting worm gear 305. Is also wound around. The elevating worm gear 300 is combined with the elevating worm wheel 303. The elevating worm wheel 360 is rotatably supported on the outer periphery of the front-rear position changing shaft 410. The elevating worm gear 305 and the elevating worm wheel 303 are rotatably stored in an elevating gear pox 312 fixed to the rear side of the base member 111a. The elevating wheel 302 is coupled to an elevating gear 307 fixed to the outer periphery of the elevating shaft 308.

Therefore, the driving force of the motor for raising and lowering 301 is as follows: small pulley for lifting and lowering 302 → belt for lifting and lowering 304 → large pulley for lifting and lowering 303 → worm gear for lifting and lowering 305 → worm wheel for lifting and lowering 3 06 → transmitted to the elevating gear 3 07 while decelerating, and the elevating pinion 3 10 is rotationally driven together with the elevating shaft 3 08.

Further, a disc-shaped elevating position indicating plate 309 is fixed to the outer periphery of the elevating shaft 308. A slit is continuously formed on the outer peripheral edge of the elevating position indicating plate 309, and the elevating position photo sensor 313 disposed at a position sandwiching the outer peripheral edge of the elevating position indicating plate 309 is formed. Rotation of the lifting position indicating plate 309 From the numbers, the elevation position of the treatment unit 110 along the guide rails 101 R and 101 L is detected. In addition, the upper and lower limits are set for the guide rails 101 R and 101 L. A sensor 314 and an ascending / descending limit sensor 315 are provided (see FIG. 1) to detect whether or not the treatment unit 110 is at the upper limit position and the lower limit position, respectively.

(Treatment unit front / rear position change unit)

Next, the mechanism of the front / rear position changing unit 400 of the treatment unit 110 will be described. FIG. 20 is a diagram showing the configuration of the front / rear position changing unit 400, and FIG. 21 is a perspective view thereof.

The front / rear position changing portion 400 is attached to a side plate 4 13 fixed to the rear side of both side ends of the base member 11 1. The elevating roller support link 409 has one end rotatably supporting the elevating roller 311 and the other end fixed to the front / rear position changing shaft 4110. Similarly, one end of a link A408 is fixed to the front / rear position changing shaft 410. The other end of the link A 408 is connected to one end of the link B 407 via a pin 407 a and is supported so as to be rotatable about the pin 407 a. The other end of the link B 407 is rotatably supported by a pin 406 a provided on the feed nut holder 406. Here, the elevating roller 311 corresponds to an engagement portion, and the elevating roller support link 409 corresponds to an arm, and constitutes a supporting means together with the shaft 410 for changing the front-rear position which forms the swing center. I do.

The feed nut holder 406 integrally houses a feed nut screwed to the outer periphery of the feed screw 405, and the feed screw 405 holds feed screw holding members A on both sides of the feed nut. It is rotatably held by 4 11 and a feed screw holding member B 4 12. Both the feed screw holding member A 4 11 and the feed screw holding member B 4 12 are fixed to the side plate 4 13. A large pulley 403 for changing the front-rear position is concentrically fixed to the outer periphery of the end of the feed screw 405. An endless front / rear position changing belt 4 0 4 is provided around the outer periphery of the front / rear position changing small pulley 4 02 and the front / rear position changing large pulley 4 0 3 attached to the drive shaft of the front / rear position changing motor 4 0 1. Is wrapped around. The front / rear position changing motor 401 is mounted on the side plate 413 so that the drive shaft is parallel to the feed screw 405.

Here, the motor 401 for changing the front / rear position, the small pulley 402 for changing the front / rear position, the large pulley 400 for changing the front / rear position, the belt 400 for changing the front / rear position, the feed screw 400, the feed nut The position change means and the attitude change means are controlled by the holder 406, pin 406a, link B 407, pin 407a, link A 408, and front / rear position change shaft 410. Be composed.

To the feed nut holder 406, a plate-like front / back position indicating plate holding member 414 bent in a U-shape is fixed. The front / rear position indicator holding member 414 fixed at one end to the feed nut holder 406 is bent so as to sandwich the side plate 413, and the other end goes out of the side plate 413. Out. At the other end of the front / back position indicating plate holding member 4 14, a plate-like front / back position indicating plate 4 15 extending in the axial direction of the feed screw 400 is held in parallel with the side plate 4 13. The front / rear position indicating board 4 15 passes through the detecting section of the front / rear position detecting board 4 16 attached to the side plate 4 13. A slit 415 a is formed in the front and rear position indicating plate holding member 414 in the axial direction of the feed screw 405. The slits 415a are provided in four rows in the direction orthogonal to the axial direction of the feed screw 405, and the position of the slit in the axial direction of the feed screw 405 differs in each row. I have. The detection section of the front / rear position detection board 416 is provided with a front / rear position detection sensor for detecting the presence or absence of a slit. Since the four front-rear position detection sensors are arranged at positions corresponding to the respective slits in the direction orthogonal to the axial direction of the feed screw 405, the feed nut By detecting the combination of the presence or absence of the slit that changes depending on the relative position of the front / rear position indicator plate 4 and 15 that moves together with the four front / rear position detection sensors 4 17 a to, the axis of the feed screw 4 05 Direction can be detected.

Fig. 20 and Fig. 21 show that the lifting roller support links 409c and 409d provided on the upper side of the treatment unit 110 are oscillated, and the treatment unit 110 The front / rear position change unit 400A that changes the front / rear position is shown (see Fig. 5). The lifting / lowering roller support links 409a, 409b provided on the left rear surface of the base member 111 (as viewed from the front) and provided below the treatment unit 110 are swung. The front / rear position changing unit 400B for changing the front / rear position of the lower part of the treatment unit 110 also has substantially the same configuration as the front / rear position changing unit 40OA. In the front / rear position changing section 400B, a lifting pin 3110 in addition to the lifting roller 3111 is provided at the end of the lifting roller support link 409a, 409b. The point that the attached elevating shaft 308 is inserted is different from the front / rear position changing unit 400A.

Next, the operation of the front / rear position changing unit will be described.

FIG. 22 shows a state in which the front / rear position changing unit 400B has changed the front / rear position with respect to the guide rail 101L. Figure 22 (a) shows the case where the front / rear position change unit 400B is in the retreat position, Figure 22 (b) shows the case where it is in the neutral position, and Figure 22 (c) shows the case where it is in the protruding position. ing. Fig. 22 shows only the front / rear position changing unit 400B, but the entire treatment unit 110 also changes the front / rear position with respect to the guide rail 101L similarly to the front / rear position changing unit 400B. Let it. In each case shown in FIGS. 22 (a), (b), and (c), the front / rear position changing unit 40OA also operates in the same manner.

First, as shown in Fig. 22 (a), the feed nut holder 406 has the lower end of the feed screw 405 (in the figure, the right side is the lower part of the backrest and the left side is the upper part). You. ) Will be described. Here, since the front / rear position changing shaft 4110 is rotatably attached to the base member 111, the feed is similarly fixed to the base member 111 via the side plate 413. The relative positional relationship to the screw 405 does not change during the front-back position change operation. Moreover, lifting the roller support links 4 0 9 13 and links 8 4 0 ⁸ is fixed both to the front and rear position change shaft 4 1 0, mutual angle does not change. Therefore, in FIG. 22 (a), the link A 407 pushes the pin 407a forward and rotates the connected link B 408 forward, so that the link A 407 is used for changing the front / rear position. The elevating roller support link 409b connected to the T-body via the shaft 410 also rotates forward. As described above, since the front / rear position changing shaft 4110 is attached to the base member 111, the entire treatment unit 110 is located on the back side of the guide rail 101L, that is, the treatment section. It will recede in the direction away from.

Next, as shown in FIG. 22 (b), when the feed nut holder 406 is almost at the intermediate position of the feed screw 405, the link A 407 pushes the pin 407a. The link B 408 is pulled to the rear side and the connected link B 408 is rotated to the rear side, so the lifting roller support link 409 connected integrally via the shaft 410 for changing the front / rear position b rotates to the rear side as compared with FIG. 22 (a). In this case, the elevating roller support link 409 b is located almost parallel to the base member 111, so that the base member 111 is almost flush with the guide roller 101 L. Will be located.

Next, a case where the feed nut holder 406 is located at the upper end of the feed screw 405 as shown in FIG. 22 (c) will be described. In this case, the link A 407 pulls the pin 407 a further to the rear side and further rotates the connected link B 408 to the rear side. The lifting roller support link 4 0 9b that is integrally connected via It turns to the back side more than (b). As the lifting roller support link 409 b is located on the back side of the front / rear position change shaft 411, as a result, the entire treatment unit 110 is from the guide rail 101 L. Also protrudes toward the front surface, that is, in the direction approaching the treatment section.

Fig. 23 shows the fir balls 201 when the front and rear positions of the treatment unit 110 are changed from the neutral position shown in Fig. 22 (b) to the protruding position shown in Fig. 22 (c). The positional relationship between d and the backrest 100 a is shown. Fig. 24 shows the fir balls 201 when the front and rear positions of the treatment unit 110 are changed from the neutral position shown in Fig. 22 (b) to the evacuation position shown in Fig. 22 (a). The positional relationship between and the backrest portion 100a is shown. This makes it possible to adjust the amount of projection of the firs balls 201 a to d toward the treatment portion, thereby realizing the acupressure operation as described later and adjusting the intensity of the treatment.

In FIGS. 23 and 24, the description has been given of the case where the two front / rear position changing units 400A and 400B operate in the same manner. However, each has a motor 4011A and 401B for changing the front and rear position, and can be controlled independently. Therefore, the relative positional relationship of the treatment unit 110 with respect to the elevating roller 311 arranged above the treatment unit 110, and the elevating unit arranged below the treatment unit 110 Treatment relative to roller 311 It is possible to make the relative positional relationship of unit 110 different. That is, not only does the entire treatment unit 110 run back and forth almost parallel to the guide rails 101 R and 101 L, but also the upper and lower guide rails 101 R of the treatment unit 110. , 101 L can be controlled independently.

Fig. 25 shows treatment when the front / rear position changing unit 400A and 400B are both in the neutral position, and only the front / rear position changing unit 400A is changed to the protruding position. Relative position between unit 110 and backrest 100a Show the relationship. Here, since only the upper part of the treatment unit 110 protrudes forward, only the upper two fir balls 201a and 201b protrude (upper ball protruding position). On the other hand, Fig. 26 shows the treatment when the front / rear position change units 400A and 400B are both in the neutral position, and only the front / rear position change unit 400B is changed to the protruding position. The relative positional relationship between the unit 110 and the backrest 100a is shown. Here, since only the lower part of the treatment unit 110 protrudes forward, only the lower two fir balls 201c and 20Id protrude (the lower ball protruding position).

In this way, the front / rear position changing motors 401 of the front / rear position changing units 400A and 400B are independently controlled, and the upper and lower guide rails 10 of the treatment unit 110 are provided. By changing the amount of protrusion relative to 1R, 101L or changing the posture of treatment unit 110 with respect to guide rails 101R, 101L, fir balls that come into contact with the body to be treated (Upper or lower) and their number can be switched.

Therefore, in the following description, the name of each part of the front / rear position changing unit 400 is made to correspond to its function, and the front / rear position changing motors 401 A and 401 B are respectively used as the ball adjusting motors 401 A, referred to as fir ball adjustment lower motor 401 B, and four front / rear position change units 400 A and 40 OB provided in each of the four front / rear position detection sensors 4 17 a to d are used for fir ball adjustment. The position sensors (1) to (4) 4 17A and the position sensors (1) to (4) 4 17B under fir ball adjustment are called. In addition, both the massage ball adjusting motor 401 A and the massage ball adjusting motor 401 B move the treatment unit 110 closer to the treatment area with respect to the guide rails 101 R and 1 OIL. When driven in the (protruding) direction, the treatment element unit 110 is driven in the direction in which the treatment element unit 110 moves away (retreats) from the treatment section side with respect to the guide rails 101R and 101L. If it does, it is reversed. In the present embodiment, as described above, the upper and lower roller support links 409 c and 409 d along the guide rails 101 R and 101 L, and the guide rail 101 R The lower and upper roller support links 409a and 409b both swing along the, 101L, thereby changing the longitudinal position of the treatment unit 110. However, a pair of upper and lower elevating rollers along the guide rails 101R and 101L are held at a fixed position with respect to the treatment unit 110, and the other pair of elevating rollers It may be configured such that only the roller swings while being supported by a similar link. Even in the case where the elevating support link constituting the position changing means is provided in only one of the up and down directions, the position of the fir ball in the front-back direction, that is, the amount of protrusion of the fir ball to the treatment portion is determined. It is possible to adjust the acupressure operation and treatment intensity. In addition, the moving link constitutes a posture changing means.

The operation of the treatment unit front-rear change unit described above can be realized independently of the elevating operation of the treatment unit along the guide rails 110R and 110L. Therefore, for example, members corresponding to the guide rails 110 R and 110 L are used as the track members. It is constructed so as to have an extension that includes the movable range of, and by providing this to the opponent member selected as appropriate, the massage operation including “fir”, “hitting”, and “acupressure”, which will be described later, and the protrusion amount of the fir ball Adjustment of the treatment intensity by adjustment and switching operation of the used rice ball can be realized.

(Basic operation of massage machine)

Next, the operation of the massage machine when performing a massage will be described. FIG. 27 is a flowchart for explaining the basic operation of the massage machine 10. FIG. 28 is a block diagram showing a schematic configuration of the massage machine 10. In the massage machine 10, the CPU control circuit 9 issues a command to the motor control circuit 12 based on an instruction from the operation unit 11 and information from each sensor to drive each motor. Alternatively, the information is displayed on the operation unit.

First, the power ON / OFF switch is turned on in the operation unit 11 shown in FIG. 28 (step 1). At this time, the LED of the power on / off switch lights up to notify that the power switch is on (step 2).

Next, the elevating motor 301, the firs motor 210, the firs ball adjusting motor 401A, the firs ball adjusting motor 410B (Fig. 28, the firs ball adjusting motor 40 1) and the motor for adjusting the rice ball 4 0 1 B together are written as “the rice ball switching motor” in the direction of the initial position (Step 3). It is determined whether or not each motor has completed the movement to the initial position (Step 4). If not completed, the process returns to Step 3, and if completed, the motor for lifting / lowering 31 and the motor for fir 2 are read. 10. Stop the operation of the rice ball adjusting upper motor 401 A and the rice ball lowering motor 401 B (step 5). Next, it is determined whether the manual mode or the automatic course is selected (step 6).

If the manual mode is selected, it is determined which operation of the manual mode is selected (step 7), and various manual operations are performed according to the selection (step 8). In manual mode, select from "Surface Up", "Surface Down", "Striking", "Shiatsu", "Spine Stretch", "Partial Spine Stretch", "Up", and "Down". be able to. Perform various manual operations for 15 minutes (step 9), end the various manual operations after 15 minutes (step 10), turn off the power ON / OFF switch, and turn off the LED (Step 11).

If the automatic mode has been selected, it is determined which of the automatic courses has been selected (step 12).

If the upper body automatic course is selected, the operation according to the menu of the upper body automatic course is performed (step 13), and when the menu ends, (step 13). Step 1 4), go to step 11. Here, the upper body automatic course is, for example, a course in which the back muscles are stretched over the entire upper body from the neck to the shoulders, the back and the waist, and the firs, tapping and acupressure operations are appropriately combined. If the automatic shoulder and shoulder course is selected, the operation according to the menu of the automatic shoulder and shoulder course is performed (step 15), and when the menu is completed (step 16), the process proceeds to step 11. Here, the neck-shoulder automatic course is, for example, a course in which the back muscle is stretched, fir, tapping, and shiatsu operations are appropriately combined in a region from the neck to the shoulder. If the automatic hip course is selected, the operation according to the menu of the automatic hip course is performed (step 17), and when the menu is completed (step 18), the process proceeds to step 11. Here, the waist automatic course is a course in which the back muscles are stretched around the waist, fir, tapping and shiatsu are combined as appropriate.

(Fir ball adjustment operation)

FIG. 29 is a flowchart for explaining the procedure of the rice ball adjusting operation.

In the massage machine 10, the rice ball adjustment can be performed at any time by the switch operation of the operation unit 11 during the basic operation described above.

If the ball adjustment switch is pressed during various operations. First, the type of the selected switch is determined (step 21).

If the “upper ball” switch is pressed, various operations are suspended (step 22). Next, the motor 401A is rotated normally in the rice ball adjusting step (step 23). It is determined whether the "upper ball" switch is still pressed (step 24). If the "upper ball out" switch is still pressed, repeat steps 23 and 24 until the upper ball position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position. Repeatedly (step 25), the upper ball adjusting motor 401A is stopped when the upper ball protrusion limit position is detected (step 26), and various operations are restarted (step 27). Step 2 4 If the “upper ball” switch is not pressed, go to step 26.

If the “four ball” switch is pressed, various operations are temporarily stopped (step 28). Next, whether the fir ball adjustment upper position sensors (1) to (4) 4 17 A (abbreviated as "fir ball position sensor" in Fig. 29) detects the neutral position. It is determined whether or not it is (step 29). Fir ball adjustment upper position sensor (1)-(4) If the 4 17 A detects the neutral position, stop the fir ball adjustment motor 401 A (step 30), and adjust the fir ball adjustment lower position. It is determined whether or not the sensors (1) to (4) 4 17 B detect the neutral position (step 31). If the rice ball adjustment upper position sensor (1) to (4) 4 17 A does not detect the neutral position, the rice ball adjustment upper motor 401 A is rotated forward or reverse, and the rice ball adjustment upper position sensor ( 1) to (4) When 4 A detects the neutral position (Step 3 2), it proceeds to Step 30 and stops the motor 401 A for adjusting the fir ball. Here, the position of the upper two rice balls 201 a, b in the front-rear direction can be detected by the rice ball adjustment upper position sensors (1) to (4) 4 17 A. By rotating the motor 401 A forward or reverse, the upper two rice balls can be returned to the neutral position. (The same applies to the position of the lower two rice balls in the front-rear direction.) Is.). In step 31, the fir ball adjustment lower position sensors (1) to (4) 4 17 B (abbreviated as “fir ball lower position sensor” in FIG. 29) detect the neutral position. If so, stop the rice ball adjusting motor 40 IB (step 33) and proceed to step 27. Fir ball adjustment lower position sensor (1) to (4) Unless the 4 17 B detects the neutral position, the fir ball adjustment motor 401 B is rotated forward or reverse, and the fir ball adjustment lower position sensor (1) to (4) When 4 17 B detects the neutral position (Step 34), proceed to Step 33 to stop the rice ball adjusting motor 401 B. If the “lower ball” switch is pressed, various operations are suspended (step 35). Next, the rice ball adjusting motor 401 B is rotated forward.

(Step 36). Next, it is determined whether or not the “lower ball” switch is pressed (step 37). If the "lower ball out" switch is pressed, it is determined whether the fir ball adjustment lower position sensor (1) to (4) 4 17 B has detected the lower ball protrusion limit position (step 3). 8). Here, if the rice ball adjusting lower position sensor (1) to (4) 4 17 B detects the lower ball protrusion limit position, the rice ball adjusting lower motor 401 B is stopped (step 39). Then, restart the various operations (step 27). If the rice ball adjusting lower position sensor (1) to (4) 4 17 B has not detected the lower ball protrusion limit position, return to step 36 to further reduce the rice ball adjusting motor 401 B. Rotate forward. In step 3 7

If the lower ball switch is not pressed, go to step 39.

The details of various massage operations by the massage mechanism are described below.

(Fir operation)

During the fir operation, the rotation of the beating axis 206 is stopped, and only the fir axis 205 is rotated. The fir ball arms 202 R and 202 L are rotatably supported on the outer circumference of an inclined sleeve 207 attached at an angle to the fir shaft 205 and can be connected via a link. The rotation around the shaft 205 is regulated. Accordingly, the treatment element 201 swings in the axial direction of the fir shaft 205 while changing the distance from the axis of the fir shaft 205. Figure 30 shows a view of the movement of such a fir ball viewed from the front. At this time, the distance between the left and right fir balls changes, so that “fir movement” can be achieved by such a movement. When performing the fir operation as described above, the direction of movement of the fir balls can be reversed by switching the rotation direction of the fir motor 210, so that there are two types of fir-up and fir-down. Work Can be manifested.

(Slapping motion)

During the tapping operation, the rotation of the paddle shaft 205 is stopped, and the tapping shaft 206 is rotated. At this time, the tilt sleep 200 is set so that the fir ball arms 202 R and 202 L are almost perpendicular to the fir shaft 205 and the fir ball is held substantially perpendicular to the back (fir tree origin position). To control the position in the rotation direction. At the end of the fir shaft 205, the fir origin detection plate 2 16 and fir position indicator plate 2 17 are fixed concentrically (see Fig. 14). The fir origin detection plate 2 16 is a disk-shaped member with a slit provided at one location on the outer peripheral edge, and the fir origin detection plate 2 16 is located at the opposite position on the back of the base member 11. The position of the fir origin can be detected by a fir origin photo sensor arranged so as to sandwich it. Since the link 49 is rotatably supported via an eccentric sleeve 208 which rotates eccentrically with the rotation of the hitting shaft 206, by rotating the hitting shaft 206, the hitting shaft 2 The distance between the shaft center of 06 and the link receiving portions 2 0 3 1 2 R and 2 0 3 1 2 L where the ends of the links are fitted changes. Fir ball arm 2 0 2 R, 2 0 2 L Fir shaft 2

Since it is supported rotatably around 0 5, the tapping motor is driven, and the tapping motor is driven. By rotating the shaft 206 at an appropriate speed, the paddle ball arm 202 R, 202 L The rattle swings around the axis 205 to realize the tapping motion.

(Shiatsu operation)

Hereinafter, the procedure at the time of the acupressure operation will be described. Figs. 31, 32 and 33 are flowcharts explaining the procedure of the acupressure operation of the massage machine 10. First, select the operation in the manual mode. (Step 51) and move the fir balls up and down. Adjust the position (Step 52). At this time, the user presses the “up” switch or the “down” switch on the operation unit 11 (step 53). In response, the elevating motor 301 is operated in the designated direction (step 54). When the milling ball 201 moves to the desired position, the user releases the "up" switch or the "down" switch with the lifting roller (step 55). Next, the user presses the acupressure switch (step 56). In response, the rice ball adjusting upper motor 401 A is rotated forward at a low speed (step 57), and the rice ball adjusting upper position sensor (1) to (4) 4 17 A is at the upper ball protrusion limit position. It is determined whether or not has been detected (step 58). If the firs ball adjusting upper position sensor (1) to (4) 4 17 A does not detect the upper ball protruding limit position, return to step 57 and further operate the firs ball adjusting upper motor 401 A at low speed. Turn forward. If the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position, the rice ball adjustment upper motor 401 A is stopped (step 59), After waiting for a predetermined period of time (step 60), the rice ball adjusting upper motor 401A is reversely rotated at a high speed (step 61). Next, it is determined whether the rice ball adjusting upper position sensors (1) to (4) 4 17A detect the neutral position (step 62), and the rice ball adjusting upper position sensors (1) to (4). (4) If 4 17 A has not detected the neutral position, the flow returns to step 61 to reverse the motor 41 A at the higher speed. If the rice ball adjusting upper position sensor (1) to (4) 4 17 A detects the neutral position, the rice ball adjusting upper motor 401 A is stopped (step 63) and waits for a predetermined time ( In step 64), it is determined whether or not to switch the fir ball (whether or not the fir ball adjustment switch is pressed) (step 65). If the rice ball switching is not performed, the process returns to step 57, and the rice ball adjusting motor 401A is rotated forward at a low speed. When switching the rice ball, it is determined which one of the rice ball adjustment switches is selected (step 66).

If the “upper ball output” switch is selected in step 66, stop the rice ball adjusting upper motor 401A (step 67) and wait for a predetermined time. (Step 68), the motor 401A is rotated forward at a low speed for adjusting the rice ball (Step 69). Next, it is determined whether or not the rice ball adjusting upper position sensors (1) to (4) 4 17A have detected the upper ball protrusion limit position (step 70). Unless the fine ball adjusting upper position sensor (1) to (4) 4 17 A has detected the upper ball projecting limit position, return to step 69 to further rotate the fine ball adjusting upper motor 401 A at low speed. Let it. If the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position, the rice ball adjustment upper motor 401 A is stopped (step 71), and the predetermined time is reached. It waits (step 72), and then reverses the motor 401A at a high speed (step 73). Next, it is determined whether or not the firs ball adjusting upper position sensor (1) to (4) 4 17 A detects the neutral position (step 74), and the firs ball adjusting upper position sensor is determined.

(1) to (4) If 4 17 A does not detect the neutral position, the flow returns to step 73 to reverse the motor 401 A at the higher speed. If the rice ball adjusting position sensor (1) to (4) 4 17 A detects the neutral position, stop the rice ball adjusting motor 401 A (step 75) and wait for a predetermined time. (Step 76), it is determined whether or not the acupressure switch has been pressed again (Step 77). If the acupressure switch is pressed again, the acupressure operation ends (step 78). If the acupressure switch has not been pressed again, the flow returns to step 69, and further, the motor 401A is rotated forward at a low speed for adjusting the fir ball.

If the "four ball" switch is selected in step 66, the motor 401A is stopped (step 79) and the specified time is waited.

(Step 80), the motor 401A is rotated forward at a low speed for adjusting the rice ball (Step 81). Next, it is determined whether or not the rice ball adjusting upper position sensors (1) to (4) 4 17A have detected the upper ball protrusion limit position (step 82). Fir ball adjustment upper position sensor (1) to (4) 4 17 A If not detected, the flow returns to step 81 to further rotate the motor 401A at the low speed. If the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position, the rice ball adjustment upper motor 401 A is stopped (step 83), After waiting for a predetermined time (step 84), the motor 401A is rotated at a high speed in the fir ball adjusting step (step 85). Next, it is determined whether or not the rice ball adjusting upper position sensor (1) to (4) 4 17 A detects the neutral position (step 86), and the rice ball adjusting upper position sensor is determined.

(1) to (4) If 4 17 A has not detected the neutral position, the flow returns to step 85, and the motor 401 A is further rotated at a higher speed for adjusting the fir ball. If the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the neutral position, the rice ball adjustment upper motor 401 A is stopped (step 87) and waits for a predetermined time. (Step 88), and the motor 40 IB under fir ball adjustment is rotated forward at low speed (Step 89). Next, it is determined whether or not the rice ball adjustment lower position sensors (1) to (4) 4 17B have detected the lower ball protrusion limit position (step 90). If the rice ball adjusting lower position sensor (1) to (4) 4 17 B does not detect the lower ball protrusion limit position, the process returns to step 89 to further correct the rice ball adjusting motor 401 B at low speed. Invert. Fir ball adjustment lower position sensor (1) ~

(4) If 4 17 B has detected the lower ball protrusion limit position, stop the rice ball adjusting lower motor 401 B (step 91), wait for a predetermined time (step 92), and Next, the rice ball adjusting motor 401B is reversely rotated at a high speed (step 93). Next, it is determined whether the fir ball adjustment lower position sensors (1) to (4) 4 17B detect the neutral position (step 94), and the fir ball adjustment lower position sensors (1) to (4). 4) If 4 17 B has not detected the neutral position, return to step 93 and rotate the rice ball adjusting motor 401 B further at a higher speed. If the rice ball adjusting position sensor (1) to (4) 4 17 B detects the neutral position, stop the rice ball adjusting motor 401 B (step 9). 5), wait for a predetermined time (step 96), and determine whether or not the acupressure switch has been pressed again (step 97). If the acupressure switch is pressed again, the acupressure operation ends (step 78). If the acupressure switch has not been pressed again, return to step 79 and stop the motor 401 A on the rice ball adjustment.

If the lower ball switch is selected in step 66, the rice ball adjusting upper motor 401A is stopped (step 98), and a predetermined time is waited (step 99). Rotate motor 401B forward at low speed (Step 100). Next, the fir ball adjustment lower position sensors (1) to (4) 4 17 B detect the lower ball protrusion limit position and

It is determined whether or not there is (step 101). Unless the fir ball adjustment lower position sensor (1) to (4) 4 17 B detects the lower ball protruding limit position, the flow returns to step 100 to further reduce the fir ball adjustment lower motor 401 B. To rotate forward. If the rice ball adjustment lower position sensor (1) to (4) 4 17 B detects the lower ball protrusion limit position, the rice ball adjustment lower motor 401B is stopped (step 102), and the predetermined position is determined. After waiting for a time (step 103), the rice ball adjusting motor 401B is reversely rotated at a high speed (step 104). Next, it is determined whether the rice ball adjusting position sensor (1) to (4) 4 17 B detects the neutral position (step 105), and the rice ball adjusting position sensor (1) is determined. If the neutral position is not detected by (4) 4 17 B, the process returns to step 104 to reverse the fir ball adjusting motor 40 IB at higher speed. If the rice ball adjustment lower position sensor (1) to (4) 4 17 B detects the neutral position, the rice ball adjustment lower motor 40 IB is stopped (step 106), and the apparatus waits for a predetermined time. (Step 107), it is determined whether or not the acupressure switch has been pressed again (Step 108). If the acupressure switch is pressed again, the acupressure operation ends (step 78). You have not pressed the Shiatsu switch again In this case, the flow returns to step 100, and the motor for adjusting the milling ball 401 B is rotated forward at a low speed.

(Straightening)

During the back extension operation, both the fir shaft 205 and the beating shaft 206 are stopped, the fir ball arms 202 and R are held at the firs origin position, and the elevating motor 301 To move the whole massage mechanism 1 up and down along the rail. At this time, the kind (upper or lower) of the rice ball to be used, the number and the protrusion amount are appropriately switched by the rice ball adjustment switch.

Also, when “pull-in” is selected in the operation of the operation section 11 in the rice ball adjustment, the rice ball adjustment upper motor 410 A and the rice ball adjustment lower motor 401 B are both reversed, and FIG. As shown in FIG. 4, the treatment unit 110 is retracted to the back side.

(Fir ball switching operation)

The treatment unit 110 moves along the guide rails 110 R and 110 L when performing the treatment of stretching the back muscles while moving in the vertical direction from the shoulder to the waist, or performing this treatment and the combined operation of tapping and fir treatment. Up and down between the upper and lower ends of the moving range. The above treatment can be performed using only one of the upper fir balls 200 1 a, 201 b or the lower fir ball 201 c, 201 d. The movement range of the treatment unit 110 is the same. However, the upper fir balls 201a, 201b and the lower fir balls 201c, 201d are attached to the treatment unit 110 with a slight vertical separation. is there. Therefore, when treatment such as back stretching is performed using only the upper fir balls 201a and 201b, the lower fir balls 201c, When treatment such as back stretching is performed using only 201 d, there is an area at the upper end (i.e., shoulder) where the treatment cannot be performed because the paddy balls do not come into contact with the treated part. I will. From shoulder to waist A similar problem occurs at the upper end and lower end of the movement range of the treatment unit 110 even when performing partial stretching treatment performed while moving a part of the range vertically.

On the other hand, as described below, by switching the massage balls to be treated at the upper end and the lower end of the movement range of the treatment unit 110, only one of the upper and lower massage balls is changed. Then, treatment can be performed with the other rice ball in the range of the treatment part that was not covered. In the following, three rice ball switching operations will be described. However, control combining any two or three of the three switching operations can be performed. In addition, the process of performing treatment using only two rice balls may include the step of performing treatment using four rice balls. In the following description, treatments such as fir and tapping are not mentioned, but the following switching operation may be performed while performing these operations, or the back stretching or partial stretching including the switching operation may be performed. During treatment, treatment such as tapping may be performed.

(First fir ball switching operation)

The operation procedure of the first fir ball switching at the time of the back straightening treatment will be described below. FIG. 34 is a diagram showing the transition of the operation of the treatment unit 110. FIG. FIG. 35 is a flowchart illustrating the procedure of the rice ball switching operation.

First, as shown in Fig. 34 (a), the upper fir balls 201a and 201b protrude toward the treatment area, and the lower fir balls 201c and 201d dow. The treatment unit 110 drives the elevating motor 301 downward from the upper end of the guide rails 101 R and 101 L while retracted to the opposite side of the treatment section (Step 1). 1 1). The treatment unit 110 descends along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the ascending / descending limit sensor 315 is turned on (step 1 12), the elevating motor 301 is stopped (step 1 13). Next, as shown in Fig. 35 (b) In this way, the fir ball adjusting motor 401B is rotated forward (step 114), and the lower fir balls 201c and 201d are in a state of protruding to a predetermined position. Is detected by the rice ball adjusting position sensor (step 115), the rice ball adjusting motor 401B is stopped (step 116). Next, the motor 401 A of the rice ball adjusting motor is reversed (step 1 17), and it is confirmed that the upper rice balls 2 O la and 201 b are retracted to the predetermined positions. When the ball adjustment upper position sensor detects (step 118), the rice ball adjustment upper motor 401A is stopped (step 111).

Subsequently, as shown in FIG. 34 (c), the elevating motor 301 is driven upward (step 120). The treatment unit 110 rises along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the up / down upper limit sensor 3 14 is turned on (step 1 2 1), the up / down motor 3 0 1 is stopped (step 1 2 2). Next, as shown in Fig. 34 (d), the motor 401A for the rice ball adjustment is rotated forward (step 123), and the upper rice balls 201a and 201b are rotated. When the rice ball adjusting position sensor detects that the rice ball is projected to the predetermined position (step 124), the rice ball adjusting motor 401A is stopped (step 125). Next, the rice ball adjusting lowering motor 401B is rotated in reverse (step 1226), and it is confirmed that the lower rice balls 201c and 201d have retreated to predetermined positions. When the ball adjustment lower position sensor detects (step 127), the rice ball adjustment motor 401B is stopped (step 128).

Thereafter, the process returns to step 111, the treatment unit descends again, and the above-described operation is repeated.

As described above, in the first fir ball switching operation, the posture of the treatment unit 110 is changed at the upper end and the lower end of the guide rails 101 R and 101 L. Then, the treatment unit 110 along the guide rails 101 R and 101 L When descent, the upper fir balls 201a and 201b protrude toward the treatment area, and the lower fir balls 201c and 201d move to the opposite side from the treatment area. When it is in the retracted position, when it rises, the lower fir balls 201c and 201d protrude toward the treatment area, and the upper fir balls 201a and 201b move upward. It is in a position of retreating to the opposite side of the treatment section.

(2nd fir ball switching operation)

The operation procedure of the second rice ball switching at the time of the back straightening treatment will be described below. FIG. 36 is a diagram showing the transition of the operation of the treatment unit 110. FIG. FIG. 37 is a flowchart for explaining the procedure of the rice ball switching operation.

First, as shown in Fig. 36 (a), the upper fir balls 201a, 201b recede to the opposite side of the treatment area, and the lower fir balls 201c, 2b. The treatment unit 110 drives the elevating motor 310 downward from the upper end of the guide rails 101 R and 101 L with 0 d protruding to the treatment area. 1 3 1). The treatment unit 110 descends along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the ascending / descending limit sensor 315 is turned on (step 1332), the elevating motor 301 is stopped (step 1333). Next, as shown in Fig. 36 (b), the motor 401A is rotated forwardly in the rice ball adjusting step (step 1334), and the upper rice balls 201a and 201b are set to predetermined positions. When the rice ball adjustment upper position sensor detects that the rice ball is projected to the position (step 135), the rice ball adjustment motor 401A is stopped (step 1336). Next, the rice ball adjusting lower motor 401B is reversed (step 1337) to confirm that the lower rice balls 201c and 201d have retreated to predetermined positions. When the rice ball adjusting position sensor detects (step 1338), the rice ball adjusting motor 401B is stopped (step 1339).

Then, as shown in Fig. 36 (c), move the lifting motor 301 upward. Drive (step 140). The treatment unit 110 rises along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the up / down upper limit sensor 3 14 is turned on (step 14 1), the up / down motor 3 0 1 is stopped (step 1 4 2). Next, as shown in Fig. 36 (d), the rice ball adjusting motor 401B is rotated forward (step 1443), and the lower rice ball 201c, 201d is rotated. When the rice ball adjusting position sensor detects that the rod has protruded to the predetermined position (step 144), the rice ball adjusting motor 401B is stopped (step 144). Next, the rice ball adjusting upper motor 401A is rotated in reverse (step 144), and the upper rice balls 201a and 201b are retracted to predetermined positions. When the adjustment position sensor detects (step 147), the rice ball adjustment motor 401A is stopped (step 148).

Thereafter, the flow returns to step 13 1, the treatment unit descends again, and the above operation is repeated.

In this way, in the second fir ball switching operation, similarly to the first fir ball switching operation, the posture of the treatment unit 110 at the upper end and lower end of the guide rails 101 R and 101 L. Has changed. However, when the treatment unit 110 descends along the guide rails 101 R and 101 L in the second rice ball movement, the lower rice balls 201 c and 210 1 d protrudes to the treatment area side, and the upper firs balls 201 a and 201 b hold the attitude of retreating to the opposite side of the treated area. 1a and 201b protrude toward the treatment area, and the lower fir balls 201c and 201d hold the posture retreated to the opposite side to the treatment area.

(Third fir ball switching operation)

The operation procedure of the third rice ball switching at the time of the back straightening treatment will be described below. FIG. 38 is a diagram showing the transition of the operation of the treatment unit 110. Figure 39 6 is a flowchart illustrating a procedure of a ball switching operation.

First, as shown in Fig. 38 (a), the upper fir balls 201a and 201b protrude toward the treatment part side, and the lower fir balls 201c and 201d dow. The treatment unit 110 drives the elevating motor 301 downward from the upper end of the guide rails 101 R and 101 L while retracted to the opposite side of the treatment section (Step 1). 5 1). The treatment unit 110 descends along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the elevating position detecting sensor 313 detects a predetermined position (step 152), the elevating motor 301 is stopped (step 1553). Next, as shown in FIG. 38 (b), the fir ball adjusting motor 401B is rotated forward (step 1554), and the lower fir balls 201c and 201d are set to predetermined positions. When the rice ball lowering position sensor detects that the rice ball is projected to the position (step 1555), the rice ball lowering motor 401B is stopped (step 1556). Next, the rice ball adjusting upper motor 401 A is reversed (step 157), and the rice ball adjustment upper position sensor is moved back to the predetermined position, and the upper rice balls 201 a and 210 b are retracted. When the operation is detected (step 158), the motor 401A is stopped (step 159). Next, the lifting motor 301 is driven downward (step 160). The treatment unit 110 descends along the treatment section while being supported in the same posture with respect to the guide rails 101 R and 101 L. As shown in Fig. 38 (c), when the ascent / descent limit sensor 315 is turned on (step 161), the elevating motor 301 is stopped (step 162).

Subsequently, as shown in FIG. 38 (d), the elevating motor 301 is driven upward (step 1663). When the elevating position detecting sensor 313 detects a predetermined position (Step 164), the elevating motor 301 is stopped (Step 165). Next, as shown in Fig. 38 (e), The motor 401A is rotated forward (step 1666), and the upper rice ball adjusting sensor detects that the upper rice balls 201a and 201b are protruding to predetermined positions. Then (step 1667), the motor 401A on the rice ball adjustment is stopped (step 1668). Next, the rice ball adjusting lower motor 401B is reversed (step 169), and the lower rice balls 201c and 201 are retracted to the predetermined positions. When the under-adjustment position sensor detects (step 170), the rice ball under-adjustment motor 401B is stopped (step 1711). Then, the lifting motor 301 is driven upward (step 172). The treatment unit 110 rises along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. As shown in FIG. 38 (f), when the up-and-down upper limit sensor 314 is turned on (step 173), the up-and-down motor 301 is stopped (step 174).

Thereafter, the process returns to step 151, the treatment unit descends again, and the above operation is repeated.

As described above, in the third fir ball switching operation, the posture of the treatment section is changed at a predetermined position on the way other than the upper and lower ends of the guide rails 101 R and 101 L. For this reason, on the upper end side of the guide rails 101 R and 101 L, the upper fir balls 2 O la and 201 b protrude toward the treatment part both when ascending and descending, and The fir balls 201 c and 201 d are in a position of retreating to the opposite side of the treatment area, and at the lower end of the guide rails 101 R and 101 L, they rise and fall. At times, the lower fir balls 201c and 201d protrude toward the treatment area, and the upper fir balls 201a and 201b retreat to the opposite side of the treatment area. Holding.

In the above-described operation, the elevating motor 301 is stopped in the middle of the movement range of the treatment unit 110 to change the posture of the treatment unit 110. The posture may be changed while moving. In addition, the posture change positions when the treatment unit 110 is raised and lowered may be the same position or may be different positions.

Further, in the above-described first to third rice ball switching operations, the protrusion toward the treatment portion and the retreat operation toward the opposite side to the treatment portion are performed, and the upper rice ball 201 a, 210 1 Which of b and the lower rice ball 201c and 201d is performed first can be set as appropriate, and is not limited to the order described above. Further, these operations may be performed simultaneously, or may be performed after a predetermined time.

(Modified example of fir ball configuration)

In the above-described embodiment, the upper fir balls 201a and 201b and the lower fir balls 201c and 201d have the same shape. Therefore, the user's feel or treatment effect does not change even if the upper rice ball 2 O la, 201 b or the lower rice ball 201 c, 201 d is used. Absent. However, as shown in Fig. 40, the outer surface of the upper fir ball 201 a, 20 lb is composed of a smooth curved surface, and the lower fir ball 200 1 c, 200 1 1 The shape may be such that a plurality of small protrusions 201 are arranged on the peripheral surface of d. As described above, if the upper fir balls 2 0 1 a and 2 0 1 b and the lower fir balls 2 0 1 1 c and 2 0 1 Id have different shapes, the upper fir balls 2 O la Thus, different feelings and treatment effects can be realized when only the first and second bristles are used and when only the lower fir balls 201 and c are used.

Further, in the massage machine having such a configuration of the rice ball, if the switching control of the rice balls as described above is performed, a massage with a rich variety can be realized.

(Modified example of guide rail)

Each of FIGS. 41 and 42 has a different guidel configuration from the above-described embodiment. 1 shows a schematic configuration of a massage machine. Since the configuration other than the guide rails is the same as that of the above-described embodiment, the description of the same configuration will be omitted using the same reference numerals, and only the characteristic configuration will be described.

FIG. 41 shows a massager 100 having a guide rail 11.01R and 1101L extended upward. Figs. 41 (a) and 41 (b) show that the treatment unit 110 is located at the upper and lower ends of the guide rails 111R and 111L, respectively. Indicates when it is located. In Fig. 4 1 (a), the lower fir balls 201c and 201d are located on the shoulders of the user, and the upper fir balls 201a and 201b are almost at the head. Located in the center. In FIG. 41 (b), the lower fir balls 201c and 201d are at the waist position of the user as in the above-described embodiment. In other words, treatment using only the lower fir balls 201c and 201d is possible over the entire range from the shoulder to the waist, and the upper fir balls 201a and 201b and the lower fir balls This is particularly effective when the balls 201c and 201d have different shapes.

Fig. 42 shows a massage machine 2000 having guide rails 1102R and 1102L extended downward. Fig. 42 (a) and Fig. 42 (b) show that the treatment unit 110 is located at the upper and lower ends of the guide rails 111 and 120, respectively. Indicates when it is located. Fig. 42 (a) shows a case where the treatment unit 110 is located at the upper end of the guide rail 1102R and 1102L movement range, as in the above embodiment. The balls 201a and 201b are located on the shoulders of the user. In Fig. 42 (b), the upper rice balls 201a and 201b are located on the user's waist, and the lower rice balls 201c and 20Id are closer to the user's waist. It is located further below. In other words, treatment using only the upper rice ball 201a, 201b is possible over the entire range from the shoulder to the waist, and the upper rice ball 201a, 20lb and the lower rice ball are used. This is particularly effective when the balls 201c and 201d have different shapes. Industrial applicability

As described above, according to the present invention, the position of the treatment unit that supports the treatment element, which is substantially perpendicular to the moving direction of the treatment unit itself with respect to the guide means, can be changed, so that the distance between the treatment element and the human body can be changed. The amount of treatment can be increased, the force acting on the treatment site can be controlled more appropriately, and the treatment with the strength corresponding to the symptom and the region or the treatment with more variety can be realized and massage When the treatment is not performed, the treatment child can be kept out of the way.

Claims

Range of request

1. A pair of left and right treatment elements, a treatment unit supporting the treatment element and movable along the treatment section, and a guide means for guiding movement of the treatment unit along the treatment section. And a supporting means for supporting the treatment unit with respect to the guiding means,

A massage machine comprising a position changing means for changing a position of the treatment unit in a direction substantially perpendicular to the moving direction with respect to the guide means.

2. The massage machine according to claim 1, wherein at least two pairs of the treatment elements are provided in a moving direction of the treatment unit.

3. The massage machine according to claim 2, wherein at least two pairs of treatment elements provided in the movement direction of the treatment unit include two pairs of treatment elements having different characteristics from each other.

4. The support means supports the treatment unit with respect to the guide means at at least two portions in the moving direction,

4. The method according to claim 1, wherein the position changing unit changes a position of each part of the treatment unit supported by the support unit in a direction substantially orthogonal to the moving direction with respect to the guide unit. The massage machine described in one of them.

5. The massage machine according to claim 4, wherein the position changing means has a function of independently changing the position of each of the support means for supporting a portion of the treatment unit moving in a different direction.

6. The position changing unit according to claim 1, wherein the position changing unit has a function of changing a position of the portion of the treatment unit supported by the support unit with respect to the guide unit at least toward the treatment unit side. The massage machine according to any one of claims 1 to 5.

7. The support means includes: an engagement portion that engages with the guide means; and an arm that supports the engagement portion and is movably supported by the treatment unit. The massage machine according to any one of claims 1 to 6, having a function of changing a swing angle of the arm.

8. The position changing means includes: a first state in which the swing center of the arm is located on the treatment section side with respect to the engagement section; and wherein the engagement section has a swing center with respect to the pivot center of the arm. 8. The massage machine according to claim 7, wherein the massage machine has a function of changing a swing angle of the arm so as to be in a second state located on the treatment section side.

9. A pair of treatment elements on the left and right sides, a treatment unit supporting the treatment element and movable along the treatment section, and a guide means for guiding the movement of the treatment unit along the treatment section. A massage machine with

A massage machine comprising: support means for supporting the treatment unit with respect to the guide means; and posture changing means for changing the posture of the treatment unit supported by the support means with respect to the project means.

10. A pair of treatment elements on the left and right sides, a treatment unit that holds the treatment element and is movable with respect to the treatment target, and a mating member to be attached are connected, and the treatment is performed. A mass unit having support means for supporting the unit,

A massage unit comprising a position changing means for changing a position of the treatment unit in a direction of approaching and separating from the treatment portion.

11. A track member for guiding the support means is provided on one of the partner member and the treatment unit,

10. The massage unit according to claim 10, wherein said support means includes an engagement portion which engages with said track member and moves along said track member.

1 2. At least two pairs of the treatment elements are provided in the direction in which the track member extends. The massage unit according to claim 11, wherein

13. The massage unit according to claim 12, wherein at least two pairs of treatment elements provided in the direction in which the track member extends include two pairs of treatment elements having different characteristics from each other.

14. The support means supports the treatment unit with respect to the counterpart member at at least two positions in the direction in which the track member extends, and the position changing means supports the treatment unit by the support means. 14. The masseur snip according to any one of claims 11 to 13, wherein a position of each part of the treatment unit that is being performed is changed in a direction in which the treatment unit is approached or separated from the treatment part. G.

15. The position change means has a function of independently changing the position of each support means for supporting a portion of the treatment unit in which the track member extends in a different direction. Masser nit described in section.

16. The support means comprises: an arm that supports the engaging portion, and is movably supported by one of the treatment unit and the other member.

The massage unit according to any one of claims 11 to 15, wherein the position changing means has a function of changing a swing angle of the arm.

17. The position changing means includes: a first state in which the swing center of the arm is located on the treatment section side with respect to the engagement section; and a position in which the engagement section is located with respect to the swing center of the arm. 17. The mass unit according to claim 16, wherein said mass unit has a function of changing a swing angle of said arm so as to be in a second state located on the treatment section side.

18. The position changing means, wherein the position changing means has a function of changing a position of the treatment unit supported by the support means with respect to the counterpart member at least toward the treatment target part. Any of items 1 to 17 Massage unit described in Crab.

19. A pair of treatment elements on the left and right, a treatment unit that supports the treatment elements and is movable with respect to the treatment target, and a connection between a mating member to be attached and the treatment unit. A mass unit with support means for supporting the

A massage unit c provided with a posture changing means for changing a posture of the treatment unit supported by the support means with respect to the counterpart member c

20. When the left and right first treatment elements and the left and right pair of second treatment elements provided below the first treatment element are moved vertically along the treated portion. A method of controlling a massage machine for performing massage treatment by controlling the positions of the first treatment element and the second treatment element in the treatment portion direction, the method comprising: a first treatment element and a second treatment element. At the upper end of the predetermined movement range of the treatment element, projecting the first treatment element toward the treatment section and retracting the second treatment element to the side opposite to the treatment section;

At the lower end of the predetermined movement range of the first treatment element and the second treatment element, the first treatment element is retracted to the opposite side of the treatment section and the second treatment element is protruded toward the treatment section. Steps and

Method of controlling a massage machine including:

2 1. When the left and right first treatment elements and the left and right pair of second treatment elements provided below the first treatment element are moved vertically along the treated portion. A method of controlling a massage machine for performing massage treatment by controlling the positions of the first treatment element and the second treatment element in the treatment portion direction, the method comprising: a first treatment element and a second treatment element. At the upper end of the predetermined movement range of the treatment element, retreating the first treatment element to the opposite side of the treatment section and projecting the second treatment element to the treatment section side;

At the lower end of the predetermined movement range of the first treatment element and the second treatment element, A step of projecting the first treatment element toward the treatment section and retracting the second treatment element to the side opposite to the treatment section;

Method of controlling a massage machine including:

2 2. When the left and right first treatment elements and the left and right pair of second treatment elements provided below the first treatment element are moved vertically along the treated part. A method of controlling a massage machine for performing massage treatment by controlling the positions of the first treatment element and the second treatment element in the treatment portion direction, wherein the massage device performs a downward treatment along the treatment portion. Retreating the first treatment element to the opposite side of the treatment section and projecting the second treatment element to the treatment section side at a predetermined position within the movement range when moving to

At a predetermined position within a movement range when moving upward along the treatment section, the first treatment element is made to protrude toward the treatment section side, and the second treatment element is defined as a treatment section. Retreating to the other side,

Method of controlling a massage machine including:

23. The massaging machine according to any one of claims 20 to 22, wherein the positions of the first treatment element and the second treatment element in the treatment portion direction are independently controlled. Control method.