WO2016076079A1 - Massage device - Google Patents

Massage device Download PDF

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Publication number
WO2016076079A1
WO2016076079A1 PCT/JP2015/079531 JP2015079531W WO2016076079A1 WO 2016076079 A1 WO2016076079 A1 WO 2016076079A1 JP 2015079531 W JP2015079531 W JP 2015079531W WO 2016076079 A1 WO2016076079 A1 WO 2016076079A1
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WO
WIPO (PCT)
Prior art keywords
treatment
massage
treatment member
body part
unit
Prior art date
Application number
PCT/JP2015/079531
Other languages
French (fr)
Japanese (ja)
Inventor
稲田　二千武
大介 四宮
永敏 原田
正成 三浦
美幸 濱田
厚希 辻井
岳 冨田
Original Assignee
ファミリーイナダ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015123860A external-priority patent/JP6603056B2/en
Application filed by ファミリーイナダ株式会社 filed Critical ファミリーイナダ株式会社
Publication of WO2016076079A1 publication Critical patent/WO2016076079A1/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for

Definitions

  • the present invention relates to a massage device.
  • a conventional massage device when performing massage of an arm, has a configuration in which an air cell comes into contact with an arm supported from below, and the air cell expands or contracts. It is monotonous.
  • an object of the present invention is to improve the feeling given to the body part of the user.
  • the massage device has a first member and a second member provided along the circumferential direction of the body part of the user, and one side of the space formed between the first member and the second member is the It has a massage unit that is open for taking in and out of body parts,
  • the massage unit is provided together with the first member and is inflated, an air cell for pushing the body part, an operation of relatively moving the first member and the second member, and an inflating operation
  • a massaging mechanism for performing an operation of moving the first member in the direction of at least one of the opening side and the opposite side of the space together with the air cell in a state.
  • the body sensation of the massage is improved as compared with the prior art.
  • FIG. 63 is a rear view of the mechanism unit of the massage unit in FIG. 62 as viewed from the Y direction. It is explanatory drawing of a massage unit. It is the rear view which looked at the mechanism part and treatment part of the massage unit of FIG. 64 from the Y direction. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit. It is explanatory drawing of a massage unit.
  • FIG. 1 is a perspective view showing an embodiment of the massage device 1.
  • This massage device 1 is a chair type, a seat part 2 on which a user is seated, a backrest part 3 on which a user seated on the seat part 2 is scolded, and left and right arms of the user seated on the seat part 2 Left and right armrests 4 and 4, and a footrest 5 that supports both the left and right legs of the user sitting on the seat 2.
  • the seat portion 2 is provided on a base 6 placed on the floor surface. Inside the base 6 is provided a control unit 7 including a microcomputer that controls the operation of each part (including various massage units 10 described later) of the massage apparatus 1.
  • the backrest part 3 can be reclined, and the footrest 5 is configured to be swingable up and down around the seat part 2 side. In the state where the backrest part 3 is tilted backward and the footrest 5 is raised forward, the user sitting on the seat part 2 is in a lying posture, and in this state, the various massage units of the massage apparatus 1 are used. The body part of the user can be massaged. Further, the backrest part 3 is provided with a side wall part (side panel) 3A protruding forward from the left and right side parts.
  • a massage unit 10 for massaging an arm (forearm) which is a body part of a user is provided on each of the left and right armrest portions 4 and 4.
  • the massage unit 10 on the left side and the massage unit 10 on the right side are arranged symmetrically, but the configuration is the same.
  • the footrest 5 is provided with a massage unit 10 for massaging the left leg, which is a body part of the user, and a massage unit 10 for massaging the right leg.
  • the massage unit 10 for the left leg and the massage unit 10 for the right leg are arranged symmetrically, but the configuration is the same.
  • the footrest 5 of this embodiment has the 1st holding
  • the first holding part 5a can support the calf mainly on the legs of the user, whereas the second holding part 5b supports the legs of the user (that is, the part from the ankle to the toes). can do.
  • the massage unit 10 is provided in the first holding part 5a.
  • the massage apparatus (one embodiment) 1 of the present invention includes a first member 11 and a second member 12 provided along the circumferential direction of the body part of the user,
  • the massage unit 10 having one side of the space S1 formed between the second member 12 and the body part opened for taking in and out of the body part,
  • the massage unit 10 is further provided with the first member 11 and is inflated to move the air cell 31 for pushing the body part relatively closer to the first member 11 and the second member 12.
  • the massage mechanism part 50 which performs the operation
  • the massage device 1 since the air cell 31 is inflated between the first member 11 and the second member 12, the body part is grasped and then the air cell 31 in the inflated state together with the first air cell 31.
  • the member 11 is moved in the direction opposite to the opening side (or the opening side)
  • the body part grasped via the air cell 31 between the first member 11 and the second member 12 is opposite to the opening side ( Or the movement to the opening side), and the massage experience is improved as compared to the itch that is simply sandwiched between both sides of the body part.
  • the “inflated state” of the air cell and the “inflated state” of the air cell mean that the air cell is in the middle of expanding from the contracted state and is applying a load to the body part. Including a state where inflation is completed and a load is applied to the body part, and a state where exhaust is performed from the expanded state but the internal pressure of the air cell remains and a load is applied to the body part.
  • the massage apparatus (one embodiment) 1 of the present invention includes a first mechanism 51 and a second mechanism 52 provided along the circumferential direction of the body part of the user, One side of the space S1 formed between the first mechanism 51 and the second mechanism 52 includes a massage unit 10 that is open for taking in and out of the body part,
  • the first mechanism 51 includes a massage part (31, 64) for pressing the body part, and a first retraction position B-1 attached with the massage part (31, 64) and away from the body part.
  • a first link member 61 that reciprocates between the first advance position F-1 approaching the body part, and a second retreat that is attached so that the first link member 61 can reciprocate and is separated from the body part.
  • a second link member 62 that reciprocates between position B-2 and a second forward position F-2 approaching the body part, The second link member 62 together with the first link member 61 can move to the second forward position F-2 to grip the body part, and together with the first link member 61, the first link member 61 The two link members 62 can move to perform a massage operation.
  • this massage device 1 by setting the second link member 62 to the second forward movement position F-2 together with the first link member 61 to which the massage portions (31, 64) for pressing the body part are attached, The body part can be grasped between the first mechanism part 51 and the second mechanism part 52 via the massage parts (31, 64).
  • a massage part (31, 64) reach
  • the 2nd link member 62 moves with the 1st link member 61, and a massage part (31, 64) can be moved and massage operation can be performed. It becomes possible.
  • the second link member 62 at the second forward position F-2 together with the first link member 61 at the first forward position F-1 It is preferable to perform an operation of moving to the second reverse position B-2.
  • the second link member 62 is set to the second forward position F-2 and the first link member 61 is set to the first forward position F-1, so that the space between the first mechanism portion 51 and the second mechanism portion 52 is set.
  • the body part opening side part
  • the massage part 31, 64
  • the second link member 62 together with the first link member 61 is moved to the second retracted position B-2.
  • the body part (the part on the opening side) can be squeezed so that the body part is moved from the opening side to the opposite side, and the body sensation of the massage is improved as compared with the squeaking performed by simply sandwiching the body part from both sides.
  • the massage apparatus (one embodiment) 1 of the present invention includes a first member 11 and a second member 12 provided along the circumferential direction of the body part of the user, and the first member. 11 is provided with a massage unit 10 in which one side of a space S1 formed between the second member 12 and the second member 12 is opened for taking in and out of the body part,
  • the massage unit 10 is further provided with the first member 11 to displace the massage parts (31, 64) for pressing the body part and the first member 11 in the direction of narrowing the space S1.
  • a link mechanism 20 for displacing the second member 12 in the direction of narrowing the space S1 and displacing the second member 12 in the direction opposite to the opening side. .
  • a body part can be grasped between the first member 11 and the second member 12 via the massage portions (31, 64). Further, the link mechanism 20 displaces the first member 11 in the direction of narrowing the space S1 and in the direction of the opening, and displaces the second member 12 in the direction of narrowing the space S1 and By displacing the body part in the direction opposite to the opening side, the body part that has been gripped can be pulled down (or squeezed) so that the first member 11 side pushes down and the second member 12 side pulls up. Compared with the massage performed between the two, massage experience is improved.
  • the massage apparatus (one embodiment) 1 of the present invention has a first mechanism part 51 and a second mechanism part 52 provided along the circumferential direction of the body part of the user.
  • One side of the space S1 formed between the first mechanism 51 and the second mechanism 52 includes a massage unit 10 that is open for taking in and out of the body part
  • the first mechanism portion 51 includes a plurality of link members (61, 62), a plurality of joint portions that connect adjacent link members, and the plurality of link members starting from the plurality of joint portions. (61, 62) and the articulated mechanism 60, and the body part provided on the front link member (61) near the body part of the user among the plurality of link members (61, 62).
  • the multi-joint mechanism 60 has a plurality of the links starting from a plurality of the joints.
  • the massage part (31, 64) can be brought into contact with the body part, and the massage part (31, 64) is operated in the one direction.
  • a moving operation for moving to the position on the opening side as compared with the previous state is performed.
  • the multi-joint mechanism 60 performs the moving operation, so that the massage portions (31, 64) can reach a far position on the opening side as compared with the state before the operation. And if the articulated mechanism 60 operates from that state and performs a massage operation, it is possible to massage using the massage portions (31, 64) at the position of the opening side, and the massage range can be expanded. Compared with itching that sandwiches the body part from both sides, the massage experience is improved.
  • the multi-joint mechanism 60 is configured so that the first mechanism 51 and the second mechanism 52 are provided along the circumferential direction of the body part. At least one of the plurality of link members (61, 62) in the state after the moving operation is moved in a direction opposite to the one direction. It is preferable to perform a massage operation to be operated. According to this configuration, when the multi-joint mechanism 60 performs the moving operation, the massage unit (31, 64) can reach a distant position on the opening side of the body part as compared to the state before the operation. Then, the multi-joint mechanism 60 operates from that state to perform the massage operation, so that the massaging part (31) located on the opening side can be pulled, and the body part can be simply pulled.
  • the massage experience is improved.
  • the link member (62) other than at least the front link member (61) among the plurality of link members (61, 62) in the state after the moving operation is operated in the direction opposite to the one direction, the front portion The link member (61) is not displaced relative to the adjacent link member (62), but is displaced relative to the body part.
  • the operation mechanism that operates the first member 11 has moved to the air cell 65a that moves the first member 11 by being expanded.
  • An elastic member 66b that generates an urging force for returning the first member 11 to the position before the movement can be employed. According to this configuration, it is possible to obtain a configuration in which the first member 11 is advanced by the expansion of the air cell 65a, and when the air cell 65a contracts, the first member 11 is retracted by the biasing force of the elastic member 66b.
  • the operation mechanism that operates the link member includes an air cell that pushes and moves the link member by expanding, and an elastic member that generates a biasing force that returns the moved link member to a position before the movement. can do.
  • the operation mechanism that operates the first member 11 includes a portion having a long distance from the rotation center to the outer periphery and a distance from the rotation center to the outer periphery.
  • the long part pushes the first member 11 to advance the first member 11, and the short part can push the first member 11 in a state of pushing the first member 11
  • the operating mechanism for operating the link member has a portion having a long distance from the rotation center to the outer periphery and a portion having a short distance from the rotation center to the outer periphery, and the long portion presses the link member to push the link member.
  • a cam member 67b that allows the link member to be retracted while the short portion presses the link member, and an elastic member that generates a biasing force that causes the link member to retract. can do.
  • the said massage apparatus 1 makes the operation timing of the said several massage unit 10 provided along the longitudinal direction of a body part differ from the said several massage unit 10, and each of the said massage unit 10 is different.
  • a control unit (7) for controlling the operation of the device According to this configuration, for example, an operation of sequentially grasping one range of the body part is possible.
  • the massage unit 10 further includes a second air cell 32 that is provided together with the second member 12 and presses the body part by expanding. It is preferable that the second air cell 32 has a component that presses the body part toward the opening side by expanding. In this case, for example, when an operation having a component that moves the body part to the opposite side of the opening side is performed as a massage operation, the body part is prevented from escaping to the space on the opposite side of the opening side. Can do.
  • the massage apparatus (one embodiment) 1 of the present invention includes a first member 11 and a second member 12 provided along the circumferential direction of the body part of the user, and the first member. 11 is provided with a massage unit 10 in which one side of a space S1 formed between the second member 12 and the second member 12 is opened for taking in and out of the body part,
  • the massage unit 10 is further provided with the first member 11 so as to make the suction part 64c capable of sucking the body part relatively close to the first member 11 and the second member 12, and
  • a massaging mechanism 50 that performs an operation of moving the first member 11 in the direction of at least one of the opening side of the space S1 and the opposite side thereof together with the suction part 64c.
  • the suction part 64c can be brought into contact with a part of the body part existing in the space S1 by relatively bringing the first member 11 and the second member 12 closer to each other. Then, when the first member 11 is moved in the direction opposite to the opening side (or the opening side) in a state where the suction part 64c has adsorbed a part of the body part, the first member 11 and the second member 12 The body part gripped and adsorbed between them can be moved to the opposite side of the opening side (or the opening side). Compared with the itch that is simply sandwiching the body part from both sides, it feels like a massage. improves.
  • the massage apparatus (one embodiment) 1 of the present invention includes a first member 11 provided in a part of the periphery of the body part (B) of the user and the body part (B). It has the 2nd member 12 provided in other circumferences, and one side of space S1 formed between the 1st member 11 and the 2nd member 12 is for taking in and out of the body part (B)
  • a massage unit 10 that is open to The massage unit 10 is further provided with the first member 11 and is capable of pressing a part of the body part (B), and an extending portion 71 extending from the first member 11.
  • the operating portion 70 is rotatable about an axis P1 and has a surface 74a inclined with respect to the axis P1, and the inclined surface 74a is provided in contact with the extending portion 71. And a drive unit 75 that rotates the inclined cam 73 about the axis P1.
  • the first member 11 can repeatedly approach and separate from the second member 12, and a massage part ( By 31), a massage operation can be performed on the body part (B).
  • the support portion 72 can reciprocate the end portion 71a of the extending portion 71 along a straight line and cannot move in a direction perpendicular to the straight line. It can be set as the structure which is the guide rail 72a to support. In this case, the rotation of the inclined cam 73 allows the first member 11 to move toward the second member 12 while rotating in one direction around the imaginary line L1 along the longitudinal direction of the extending portion 71. Moreover, the structure which the 1st member 11 performs the operation
  • the support portion 72 includes a first spherical seat 72b provided at an end portion 71a of the extending portion 71 and a second spherical seat 72c in a fixed state. And a shaft 72d having spherical portions 72e and 72f which are interposed between the first spherical seat 72b and the second spherical seat 72c and which are in sliding contact with the spherical seats 72b and 72c at both ends. can do.
  • the rotation of the inclined cam 73 allows the first member 11 to move toward the second member 12 while rotating in one direction around the imaginary line L1 along the longitudinal direction of the extending portion 71.
  • focusing on the said virtual line L1 is obtained.
  • a massage device (one embodiment) 1 of the present invention includes a first mechanism 51 and a second mechanism 52 provided on both sides of a body part (B) of a user, and the first mechanism One side of the space S1 formed between the part 51 and the second mechanism part 52 includes a massage unit 10 that is open for taking in and out of the body part,
  • the first mechanism portion 51 includes a first air cell 31 provided so as to be capable of reciprocating between a position on the opening side and a position on the opposite side
  • the second mechanism portion 52 includes a second air cell 32 provided so as to be reciprocally movable between the position on the opening side and the position on the opposite side, In a state where the first air cell 31 and the second air cell 32 are inflated and sandwich the body part (B), the first air cell 31 and the second air cell 32 move while changing a mutual interval. .
  • the body part grasped by the air cells 31 and 32 between the first mechanism part 51 and the second mechanism part 52 is moved toward the opening side and the opposite side (non-opening side) ( Or, it is possible to achieve a massage experience as compared with the itch which is simply sandwiching the body part (B) from both sides.
  • the first mechanism unit 51 is provided along the first member 76 that covers the body part (B) from one side and the first member 76, and is driven to rotate.
  • the second mechanism portion 52 includes a second member 79 that covers the body part (B) from the other side, a second endless belt 80 that is provided along the second member 79 and is driven to rotate, and the second air cell 32.
  • a second moving body 81 that moves along the second member 79 by the rotation of the second endless belt 80.
  • the body part (B) grasped by the air cells 31 and 32 between the first mechanism part 51 and the second mechanism part 52 is moved so as to move to the opening side and the opposite side (non-opening side) (or A configuration that enables pressing) is obtained.
  • the first mechanism portion 51 covers the body part (B) from one side and is provided with a first rack portion 76a.
  • the first moving body 78 includes a first pinion 78a meshing with the first rack portion 76a, and the first pinion 78a.
  • a first motor 78b for rotation is mounted,
  • the second mechanism portion 52 includes a second member 79 that covers the body part (B) from the other side and is provided with a second rack portion 79a, and a second moving body to which the second air cell 32 is attached.
  • the second moving body 81 is mounted with a second pinion 81a that meshes with the second rack portion 79a and a second motor 81b that rotates the second pinion 81a.
  • the first moving body 78 can move along the first rack portion 76a of the first member 76 by rotating the first pinion 78a by the first motor 78b
  • the second motor 81b can move the first pinion 78a.
  • the second moving body 81 can move along the second rack portion 79a of the second member 79.
  • the first mechanism 51 includes a first member 76 that covers the body part (B) from one side and the first air cell 31 attached thereto.
  • the first moving body 78 that can move along the first member 76, the rotating first crank 83a, the first crank 83a, and the first moving body 78 are connected to each other to rotate the first crank 83a.
  • a first wire 84a that can pull the first moving body 78 according to a phase of the direction, and an elastic force that resists the force by which the first wire 84a pulls the first moving body 78.
  • a first spring 82a to be applied to The second mechanism portion 52 is provided with a second member 79 that covers the body part (B) from the other side, and the second air cell 32 is attached, and the second mechanism portion 52 is movable along the second member 79.
  • the movable body 81, the rotating second crank 83b, the second crank 83b, and the second movable body 81 are connected to each other, and the second movable body 81 is pulled according to the phase in the rotational direction of the second crank 83b.
  • a second spring 82b that provides the second moving body 81 with an elastic force that resists the force by which the second wire 84b pulls the second moving body 81. be able to.
  • the first moving body 78 resists the first spring 82a. Moves in one direction, and when the pull of the first moving body 78 by the first wire 84a is released according to the phase of the first crank 83a in the rotational direction, the first movement is performed by the restoring force of the first spring 82a. The body 78 moves in the other direction.
  • the second mechanism 52 when the second wire 84b pulls the second moving body 81 according to the phase of the second crank 83b in the rotational direction, the second moving body 81 is opposed to the second spring 82b.
  • a massage device (one embodiment) 1 of the present invention includes a first member 11 provided above a body part (B) of a user, and a second member 11 provided below the body part (B).
  • the drive part 53 (54) which moves at least one of the member 12 and the said 1st member 11 and the said 2nd member 12 to an up-down direction, and the said 1st member 11 and the said 2nd member 12 are A massage unit 10 that allows the body part (B) to be taken in and out between the first member 11 and the second member 12 in a separated state
  • the first member 11 has a pair of air cells 55 and 55 that perform an operation of sandwiching the body part (B) by expanding
  • the second member 12 is configured to support the body part (B) from below
  • the drive unit 53 (54) includes the first member 11 and the second member 12 in a state where the body part (B) supported by the second member 12 from below is sandwiched between the pair of air cells 55 and 55. Are relatively separated from each other along the vertical direction.
  • the body part (B) supported from below by the second member 12 is sandwiched between the pair of air cells 55, 55 included in the first member 11, and from this state, the drive unit 53.
  • the body part (B) can be dragged, and the massage experience is improved.
  • a massage device (one embodiment) 1 includes a first member 11 provided on one side in a first direction with respect to a body part (B) of a user, the body part (B).
  • the second member 12 provided on the other side in the first direction, and at least one of the first member 11 and the second member 12 is moved in the first direction. 54), and the body part (B) can be taken in and out between the first member 11 and the second member 12 in a state where the first member 11 and the second member 12 are separated from each other.
  • a unit 10 The first member 11 has a pair of first air cells 55 and 55 that perform an operation of sandwiching the body part (B) from both sides in the second direction by expanding,
  • the second member 12 has a pair of second air cells 56 and 56 that perform an operation of sandwiching the body part (B) from both sides in the second direction by expanding.
  • the driving unit 53 (54) includes the first member 11 and the second member 12 in a state where the body part (B) is sandwiched between the first air cells 55 and 55 and the second air cells 56 and 56. Are separated along the first direction.
  • the body part (B) includes the first air cells 55 and 55 and the second air cell 56 on both sides in the first direction (that is, on the first member 11 side and the second member 12 side). , 56 is sandwiched from both sides in the second direction, and from this state, the first member 11 and the second member 12 are separated along the first direction by the drive unit 53 (54).
  • the body part (B) can be squeezed and the feeling of massage is improved.
  • the massage device (one embodiment) 1 of the present invention is: A massage unit 10 for grasping the body part (B) of the user; A first actuator 91a is provided on one side in the longitudinal direction of the body part (B) in the massage unit 10 and displaces a part of the massage unit 10 in a direction intersecting the longitudinal direction of the body part (B).
  • a second actuator 91b provided on the other longitudinal side of the body part (B) in the massage unit 10 and displacing the other part of the massage unit 10 in a direction intersecting the longitudinal direction of the body part (B).
  • the massage unit 10 can be displaced in a direction orthogonal to the longitudinal direction of the body part (B). Further, for example, when one of the first actuator 91a and the second actuator 91b is extended and the other is contracted, the massage unit 10 is displaced around an imaginary line L2 in a direction orthogonal to the longitudinal direction of the body part (B). (Rotate). As a result, a massage operation that turns (twists) around the imaginary line L2 in the direction orthogonal to the longitudinal direction of the body part (B) while holding the body part (B) becomes possible.
  • the massage device (one embodiment) 1 of the present invention is A massage unit 10 for grasping the body part (B) of the user;
  • the actuator mechanism includes a pinion 94b that meshes with a rack portion 94a provided in the massage unit 10 along an arc having the virtual line L3 as a rotation center line, and a motor 94c that rotates the pinion 94b. ing.
  • the massage unit 10 can be displaced (rotated) around an imaginary line parallel to a straight line in a direction orthogonal to the longitudinal direction of the body part (B). .
  • a massage operation for turning (twisting) the body part (B) becomes possible.
  • a massage device (one embodiment) 1 of the present invention includes a massage unit 10 for grasping a body part (B) of a user, A support part 96 for supporting a part of the massage unit 10; An actuator mechanism 97 connected to the other part of the massage unit 10 and displacing the massage unit 10 in a direction crossing the longitudinal direction of the body part (B) with the support 96 side as a fulcrum;
  • the actuator mechanism 97 includes a rotating eccentric cam 97a, and an arm 97b connecting the eccentric cam 97a and the other part of the massage unit 10.
  • the eccentric cam 97a of the actuator mechanism 97 rotates, so that the massage unit 10 is supported in the longitudinal direction of the body part (B) gripped by the massage unit 10 with the support portion 96 side as a fulcrum. It can be displaced in the intersecting direction.
  • the actuator mechanism 97 is connected to each of the other portions of the massage unit 10 that are separated in the longitudinal direction of the body part (B).
  • the eccentric cam 97a-1 of the one actuator mechanism 97 and the eccentric cam 97a-2 of the other actuator mechanism 97 can be configured to have the same phase in the rotational direction.
  • the massage unit 10 can be reciprocated around the virtual line L4 parallel to the longitudinal direction of the body part (B) grasped by the massage unit 10 as the rotation center.
  • the actuator mechanism 97 is connected to each of the other portions of the massage unit 10 that are separated in the longitudinal direction of the body part (B).
  • the eccentric cam 97a-1 of the one actuator mechanism 97 and the eccentric cam 97a-2 of the other actuator mechanism 97 may be configured to have different phases in the rotation direction.
  • the massage unit 10 can be displaced in the direction intersecting the longitudinal direction of the body part (B) grasped by the massage unit 10 with the support portion 96 side as a fulcrum, and the phase of the displacement can be changed to the massage unit.
  • a component that causes the massage unit 10 to reciprocate around the virtual line L5 orthogonal to the longitudinal direction of the body part can also be generated.
  • the actuator mechanism 97 is connected to each of the other portions of the massage unit 10 that are separated in the longitudinal direction of the body part (B).
  • the eccentric cam 97a is an eccentric inclined cam that has a surface 97c inclined with respect to the rotation center line L6 of the eccentric cam 97a, and the inclined surface 97c is provided so as to be able to contact the arm 97b. is there.
  • the massage unit 10 can be displaced in the direction intersecting the longitudinal direction of the body part (B) grasped by the massage unit 10 with the support part 96 side as a fulcrum, and the massage unit 10 is It can also be swung in the longitudinal direction.
  • the massage unit 10 of the armrest 4 and the massage unit 10 of the footrest 5 may have the same configuration, but may be different. However, since the thickness of the body part of the user, that is, the thickness is different between the arm and the leg, even if the configuration of the massage unit 10 is the same for the arm and the leg, Needless to say, the massage unit 10 and the leg massage unit 10 are set to sizes corresponding to body parts (arms and legs).
  • each form may be installed in footrest 5.
  • FIG. 2 is a perspective view of the massage unit 10 installed on the right armrest 4 shown in FIG.
  • two massage units 10, 10 are provided side by side, and the massage means 8 is configured by these. That is, the massage means 8 includes a first massage unit 10 located on the elbow side of the forearm and a second massage unit 10 located on the hand side. Furthermore, the massage means 8 includes a drive unit 40 that operates the first and second massage units 10 and 10 on the first massage unit 10 side.
  • the second massage unit 10 may be provided so as to be positioned in the wrist side region of the forearm, but in the present embodiment, the second massage unit 10 is provided so as to be positioned in the region including the wrist and the hand.
  • the longitudinal direction of the forearm of the user is defined as the Z direction
  • the width direction of the forearm is defined as the X direction
  • the vertical direction of the forearm is defined as the Y direction.
  • the massage means 8 has an outer cover 19 that opens toward both sides in the Z direction and one side in the X direction (the center side of the body), and the first and second massage units 10 are provided in the outer cover 19. , 10 are provided.
  • the outer cover 19 and the massage units 10 and 10 are covered with flexible and flexible cloth-like members (sheets). In the massage unit 10 (part 1) shown in FIG. For the sake of explanation, this cloth-like member is removed.
  • the first massage unit 10 and the second massage unit 10 have the same configuration, and the first massage unit 10 will explain the configuration.
  • the first massage unit 10 (hereinafter also simply referred to as the massage unit 10) includes a pair of side walls 17 and 18 fixed to the outer cover 19, a plate-shaped first member 11, and a plate-shaped first member. Two members 12 are provided.
  • the outer cover 19 and the pair of side walls 17 and 18 are fixed to the armrest portion 4 (see FIG. 1) and have a shape that opens to one side in the X direction (the center side of the body).
  • FIG. 3 is an explanatory view of the first massage unit 10 as viewed from the drive unit 40 side.
  • the cover 40a (see FIG. 2) of the drive unit 40 is removed.
  • FIG. 4 is an explanatory view showing a state where the drive unit 40 and the side wall 17 are further removed from the massage unit 10 shown in FIG.
  • the massage unit 10 further includes a first link member 21, a second link member 22, and a third link member 23 that are provided along the side wall 18 on the arm tip side.
  • the first link member 21, the second link member 22, and the third link member 23 are also provided on the side wall 17 side on the elbow side which is not shown in FIG.
  • On both sides of the side walls 17 and 18, one end portion 23a of the third link member 23 is rotatably attached to the end portion of the first link member 21, and the other end portion 23b of the third link member 23 is The end of the two link member 22 is rotatably attached.
  • the third link member 23 is provided with a long hole 24 at the center in the longitudinal direction, and the other end 23b side of the long hole 24 is attached to the side wall 17 (18) so as to be swingable. Yes.
  • the swing center line Z1 of the third link member 23 with respect to the side wall 17 (18) is a straight line in the Z direction (parallel to the Z direction). Then, on each side of the side walls 17 and 18, the first link member 21, the second link member 22, and the third link member 23 form a link mechanism comprising three sides that opens to one side in the X direction (the center side of the body). 20 is configured.
  • the first link member 21 is fixed to both sides in the Z direction of the plate-like first member 11.
  • the second link members 22 are fixed to both sides in the Z direction of the plate-like second member 12.
  • a plate-shaped first member 11 provided along the longitudinal direction of the first link member 21 and a plate-shaped second member 12 provided along the longitudinal direction of the second link member 22.
  • a space S1 is formed between them.
  • the space S1 for positioning the arm of the user is formed between the first member 11 and the second member, and one side (the body of the body) in the X direction of the space S1.
  • the center side is configured to be opened to put in and out the arm.
  • the side that is opened to put in and out the arm is called “open side”, and the opposite side is called “non-open side”.
  • the first member 11 is provided with a first air cell 31 that expands when air is supplied as a massage member that can press the arm (to the arm side).
  • the first air cell 31 includes a first main air cell 31a on the first member 11 side and a first sub air cell 31b on the arm side of the user, and these two air cells 31a and 31b are provided so as to overlap in the expansion direction.
  • the second member 12 is provided with a second air cell 32 that expands when air is supplied as a massage member that can press the arm (to the arm side). Only one second air cell 32 is provided.
  • the massage unit 10 includes the first air cell 31 as the first massage member capable of contacting the arm on the first member 11 side, and the second member 12 on the second member 12 side.
  • a second air cell 32 is further provided as a second massage member that is provided together with the arm and can be brought into contact with the arm.
  • the 1st member 11 is being fixed to the 1st link member 21, and the 2nd member 12 is being fixed to the 2nd link member 22, the 1st member 11 and the 2nd member by the link mechanism 20 are mentioned. 12 becomes operable. Further, since the first air cell is integral with the first member 11, the first air cell is movable together with the first member 11 and the first link member 21, and the second air cell is integral with the second member 12. Therefore, the second air cell is movable together with the second member 12 and the second link member 22.
  • the side wall 17 on one side has a first guide portion that guides the first member 11 to be movable in a predetermined direction via a first link member 21.
  • the first guide portion of the present embodiment includes two elongated holes 13 and 14.
  • the protrusions 21a and 21b of the first link member 21 are fitted in these elongated holes 13 and 14 so as to be movable in the longitudinal direction of the holes.
  • the one side wall 17 has a second guide portion that guides the second member 12 to be movable in a predetermined direction via the second link member 22.
  • the second guide portion of the present embodiment includes two elongated holes 15 and 16.
  • the protrusions 22a and 22b of the second link member 22 are fitted in these elongated holes 15 and 16 so as to be movable in the longitudinal direction of the holes.
  • the other side wall 18 has two long holes 13 and 14 as a first guide part, and two long holes 15 and 16 as a second guide part.
  • the convex portions 21a and 21b of the first link member 21 are fitted in the elongated holes 13 and 14 so as to be movable in the longitudinal direction of the hole, and the convex portions 22a and 22b of the second link member 22 are elongated holes 15, 16 is fitted to be movable in the longitudinal direction of the hole.
  • the long holes 13 and 14 of the first guide part are long holes from the non-opening side to the opening side, and are inclined with respect to the X direction and the Y direction, respectively.
  • the pair of long holes 13 and 14 are provided in parallel or substantially in parallel, and the first link member 21 can move together with the first member 11 along the long holes 13 and 14. That is, according to the long holes 13 and 14, the first air cell 31 together with the first member 11 can reciprocate between a first retracted position and a first advanced position defined next.
  • First retracted position a position that widens the space S1 and is located on the non-opening side (see FIG. 6)
  • First advance position a position that narrows the space S1 and is located on the opening side (see FIG. 5)
  • the long holes 15 and 16 of the second guide portion are long holes from the non-opening side to the opening side, and are inclined with respect to the X direction and the Y direction, respectively.
  • the long hole 15 positioned on the opening side and the long hole 16 positioned on the non-opening side are provided with different inclination directions, and the second link member 22 is a second member along the long holes 15 and 16. 12 can move together. That is, according to the long holes 15 and 16, the second air cell 32 together with the second member 12 can reciprocate between a second retracted position and a second advanced position defined next.
  • Second retracted position a position for narrowing the space S1 and a position on the non-opening side (see FIG. 5)
  • Second advance position a position to widen the space S1 and a position on the opening side (see FIG. 6)
  • an eccentric cam 41 is provided in the long hole 24 of the third link member 23.
  • the eccentric cam 41 can rotate integrally with a drive shaft 42 that is long in the Z direction.
  • the rotation center of the eccentric cam 41 that is, the center of the drive shaft 42 is eccentric from the center of the eccentric cam 41.
  • the drive shaft 42 is rotated by a speed reducer 40c and a motor 40b included in the drive unit 40 (see FIG. 3).
  • the eccentric cam 41 rotates together with the drive shaft 42 about the center line Z2 of the drive shaft 42, the eccentric cam 41 slides in the elongated hole 24, whereby the third link member 23 moves about the swing center line Z1. Swing back and forth.
  • the space S1 is narrowed.
  • the second mechanism portion 52 moves to the non-opening side, the space S1 is narrowed.
  • movement which grasps a user's arm can be performed.
  • the first air cell 31 and the second air cell 32 are not inflated, the first member 11 and the second member 12 perform the operation of narrowing the space S1, so that the arm of the user It is possible to perform a mechanical operation to try to grab.
  • the space S1 can be further narrowed, and the operation by the air cell that grasps the arm of the user is performed.
  • the arm can be pressed by the expansion of the air cell.
  • the first member 11, the second member 12, the first link member 21, the second link member 22, the third link member 23, and the side walls 17 and 18 are each rigid.
  • the 1st member 11 is a plate-shaped member, and is the structure which covers the 1st air cell 31 from the outer side (upper).
  • the arm B of the user can be pressed by the expansion of the first air cell 31, but a reaction force is generated in the first air cell 31 due to the pressing. Therefore, this reaction force is supported by the first member 11.
  • the second member 12 is a plate-like member and covers the second air cell 32 from the outside (bottom). The arm B of the user can be pressed by the expansion of the second air cell 32, but a reaction force due to the pressing is generated in the second air cell 32. Therefore, this reaction force is supported by the second member 12.
  • the plate-like first member 11 when viewed along the Z direction, generally moves upward from the non-opening side (right side in FIG. 5) toward the opening side (left side in FIG. 5).
  • the first member 11 is bent downward (in the direction of narrowing the space S1) in the middle (bending portion 11a) from the non-opening side to the opening side (in the direction of expanding the space S1). It has a different shape.
  • the first air cell 31 (the first main air cell 31a and the first sub air cell 31b) is in a free state (a contracted state in which no air is supplied) and has a bent shape in addition to the bent shape of the first member 11.
  • the plate-like second member 12 When viewed along the Z direction, the plate-like second member 12 as a whole is inclined so as to go upward from the non-opening side (right side in FIG. 5) toward the opening side (left side in FIG. 5). Is provided.
  • the second member 12 is not bent in the middle from the non-opening side (right side in FIG. 5) to the opening side (left side in FIG. 5), and has a linear shape.
  • the second air cell 32 has a linear shape in addition to the linear shape of the second member 12.
  • the first main air cell 31a and the first sub air cell 31b can expand and contract independently. That is, the first main air cell 31a and the first sub air cell 31b can be contracted together (see FIG. 5) or expanded together (see FIG. 7), and the first main air cell 31a can be contracted.
  • the first sub air cell 31b can be expanded in a state (see FIG. 8), or the first main air cell 31a can be expanded in a state where the first sub air cell 31b is contracted (see FIG. 9).
  • the expansion and contraction operations of the second air cell 32 are independent of the first air cell 31. That is, the second air cell 32 can expand and contract (see FIG. 5) while the first air cell 31 is contracted, and the second air cell 31 is expanded when the first air cell 31 is expanded. 32 can expand (see FIGS. 7-9) or contract.
  • the massage unit 10 of the present embodiment includes the gripping mechanism 30 that can perform the operation of gripping the arm B of the user, and the gripping mechanism 30 moves together with the first member 11.
  • Elongated holes 13 and 14 are formed as first guide portions for guiding the eccentric cam 41 and the first member 11 in a predetermined displacement direction, and the second member 12 is guided in the predetermined displacement direction.
  • First Having side walls 17 and 18 elongated holes 15 and 16 are formed as a guide portion.
  • the chair type massage apparatus 1 which concerns on this embodiment is equipped with the massage units 10 and 10 (refer FIG. 2) in the armrest part 4,
  • This massage unit 10 is a user's treatment. It has a first member 11 and a second member 12 provided on the upper and lower sides (both sides in the Y direction) of the arm, which is a body part, and a space S1 formed between the first member 11 and the second member 12
  • the X direction one side (right side in FIG. 2) is configured to be opened for taking in and out the arm of the user.
  • Each massage unit 10 (see FIG. 3) further includes a first air cell 31 as a massage member that is provided together with the first member 11 and can be brought into contact with the arm of the user, and the gripping mechanism 30. Yes.
  • the gripping mechanism 30 displaces the first member 11 together with the first air cell 31 in the direction of narrowing the space S1 and in the direction of the opening (one side in the X direction).
  • the operation of “displace the first member 11 together with the first air cell 31 in the direction of narrowing the space S1 and displace in the direction of the opening side (one side in the X direction)” by the gripping mechanism 30 is performed.
  • 11 forward movements As shown in FIGS. 6 to 5, the forward movement is performed by shaking the third link member 23 so that the one end portion 23a side of the third link member 23 moves to the opening side (left side in FIGS. 6 and 5). Realized by moving.
  • the first member 11 of the first member 11 and the second member 12 provided on the upper and lower sides of the arm B of the user is used as the arm of the user.
  • the space S1 is displaced in the direction of narrowing (states of FIGS. 5 and 7 to 9), so that the first member 11 and the second member 12 are
  • the arm B of the user can be grasped via the 1 air cell 31, and the first member 11 is displaced as a whole in the direction of the opening side (one side in the X direction) to grasp the first
  • the air cell 31 can reach the portion B1 on the opening side of the arm B of the user.
  • the massage range by the first air cell 31 can be expanded.
  • the first air cell 31 When the first air cell 31 is expanded in a state where the forward movement is not performed (see FIG. 6), the first air cell 31 (first sub air cell 31b) is treated as shown by a two-dot chain line in FIG.
  • the arm B can not reach the portion B1 on the opening side, and can reach only the upper center B3 of the arm B.
  • the gripping mechanism 30 displaces the first member 11 displaced in the direction of narrowing the space S1 and displaced in the direction of the opening side (one side in the X direction) in the direction of the non-opening side that is the opposite side of the opening side ( It can be displaced to the other side in the X direction. That is, the first member 11 that has performed the forward movement is displaced in the non-opening direction, and such “the first member 11 that has performed the forward movement is displaced in the non-opening direction”.
  • the operation is referred to as a backward movement of the first member 11. This backward movement operation is realized by swinging the third link member 23 so that the one end portion 23a side of the third link member 23 moves to the non-opening side, as shown in the states of FIGS.
  • the gripping mechanism 30 moves the second air cell while displacing the first member 11 together with the first air cell 31 in the direction of narrowing the space S1 and in the direction of the opening side (one side in the X direction). 32, the second member 12 as a whole is displaced in the non-opening direction (the other side in the X direction). That is, as shown in the state of FIGS. 6 to 5, while the first member 11 performs the forward movement, the second member 12 together with the second air cell 32 is moved in the non-opening direction (the other in the X direction). Such as “while the first member 11 is moving forward, the second member 12 together with the second air cell 32 as a whole is in the non-opening direction (the other side in the X direction).
  • the action of “displace to” is referred to as the backward movement of the second member 12.
  • the backward movement of the second member 12 when the first member 11 and the first air cell 31 try to grip the arm B of the user with the second member 12, It is possible to perform an operation (plucking operation) of moving the portion B2 on the second member 12 side to the non-opening side.
  • the gripping mechanism 30 moves the second member 12 together with the second air cell 32 as a whole in the non-opening direction (the other side in the X direction). Furthermore, as shown in the state of FIGS. 6 to 5, the front part 12a side of the second member 12 together with the second air cell 32 is displaced in the direction of narrowing the space S1. That is, the backward movement of the second member is “displacement of the second member 12 together with the second air cell 32 in the direction of the non-opening side (the other side in the X direction) while the first member 11 is moving forward. And “displace the tip 12a side of the second member 12 in the direction of narrowing the space S1”.
  • the second air cell 32 is moved while the first member 11 together with the first air cell 31 is displaced in the direction of narrowing the space S 1 and displaced in the direction of the opening.
  • the second member 12 as a whole can be displaced in the direction of the non-opening side and in the direction of narrowing the space S1. Therefore, when the first member 11 and the second member 12 operate so as to narrow the space S1, the first member 11 moves in the direction of the opening side, and the second member 12 moves in the opposite direction. Will be displaced in the direction. As a result, it is possible to perform an operation (plucking operation) that twists while holding the arm B. When performing this pulling operation, it is preferable that at least one of the air cells 31a, 31b, 32 is expanded.
  • the gripping mechanism 30 displaces the tip 12a side of the second member 12 in the direction of widening the space S1, and opens the second member 12 as a whole. It is displaced in the direction of the side (one side in the X direction).
  • the distal end 12a side of the second member 12 is displaced in the direction of widening the space S1, and the second member 12 as a whole is located on the opening side.
  • the operation of “displacement in the direction (one side in the X direction)” is referred to as advance operation of the second member 12.
  • the first member 11 and the second member 12 are obtained by processing a metal plate, and the first member 11 covers the arm of the user from one side (upper side).
  • the second member 12 is a plate-like member that covers this arm from the other side (lower side). Since it is plate-shaped in this way, the user's arm can be gripped as if wrapped from above and below.
  • the first main air cell 31a and the first sub air cell 31b are fixed to the first member 11 only on the non-opening side, and are opened by expanding.
  • the side can be freely deformed. Therefore, as shown in FIG. 7, in the state where both the first main air cell 31a and the first sub air cell 31b are inflated, along the inner side surface 31a-1 of the first main air cell 31a in the inflated state (inner The first sub air cell 31b expands (with reference to the side surface 31a-1), and a component is generated that pushes the arm B of the user from the opening side to the non-opening side.
  • the first member 11 moves from the position on the opening side to the position on the non-opening side while the first main air cell 31a and the first sub air cell 31b are inflated.
  • the user's arm B is pulled to the non-opening side, an action of pushing the air cell 31a, 31b from the opening side to the non-opening side is added, and the upper side (the first member 11 side) of the arm B is not It can be reliably pulled into the opening side.
  • the massage unit 10 is provided with the first member 11 and is inflated to press the arm B, and the massage mechanism unit that causes the first member 11 to perform a predetermined gripping operation. And have.
  • the massage mechanism part of this embodiment consists of the said link mechanism 20 (refer FIG. 4), and this link mechanism 20 is the operation
  • this link mechanism 20 is the operation
  • the first member 11 is moved in the non-opening direction together with the air cell 31 in an expanded state.
  • the air cell 31 is inflated between the first member 11 and the second member 12, so that the arm B is gripped and then the first air cell 31 is in the inflated state.
  • the member 11 By moving the member 11 in the direction toward the non-opening side, it is possible to move the arm B grasped via the air cell 31 between the first member 11 and the second member 12 toward the non-opening side. That is, it is possible to perform a massaging massage operation with respect to the arm B, and the body sensation of the massage is improved as compared with the massaging performed by simply sandwiching the arm B from both sides.
  • this link mechanism 20 should just perform the operation
  • a massage operation in which the arm B grasped through the air cell 31 between the first member 11 and the second member 12 is moved in the direction of the opening side is possible. That is, it is possible to perform a massage operation by pressing against the arm B.
  • the first member 11 moves from the opening side position to the non-opening side position even when the second air cell 32 is expanded or the second air cell 32 is contracted.
  • the second member 12 moves from the position on the non-opening side to the position on the opening side, so that the upper part B2 of the arm B that is about to be pulled into the non-opening side (lower side) B2 Can be pushed to the opening side.
  • the arm B can receive a component in which the upper side is drawn into the non-opening side and the lower side is pushed out to the opening side, and the massage unit 10 can be pulled against the arm B. .
  • the first member 11 is displaced in the direction of narrowing the space S1 as a whole and in the direction of the opening side, and the second member 12 is moved.
  • a configuration is obtained in which the space S1 is displaced in the direction of narrowing and displaced in the direction of the non-opening side.
  • the arm B can be gripped between the first member 11 and the second member 12 via the air cell 31.
  • the first member 11 is displaced in the direction of narrowing the space S1 and displaced in the direction of the opening
  • the second member 12 is displaced in the direction of narrowing of the space S1 and displaced in the direction of the non-opening side.
  • the massage unit 10 having the above configuration When the massage unit 10 having the above configuration is viewed along the Z direction, it can have a configuration approximating the shape of a human hand H (FIG. 10). And, as described above, “the action of pulling while holding the arm B (pulling)” is performed by the masseur using the wrist Ha as shown in FIGS. 10 (A) to 10 (B). It becomes a massage. That is, when the masseur massages the arm B of the user using the hand H, the masseur grasps the arm B with “thumb h1” and “index finger and middle finger h2”, and “index finger and middle finger h2”. After the tip of the arm is turned around the side b1 of the arm B (see FIG. 10A), massage by gripping (plucking: see FIG.
  • the massage unit 10 of the present embodiment can perform such massage by the masseur's hand H, and as a result, compared to a massage that is performed simply by sandwiching the arm B from both directions such as up and down, According to the massage unit 10 of the present embodiment, it is possible to further enhance the massage feeling.
  • first link member 21, the second link member 22, and the third link member 23 constitute a link mechanism 20 having three sides, and particularly in the present embodiment (see FIGS. 5 and 6), the third The link member 23 is swingable about a swing center line Z1 provided between the one end portion 23a side and the other end portion 23b side.
  • the swing center line Z1 is other than the one end portion 23a side. It is provided at a position close to the end 23b side.
  • the swing stroke on the one end portion 23a side of the third link member 23 is larger than the swing stroke on the other end portion 23b side, and the locus V1 and the locus V2 in FIG. As shown, the displacement amount of the first member 11 and the displacement amount of the second member 12 can be made different.
  • the trajectory V1 is a movement trajectory of the first air cell 31 when the first member 11 performs the forward movement operation (or the backward movement operation), and the trajectory V2 is the second member 12 of the forward movement operation (or the backward movement operation). This is a movement locus of the second air cell 32 when the operation is performed.
  • the 1st eccentric cam 41 for moving the 3rd link member 23 provided in the 1st side wall 17 side, and a 2nd side wall is attached to the drive shaft 42 in the same phase. For this reason, when the drive shaft 42 rotates, the pair of third link members 23 on both sides perform the same operation in synchronism, and thereby the pair of first link members 21 on both sides and the both sides. A pair of second link members 22 perform the same operation in synchronization.
  • the first member 11 repeatedly performs an operation having a component in a direction approaching the second member 12 and an operation having a component in a direction away from the second member 12, and the second member 12 An operation having a component in a direction approaching the first member 11 and an operation having a component in a direction away from the first member 11 are repeated.
  • the first eccentric cam 41 and the second eccentric cam 41 may be attached to the drive shaft 42 with different phases.
  • the first eccentric cam 41 and the second eccentric cam 41 may be provided with a phase that is 90 ° or 180 ° apart from the center line Z2 of the drive shaft 42.
  • the pair of third link members 23 on both sides perform different operations from each other, whereby the pair of first link members 21 on both sides and the pair of third link members 23 are on both sides.
  • the pair of second link members 22 also perform different operations. Specifically, referring to FIG.
  • the first eccentric cam 41 and the second eccentric cam 41 are provided with a phase difference of 90 °
  • the first eccentric cam 41 on the side of one side wall 17 is used.
  • the link member 21 starts moving toward the opening side
  • the first link member 21 on the other side wall 18 side starts moving toward the opening side with a delay.
  • the first link member 21 on one side wall 17 side starts moving to the non-opening side
  • the first link member 21 on the other side wall 18 side starts moving to the non-opening side.
  • the first member 11 and the first air cell 31 have a component in a direction approaching the second member 12 and swing in one direction around the virtual center line Y1 in the Y direction (see FIG. 3). And a component having a component in a direction away from the second member 12 and swinging in the other direction around the virtual center line Y1 in the Y direction (an arrow in FIG. 3).
  • movement which has R2) "can be performed repeatedly.
  • the second member 12 and the second air cell 32 have a component in a direction approaching the first member 11 and a component that swings in one direction around the virtual center line Y2 in the Y direction (see FIG. 3).
  • the first massage unit 10 on the elbow side of the arm of the user and the second massage unit 10 on the wrist side may perform the same operation synchronously, You may comprise so that different operation
  • all (four) eccentric cams 41 may be provided in the same phase, and in order to perform different operations, the first massage unit What is necessary is just to make the phase of the eccentric cam 41 of 10 and the eccentric cam 41 of the 2nd massage unit 10 different.
  • the drive shaft 42 for causing the first massage unit 10 to perform the gripping operation is a drive for causing the second massage unit 10 to perform the gripping operation. It is also used as a shaft.
  • the drive shaft 42 can be rotated by a motor 40b (see FIG. 3) of the drive unit 40, and the gripping mechanism 30 can be operated by the rotation of the drive shaft 42. That is, the armrest part 4 is provided with the massage unit 10 for the elbow side of the arm of the user and the massage unit 10 for the wrist side, and a gripping mechanism for the massage unit 10 for the wrist side.
  • the drive source (motor) that operates 30 and the drive source (motor) that operates the gripping mechanism 30 of the elbow-side massage unit 10 are composed of a common drive source (motor 40b). Thereby, simplification and size reduction of the structure of the massage means 8 containing the two massage units 10 and 10 can be achieved.
  • the drive shaft for the first massage unit 10 and the drive shaft for the second massage unit 10 may be separated.
  • the drive unit 40 may be separated,
  • the configuration may be such that the pair of drive units 40 are operated independently.
  • the 1st massage unit 10 and the 2nd massage unit 10 have the same structure,
  • the pair of eccentric cams 41 included in the first massage unit 10 and the pair of eccentric cams 41 included in the second massage unit 10 need to have the same phase.
  • the pair of eccentric cams 41 included in the first massage unit 10 may have the same phase or different phases.
  • the pair of eccentric cams 41 included in the second massage unit 10 may be in the same phase or different.
  • a pair of eccentric cam 41 which the 1st massage unit 10 has, and 2nd The pair of eccentric cams 41 included in the massage unit 10 need only be in different phases, and in this respect, the first massage unit 10 and the second massage unit 10 need to be configured differently.
  • the timing at which the first massage unit 10 performs the gripping operation can be able to.
  • the phase of the pair of eccentric cams 41 of the first massage unit 10 and the phase of the eccentric cam 41 of the second massage unit 10 are different by 90 °, one massage unit 10 starts gripping operation. Then, after this, the other massage unit 10 can start the gripping operation.
  • the drive unit 40 can switch the rotation direction (forward rotation and reverse rotation) of the drive shaft 42 by switching the rotation direction of the motor 40b.
  • the drive shaft 42 may be reversely rotated after the drive shaft 42 is rotated forward at a predetermined rotational speed. Thereby, the gripping operation is changed on the way.
  • FIG. 11 is an explanatory diagram of another massage unit 10 and is a view of the massage unit 10 viewed along the longitudinal direction of the body part of the user.
  • the body part of the user to be treated by the massage unit 10 can be the forearm B.
  • FIG. 11 is a view seen along the longitudinal direction of the forearm B, and in particular, is a view seen from the forearm B of the right arm along the direction from the elbow side to the fingertip side.
  • the forearm B may be simply referred to as the arm B.
  • the longitudinal direction of the arm B is defined as the Z direction
  • the lateral width direction of the arm B (the left and right direction of the user)
  • the vertical direction of the arm B is defined as the Y direction.
  • the massage unit 10 has a first member 11 and a second member 12 provided at two locations along the circumferential direction of the arm B.
  • the first member 11 and the second member 12 are provided on both upper and lower sides of the arm B.
  • one side (left side in FIG. 11) of the space S ⁇ b> 1 formed between the first member 11 and the second member 12 is opened for taking in and out the arm B.
  • the first member 11 is a first link member 61 described below
  • the second member 12 is a third link member 63 described below.
  • the side that is opened to put in and out the arm is called “open side”, and the opposite side is called “non-open side”.
  • the massage unit 10 includes a gripping mechanism 30 that can perform an operation of gripping the arm B. 11 and 12, the gripping mechanism 30 presses the side walls 17 and 18, the plurality of link members 61 to 63, the air cells 65a and 65b for operating the link members 61 to 63, and the arm B. Air cells 31 and 32 for massage, and springs (coil springs) 66b and 66c which are elastic members. Further, the gripping mechanism 30 includes a pressing member 64 that is operated by the air cell 31, and a spring (coil spring) 66a that is an elastic member.
  • FIG. 12 is an explanatory view of the massage unit 10 shown in FIG. 11 viewed from the X direction (from the right side of FIG. 11).
  • the side walls 17 and 18 are provided apart in the Z direction and are fixed to the armrest 4 (see FIG. 1). Moreover, the side walls 17 and 18 have a shape opened to one side in the X direction (the center side of the body).
  • the first link member 61 is swingably attached to the second link member 62 by a shaft 68a.
  • the second link member 62 is swingably attached to the side walls 17 and 18 by a shaft 68b.
  • the third link member 63 is swingably attached to the second link member 62 by a shaft 68c.
  • the pressing member 64 includes a link member having treatment elements 64a and 64b, and is attached to the first link member 61 so as to be swingable by a shaft 68d.
  • the treatment elements 64 a and 64 b are protrusions that can come into contact with the arm B.
  • the shafts 68a to 68d are members whose center line is the Z direction, and the pressing member 64 and the link members 61, 62, 63 can swing around the center line.
  • the plurality of link members 61, 62, 63 constitute a multi-joint mechanism 60.
  • the multi-joint mechanism 60 may include a pressing member 64 that also functions as a link member.
  • the number of link members is not limited to the form shown in the figure, and can be changed, and may be larger than that shown in FIG.
  • the massage air cell 31 is interposed between the pressing member 64 and the first link member 61, expands when air is supplied, and pushes the pressing member 64 to swing around the shaft 68d.
  • the spring 66a is provided between the pressing member 64 and the first link member 61. The spring 66a extends when the pressing member 64 is separated from the first link member 61 due to the expansion of the air cell 31, and the air cell 31 is in an exhausted state. Then, the pressing member 64 is brought close to the first link member 61 by an elastic restoring force.
  • separates from the 1st link member 61 becomes operation
  • the air cell 65a for operation is interposed between the first link member 61 and the second link member 62, expands when air is supplied, and pushes the first link member 61 to swing around the shaft 68a.
  • the air cell 65a is composed of two air cells 65a-1 and 65a-2 provided in an overlapping manner, but may be one air cell.
  • the spring 66b is provided between the link members 61 and 62, and expands when the first link member 61 is separated from the second link member 62 due to the expansion of the air cell 65a.
  • the first link member 61 is brought close to the second link member 62.
  • the operation of separating the first link member 61 from the second link member 62 is an operation of narrowing the space S1 and an operation of grasping the arm B.
  • the air cell 65b for operation is interposed between the fixing member 69 fixed to the side walls 17 and 18 and the second link member 62, expands when air is supplied, and pushes the second link member 62 around the shaft 68b. Rock.
  • the spring 66c is provided between the second link member 62 and the side wall 17 (18). The spring 66c extends when the second link member 62 is separated from the fixing member 69 due to the expansion of the air cell 65b, and the air cell 65b is in an exhausted state. Then, the second link member 62 is brought close to the fixing member 69 by the elastic restoring force.
  • the operation of separating the second link member 62 from the fixing member 69 narrows the space S1 and moves the first link member 61 and the pressing member 64 mounted on the second link member 62 in the direction toward the opening side. It becomes operation, and also becomes operation which grasps arm B.
  • the third link member 63 is swingably attached to the second link member 62 by a shaft 68c, and operates according to the operation of the air cell 65b.
  • a long hole 63b is formed in the link member 63, and a shaft 68e attached to the side walls 17 and 18 is inserted into the long hole 63b, and the link member 63 reciprocates along the shaft 68e. To do.
  • the third link member 63 moves in the non-opening direction.
  • the third link member 63 moves in the direction of the opening (see FIG. 11).
  • the massage air cell 32 is attached to the third link member 63, expands by supplying air, and presses the arm B.
  • the operation air cells 65a and 65b and the massage air cells 31 and 32 can operate independently (expand). That is, at least one of these air cells can be inflated.
  • FIG. 11 shows a state in which the air cells 65a and 65b for operation and the air cells 31 and 32 for massage are contracted. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the largest.
  • FIG. 13 shows a state where the air cells 65a and 65b for operation are inflated. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the narrowest.
  • the massage air cells 31 and 32 are also in an expanded state, and the treatment elements 64 a and 64 b of the pressing member 64 can press the arm B present in the space S ⁇ b> 1 from above, and the air cell 32. Can press the arm B existing in the space S1 from below.
  • FIG. 13 shows a gripping completion state in which the gripping mechanism 30 has gripped the arm B.
  • the gripping release state shown in FIG. 11 is brought about by the elastic force of the springs 66a, 66b and 66c. .
  • the arm B can be taken in and out of the space S1.
  • the arm B in the grip completion state shown in FIG. 13, the first link member 61 and the third link member 63 approach each other, the arm B can be gripped between them, and the air cells 31 and 32 expand.
  • the arm B can be grasped between the treatment elements 64 a and 64 b and the air cell 32.
  • the second link member 62 is retracted to the fixing member 69 side by the elastic force of the spring 66c as shown in FIGS.
  • the air cells 31 and 65a are in an expanded state. Thereby, the operation
  • the state shown in FIG. 13 can be obtained through the state shown in FIG. During this operation, the air cells 31 and 65a are in an expanded state. In this case, an operation can be performed in which the arm B is pushed toward the opening side while the arm B is held. That is, it is possible to massage the arm B with a push. Furthermore, the state shown in FIG. 13 and the state shown in FIG. 15 can be repeated. This makes it possible to push and pull while holding the arm B.
  • the treatment element 64a can reach the opening B portion B1 of the arm B, and the treatment element 64a is a portion of the arm B on the opening side. You can grab B1. And by holding the part B1 on the opening side of the arm B, the state shown in FIG. 13 to FIG. 15 can be used to perform a massage of pulling that is performed by pulling the gripped part (B1) to the non-opening side. Become.
  • FIG. 16 is an explanatory diagram of another massage unit 10.
  • the massage unit 10 shown in FIG. 16 corresponds to a modification of the massage unit 10 shown in FIG.
  • FIG. 16 is a view of the forearm B of the right arm as viewed in the direction from the elbow side to the fingertip side, as in FIG. 11.
  • the massage unit 10 shown in FIG. 16 also includes a multi-joint mechanism 60.
  • the massage unit 10 has a first member 11 and a second member 12 provided at two locations along the circumferential direction of the arm B.
  • the first member 11 and the second member 12 are provided below the arm B and on the right side.
  • one side (left side in FIG. 16) of the space S ⁇ b> 1 formed between the first member 11 and the second member 12 is opened for taking in and out the arm B.
  • the 1st member 11 is the 1st link member 61 demonstrated below
  • the said 2nd member 12 is the 3rd link member 63 demonstrated below.
  • the third link member 63 has an integral structure with the second link member 62.
  • the side that is opened to put in and out the arm is called “open side”, and the opposite side is called “non-open side”.
  • the massage unit 10 includes a gripping mechanism 30 that can perform an operation of gripping the arm B. 16 and 17, the gripping mechanism 30 presses the side walls 17 and 18, the plurality of link members 61 to 63, the air cells 65a and 65b for operating the link members 61 to 63, and the arm B.
  • the massage air cells 31 and 32 and a pressing member 64 operated by the air cell 31 are provided.
  • the gripping mechanism 30 includes springs (66a, 66b, 66c) similar to those of the massage unit 10 shown in FIG.
  • FIG. 17 is an explanatory view of the massage unit 10 shown in FIG. 11 as viewed along the X direction (from the right side of FIG. 16).
  • the side walls 17 and 18 are provided apart in the Z direction and are fixed to the armrest 4 (see FIG. 1). Moreover, the side walls 17 and 18 have a shape opened to one side in the X direction (the center side of the body).
  • the first link member 61 is swingably attached to the second link member 62 by a shaft 68a.
  • the second link member 62 is swingably attached to the side walls 17 and 18 by a shaft 68b.
  • the second link member 62 and the third link member 63 are integral with each other and have an L shape.
  • the pressing member 64 includes a link member having treatment elements 64a and 64b, and is attached to the first link member 61 so as to be swingable by a shaft 68d.
  • the treatment elements 64 a and 64 b are protrusions that can come into contact with the arm B.
  • the shafts 68a, 68b, and 68d are members having a center line in the Z direction, and the pressing member 64 and the link members 61 and 62 (63) can swing around the center line.
  • a multi-joint mechanism 60 is constituted by the plurality of link members 61 and 62 (63).
  • the multi-joint mechanism 60 may include a pressing member 64 that also functions as a link member.
  • the number of link members is not limited to the form shown in the figure, and can be changed, and may be larger than the form shown in FIG.
  • the massage air cell 31 is interposed between the pressing member 64 and the first link member 61, expands when air is supplied, and pushes the pressing member 64 to swing around the shaft 68d.
  • a spring (not shown) is provided between the pressing member 64 and the first link member 61, and this spring expands when the pressing member 64 is separated from the first link member 61 by the expansion of the air cell 31.
  • the pressing member 64 is brought close to the first link member 61 by the elastic restoring force.
  • separates from the 1st link member 61 becomes operation
  • the air cell 65a for operation is interposed between the first link member 61 and the second link member 62, expands when air is supplied, and pushes the first link member 61 to swing around the shaft 68a.
  • a spring (not shown) is provided between the link members 61 and 62. This spring expands when the first link member 61 is separated from the second link member 62 due to expansion of the air cell 65a, and the air cell 65a When the exhaust state is reached, the first link member 61 is brought close to the second link member 62 by the elastic restoring force.
  • the operation of separating the first link member 61 from the second link member 62 is an operation of narrowing the space S1 and an operation of grasping the arm B.
  • the air cell 65b for operation is interposed between the fixing member 69 fixed to the side walls 17 and 18 and the second link member 62, expands when air is supplied, and pushes the second link member 62 around the shaft 68b. Rock.
  • a spring (not shown) is provided between the second link member 62 and the side wall 17 (18). When the spring separates the second link member 62 from the fixing member 69 due to expansion of the air cell 65b. When the air cell 65b is in an exhaust state, the second link member 62 is brought close to the fixing member 69 by an elastic restoring force.
  • the operation of separating the second link member 62 from the fixing member 69 narrows the space S1 and moves the first link member 61 and the pressing member 64 mounted on the second link member 62 in the direction toward the opening side. It becomes operation, and also becomes operation which grasps arm B.
  • the massage air cell 32 is attached to the third link member 63, expands by supplying air, and presses the arm B.
  • the operation air cells 65a and 65b and the massage air cells 31 and 32 can operate independently (expand). That is, at least one of these air cells can be inflated.
  • FIG. 16 shows a state in which the air cells 65a and 65b for operation and the air cells 31 and 32 for massage are contracted. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the largest.
  • FIG. 18 shows a state where the operation air cells 65a and 65b are inflated. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the narrowest.
  • the massage air cells 31 and 32 are also in an inflated state, and the treatment elements 64 a and 64 b of the pressing member 64 can press the arm B existing in the space S ⁇ b> 1 from above, and the air cell 32. Can press the arm B existing in the space S1 from below.
  • FIG. 18 shows a grip completion state in which the gripping mechanism 30 has finished gripping the arm B.
  • the grip open state shown in FIG. 16 is brought about by the elastic force of the spring (not shown). .
  • the arm B can be taken in and out of the space S1.
  • the arm B in the grip completion state shown in FIG. 18, the first link member 61 and the third link member 63 approach each other, the arm B can be gripped between them, and the air cells 31 and 32 expand.
  • the arm B can be grasped between the treatment elements 64 a and 64 b and the air cell 32.
  • the air cell 65b is brought into the exhaust state from this state, the second link member 62 moves backward toward the fixing member 69 by the elastic force of the spring as shown in FIG. 19 and FIG.
  • the air cells 31 and 65a are in an expanded state. Thereby, the operation
  • the state shown in FIG. 18 can be obtained through the state shown in FIG. During this operation, the air cells 31 and 65a are in an expanded state. In this case, an operation can be performed in which the arm B is pushed toward the opening side while the arm B is held. That is, it is possible to massage the arm B with a push. Furthermore, the state shown in FIG. 18 and the state shown in FIG. 20 can be repeated. This makes it possible to push and pull while holding the arm B.
  • the treatment element 64 a can reach the opening B portion B1 of the arm B, and the treatment element 64 a is a portion of the arm B on the opening side. You can grab B1. Then, by holding the part B1 on the opening side of the arm B, the state shown in FIG. 18 to FIG. 20 can be used to perform a massage of pulling that is performed by pulling the gripped part (B1) to the non-opening side. Become.
  • the massage unit 10 (No. 2) shown in FIG. 11 and the massage unit 10 (No. 3) shown in FIG. 16 are provided together with the first link member 61 serving as the first member 11 and expanded. It has the 1st air cell 31 for pushing the arm B, and the massage mechanism part 50 which makes the 1st link member 61 perform predetermined
  • the massage mechanism unit 50 includes a link mechanism 20 having first to third link members 61 to 63. However, in the massage unit 10 shown in FIG. 16, the second link member 62 and the third link member 63 are integral.
  • this massage mechanism part 50 (link mechanism 20) is the 1st link via the operation
  • an operation of moving the first link member 61 in the direction of the non-opening side together with the air cell 31 in an expanded state is performed. it can.
  • the massage unit 10 After the air cell 31 is inflated between the first link member 61 and the third link member 63, the arm B is gripped, and then the air cell 31 is in an inflated state.
  • the first link member 61 When the first link member 61 is moved in the non-opening direction, the movement of moving the arm B grasped via the air cell 31 to the non-opening side between the first link member 61 and the third link member 63 is performed. It becomes possible. That is, it is possible to perform a massaging massage operation on the arm B.
  • This is a massage in which the body sensation of the massage is improved as compared with a massage that is simply performed by sandwiching the arm B from both sides.
  • the link mechanism 20 should just perform the operation
  • movement which moves the arm B grasped via the air cell 31 between the 1st link member 61 and the 3rd link member 63 to the opening side is attained. That is, it is possible to perform a massage operation by pressing against the arm B.
  • the massage unit 10 has a first mechanism part 51 and a second mechanism part 52 provided along the circumferential direction of the arm B.
  • the first mechanism unit 51 includes a first link member 61 and a second link member 62 in addition to the air cell 31 and the pressing member 64 as a massage unit capable of pressing the arm B.
  • the second mechanism portion 52 includes a third link member 63 in addition to the air cell 32 as a massage portion capable of pressing the arm B.
  • one side of space S1 formed between these 1st mechanism parts 51 and the 2nd mechanism parts 52 becomes the structure opened for taking in and out of the arm B. As shown in FIG.
  • the massage part (the air cell 31 and the pressing member 64) is attached to the first link member 61. Further, the first link member 61 is separated from the arm B by a first retracted position B-1 (FIG. 11). 16) and the first forward position F-1 (see FIGS. 13 and 18) approaching the arm B can be reciprocated.
  • the first link member 61 is attached to the second link member 62 so as to be capable of reciprocating between the first retracted position B-1 and the first advanced position F-1.
  • the two link member 62 has a second retracted position B-2 (see FIGS. 11 and 16) away from the arm B and a second advanced position F-2 (see FIGS. 13 and 18) approaching the arm B. It can reciprocate between them.
  • the second link member 62 can move to the second forward movement position F-2 together with the first link member 61 (see FIGS. 13 and 18) to perform an operation of grasping the arm B. It is also possible to perform a massage operation by moving the second link member 62 together with the link member 61.
  • the second link member 62 is moved to the second forward position F-2 (FIGS. 13 and 18).
  • the arm B can be grasped between the first mechanism portion 51 and the second mechanism portion 52 via the massage portion (the air cell 31 and the pressing member 64).
  • the first link member 61 is set to the first forward position F-1, but the second link member 62 is not set to the second forward position F-2 but to the second reverse position B-2. Then, in the case of this embodiment, it becomes possible to make the treatment element 64a contained in the massage part reach the distant position on the opening side with respect to the arm B.
  • the portion B1 on the opening side of the arm B can be grasped. And in the state which hold
  • the following operation is a specific example of this massage operation. That is, from the state of grasping the arm B shown in FIG. 13 (FIG. 18), through the state of FIG. 14 (FIG. 19), the air cell 31 is in the expanded state as shown in FIG. Along with the first link member 61 at the forward movement position F-1, the second link member 62 at the second forward movement position F-2 moves from the second forward movement position F-2 to the second backward movement position B-2. To perform the operation. In this operation, the second link member 62 is set to the second forward position F-2 and the first link member 61 is set to the first forward position F-1, so that the first mechanism portion 51 and the second mechanism portion 52 After grasping the arm B via the massage part (air cell 31 and pressing member 64) (FIGS.
  • the second link member 62 is moved to the second retracted position B-2 together with the first link member 61.
  • the gripping arm B can be pulled so as to move from the opening side to the non-opening side.
  • This massage operation by pulling is an operation that improves the bodily sensation of massage as compared with the massage performed by simply sandwiching the arm B from both sides.
  • the second link member 62 together with the first link member 61 at the first advance position F-1 is changed from the state of FIG. 15 (FIG. 20) to FIG. 14 (FIG. 19).
  • the massage operation can be performed by moving from the second backward position B-2 to the second forward position F-2 as shown in FIG. 13 (FIG. 18).
  • the 1st mechanism part 51 has several link members 61 and 62, the joint part which connects adjacent link members 61 and 62 with each other is provided. And a multi-joint mechanism 60 in which a plurality of link members 61 and 62 can operate from a plurality of the joint portions as starting points.
  • the joint portion is configured by a link member connecting structure using shafts 68a and 68b (68d).
  • the 1st mechanism part 51 has the air cell 31 and the press member 64 as a massage part which can press the arm B, and this massage part is on the arm B in the some link members 61 and 62.
  • the multi-joint mechanism 60 includes a plurality of the joint portions. As shown in FIG. 13 (FIG. 18), all the plurality of link members 61 and 62 are moved in one direction (counterclockwise in FIGS. Compared with the state before the treatment element 64a) of the member 64 can be brought into contact with the arm B and the treatment element 64a is moved in the one direction, a moving operation for moving the treatment element 64a to a far position on the opening side is performed. It can be carried out.
  • the treatment element 64a can be positioned at a far portion on the opening side of the arm B as compared with the state before the operation. If the multi-joint mechanism 60 operates to perform a massage operation from that state, it is possible to perform massage using the treatment element 64a (64b) located far from the opening side, and the massage range can be expanded. Compared with itching that simply sandwiches the arm B from both sides, the bodily sensation of massage is improved.
  • the multi-joint mechanism 60 includes a first mechanism 51 and a second mechanism 52 in the circumferential direction of the arm B in addition to the moving operation.
  • the link members 62 other than at least the front link member (first link member 61) are moved in the direction opposite to the one direction (clockwise in FIGS. 13 and 18).
  • the multi-joint mechanism 60 performs the moving operation, so that the treatment element 64a (64b) can be positioned farther on the opening side in the arm B than the state before the operation. Then, the multi-joint mechanism 60 operates from that state and performs the massage operation, so that the treatment element 64a (64b) located far away on the opening side can be attracted and pulled against the arm B. It becomes.
  • This massaging massage operation is an operation that improves the bodily sensation of the massage as compared to the massaging performed simply by sandwiching the body part from both sides.
  • the operation mechanism that operates the pressing member 64, the first member 11 (first link member 61), and the other link members 62, 63 may have another configuration, and instead of the air cells 31, 65a, 65b, the rotation mechanism rotates.
  • a cam member may be used.
  • FIG.21 and FIG.22 is explanatory drawing explaining the modification of the massage unit 10 shown in FIG.
  • a first cam member 67 a is provided between the pressing member 64 and the first link member 61, and between the first link member 61 and the second link member 62.
  • a second cam member 67 b is provided, and a third cam member 67 c is provided between the second link member 62 and the fixing member 69.
  • These cam members 67a to 67c can be independently driven to rotate.
  • the cam members 67a to 67c are rotated by a motor (not shown).
  • Each of the cam members 67a, 67b, and 67c has a portion having a long distance from the rotation center p to the outer periphery (hereinafter referred to as a long diameter portion e) and a portion having a short distance from the rotation center p to the outer periphery (hereinafter referred to as a short diameter portion f). ).
  • the state in which the long diameter portion e of each of the cam members 67a to 67c pushes the pressing member 64 and the link members 61 and 62 corresponds to the state in which the air cells 31, 65a and 65b are expanded.
  • the state in which the short diameter portion f of each of the cam members 67a to 67c pushes the pressing member 64 and the link members 61 and 62 is a state in which the air cells 31, 65a and 65b are contracted. It corresponds to.
  • the operating mechanism for operating the pressing member 64, the first link member 61, and the like includes the cam members 67a, 67b, and 67c, and the cam members 67a, 67b, According to each of 67c, the long diameter portion e pushes the pressing member 64 and the link members 61, 62, thereby causing the pressing member 64 and the link members 61, 62 to advance, and the short diameter portion f to move the pressing member 64 and the link members 61, In a state where 62 is pressed, the pressing member 64 and the link members 61 and 62 are retracted.
  • this operating mechanism generates an urging force that causes the pressing member 64 and the link members 61 and 62 to retreat as the short diameter portion f abuts against the pressing member 64 and the link members 61 and 62.
  • It has a spring as an elastic member to be made.
  • the configuration of this spring is the same as the springs 66a, 66b, 66c of the massage unit 10 shown in FIG. According to this structure, the structure which operates the press member 64, the 1st link member 61, etc. by rotation of cam member 67a, 67b, 67c is obtained.
  • FIGS. 11, 16 and 21 can grip the forearm B over a wide range and massage the gripped portions at the same time.
  • the massage device shown in FIG. 23 has a configuration in which a plurality of portions of the forearm B can be gripped and massaged on the gripped portion. That is, for example, with respect to the massage unit 10 shown in FIG. 12 (FIG. 11), the dimension in the Z direction is configured to be small, and as shown in FIG. 23, a plurality of (FIG. 23) along the longitudinal direction (Z direction) of the forearm B. Then, it is set as the structure provided three).
  • 23 and 24 are plan views of the three massage units 10-1, 10-2, 10-3.
  • Each of the three massage units 10-1, 10-2, 10-3 can operate independently as shown in FIG.
  • the first massage unit 10-1 closest to the wrist is in the grip open state (see FIGS. 11 and 16)
  • the adjacent second massage unit 10-2 is in the grip complete state (see FIGS. 18)
  • the third massage unit 10-3 closest to the elbow holds the part of the forearm B like the massage unit 10-2, and then moves the pressing member 64 to the non-opening side.
  • this state that is, a state in which a pulling operation is performed.
  • the massage apparatus includes the plurality of massage units 10-1, 10-2, 10-3 provided along the longitudinal direction of the forearm B.
  • the unit (control unit) 7 (see FIG. 1) can control the operations of the massage units 10-1, 10-2, and 10-3.
  • the control unit 7 makes the operation timings of the massage units 10-1, 10-2, and 10-3 different so that the massage units 10-1, 10-2, and 10-3 have different operation timings. Control to operate each is performed.
  • this massage device for example, it is possible to perform an operation of sequentially grasping one range of the forearm B and sequentially pulling it.
  • the structure which provided the three massage units 10 shown in FIG. 16 or FIG. The number of is not limited to three, but may be two or four or more.
  • FIG. 25 is an explanatory view showing a modification of the massage unit 10 shown in FIG.
  • the massage air cell 32 attached to the third link member 63 is single, but in the massage unit 10 shown in FIG. 25, two air cells 32 are used as massage air cells. -1,32-2 are provided.
  • the 1st mechanism part 51 side is the same structure as the massage unit 10 shown in FIG.
  • the air cell 32-1 located on the front side (the left side in FIG. 25) of the third link member 63 is configured to have a component that presses the arm B toward the non-opening side when inflated, and the base side of the third link member 63
  • the air cell 32-2 positioned on the right side (right side in FIG. 25) has a component that presses the arm B toward the opening side when expanded.
  • the pressing member 64 is the first link.
  • the arm B moves to the space A1 (non-opening side of the space S1). (See FIG. 25).
  • the air cell 32-2 expands with a component that presses toward the opening side in the opposite direction with respect to the arm B trying to move to the space A1 on the non-opening side.
  • the arm B can be prevented from escaping to the space A1 on the non-opening side. As a result, a strong pulling operation can be performed.
  • the configurations of the two air cells 32-1 and 32-2 shown in FIGS. 25 and 26 may be applied to the massage unit 10 shown in FIGS.
  • FIG. 27 is an explanatory diagram of another massage unit 10.
  • the massage unit 10 shown in FIG. 27 corresponds to a modification of the massage unit 10 shown in FIG.
  • FIG. 27 is a view of the forearm B of the right arm as viewed in the direction from the elbow side to the fingertip side, as in FIG. 11.
  • 27 is different from the massage unit 10 shown in FIG. 11 in that the configuration of the pressing member 64 is different and the suction pump 34 is provided.
  • Others for example, the gripping mechanism 30 and the multi-joint mechanism 60
  • the pressing member 64 has a suction part 64c instead of the treatment elements 64a and 64b.
  • the massage device of the present embodiment further includes a suction pump (hereinafter referred to as pump 34), and the pump 34 and the suction part 64c are connected through a pipe 34a.
  • pump 34 a suction pump
  • the pump 34 When the pump 34 is driven, the air in the space S1 in which the arm B of the user is located is sucked from the suction part 64c, whereby a part of the arm B is sucked into the suction part 64c as shown in FIGS. Adsorb to.
  • the massage unit 10 includes a pressing member 64, a plurality of link members 61, 62, 63, air cells 65a, 65b for operating the link members 61, 62, 63, air cells 31, 32 for massage,
  • springs (coil springs) 66a, 66b, 66c which are elastic members, are provided.
  • FIG. 27 shows a state in which the operation air cells 65a and 65b and the massage air cells 31 and 32 are contracted. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the largest.
  • FIG. 29 shows a state in which the air cells 65a and 65b for operation are inflated. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the narrowest.
  • the massage air cells 31 and 32 are also in an inflated state, and the air cell 32 can press the arm B existing in the space S1 from below, and the suction part 64c of the pressing member 64 is in the space.
  • FIG. 29 shows a state where the arm B has been grasped by the first link member 61 and the third link member 63 and the arm B is adsorbed by the suction portion 64c.
  • the arm B can be gripped between them, and the air cells 31 and 32 expand.
  • the arm B can be gripped between the suction portion 64c and the air cell 32, and the gripped portion can be adsorbed to the suction portion 64c.
  • the second link member 62 moves backward toward the fixing member 69 by the elastic force of the spring 66c as shown in FIG.
  • the air cells 31 and 65a are in an expanded state. As a result, it is possible to perform an operation in which the arm B is pulled toward the non-opening side while the arm B is being gripped and sucked.
  • the arm B Furthermore, by expanding the air cell 65b from the state where the arm B is pulled to the non-opening side, the state shown in FIG. During this operation, the air cells 31 and 65a are in an expanded state. In this case, it is possible to perform an operation such that the arm B is pushed toward the opening side while the arm B is grasped and adsorbed. That is, it is possible to massage the arm B with a push. Furthermore, the state where the arm B is pushed toward the opening side (see FIG. 29) and the state where the arm B is pulled toward the non-opening side can be repeated. As a result, the arm B can be pushed and pulled while being gripped and adsorbed.
  • the suction part 64c can reach the opening B portion B1 of the arm B, and the suction part 64c is the opening B part B1 of the arm B. Can be grabbed and adsorbed. Then, by contracting the air cell 65b in a state where the portion B1 on the opening side of the arm B is grasped and adsorbed, it is possible to perform a massaging massage performed by pulling the grasped and adsorbed portion (B1) to the non-opening side. .
  • the massage unit 10 has the first link member 61 and the third link member 63 provided on the upper and lower sides of the arm B, and one side of the space S1 formed between them is the arm B in and out. Is open for. Further, the massage unit 10 includes a suction portion 64 c that is provided together with the first link member 61 and that can suck the arm B. And the massage mechanism part 50 (link mechanism 20) with which this massage unit 10 is equipped is the 1st with the suction part 64c other than the operation
  • the suction part 64c can be brought into contact with a part of the arm B existing in the space S1 by bringing the first link member 61 and the third link member 63 closer to each other. Then, when the first link member 61 is moved in the direction of the non-opening side with the suction part 64c adsorbing a part of the arm B, the first link member 61 and the third link member 63 are gripped and Movement that moves the adsorbed arm B to the non-opening side is possible.
  • This is a massage in which the body sensation of the massage is improved as compared with a massage that is simply performed by sandwiching the arm B from both sides.
  • the link mechanism 20 should just perform the operation
  • movement which moves the 1st link member 61 to the direction of at least one side of an opening side and a non-opening side with the suction part 64c which is adsorbing a part of arm B. That is, it may be moved alternately in both directions, or may be moved in the direction of the opening.
  • movement which moves the 1st link member 61 to the direction of at least one side of an opening side and a non-opening side with the suction part 64c which is adsorbing a part of arm B. may be moved alternately in both directions, or may be moved in the direction of the opening.
  • FIGS. 30 and 31 are explanatory diagrams of another massage unit 10.
  • the massage unit 10 (No. 5) shown in FIGS. 30 and 31 is a modification of the massage unit 10 shown in FIG. 5.
  • the massage unit 10 (No. 5) is provided in the massage device 1 described in Chapter 1. be able to.
  • 30 and 31 are views of the forearm B of the right arm of the user as seen in the direction from the elbow side to the fingertip side, as in FIG.
  • FIG. 32 is an explanatory view of the massage unit 10 (No. 5) viewed from the outside in the lateral width direction of the arm B.
  • operation of each part of the massage apparatus 1 demonstrated in this section is performed based on the control signal from the control unit 7 (refer FIG. 1) of this massage apparatus 1.
  • FIG. 1 movement of each part of the massage apparatus 1 demonstrated in this section is performed based on the control signal from the control unit 7 (refer FIG. 1) of this massage apparatus 1.
  • the massage unit 10 has a plate-like first member 11 and a plate-like second member 12.
  • the second member 12 is provided in a fixed state on the fixing portion (armrest portion 4: see FIG. 1) of the massage device 1, whereas the first member 11 is the second member 12. It is possible to move in the direction of approaching and moving away.
  • a shaft-like extending portion 71 is attached to the first member 11.
  • the first member 11 is a member provided on a part (outer side part) around the arm B of the user and facing the outer side part B1 of the arm B.
  • the second member 12 is provided at the other part (lower part) around the arm B and is a member facing the lower surface part B2 of the arm B.
  • one side of the space S1 formed between the first member 11 and the second member 12 is opened for taking in and out of the arm B. It has the composition which is.
  • the massage unit 10 further has a massage part provided together with the first member 11.
  • the massage part of the present embodiment is an air cell 31, and the air cell 31 is inflated when supplied with air, and can press a part (outer side surface part) B1 of the arm B.
  • the massage unit 10 further includes a support portion 72 that supports the end portion 71 a of the extending portion 71 that extends from the first member 11, and the first member 11 approaches and separates from the second member 12. And an operation unit 70 for the purpose.
  • the support portion 72 of the present embodiment is a guide rail 72a that supports the end portion 71a of the extending portion 71.
  • the guide rail 72a is provided in a fixed state on a fixed portion (armrest portion 4: see FIG. 1) of the massage device 1.
  • the guide rail 72a has a groove whose one direction (horizontal width direction) is the groove longitudinal direction, and the end 71a is inserted in the groove. And this guide rail 72a is supporting the edge part 71a of the extension part 71 so that reciprocation is possible along the straight line of a groove
  • the operation unit 70 includes an inclined cam 73 and a drive unit 75 that rotates the inclined cam 73.
  • the drive unit 75 includes a motor 75a and a rotating shaft 75b that is rotated by the motor 75a.
  • the rotation shaft 75b can rotate about the axis P1 in the horizontal width direction.
  • the tilt cam 73 of this embodiment has a first tilt cam 73a and a second tilt cam 73b, and the tilt cams 73a and 73b are rotated integrally with the rotary shaft 75b around the axis P1 by the drive unit 75. It is possible.
  • a hole is formed in the middle of the extending portion 71 of the first member 11, and the rotation shaft 75b passes through this hole, and a gap is provided between the hole and the rotation shaft 75b.
  • the extending portion 71 is sandwiched between the pair of inclined cams 73a and 73b.
  • the first inclined cam 73a has a surface 74a inclined with respect to the axis P1
  • the second inclined cam 73b has a surface 74b inclined with respect to the axis P1 and these inclined surfaces 74a
  • the inclined cams 73a and 73b are arranged so that 74b abuts on the extending portion 71.
  • the inclined surfaces 74a and 74b are parallel.
  • the first member 11 swings around the rotation shaft 75b as a fulcrum by rotating the inclined cams 73a and 73b by the motor 75a. On the other hand, it can move in the direction of approaching and moving away.
  • the guide rail 72 a supports the end portion 71 a of the extending portion 71 so as to allow the movement of the first member 11.
  • the first member 11 can repeatedly approach and separate from the second member 12 by continuing the rotation of the inclined cams 73a and 73b. As a result, the first member 11 moves in the direction of narrowing the space S1, moves in the direction of widening the space S1, and the air cell 31 provided in the first member 11 expands.
  • a massage operation can be performed on the arm B.
  • the first member 11 can sandwich the arm B with the second member 12, and a massage operation can be performed in which the air cell 31 that expands in accordance with the sandwiching operation pushes the arm B.
  • the first member 11 is operated by the inclined cams 73a and 73b and is supported by the support portion 72 as described above. Therefore, the first member 11 is rotated by the rotation of the inclined cams 73a and 73b by the motor 75a.
  • the member 11 can perform an operation of approaching the second member 12 while rotating in one direction (in the direction of arrow R1 in FIG. 32) around the virtual line L1 along the longitudinal direction of the extending portion 71 (from FIG. 30).
  • the first member 11 can move away from the second member 12 while turning in the other direction (the direction of arrow R2 in FIG. 32) with the virtual line L1 as the center (from FIG. 31).
  • the state of FIG. Thereby, the massage feeling given to the arm B can be further enhanced.
  • FIGS. 33 to 35 are explanatory views showing modifications of the massage unit 10 shown in FIGS.
  • a difference between the massage units 10 is the configuration of the support portion 72. Others are the same, and description of the same points is omitted here.
  • the support portion 72 has a spherical joint structure and supports the first member 11. That is, the support portion 72 is interposed between the first spherical seat 72b provided at the end 71a of the extending portion 71, the second spherical seat 72c in a fixed state, and the spherical seats 72b and 72c. And a shaft 72d.
  • the 2nd spherical seat 72c is provided in the fixed part (armrest part 4: refer to Drawing 1) of massage device 1 as a fixed state.
  • the shaft 72d has spherical portions 72e and 72f in sliding contact with the spherical seats 72b and 72c at both ends thereof, and the shaft 72d is around the center of the first spherical portion 72e held by the first spherical seat 72b. It can be displaced by 360 °, and can be displaced by 360 ° around the center of the second spherical portion 72f held by the second spherical seat 72c.
  • the first member 11 swings around the rotation shaft 75b as a fulcrum by rotating the inclined cams 73a and 73b by the motor 75a. On the other hand, it can move in the direction of approaching and moving away.
  • the support portion 72 having a spherical joint structure supports the end portion 71 a of the extending portion 71 so as to allow the movement of the first member 11.
  • the first member 11 can repeatedly approach and separate from the second member 12 by continuing the rotation of the inclined cams 73a and 73b.
  • the 1st member 11 moves to the direction which narrows said space S1, and moves to the direction which widens said space S1, and the air cell 31 provided in this 1st member 11 expands.
  • the massage operation can be performed on the arm B.
  • the first member 11 can sandwich the arm B with the second member 12, and a massage operation can be performed in which the air cell 31 that expands in accordance with the sandwiching operation pushes the arm B.
  • the first member 11 is operated by the inclined cams 73a and 73b and is supported by the support portion 72 as described above. Therefore, the first member 11 is rotated by the rotation of the inclined cams 73a and 73b by the motor 75a.
  • the member 11 can perform an operation of approaching the second member 12 while turning in one direction (in the direction of arrow R1 in FIG. 35) about the virtual line L1 along the longitudinal direction of the extending portion 71 (from FIG. 33). 34), and the first member 11 can move away from the second member 12 while turning in the other direction (arrow R2 direction in FIG. 35) around the virtual line L1 (from FIG. 34).
  • FIG. 33 Thereby, the massage feeling given to the arm B can be further enhanced.
  • the arm B of the user is attached to the first member 11 and the second member 12. You can grab and rub between them.
  • the first member 11 and the second member 12 are made of members having rigidity, and have a gripping operation that is mechanically performed on the arm B when the members having such rigidity approach and compressibility.
  • a combined operation (hybrid operation) with the gripping operation performed on the arm B by the inflated air cell 31 is possible, and the gripping operation on the arm B of the user is performed by this combined operation.
  • the first member 11 can perform a gripping operation while rotating around the virtual line L1, and thus gradually moves the arm B.
  • FIG. 6 is a modification of the massage unit 10 shown in FIG. 5, and the massage unit 10 (No. 6) can be provided in the massage device 1 described in Chapter 1.
  • 36 to 38 are explanatory views of the forearm B of the right arm of the user as seen in the direction from the elbow side to the fingertip side, as in FIG.
  • FIG. 39 is an explanatory view of the massage unit 10 (No. 6) viewed from the outside of the arm B in the lateral width direction.
  • movement of each part of the massage apparatus 1 demonstrated in this section is performed based on the control signal from the control unit 7 (refer FIG. 1) of this massage apparatus 1.
  • FIG. 1 control signal from the control unit 7 (refer FIG. 1) of this massage apparatus 1.
  • the massage unit 10 has a first mechanism 51 and a second mechanism 52 provided on both upper and lower sides of the arm B of the user.
  • the first mechanism 51 includes a first member 76 that covers the arm B from one side (upper side), and a first moving body 78 that is movable along the first member 76 and to which the first air cell 31 is attached. And have.
  • the first moving body 78 is movably supported by a guide (not shown) provided on the first member 76.
  • the second mechanism portion 52 includes a second member 79 that covers the arm B from the other side (lower side), and a second moving body that is movable along the second member 79 and to which the second air cell 32 is attached. 81.
  • the second moving body 81 is movably supported by a guide (not shown) provided on the second member 79.
  • the first member 76 and the second member 79 are composed of an upper wall member and a lower wall member having a predetermined length in the lateral width direction (left and right direction in FIG. 36) of the arm B, and these are connected by a side wall member 76b. As a whole, it is configured to open to the inside in the width direction. 36 to 38, the left side is the opening side, and the opposite side is the non-opening side. And the 2nd member 79 is attached to the armrest part 4 of the massage apparatus 1 (refer FIG. 1). In this massage unit 10, one side (inside) of the space S ⁇ b> 1 formed between the first mechanism portion 51 (first member 76) and the second mechanism portion 52 (second member 79) is the arm B being put in and out. Open for.
  • the first mechanism portion 51 includes an annular first endless belt 77 that is provided along the first member 76 and the side wall member 76b and is driven to rotate.
  • the first endless belt 77 is supported by a plurality of rollers 77b and is rotated by a motor 77a. Based on a control signal from the control unit 7 (see FIG. 1) of the massage apparatus 1, the motor 77a can rotate forward and backward.
  • the first moving body 78 is attached to a part of the first endless belt 77, and the first moving body 78 moves along the first member 76 of the massage unit 10 by forward and reverse rotation of the first endless belt 77. It reciprocates between the position on the opening side and the position on the opposite side (non-opening side). Since the first air cell 31 is attached to the first moving body 78, the first air cell 31 reciprocates between the position on the opening side of the massage unit 10 and the position on the opposite side (non-opening side). It becomes movable.
  • the second mechanism portion 52 has an annular second endless belt 80 that is provided along the second member 79 and is driven to rotate.
  • the second endless belt 80 is supported by a roller 80b and is rotated by a motor 80a.
  • the motor 80a can rotate forward and backward.
  • the second moving body 81 is attached to a part of the second endless belt 80, and the second moving body 81 moves along the second member 79 of the massage unit 10 by forward and reverse rotation of the second endless belt 80. It reciprocates between the position on the opening side and the position on the opposite side (non-opening side). Since the second air cell 32 is attached to the second moving body 81, the second air cell 32 reciprocates between the position on the opening side of the massage unit 10 and the position on the opposite side (non-opening side). It becomes possible to move.
  • the first air cell 31 and the second air cell 32 are inflated, so that the arm B can be sandwiched.
  • the first air cell 31 and the second air cell 32 can be moved by changing the mutual interval. More specifically, as shown in FIG. 37, the first air cell 31 and the second air cell 32 are inflated to sandwich the arm B, the first air cell 31 is positioned on the opening side, and the second air cell 31 From the state in which the air cell 32 is located on the non-opening side, the first air cell 31 moves to the non-opening side, and then the second air cell 32 moves to the opening side. As shown in FIG. Can be located on the non-opening side, and the second air cell 32 can be located on the opening side.
  • ⁇ Section 12> [Modification of the massage unit 10 (part 6)] 40 to 42 are explanatory views showing modifications of the massage unit 10 shown in FIGS. 36 to 38.
  • FIG. A difference between the massage units 10 is a mechanism for moving the first moving body 78 and the second moving body 81. Others are the same, and description of the same points is omitted here.
  • the first rack portion 76a is provided on the first member 76 that covers the arm B from one side (upper side), and the second mechanism portion is provided.
  • a second rack 79a is provided on the second member 79 that covers the arm B from the other side (lower side).
  • the first air cell 31 is attached to the first moving body 78, and the first pinion 78a meshing with the first rack portion 76a and the first pinion 78a are rotated by the first moving body 78.
  • a first motor 78b is mounted.
  • An endless belt 78c is interposed between the output shaft of the first motor 78b and the first pinion 78a to transmit power.
  • the first moving body 78 is provided with a guide roller 78d and a connecting member 78e, and the guide roller 78d is configured to sandwich the first member 76 with the first pinion 78a.
  • the connecting member 78e connects the guide roller 78d and the first pinion 78a.
  • a second air cell 32 is attached to the second moving body 81, and the second moving body 81 rotates the second pinion 81a meshing with the second rack portion 79a and the second pinion 81a.
  • a second motor 81b is mounted.
  • An endless belt 81c is interposed between the output shaft of the second motor 81b and the second pinion 81a to transmit power.
  • the second moving body 81 is provided with a guide roller 81d and a connecting member 81e, and the guide roller 81d is configured to sandwich the second member 79 with the second pinion 81a.
  • the connecting member 81e connects the guide roller 81d and the second pinion 81a.
  • the first moving body 78 can move along the first rack portion 76a by rotating the first pinion 78a by the first motor 78b, and the second pinion is driven by the second motor 81b. By rotating 81a, the second moving body 81 can move along the second rack portion 79a.
  • the 1st air cell 31 and the 2nd air cell 32 are mutual space
  • FIGS. 43 to 45 are views showing modifications of the massage unit 10 shown in FIGS.
  • a difference between the massage units 10 is a mechanism for moving the first moving body 78 and the second moving body 81. Others are the same, and description of the same points is omitted here.
  • the first mechanism 51 includes a first member 76, a first moving body 78, a first crank 83a, a first wire 84a, and a first spring 82a.
  • the first member 76 is a wall member that covers the arm B from one side (upper side), and the first moving body 78 has the first air cell 31 attached thereto. And is movable along the first member 76.
  • the first moving body 78 is movably supported by a guide (not shown) provided on the first member 76.
  • the first crank 83a is provided on the side wall member 76b side, and is rotated forward and backward by a motor (not shown) based on a control signal from the control unit 7 (see FIG. 1) of the massage apparatus 1.
  • the first wire 84a connects the first crank 83a and the first moving body 78, and the middle thereof is supported by a plurality of rollers 84c. Depending on the phase in the rotational direction of the first crank 83a, the first wire 84a can pull the first moving body 78 to the non-opening side (see FIG. 44).
  • the first spring 82 a is attached between a part of the opening side of the first member 76 and the first moving body 78, and has an elastic force that resists the force with which the first wire 84 a pulls the first moving body 78. It can be given to the first moving body 78. For this reason, according to the phase of the rotation direction of the first crank 83a, the first spring 82a can pull the first moving body 78 to the opening side (see FIG. 45).
  • the second mechanism portion 52 includes a second member 79, a second moving body 81, a second crank 83b, a second wire 84b, and a second spring 82b.
  • the second member 79 is a wall member that covers the arm B from the other side (lower side), and the second moving body 81 has the second air cell 32 attached thereto. And is movable along the second member 79.
  • the second moving body 81 is movably supported by a guide (not shown) provided on the second member 79.
  • the second crank 83b is provided on the side of the side wall member 76b, and rotates forward and backward by a motor (not shown) based on a control signal from the control unit 7 (see FIG. 1) of the massage apparatus 1.
  • the second wire 84 b connects the second crank 83 b and the second moving body 81.
  • the second wire 84b can pull the second moving body 81 toward the non-opening side according to the phase in the rotation direction of the second crank 83b (see FIG. 45).
  • the second spring 82 b is attached between a part of the opening side of the second member 79 and the second moving body 81, and has an elastic force that resists the force with which the second wire 84 b pulls the second moving body 81. It can be given to the second moving body 81. For this reason, according to the phase of the rotation direction of the second crank 83b, the second spring 82b can pull the second moving body 81 toward the opening side (see FIG. 44).
  • the first mechanism unit 51 has the first in accordance with the phase in the rotational direction of the first crank 83a.
  • the wire 84a pulls the first moving body 78 (FIG. 44)
  • the first moving body 78 moves to the non-opening side against the first spring 82a.
  • the second mechanism unit 52 responds to the phase in the rotational direction of the second crank 83b in accordance with the movement timing of the first moving body 78.
  • the second moving body 81 moves to the opening side by the restoring force of the second spring 82b.
  • the first crank 83a rotates 180 ° from the state of FIG. 44
  • the first moving body 78 is released from the tension by the first wire 84a according to the phase in the rotational direction (FIG. 45), and the first spring 82a is restored.
  • the first moving body 78 moves to the opening side by force.
  • the second crank 83b rotates 180 ° in accordance with the movement timing of the first moving body 78, the second wire 84b pulls the second moving body 81 according to the phase in the rotation direction, and resists the second spring 82b. Then, the second moving body 81 moves to the non-opening side (FIG. 45).
  • the 1st air cell 31 and the 2nd air cell 32 mutually It is possible to move by changing the interval (see FIGS. 44 and 45). That is, by alternately repeating the state shown in FIG. 44 and the state shown in FIG. 45, the arm B gripped by the air cells 31 and 32 between the first mechanism portion 51 and the second mechanism portion 52 can be opened. Further, pulling (or pushing) that moves to the opposite side (non-opening side) becomes possible. As a result, the body sensation of the massage is improved as compared with the itch that is simply sandwiched between the arms B from both sides.
  • FIG. 6 is a modification of the massage unit 10 shown in FIG. 5, and the massage unit 10 (part 7) can be provided in the massage apparatus 1 described in Chapter 1.
  • 46 and 47 are views of the forearm B of the right arm of the user as seen in the direction from the elbow side to the fingertip side, as in FIG.
  • FIG. 48 is a view of the massage unit 10 (No. 7) viewed from the outside in the lateral width direction of the arm B.
  • movement of each part of the massage apparatus 1 demonstrated in this section is performed based on the control signal from the control unit 7 (refer FIG. 1) of this massage apparatus 1.
  • FIG. 1 is a modification of the massage unit 10 shown in FIG. 5, and the massage unit 10 (part 7) can be provided in the massage apparatus 1 described in Chapter 1.
  • 46 and 47 are views of the forearm B of the right arm of the user as seen in the direction from the elbow side to the fingertip side, as in FIG.
  • FIG. 48 is a view of the massage unit 10 (No. 7) viewed from the outside
  • the massage unit 10 has a frame 59, a first member 11 provided on the upper side of the arm B of the user, and a second member 12 provided on the lower side of the arm B.
  • the frame body 59 includes an upper frame 59a, a lower frame 59b, and a horizontal frame 59c that connects the upper frame 59a and the lower frame 59b.
  • the lower frame 59b is attached to the armrest part 4 of the massage apparatus 1 (refer FIG. 1).
  • the first member 11 is a (thick) plate-like member, and is supported on the upper frame 59a side so as to be movable in the vertical direction by a guide (not shown).
  • the second member 12 is a (thick) plate-like member, and is supported on the lower frame 59b side so as to be movable in the vertical direction by a guide (not shown).
  • a space S ⁇ b> 1 is formed between the first member 11 and the second member 12, and in this massage unit 10, one side of the space S ⁇ b> 1 with the first member 11 and the second member 12 being separated from each other. (Inner side in the width direction) is opened for taking in and out of the arm B. 46 and 47, the left side is the opening side, and the opposite side is the non-opening side. Moreover, since the 2nd member 12 is installed under the arm B, it becomes the structure which supports the arm B from the bottom.
  • the massage unit 10 of the present embodiment further includes a first drive unit 53 that moves the first member 11 in the vertical direction and a second drive unit 54 that moves the second member 12 in the vertical direction. Yes.
  • the first driving unit 53 includes a first driving air cell 53a and a first spring 53b interposed between the upper frame 59a and the first member 11.
  • the first driving air cell 53a expands when air is supplied, and pushes down the first member 11 against the upper frame 59a.
  • the first springs 53b are provided on both sides of the air cell 53a.
  • the first spring 53b is a tension spring, and has a function of pulling up the first member 11 when the air in the air cell 53a is exhausted.
  • the second driving unit 54 includes a second driving air cell 54a and a second spring 54b interposed between the lower frame 59b and the second member 12.
  • the second driving air cell 54a expands when air is supplied, and pushes up the second member 12 against the lower frame 59b.
  • the second springs 54b are provided on both sides of the air cell 54a.
  • the second spring 54b is a tension spring and has a function of pulling down the second member 12 when the air in the air cell 54a is exhausted.
  • At least one of the 1st member 11 and the 2nd member 12 is Any configuration that moves in the vertical direction by the drive unit 53 (54) may be used.
  • the second member 12 may be a fixed member.
  • the first member 11 has a pair of massage air cells 55 and 55. These air cells 55 and 55 can be expanded by supplying air, and can push a part (upper part) of the arm B. On the first member 11 side, since the air cells 55 and 55 are provided on both sides of a part (upper part) of the arm B, a part (upper part) of the arm B is formed by the expansion of the air cells 55 and 55. The operation of sandwiching from both sides can be performed.
  • the second member 12 has a pair of massage air cells 56 and 56. These air cells 56 and 56 can be expanded by supplying air, and can push a part (lower part) of the arm B. On the second member 12 side, air cells 56 and 56 are provided on both sides of a part (lower part) of the arm B. Therefore, when these air cells 56 and 56 expand, a part (lower part) of the arm B is The operation of sandwiching from both sides can be performed.
  • the first member 11 and the second member 12 are supplied.
  • the first member 11 and the second member 12 are separated from each other by the elastic force of the springs 53b and 54b.
  • the first drive is performed.
  • the air in the air cell 53a changes from the supply state to the exhaustable state
  • the first member 11 rises together with the air cells 55 and 55 by the force (restoring force) of the first spring 53b (see FIG. 47).
  • the air in the second driving air cell 54a is in an exhaustable state from the supply state. Then, the second member 12 moves down together with the air cells 56 and 56 by the force (restoring force) of the second spring 54b (see FIG. 47).
  • the arm B supported from below by the second member 12 is sandwiched between the pair of massage air cells 55 and 55 (and 56 and 56) from both sides.
  • the first member 11 and the second member 12 can be relatively separated along the vertical direction. As a result, the arm B can be squeezed and the massage experience is improved.
  • the first driving air cell 53a and the second driving air cell 54a are changed from the exhaust state to the air supply state, the first member 11 and the second member 12 approach each other, and further, a pair of massage cells are used.
  • the arm B sandwiched between the air cells 55 and 55 (and 56 and 56) from both sides the first driving air cell 53a and the second driving air cell 54a are made to be in an exhaustable state from the supply state, and this is repeated.
  • the massage can be repeated.
  • this massage unit 10 demonstrated the case where the arm B was pinched
  • the massage unit 10 shown in FIG.46 and FIG.47 is 90 degrees clockwise, for example.
  • the arrangement may be such that the first member 11 and the second member sandwich the arm B from both sides in the lateral width direction and perform the dragging along the lateral width direction.
  • the massage unit 10 that sandwiches the arm B from the upper and lower sides as in the embodiment shown in FIGS.
  • the massage air cells 56, 56 of the second member 12 may be omitted, but the arm B
  • both the massage air cells 55 and 55 of the first member 11 and the massage air cells 56 and 56 of the second member 12 are necessary. It is.
  • the massage unit 10 has one side (outside side) in the first direction (lateral width direction) with respect to the arm B of the user. ) Provided on the other side (inner side) of the first direction (lateral width direction) with respect to the arm B, and the first member 11 and the second member 12. It has a drive part 53 (54) that moves at least one of them in the first direction (lateral width direction).
  • the arm B can be inserted and removed from above between the first member 11 and the second member 12 in a state where the first member 11 and the second member 12 are separated from each other. it can.
  • the first member 11 includes a pair of first air cells 55 and 55 that perform an operation of sandwiching the arm B from both sides in the second direction (vertical direction) by expanding
  • the second member 12 includes , And a pair of second air cells 56 that perform an operation of sandwiching the arm B from both sides in the second direction (vertical direction) by expanding.
  • the drive part 53 (54) is the state which clamped the 1st member 11 and the 2nd member 12 in the state which pinched
  • the arm B is formed by the first air cells 55 and 55 and the second air cells 56 and 56 on both sides in the first direction (that is, the first member 11 side and the second member 12 side), respectively.
  • the state is sandwiched from both sides in the second direction (that is, the vertical direction). From this state, the first member 11 and the second member 12 are moved in the first direction (lateral width direction) by the drive unit 53 (54). By separating along, it becomes possible to bend the arm B and improve the feeling of massage.
  • FIG. 49 is a schematic configuration diagram of the displacement mechanism 99 of the massage unit 10 that grasps and squeezes the arm B of the user, and is a view when viewed from the outside in the lateral width direction of the arm B.
  • the displacement mechanism 99 shown in FIG. 49 includes a first actuator 91a provided on one side (elbow side) of the arm B in the massage unit 10 and the other side in the longitudinal direction of the arm B in the massage unit 10. And a second actuator 91b provided on the (fingertip side).
  • the actuators 91a and 91b of this embodiment are hydraulic cylinders. Therefore, the massage apparatus 1 further includes a hydraulic unit 92 that operates the actuators 91a and 91b.
  • the hydraulic unit 92 can extend the actuators 91a and 91b by supplying hydraulic oil to the actuators 91a and 91b, respectively, and can discharge the hydraulic oil to the hydraulic unit 92 side to cause the actuators 91a and 91b to move. Shorten.
  • the tip of the rod 92a of the first actuator 91a is connected to the elbow side portion (19a) of the massage unit 10 (outer cover 19 etc.) via a spherical joint 93a.
  • the spherical joint 93 a includes a spherical portion 93 a-1 provided at the tip of the rod 92 a and a spherical seat 93 a-2 attached to the massage unit 10.
  • the cylinder body of the first actuator 91 a is fixed to the frame of the massage device 1. And the 1st actuator 91a can displace a part (elbow side part) 19a of the massage unit 10 by expanding and contracting. As shown in FIGS.
  • a part (elbow side) of the massage unit 10 in the vertical direction (direction intersecting the longitudinal direction of the arm B) with respect to the arm B in a horizontal posture. ) 19a can be displaced in the vertical direction.
  • the tip of the rod 92b of the second actuator 91b is connected to the fingertip side portion (19b) of the massage unit 10 (outer cover 19 etc.) via a spherical joint 93b.
  • the spherical joint 93 b includes a spherical portion 93 b-1 provided at the tip of the rod 92 b and a spherical seat 93 b-2 attached to the massage unit 10.
  • the cylinder body of the second actuator 91b is fixed to the frame of the massage device 1. And the 2nd actuator 91b can displace a part (part on the fingertip side) 19b of the massage unit 10 by expanding and contracting. As shown in FIGS.
  • a part (fingertip side) of the massage unit 10 in the vertical direction (direction intersecting the longitudinal direction of the arm B) with respect to the arm B in a horizontal posture. ) 19b can be displaced in the vertical direction.
  • the massage unit 10 can be displaced in the vertical direction.
  • the massage unit 10 in a state where the arm B is sandwiched between the air cells 31 and 32 is moved to the arm B. It can be displaced (rotated) around the imaginary line L2 in the lateral direction perpendicular to the longitudinal direction.
  • the massage unit 10 in a state where the arm B is gripped by the air cells 31 and 32, It can be displaced (rotated) in the opposite direction around the virtual line L2.
  • movement can be repeated alternately and the massaging operation
  • FIG. 52 is a schematic configuration diagram of the displacement mechanism 99 of the massage unit 10 that grasps and squeezes the arm B of the user, and is a view when seen from the outside in the lateral width direction of the arm B. 52 is an actuator mechanism that displaces (rotates) the massage unit 10 around a virtual line (L3) parallel to a straight line (virtual line L2) in a direction intersecting (orthogonal) with the longitudinal direction of the arm B. 94.
  • a rack portion 94a is formed on a part of the massage unit 10 (outer cover 19).
  • the rack portion 94a is formed by forming a plurality of teeth along an arc centering on a rotation center line L3 of a pinion 94b to be described later that meshes with the rack portion 94a.
  • the rotation center line L3 is a straight line parallel to a straight line (virtual line L2) in a direction intersecting (orthogonal) with the longitudinal direction of the arm B.
  • the actuator mechanism 94 includes a pinion 94b that meshes with the rack portion 94a, and a motor 94c that rotates the pinion 94b. Based on a control signal from the control unit 7 (see FIG. 1) of the massage apparatus 1, the motor 94c can rotate forward and backward.
  • the pinion 94b is installed on the frame or the like of the massage device 1 so as to be rotatable around the rotation center line L3 in the width direction.
  • the massage unit 10 is supported by the flame
  • the massage unit 10 is virtually connected to the straight line (L2) by rotating the pinion 94b in one direction (in the direction of arrow R1 in FIG. 52) by the motor 94c. It can be displaced (rotated) around a line (the rotation center line L3) (see FIG. 53). Then, by rotating the pinion 94b in the other direction (in the direction of arrow R2 in FIG. 53) from the state shown in FIG. 53, the massage unit 10 is displaced in the opposite direction around the virtual line (the rotation center line L3) ( (See FIG. 54). This operation can be repeated alternately. Thereby, in a state where the massage unit 10 holds the arm B, a massage operation of turning (twisting) the arm B around the straight line (virtual line L2) becomes possible.
  • FIG.55 and FIG.56 is a schematic block diagram of the displacement mechanism 99 of the massage unit 10, and it is the figure which looked at the forearm B of a user's right arm along the direction which goes to a fingertip side from an elbow side.
  • FIG. 57 is an explanatory diagram when the massage unit 10 and the displacement mechanism 99 are viewed from the outside in the lateral width direction of the arm B.
  • the support part 96 has a configuration having a spherical joint. That is, the support portion 96 is provided on the first spherical seat 96a fixed to the frame or the like of the massage device 1 and a part on the opening side of the massage unit 10 (the lower portion on the opening side of the outer cover 19). Two spherical seats 96b, and a shaft 96c interposed between the spherical seats 96a and 96b.
  • the shaft 96c has spherical portions 96d and 96e in sliding contact with the spherical seats 96a and 96b at both ends, and the shaft 96c is around the center of the first spherical portion 96d held by the first spherical seat 96a. It can be displaced by 360 °, and can be displaced by 360 ° around the center of the second spherical portion 96e held by the second spherical seat 96b.
  • the displacement mechanism 99 includes an actuator mechanism 97 that is connected to the other part of the massage unit 10 that grips and squeezes the arm B (the part on the non-opening side of the outer cover 19).
  • the actuator mechanism 97 can displace the massage unit 10 in the vertical direction intersecting the longitudinal direction of the arm B with the support portion 96 side as a fulcrum.
  • the actuator mechanism 97 includes an eccentric cam 97a that rotates about a rotation center line L6 parallel to the longitudinal direction of the arm B, and the eccentric cam 97a and the other part of the massage unit 10 (the outer cover 19). And a non-opening side portion).
  • the eccentric cam 97a is rotated by a motor (not shown).
  • the actuator mechanism 97 of the present embodiment includes the other portions (portions on the non-opening side of the outer cover 19) at two locations apart in the longitudinal direction of the arm B in the massage unit 10. It is connected with. That is, the first actuator mechanism 97-1 is connected to the elbow side portion 19 a of the massage unit 10, and the second actuator mechanism 97-2 is connected to the fingertip side portion 19 b of the massage unit 10. Yes.
  • the eccentric cam 97a-1 of the first actuator mechanism 97-1 on one side and the eccentric cam 97a-2 of the second actuator mechanism 97-2 on the other side are the cams 97a-1, 97a. -2 are attached to a common rotary shaft 98 with the same phase in the rotational direction.
  • the rotating shaft 98 is rotated around the rotation center line L6 by a motor (not shown).
  • the rotation shaft 98 rotates, so that the eccentric cam 97a-1 on one side and the eccentric cam 97a-2 on the other side can rotate at the same phase at the same time.
  • the massage unit 10 can be displaced in the vertical direction with the support portion 96 side as a fulcrum.
  • the massage unit 10 can be reciprocated (reciprocally rotated) around the virtual line L4 parallel to the longitudinal direction of the arm B that is gripped and squeezed by the massage unit 10.
  • the massage unit 10 can be displaced in the vertical direction with the support portion 96 side as a fulcrum, and the displacement phase of the massage unit 10 is changed. It can be made different in each of the two places (19a, 19b) (see FIGS. 58 and 59). As a result, a component that causes the massage unit 10 to reciprocate (reciprocally rotate) around the virtual line L5 orthogonal to the longitudinal direction of the arm B can also be generated.
  • the eccentric cams 97a-1 and 97a-2 may be eccentric inclined cams. That is, one eccentric cam 97a-1 has a surface 97c that is inclined with respect to the rotation center line L6 of the eccentric cam 97a-1. The inclined surface 97c is provided so as to be able to contact the arm 97b.
  • the other eccentric cam 97a-2 has the same configuration. As a result, when the eccentric cam 97a-1 (97a-2) rotates, the arm 97b can swing with a component in the longitudinal direction of the arm B (see FIGS. 60 and 61). The massage unit 10 is swung with a component in the longitudinal direction of the arm B.
  • the massage unit 10 can be displaced in the vertical direction with the support portion 96 side as a fulcrum, and the massage unit 10 can be Swing with a component in the longitudinal direction of B.
  • the massage unit 10 can be generated by reciprocates (reciprocates) the massage unit 10 around the imaginary line L5 orthogonal to the longitudinal direction while shaking the arm B back and forth.
  • ⁇ Section 16> [About the arrangement of the massage unit 10]
  • the massage unit 10 is massaging operation
  • the user's upper arm, shoulder, waist, and the like may be targeted.
  • the massage unit 10 may be provided on the seat 2, the backrest 3, or the like.
  • ⁇ Section 17> The body part (arm, leg, etc.) of the user can be grasped by the massage unit 10 of each form described in the second chapter. And the massage apparatus carrying each massage unit 10 demonstrated in this Chapter 2 can perform the massage including the operation
  • the gripping mechanism 30 of each form described in Chapter 2 is part of the function of the mechanism unit 103 described in the next Chapter 3 (for example, the function of moving the first treatment member 121A and the second treatment member 121B).
  • Each mechanism described in Chapter 2 can be applied in place of the mechanism disclosed in Sections 1, 2, 3, and 4 of Chapter 3.
  • the massage device (one embodiment) 1 of the present invention includes a treatment unit 101 that performs grasping and squeezing on the body part 100, and a state where gripping and squeezing is performed by the treatment unit 101. And a mechanism unit 103 that rotates the treatment unit 101 around the rotation center 102 along the direction of the muscle fibers of the body part 100 that is present.
  • the treatment unit 101 rotates around the rotation center 102 along the direction of the muscle fibers of the body part 100 where the grasping is performed, so that a massage in which the rotation is added to the grasping is obtained. A feeling of massage improves.
  • the direction along the direction of the muscle fiber of the body part 100 is, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the left-right direction of the shoulder (the range from the neck to the shoulder joint, and so on), and the longitudinal direction of the neck. including.
  • the treatment unit 101 that grips and rubs the arm, leg, or neck for example, the treatment unit 101 rotates around the circumferential direction of the arm, leg, or neck.
  • the treatment unit 101 In the case of the treatment unit 101 that performs grasping and squeezing on the shoulder, the treatment unit 101 rotates, for example, around a rotation center in the left-right direction passing near the shoulder.
  • the mechanism part 103 does not need to rotate the whole treatment part 101, and what rotates at least one part of the treatment part 101 is sufficient.
  • the mechanism unit 103 rotates at least one of the pair of pressing members 101a and 101b.
  • the rotation does not need to be a motion that draws a trajectory along a perfect circle, but a motion that draws a trajectory along an ellipse or other deformed circle is sufficient.
  • the motion trajectory of the treatment unit 101 is not a trajectory along a perfect circle, it is possible to imagine that the center of rotation exists near the center of the perfect circle when assuming a perfect circle that approximates the motion trajectory of the treatment unit 101. Anything is enough.
  • the pulling operation (and the pressing operation) of the gripping mechanism 30 in the massage unit 10 described in Chapter 2 Section 1 can be regarded as the rotation of the treatment unit 101 in Chapter 3.
  • the treatment unit 101 includes a pair of pressing members 101a and 101b for grasping and gripping the body part 100, and the mechanism unit 103 changes the relative positional relationship between the pair of pressing members 101a and 101b.
  • the mechanism unit 103 changes the relative positional relationship between the pair of pressing members 101a and 101b.
  • at least one of the pair of pressing members 101a and 101b is configured to rotate around the rotation center.
  • the mechanism 103 is preferably configured to rotate the pair of pressing members 101a and 101b in opposite directions.
  • the relative positional relationship between the pair of pressing members 101a and 101b can be changed by reverse rotation of the pair of pressing members 101a and 101b.
  • the relative positional relationship may be changed by rotating only one of the pair of pressing members 101a and 101b.
  • the relative positional relationship may be changed by changing the moving speeds of the pair of pressing members 101a and 101b.
  • the treatment unit 101 includes a treatment member 121 provided so as to grasp and squeeze the upper arm 100a, and the mechanism unit 103 is in a state where the treatment member 121 is grasped and squeezed by the upper arm 100a.
  • the treatment member 121 is preferably configured to rotate around the center of rotation along the direction of the muscle fibers in 100a. Rotation of the upper arm treatment member 121 applies to the upper arm a massage in which rotation is added to gripping.
  • the massage device 1 includes a backrest part 3 and a side wall part 3A that protrudes forward from the side part of the backrest part 3, and the mechanism part 103 is around the center of rotation along the direction of muscle fibers in the upper arm 100a. It is preferable that the upper arm mechanism portion 103a includes at least a part of the upper arm mechanism portion 103a in the side wall portion 3A.
  • the side wall portion 3A provided on the backrest portion 3 can accommodate at least a part of the upper arm mechanism portion 103a, which is advantageous for securing an arrangement space for the upper arm mechanism portion 103a.
  • the treatment unit 101 includes a pair of pressing members 101a and 101b that grip and squeeze the upper arm, and the mechanism unit 103 includes at least one of the pair of pressing members 101a and 101b on the rear side (back side) of the upper arm 100a.
  • At least one of the pair of pressing members 101a and 101b is moved to the front from 100a-1 (toward the front side 100-2 of the upper arm 100a) with the center of rotation along the direction of the muscle fibers in the upper arm 100a. It is preferably configured to rotate about 102.
  • the pressing member 101a (101b) disposed on the rear side 100a-1 of the upper arm 100a can be moved forward.
  • the pair of pressing members 101a and 101b includes a first pressing member 101a that presses the upper arm 100a from the body 100b side, and a second pressing member 101b that faces the first pressing member.
  • the pair of pressing members 101a and 101b are preferably configured to rotate in opposite directions.
  • the treatment unit 101 includes a first pressing member 101a that presses the upper arm 100a and a second pressing member 101b that faces the first pressing member 101a.
  • the mechanism unit 103 includes the first pressing member 101a and the first pressing member 101a.
  • Each of the two pressing members 101b is configured to rotate around the rotation center 102 along the direction of the muscle fibers in the upper arm 100a, and the rotationally movable range 105b of the second pressing member 101b is the front side 100a-2 of the upper arm 100a and It is preferable to include the range of the outer side 100a-3 from the front side 100a-2 of the upper arm 100a and to be larger than the rotationally movable range 105a of the front pressing member 101a.
  • the second pressing member 101b can move greatly in the vicinity of the front side 100a-2 and the outer side 100a-3 of the upper arm 100a.
  • the treatment unit 101 includes a first pressing member 101a that presses the upper arm 100a and a second pressing member 101b that faces the first pressing member 101a.
  • the mechanism unit 103 includes the first pressing member 101a and the first pressing member 101a.
  • Each of the two pressing members 101b is configured to rotate around the rotation center 102 along the direction of the muscle fibers in the upper arm 100a, and the rotationally movable range 105a of the first pressing member 101a includes the rear side 100a-1 of the upper arm 100a and It is preferable to include the inner side 100a-4 from the rear side 100a-1 of the upper arm 100a and to be larger than the rotationally movable range 105b of the second pressing member 101b. In this case, the first pressing member 101a can move greatly in the vicinity of the rear side 100a-1 and the inner side 100a-4 of the upper arm 100a.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes the body part 100, and the mechanism unit 103 grasps the first treatment member 121A and the second treatment member 121B. It is preferable that at least one of the first treatment member 121 ⁇ / b> A and the second treatment member 121 ⁇ / b> B is rotated around the rotation center 102 in a state where the stagnation is performed. In this case, the body part can be rotated by at least one of the plurality of treatment members 121A and 121B.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes the body part 100, and the mechanism unit 103 grasps by the first treatment member 121A and the second treatment member 121B. It is preferable that the first treatment member 121A and the second treatment member 121B are configured to rotate in directions opposite to each other in a state where the stagnation is performed. In this case, the body parts 100c and 100d can be twisted in the opposite direction.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the mechanism unit 103 is in a state where the first treatment member 121A is gripped and squeezed.
  • the direction of the muscle fiber The second treatment member 121B is rotated around the second rotation center 102B along the first rotation center 102B, and the first rotation center 102A and the second rotation center 102B are preferably located at different positions. In this case, the rotation of the first treatment member 121A and the rotation of the second treatment member 121B become different trajectories, and a different rotation feeling can be given to each body part.
  • the mechanism unit 103 is configured to rotate the first treatment member 121A and the second treatment member 121B in directions opposite to each other in a state where the first treatment member 121A and the second treatment member 121B are gripped. It is preferable.
  • the mechanism portion 103 is configured to rotate the first treatment member 121A and the second treatment member 121B in the same direction in a state in which the first treatment member 121A and the second treatment member 121B are gripped. It is preferable.
  • the treatment unit 101 includes a first treatment member 121A, a second treatment member 121B, and a third treatment member 121C, each of which grips and squeezes a body part, and the first treatment member 12A is a first range of the body.
  • the second treatment member 121B is different from the first ranges 100a and 100e through at least one joint between the first range 100a and 100e.
  • the third treatment member 121C is provided via the at least one other joint between the second range 100d and 100f. Grabbing the third range 100c, 100g of the body, which is different from the first range 100a, 100e and the second range 100d, 100f Preferably provided to perform themselves.
  • the first range is the upper arm 100a
  • the second range is the forearm 100d
  • the third range 100c is the hand (the range before the wrist and includes the palm and fingers, and so on).
  • the first range may be a shoulder
  • the second range may be an upper arm
  • the third range may be a forearm.
  • the first range may be a shoulder
  • the second range may be an upper arm
  • the third range may be a hand.
  • the first range may be the thigh 100e
  • the second range may be the lower leg 100f
  • the third range may be the foot 100g (refers to the range ahead of the ankle, and so on).
  • the first range may be the buttocks
  • the second range may be the thigh
  • the third range may be the lower leg.
  • Three or more treatment members may be included in the treatment unit 101.
  • the mechanism unit 103 performs the grasping and squeezing in a state where the squeezing is performed by two or more treatment members among the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. It is preferable that at least one of the two or more treatment members is configured to rotate around the rotation center 102.
  • the rotation direction of each of the two or more treatment members may be the same direction or may be opposite directions.
  • the treatment unit 101 includes a first member 121B that performs grasping and squeezing on the wrist or ankle, and a second member 121C that abuts on a portion closer to the distal end side of the body than the first member 121B. It is preferable to rotate the second member 121C around the center of rotation along the direction of the muscle fiber of the wrist or ankle in a state where the first member is gripped against the wrist or ankle. For example, the hand can be turned in a state where the wrist is fixed by gripping the wrist. It is possible to turn the foot while the ankle is fixed by gripping the ankle.
  • FIG. 62 shows an example of the massage unit 10.
  • This massage unit 10 is provided in the 1st holding part 5a of footrest 5, for example, and massages body part 100 of a user.
  • the body part 100 is, for example, the lower leg (scalpel).
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the lower leg 100 are oriented in the longitudinal direction of the lower leg 100.
  • the massage unit 10 in FIG. 62 has an opening upward (Y direction).
  • the upper opening of the first holding part 5a in FIG. 62 corresponds to the front opening of the first holding part 5a in FIG.
  • the massage unit 10 in FIG. 62 may be provided on the armrest 4 to perform massage (grasping) of the forearm of the user.
  • the upper opening of the first holding portion 5a in FIG. 62 corresponds to the side opening of the first holding portion 5a in FIG.
  • the first holding unit 5a in FIG. 62 can be installed in the massage device 10 at an appropriate position and orientation according to the part of the user.
  • the massage unit 10 of FIG. 62 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the upper arm, thigh, shoulder, and other body parts.
  • the massage unit 10 in FIG. 62 includes a treatment unit 101 that performs massage on the body part 100.
  • the treatment unit 101 applies a massage including gripping to the body part 100.
  • the treatment part 101 has a pair of pressing members 101a and 101b.
  • the pair of pressing members 101a and 101b are arranged to face each other so as to have a space in which the body part 100 to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the air cells 101a and 101b are supplied and exhausted by an air circuit (not shown).
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the pair of inflated air cells 101a and 101b press the body part from both sides (see FIG. 66). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the treatment unit 101 performs grasping and squeezing with respect to the body part 100 from the direction intersecting the direction of muscle fibers (for example, the longitudinal direction of the lower leg) in the body part (for example, lower leg) 100.
  • the direction of the muscle fibers of the lower leg 100 (the longitudinal direction of the lower leg) is the Z direction in FIG.
  • the gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
  • the massage unit 10 in FIG. 62 further includes a mechanism unit 103 that moves the treatment unit 101.
  • the mechanism 103 includes a first support member 113a to which one of the pair of air cells 101a and 101b (first air cell) 101a is attached and a second support member 113b to which the other air cell (second air cell) 101b is attached. And.
  • the 1st support member 113a and the 2nd support member 113b are comprised by the plate-shaped member curved in circular arc shape.
  • the first support member 113a and the second support member 113b are supported by the first holding unit 5a by a guide (not shown) so as to be movable on a locus along an arc centered on the rotation center 102.
  • the first support member 113a and the second support member 113b are curved along an arc that is a movement locus thereof.
  • the end of the first air cell 101a is attached to the front side of the first support member 113a (upper side in FIG. 62) by a fixture 115a.
  • the end of the second air cell 101b is attached to the front side of the second support member 113b by a fixing portion 115b.
  • the mechanism unit 103 includes two first racks 114a provided on the curved back surface (the lower side of FIG. 62) of the first support member 113a and the curved back surface of the second support member 113b. And two second racks 114b provided on the rack.
  • the two first racks 114a are provided such that their longitudinal directions extend along the longitudinal direction of the first support member 113a (the X direction in FIG. 63).
  • the plurality of first racks 114a are provided side by side in the width direction (Z direction in FIG. 63) of the first support member 113a.
  • the plurality of second racks 114a are provided such that their longitudinal directions extend along the longitudinal direction of the second support member 113b.
  • the plurality of second racks 114b are provided side by side in the width direction of the second support member 113b.
  • the first support member 113a has a comb structure at an end portion adjacent to the second support member 113b.
  • the comb-tooth structure of the first support member 113a has three convex portions 117a and three concave portions 116a.
  • the second support member 113b has a comb-tooth structure that fits into the first support member 113a comb-tooth structure at an end portion on the side adjacent to the first support member 113a.
  • the comb-tooth structure of the second support member 113b has three convex portions 117b and three concave portions 116b.
  • the two first racks 114a extend to the range of the convex portion 117a of the first support member 113a.
  • the two second racks 114b also extend to the range of the convex portion 117b of the second support member 113b.
  • FIG. 63 when the comb-tooth structures of the first support member 113a and the second support member 113b are fitted to each other, the first rack 114a and the second rack 114b partially overlap in the longitudinal direction. Is located.
  • the mechanism portion 103 further includes a first pinion 111a that meshes with the two first racks 114a, and a plurality of second pinions 111b that mesh with the two second racks 114b.
  • Each of the first pinion 111a and the second pinion 111b has rotating shafts 112a and 112b that are rotationally driven by a driving unit (motor) (not shown).
  • the rotationally driven first pinion 111a rotates the first support member 113a around the rotation center 102 via the first rack 114a.
  • the second pinion 111b that is driven to rotate rotates the second support member 113b around the center of rotation 102 via the second rack 114b.
  • the air cells 101a and 101b rotate around the rotation center 102 as the support members 113a and 113b rotate.
  • the rotation center 102 has a direction along the direction of the muscle fibers of the lower leg (longitudinal direction of the lower leg).
  • the air cells 101 a and 101 b rotating around the rotation center 102 move along the circumferential direction of the body part 100.
  • the air cells 101a and 101b can rotate forward and backward around the rotation center 102 by forward and reverse rotation of a driving unit (not shown).
  • the air cells 101a and 101b rotate around a common rotation center 102, but may rotate around different rotation centers.
  • the air cells 101a and 101b rotate around different rotation centers by increasing or decreasing the degree of curvature of the first support member 113a and the second support member 113b.
  • the mechanism unit 103 is not limited to the one having the racks 114a and 114b and the pinions 111a and 111b, and it is sufficient that the mechanism unit 103 is configured to rotate the air cells 101a and 101b around the body part.
  • Both pinions 111a and 111b may be driven by a common driving unit, or may be independently driven by different driving units.
  • the mechanism unit 103 in which both pinions 111a and 111b are driven by a common drive unit may be configured to rotate the air cells 101a and 101b in the opposite directions, or the air cells 101a and 101b in the same direction. You may be comprised so that it may rotate in conjunction.
  • the mechanism unit 103 in which both the pinions 111a and 111b are independently driven by different driving units rotates the air cells 101a and 101b in opposite directions, and rotates the air cells 101a and 101b in the same direction. It can be rotated or only one of the air cells can be rotated.
  • the relative positional relationship between the air cells 101a and 101b changes.
  • the relative positional relationship between the air cells 101a and 101b does not change. Even if the air cells 101a and 101b are rotated in the same direction, if the moving speeds of the air cells 101a and 101b are different, the relative positional relationship between the air cells 101a and 101b changes. Even when only one air cell is rotated, the relative positional relationship between the air cells 101a and 101b changes.
  • the distance between the air cells 101a and 101b is large, and it is easy to insert the body part 100 between the air cells 101a and 101b from above.
  • the air cells 101a and 101b at the positions shown in FIG. 62 expand to expand the lower side of the body part 100 (the rear side 100-1 of the lower leg) relative to the right side 100-3 and the left side 100-4 of the body part (lower leg) 100. ) Can be massaged (see FIG. 66).
  • FIG. 64 and 65 show a state where the air cells 101a and 101b are rotated in opposite directions.
  • the air cells 101 a and 101 b move upward (Y direction) in FIG. 64 along the circumferential direction of the body part 100 by rotation around the rotation center 102.
  • FIG. 65 the comb-tooth structure of both the support members 113a and 113b is in a state of being separated from each other.
  • the air cells 101a and 101b at the positions shown in FIG. 64 are expanded to be located above the right side 100-3 and left side 100-4 of the body part (lower leg) 100 and above the body part 100 (front side 100-2 of the lower leg).
  • the range can be massaged (see FIG. 67).
  • the rotation of the air cells 101a and 101b may be performed with the air cells 101a and 101b contracted (the state shown in FIGS. 62 and 64), or the air cells 101a and 101b expanded (the state shown in FIGS. 66 and 67). It may be done in. In a state where the air cells 101a and 101b are inflated and the body part 100 is gripped, the air cells 101a and 101b rotate around the rotation center 102 to obtain a massage in which rotation is added to the grip.
  • the surface (skin) of the body part 100 where the gripping is performed is the air cell. It can rotate with 101a and 101b, and the massage which gives the feeling of a tension
  • the air cells 101a and 101b are rotated in a state where the expansion amount of the air cells 101a and 101b is relatively large and gripping is relatively strong, the muscles of the body part 100 where the gripping is performed rotate together with the air cells 101a and 101b. It is possible to perform massage such as loosening the muscle fibers by applying a stimulus in a direction crossing the muscle fibers or twisting the body part 100 in the rotation direction.
  • the rotation of the air cells 101a and 101b may be performed while keeping the expansion amount of the air cells 101a and 101b constant, or may be performed while changing the expansion amount.
  • the body part 100 can be grasped and squeezed from the lower left side and the upper right side by rotating the right air cell 101b as shown in FIG. 67 without rotating the left air cell 101a.
  • the body part 100 can be grasped and squeezed from the lower right side and the upper left side by rotating the left air cell 101a as shown in FIG. 67 without rotating the right air cell 101b.
  • FIG. 64 when the air cells 101a and 101b are rotated while the air cells 101a and 101b are contracted, the positions of the air cells 101a and 101b are changed while the pressure on the body part 100 is released. Can do.
  • FIG. 68 shows an example of the massage unit 10.
  • the massage unit 10 shown in FIG. 68 has the same configuration as that of the massage unit 10 shown in FIGS. 62 to 67 in the points not described below.
  • the massage unit 10 shown in FIG. 68 is provided on side wall portions (side panels) 3A provided on the left and right sides of the backrest portion 3, and massages the user's upper arm 100a including gripping.
  • the muscle fibers of the upper arm 100a are oriented in the longitudinal direction of the upper arm.
  • the massage unit 10 of FIG. 68 shows the side wall 3A provided on the right side of the backrest 3 and the massage unit 10 provided therein.
  • the massage unit 10 is also provided on the side wall 3 ⁇ / b> A provided on the left side of the backrest 3.
  • the massage unit 10 on the left side of the backrest 3 is provided symmetrically with the massage unit 10 shown in FIG.
  • the massage unit 10 of FIG. 68 can be installed at another position of the massage apparatus 10.
  • the massage unit 10 of FIG. 68 may be provided in the armrest part 4, the first holding part 5 a or the second holding part 5 b of the footrest 5.
  • the massage unit 10 of FIG. 68 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the shoulder.
  • the massage unit 10 in FIG. 68 includes a treatment member 121 provided as a treatment unit 101 so as to grasp and rub the upper arm 100a.
  • the upper arm treatment member 121 includes a pair of pressing members (air cells) 101a and 101b. When the air cells 101a and 101b are inflated, the upper arm 100a can be pressed from both sides and grasped and squeezed.
  • the upper arm treatment member 121 grips and rubs the upper arm 100a from the direction intersecting the direction of the muscle fibers in the upper arm 100a (longitudinal direction of the upper arm).
  • the muscle fiber direction of the upper arm 100a (the longitudinal direction of the upper arm) is the Z direction in FIG.
  • the massage unit 10 in FIG. 68 further includes a mechanism 103 (upper arm mechanism 103a) that moves the treatment member 121.
  • Most of the mechanism part 103 is provided in the side wall part 3 ⁇ / b> A, and the remaining part is arranged in the backrest part 3.
  • a space necessary for disposing the mechanism portion 103 in the backrest portion 3 can be reduced. Thereby, it can prevent that the massage unit 10 for massaging the upper arm 100a interferes with the massage unit 90 provided in order to massage the back in the backrest part 3.
  • the longitudinal direction of the second support member 113b and the second rack 114b is larger than the longitudinal direction of the first support member 113a and the first rack 114a.
  • the rotational movement possible range 105b of the second air cell 101b provided on the second support member 113b and the second support member 113b is the same as that of the first air cell 101a provided on the first support member 113a and the first support member 113a. It is larger than the rotationally movable range 105a.
  • the rotationally movable range 105a of the first air cell 101a includes a range from the rear side 100a-1 of the upper arm 100a and from the inner side 100a-4 to the rear side 100a-1.
  • the first air cell 101a can press the position of the upper arm 100a corresponding to the rotationally movable range 105a.
  • the rotationally movable range 105b of the second air cell 101b includes the front side 100a-2 of the upper arm 100a, the range from the outer side 100a-3 to the front side 100a-2, and the range from the inner side 100a-4 to the front side 100a-2. .
  • the second air cell 101b can press the position of the upper arm 100a corresponding to the rotationally movable range 105b.
  • the rotationally movable ranges 105a and 105b in FIG. 68 are merely examples, and their positions and lengths can be set as appropriate.
  • the diameter of the second pinion 111b is larger than the diameter of the first pinion 111a. Therefore, when both pinions 111a and 111b are rotated at the same rotational speed, the second support member 113b and the second air cell 101b can rotate faster. When the rotation amounts of both pinions 111a and 111b are the same, the second support member 113b and the second air cell 101b can rotate more.
  • 68 does not have a comb-tooth structure like the mechanism section 103 in FIG. 62, it may have a comb-tooth structure.
  • the first support member 113a is disposed on the rear side 100a-1 of the upper arm 100a
  • the second support member 113b is disposed on the outer side 100a-3 of the upper arm 100a.
  • the outer side 100a-3 of the upper arm 100a refers to the opposite side of the inner side 100a-4 (the body 100b side) of the upper arm 100a.
  • the first air cell 101a supported by the first support member 113a when inflated, it can press the range of the rear side 100a-1 of the upper arm, and the second air cell supported by the second support member 113b.
  • 101b can press the range of the outer side 100a-3 of the front side 100a-2 of the upper arm 100a.
  • the air cells 101a and 101b rotate around the rotation center 102 as the support members 113a and 113b rotate.
  • the rotation center 102 has a direction along the direction of the muscle fibers of the upper arm 100a (longitudinal direction of the upper arm).
  • the air cells 101a and 101b rotating around the rotation center 102 move along the circumferential direction of the upper arm 100a.
  • FIG. 69 shows a state in which the first air cell 101a does not rotate and the second air cell 101b rotates counterclockwise.
  • the air cells 101a and 101b can press the upper arm 100a from the front and rear (see FIG. 71).
  • the air cell 101b can be moved near the inner side 100a-4 of the upper arm 100a by the mechanism 103 provided on the side wall 3A.
  • the body 100b exists on the inner side 100a-4 of the upper arm 100a. Therefore, if a member that supports a pressing member (for example, an air cell) that presses the upper arm 100a from the inner side 100a-4 side is fixedly placed near the armpit of the user (between the body 100b and the upper arm 100a), The therapist has difficulty maintaining a relaxed posture. On the other hand, by moving the air cell 101b from the position from the outer side 100a-3 of the upper arm to the position from the inner side 100a-4, there is little influence on the user.
  • a pressing member for example, an air cell
  • FIG. 70 shows a state where the air cells 101a and 101b at the position of FIG. 68 are expanded.
  • the air cells 101a and 101b move to the positions shown in FIG. 71 by rotating counterclockwise. And you can get a massage that adds rotation to gripping.
  • the air cell 101b rotates as shown in FIG. 71
  • the air cell 101a is also rotated clockwise so that the air cell 101a, 101b can grasp and squeeze the range from the inner side 100a-4 of the upper arm 100a from the front and rear.
  • the air cell 101a is also rotated counterclockwise, so that the upper arm 100a can be pressed from the left front side and the right rear side.
  • FIG. 72 shows an example of the massage unit 10.
  • the massage unit 10 shown in FIG. 72 has the same configuration as that of the massage unit 10 shown in FIGS. 68 to 71 in the points not described below.
  • the massage unit 10 shown in FIG. 72 is also for the upper arm.
  • the mechanism unit 103 (103a) of the massage unit 10 in FIG. 72 includes a first support member 113a and a second support member 113b.
  • the longitudinal direction of the first support member 113a and the first rack 114a is larger than the longitudinal direction of the second support member 113b and the second rack 114b, contrary to the mechanism portion 103 of FIG. .
  • the rotational movement possible range 105a of the first air cell 101a provided on the first support member 113a and the first support member 113a is the same as that of the second air cell 101b provided on the second support member 113b and the second support member 113b. It is larger than the rotationally movable range 105b.
  • the rotationally movable range 105a of the first air cell 101a includes a range from the rear side 100a-1 and the inner side 100a-4 of the upper arm 100a and from the front side 100a-2 to the inner side 100a-4.
  • the first air cell 101a can press the position of the upper arm 100a corresponding to the rotationally movable range 105a.
  • the rotationally movable range 105b of the second air cell 101b includes a range from the front side 100a-2 of the upper arm 100a and a range from the outer side 100a-3 to the front side 100a-2.
  • the second air cell 101b can press the position of the upper arm 100a corresponding to the rotationally movable range 105b.
  • the rotationally movable ranges 105a and 105b in FIG. 68 are merely examples, and their positions and lengths can be set as appropriate.
  • the diameter of the first pinion 111a is larger than the diameter of the second pinion 111b.
  • FIG. 73 shows a state where the second air cell 101b does not rotate and the first air cell 101a rotates clockwise.
  • the first air cell 101a rotates clockwise, it can move from the rear side 100a-1 of the upper arm 100a to the inner side 100a-4 of the upper arm 100a (the position under the arm of the user).
  • the air cells 101a and 101b in the positions shown in FIG. 73 can press the front side of the upper arm 100a from the left and right by expanding (see FIG. 75).
  • FIG. 74 shows a state where the air cells 101a and 101b at the position of FIG. 72 are expanded.
  • the air cell 101a rotates clockwise so that the air cell 101a moves to the position shown in FIG. A massage with rotation added to itching is obtained.
  • the air cell 101b may be rotated counterclockwise or clockwise.
  • FIG. 76 shows an example of the direction (rotation center) 102 (102a to 102h) of muscle fibers and the rotation directions 130a to 130g of the treatment portion 101 in a body part suitable for providing the massage unit 10 shown in FIGS. Show.
  • the rotation direction 130a of the treatment unit 101 is around the rotation center 102a along the direction of the muscle fiber of the shoulder (left-right direction).
  • the rotation directions 130b, 130c, 130d, 130e, 130f, 130g, and 130h of the treatment portion 101 are the corresponding rotation centers 102b to 102h.
  • the massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, a forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the forearm 100d are oriented in the longitudinal direction of the forearm 100d (Z direction in FIG. 77).
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the forearm 100d.
  • the treatment unit 101 includes a first treatment member 121A for massaging (grabbing and grasping) a portion of the forearm 100d from the wrist side, and a second treatment member 121B for massaging (grabbing and grasping) the portion of the forearm 100d from the elbow side.
  • the number of treatment members 121A and 121B provided in the armrest portion 4 may be three or more.
  • the treatment members 121A and 121B shown in FIGS. 77 and 78 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.
  • the first treatment member 121A has a pair of pressing members 101a and 101b.
  • the pair of pressing members 101a and 101b are opposed to each other so as to have a space in which the body part 100 (forearm 100d) to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the air cells 101a and 101b are supplied and exhausted by an air circuit (not shown).
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the pair of expanded air cells 101a and 101b press from both sides of the forearm 100d (see FIG. 79). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the first treatment member 121A grips and forges the forearm 100d from the direction (Y direction in FIG. 77) intersecting the direction of the muscle fibers in the forearm 100d (longitudinal direction of the forearm 100d; Z direction in FIG. 77).
  • the gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 (the forearm 100d) positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
  • the 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
  • the mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
  • the support member 113 is formed in a ring shape. On the inner peripheral surface of the support member 113, a pair of air cells 101a and 101b are arranged to face each other.
  • the user can insert the forearm 100 d into the support member 113 from one of the openings on both sides in the longitudinal direction of the support member 113.
  • the forearm 100d inserted into the support member 113 is positioned between the pair of air cells 101a and 101b.
  • the support member 113 is supported so as to be rotatable around the rotation center 102 by a guide (not shown).
  • Each of the first mechanism portion 103 ⁇ / b> A and the second mechanism portion 103 ⁇ / b> B further includes two racks 114 formed over the entire circumference on the outer peripheral side of the support member 113 and a pinion 111 that meshes with the rack 114.
  • the pinion 111 includes a rotating shaft 112, and the pinion 111 rotates when the rotating shaft 112 is rotationally driven by the drive unit 154.
  • the support member 113 rotates around the rotation center 102 by the rotation of the pinion 111.
  • the air cells 101a and 101b rotate around the rotation center 102 as the support member 113 rotates.
  • the rotation center 102 has a direction along the direction of the muscle fibers of the forearm 100d (longitudinal direction of the forearm).
  • FIG. 80 shows a state where the air cells 101a and 101b are rotated 90 ° clockwise from the position shown in FIG.
  • the air cells 101a and 101b are at the position of FIG. 79, the forearm 100d is pressed from the Y direction, whereas when the air cells 101a and 101b are at the position of FIG. 80, the forearm 100d is pressed from the X direction.
  • the air cells 101 a and 101 b can rotate forward and backward around the rotation center 102 by forward and reverse rotation of the drive unit 154.
  • the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B are driven to rotate by separate drive units 154, they can be independently rotated.
  • the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B may be rotationally driven by a common drive unit.
  • the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B rotate around a common rotation center 102, but the positions of the rotation centers 102A and 102B are different. May be.
  • the positions of the rotation centers 101A and 102B can be different in at least one of the X direction and the Y direction in FIG.
  • the mechanism unit 103 is not limited to the one having the rack 114 and the pinion 111, and it is sufficient that the mechanism unit 103 is configured to rotate the air cells 101a and 101b around the body part.
  • FIG. 81 shows a state where the first treatment member 121A (air cells 101a and 101b) and the second treatment member 121B (air cells 101a and 101b) are rotated in opposite directions while holding the forearm 100d.
  • the air cells 101a and 101b of the first treatment member 121A rotate clockwise
  • the air cells 101a and 101b of the second treatment member 121B rotate counterclockwise.
  • One of the first treatment member 121A and the second treatment member 121B may be rotated without rotating the other. Also in this case, the forearm 100d can be twisted.
  • the first treatment member 121A and the second treatment member 121B may be arranged such that a joint (for example, a wrist joint) of the user is positioned between the plurality of treatment members 121A and 121B.
  • a joint for example, a wrist joint
  • the air cells are rotated while the air cells 101a and 101b are contracted, the positions of the air cells 101a and 101b can be changed while the pressure on the body part 100 is released.
  • This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, a forearm 100d and an upper arm 100a.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the forearm 100d are oriented in the longitudinal direction of the forearm 100d, and the muscle fibers of the upper arm 100a are oriented in the longitudinal direction of the upper arm 100a.
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the forearm 100d and the upper arm 100a.
  • the treatment unit 101 includes a first treatment member 121A for massaging (grabbing and grasping) the forearm 100d and a second treatment member 121B for massaging (grabbing and grasping) the upper arm 100a.
  • 121 A of 1st treatment members and the 2nd treatment member 121B are provided so that a user's elbow joint may be located among them.
  • the number of treatment members 121A and 121B provided in the armrest portion 4 may be three or more.
  • the treatment members 121A and 121B shown in FIGS. 82 and 83 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulders, hands, thighs, lower thighs, legs, and other body parts. good.
  • the first treatment member 121A and the second treatment member 121B each have a pair of pressing members 101a and 101b. These pressing members 101a and 101b have the same configuration as the pair of pressing members 101a and 101b included in the first treatment member 121A and the second treatment member 121B shown in FIGS. 77 and 78, and can perform the same operation. is there.
  • the mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
  • the support member 113 is formed in a ring shape. On the inner peripheral surface of the support member 113, a pair of air cells 101a and 101b are arranged to face each other.
  • the user can insert the arms 100 d and 100 a into the support member 113 from one of the openings on both sides in the longitudinal direction of the support member 113.
  • the arms 100d and 100a inserted into the support member 113 are positioned between the pair of air cells 101a and 101b.
  • the support member 113 is supported by a guide (not shown) so as to be rotatable around the rotation centers 102A and 102B.
  • the first mechanism unit 103A shown in FIG. 83A has the same configuration as the first mechanism unit 103A of FIG. That is, the first mechanism portion 103 ⁇ / b> A further includes two racks 114 formed over the entire circumference on the outer peripheral side of the support member 113, and a pinion 111 that meshes with the rack 114.
  • the pinion 111 includes a rotating shaft 112, and the pinion 111 rotates when the rotating shaft 112 is rotationally driven by the drive unit 154. As the pinion 111 rotates, the support member 113 rotates about the rotation center 102A.
  • the air cells 101a and 101b rotate around the rotation center 102A as the support member 113 rotates.
  • the rotation center 102A is located inside the support member 113 and has a direction along the direction of the muscle fibers of the forearm 100d (the longitudinal direction of the forearm).
  • the air cells 101a and 101b rotating around the rotation center 102A move along the circumferential direction of the forearm 100d. By moving the air cells 101a and 101b along the circumferential direction, the direction of gripping can be changed.
  • the air cells 101 a and 101 b can rotate forward and backward around the rotation center 102 by forward and reverse rotation of the drive unit 154.
  • the support member 113 has a base portion 113c on the outer peripheral side thereof.
  • One end side of a rotation shaft 111c that is the rotation center 102B of the support member 113 is attached to the base portion 113c.
  • a pinion 111b is attached to the other end of the rotating shaft 111c.
  • the second mechanism portion 103B further includes a pinion 111a that meshes with the pinion 111b.
  • the pinion 111a includes a rotating shaft 112, and the pinion 111a rotates when the rotating shaft 112 is rotationally driven by the drive unit 154.
  • the rotation of the pinion 111a rotates the pinion 111b and the rotation shaft 111c, and the support member 113 rotates about the axis of the rotation shaft 111c as the rotation center 102B.
  • the rotation center 102A of the first treatment member 121A and the rotation center 102B of the second treatment member 121B are different in position and orientation of the rotation center. Since the first treatment member 121A and the second treatment member 121B in FIG. 82 are arranged to massage the upper arm 100a and the forearm 100d with the elbows bent, the directions of the rotation centers 102A and 102B are different.
  • the rotation center 102A of the first treatment member 121A is located inside the support member 113, whereas the rotation center 102B of the second treatment member 121B is located outside the support member 113.
  • the positions of the rotation centers 102A and 102B are different.
  • the rotations about the respective rotation centers 102A and 102B may be rotations in the same direction or in opposite directions.
  • the first mechanism 103A in FIG. 82 may have the same configuration as the second mechanism 103B, or the second mechanism 103B may have the same configuration as the first mechanism 103A. .
  • the mechanism unit 103 is not limited to the one having the rack 114 and the pinions 111, 111a, and 111b, and it is sufficient if the mechanism unit 103 is configured to rotate the air cells 101a and 101b.
  • One of the first treatment member 121A and the second treatment member 121B may be rotated without rotating the other. Further, when the air cells are rotated in a state where the air cells 101a and 101b are contracted, the positions of the air cells 101a and 101b can be changed in a state where the pressure on the body part 100 is released.
  • the massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • Each of the left and right armrest portions 4 shown in FIG. 1 is configured integrally, but the armrest portion 4 of FIG. 84 includes a first support portion 4A that supports the upper arm 100a and a second support portion that supports the forearm 100d. 4B and the third support portion 4C that supports the hand 100c are provided separately.
  • the body part 100 to be massaged by the massage unit 10 is, for example, the upper arm 100a, the forearm 100d, and the hand 100c.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the upper arm 100a are oriented in the longitudinal direction of the upper arm 100a
  • the muscle fibers of the forearm 100d are oriented in the longitudinal direction of the forearm 100d
  • the muscle fibers of the hand 100c are oriented in the longitudinal direction of the hand 100c.
  • the massage unit 10 has a treatment unit 101 that massages (grabs) the upper arm 100a, the forearm 100d, and the hand 100c.
  • the treatment unit 101 includes a first treatment member 121A that massages (grabs) the upper arm 100a that is the first range, a second treatment member 121B that massages (grabs) the forearm 100d that is the second range, and a third range. And a third treatment member 121C that massages (grabs) the hand 100c.
  • the user's elbow joint is located between the upper arm 100a that is the first range and the forearm 100d that is the second range, and between the forearm 100d that is the second range and the hand 100c that is the third range.
  • the user's wrist joint is located.
  • the second treatment member 121B is arranged so as to perform massage (grasping) for the range (wrist range) on the hand 100c side of the forearm 100d.
  • the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C each have a pair of pressing members 101a and 101b.
  • These pressing members 101a and 101b are also constituted by the air cells 101a and 101b similarly to the above-described pressing members 101a and 101b, and the pair of air cells 101a and 101b can grip and grasp the body part.
  • the mechanism 84 and 85 further includes a mechanism 103 that moves the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C.
  • the mechanism 103 includes a first mechanism 103A that moves the first treatment member 121A, a second mechanism 103B that moves the second treatment member 121B, a third mechanism 103C that moves the third treatment member 121C, It has. In FIG. 84, the mechanism portions 103A to 103C are not shown.
  • the mechanism units 103A, 103B, and 103C shown in FIG. 85 are similar to the mechanism unit 103 shown in FIG. However, in the mechanism unit 103 shown in FIG. 68, the support members of the air cells 101a and 101b are constituted by two support members 113a and 113b, whereas in the mechanism units 103A, 103B and 103C shown in FIG.
  • the support members of the air cells 101a and 101b are each constituted by a single semicircular support member 113.
  • a rack 114 is formed on the outer peripheral surface of the support member 113.
  • the mechanism portions 103A, 103B, and 103C have two pinions 111a and 111b that mesh with the rack 114.
  • the rotation shafts 112a and 112b to which these pinions 111a and 111b are attached are rotationally driven by a drive unit (not shown), so that the support member 113 is rotated around the rotation center 102 along the direction of the muscle fibers of the body part. Reverse rotation is possible (see FIG. 85 (b)).
  • the mechanism unit 103 performs grasping and kneading in a state where massage (gripping) is performed by two or more treatment members among the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. At least one of the two or more treatment members can be rotated around the rotation center 102 of each treatment member. For example, in a state where the first treatment member 121A and the second treatment member 121B are gripping the upper arm 100a and the forearm 100d, either or both of the first treatment member 121A and the second treatment member 121B are used. The rotation center 102 can be rotated.
  • first treatment member 121A and the third treatment member 121C are gripping the upper arm 100a and the hand 100c, either one or both of the first treatment member 121A and the third treatment member 121C is used.
  • the rotation center 102 can be rotated.
  • second treatment member 121B and the third treatment member 121C are gripping the forearm 100d and the hand 100c, either one or both of the second treatment member 121B and the third treatment member 121C are used.
  • the rotation center 102 can be rotated.
  • first treatment member 121A and the second treatment are performed in a state where the upper arm 100a, the forearm 100d and the hand 100c are gripped by the first treatment member 121A, the second treatment member 121B and the third treatment member 121C. Any one, any two, or all of the member 121B and the third treatment member 121C can be rotated around the rotation center 102. The user's joint can be twisted by the massage as described above.
  • the second treatment member 121B is referred to as a first member
  • the third treatment member 121C is referred to as a second member.
  • the mechanism unit 103 rotates the second member 121C around the rotation center 102 along the direction of the muscle fibers of the wrist 100d in a state where the wrist (forearm 100d) is gripped by the first member 121B.
  • the hand 100c can be turned with the wrist 100d fixed. Since the hand 100c is relatively flat, the second member 121C contacts the hand 100c when the second member 121C rotates, whether or not the hand 100c is gripped by the second member 121C.
  • the hand 100c can be rotated.
  • FIG. 86 shows an example of the massage unit 10.
  • the massage unit 10 is provided on the footrest 5, for example. 86, the first support portion 5A that supports the thigh 100e, the second support portion 5B that supports the lower leg 100f, and the third support portion 5C that supports the foot 100g are provided separately. Yes.
  • the body parts 100 to be massaged by the massage unit 10 in FIG. 86 are a thigh 100e, a lower leg 100f, and a leg 100g.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the thigh 100e face the longitudinal direction of the thigh 100e
  • the muscle fibers of the lower leg 100f face the longitudinal direction of the lower leg 100f
  • the muscle fibers of the foot 100g face the longitudinal direction of the foot 100g.
  • the massage unit 10 has a treatment unit 101 that massages (grabs) the thigh 100e, the lower leg 100f, and the leg 100g.
  • the treatment unit 101 includes a first treatment member 121A that massages (grabs) the thigh 100e that is the first range, a second treatment member 121B that massages (grabs and grasps) the lower leg 100f that is the second range, and a third range. And a third treatment member 121C for massaging (grabbing) the leg 100g.
  • the user's knee joint is located between the thigh 100e which is the first range and the lower leg 100f which is the second range, and between the lower leg 100f which is the second range and the foot 100g which is the third range.
  • the user's ankle joint is located.
  • the second treatment member 121B is arranged so as to perform massage (grasping) on the leg 100g side range (ankle range) of the lower leg 100f.
  • the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C each have a pair of pressing members 101a and 101b.
  • These pressing members 101a and 101b are also constituted by the air cells 101a and 101b similarly to the above-described pressing members 101a and 101b, and the pair of air cells 101a and 101b can grip and grasp the body part.
  • the massage unit 10 shown in FIG. 86 also has a mechanism 103 similar to the massage unit 10 shown in FIG. 84, but the mechanism 103 is omitted in FIG. 86 as in FIG.
  • the mechanism units for moving the treatment members 121A, 121B, and 121C the same units as the mechanism units 103A, 103B, and 103C shown in FIG. 85 are employed. Therefore, the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C can rotate forward and backward around the rotation center 102 along the direction of the muscle fiber of the body part.
  • the mechanism unit 103 performs grasping and kneading in a state where massage (gripping) is performed by two or more treatment members among the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. At least one of the two or more treatment members can be rotated around the rotation center 102 of each treatment member. For example, in a state in which the first treatment member 121A and the second treatment member 121B are gripping the thigh 100e and the lower leg 100f, either one or both of the first treatment member 121A and the second treatment member 121B is used. The rotation center 102 can be rotated.
  • first treatment member 121A and the third treatment member 121C are gripping the thigh 100e and the foot 100g, either one or both of the first treatment member 121A and the third treatment member 121C is used.
  • the rotation center 102 can be rotated.
  • second treatment member 121B and the third treatment member 121C are gripped and crushed on the lower leg 100f and the foot 100g, either one or both of the second treatment member 121B and the third treatment member 121C are used.
  • the rotation center 102 can be rotated.
  • first treatment member 121A and the second treatment are performed in a state where the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping and kneading the thigh 100e, the lower leg 100f, and the foot 100g. Any one, any two, or all of the member 121B and the third treatment member 121C can be rotated around the rotation center 102. The user's joint can be twisted by the massage as described above.
  • the second treatment member 121B is referred to as a first member
  • the third treatment member 121C is referred to as a second member.
  • the mechanism 103 rotates the second member 121C around the rotation center 102 along the direction of the muscle fiber of the ankle 100f in a state where the first member 121B is gripping and crutching the ankle (lower leg 100f).
  • the foot 100g can be turned with the ankle 100f fixed. Even if the second member 121C is not gripped with respect to the foot 100g, when the second member 121C rotates, the second member 121C comes into contact with the foot 100g and can rotate the foot 100g.
  • a massage device (one embodiment) 1 includes a treatment unit 101 that performs grasping and squeezing on the body part 100, and a gripping and squeezing performed by the treatment unit 101. And a mechanism unit 103 that rotates the treatment unit 101 around a rotation center 102 that faces an in-plane direction that intersects the direction of muscle fibers in the body part.
  • the treatment unit 101 rotates to the center of rotation 102 facing in the in-plane direction intersecting the direction of the muscle fibers of the body part 100 where the grasping is performed, whereby a massage in which the rotation is added to the grasping is obtained.
  • a feeling of massage improves rather than itching.
  • the direction of the muscle fiber includes, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the left-right direction of the shoulder, and the longitudinal direction of the neck.
  • the treatment unit 101 rotates around the rotation center 102 in a direction that intersects the longitudinal direction of the arm, leg, or neck, for example.
  • the in-plane direction includes the left-right direction of the body part or the front-back direction of the body part.
  • the treatment unit 101 rotates, for example, around a rotation center 102 in a direction that intersects the left-right direction of the shoulder.
  • the in-plane direction intersecting the left and right direction of the shoulder includes, for example, the front and rear direction of the shoulder and the vertical direction of the shoulder.
  • the mechanism part 103 does not need to rotate the whole treatment part 101, and what rotates at least one part of the treatment part 101 is sufficient.
  • the mechanism unit 103 rotates at least one of the pair of pressing members 101a and 101b.
  • the rotation does not need to be a motion that draws a trajectory along a perfect circle, but a motion that draws a trajectory along an ellipse or other deformed circle is sufficient.
  • the motion trajectory of the treatment unit 101 is not a trajectory along a perfect circle, it is possible to imagine that the center of rotation exists near the center of the perfect circle when assuming a perfect circle that approximates the motion trajectory of the treatment unit 101. Anything is enough.
  • the pulling operation (and the pressing operation) of the gripping mechanism 30 in the massage unit 10 described in Chapter 2 Section 1 can be regarded as the rotation of the treatment unit 101 in Chapter 3.
  • the rotation center 102 can be located inside the body part 100 that is grasped and squeezed by the treatment unit 101. In this case, the body part 100 can be rotated around the center of rotation 102 therein.
  • the rotation center 102 can be located outside the body part 100 that is grasped and squeezed by the treatment unit 101. In this case, the body part 100 can be rotated around the rotation center 102 outside the body part 100.
  • the treatment part 101 includes a pair of pressing members 101a and 101b for approaching and moving away from each other and gripping the body part, and the mechanism part 103 includes at least one of the pair of pressing members 101a and 101b. It is preferable that the pressing member is configured to rotate around the rotation center 102 facing in the in-plane direction intersecting the direction of the muscle fibers. When at least one of the pair of pressing members 101a and 101b rotates, the feeling of massage is improved more than a simple gripping.
  • the mechanism 103 is preferably configured to rotate the pair of pressing members 101a and 101b in opposite directions. By rotating the pair of pressing members 101a and 101b in directions opposite to each other, the feeling of massage is improved more than mere gripping.
  • the treatment unit 101 includes first treatment members 121A and 121B and second treatment members 121C and 121D, each of which grips and squeezes the body part 100, and includes the first treatment members 121A and 121B and the second treatment members 121C, 121D is juxtaposed in the direction of the muscle fibers, and the mechanism portion 103 has at least one of the first treatment members 121A and 121B and the second treatment members 121C and 121D in an in-plane direction intersecting the direction of the muscle fibers. It is preferably configured to rotate about the rotation center 102 facing.
  • the first treatment members 121A and 121B and the second treatment members 121C and 121D face each other so that the body part 100 is positioned between the first treatment members 121A and 121B and the second treatment members 121C and 121D.
  • “arranged to face” is sufficient if it is arranged on both sides of the body part 100 with the body part 100 in between.
  • the first treatment members 121A and 121B and the second treatment members 121C and 121D may be arranged so as to be shifted in the longitudinal direction of the body part.
  • the treatment unit 10 includes a first treatment member 121A and a second treatment member 121B, each of which grips and rubs the body part 100, and the mechanism unit 103 is gripped by the first treatment member 121A.
  • the first treatment member 121A is configured to rotate around the center of the first rotation 102A in the in-plane direction intersecting the direction of the muscle fibers in the body part 100c that is grasped and squeezed by the first treatment member 121A.
  • the center of the second rotation 102B oriented in the in-plane direction intersecting the direction of the muscle fiber in the body part 100d that is grasped and squeezed by the second treatment member 121B It is preferable that the second treatment member 10B is configured to rotate around.
  • the first rotation center 102A preferably faces a different direction from the second rotation center 102B.
  • the first rotation center 102A is preferably present at a position different from the second rotation center 102B.
  • At least one of the first treatment member 121A and the second treatment member 121B includes a pair of pressing members 101a and 101b for grasping and squeezing the body part, and the mechanism unit 103 includes the first treatment member 121A.
  • at least one of the pair of pressing members 101a and 101b is changed so that the relative positional relationship between the pair of pressing members 101a and 101b changes in the state where the body part is grasped and squeezed by the second treatment member 121B. It is preferable to rotate the pressing member around the first rotation center 102A or the second rotation center 102B.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the mechanism unit 103 is in a state in which the first treatment member 121A is gripped and squeezed.
  • the first treatment member 121A is configured to rotate around the first center 102A facing in the in-plane direction intersecting the direction of the muscle fibers in the body part 100c being grasped by the first treatment member 121A.
  • the center of the second rotation 102B oriented in the in-plane direction intersecting the direction of the muscle fiber in the body part 100d that is grasped and squeezed by the second treatment member 121B
  • the second treatment member 121B is configured to rotate around, and the first rotation center 102A is gripped by the first treatment member 121A. Kneading located within the body part 100c that is being performed, the second rotational center 102B is preferably located outside of the body part 100d that massaging gripping by 121B second treatment member is being performed.
  • the mechanism unit 102 is further configured to move the treatment unit 101 in a direction along the muscle fiber in a state in which the treatment unit 101 is grasped and squeezed.
  • the treatment unit 101 includes a first treatment member and a second treatment member that respectively perform gripping and scoring on the body part, and the mechanism unit 103 is in a state where the gripping and scoring by the first treatment member is performed.
  • the first treatment member is configured to rotate around the center of rotation in the in-plane direction intersecting with the direction of the muscle fibers, and to move the first treatment member in the direction along the muscle fibers, and to be gripped by the second treatment member
  • the mechanism portion 103 is configured to move at least one of the first treatment member and the second treatment member in a direction along the muscle fibers so that the first treatment member and the second treatment member are separated from each other. It is preferable.
  • the treatment unit 101 includes a first treatment member 121A, a second treatment member 121B, and a third treatment member 121C, each of which grips and squeezes a body part, and the first treatment member 121A is a first range of the body.
  • the second treatment member 121B is provided to perform grasping and squeezing with respect to 100h, and the second range of the body is a range different from the first range 100h via at least one joint between the second range and the first range 100h.
  • the third treatment member 121C is different from the first range 100h and the second range 100a through at least one other joint between the third treatment member 121C and the second range 100a. It is preferable that the third range 100d of the body, which is the range, is provided so as to be grasped and squeezed.
  • the mechanism unit 103 performs gripping and kneading in a state where gripping is performed by two or more of the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. It is preferable that at least one of the two or more treatment members is configured to rotate around the rotation center 102.
  • One pressing member 101a of the pair of pressing members 101a and 101b presses the shoulder upper side 100ha, and the other pressing member 101b of the pair of pressing members 101a and 101b presses the shoulder back side 100hb. Is preferred.
  • the treatment part 101 is provided so as to grip and knead the neck 100h.
  • a massage device viewed from another viewpoint includes a treatment unit 101 that performs grasping and squeezing on the shoulder 100h, and a mechanism unit 103 that moves the treatment unit 101 to the neck 100i so that the neck 100i can be grasped and squeezed.
  • the treatment unit 101 includes a pair of pressing members 101a and 101b for gripping and squeezing, and the mechanism unit 103 further includes at least one pressing member 101a of the pair of pressing members 101a and 101b.
  • 101b is preferably configured to rotate about the center of rotation directed in the in-plane direction intersecting the direction of the muscle fibers in the body part where the gripping is performed.
  • FIG. 9 This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, a hand 100c and a forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction (Z direction in FIG. 87) of the hand 100c and the forearm 100d.
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d.
  • the treatment unit 101 includes a first treatment member 121A that massages (grabs) the hand 100c and a second treatment member 121B that massages (grabs) the forearm 100d.
  • the number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more.
  • the treatment members 121A and 121B shown in FIGS. 87 and 88 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulder, upper arm, thigh, lower leg, foot, and other body parts. good.
  • the first treatment member 121A has a pair of pressing members 101a and 101b.
  • the pair of pressing members 101a and 101b are disposed so as to face each other so as to have a space in which a hand 100c to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one.
  • the air cells 101a and 101b are supplied and exhausted by an air circuit (not shown).
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 89). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the first treatment member 121A grips and grips the hand 100c from the direction (Y direction in FIG. 87) intersecting the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c; Z direction in FIG. 87).
  • the gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
  • the 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
  • the mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
  • the first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached.
  • the rotating shaft 102 is rotationally driven by the drive unit 154.
  • the rotation axis (rotation center) 102 faces the direction (X direction) that intersects the direction (Z direction) of the muscle fibers of the hand 100c. In other words, the center of rotation 102 faces the in-plane direction that intersects the direction of the muscle fibers of the hand 100c (Z direction).
  • the drive unit 154 rotationally drives the support members 153 a, 153 b, and 153 c around the rotation axis (rotation center) 102.
  • the air cells 101a and 101b rotate around the rotation axis (rotation center) 102 as the support members 153a, 153b, and 153c rotate.
  • the air cells 101a and 101b can rotate forward and backward around the rotation axis (rotation center) 102 by forward and reverse rotation of the drive unit 154.
  • the rotation center 102 is directed in a direction intersecting (orthogonal) with the pressing direction (Y direction) by the pair of air cells 101a and 101b.
  • the pressing direction can be changed by the rotation of the air cells 101a and 101b.
  • the rotation center of the rotation shaft 102 is located inside the body part (hand or forearm) to be grasped and squeezed.
  • the inside of the body part refers to the inside of the body part in a state of being grasped and squeezed.
  • the rotation center 102 passes between the pair of pressing members 101a and 101b. Since the rotation center 102 is located at a position passing through the inside of the body, as shown in FIG. 90, the body part grasped and squeezed can be operated to tilt around the rotation center 102.
  • the rotation center 102 may be disposed outside the body part.
  • the second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support portions 153a, 153b, and 153c and a rotation shaft (rotation center) 102. The rotation shaft 102 of the second mechanism unit 103B is also rotationally driven by the drive unit 154. In FIG. 88, the first mechanism unit 103A and the second mechanism unit 103B are driven by separate drive units 154, but the first mechanism unit 103A and the second mechanism unit 103B are driven by a common drive unit. Also good.
  • FIG. 90 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in opposite directions while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. Show.
  • the first treatment member 121A rotates clockwise, and the second treatment member 121B rotates counterclockwise.
  • the first treatment member 121A and the second treatment member 121B can bend the hand 100c and the forearm 100d into a V shape with the joint located between them (the wrist joint in FIG. 90) as the bending point, and the stretching action Occurs.
  • the bending of the joint (the wrist joint) can be repeated. Only one of the first treatment member 121A and the second treatment member 121B may be rotated while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. In this case as well, the bending angle is relatively small, but the joint can be bent.
  • the first treatment member 121A and the second treatment member 121B may be rotated in the same direction while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. In this case, a different massage feeling is obtained when the first treatment member 121A and the second treatment member 121B are rotated in opposite directions.
  • the second treatment member 121B may rotate the first treatment member 121A in a state where it does not grasp and grasp the forearm 100d. Also in this case, the wrist joint can be bent. Although the second treatment member 121B grasps and holds the forearm 100d, the second treatment member 121B may be rotated in a state where the first treatment member 121A does not grasp and grasp the hand. In this case, the elbow joint or shoulder joint can be bent.
  • the first treatment member 121A and the second treatment member 121B may be arranged so that the joint of the user is not located between the first treatment member 121A and the second treatment member 121B.
  • the first treatment member 121A may massage the wrist side portion of the forearm 100d
  • the second treatment member 121B may massage the elbow side portion of the forearm 100d.
  • This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, a hand 100c and a forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction (Z direction in FIG. 87) of the hand 100c and the forearm 100d.
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d.
  • the treatment unit 101 includes a first treatment member 121A that massages (grabs) the hand 100c and a second treatment member 121B that massages (grabs) the forearm 100d.
  • the number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more.
  • the treatment members 121A and 121B shown in FIGS. 91 and 92 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.
  • the first treatment member 121A has a pair of pressing members 101a and 101b.
  • the pair of pressing members 101a and 101b are disposed so as to face each other so as to have a space in which a hand 100c to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one.
  • the air cells 101a and 101b are supplied and exhausted by an air circuit (not shown).
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the pair of expanded air cells 101a and 101b press from both sides of the hand 100c. Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the first treatment member 121A grips and grips the hand 100c from the direction (Y direction in FIG. 91) intersecting the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c; Z direction in FIG. 91).
  • the gripping is performed by bringing the pair of pressing members 100a and 100b close to each other while the body part 100 is positioned between the pair of pressing members 100a and 100b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
  • the 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
  • the mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 1121A and a second mechanism unit 103B that moves the second treatment member 121B.
  • the first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached.
  • the rotating shaft 102 is rotationally driven by the drive unit 154.
  • the rotation axis (rotation center) 102 faces the direction (Y direction) that intersects the direction of the hand muscle fibers (Z direction). In other words, the center of rotation 102 faces the in-plane direction that intersects the direction of the muscle fibers of the hand 100c (Z direction).
  • the drive unit 154 rotationally drives the support members 153 a, 153 b, and 153 c around the rotation axis (rotation center) 102.
  • the air cells 101a and 101b rotate around the rotation axis (rotation center) 102 as the support members 153a, 153b, and 153c rotate.
  • the air cells 101a and 101b can rotate forward and backward around the rotation axis (rotation center) 102 by forward and reverse rotation of the drive unit 154.
  • the rotation center 102 is directed along the pressing direction (Y direction) by the pair of air cells 101a and 101b.
  • the pressing position can be changed along the rotation locus on the arc.
  • the center of rotation by the rotation shaft 102 is located outside the body part (hand or forearm) to be grasped.
  • the outside of the body part refers to the outside of the body part in the state of being grasped and squeezed.
  • the rotation center 102 is on the outer side (little finger side) of the hand 100c and the forearm 100d, but may be arranged on the inner side (thumb side) of the hand 100c and the forearm 100d.
  • the rotation center 102 can pass between the pair of pressing members 101a and 101b. Since the rotation center 102 is at a position passing through the outside of the body, the amount of movement around the rotation center 102 can be increased as shown in FIG. 91 and 92, the rotation center 102 may be arranged so as to be located inside the body part.
  • the second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support portions 153a, 153b, and 153c and a rotation shaft (rotation center) 102. The rotation shaft 102 of the second mechanism unit 103B is also rotationally driven by the drive unit 154. 91 and 92, the first mechanism unit 103A and the second mechanism unit 103B are driven by separate drive units 154, respectively, but the first mechanism unit 103A and the second mechanism unit 103B are driven by a common drive unit. It may be driven.
  • FIG. 93 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in the same direction in a state where the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. Yes.
  • the position of the gripping can be periodically changed. Only one of the first treatment member 121A and the second treatment member 121B may be rotated while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B.
  • the second treatment member 121B may rotate the first treatment member 121A while not grasping and grasping the upper arm 100d.
  • the second treatment member 121B grasps and holds the forearm 100d, the second treatment member 121B may be rotated in a state where the first treatment member 121A does not grasp and grasp the hand.
  • FIG. 94 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in opposite directions while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. Show.
  • a force is applied in a direction in which the hand 100c and the forearm 100d are brought closer to each other, or Force can be applied in the direction of leaving.
  • the massage unit 10 shown in FIGS. 95 and 96 show examples of massage units.
  • the massage unit 10 shown in FIGS. 95 and 96 has substantially the same configuration as the massage unit 10 shown in FIGS. 91 and 92. The difference is that the first support member 153a and the second support member 153b in the massage unit 10 shown in FIGS. 95 and 96 are configured to be independently rotatable with respect to the third support member 153c. is there.
  • the first support member 153a is provided on the third support member 153c so as to be rotatable around the first rotation shaft 102a, and the second support member 153b is connected to the first rotation shaft 102a. It is provided on the third support member 153c so as to be rotatable about the second rotation shaft 102b provided coaxially.
  • the first rotating shaft 102a and the second rotating shaft 102b are driven by separate drive sources 154, respectively.
  • the mechanism unit 103 of the massage unit 10 is configured to rotate the first air cell 101a and the second air cell 101b in opposite directions.
  • the mechanism unit 103 may be configured to rotate the air cells 101a and 101b in opposite directions by a common drive source 154.
  • the pair of pressing members (air cells) 101a and 101b constituting the first treatment member 121A are rotated in opposite directions
  • the pair of pressing members (air cells) 101a and 101b constituting the second treatment member 121B are rotated in opposite directions.
  • the first air cell 101a of each of the first treatment member 121A and the second treatment member 121B rotates in the same direction
  • the second air cell 101b of each of the first treatment member 121A and the second treatment member 121B is also the same. Rotate in the same direction.
  • the first air cells 101a of the first treatment member 121A and the second treatment member 121B rotate in the opposite directions
  • the second air cells 101b of the first treatment member 121A and the second treatment member 121B also in the opposite directions. It may be rotated.
  • This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, a hand 100c and a forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction (Z direction in FIG. 99) of the hand 100c and the forearm 100d.
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121C for massaging (grabbing and grasping) the hand 100c, and a first treatment member 121B and a second treatment member 121D for massaging (grabbing and grasping) the forearm 100d.
  • the first treatment member 121A and the second treatment member 121C for massaging (grabbing) the hand 100c are arranged to face each other so that the hand 100c is located between them.
  • the first treatment member 121B and the second treatment member 121D that massage (grab and squeeze) the forearm 100d are arranged to face each other so that the forearm 100d is located between them.
  • the pair of treatment members arranged to face each other via the body parts 100c and 100d may be a pair or three or more pairs.
  • the treatment members 121A, 121B, 121C, and 121D shown in FIGS. 99 and 100 are attached to the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. It may be provided.
  • the first treatment members 121A and 121B in FIG. 99 and FIG. 100 correspond to the downsized two treatment members 121A and 121B shown in FIG. 91, and their configuration and operation are common.
  • the mechanism unit 103 of the massage unit 10 includes first mechanism members 103A and 103B that move the first treatment members 121A and 121B. These mechanism units 103A and 103B also correspond to the two mechanism units 103A and 103B shown in FIG. 91, and the configuration and operation thereof are common. Therefore, the first treatment members 121A and 121B shown in FIGS. 99 and 100 can rotate around their rotation centers 102 while grasping and pinching the body part (see FIG. 100).
  • the first treatment members 121A and 121B in FIGS. 99 and 100 perform massage on one side (outside; little finger side) in the width direction of the hand 100c and the forearm 100d.
  • the second treatment members 121C and 121D and the second mechanism portions 103C and 103D are different from the first treatment members 121A and 121B and the first mechanism portions 103A and 103B in the longitudinal direction of the hand 100c and the forearm 100d (Z It corresponds to a symmetrical arrangement with respect to an axis of symmetry along the direction. Therefore, the second treatment members 121C and 121D in FIGS. 99 and 100 can rotate around their rotation centers 102 in a state where the body parts are grasped and squeezed (see FIG. 100). The second treatment members 121C and 121D in FIGS. 99 and 100 perform massage on the other side (inner side; thumb side) in the width direction of the hand 100c and the forearm 100d.
  • the first treatment member 121A for the hand 100c rotates in the clockwise direction and the second treatment member 121C for the hand 100c rotates in the counterclockwise direction, but can also rotate in the opposite directions.
  • the first treatment member 121B for the forearm 100d rotates in the clockwise direction and the second treatment member 121D for the forearm 100d rotates in the counterclockwise direction, but can also rotate in opposite directions.
  • FIGS. 91 and 92 show examples of massage units.
  • This massage unit 10 has substantially the same configuration as the massage unit 10 shown in FIGS. 91 and 92.
  • the difference is that the rotation center 102 of the second mechanism portion 103B that rotates the second treatment member 121B is arranged not on the outer side (little finger side) but on the inner side (thumb side) of the forearm 100d.
  • the rotation center 102 of the first treatment member 121A and the rotation center 102 of the second treatment member 121B are located facing each other with the body parts 100c and 100d disposed therebetween. Thereby, the first treatment member 121A and the second treatment member 121B are arranged to face each other so that the body parts 100c and 100d are located between them.
  • the first treatment member 121A and the second treatment member 121B rotate in the same direction (clockwise rotation) around the respective rotation centers 102 in a state where each of the first treatment member 121A and the second treatment member 121B is grasped and squeezed.
  • the first treatment member 121A moves to the hand side
  • the second treatment member 121B moves to the elbow side.
  • the massage which extends the hand 100c and the forearm 100d can be given.
  • the first treatment member 121 ⁇ / b> A and the second treatment member 121 ⁇ / b> B can be rotated in directions opposite to each other around the respective rotation centers 102 in a state where each of the first treatment member 121 ⁇ / b> A and the second treatment member 121 ⁇ / b> B is gripped.
  • the hand 100c and the forearm 100d can be pushed out toward the hand or pulled into the elbow. Only one of the first treatment member 121A and the second treatment member 121B may be rotated.
  • FIG. 103 shows an example of a massage unit.
  • This massage unit 10 is provided with a first treatment member 121A and a first mechanism portion 103A shown in FIG. 87 as a first treatment member 121A and a first mechanism portion 103A for the hand 100c, and a second treatment member 121B for the forearm 100d.
  • As the second mechanism portion 103B a second treatment member 121B and a second mechanism portion 103B shown in FIG. 95 are provided.
  • the treatment members 121A and 121B and the mechanism portions 103A and 103B shown in FIG. 87 may be combined with the treatment members 121A and 121B and the mechanism portions 103A and 103B shown in FIG.
  • the first rotation center 102A of the first treatment member 121A for the hand 100c passes through the inside of the hand 100c to be gripped and faces the X direction in FIG.
  • the second rotation center 102B of the second treatment member 121B for the forearm 100d passes through the outside of the forearm 100d and faces the Y direction in FIG. That is, in FIG. 103, the two rotation centers 102A and 102B have different positions and different directions.
  • the pair of air cells 101a and 101b of the second treatment member 121B change in relative positional relationship with each other.
  • the second rotation center 102B can be rotated in opposite directions. That is, when the first air cell 101a rotates around the rotation center 102B-a, for example, clockwise, the second air cell 101b rotates counterclockwise around the rotation center 102B-b.
  • the first treatment member 121A can also rotate around the first rotation center 102A while being grasped and squeezed.
  • the hand 100c is grasped and grasped.
  • the first treatment member 121 ⁇ / b> A can rotate around the first rotation center 102.
  • the massage unit 10 shown in FIGS. 108 to 114 shows examples of the massage unit 10.
  • the massage unit 10 shown in FIGS. 108 to 114 is configured such that the treatment parts 121A and 121B rotate around the rotation center 102, like the massage unit 10 shown in FIGS.
  • the configuration relating to the rotation of the treatment units 121A and 121B is the same as that of the massage unit 10 shown in FIGS.
  • the treatment units 121A and 121B not only rotate around the rotation center 102 but also move in a direction along the muscle fibers of the body part 100 (100d, 100c). Has been.
  • the mechanism portions 103A and 103B of the massage unit 10 correspond to the rotating shaft 102 (corresponding to the rotation center 102) connected to the support portions 153a, 153b, and 153c of the air cells 101a and 101b (not shown in FIG. 109).
  • the mechanism portions 103A and 103B further include a screw shaft 156 for linearly driving the base portion 155 and a drive portion 158 for rotationally driving the screw shaft 156.
  • the base portion 155 has a nut hole 157 that engages with the screw shaft 156, and can be linearly moved in the longitudinal direction of the screw shaft 156 when the screw shaft 156 rotates.
  • the screw shaft 156 is disposed along the longitudinal direction of the body parts 100d and 100c to be massaged (gripped) by the treatment parts 121A and 121B, and moves in the muscle fiber direction of the treatment parts 121A and 121B. Can be made. As shown in FIG. 110, the base portion 155 can be moved to an arbitrary position in the longitudinal direction of the screw shaft 156, and in the state of being moved or stopped, the drive portion 154 rotationally drives the rotary shaft 102, whereby the treatment portion 121A and 121B can be rotated around the rotation center 102.
  • the first treatment member 121A and the second treatment member 121B are independently movable in the muscle fiber direction.
  • the movable range of the first treatment member 121A is a range extending from the hand 100c to the forearm 100d (the hand side).
  • the movable range of the second treatment member 121B is within the range of the forearm 100d, but may be a range extending from the forearm 100d to the upper arm.
  • the first treatment member 121A and the second treatment member 121B are in a state where the first treatment member 121A grasps and grips the hand 100c, and the second treatment member 121B grasps and grasps the forearm 100d.
  • rotation and linear movement are possible.
  • the first treatment member 121A rotates clockwise around the rotation center 102 while the rotation center 102 remains at the position shown in FIG. 111 (no linear movement).
  • the second treatment member 121B rotates counterclockwise around the rotation center 102 while the rotation center 102 moves to the upper arm side (right side in FIG. 112) from the position shown in FIG.
  • the first treatment member 121A and the second treatment member 121B can rotate while being separated from each other.
  • the first treatment member 121A and the second treatment member 121B may rotate in the same direction.
  • the first treatment member 121A and the second treatment member 121B do not need to rotate only in the same direction during movement in the direction along the muscle fibers, and may repeat forward and reverse rotation.
  • the treatment members 121A and 121B repeat forward and reverse rotation, whereby the massage position by forward and reverse rotation can be changed.
  • the first treatment member 121A and the second treatment member 121B are located in a range where the first treatment member 121A straddles the hand 100c and the wrist (the hand 100c side of the forearm 100d), and the second treatment member 121B. Is located on the forearm 100d, and can rotate and move linearly as shown in FIG. 114 from the state where the first treatment member 121A and the second treatment member 121B are close to each other. From the state of FIG. 113, the first treatment member 121A and the second treatment member 121B expand the air cells 101a and 101b, grasp the body parts 100c and 100d, and further rotate and linearly move as shown in FIG. be able to.
  • the first treatment member 121A moves to the hand side (left side in FIG. 114), and rotates clockwise around the rotation center 102.
  • the second treatment member 121B moves to the upper arm side (right side in FIG. 114) and rotates counterclockwise around the rotation center 102.
  • the massage unit 10 in FIG. 115 is provided with three treatment members 121A and 121B shown in FIGS. 115 is a first treatment member 121A for massaging (grabbing) the shoulder 100h, which is the first range, and a second treatment member 121B, for massaging (grabbing) the upper arm 100a, which is the second range, And a third treatment member 121C that massages (grabs) the forearm 100d, which is the third range.
  • the shoulder joint of the user is located between the shoulder 100h which is the first range and the upper arm 100a which is the second range, and between the upper arm 100a which is the second range and the forearm 100d which is the third range.
  • the elbow joint of the user is located.
  • the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C rotate about the rotation center 102, similarly to the mechanism portions 103A and 103B shown in FIGS. 91 and 92.
  • the mechanism part to be made is provided.
  • the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C each rotate (swing) around the rotation center 102 while grasping and pinching the body parts 100h, 100a, and 100c. can do.
  • the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are in a state where gripping and squeezing by two or more treatment members among these treatment members 121A, 121B, and 121C is performed. At least one of the two or more treatment members performing the gripping can be rotated around the rotation center 102.
  • One or both can be rotated about their center of rotation 102.
  • either one or both of the first treatment member 121A and the third treatment member 121C are used. Can be rotated about their center of rotation 102.
  • either one or both of the second treatment member 121B and the third treatment member 121C Can be rotated about their center of rotation 102.
  • the first treatment member 121A and the second treatment member are in a state in which the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping the shoulder 100h, the upper arm 100a, and the forearm 100d. Any one, any two, or all of the 121B and the third treatment member 121C can be rotated around the rotation center 102 thereof.
  • the rotation directions of the plurality of treatment members 121A, 121B, and 121C may be the same or different.
  • the massage unit 10 shown in FIGS. 117 to 121 is provided, for example, on the backrest 3 and massages the body part 100 of the user.
  • the body part 100 is, for example, a neck 100i.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the neck 100i face the longitudinal direction of the neck 100i (Y direction in FIG. 117).
  • the massage unit 10 has a treatment unit 101 that massages (grabs) the neck 100i.
  • the treatment part 101 has a pair of pressing members 101a and 101b.
  • the pair of pressing members 101a and 101b are arranged so as to face each other so as to have a space in which the neck 100i to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the air cells 101a and 101b expand and contract by air supply and exhaust, and press the neck 100i from the left and right. Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the treatment unit 101 grips and squeezes the neck 100i from the direction (X direction in FIGS. 117 and 118) intersecting the direction of the muscle fibers in the neck 100i (the longitudinal direction of the neck; the Y direction in FIG. 117).
  • the 117 to 121 further includes a mechanism unit 103 for moving the treatment unit 101.
  • the mechanism 103 includes a first support member 153a to which one of the pair of air cells 101a and 101b (first air cell) 101a is attached and a second support member 153b to which the other air cell (second air cell) 101b is attached. And. Both the support members 153a and 153b are formed in a plate shape and are inclined so that the distance between the support members 153a and 153b increases toward the front side (left side in FIG. 117).
  • the mechanism unit 103 rotates the first air cell 101a around the first rotation center 102A, rotates the second air cell 101b around the second rotation center 102B, and further rotates the first air cell 101a and the second air cell 101b through the third rotation. It is configured to be able to rotate around the center 102C.
  • the first rotation center 102A, the second rotation center 102B, and the third rotation center 102C are all directed in the in-plane direction (the direction in the XZ plane in FIGS. 117 and 118) intersecting the muscle fibers of the neck 100i. ing.
  • the first support member 153a has a first rotation shaft 102a attached to the rear end thereof, and a first drive unit 154a that rotationally drives the first rotation shaft 102a is connected to the first rotation shaft 102a.
  • first rotation shaft 102a is rotationally driven by the first drive unit 154a
  • the first air cell 101a can rotate around the first rotation center 102A.
  • the second support member 153b has a second rotation shaft 102b attached to the rear end thereof, and a second drive unit 154b that rotationally drives the second rotation shaft 102b is connected to the second rotation shaft 102b.
  • the second rotating shaft 102b is rotationally driven by the second driving unit 154b
  • the second air cell 101b can rotate around the second rotation center 102B.
  • the first drive unit 154a and the second drive unit 154b are held by the base unit 155.
  • the base portion 155 has a third rotation shaft 102c attached to one end in the left-right direction, and a third drive portion 154c that rotates the third rotation shaft 102c is connected to the third rotation shaft 102c.
  • the base unit 155 can rotate around the third rotation center 102C in the left-right direction (X direction).
  • the first air cell 101a rotates (swings) around the first rotation center 102A while the neck 100i is grasped and squeezed by the treatment unit 101
  • the second air cell 101b is By rotating (swinging) around the two rotation centers 102B, a massage obtained by adding rotation to the gripper can be applied to the neck 100i.
  • the rotation directions of the first rotation shaft 102a and the second rotation shaft 102b may be the same as each other, or may be opposite to each other.
  • the first air cell 101a and the second air cell 101b are arranged around the third rotation center 102C located behind the neck 100i in a state where the neck 100i is grasped and squeezed by the treatment unit 101.
  • the first air cell 101a and the second air cell 101b swing up and down.
  • the neck 100i can be held up and down while grasping and squeezing the neck 100i.
  • the rotation around the first rotation center 102A, the second rotation center 102B, and the third rotation center 102C may be performed independently, or all may be performed simultaneously.
  • the massage unit 10 shown in FIGS. 122 and 123 is provided on the backrest 3 and massages the shoulder 100h of the user.
  • the massage includes grabbing the shoulder 100h.
  • the muscle fibers of the shoulder 100h face in the left-right direction of the shoulder (X direction in FIGS. 122 and 123).
  • the massage unit 10 has a treatment unit 101 that massages (grabs) the shoulder 100h.
  • the treatment part 101 has a first treatment member 121A for massaging the left shoulder and a second treatment member 121B for massaging the right shoulder.
  • the first treatment member 121A and the second treatment member 121B each have a pair of pressing members 101a and 101b.
  • One of the pair of pressing members 101a and 101b (first pressing member) 101a presses the shoulder upper side 100ha
  • the other pressing member (second pressing member) 101b presses the back of the shoulder (back side of the shoulder).
  • It is arranged to press 100hb.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the air cell 101a as the first pressing member expands downward and presses the shoulder upper side 100ha downward.
  • the air cell 101b as the second pressing member expands forward and presses the shoulder rear side 100hb forward.
  • the 122 and 123 includes a mechanism unit 103 that moves the first treatment member 121A and the second treatment member 121B.
  • the mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
  • the first mechanism 103A has a support member 153 to which the pair of air cells 101a and 101b are attached.
  • the support member 153 includes a first support member 153a to which the first air cell 101a is attached and a second support member 153b to which the second air cell 101b is attached.
  • the first support member 153a is disposed to face the shoulder upper side 100ha
  • the second support member 153b is disposed to face the shoulder rear side 100hb.
  • the rear end of the first support member 153a and the upper end of the second support member 153b are connected.
  • the support member 153 is formed in an L shape in a side view.
  • the first mechanism portion 103A further includes a rotation shaft (rotation center) 102 connected to the support member 153 (second support member 153b).
  • the rotating shaft 102 is rotationally driven by the drive unit 154.
  • the rotation axis (rotation center) 102 faces the in-plane direction (Z direction) that intersects the direction (X direction) of the muscle fibers of the shoulder 100h.
  • the rotation axis (rotation center) 102 may be oriented in the Y direction or other directions (in-plane direction intersecting the direction of the muscle fibers of the shoulder 100h (X direction)).
  • the drive unit 154 rotationally drives the support member 153 around the rotation axis (rotation center) 102.
  • the air cells 101a and 101b rotate around the rotation axis (rotation center) 102 as the support member 153 rotates.
  • the air cells 101a and 101b can rotate forward and backward around the rotation axis (rotation center) 102 by forward and reverse rotation of the drive unit 154.
  • the second mechanism unit 103B has the same configuration as the first mechanism unit 103A and can operate in the same manner. That is, the second mechanism unit 103 ⁇ / b> B includes a support member 153 and a rotation shaft (rotation center) 102. The rotation shaft 102 of the second mechanism unit 103B is also rotationally driven by the drive unit 154.
  • the first mechanism unit 103A and the second mechanism unit 103B may be driven by different driving units 154 or may be driven by a common driving unit 154.
  • FIG. 123 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in opposite directions with the first treatment member 121A and the second treatment member 121B gripping the left and right shoulders 100h. ing.
  • the first treatment member 121A rotates counterclockwise
  • the second treatment member 121B rotates clockwise.
  • the first treatment member 121A and the second treatment member 121B may be rotated in the same direction, or only one of the first treatment member 121A and the second treatment member 121B may be rotated. Further, the first support member 153a and the second support member 153b may be configured to rotate independently, and in this case, only one of the pair of pressing members can be rotated. Further, after the first treatment member 121A and the second treatment member 121B are not grasping and gripping the shoulder 100h, the first treatment member 121A and the second treatment member 121B are rotated to change the position of the grasping and grasping. You can grab your shoulder and rub it.
  • the massage unit 10 shown in FIGS. 124 to 126 is provided on the backrest 3 and massages the user.
  • the massage includes grasping and gripping the shoulder (left shoulder in the figure) 100h or the neck 100i of the user.
  • the muscle fibers of the neck 100i are oriented in the longitudinal direction of the neck (Y direction in FIG. 124).
  • the massage unit 10 has a treatment unit 101 that massages (grabs) the shoulder 100h or the neck 100i.
  • the treatment part 101 has a pair of pressing members 101a and 101b.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the air cell 101a as the first pressing member expands downward and presses the shoulder upper side 100ha downward.
  • the air cell 101b as the second pressing member expands forward and presses the shoulder rear side 100hb forward.
  • the massage unit 10 shown in FIGS. 124 to 126 includes a mechanism unit 103 that moves the treatment unit 101.
  • the mechanism 103 has a support member 153 to which the pair of air cells 101a and 101b are attached.
  • the support member 153 includes a first support member 153a to which the first air cell 101a is attached, a second support member 153b to which the second air cell 101b is attached, and a third support member 153c to which the second support member 153b is attached. is doing.
  • the first support member 153a is disposed to face the shoulder upper side 100ha
  • the second support member 153b is disposed to face the shoulder rear side 100hb.
  • the rear end of the first support member 153a and the upper end of the second support member 153b are connected to each other.
  • the first support member 153a and the second support member 153b are generally L in a side view. It is formed in a letter shape.
  • the mechanism unit 103 further includes a rotation shaft (rotation center) 102 that connects the second support member 153b and the third support member 153c.
  • the third support member 153c is provided with a drive unit 154 that rotates the rotating shaft 102.
  • the rotation axis (rotation center) 102 faces the in-plane direction (Z direction) that intersects the direction (X direction) of the muscle fibers of the shoulder 100h.
  • the rotation axis (rotation center) 102 may be oriented in the Y direction or other directions (in-plane direction intersecting the direction of the muscle fibers of the shoulder 100h (X direction)).
  • the drive unit 154 rotationally drives the first support member 153 a and the second support member 153 b around the rotation axis (rotation center) 102.
  • the air cells 101a and 101b rotate around the rotation axis (rotation center) 102 as the support member 153 rotates.
  • the air cells 101a and 101b can rotate forward and backward around the rotation axis (rotation center) 102 by forward and reverse rotation of the drive unit 154.
  • the mechanism unit 103 is configured to be able to move the third support member 153 c in the left-right direction (X direction) with respect to the backrest 3.
  • the backrest 3 has a rack 164 whose longitudinal direction is directed in the left-right direction (X direction).
  • a pinion 163 that meshes with the rack 164 is connected to a drive unit 161 provided on the third support member 153 c via a rotation shaft 162.
  • the drive unit 161 rotationally drives the pinion 163, so that the pinion 163 moves in the left-right direction on the rack 164 as shown in FIG. 125 (a).
  • the 3rd support member 153c in which the drive part 161 is provided moves to the left-right direction.
  • the third support member 153c moves, the first support member 153a and the second support member 153b also move in the left-right direction. Therefore, the treatment unit 101 (air cells 101a and 101b) can be moved in the left-right direction by forward and reverse rotation of the drive unit 161.
  • the third support member 153c is provided with an attachment body 167 to which the drive unit 161 is attached, and a support shaft 166 extending from the attachment body 167 to the backrest part 3 side.
  • a guide roller 165 is rotatably attached to the rear end of the support shaft 166 and is in contact with the lower surface of the rack 164 so as to be able to roll. By the rolling contact with the rack 164 by the guide roller 165, the movement of the third support member 153c in the left-right direction is guided.
  • the second support member 153b can be rotated by the drive unit 154 as shown in FIG. 125 (b).
  • the support member 153 is positioned at the left outer end of the left shoulder 100h, and the shoulder 100h (left shoulder) can be massaged by the treatment portion 101, to the vicinity of the base of the neck 100i.
  • the second support member 153b can move and rotate clockwise around the rotation center 102. As shown in FIG.
  • the first support member 153a is located on the side (left-hand side) of the neck 100i, and the second support member 153b is located behind the neck 100i. Therefore, the treatment part 101 can grasp and squeeze the neck 100i from the side and the back. In this manner, the mechanism unit 103 can move the treatment unit 101 to the position of the neck 100i so that the treatment unit 101 that performs massage on the shoulder 100h can grasp and squeeze the neck 100i.
  • the first support member 153a and the second support member 153b may be configured to rotate independently. In this case, only one of the pair of pressing members can be rotated. Further, the treatment unit 101 in FIGS. 124 to 126 performs massage on the left shoulder, but by providing the same treatment unit 101 for the right shoulder, both the left and right shoulders can be massaged.
  • FIG. 127 shows examples of muscle fiber directions 163a to 163h in the body part suitable for providing the massage unit 10 shown in FIGS. 87 to 126 and rotation directions 166A and 166B of the treatment unit 101 (treatment members 121A to 121D). Is shown.
  • the treatment unit 101 (treatment members 121A to 121D) assumes an in-plane direction (for example, the direction of FIG. 127) when assuming a surface 165 that intersects (orthogonally) the muscle fiber directions 163a to 163h.
  • 102A, 102B) are rotated in the rotation directions 166A, 166B with the rotation center.
  • the in-plane direction is not limited to the directions 102A and 102B in FIG. 127, and may be other in-plane directions.
  • a massage apparatus (one embodiment) 1 of the present invention is a treatment unit 101 that performs grasping and squeezing on a body part, and is gripped and squeezed by the treatment unit 101.
  • a mechanism unit 103 that moves the treatment unit 101 in an in-plane direction that intersects the direction of muscle fibers in the body part 100.
  • the direction of the muscle fiber includes, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the left-right direction of the shoulder, and the longitudinal direction of the neck.
  • the treatment unit 101 moves, for example, in a direction that intersects the longitudinal direction of the arm, leg, or neck.
  • the in-plane direction includes the left-right direction of the body part or the front-back direction of the body part.
  • the treatment unit 101 moves, for example, in a direction that intersects the left and right direction of the shoulder.
  • the in-plane direction intersecting the left and right direction of the shoulder includes, for example, the front and rear direction of the shoulder and the vertical direction of the shoulder.
  • the motion in the in-plane direction of the treatment unit 101 is sufficient if it has the motion component in the in-plane direction as a main component of the motion, and may have a motion component in another direction.
  • the movement component in the other direction is, for example, a movement component in the out-of-plane direction (surface normal direction).
  • the movement in the in-plane direction of the treatment unit 101 does not have to be a linear motion, and may be a curved motion.
  • the mechanism unit 103 does not need to move the entire treatment unit 101, and only needs to move at least a part of the treatment unit 101.
  • the mechanism unit 103 moves at least one of the pair of pressing members 101a and 101b.
  • the treatment unit 101 is configured to grasp and squeeze a body part from a direction intersecting with the direction of muscle fibers, and the mechanism unit 103 includes a direction included in the in-plane direction and a direction of squeezing by the treatment unit 101. It is preferable that the treatment unit 101 is configured to move in a direction that intersects with the. When the treatment unit 101 moves in a direction intersecting with the direction of grasping and squeezing, a movement across the muscle fiber of the body part being grasped and squeezed occurs, and for example, the muscle can be loosened.
  • the treatment unit 101 is configured to grasp and squeeze the body part from the direction intersecting with the direction of the muscle fibers, and the mechanism unit 103 is included in the direction included in the in-plane direction and in the direction of squeezing by the treatment unit 101. It is preferable that the treatment unit 101 is configured to move in the direction along. When the treatment unit 101 moves along the direction of grasping and squeezing, it is possible to change the feeling of pressing on the body part that is being squeezed.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes the body part 100, and the mechanism unit 103 grasps the first treatment member 121A and the second treatment member 121B. At least one of the first treatment member 121A and the second treatment member 121B is changed so that the relative positional relationship between the first treatment member 121A and the second treatment member 121B changes while the stagnation is performed. It is preferably configured to move in the in-plane direction.
  • the first treatment member 121A is provided to grip and squeeze the first range 100c of the body, and the second treatment member 121B is interposed between the first range 100c and at least one joint.
  • the second range 100d of the body which is a range different from the first range 100c, is provided so as to be grasped and squeezed.
  • the first range is the hand and the second range is the forearm
  • the first range is the forearm
  • the second range is the upper arm
  • the first range is the upper arm
  • the second range is the shoulder
  • the first range is the shoulder
  • the second The range can be the neck
  • the first range is the foot and the second range is the lower leg
  • the first range is the lower leg and the second range is the thigh.
  • the treatment unit 101 includes a pair of pressing members 101a and 101b for grasping and squeezing the body part, and the mechanism unit 103 changes the relative positional relationship between the pair of pressing members 101a and 101b.
  • the mechanism unit 103 changes the relative positional relationship between the pair of pressing members 101a and 101b.
  • at least one of the pair of pressing members 101a and 101b is configured to move in the in-plane direction.
  • the mechanism 103 is preferably configured to move the first treatment member 121A and the second treatment member 121B in the in-plane direction.
  • the mechanism unit 103 moves the first treatment member 121A and the second treatment member 121B in the in-plane direction so that the relative positional relationship between the first treatment member 121A and the second treatment member 121B changes. It is preferable that it is comprised.
  • the mechanism unit 103 is configured to move the first treatment member 121A and the second treatment member 121B in the in-plane direction while maintaining the relative positional relationship between the first treatment member 121A and the second treatment member 121B. It is preferable.
  • the first treatment member 121A is provided so as to grip and squeeze the shoulder, and the second treatment member 121B is provided so as to perform a grip and squeeze against the upper limbs or the neck.
  • the treatment unit 101 includes a first treatment member provided to grip the hand and a second treatment member provided to grip the forearm, and a third treatment provided to grip the upper arm.
  • the treatment unit 101 includes a first treatment member provided for gripping the foot, a second treatment member provided for gripping the lower leg, and a third treatment provided for gripping the thigh.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which performs gripping and squeezing with respect to the body part from a direction intersecting with the direction of the muscle fibers in the body part.
  • the second treatment member 121B is provided in a range different from the first range 100d through at least one joint between the first range 100d and the second treatment member 121B.
  • a mechanism 103 is provided so as to grasp and squeeze a second range 100a of a body, and the mechanism 103 moves the first treatment member 121A in a first direction included in the in-plane direction and includes a direction included in the in-plane direction. However, it is preferable that the second treatment member 121B is moved in a second direction intersecting the first direction.
  • the body part 100 is the shoulder 100h, and the mechanism part 103 is treated in an in-plane direction intersecting with the direction of the muscle fibers in the shoulder 100h in a state where the treatment part 101 is gripping and squeezing the shoulder 100h. It is preferably configured to move the part 101.
  • the treatment unit 101 includes a first treatment member 121A-1 that performs gripping for the left and right shoulders, and a second treatment member 121A-2 that performs gripping for the other shoulders of the left and right.
  • the portion 103 is in a state in which the first and second treatment members 121A-1 and 121A-2 are gripped with respect to the left and right shoulders by the first treatment member 121A-1 and the second treatment member 121A-2.
  • each is configured to move in an in-plane direction intersecting the direction of muscle fibers in the shoulder.
  • [Details of the embodiment of the present invention] 128 to 130 show examples of the massage unit 10.
  • This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, a hand 100c and a forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction of the hand 100c and the forearm 100d (the Z direction in FIG. 128).
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d.
  • the treatment unit 101 includes a first treatment member 121A that massages (grabs) the hand 100c and a second treatment member 121B that massages (grabs) the forearm 100d.
  • the number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more.
  • the treatment members 121A and 121B shown in FIGS. 71 to 130 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulder, upper arm, thigh, lower leg, foot, and other body parts. good.
  • the first treatment member 121A has a pair of pressing members 101a and 101b.
  • the pair of pressing members 101a and 101b are disposed so as to face each other so as to have a space in which a hand 100c to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one.
  • the air cells 101a and 101b are supplied and exhausted by an air circuit (not shown).
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 131). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the first treatment member 121A grips and grips the hand 100c from the direction (Y direction in FIG. 128) intersecting the direction of muscle fibers in the hand 100c (longitudinal direction of the hand 100c; Z direction in FIG. 128).
  • the gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
  • the 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
  • the mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
  • the first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached.
  • a screw shaft 155 for linearly moving.
  • the screw shaft 155 is rotationally driven by the drive unit 154.
  • the screw shaft 155 faces the direction (X direction) that intersects the direction (Z direction) of the muscle fibers of the hand 100c.
  • the screw shaft 155 that is rotationally moved moves the nut portion 156 in the X direction of FIG.
  • the support members 153a, 153b, and 153c including the nut portion 156 also move in the X direction.
  • the air cells 101a and 101b also move in the X direction.
  • the air cells 101a and 101b can reciprocate in the X direction by forward and reverse rotation of the drive unit 154.
  • the screw shaft 155 may be arranged in the Y direction.
  • the air cells 101a and 101b can move in the Y direction.
  • the screw shaft 155 may be arranged in a direction other than the X direction and the Y direction (other in-plane directions) included in the XY plane.
  • the air cells 101a and 101b can move in other directions in the XY plane.
  • the XY plane is a plane in a direction orthogonal to the direction of muscle fibers (Z direction).
  • the direction in which the air cells 101a and 101b can move is not limited to the direction orthogonal to the Z direction, and may be any direction that intersects the Z direction.
  • the second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support members 153a, 153b, and 153c, a nut portion 156, and a screw shaft 155. The screw shaft 155 of the second mechanism unit 103B is also rotationally driven by the drive unit 154. In FIG. 131, the first mechanism unit 103A and the second mechanism unit 103B are driven by separate drive units 154, respectively, but the first mechanism unit 103A and the second mechanism unit 103B are driven by a common drive unit. Also good.
  • FIG. 132 and 133 show a state where one of the treatment members 121A and 121B is moved in the X direction in a state where the hand 100c and the forearm 100d are grasped and pinched by the first treatment member 121A and the second treatment member 121B. Yes.
  • the second treatment member 121B does not move in the X direction, and the first treatment member 121A moves in the X direction (the little finger side of the hand 100c).
  • the joint a wrist joint in FIG. 132 located between the first treatment member 121A and the second treatment member 121B is bent at a position where the position of the forearm 100d is fixed.
  • the hand 100c can be bent in the X direction (left and right) with respect to the forearm 100d, and a stretching action occurs.
  • the first treatment member 121A repeats reciprocation in the X direction, so that bending of the wrist joint in the left-right direction can be repeated.
  • the first treatment member 121A does not move in the X direction, and the second treatment member 121A moves in the X direction (the little finger side of the hand 100c).
  • the joint (a hand joint in FIG. 133) located between the first treatment member 121A and the second treatment member 121B is bent at a position where the position of the hand 100c is fixed.
  • the forearm 100d can be bent in the X direction with respect to the hand 100c, and a stretching action occurs.
  • the second treatment member 121B repeats reciprocation in the X direction, so that bending of the wrist joint in the left-right direction can be repeated.
  • the air cells 101a and 101b When the air cells 101a and 101b are moved in the X direction as described above, the air cells 101a and 101b that are grasping and grasping the hand 100c can cross the muscle fibers of the hand 100c. Further, as shown in FIG. 134, the first treatment member 121A and the second treatment member 121B may be simultaneously moved in the opposite directions in the X direction. Moreover, you may move the 1st treatment member 121A and the 2nd treatment member 121B simultaneously in the reverse direction in the Y direction. Thereby, bending of a wrist joint can be enlarged.
  • the first treatment member 121A and the second treatment member 121B move so as to change their relative positional relationship, so that the body is grasped and squeezed by the first treatment member 121A and the second treatment member 121B, respectively.
  • a force that relatively shifts the part can be applied to each body part. Therefore, when a joint is located between the first treatment member 121A and the second treatment member 121B, the joint can be bent.
  • the relative positional relationship between the first treatment member 121 ⁇ / b> A and the second treatment member 121 ⁇ / b> B can be changed by shifting the operation timings or changing the movement speeds.
  • the second treatment member 121A and the second treatment member 121B may move while maintaining their relative positional relationship. That is, as shown in FIG. 135, the first treatment member 121A and the second treatment member 121B may be moved simultaneously in the same direction in the X direction. Further, the first treatment member 121A and the second treatment member 121B may be moved simultaneously in the same direction in the Y direction.
  • the wrist joint placed on the armrest portion 4 can be bent in the vertical direction. Since the Y direction is the direction of gripping by the air cells 101a and 101b, when the air cells 101a and 101b are moved in the Y direction by the mechanism unit 103, the pressing force in the Y direction changes, and the massage feeling due to gripping changes. You can also.
  • the first treatment member 121A and the second treatment member 121B may be arranged such that no joint (hand joint) is positioned between them.
  • both treatment members 121A and 121B may be used for the forearm 100d.
  • both the treatment members 121A and 121B move, the positions of the gripping and kneading portions in the plurality of forearms 100d can be changed.
  • the massage unit 10 shown in FIGS. 136 and 137 has substantially the same configuration as the massage unit 10 shown in FIGS. 128 to 130. The difference is that the first support member 153a and the second support member 153b in the massage unit 10 shown in FIGS. 136 and 137 are configured to be independently movable in the X direction.
  • the first mechanism portion 103A that moves the first treatment member 121A includes a mechanism that moves the first support member 153a and a mechanism that moves the second support member 153b. ing.
  • a nut portion 156 is coupled to each of the first support member 153a and the second support member 153b of the first support member 153a.
  • nut portions 156 are connected to the first support member 153a and the second support member 153b of the second treatment member 121B, respectively.
  • Each of the nut portions 156 moves linearly by the rotation of the screw shaft 155 that is rotationally driven by the drive portion 154.
  • Each screw shaft 155 faces a direction (X direction) that intersects the direction (Z direction) of the muscle fibers of the hand 100c.
  • the screw shaft 155 that is driven to rotate moves the nut portion 156 in the X direction in FIG.
  • the screw shaft 155 of FIGS. 136 and 137 may also face other directions included in the in-plane direction that intersects the Y direction and the direction of the muscle fibers.
  • the pair of air cells 101a and 101b may be driven by a common drive unit and move in conjunction with each other. In this case, although the pair of air cells 101a and 101b move in conjunction with each other, the movement of the pair of air cells 101a and 101b can be made different.
  • FIG. 138 shows a state in which one air cell (first air cell) 101a is reciprocated in the X direction while the body part (hand 100c or forearm 100d) is grasped and squeezed by the air cells 101a and 101b, while the other air cell (first air cell) (2 air cell) 101b is shown fixed.
  • first air cell 101a moves in the X direction (left-right direction; the direction perpendicular to the muscle fibers) on the upper side of the hand 100c or the forearm 100d in FIG. 138, the muscles of the portion where the first air cell 101a is in contact are loosened. be able to.
  • FIG. 139 shows a state in which the pair of air cells 101a and 101b are simultaneously reciprocated in the X direction while the body part (hand 100c or forearm 100d) is grabbed and pinched by the air cells 101a and 101b.
  • the pair of air cells 101a and 101b operate in synchronization in the same direction so as to maintain the relative positional relationship thereof.
  • the pair of air cells 101a and 101b may reciprocate in the opposite direction synchronously so that their relative positional relationship changes. In this case, an effect of moving the muscles in opposite directions can be obtained.
  • the reciprocating operations of the pair of air cells 101a and 101b may have different periods or different strokes.
  • FIG. 141 shows a state in which one air cell (second air cell) 101b is reciprocated in the X direction while the body part (hand 100c or forearm 100d) is grasped and pinched by the air cells 101a and 101b, while the other air cell (first (1 air cell) 101a is fixed.
  • the second air cell 101b moves in the X direction (left-right direction; the direction perpendicular to the muscle fibers) on the lower side of the hand 100c or the forearm 100d in FIG. 141, so that the muscle of the portion where the second air cell 101b is in contact is moved. Can be loosened.
  • This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, a hand 100c and a forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the hand 100c and the forearm 100d face the longitudinal direction of the hand 100c and the forearm 100d (the Z direction in FIG. 142).
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d.
  • the treatment unit 101 includes a first treatment member 121A that massages (grabs) the hand 100c and a second treatment member 121B that massages (grabs) the forearm 100d.
  • the number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more.
  • the treatment members 121A and 121B shown in FIGS. 142 to 144 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.
  • the first treatment member 121A has a pair of pressing members 101a and 101b.
  • the pair of pressing members 101a and 101b are disposed so as to face each other so as to have a space in which a hand 100c to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one.
  • the air cells 101a and 101b are supplied and exhausted by an air circuit (not shown).
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 143). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the first treatment member 121A grasps and grips the hand 100c from the direction (Y direction in FIG. 142) intersecting the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c; Z direction in FIG. 142).
  • the gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
  • the 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
  • the mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
  • the first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached.
  • the first screw shaft 155a is rotationally driven by a first drive unit 154a provided in the holding unit 156a.
  • a nut portion 156b is attached to the holding portion 156a.
  • the nut portion 156b is screwed to the second screw shaft 155b that is rotationally driven by the second drive portion 154b.
  • the first screw shaft 155a faces the direction (X direction) that intersects the direction of the muscle fibers of the hand 100c or the forearm 100d (Z direction).
  • the eccentric cam 157 that is rotationally driven by the first screw shaft 155 a is rotatably held at the end of the rod 158.
  • the second support member 153b has a regulating member 153d extending toward the holding portion 156a and having a tip inserted into the holding portion 156a.
  • the restriction member 153d is, for example, a rod-like member, and the tip thereof is positioned in the holding portion 156a through the through hole 156c provided in the holding portion 156a.
  • the regulating member 153d is slidable with respect to the peripheral surface forming the through hole 156c, thereby allowing the second support member 153b to move in the vertical direction (Y direction). ) Is controlled.
  • the eccentric cam 157 rotates eccentrically with the rotation of the first screw shaft 155a driven by the first drive unit 154a, and the support members 153a, 153b, and 153c are connected via the rod 158 attached to the eccentric cam 157. Reciprocate in the vertical direction (Y direction). As the support members 153a, 153b, and 153c move in the Y direction, the air cells 101a and 101b also move in the Y direction. Thus, the air cells 101a and 101b can move in the Y direction.
  • the second screw shaft 155b faces the direction (X direction) intersecting the muscle fibers (Z direction) of the hand 100c.
  • the second screw shaft 155b that is rotationally driven by the second drive unit 154b moves the nut unit 156b in the X direction.
  • the air cells 101a and 101b also move in the X direction. Therefore, when the first driving unit 154a and the second driving unit 154b operate simultaneously, the air cells 101a and 101b can move in the Y direction while moving in the X direction. In this case, the treatment parts 100c and 100d can be massaged over a wide range.
  • the first driving unit 154a and the second driving unit 154b may each operate independently.
  • the second screw shaft 155b may be arranged in a direction other than the X direction (other in-plane direction) included in the XY plane.
  • the air cells 101a and 101b can move in other directions in the XY plane.
  • the XY plane is a plane in a direction orthogonal to the direction of muscle fibers (Z direction).
  • the direction in which the air cells 101a and 101b can move is not limited to the direction orthogonal to the Z direction, and may be any direction that intersects the Z direction.
  • the second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support members 153a, 153b, and 153c, a rod 158, a ball joint 159, an eccentric cam 157, a first screw shaft 155a, a holding portion 156a, a nut portion 156b, It has two screw shafts 155b and a regulating member 153d.
  • the first screw shaft 155a of the second mechanism unit 103B is rotationally driven by the first drive unit 154a
  • the second screw shaft 155b is rotationally driven by the second drive unit 154b.
  • the first mechanism unit 103A and the second mechanism unit 103B are driven by different second drive units 154b, respectively, but the first mechanism unit 103A and the second mechanism unit 103B are shared by a common second drive unit 154b. It may be driven by the two drive unit 154b.
  • the first drive unit 154a is operated to grasp the treatment parts 100c and 100d.
  • the treated parts 100c and 100d can be grasped and moved in the direction of the squeezing.
  • the second treatment member 121B is moving upward. In this way, by moving the first treatment members 121A and 121B so as to change the relative positional relationship, a stretching action for bending the wrist joint up and down is obtained.
  • both members 121A and 121B may be simultaneously moved upward or downward so as to maintain the relative positional relationship between the first treatment member 121A and the second treatment member 121B.
  • the pair of pressing members 101a and 101b constituting each of the treatment members 121A and 121B may be moved independently. At this time, the massage feeling can be changed by moving the pair of pressing members 101a and 101b so that the relative positional relationship between the pair of pressing members 101a and 101b changes.
  • the first treatment member 121A and the second treatment member 121B may be arranged such that no joint (hand joint) is positioned between them.
  • both treatment members 121A and 121B may be used for the forearm 100d.
  • both the treatment members 121A and 121B move, the positions of the gripping and kneading portions in the plurality of forearms 100d can be changed.
  • FIGS. 145 to 147 show examples of the massage unit 10.
  • This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, a hand 100c and a forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the forearm 100d and the upper arm 100a.
  • the treatment unit 101 includes a first treatment member 121A that massages (grabs and grips) the forearm 100d that is the first range, and a second treatment member 121B that massages (grabs and grips) the upper arm 100a that is the second range.
  • An elbow joint is located between the forearm 100d as the first range and the upper arm 100a as the second range.
  • the number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more.
  • the treatment members 121A and 121B shown in FIGS. 145 to 147 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulders, hands, thighs, lower legs, legs, and other body parts. good.
  • the massage unit 10 includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B.
  • the mechanism 103A for moving the first treatment member 121A the same mechanism as that shown in FIGS. 128 to 135 or 136 to 141 is employed. Therefore, the first treatment member 121A can move in the left-right direction (the X direction; the first direction included in the in-plane direction intersecting the direction of the muscle fibers of the forearm 100d).
  • the mechanism portion 103B for moving the second treatment member 121B the one shown in FIG. 146 is employed. 146 of FIG.
  • the mechanism portion 103B of FIG. 146 is for moving the second treatment member 121B in the vertical direction (Y direction; second direction included in the in-plane direction intersecting the direction of the muscle fibers of the upper arm 100d).
  • the mechanism portion 103B of FIG. 146 has a screw shaft 155 of the mechanism portion 103 shown in FIG. 130 arranged in the vertical direction (Y direction), and a nut portion 156 that is linearly moved by the screw shaft 155, the third support member 153c. It is connected to.
  • the mechanism 103 shown in FIGS. 142 to 144 may be employed as the mechanism 103B that moves the second treatment member 121B in the vertical direction.
  • the first treatment member 121A is movable in the left-right direction (first direction), while the second treatment member 121B is movable in the up-down direction (second direction). .
  • the first treatment member 121A and the second treatment member 121B can move in a state where the body parts 100d and 100a are grasped and squeezed.
  • the first treatment member 121A and the second treatment member 121B can move in a state where the body parts 100d and 100a are not gripped and then grip the body parts 100d and 100a.
  • FIG. 148 and FIG. 149 show an example of the massage unit 10.
  • This massage unit 10 includes a pair of shoulder treatment members 121A-1 and 121A-2 for massaging (grabbing) each of the left and right shoulders, and a pair of necks for massaging (grabbing) each of the left and right necks.
  • These treatment members 121A-1, 121A-2, 121B-1, 121B-2, 121C-1, 121C-2 are a pair of pressing members, similar to the treatment members 121A, 121B shown in FIGS. 128 to 147. (Air cell).
  • the shoulder treatment members 121A-1 and 121A-2 can press the shoulder 100h from the front-rear direction (Z direction).
  • the neck treatment members 121B-1 and 121B-2 can press the neck 100i from the front-rear direction (Z direction).
  • the upper arm treatment members 121C-1 and 121C-2 can, for example, press the upper arm 100a from the front-rear direction (Z direction).
  • the massage unit 10 shown in FIG. 148 and FIG. 149 has the treatment members 121A-1, 121A-2, 121B-1, 121B-2, 121C-1, 121C-2 attached to the body parts 100h, 100i, 100a to be massaged. It has a mechanism that moves in an in-plane direction that intersects the direction of the muscle fibers. As this mechanism part, the mechanism part 103 (103A, 103B) shown in FIGS. 128 to 147 can be adopted. The mechanism unit moves the shoulder treatment members 121A-1 and 121A-2 to the shoulder treatment members 121A-1 in the Z direction or the Y direction, for example, an in-plane direction that intersects the muscle fiber direction (X direction) of the shoulder 100h.
  • 121A-2 can be moved. Further, the mechanism unit moves the neck treatment members 121B-1 and 121B-2 in the X direction or the Z direction, which is an in-plane direction intersecting the direction of the muscle fibers of the neck 100i (Y direction), for example. 121B-1 and 121B-2 can be moved. Further, the upper arm treatment member 121C-1, 121C-2 is the upper arm treatment member 121C- in the X direction or the Z direction which is the in-plane direction intersecting the direction of the muscle fibers of the upper arm 100a (Y direction). 1, 121C-2 can be moved.
  • the mechanism unit of the massage unit shown in FIG. 148 and FIG. 149 is the treatment member 121A-1, 121A-2, 121B-1, 121B- which is grasping and squeezing in the state where the squeezing is performed by each treatment member. 2, 121C-1, 121C-2, or any one of them, by moving, between each treatment part 121A-1, 121A-2, 121B-1, 121B-2, 121C-1, 121C-2
  • the feeling of massage can be changed by changing the relative position.
  • FIG. 150 shows the directions of muscle fibers 163a to 163i in the body part suitable for providing the massage unit 10 shown in FIGS. 128 to 149 and the direction of movement (reciprocating) of the treatment unit 101 (treatment members 121A and 121B). Examples of 170A and 170B are shown.
  • the treatment unit 101 (treatment members 121A and 121B) assumes an in-plane direction (for example, the direction of FIG. 150) when assuming a surface 165 that intersects (orthogonally) the muscle fiber directions 163a to 163i. 170A, 170B).
  • the directions 170A and 170B in FIG. 150 correspond to the X direction or the Y direction in FIGS.
  • the in-plane direction is not limited to the directions 170A and 170B in FIG. 150, and may be other in-plane directions.
  • the massage apparatus (one embodiment) 1 of the present invention includes a treatment unit 101 that performs grasping and squeezing on a body part, and a body that is grasped and squeezed by the treatment unit. And a mechanism portion 103 that moves the treatment portion in the moving direction along the direction of the muscle fibers in the region.
  • the directions of the muscle fibers include, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the lateral direction of the shoulder, the longitudinal direction of the neck, and the longitudinal direction of the finger.
  • the treatment unit 101 that grips and squeezes the arm, leg, or neck
  • the treatment unit 101 moves in the longitudinal direction of the arm, leg, or neck, for example.
  • the treatment unit 101 that grips and rubs the shoulder
  • the treatment unit 101 moves, for example, in the lateral direction of the shoulder.
  • the movement of the treatment unit 101 is sufficient if it has a movement component in the direction of muscle fibers as the main component of movement, and may have a movement component in another direction.
  • the movement component in the other direction is, for example, a movement component in a direction intersecting with muscle fibers.
  • the movement of the treatment unit 101 does not have to be a linear motion, and may be a curved motion.
  • the mechanism unit 103 does not need to move the entire treatment unit 101, and only needs to move at least a part of the treatment unit 101.
  • the mechanism unit 103 moves at least one of the pair of pressing members 101a and 101b.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the first treatment member 121A and the second treatment member 121B include muscle fibers of the body part.
  • the mechanism unit 103 is arranged in parallel with the direction intersecting the direction, and the mechanism unit 103 is at least one of the first treatment member and the second treatment member so that the relative positional relationship between the first treatment member 121A and the second treatment member 121B changes.
  • one is configured to move in the direction of movement.
  • the first treatment member 121A and the second treatment member 121B may be arranged so as to be shifted in the direction of muscle fibers.
  • the relative positional relationship between the first treatment member 121A and the second treatment member 121B can be changed, for example, when only one of them moves or moves in the opposite direction, and the respective moving speeds are different. .
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the first treatment member 121A and the second treatment member 121B include muscle fibers of the body part.
  • the mechanism unit 103 moves the first treatment member 121A and the second treatment member 121B while maintaining the relative positional relationship between the first treatment member 121A and the second treatment member 121B. It may be configured to move in the direction.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the mechanism unit 103 includes at least one of the first treatment member 121A and the second treatment member 121B.
  • the first treatment member 121A and the second treatment member 121B are grasped by the first treatment member 121A and the first treatment member 121A and the first treatment member 121A and the second treatment member 121A. It is preferable that the second range of the body in which itching is performed is included so as to be included in the same range that does not include the joints of the body.
  • the body part is preferably the upper limb or the lower limb.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which performs gripping and gripping on the body part, and the first treatment member 121A is provided to perform gripping and gripping on the wrist.
  • the treatment member 121B is provided so as to grip and squeeze the forearm at a position closer to the elbow than the first treatment member 121A, and the mechanism 103 is gripped and squeezed by the first treatment member 121A and the second treatment member 121B. It is preferable that the second treatment member 121B is moved in a direction away from the first treatment member 121A.
  • the first treatment member 121A and the second treatment member 121B may be provided so as to grasp and squeeze another body part.
  • the first treatment member 121A may grasp and squeeze the foot, and the second treatment member 121B may grasp and squeeze the lower leg. Further, the first treatment member 121A may grasp and squeeze the toe of the foot, and the second treatment member 121B may grasp and squeeze the heel. Further, the first treatment member 121A may grasp and squeeze the ankle, and the second treatment member 121B may grasp and squeeze the calf.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the mechanism unit 103 grasps the first treatment member 121A and the second treatment member by 121B.
  • the second treatment member 121B is configured to move in a direction away from the first treatment member 121A while rotating the second treatment member 121B around the rotation center 102 along the direction of the muscle fiber in a state where the itch is being performed. It is preferable.
  • the treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which performs gripping with respect to a body part, and the mechanism unit 103 includes a first treatment member 121A and a second treatment member 121B.
  • the first treatment member 121A and the second treatment member are rotated while at least one of the first treatment member 121A and the second treatment member 121B is rotated around the center of rotation along the direction of the muscle fibers. It is preferable that at least one of 121B is configured to move in the moving direction.
  • the treatment unit 101 includes a pair of pressing members 101a and 101b for gripping and squeezing the body part, and the mechanism unit 103 seems to change the relative positional relationship between the pair of pressing members 101a and 101b.
  • the mechanism unit 103 seems to change the relative positional relationship between the pair of pressing members 101a and 101b.
  • the mechanism 103 is preferably configured to move the pair of pressing members 101a and 101b so as to move in opposite directions.
  • the body part is the shoulder, and the mechanism unit 103 is configured to move the treatment unit 101 in a direction along the muscle fiber in the shoulder in a state where the treatment unit 101 is gripping and squeezing the shoulder. It is preferable.
  • the treatment unit 101 includes a first treatment member 121A that performs gripping and squeezing on one of the left and right shoulders, and a second treatment member 121B that performs gripping and squeezing on the other shoulder of the left and right.
  • the first treatment member 121A and the second treatment member 121B are moved in the direction along the muscle fibers in the shoulder in a state in which the first treatment member 121A and the second treatment member 121B are gripped with respect to the left and right shoulders. It is preferable that it is comprised.
  • the treatment unit 101 includes a first treatment member 121A, a second treatment member 121B, and a third treatment member 121C, each of which grips and squeezes a body part, and the first treatment member 121A is a first range of the body.
  • the second treatment member 121B is provided with respect to the second range of the body that is different from the first range through at least one joint between the second range and the first range.
  • the third treatment member 121C is provided to perform grasping and squeezing, and the third treatment member 121C has a third range of the body different from the first range and the second range via at least one other joint between the third range and the second range. It is preferably provided to grip and squeeze the range.
  • the first to third ranges are each selected from the group consisting of a hand, forearm, upper arm, shoulder, and neck.
  • the first to third ranges are each selected from the group consisting of feet, lower legs, thighs, waist, back, shoulders, and neck.
  • the mechanism unit 103 performs the grasping and squeezing in a state where the squeezing is performed by two or more of the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. It is preferable that at least one of the two or more treatment members is configured to move in the moving direction.
  • the mechanism portion 103 is in a state in which the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripped, and the first treatment member 121A, the second treatment member 121B, and It is preferable that at least one of the third treatment members 121C is configured to move in the movement direction.
  • the mechanism unit 103 moves the second treatment member 121B in the moving direction in a state where the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripped. Preferably, it is configured.
  • the second treatment member 121B is preferably located between the first treatment member 121A and the third treatment member 121C.
  • the mechanism unit 103 moves the first treatment member 121A and the third treatment member 121C in a state in which the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripped. It is preferably configured to move in the moving direction.
  • 151 to 158 show examples of the massage unit 10.
  • This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, a hand 100c and a forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the hand 100c and the forearm 100d face the longitudinal direction of the hand 100c and the forearm 100d (Z direction in FIG. 151).
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d.
  • the treatment section 101 includes a pair of hand treatment members 121A-2 and 121B-2 for massaging (grabbing and grasping) the hand 100c and a pair of forearm treatment members 121A-1 and 121B- for massaging (grabbing and grasping) the forearm 100d. 1.
  • the pair of hand treatment members 121A-2 and 121B-2 are juxtaposed in the left-right direction (X direction), which is the direction intersecting the direction of the muscle fibers (Z direction) of the hand 100c.
  • the pair of hand treatment members 121A-2 and 121B-2 are arranged to face each other so that the hand 100c is located between them.
  • the pair of forearm treatment members 121A-1 and 121B-1 are also juxtaposed in the left-right direction (X direction), which is the direction intersecting the muscle fiber direction (Z direction) of the forearm 100d.
  • the pair of forearm treatment members 121A-1 and 121B-1 are arranged to face each other such that the forearm 100d is located between them.
  • two pairs of treatment members 121A-2, 121B-2, 121A-1, and 121B-1 are provided for the hand 100c and the forearm, but may be a pair or three or more pairs.
  • the treatment members 121A-2, 121B-2, 121A-1, and 121B-1 shown in FIGS. 151 to 158 massage the neck, shoulders, upper arms, thighs, lower thighs, legs, and other body parts. As such, the massage device 1 may be provided.
  • each of the treatment members 121A-2, 121B-2, 121A-1, 121B-1 has a pair of pressing members 101a, 101b.
  • 152 shows the configuration of the treatment members 121A-2 and 121A-1, and the configuration of the treatment members 121B-2 and 121B-1 is a left-right inverted version of the configuration shown in FIG.
  • the pair of pressing members 101a and 101b are disposed so as to face each other with a space in which the hand 100c or the forearm 100d to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one.
  • the air cells 101a and 101b are supplied and exhausted by an air circuit (not shown).
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the expanded air cells 101a and 101b are pressed from both sides of the hand 100c or the forearm 100d. Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the treatment members 121A-1 and 121A-2 in FIG. 152 perform grasping and kneading on the hand 100c or the arm 100d from the direction of the muscle fibers in the hand 100c or the forearm 100d (Y direction).
  • the 151 to 158 further includes a mechanism unit 103 for moving the treatment members 121A-2, 121B-2, 121A-1, and 121B-1.
  • the mechanism unit 103 includes a plurality of mechanism units 103A-2, 103B-2, 103A-1, and 103B-1 that move the four treatment members 121A-2, 121B-2, 121A-1, and 121B-1, respectively. Yes.
  • Each mechanism 103A-2, 103B-2, 103A-1, 103B-1 includes a first support member 153a to which one of the pair of air cells 101a, 101b (first air cell) 101a is attached, The second support member 153b to which the other air cell (second air cell) 101b is attached, the third support member 153c that connects the first support member 153a and the second support member 153b outside the hand, and the third support member 153c An attached nut portion 156 and a screw shaft 155 that linearly moves the nut portion 156 by rotation are provided. The screw shaft 155 is rotationally driven by the drive unit 154.
  • the nut unit 156 moves in the movement direction along the direction of the muscle fiber of the hand 100c or the forearm 100d (in the Z direction).
  • the treatment members 121A-2, 121B-2, 121A-1, and 121B-1 can also move in the Z direction.
  • the mechanism part is gripped and squeezed in a state where the body parts 100c and 100d are gripped and squeezed by any or all of the plurality of treatment members 121A-2, 121B-2, 121A-1, and 121B-1.
  • Each of the treatment members 121A-2, 121B-2, 121A-1, 121B-1 can move independently.
  • one treatment member (first treatment member) 121A-2 of the pair of hand treatment members 121A-2 and 121B-2 is moved in the Z direction (elbow side) in FIG. Since the other treatment member 121B-2 (second treatment member) 121B-2 is not moved, the relative positional relationship between the treatment members 121A-2 and 121B-2 changes, and both treatment members 121A-2 and 121B are changed. -2 changes the massage feeling.
  • one of the pair of forearm treatment members 121A-1 and 121B-1 (the first treatment member 121A-1 is moved in the Z direction (elbow side) while the other treatment member (the second treatment member is moved).
  • the relative positional relationship between the two treatment members 121A-1 and 121B-1 changes, and the massage feeling of both treatment members 121A-1 and 121B-1 changes.
  • the positional relationship between the two treatment members may be changed by moving the members together and changing the moving speed thereof.
  • each of the treatment members 121A-2, 121B-2, 121A-1, 121B-1 is grasped and squeezed at the position of FIG. 154, as shown in FIG. 155, all the treatment members 121A- 2, 121B-2, 121A-1, 121B-1 are moved in the Z direction (elbow side), so that the relative positional relationship between the treatment members 121A-2, 121B-2, 121A-1, 121B-1 is changed.
  • Each treatment member can be moved while maintaining. In this case, the position of gripping can be changed while gripping.
  • FIGS. 156 to 161 show examples of the massage unit 10.
  • This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, an upper limb such as the hand 100c and the forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the hand 100c and the forearm 100d face the longitudinal direction of the hand 100c and the forearm 100d (Z direction in FIG. 156).
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c or the forearm 100d.
  • the treatment unit 101 includes a first treatment member 121A that massages (grabs and grips) the hand 100c or the forearm 100d, and a second treatment member 121B that massages (grabs and grips) the forearm 100d.
  • the number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more.
  • the treatment members 121A and 121B shown in FIGS. 156 and 161 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.
  • the first treatment member 121A has a pair of pressing members 101a and 101b.
  • the pair of pressing members 101a and 101b are opposed to each other so as to have a space in which the forearm 100d (or hand 100c) to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one.
  • the air cells 101a and 101b are supplied and exhausted by an air circuit (not shown).
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 157). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the first treatment member 121A grips and squeezes the forearm 100d from the direction (Y direction in FIG. 156) that intersects the direction of the muscle fibers in the forearm 100d (the longitudinal direction of the forearm 100d; the Z direction in FIG. 156).
  • the gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
  • the 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
  • the massage unit 10 shown in FIGS. 156 to 161 further includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B.
  • the mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
  • the first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached.
  • a screw shaft 155 for linearly moving.
  • the screw shaft 155 is rotationally driven by the drive unit 154.
  • the screw shaft 155 is provided with the axial direction directed in the Z direction. When the screw shaft 155 is rotationally driven by the drive unit 154, the nut portion 156 moves in the Z direction, and the first treatment member 121A moves in the Z direction. Move to.
  • the second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support members 153a, 153b, and 153c, a nut portion 156, and a screw shaft 155. The screw shaft 155 of the second mechanism unit 103B is also rotationally driven by the drive unit 154.
  • the first treatment member 121A and the second treatment member 121B are both arranged to massage the forearm 100d.
  • the first treatment member 121A massages a first range that is the wrist side range of the forearm 100d
  • the second treatment member 121B massages a second range that is the elbow side range of the forearm 100d.
  • the first range and the second range are both in the same range, ie, the range of the forearm 100d between the wrist joint and the elbow joint (the range not including the joint).
  • the first treatment member 121A and the second treatment member 121B hold the forearm 100d and squeeze the second treatment member 121B backward (elbow side) as shown in FIG. ) Can be massaged so as to extend the forearm 100.
  • the first treatment member 121A is arranged so as to massage the wrist, and the second treatment member 121B is grasped and squeezed with respect to the forearm 100d at a position closer to the elbow than the first treatment member 121A. Is arranged.
  • the second treatment member 121B is moved backward (see FIG. 161). By moving to the elbow side), massage can be performed to extend the forearm 100a.
  • FIG. 162 shows an example of the massage unit 10.
  • This massage unit 162 is obtained by arranging the massage units 10 of FIGS. 156 to 161 in parallel so as to correspond to the left and right legs (lower limbs).
  • the massage unit 10 in FIG. 162 is the same as the massage unit 10 in FIGS. 156 to 161.
  • the massage unit 10 in FIG. 162 can massage each of the left and right lower legs 100f in the same manner as the forearm 100d.
  • FIGS. 163 to 167 show examples of the massage unit 10.
  • This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user.
  • the body part 100 is, for example, an upper limb such as the hand 100c and the forearm 100d.
  • the massage includes grasping and massaging the body part 100.
  • the muscle fibers of the hand 100c and the forearm 100d face the longitudinal direction of the hand 100c and the forearm 100d (Z direction in FIG. 163).
  • the massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c or the forearm 100d.
  • the treatment unit 101 includes a first treatment member 121A that massages (grabs and grips) the hand 100c or the forearm 100d, and a second treatment member 121B that massages (grabs and grips) the forearm 100d.
  • the number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more.
  • the treatment members 121A and 121B shown in FIGS. 163 to 167 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulder, upper arm, thigh, lower leg, foot, and other body parts. good.
  • the first treatment member 121A has a pair of pressing members 101a and 101b (see FIG. 165).
  • the pair of pressing members 101a and 101b are opposed to each other so as to have a space in which the forearm 100d (or hand 100c) to be massaged can be placed.
  • Each of the pair of pressing members 101a and 101b is constituted by an air cell.
  • the air cells 101a and 101b are supplied and exhausted by an air circuit (not shown).
  • the air cells 101a and 101b expand and contract by supply and exhaust.
  • the pair of expanded air cells 101a and 101b press from both sides of the hand 100c. Gripping is obtained by pressing by the pair of air cells 101a and 101b.
  • the first treatment member 121A grips and squeezes the hand 100c or the forearm 100d from the direction (for example, the Y direction in FIG. 163) intersecting the direction of the muscle fibers in the hand 100c or the forearm 100d (the Z direction in FIG. 163).
  • the gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
  • the 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
  • the massage unit 10 shown in FIGS. 163 to 167 further includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B.
  • the mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
  • the first mechanism portion 103A and the second mechanism portion 103B each include a first support member 113a to which a pair of air cells 101a and 101b are attached.
  • the first support member 113a is formed in a ring shape.
  • a pair of air cells 101a and 101b are disposed opposite to each other on the inner peripheral surface of the first support member 113a.
  • the user can insert the hand 100c or the forearm 100d into the first support member 113a from one of the openings on both sides in the longitudinal direction of the first support member 113a.
  • the hand 100c or the forearm 100d inserted into the first support member 113a is positioned between the pair of air cells 101a and 101b.
  • the first support member 113a is supported rotatably around the rotation center 102 via a guide (not shown) with respect to the second support member 113b provided on the outer peripheral side of the first support member 113a.
  • the second support member 113b is configured as a cover that covers the first support member 113a.
  • Each of the first mechanism portion 103A and the second mechanism portion 103B further includes a rack 114 formed over the entire circumference on the outer peripheral side of the first support member 113a, and a pinion 111 that meshes with the rack 114.
  • the pinion 111 includes a rotation shaft 112, and the pinion 111 rotates when the rotation shaft 112 is rotationally driven by the first drive unit 154a.
  • the first support member 113 a rotates around the rotation center 102.
  • the air cells 101a and 101b rotate around the rotation center 102 as the first support member 113a rotates.
  • the rotation center 102 has an orientation along the direction of the muscle fibers of the hand 100c or the forearm 100d (the longitudinal direction of the hand or forearm).
  • the air cells 101a and 101b rotating around the rotation center 102 move along the circumferential direction of the hand 100c or the forearm 100d. By moving the air cells 101a and 101b along the circumferential direction, the direction of gripping can be changed.
  • the air cells 101a and 101b can perform forward and reverse rotation around the rotation center 102 by forward and reverse rotation of the first drive unit 154a.
  • the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B are driven to rotate by separate first driving units 154a, and thus can be independently rotated. is there.
  • the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B may be rotationally driven by a common drive unit.
  • the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B are identified around the rotation center 102, respectively.
  • the positions of the respective rotation centers 102 may be the same or different as shown in FIG.
  • the position of the rotation center 102 can be different in at least one of the X direction and the Y direction in FIG.
  • the mechanism for rotating the air cells 101a and 101b around the body part is not limited to the one having the rack 114 and the pinion 111, and it is sufficient if the air cells 101a and 101b are configured to rotate around the body part.
  • Each of the first mechanism portion 103A and the second mechanism portion 103B further includes a nut portion 156 provided on the second support member 113b and a screw shaft 155 that linearly moves the nut portion 156.
  • the screw shaft 155 is rotationally driven by the second drive unit 154b.
  • the screw shaft 155 is provided with the axial direction directed in the Z direction.
  • the first treatment member 121A is arranged to massage the hand 100c
  • the second treatment member 121B is arranged to massage the forearm 100d.
  • the plurality of treatment members 121A and 121B may rotate in the same direction or in opposite directions. By rotating in the same direction, the entire hand 100c and the forearm 100d can be twisted. The wrist can be twisted by rotating in the opposite direction.
  • the second treatment member 121B can be moved as shown in FIG. 166 (b). That is, by moving the second treatment member 121B in the direction away from the first treatment member 121A (to the right in FIG. 166), it is possible to stretch the wrist while adding a twist.
  • the first treatment member 121A is moved in the Z direction without moving the first treatment member 121A in the Z direction, but the first treatment member 121B is moved in the Z direction without moving the second treatment member 121B in the Z direction.
  • 121A may be moved in the Z direction.
  • the first treatment member 121A is arranged to massage the vicinity of the wrist, and the second treatment member 121B is arranged to massage the forearm 100d.
  • the first treatment member 121A and the second treatment member 121B can be moved as shown in FIG. 168 (b). That is, the first treatment member 121A and the second treatment member 121B move in the Z direction so that the relative distance in the Z direction between the first treatment member 121A and the second treatment member 121B is increased, thereby adding a twist. While extending the wrist greatly.
  • the first treatment member 121 ⁇ / b> A and the second treatment member 121 ⁇ / b> B rotate in opposite directions around the rotation center 102 while moving in the Z direction, so that a massage feeling including a tension feeling and a twist feeling can be obtained.
  • each of the pair of pressing members 101a and 101b constituting the treatment members 121A-2 and 121B-2 of the massage unit 10 of FIGS. 156 to 161 can be moved independently.
  • each of the pair of pressing members 101a and 101b constituting the treatment members 121A-1 and 121B-1 of the massage unit 10 of FIGS. 156 to 161 may be configured to be independently movable.
  • the mechanism 103A-2 (103B-2, 103) for moving the treatment members 121A-2, 121B-2 of the massage unit 10 of FIGS. 168 and 169 is a pair of the treatment members 121A-2, 121B-2.
  • a first support member 153a that supports the first air cell 101a and a second support member 153b that supports the second air cell 101b are provided.
  • the first support member 153a and the second support member 153b are separated from each other and can move independently.
  • the mechanism portion 103A-2 includes a first nut portion 156 attached to the first support member 153a, a first screw shaft 155 that linearly moves the first nut portion 156, and a second nut attached to the second support member 153b.
  • a nut portion 156 and a second screw shaft 155 that linearly moves the second nut portion 156 are further provided.
  • the screw shafts 155 and 155 are rotationally driven by drive units 154 and 154, respectively.
  • the axial directions of the screw shafts 155 and 155 are directed in the Z direction, and the pair of pressing members 101a and 101b can move in the Z direction.
  • the forearm 100d is grasped and squeezed in this state as shown in FIG.
  • the first air cell 101a moves to the elbow side and the second air cell 101b moves to the opposite hand 100c side
  • the relative positions of the two air cells 101a and 101b can be changed.
  • the relative distance between both air cells 101a and 101b is larger than that in the case of FIG.
  • the massage unit 10 includes a pair of shoulder treatment members (first treatment member 121A and second treatment member 121B) that massage (grab and squeeze) the left and right shoulders as treatment portions. Similar to the treatment members 121A-2, 121B-2, 121A-1, 121B-1 shown in FIGS. 151 and 152, these treatment members 121A, 121B have a pair of pressing members (air cells). For example, the shoulder treatment members 121A and 121B press the shoulder 100h from the front-rear direction (Z direction).
  • a mechanism for moving the treatment members 121A and 121B in directions along the muscle fibers of the left and right shoulders 100h As the mechanism portion, a mechanism having a screw shaft 155 and a nut portion 156 arranged in a direction along the muscle fiber can be adopted as in the mechanism portion 103 shown in FIGS. 151 and 152. This mechanism part is moved in a direction along the muscle fibers of the shoulder 100h in a state where the treatment members 121A and 121B are grasping and pinching the shoulder 100h. As a result, a more effective massage can be performed on the shoulder as compared to a simple gripping of the shoulder 100h.
  • FIGS. 170 and 171 show a state in which the left and right treatment members 121A and 121B are repeatedly reciprocated in opposite directions. Thereby, the right and left treatment members 121A and 121B can repeat the approach and separation in a state where the shoulder 100h is grasped and squeezed, and the shoulder 100h can be effectively massaged over a wide range.
  • the relative positional relationship between the left and right treatment members 121 ⁇ / b> A and 121 ⁇ / b> B is maintained due to the movement of the left and right treatment members 121 ⁇ / b> A and 121 ⁇ / b> B. Thus, both may move. Further, only one of the left and right treatment members 121A and 121B may be moved.
  • FIG. 172 and FIG. 173 show an example of the massage unit 10.
  • This massage unit 10 has a first treatment member 121A that massages (grabs) the shoulder 100h, which is the first range, and a second treatment member 121B, which massages (grabs) the upper arm 100a, which is the second range. And a third treatment member 121C that massages (grabs and grips) the forearm 100d that is the third range.
  • a shoulder joint is located between the shoulder 100h as the first range and the upper arm 100a as the second range
  • an elbow joint is located between the upper arm 100a as the second range and the forearm 100d as the third range.
  • the massage unit 10 in FIGS. 172 and 173 has a mechanism for moving the treatment members 121A, 121B, and 121C in directions along the muscle fibers of the massage target portions 100h, 100a, and 100d by the treatment members 121A, 121B, and 121C. Department.
  • a mechanism having a screw shaft 155 and a nut portion 156 arranged in a direction along the muscle fiber can be adopted as in the mechanism portion 103 shown in FIGS. 151 and 152.
  • This mechanism is moved in a direction along the muscle fibers of the body parts 100h, 100a, 100d in a state where the treatment members 121A, 121B, 121C are grasping and pinching the body parts 100h, 100a, 100d.
  • a more effective massage can be performed compared with a simple gripping.
  • All of the treatment members 121A, 121B, and 121C may operate simultaneously, or any two or any one may operate simultaneously.
  • any one or two of the three treatment members 121A and 121B can be moved in a state where all the three treatment members 121A, 121B, and 121C are gripping and squeezing.
  • the second treatment member 100a for the upper arm 100a is moved along the muscle fibers of the upper arm 100a in a state where all the three treatment members 121A, 121B, and 121C are gripping and kneading.
  • the shoulder joint can be pulled more effectively by moving the forearm 100d in the direction (hand side) along the muscle fiber of the forearm 100a.
  • the first treatment member 121A for the shoulder 100h is moved to the shoulder joint side, and the forearm 100d is moved.
  • the third treatment member 121C is moved to the hand side, a massage that extends the range from the shoulder 100h to the arm can be performed.
  • either one or two of the two treatment members performing squeezing and gripping are moved. May be.
  • the first treatment member 121A for the shoulder 100h and the second treatment member 121B for the upper arm 100a are grasping and squeezing, and the upper treatment for the upper arm 100a is performed.
  • the second treatment member 100a By moving the second treatment member 100a in the direction (elbow side) along the muscle fiber of the upper arm 100a, stretching that pulls the shoulder joint can be performed.
  • the elbow joint is pulled by moving the third treatment member 121C to the hand side while the second treatment member 121B for the upper arm 100a and the third treatment member 121B for the forearm 100d are grasping and squeezing. be able to.
  • the treatment part 101 or the treatment member 121 (121A, 121B) described in Chapter 3 may include members other than the air cells 101a, 101b.
  • a member other than the air cells 101a and 101b is, for example, a vibrator.
  • the vibrator is provided on the body side of the air cells 101a and 101b, for example. Vibrations can be applied to the body by the operation of the vibrator.
  • the air cells 101a and 101b expand while operating the vibrator, so that the body can be grasped and squeezed while vibrating.
  • members other than the air cells 101a and 101b may be treatment elements.
  • the treatment element is provided, for example, on the body side of the air cells 101a and 101b. In this case, when the air cells 101a and 101b expand, the treatment element can be pressed against the body.
  • the treatment element may be one in which the treatment element itself can be operated separately from the operation by the air cells 101a and 101b by motor driving or the like. In this case, a complicated massage operation in which the operation of the treatment element is added to the pressing by the air cells 101a and 101b is obtained.
  • the treatment element itself may not be operated, and may move only as the air cells 101a and 101b expand and contract, for example, an acupressure element.
  • the treatment member may be a member other than the air cells 101a and 101b. Moreover, the treatment member may include a heater.
  • the massage device having a plurality of treatment members such as the first treatment member 121A and the second treatment member 121B may treat the body independently of each of the plurality of treatment members.
  • All of the plurality of treatment members arranged along the longitudinal direction of the body do not need to have the mechanism part 103 that operates the air cells 101a and 101b. (Members) 101a and 101b are provided, but the mechanism part 103 may not be provided.

Abstract

[Problem] To provide a massage device that improves tactile sensation provided to a body part of a person to be treated. [Solution] This massage device comprises a massage unit 10 including a first member 11 and a second member 12 that are provided on respective sides of an arm B of a person to be treated, wherein one side of a space S1 formed between the first member 11 and the second member 12 is opened for the insertion/extraction of the arm B. The massage unit 10 includes: an air cell 31 that is provided together with the first member 11, and that is for pressing the arm B by being inflated; and a massage mechanism part 50. The massage mechanism part 50 performs: an operation for bringing the first member 11 and the second member 12 close to one another; and an operation for moving the first member 11, together with the inflated air cell 31, in the direction(s) toward the opening side of the space S1 and/or toward the opposite side therefrom.

Description

マッサージ装置Massage equipment
　本発明は、マッサージ装置に関する。 The present invention relates to a massage device.
　被施療者に与えるマッサージの種類として、揉みや叩き等、様々な種類のものがある。例えば揉みの中には、被施療者の身体部位を両側から掴んで行うマッサージがある。
　このようなマッサージをマッサージ装置により実現するために様々な機構が提案されている。例えば、特許文献１に開示されているように、被施療者の身体部位として腕を両側から掴んでマッサージを行う機構として、腕を下から支える部材と、その腕の上方に設けられているエアセルとを備え、エアセルが膨張することで腕を上下から挟んでマッサージを行う機構がある。 There are various types of massages to be given to the user, such as itchiness and beating. For example, itching is a massage performed by grasping the body part of the user from both sides.
Various mechanisms have been proposed to realize such massage with a massage device. For example, as disclosed in Patent Literature 1, as a body part of a user to be massaged by grasping an arm from both sides, a member that supports the arm from below and an air cell provided above the arm There is a mechanism for performing massage with the arm sandwiched from above and below by expanding the air cell.
特開２００９－５０５７１号公報JP 2009-50571 A
　従来のマッサージ装置は、例えば腕のマッサージを行う場合、下から支持されている腕に対して上からエアセルが当接し、このエアセルが膨張したり収縮したりする構成であり、腕に与えるマッサージが単調である。 For example, when performing massage of an arm, a conventional massage device has a configuration in which an air cell comes into contact with an arm supported from below, and the air cell expands or contracts. It is monotonous.
　そこで、本発明は、被施療者の身体部位に与える体感を向上させることを目的とする。 Therefore, an object of the present invention is to improve the feeling given to the body part of the user.
　マッサージ装置は、被施療者の身体部位の周方向に沿って設けられる第１部材及び第２部材を有し、当該第１部材と当該第２部材との間に形成される空間の一方側が前記身体部位の出し入れのために開口しているマッサージユニットを備え、
　前記マッサージユニットは、前記第１部材と共に設けられ膨張することで前記身体部位を押すためのエアセルと、前記第１部材と前記第２部材とを相対的に接近させる動作、及び、膨張している状態にある前記エアセルと共に前記第１部材を前記空間の開口側及びその反対側の内の少なくとも一方側の方向へ移動させる動作を行うマッサージ機構部と、を備えている。 The massage device has a first member and a second member provided along the circumferential direction of the body part of the user, and one side of the space formed between the first member and the second member is the It has a massage unit that is open for taking in and out of body parts,
The massage unit is provided together with the first member and is inflated, an air cell for pushing the body part, an operation of relatively moving the first member and the second member, and an inflating operation And a massaging mechanism for performing an operation of moving the first member in the direction of at least one of the opening side and the opposite side of the space together with the air cell in a state.
　本発明のマッサージ装置によれば、従来よりも、マッサージの体感が向上する。 According to the massage device of the present invention, the body sensation of the massage is improved as compared with the prior art.
マッサージ装置の実施の一形態を示す斜視図である。It is a perspective view which shows one Embodiment of a massage apparatus. 右側の肘掛け部に設置されるマッサージユニット（その１）の斜視図である。It is a perspective view of the massage unit (the 1) installed in the armrest part on the right side. マッサージユニット（その１）を、駆動ユニット側から見た説明図である。It is explanatory drawing which looked at the massage unit (the 1) from the drive unit side. 図３に示すマッサージユニット（その１）から、更に駆動ユニット及び側壁を取り外した状態を示す説明図である。It is explanatory drawing which shows the state which removed the drive unit and the side wall from the massage unit (the 1) shown in FIG. マッサージユニット（その１）をＺ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 1) from the Z direction. マッサージユニット（その１）をＺ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 1) from the Z direction. マッサージユニット（その１）の一部をＺ方向から見た説明図である。It is explanatory drawing which looked at a part of massage unit (the 1) from the Z direction. マッサージユニット（その１）の一部をＺ方向から見た説明図である。It is explanatory drawing which looked at a part of massage unit (the 1) from the Z direction. マッサージユニット（その１）の一部をＺ方向から見た説明図である。It is explanatory drawing which looked at a part of massage unit (the 1) from the Z direction. 引き揉みマッサージの説明図である。It is explanatory drawing of a massage massage. 別のマッサージユニット（その２）の説明図である。It is explanatory drawing of another massage unit (the 2). マッサージユニット（その２）をＸ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 2) from the X direction. マッサージユニット（その２）をＺ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 2) from the Z direction. マッサージユニット（その２）をＺ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 2) from the Z direction. マッサージユニット（その２）をＺ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 2) from the Z direction. 別のマッサージユニット（その３）の説明図である。It is explanatory drawing of another massage unit (the 3). マッサージユニット（その３）をＸ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 3) from the X direction. マッサージユニット（その３）をＺ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 3) from the Z direction. マッサージユニット（その３）をＺ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 3) from the Z direction. マッサージユニット（その３）をＺ方向から見た説明図である。It is explanatory drawing which looked at the massage unit (the 3) from the Z direction. マッサージユニット（その３）の変形例を説明する説明図である。It is explanatory drawing explaining the modification of a massage unit (the 3). マッサージユニット（その３）の変形例を説明する説明図である。It is explanatory drawing explaining the modification of a massage unit (the 3). 三つのマッサージユニットの平面図である。It is a top view of three massage units. 三つのマッサージユニットの平面図である。It is a top view of three massage units. マッサージユニット（その２）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 2). マッサージユニット（その２）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 2). 別のマッサージユニット（その４）の説明図である。It is explanatory drawing of another massage unit (the 4). マッサージユニット（その４）の説明図である。It is explanatory drawing of a massage unit (the 4). マッサージユニット（その４）の説明図である。It is explanatory drawing of a massage unit (the 4). マッサージユニット（その５）の説明図である。It is explanatory drawing of a massage unit (the 5). マッサージユニット（その５）の説明図である。It is explanatory drawing of a massage unit (the 5). マッサージユニット（その５）の説明図である。It is explanatory drawing of a massage unit (the 5). マッサージユニット（その５）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 5). マッサージユニット（その５）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 5). マッサージユニット（その５）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 5). マッサージユニット（その６）の説明図である。It is explanatory drawing of a massage unit (the 6). マッサージユニット（その６）の説明図である。It is explanatory drawing of a massage unit (the 6). マッサージユニット（その６）の説明図である。It is explanatory drawing of a massage unit (the 6). マッサージユニット（その６）の説明図である。It is explanatory drawing of a massage unit (the 6). マッサージユニット（その６）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 6). マッサージユニット（その６）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 6). マッサージユニット（その６）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 6). マッサージユニット（その６）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 6). マッサージユニット（その６）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 6). マッサージユニット（その６）の変形例を示す説明図である。It is explanatory drawing which shows the modification of a massage unit (the 6). マッサージユニット（その７）の説明図である。It is explanatory drawing of a massage unit (the 7). マッサージユニット（その７）の説明図である。It is explanatory drawing of a massage unit (the 7). マッサージユニット（その７）の説明図である。It is explanatory drawing of a massage unit (the 7). マッサージユニットの変位機構（その１）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 1) of a massage unit. マッサージユニットの変位機構（その１）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 1) of a massage unit. マッサージユニットの変位機構（その１）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 1) of a massage unit. マッサージユニットの変位機構（その２）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 2) of a massage unit. マッサージユニットの変位機構（その２）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 2) of a massage unit. マッサージユニットの変位機構（その２）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 2) of a massage unit. マッサージユニットの変位機構（その３）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 3) of a massage unit. マッサージユニットの変位機構（その３）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 3) of a massage unit. マッサージユニットの変位機構（その３）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 3) of a massage unit. マッサージユニットの変位機構（その４）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 4) of a massage unit. マッサージユニットの変位機構（その４）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 4) of a massage unit. マッサージユニットの変位機構（その５）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 5) of a massage unit. マッサージユニットの変位機構（その５）の概略構成図である。It is a schematic block diagram of the displacement mechanism (the 5) of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. 図６２のマッサージユニットの機構部をＹ方向からみた背面図である。FIG. 63 is a rear view of the mechanism unit of the massage unit in FIG. 62 as viewed from the Y direction. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. 図６４のマッサージユニットの機構部及び施療部をＹ方向からみた背面図である。It is the rear view which looked at the mechanism part and treatment part of the massage unit of FIG. 64 from the Y direction. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. 筋繊維方向と回転方向の説明図である。It is explanatory drawing of a muscle fiber direction and a rotation direction. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. 筋繊維方向と回転方向の説明図である。It is explanatory drawing of a muscle fiber direction and a rotation direction. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. 筋繊維方向と面内方向の説明図である。It is explanatory drawing of a muscle fiber direction and an in-plane direction. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit. マッサージユニットの説明図である。It is explanatory drawing of a massage unit.
＜＜第１章＞＞
〔マッサージ装置の全体構成〕
　図１は、マッサージ装置１の実施の一形態を示す斜視図である。このマッサージ装置１は、椅子型であり、被施療者が着座する座部２、座部２に着座する被施療者が凭れる背もたれ部３、座部２に着座する被施療者の左右の腕を支持する左右の肘掛け部４，４、及び、座部２に着座する被施療者の左右の両脚を支持するフットレスト５を備えている。座部２は、床面に置かれるベース６の上に設けられている。ベース６の内部には、マッサージ装置１の各部（後述の各種マッサージユニット１０を含む）の動作を制御するマイコンを含む制御ユニット７が設けられている。 << Chapter 1 >>
[Overall configuration of massage device]
FIG. 1 is a perspective view showing an embodiment of the massage device 1. This massage device 1 is a chair type, a seat part 2 on which a user is seated, a backrest part 3 on which a user seated on the seat part 2 is scolded, and left and right arms of the user seated on the seat part 2 Left and right armrests 4 and 4, and a footrest 5 that supports both the left and right legs of the user sitting on the seat 2. The seat portion 2 is provided on a base 6 placed on the floor surface. Inside the base 6 is provided a control unit 7 including a microcomputer that controls the operation of each part (including various massage units 10 described later) of the massage apparatus 1.
　背もたれ部３はリクライニング可能であり、また、フットレスト５は座部２側を中心として上下揺動可能として構成されている。背もたれ部３が後方へ倒れた状態にあってフットレスト５が前方に上昇した状態で、座部２に着座していた被施療者は横たわる姿勢となり、この状態で、マッサージ装置１の各種マッサージユニットによって、被施療者の身体部位のマッサージを行うことができる。また、背もたれ部３には、その左右の側部から前方に突出している側壁部（側面パネル）３Ａが設けられている。 The backrest part 3 can be reclined, and the footrest 5 is configured to be swingable up and down around the seat part 2 side. In the state where the backrest part 3 is tilted backward and the footrest 5 is raised forward, the user sitting on the seat part 2 is in a lying posture, and in this state, the various massage units of the massage apparatus 1 are used. The body part of the user can be massaged. Further, the backrest part 3 is provided with a side wall part (side panel) 3A protruding forward from the left and right side parts.
〔肘掛け部４のマッサージユニット〕
　左右の肘掛け部４，４それぞれに被施療者の身体部位である腕（前腕）をマッサージするマッサージユニット１０が設けられている。左側のマッサージユニット１０と右側のマッサージユニット１０とは、左右対称となって配置されているが、構成は同じである。 [Massage unit for armrest 4]
A massage unit 10 for massaging an arm (forearm) which is a body part of a user is provided on each of the left and right armrest portions 4 and 4. The massage unit 10 on the left side and the massage unit 10 on the right side are arranged symmetrically, but the configuration is the same.
〔フットレスト５のマッサージユニット〕
　フットレスト５に被施療者の身体部位である左脚をマッサージするマッサージユニット１０及び右脚をマッサージするマッサージユニット１０が設けられている。左脚用のマッサージユニット１０と右脚用のマッサージユニット１０とは、左右対称となって配置されているが、構成は同じである。なお、本実施形態のフットレスト５は、第１保持部５ａと、第２保持部５ｂとを有している。第１保持部５ａは被施療者の脚の主に脹脛を支持することができるのに対して、第２保持部５ｂは被施療者の足（つまり、足首から足先までの部分）を支持することができる。前記マッサージユニット１０は、第１保持部５ａに設けられている。 [Massage unit of footrest 5]
The footrest 5 is provided with a massage unit 10 for massaging the left leg, which is a body part of the user, and a massage unit 10 for massaging the right leg. The massage unit 10 for the left leg and the massage unit 10 for the right leg are arranged symmetrically, but the configuration is the same. In addition, the footrest 5 of this embodiment has the 1st holding | maintenance part 5a and the 2nd holding | maintenance part 5b. The first holding part 5a can support the calf mainly on the legs of the user, whereas the second holding part 5b supports the legs of the user (that is, the part from the ankle to the toes). can do. The massage unit 10 is provided in the first holding part 5a.
＜＜第２章＞＞
＜はじめに（掴み機構）＞
〔本発明の実施形態の説明〕
　最初に本発明の実施形態を列記して説明する。なお、本発明のマッサージ装置１（実施の一形態）が備えている各構成に付されている符号は、図１～図６１において使用されているものである。 << Chapter 2 >>
<Introduction (gripping mechanism)>
[Description of Embodiment of the Present Invention]
First, embodiments of the present invention will be listed and described. In addition, the code | symbol attached | subjected to each structure with which the massage apparatus 1 (one Embodiment) of this invention is provided is used in FIGS.
　（１）本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位の周方向に沿って設けられる第１部材１１及び第２部材１２を有し、当該第１部材１１と当該第２部材１２との間に形成される空間Ｓ１の一方側が前記身体部位の出し入れのために開口しているマッサージユニット１０を備え、
　前記マッサージユニット１０は、更に、前記第１部材１１と共に設けられ膨張することで前記身体部位を押すためのエアセル３１と、前記第１部材１１と前記第２部材１２とを相対的に接近させる動作、及び、膨張している状態にある前記エアセル３１と共に前記第１部材１１を前記空間Ｓ１の開口側及びその反対側の内の少なくとも一方側の方向へ移動させる動作を行うマッサージ機構部５０と、を有している。 (1) The massage apparatus (one embodiment) 1 of the present invention includes a first member 11 and a second member 12 provided along the circumferential direction of the body part of the user, The massage unit 10 having one side of the space S1 formed between the second member 12 and the body part opened for taking in and out of the body part,
The massage unit 10 is further provided with the first member 11 and is inflated to move the air cell 31 for pushing the body part relatively closer to the first member 11 and the second member 12. And the massage mechanism part 50 which performs the operation | movement which moves the said 1st member 11 with the said air cell 31 in the expanded state to the direction of the opening side of said space S1, and the other side, and the other side, have.
　このマッサージ装置１によれば、第１部材１１と第２部材１２との間でエアセル３１が膨張していることにより身体部位を掴んでから、その膨張している状態にあるエアセル３１と共に第１部材１１を開口側と反対側（又は開口側）の方向へ移動させると、第１部材１１と第２部材１２との間でエアセル３１を介して掴んだ身体部位を、開口側と反対側（又は開口側）へ動かすような動きが可能であり、単純に身体部位を両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 According to the massage device 1, since the air cell 31 is inflated between the first member 11 and the second member 12, the body part is grasped and then the air cell 31 in the inflated state together with the first air cell 31. When the member 11 is moved in the direction opposite to the opening side (or the opening side), the body part grasped via the air cell 31 between the first member 11 and the second member 12 is opposite to the opening side ( Or the movement to the opening side), and the massage experience is improved as compared to the itch that is simply sandwiched between both sides of the body part.
　なお、本明細書で説明するマッサージ装置において、エアセルが「膨張している状態」及びエアセルの「膨張状態」とは、エアセルが収縮状態から膨張する途中であり身体部位へ負荷を与えている状態、膨張が完了し身体部位へ負荷を与えている状態、及び、膨張状態から排気が行われているがエアセルの内圧が残されており身体部位へ負荷を与えている状態を含む。 In the massage device described in this specification, the “inflated state” of the air cell and the “inflated state” of the air cell mean that the air cell is in the middle of expanding from the contracted state and is applying a load to the body part. Including a state where inflation is completed and a load is applied to the body part, and a state where exhaust is performed from the expanded state but the internal pressure of the air cell remains and a load is applied to the body part.
　（２）また、本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位の周方向に沿って設けられる第１機構部５１及び第２機構部５２を有し、当該第１機構部５１と当該第２機構部５２との間に形成される空間Ｓ１の一方側が前記身体部位の出し入れのために開口しているマッサージユニット１０を備え、
　前記第１機構部５１は、前記身体部位を押圧するためのマッサージ部（３１，６４）と、前記マッサージ部（３１，６４）が取り付けられ前記身体部位から離れた第１後退位置Ｂ－１と前記身体部位に近づいた第１前進位置Ｆ－１との間を往復動作する第１リンク部材６１と、前記第１リンク部材６１が前記往復動作可能として取り付けられ前記身体部位から離れた第２後退位置Ｂ－２と前記身体部位に近づいた第２前進位置Ｆ－２との間を往復動作する第２リンク部材６２と、を有し、
　前記第１リンク部材６１と共に前記第２リンク部材６２が前記第２前進位置Ｆ－２へ移動して前記身体部位を掴む動作を行うことが可能であると共に、前記第１リンク部材６１と共に前記第２リンク部材６２が移動してマッサージ動作を行うことが可能である。 (2) Moreover, the massage apparatus (one embodiment) 1 of the present invention includes a first mechanism 51 and a second mechanism 52 provided along the circumferential direction of the body part of the user, One side of the space S1 formed between the first mechanism 51 and the second mechanism 52 includes a massage unit 10 that is open for taking in and out of the body part,
The first mechanism 51 includes a massage part (31, 64) for pressing the body part, and a first retraction position B-1 attached with the massage part (31, 64) and away from the body part. A first link member 61 that reciprocates between the first advance position F-1 approaching the body part, and a second retreat that is attached so that the first link member 61 can reciprocate and is separated from the body part. A second link member 62 that reciprocates between position B-2 and a second forward position F-2 approaching the body part,
The second link member 62 together with the first link member 61 can move to the second forward position F-2 to grip the body part, and together with the first link member 61, the first link member 61 The two link members 62 can move to perform a massage operation.
　このマッサージ装置１によれば、身体部位を押圧するマッサージ部（３１，６４）が取り付けられている第１リンク部材６１と共に、第２リンク部材６２を第２前進位置Ｆ－２とすることで、第１機構部５１と第２機構部５２との間でマッサージ部（３１，６４）を介して身体部位を掴むことができる。この掴む際、第１リンク部材６１のみを第１前進位置Ｆ－１として第２リンク部材６２を第２前進位置Ｆ－２としないで第２後退位置Ｂ－２とする場合と比較すると、身体部位に対してマッサージ部（３１，６４）を開口側の遠い位置へ到達させることが可能となる。つまり、身体部位の開口側の部分を掴むことができる。
　そして、この身体部位の開口側の部分を掴んだ状態で、第１リンク部材６１と共に第２リンク部材６２が移動することにより、マッサージ部（３１，６４）を移動させてマッサージ動作を行うことが可能となる。 According to this massage device 1, by setting the second link member 62 to the second forward movement position F-2 together with the first link member 61 to which the massage portions (31, 64) for pressing the body part are attached, The body part can be grasped between the first mechanism part 51 and the second mechanism part 52 via the massage parts (31, 64). Compared with the case where only the first link member 61 is set to the first forward position F-1 and the second link member 62 is not set to the second forward position F-2 but the second backward position B-2 when gripping, It becomes possible to make a massage part (31, 64) reach | attain the distant position of the opening side with respect to a site | part. That is, the part of the body part on the opening side can be grasped.
And in the state which grasped the part by the side of the opening of this body part, the 2nd link member 62 moves with the 1st link member 61, and a massage part (31, 64) can be moved and massage operation can be performed. It becomes possible.
　（３）また、このマッサージ装置１による前記マッサージ動作として、前記第１前進位置Ｆ－１にある前記第１リンク部材６１と共に、前記第２前進位置Ｆ－２にある前記第２リンク部材６２は、前記第２後退位置Ｂ－２に移動する動作を行うのが好ましい。
　この場合、第２リンク部材６２を第２前進位置Ｆ－２としかつ第１リンク部材６１を第１前進位置Ｆ－１とすることで、第１機構部５１と第２機構部５２との間でマッサージ部（３１，６４）を介して身体部位（開口側の部分）を掴んでから、第１リンク部材６１と共に第２リンク部材６２を第２後退位置Ｂ－２へ移動させると、この掴んだ身体部位（開口側の部分）を開口側からその反対側へと動かすような引き揉みが可能となり、単純に身体部位を両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 (3) Further, as the massaging operation by the massaging device 1, the second link member 62 at the second forward position F-2 together with the first link member 61 at the first forward position F-1 It is preferable to perform an operation of moving to the second reverse position B-2.
In this case, the second link member 62 is set to the second forward position F-2 and the first link member 61 is set to the first forward position F-1, so that the space between the first mechanism portion 51 and the second mechanism portion 52 is set. After grasping the body part (opening side part) via the massage part (31, 64), the second link member 62 together with the first link member 61 is moved to the second retracted position B-2. The body part (the part on the opening side) can be squeezed so that the body part is moved from the opening side to the opposite side, and the body sensation of the massage is improved as compared with the squeaking performed by simply sandwiching the body part from both sides.
　（４）また、本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位の周方向に沿って設けられる第１部材１１及び第２部材１２を有し、当該第１部材１１と当該第２部材１２との間に形成される空間Ｓ１の一方側が前記身体部位の出し入れのために開口しているマッサージユニット１０を備え、
　前記マッサージユニット１０は、更に、前記第１部材１１と共に設けられ前記身体部位を押圧するためのマッサージ部（３１，６４）と、前記第１部材１１を、前記空間Ｓ１を狭くする方向へ変位させかつ前記開口側の方向へ変位させると共に、前記第２部材１２を、前記空間Ｓ１を狭くする方向へ変位させかつ前記開口側と反対側の方向へ変位させるリンク機構２０と、を有している。 (4) Moreover, the massage apparatus (one embodiment) 1 of the present invention includes a first member 11 and a second member 12 provided along the circumferential direction of the body part of the user, and the first member. 11 is provided with a massage unit 10 in which one side of a space S1 formed between the second member 12 and the second member 12 is opened for taking in and out of the body part,
The massage unit 10 is further provided with the first member 11 to displace the massage parts (31, 64) for pressing the body part and the first member 11 in the direction of narrowing the space S1. And a link mechanism 20 for displacing the second member 12 in the direction of narrowing the space S1 and displacing the second member 12 in the direction opposite to the opening side. .
　このマッサージ装置１によれば、第１部材１１と第２部材１２との間でマッサージ部（３１，６４）を介して身体部位を掴むことができる。さらに、リンク機構２０により、第１部材１１を、前記空間Ｓ１を狭くする方向へ変位させかつ開口側の方向へ変位させると共に、第２部材１２を、前記空間Ｓ１を狭くする方向へ変位させかつ開口側と反対側の方向へ変位させることで、掴んだ身体部位を第１部材１１側が押し下げ第２部材１２側が引き上げるような引き揉み（又は押し揉み）が可能であり、単純に身体部位を両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 According to the massage device 1, a body part can be grasped between the first member 11 and the second member 12 via the massage portions (31, 64). Further, the link mechanism 20 displaces the first member 11 in the direction of narrowing the space S1 and in the direction of the opening, and displaces the second member 12 in the direction of narrowing the space S1 and By displacing the body part in the direction opposite to the opening side, the body part that has been gripped can be pulled down (or squeezed) so that the first member 11 side pushes down and the second member 12 side pulls up. Compared with the massage performed between the two, massage experience is improved.
　（５）また、本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位の周方向に沿って設けられる第１機構部５１及び第２機構部５２を有し、当該第１機構部５１と当該第２機構部５２との間に形成される空間Ｓ１の一方側が前記身体部位の出し入れのために開口しているマッサージユニット１０を備え、
　前記第１機構部５１は、複数のリンク部材（６１，６２）を有すると共に、隣り合う当該リンク部材同士を連結する関節部を複数有し、複数の前記関節部を起点として複数の前記リンク部材（６１，６２）が動作可能である多関節機構６０と、複数の前記リンク部材（６１，６２）の内の被施療者の身体部位に近い先部リンク部材（６１）に設けられ当該身体部位を押圧するためのマッサージ部（３１，６４）と、を備え、
　前記第１機構部５１と前記第２機構部５２とが前記身体部位の周方向に沿って設けられている状態から、前記多関節機構６０は、複数の前記関節部を起点として複数の前記リンク部材（６１，６２）を一方向に動作させることにより、前記マッサージ部（３１，６４）を、前記身体部位に接触可能な位置であって当該マッサージ部（３１，６４）を当該一方向の動作前の状態と比較して前記開口側の位置へ移動させる移動動作を行う。 (5) Moreover, the massage apparatus (one embodiment) 1 of the present invention has a first mechanism part 51 and a second mechanism part 52 provided along the circumferential direction of the body part of the user. One side of the space S1 formed between the first mechanism 51 and the second mechanism 52 includes a massage unit 10 that is open for taking in and out of the body part,
The first mechanism portion 51 includes a plurality of link members (61, 62), a plurality of joint portions that connect adjacent link members, and the plurality of link members starting from the plurality of joint portions. (61, 62) and the articulated mechanism 60, and the body part provided on the front link member (61) near the body part of the user among the plurality of link members (61, 62). And a massage part (31, 64) for pressing
From the state in which the first mechanism 51 and the second mechanism 52 are provided along the circumferential direction of the body part, the multi-joint mechanism 60 has a plurality of the links starting from a plurality of the joints. By moving the member (61, 62) in one direction, the massage part (31, 64) can be brought into contact with the body part, and the massage part (31, 64) is operated in the one direction. A moving operation for moving to the position on the opening side as compared with the previous state is performed.
　このマッサージ装置１によれば、多関節機構６０が前記移動動作を行うことで、マッサージ部（３１，６４）は、動作前の状態と比較して開口側の遠い位置に到達することができる。そして、その状態から多関節機構６０が動作してマッサージ動作を行えば、開口側の位置にあるマッサージ部（３１，６４）を用いたマッサージが可能であり、マッサージ範囲を広げることができ、単純に身体部位を両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 According to the massage apparatus 1, the multi-joint mechanism 60 performs the moving operation, so that the massage portions (31, 64) can reach a far position on the opening side as compared with the state before the operation. And if the articulated mechanism 60 operates from that state and performs a massage operation, it is possible to massage using the massage portions (31, 64) at the position of the opening side, and the massage range can be expanded. Compared with itching that sandwiches the body part from both sides, the massage experience is improved.
　（６）また、このマッサージ装置１において、前記多関節機構６０は、前記第１機構部５１と前記第２機構部５２とが前記身体部位の周方向に沿って設けられている状態から、前記移動動作を行い、当該移動動作後の状態にある前記複数のリンク部材（６１，６２）の内の少なくとも前記先部リンク部材（６１）以外のリンク部材（６２）を、前記一方向と反対方向に動作させるマッサージ動作を行うのが好ましい。
　この構成によれば、多関節機構６０が前記移動動作を行うことで、その動作前の状態と比較して、マッサージ部（３１，６４）を身体部位の開口側の遠い位置へ到達することができ、そして、その状態から多関節機構６０が動作して前記マッサージ動作を行うことで、開口側に位置していたマッサージ部（３１）を引き寄せることで引き揉みが可能であり、単純に身体部位を両側から挟んで行う揉みと比較して、マッサージの体感が向上する。
　なお、前記移動動作後の状態にある複数のリンク部材（６１，６２）の内の少なくとも先部リンク部材（６１）以外のリンク部材（６２）を一方向と反対方向に動作させると、先部リンク部材（６１）は、その隣りのリンク部材（６２）に対して変位しないが、身体部位に対しては変位することとなる。 (6) Moreover, in this massage apparatus 1, the multi-joint mechanism 60 is configured so that the first mechanism 51 and the second mechanism 52 are provided along the circumferential direction of the body part. At least one of the plurality of link members (61, 62) in the state after the moving operation is moved in a direction opposite to the one direction. It is preferable to perform a massage operation to be operated.
According to this configuration, when the multi-joint mechanism 60 performs the moving operation, the massage unit (31, 64) can reach a distant position on the opening side of the body part as compared to the state before the operation. Then, the multi-joint mechanism 60 operates from that state to perform the massage operation, so that the massaging part (31) located on the opening side can be pulled, and the body part can be simply pulled. Compared with itching that sandwiches from both sides, the massage experience is improved.
When the link member (62) other than at least the front link member (61) among the plurality of link members (61, 62) in the state after the moving operation is operated in the direction opposite to the one direction, the front portion The link member (61) is not displaced relative to the adjacent link member (62), but is displaced relative to the body part.
　（７）また、前記（１）又は（４）のマッサージ装置１において、前記第１部材１１を動作させる動作機構は、膨張することで当該第１部材１１を押して移動させるエアセル６５ａと、移動した前記第１部材１１を移動前の位置に復帰させる付勢力を生じさせる弾性部材６６ｂと、を有する構成とすることができる。
　この構成によれば、エアセル６５ａの膨張により第１部材１１を前進させ、エアセル６５ａが収縮すると弾性部材６６ｂの付勢力により第１部材１１を後退させる構成が得られる。 (7) Moreover, in the massage apparatus 1 of the above (1) or (4), the operation mechanism that operates the first member 11 has moved to the air cell 65a that moves the first member 11 by being expanded. An elastic member 66b that generates an urging force for returning the first member 11 to the position before the movement can be employed.
According to this configuration, it is possible to obtain a configuration in which the first member 11 is advanced by the expansion of the air cell 65a, and when the air cell 65a contracts, the first member 11 is retracted by the biasing force of the elastic member 66b.
　なお、前記（２）、（３）、（５）、又は（６）に記載のマッサージ装置１の場合、
　前記リンク部材を動作させる動作機構は、膨張することで前記リンク部材を押して移動させるエアセルと、移動した前記リンク部材を移動前の位置に復帰させる付勢力を生じさせる弾性部材と、を有する構成とすることができる。 In the case of the massage device 1 according to (2), (3), (5), or (6),
The operation mechanism that operates the link member includes an air cell that pushes and moves the link member by expanding, and an elastic member that generates a biasing force that returns the moved link member to a position before the movement. can do.
　（８）または、前記（１）又は（４）のマッサージ装置１において、前記第１部材１１を動作させる動作機構は、回転中心から外周までの距離が長い部分及び当該回転中心から外周までの距離が短い部分を有し、当該長い部分が前記第１部材１１を押すことで当該第１部材１１を前進させ、当該短い部分が前記第１部材１１を押す状態で当該第１部材１１を後退可能とさせるカム部材６７ｂと、当該第１部材１１を後退させる付勢力を生じさせる弾性部材６６ｂと、を有する構成とすることができる。
　この構成によれば、カム部材６７ｂの回転により第１部材を動作させる構成が得られる。 (8) Or, in the massage device 1 of the above (1) or (4), the operation mechanism that operates the first member 11 includes a portion having a long distance from the rotation center to the outer periphery and a distance from the rotation center to the outer periphery. Has a short part, the long part pushes the first member 11 to advance the first member 11, and the short part can push the first member 11 in a state of pushing the first member 11 It can be set as the structure which has the cam member 67b made to become and the elastic member 66b which produces the urging | biasing force which makes the said 1st member 11 retreat.
According to this structure, the structure which operates a 1st member by rotation of the cam member 67b is obtained.
　なお、前記（２）、（３）、（５）、又は（６）に記載のマッサージ装置１の場合、
　前記リンク部材を動作させる動作機構は、回転中心から外周までの距離が長い部分及び当該回転中心から外周までの距離が短い部分を有し、当該長い部分が前記リンク部材を押すことで当該リンク部材を前進させ、当該短い部分が前記リンク部材を押す状態で当該リンク部材を後退可能とさせるカム部材６７ｂと、当該リンク部材を後退させる付勢力を生じさせる弾性部材と、を有している構成とすることができる。 In the case of the massage device 1 according to (2), (3), (5), or (6),
The operating mechanism for operating the link member has a portion having a long distance from the rotation center to the outer periphery and a portion having a short distance from the rotation center to the outer periphery, and the long portion presses the link member to push the link member. A cam member 67b that allows the link member to be retracted while the short portion presses the link member, and an elastic member that generates a biasing force that causes the link member to retract. can do.
　（９）また、前記マッサージ装置１は、身体部位の長手方向に沿って設けられている複数の前記マッサージユニット１０と、複数の前記マッサージユニット１０の動作タイミングを相違させて当該マッサージユニット１０のそれぞれを動作させる制御を行う制御部（７）と、を備えているのが好ましい。
　この構成によれば、例えば、身体部位の一つの範囲を順に掴むような動作が可能となる。 (9) Moreover, the said massage apparatus 1 makes the operation timing of the said several massage unit 10 provided along the longitudinal direction of a body part differ from the said several massage unit 10, and each of the said massage unit 10 is different. And a control unit (7) for controlling the operation of the device.
According to this configuration, for example, an operation of sequentially grasping one range of the body part is possible.
　（１０）また、前記（１）のマッサージ装置１において、前記マッサージユニット１０は、前記第２部材１２と共に設けられ膨張することで前記身体部位を押すための第２のエアセル３２を更に、備え、前記第２のエアセル３２は、膨張することで、前記身体部位に対して前記開口側へ押圧する成分を有する構成であるのが好ましい。
　この場合、例えば、マッサージ動作として、身体部位を開口側の反対側へ移動させるような成分を有する動作が行われる際に、その身体部位が開口側の反対側のスペースに逃げるのを抑制することができる。 (10) In the massage device 1 of (1), the massage unit 10 further includes a second air cell 32 that is provided together with the second member 12 and presses the body part by expanding. It is preferable that the second air cell 32 has a component that presses the body part toward the opening side by expanding.
In this case, for example, when an operation having a component that moves the body part to the opposite side of the opening side is performed as a massage operation, the body part is prevented from escaping to the space on the opposite side of the opening side. Can do.
　（１１）また、本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位の周方向に沿って設けられる第１部材１１及び第２部材１２を有し、当該第１部材１１と当該第２部材１２との間に形成される空間Ｓ１の一方側が前記身体部位の出し入れのために開口しているマッサージユニット１０を備え、
　前記マッサージユニット１０は、更に、前記第１部材１１と共に設けられ前記身体部位を吸引可能とする吸引部６４ｃと、前記第１部材１１と前記第２部材１２とを相対的に接近させる動作、及び、前記吸引部６４ｃと共に前記第１部材１１を前記空間Ｓ１の開口側及びその反対側の内の少なくとも一方側の方向へ移動させる動作を行うマッサージ機構部５０と、を有している。 (11) Moreover, the massage apparatus (one embodiment) 1 of the present invention includes a first member 11 and a second member 12 provided along the circumferential direction of the body part of the user, and the first member. 11 is provided with a massage unit 10 in which one side of a space S1 formed between the second member 12 and the second member 12 is opened for taking in and out of the body part,
The massage unit 10 is further provided with the first member 11 so as to make the suction part 64c capable of sucking the body part relatively close to the first member 11 and the second member 12, and And a massaging mechanism 50 that performs an operation of moving the first member 11 in the direction of at least one of the opening side of the space S1 and the opposite side thereof together with the suction part 64c.
　このマッサージ装置１によれば、第１部材１１と第２部材１２とを相対的に接近させることで、前記空間Ｓ１に存在する身体部位の一部に吸引部６４ｃを接触させることができる。そして、吸引部６４ｃが身体部位の一部を吸着した状態で、第１部材１１を開口側と反対側（又は開口側）の方向へ移動させると、第１部材１１と第２部材１２との間で掴みかつ吸着した身体部位を、開口側と反対側（又は開口側）へ動かすような動きが可能であり、単純に身体部位を両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 According to the massage device 1, the suction part 64c can be brought into contact with a part of the body part existing in the space S1 by relatively bringing the first member 11 and the second member 12 closer to each other. Then, when the first member 11 is moved in the direction opposite to the opening side (or the opening side) in a state where the suction part 64c has adsorbed a part of the body part, the first member 11 and the second member 12 The body part gripped and adsorbed between them can be moved to the opposite side of the opening side (or the opening side). Compared with the itch that is simply sandwiching the body part from both sides, it feels like a massage. improves.
　（１２）また、本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位（Ｂ）の周囲の一部に設けられている第１部材１１及び当該身体部位（Ｂ）の周囲の他部に設けられている第２部材１２を有し、当該第１部材１１と当該第２部材１２との間に形成される空間Ｓ１の一方側が前記身体部位（Ｂ）の出し入れのために開口しているマッサージユニット１０を備え、
　前記マッサージユニット１０は、更に、前記第１部材１１と共に設けられ前記身体部位（Ｂ）の一部を押圧可能であるマッサージ部（３１）と、前記第１部材１１から延在する延在部７１の端部７１ａを支持する支持部７２と、前記第１部材１１を前記第２部材１２に対して接近及び離反させるための動作部７０と、を有し、
　前記動作部７０は、軸線Ｐ１回りに回転可能であり当該軸線Ｐ１に対して傾斜する面７４ａを有しかつ当該傾斜する面７４ａが前記延在部７１に当接して設けられている傾斜カム７３と、前記傾斜カム７３を前記軸線Ｐ１回りに回転させる駆動部７５と、を有している。 (12) Moreover, the massage apparatus (one embodiment) 1 of the present invention includes a first member 11 provided in a part of the periphery of the body part (B) of the user and the body part (B). It has the 2nd member 12 provided in other circumferences, and one side of space S1 formed between the 1st member 11 and the 2nd member 12 is for taking in and out of the body part (B) A massage unit 10 that is open to
The massage unit 10 is further provided with the first member 11 and is capable of pressing a part of the body part (B), and an extending portion 71 extending from the first member 11. A support portion 72 for supporting the end portion 71a of the first member 11 and an operation portion 70 for moving the first member 11 toward and away from the second member 12.
The operating portion 70 is rotatable about an axis P1 and has a surface 74a inclined with respect to the axis P1, and the inclined surface 74a is provided in contact with the extending portion 71. And a drive unit 75 that rotates the inclined cam 73 about the axis P1.
　このマッサージ装置によれば、傾斜カム７３を回転させることで、第１部材１１は第２部材１２に対して接近及び離反を繰り返し行うことができ、第１部材１１に設けられているマッサージ部（３１）によって、身体部位（Ｂ）に対してマッサージ動作を行うことができる。 According to this massage device, by rotating the inclined cam 73, the first member 11 can repeatedly approach and separate from the second member 12, and a massage part ( By 31), a massage operation can be performed on the body part (B).
　（１３）また、前記（１２）のマッサージ装置１において、前記支持部７２は、前記延在部７１の端部７１ａを直線に沿って往復移動可能でかつ当該直線に直交する方向に移動不能として支持するガイドレール７２ａである構成とすることができる。
　この場合、傾斜カム７３の回転により、第１部材１１は、延在部７１の長手方向に沿った仮想線Ｌ１を中心として一方向に回りながら第２部材１２に接近する動作を行うことができ、また、第１部材１１は、前記仮想線Ｌ１を中心として他方向に回りながら第２部材１２から離れる動作を行う構成が得られる。 (13) In the massage device 1 of (12), the support portion 72 can reciprocate the end portion 71a of the extending portion 71 along a straight line and cannot move in a direction perpendicular to the straight line. It can be set as the structure which is the guide rail 72a to support.
In this case, the rotation of the inclined cam 73 allows the first member 11 to move toward the second member 12 while rotating in one direction around the imaginary line L1 along the longitudinal direction of the extending portion 71. Moreover, the structure which the 1st member 11 performs the operation | movement which leaves | separates from the 2nd member 12, turning in the other direction centering | focusing on the said virtual line L1 is obtained.
　（１４）または、前記（１２）のマッサージ装置において、前記支持部７２は、前記延在部７１の端部７１ａに設けられている第１球面座７２ｂと、固定状態にある第２球面座７２ｃと、前記第１球面座７２ｂと前記第２球面座７２ｃとの間に介在し両端に前記球面座７２ｂ，７２ｃと摺接する球面部７２ｅ,７２ｆを有するシャフト７２ｄと、を有している構成とすることができる。
　この場合、傾斜カム７３の回転により、第１部材１１は、延在部７１の長手方向に沿った仮想線Ｌ１を中心として一方向に回りながら第２部材１２に接近する動作を行うことができ、また、第１部材１１は、前記仮想線Ｌ１を中心として他方向に回りながら第２部材１２から離れる動作を行う構成が得られる。 (14) In the massage device according to (12), the support portion 72 includes a first spherical seat 72b provided at an end portion 71a of the extending portion 71 and a second spherical seat 72c in a fixed state. And a shaft 72d having spherical portions 72e and 72f which are interposed between the first spherical seat 72b and the second spherical seat 72c and which are in sliding contact with the spherical seats 72b and 72c at both ends. can do.
In this case, the rotation of the inclined cam 73 allows the first member 11 to move toward the second member 12 while rotating in one direction around the imaginary line L1 along the longitudinal direction of the extending portion 71. Moreover, the structure which the 1st member 11 performs the operation | movement which leaves | separates from the 2nd member 12, turning in the other direction centering | focusing on the said virtual line L1 is obtained.
　（１５）本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位（Ｂ）の両側に設けられる第１機構部５１及び第２機構部５２を有し、当該第１機構部５１と当該第２機構部５２との間に形成される空間Ｓ１の一方側が前記身体部位の出し入れのために開口しているマッサージユニット１０を備え、
　前記第１機構部５１は、前記開口側の位置とその反対側の位置との間を往復移動可能として設けられている第１エアセル３１を有し、
　前記第２機構部５２は、前記開口側の位置とその反対側の位置との間を往復移動可能として設けられている第２エアセル３２を有し、
　前記第１エアセル３１と前記第２エアセル３２とが膨張して前記身体部位（Ｂ）を挟んだ状態で、当該第１エアセル３１と当該第２エアセル３２とは相互の間隔を変化させて移動する。 (15) A massage device (one embodiment) 1 of the present invention includes a first mechanism 51 and a second mechanism 52 provided on both sides of a body part (B) of a user, and the first mechanism One side of the space S1 formed between the part 51 and the second mechanism part 52 includes a massage unit 10 that is open for taking in and out of the body part,
The first mechanism portion 51 includes a first air cell 31 provided so as to be capable of reciprocating between a position on the opening side and a position on the opposite side,
The second mechanism portion 52 includes a second air cell 32 provided so as to be reciprocally movable between the position on the opening side and the position on the opposite side,
In a state where the first air cell 31 and the second air cell 32 are inflated and sandwich the body part (B), the first air cell 31 and the second air cell 32 move while changing a mutual interval. .
　この構成によれば、第１機構部５１と第２機構部５２との間でエアセル３１，３２によって掴んだ身体部位を、開口側及びその反対側（非開口側）へ動かすような引き揉み（又は押し揉み）が可能であり、単純に身体部位（Ｂ）を両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 According to this configuration, the body part grasped by the air cells 31 and 32 between the first mechanism part 51 and the second mechanism part 52 is moved toward the opening side and the opposite side (non-opening side) ( Or, it is possible to achieve a massage experience as compared with the itch which is simply sandwiching the body part (B) from both sides.
　前記（１５）に記載のマッサージ装置１において、前記第１機構部５１は、前記身体部位（Ｂ）を一方側から覆う第１部材７６と、前記第１部材７６に沿って設けられ回転駆動する第１無端ベルト７７と、前記第１エアセル３１が取り付けられ前記第１無端ベルト７７の回転により前記第１部材７６に沿って移動する第１移動体７８と、を有し、
　前記第２機構部５２は、前記身体部位（Ｂ）を他方側から覆う第２部材７９と、前記第２部材７９に沿って設けられ回転駆動する第２無端ベルト８０と、前記第２エアセル３２が取り付けられ前記第２無端ベルト８０の回転により前記第２部材７９に沿って移動する第２移動体８１と、を有している構成とすることができる。
　この場合、第１機構部５１と第２機構部５２との間でエアセル３１,３２によって掴んだ身体部位（Ｂ）を開口側及びその反対側（非開口側）へ動かすような引き揉み（又は押し揉み）が可能となる構成が得られる。 In the massage apparatus 1 according to (15), the first mechanism unit 51 is provided along the first member 76 that covers the body part (B) from one side and the first member 76, and is driven to rotate. A first endless belt 77; and a first moving body 78 to which the first air cell 31 is attached and which moves along the first member 76 by the rotation of the first endless belt 77,
The second mechanism portion 52 includes a second member 79 that covers the body part (B) from the other side, a second endless belt 80 that is provided along the second member 79 and is driven to rotate, and the second air cell 32. And a second moving body 81 that moves along the second member 79 by the rotation of the second endless belt 80.
In this case, the body part (B) grasped by the air cells 31 and 32 between the first mechanism part 51 and the second mechanism part 52 is moved so as to move to the opening side and the opposite side (non-opening side) (or A configuration that enables pressing) is obtained.
　または、前記（１５）に記載のマッサージ装置１において、前記第１機構部５１は、前記身体部位（Ｂ）を一方側から覆うと共に第１ラック部７６ａが設けられている第１部材７６と、前記第１エアセル３１が取り付けられている第１移動体７８と、を有し、前記第１移動体７８には、前記第１ラック部７６ａに噛み合う第１ピニオン７８ａ、及び当該第１ピニオン７８ａを回転させる第１モータ７８ｂが搭載されており、
　前記第２機構部５２は、前記身体部位（Ｂ）を他方側から覆うと共に第２ラック部７９ａが設けられている第２部材７９と、前記第２エアセル３２が取り付けられている第２移動体８１と、を有し、前記第２移動体８１には、前記第２ラック部７９ａに噛み合う第２ピニオン８１ａ、及び当該第２ピニオン８１ａを回転させる第２モータ８１ｂが搭載されている構成とすることができる。
　この場合、第１モータ７８ｂにより第１ピニオン７８ａを回転させることで、第１移動体７８は第１部材７６の第１ラック部７６ａに沿って移動可能であり、また、第２モータ８１ｂにより第２ピニオン８１ａを回転させることで、第２移動体８１は第２部材７９の第２ラック部７９ａに沿って移動可能となる。 Alternatively, in the massage apparatus 1 according to (15), the first mechanism portion 51 covers the body part (B) from one side and is provided with a first rack portion 76a. A first moving body 78 to which the first air cell 31 is attached. The first moving body 78 includes a first pinion 78a meshing with the first rack portion 76a, and the first pinion 78a. A first motor 78b for rotation is mounted,
The second mechanism portion 52 includes a second member 79 that covers the body part (B) from the other side and is provided with a second rack portion 79a, and a second moving body to which the second air cell 32 is attached. 81, and the second moving body 81 is mounted with a second pinion 81a that meshes with the second rack portion 79a and a second motor 81b that rotates the second pinion 81a. be able to.
In this case, the first moving body 78 can move along the first rack portion 76a of the first member 76 by rotating the first pinion 78a by the first motor 78b, and the second motor 81b can move the first pinion 78a. By rotating the two-pinion 81a, the second moving body 81 can move along the second rack portion 79a of the second member 79.
　または、前記（１５）に記載のマッサージ装置１において、前記第１機構部５１は、前記身体部位（Ｂ）を一方側から覆う第１部材７６と、前記第１エアセル３１が取り付けられていると共に前記第１部材７６に沿って移動可能となる第１移動体７８と、回転する第１クランク８３ａと、前記第１クランク８３ａと前記第１移動体７８とを連結し当該第１クランク８３ａの回転方向の位相に応じて当該第１移動体７８を引っ張ることができる第１ワイヤ８４ａと、当該第１ワイヤ８４ａが前記第１移動体７８を引っ張る力に抗する弾性力を当該第１移動体７８に付与する第１バネ８２ａと、を有し、
　前記第２機構部５２は、前記身体部位（Ｂ）を他方側から覆う第２部材７９と、前記第２エアセル３２が取り付けられていると共に前記第２部材７９に沿って移動可能となる第２移動体８１と、回転する第２クランク８３ｂと、前記第２クランク８３ｂと前記第２移動体８１とを連結し当該第２クランク８３ｂの回転方向の位相に応じて当該第２移動体８１を引っ張ることができる第２ワイヤ８４ｂと、当該第２ワイヤ８４ｂが前記第２移動体８１を引っ張る力に抗する弾性力を当該第２移動体８１に付与する第２バネ８２ｂと、を有する構成とすることができる。
　この場合、第１機構部５１において、第１クランク８３ａの回転方向の位相に応じて第１ワイヤ８４ａが第１移動体７８を引っ張ると、第１バネ８２ａに抗して、第１移動体７８は一方向に移動し、また、第１クランク８３ａの回転方向の位相に応じて第１ワイヤ８４ａによる第１移動体７８の引っ張りが解除されると、第１バネ８２ａの復元力により第１移動体７８は他方向に移動する。
　また、第２機構部５２において、第２クランク８３ｂの回転方向の位相に応じて第２ワイヤ８４ｂが第２移動体８１を引っ張ると、第２バネ８２ｂに抗して、第２移動体８１は一方向に移動し、また、第２クランク８３ｂの回転方向の位相に応じて第２ワイヤ８４ｂによる第２移動体８１の引っ張りが解除されると、第２バネ８２ｂの復元力により第２移動体８１は他方向に移動する。 Alternatively, in the massage device 1 according to (15), the first mechanism 51 includes a first member 76 that covers the body part (B) from one side and the first air cell 31 attached thereto. The first moving body 78 that can move along the first member 76, the rotating first crank 83a, the first crank 83a, and the first moving body 78 are connected to each other to rotate the first crank 83a. A first wire 84a that can pull the first moving body 78 according to a phase of the direction, and an elastic force that resists the force by which the first wire 84a pulls the first moving body 78. A first spring 82a to be applied to
The second mechanism portion 52 is provided with a second member 79 that covers the body part (B) from the other side, and the second air cell 32 is attached, and the second mechanism portion 52 is movable along the second member 79. The movable body 81, the rotating second crank 83b, the second crank 83b, and the second movable body 81 are connected to each other, and the second movable body 81 is pulled according to the phase in the rotational direction of the second crank 83b. And a second spring 82b that provides the second moving body 81 with an elastic force that resists the force by which the second wire 84b pulls the second moving body 81. be able to.
In this case, in the first mechanism portion 51, when the first wire 84a pulls the first moving body 78 in accordance with the phase of the first crank 83a in the rotational direction, the first moving body 78 resists the first spring 82a. Moves in one direction, and when the pull of the first moving body 78 by the first wire 84a is released according to the phase of the first crank 83a in the rotational direction, the first movement is performed by the restoring force of the first spring 82a. The body 78 moves in the other direction.
In the second mechanism 52, when the second wire 84b pulls the second moving body 81 according to the phase of the second crank 83b in the rotational direction, the second moving body 81 is opposed to the second spring 82b. When the second moving body 81 moves in one direction and the pulling of the second moving body 81 by the second wire 84b is released according to the phase in the rotational direction of the second crank 83b, the second moving body is restored by the restoring force of the second spring 82b. 81 moves in the other direction.
　（１６）本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位（Ｂ）の上側に設けられる第１部材１１、当該身体部位（Ｂ）の下側に設けられる第２部材１２、及び、前記第１部材１１及び前記第２部材１２の内の少なくとも一方を上下方向に移動させる駆動部５３（５４）を有し、前記第１部材１１と前記第２部材１２とが離れた状態で当該第１部材１１と当該第２部材１２との間において前記身体部位（Ｂ）を出し入れ可能とするマッサージユニット１０を備え、
　前記第１部材１１は、膨張することで前記身体部位（Ｂ）を挟む動作を行う一対のエアセル５５，５５を有し、
　前記第２部材１２は、前記身体部位（Ｂ）を下から支持する構成であり、
　　前記駆動部５３（５４）は、前記第２部材１２が下から支持する前記身体部位（Ｂ）を前記一対のエアセル５５，５５によって挟んだ状態で前記第１部材１１と前記第２部材１２とを相対的に上下方向に沿って離反させる。 (16) A massage device (one embodiment) 1 of the present invention includes a first member 11 provided above a body part (B) of a user, and a second member 11 provided below the body part (B). The drive part 53 (54) which moves at least one of the member 12 and the said 1st member 11 and the said 2nd member 12 to an up-down direction, and the said 1st member 11 and the said 2nd member 12 are A massage unit 10 that allows the body part (B) to be taken in and out between the first member 11 and the second member 12 in a separated state,
The first member 11 has a pair of air cells 55 and 55 that perform an operation of sandwiching the body part (B) by expanding,
The second member 12 is configured to support the body part (B) from below,
The drive unit 53 (54) includes the first member 11 and the second member 12 in a state where the body part (B) supported by the second member 12 from below is sandwiched between the pair of air cells 55 and 55. Are relatively separated from each other along the vertical direction.
　この構成によれば、第２部材１２によって下から支持されている身体部位（Ｂ）は、第１部材１１が有する一対のエアセル５５，５５によって挟まれた状態となり、この状態から、駆動部５３（５４）によって第１部材１１と第２部材１２とを離反させることで、前記身体部位（Ｂ）に対して引き揉みが可能となり、マッサージの体感が向上する。 According to this configuration, the body part (B) supported from below by the second member 12 is sandwiched between the pair of air cells 55, 55 included in the first member 11, and from this state, the drive unit 53. By separating the first member 11 and the second member 12 by (54), the body part (B) can be dragged, and the massage experience is improved.
　（１７）本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位（Ｂ）に対して第１の方向の一方側に設けられる第１部材１１、当該身体部位（Ｂ）に対して当該第１の方向の他方側に設けられる第２部材１２、及び、前記第１部材１１及び前記第２部材１２の内の少なくとも一方を当該第１の方向に移動させる駆動部５３（５４）を有し、前記第１部材１１と前記第２部材１２とが離れた状態で当該第１部材１１と当該第２部材１２との間において前記身体部位（Ｂ）を出し入れ可能とするマッサージユニット１０を備え、
　前記第１部材１１は、膨張することで前記身体部位（Ｂ）を第２の方向の両側から挟む動作を行う一対の第１のエアセル５５，５５を有し、
　前記第２部材１２は、膨張することで前記身体部位（Ｂ）を前記第２の方向の両側から挟む動作を行う一対の第２のエアセル５６，５６を有し、
　前記駆動部５３（５４）は、前記第１のエアセル５５，５５及び前記第２のエアセル５６，５６によって前記身体部位（Ｂ）を挟んだ状態で前記第１部材１１と前記第２部材１２とを前記第１の方向に沿って離反させる。 (17) A massage device (one embodiment) 1 according to the present invention includes a first member 11 provided on one side in a first direction with respect to a body part (B) of a user, the body part (B). In contrast, the second member 12 provided on the other side in the first direction, and at least one of the first member 11 and the second member 12 is moved in the first direction. 54), and the body part (B) can be taken in and out between the first member 11 and the second member 12 in a state where the first member 11 and the second member 12 are separated from each other. A unit 10;
The first member 11 has a pair of first air cells 55 and 55 that perform an operation of sandwiching the body part (B) from both sides in the second direction by expanding,
The second member 12 has a pair of second air cells 56 and 56 that perform an operation of sandwiching the body part (B) from both sides in the second direction by expanding.
The driving unit 53 (54) includes the first member 11 and the second member 12 in a state where the body part (B) is sandwiched between the first air cells 55 and 55 and the second air cells 56 and 56. Are separated along the first direction.
　この構成によれば、身体部位（Ｂ）は、第１の方向の両側（つまり、第１部材１１側及び第２部材１２側）それぞれにおいて、第１のエアセル５５，５５及び第２のエアセル５６，５６により第２の方向の両側から挟まれた状態となり、この状態から、駆動部５３（５４）によって第１部材１１と第２部材１２とを第１の方向に沿って離反させることで、前記身体部位（Ｂ）に対して引き揉みが可能となり、マッサージ感が向上する。 According to this configuration, the body part (B) includes the first air cells 55 and 55 and the second air cell 56 on both sides in the first direction (that is, on the first member 11 side and the second member 12 side). , 56 is sandwiched from both sides in the second direction, and from this state, the first member 11 and the second member 12 are separated along the first direction by the drive unit 53 (54). The body part (B) can be squeezed and the feeling of massage is improved.
　（１８）本発明のマッサージ装置（実施の一形態）１は、
　被施療者の身体部位（Ｂ）を掴むマッサージユニット１０と、
　前記マッサージユニット１０の内の前記身体部位（Ｂ）の長手方向一方側に設けられ、当該マッサージユニット１０の一部を前記身体部位（Ｂ）の長手方向に交差する方向に変位させる第１アクチュエータ９１ａと、
　前記マッサージユニット１０の内の前記身体部位（Ｂ）の長手方向他方側に設けられ、当該マッサージユニット１０の他部を前記身体部位（Ｂ）の長手方向に交差する方向に変位させる第２アクチュエータ９１ｂと、を備えている。 (18) The massage device (one embodiment) 1 of the present invention is:
A massage unit 10 for grasping the body part (B) of the user;
A first actuator 91a is provided on one side in the longitudinal direction of the body part (B) in the massage unit 10 and displaces a part of the massage unit 10 in a direction intersecting the longitudinal direction of the body part (B). When,
A second actuator 91b provided on the other longitudinal side of the body part (B) in the massage unit 10 and displacing the other part of the massage unit 10 in a direction intersecting the longitudinal direction of the body part (B). And.
　このマッサージ装置１によれば、マッサージユニット１０を身体部位（Ｂ）の長手方向に直交する方向に変位させることができる。また、例えば、第１アクチュエータ９１ａと第２アクチュエータ９１ｂとのうちの一方を伸長させ他方を収縮させると、マッサージユニット１０を身体部位（Ｂ）の長手方向に直交する方向の仮想線Ｌ２回りに変位（回転）させることができる。これにより、身体部位（Ｂ）を掴んだ状態で身体部位（Ｂ）の長手方向に直交する方向の仮想線Ｌ２回りに回す（捻る）マッサージ動作が可能となる。 According to this massage apparatus 1, the massage unit 10 can be displaced in a direction orthogonal to the longitudinal direction of the body part (B). Further, for example, when one of the first actuator 91a and the second actuator 91b is extended and the other is contracted, the massage unit 10 is displaced around an imaginary line L2 in a direction orthogonal to the longitudinal direction of the body part (B). (Rotate). As a result, a massage operation that turns (twists) around the imaginary line L2 in the direction orthogonal to the longitudinal direction of the body part (B) while holding the body part (B) becomes possible.
　（１９）本発明のマッサージ装置（実施の一形態）１は、
　被施療者の身体部位（Ｂ）を掴むマッサージユニット１０と、
　前記マッサージユニット１０を前記身体部位（Ｂ）の長手方向に交差する方向の直線に平行な仮想線Ｌ３回りに変位させるアクチュエータ機構と、を備え、
　前記アクチュエータ機構は、前記仮想線Ｌ３を回転中心線とする円弧に沿って前記マッサージユニット１０に設けられているラック部９４ａに噛み合うピニオン９４ｂと、当該ピニオン９４ｂを回転させるモータ９４ｃと、を有している。 (19) The massage device (one embodiment) 1 of the present invention is
A massage unit 10 for grasping the body part (B) of the user;
An actuator mechanism for displacing the massage unit 10 around an imaginary line L3 parallel to a straight line in a direction intersecting the longitudinal direction of the body part (B),
The actuator mechanism includes a pinion 94b that meshes with a rack portion 94a provided in the massage unit 10 along an arc having the virtual line L3 as a rotation center line, and a motor 94c that rotates the pinion 94b. ing.
　このマッサージ装置１によれば、ピニオン９４ｂを回転させることで、マッサージユニット１０を、身体部位（Ｂ）の長手方向に直交する方向の直線に平行な仮想線回りに変位（回転）させることができる。これにより、身体部位（Ｂ）を掴んだ状態で、この身体部位（Ｂ）を回す（捻る）マッサージ動作が可能となる。 According to this massage device 1, by rotating the pinion 94b, the massage unit 10 can be displaced (rotated) around an imaginary line parallel to a straight line in a direction orthogonal to the longitudinal direction of the body part (B). . Thereby, in a state where the body part (B) is grasped, a massage operation for turning (twisting) the body part (B) becomes possible.
　（２０）本発明のマッサージ装置（実施の一形態）１は、被施療者の身体部位（Ｂ）を掴むマッサージユニット１０と、
　前記マッサージユニット１０の一部を支持する支持部９６と、
　前記マッサージユニット１０の他部と連結され前記支持部９６側を支点として当該マッサージユニット１０を前記身体部位（Ｂ）の長手方向に交差する方向に変位させるアクチュエータ機構９７と、を備え、
　前記アクチュエータ機構９７は、回転する偏心カム９７ａと、当該偏心カム９７ａと前記マッサージユニット１０の他部とを連結しているアーム９７ｂと、を有している。
　このマッサージ装置１によれば、アクチュエータ機構９７の偏心カム９７ａが回転することで、マッサージユニット１０を、支持部９６側を支点として、このマッサージユニット１０が掴んだ身体部位（Ｂ）の長手方向に交差する方向に変位させることができる。 (20) A massage device (one embodiment) 1 of the present invention includes a massage unit 10 for grasping a body part (B) of a user,
A support part 96 for supporting a part of the massage unit 10;
An actuator mechanism 97 connected to the other part of the massage unit 10 and displacing the massage unit 10 in a direction crossing the longitudinal direction of the body part (B) with the support 96 side as a fulcrum;
The actuator mechanism 97 includes a rotating eccentric cam 97a, and an arm 97b connecting the eccentric cam 97a and the other part of the massage unit 10.
According to this massage device 1, the eccentric cam 97a of the actuator mechanism 97 rotates, so that the massage unit 10 is supported in the longitudinal direction of the body part (B) gripped by the massage unit 10 with the support portion 96 side as a fulcrum. It can be displaced in the intersecting direction.
　また、前記（２０）のマッサージ装置１において、前記アクチュエータ機構９７は、前記マッサージユニット１０の内の前記身体部位（Ｂ）の長手方向に離れた二箇所それぞれの前記他部と連結されており、
　一方の前記アクチュエータ機構９７の前記偏心カム９７ａ－１と、他方の前記アクチュエータ機構９７の前記偏心カム９７ａ－２とは、回転方向の位相が一致する構成とすることができる。
　この場合、マッサージユニット１０で掴む身体部位（Ｂ）の長手方向に平行な仮想線Ｌ４を回転中心として、このマッサージユニット１０を往復運動させることができる。 Moreover, in the massage apparatus 1 of the above (20), the actuator mechanism 97 is connected to each of the other portions of the massage unit 10 that are separated in the longitudinal direction of the body part (B).
The eccentric cam 97a-1 of the one actuator mechanism 97 and the eccentric cam 97a-2 of the other actuator mechanism 97 can be configured to have the same phase in the rotational direction.
In this case, the massage unit 10 can be reciprocated around the virtual line L4 parallel to the longitudinal direction of the body part (B) grasped by the massage unit 10 as the rotation center.
　または、前記（２０）のマッサージ装置１において、前記アクチュエータ機構９７は、前記マッサージユニット１０の内の前記身体部位（Ｂ）の長手方向に離れた二箇所それぞれの前記他部と連結されており、
　一方の前記アクチュエータ機構９７の前記偏心カム９７ａ－１と、他方の前記アクチュエータ機構９７の前記偏心カム９７ａ－２とは、回転方向の位相が相違する構成とすることができる。
　この場合、マッサージユニット１０を、支持部９６側を支点として、このマッサージユニット１０で掴む身体部位（Ｂ）の長手方向に交差する方向に変位させることができると共に、その変位の位相を、マッサージユニット１０の二箇所において相違させることで、マッサージユニット１０を身体部位の長手方向に直交する仮想線Ｌ５回りに往復運動させる成分も生じさせることができる。 Alternatively, in the massage device 1 of (20), the actuator mechanism 97 is connected to each of the other portions of the massage unit 10 that are separated in the longitudinal direction of the body part (B).
The eccentric cam 97a-1 of the one actuator mechanism 97 and the eccentric cam 97a-2 of the other actuator mechanism 97 may be configured to have different phases in the rotation direction.
In this case, the massage unit 10 can be displaced in the direction intersecting the longitudinal direction of the body part (B) grasped by the massage unit 10 with the support portion 96 side as a fulcrum, and the phase of the displacement can be changed to the massage unit. By making the difference between the two locations, a component that causes the massage unit 10 to reciprocate around the virtual line L5 orthogonal to the longitudinal direction of the body part can also be generated.
　または、前記（２０）のマッサージ装置１において、前記アクチュエータ機構９７は、前記マッサージユニット１０の内の前記身体部位（Ｂ）の長手方向に離れた二箇所それぞれの前記他部と連結されており、
　前記偏心カム９７ａは、当該偏心カム９７ａの回転中心線Ｌ６に対して傾斜する面９７ｃを有し、かつ、当該傾斜する面９７ｃが前記アーム９７ｂに当接可能として設けられている偏心傾斜カムである。
　この場合、マッサージユニット１０を、支持部９６側を支点として、このマッサージユニット１０で掴む身体部位（Ｂ）の長手方向に交差する方向に変位させることができると共に、マッサージユニット１０を、身体部位の長手方向に揺動させることもできる。 Alternatively, in the massage device 1 of (20), the actuator mechanism 97 is connected to each of the other portions of the massage unit 10 that are separated in the longitudinal direction of the body part (B).
The eccentric cam 97a is an eccentric inclined cam that has a surface 97c inclined with respect to the rotation center line L6 of the eccentric cam 97a, and the inclined surface 97c is provided so as to be able to contact the arm 97b. is there.
In this case, the massage unit 10 can be displaced in the direction intersecting the longitudinal direction of the body part (B) grasped by the massage unit 10 with the support part 96 side as a fulcrum, and the massage unit 10 is It can also be swung in the longitudinal direction.
〔本発明の実施形態の詳細〕
　以下、本発明の実施形態の詳細を図面に基づいて説明する。
〔マッサージユニット１０について〕
　肘掛け部４のマッサージユニット１０とフットレスト５のマッサージユニット１０とは、同じ構成であってもよいが、異なっていてもよい。ただし、被施療者の身体部位の太さ、つまり、腕と脚とでは太さが異なることから、腕用と脚用とでマッサージユニット１０の構成を同じとする場合であっても、腕用のマッサージユニット１０と脚用のマッサージユニット１０とでは、身体部位（腕と脚）に応じた大きさに設定されることは言うまでもない。以下、肘掛け部４のマッサージユニット１０の様々な形態について説明するが、各形態は、フットレスト５に設置されてもよい。 [Details of the embodiment of the present invention]
Hereinafter, details of embodiments of the present invention will be described with reference to the drawings.
[About massage unit 10]
The massage unit 10 of the armrest 4 and the massage unit 10 of the footrest 5 may have the same configuration, but may be different. However, since the thickness of the body part of the user, that is, the thickness is different between the arm and the leg, even if the configuration of the massage unit 10 is the same for the arm and the leg, Needless to say, the massage unit 10 and the leg massage unit 10 are set to sizes corresponding to body parts (arms and legs). Hereinafter, although various forms of massage unit 10 of armrest part 4 are explained, each form may be installed in footrest 5.
＜第１節＞
〔マッサージユニット（その１）〕
　図２は、図１に示す右側の肘掛け部４に設置されるマッサージユニット１０の斜視図である。なお、図２では、二つのマッサージユニット１０，１０が並んで設けられており、これらによりマッサージ手段８が構成されている。つまり、マッサージ手段８は、前腕の肘側に位置する第１のマッサージユニット１０と、手先側に位置する第２のマッサージユニット１０とを備えている。更に、マッサージ手段８は、第１のマッサージユニット１０側に、第１及び第２のマッサージユニット１０，１０を動作させる駆動ユニット４０を備えている。 <Section 1>
[Massage unit (1)]
FIG. 2 is a perspective view of the massage unit 10 installed on the right armrest 4 shown in FIG. In FIG. 2, two massage units 10, 10 are provided side by side, and the massage means 8 is configured by these. That is, the massage means 8 includes a first massage unit 10 located on the elbow side of the forearm and a second massage unit 10 located on the hand side. Furthermore, the massage means 8 includes a drive unit 40 that operates the first and second massage units 10 and 10 on the first massage unit 10 side.
　これらマッサージユニット１０，１０は、前腕の長手方向に沿って並んで設けられている。なお、第２のマッサージユニット１０は、前腕における手首側の領域に位置するように設けられていてもよいが、本実施形態では、手首更には手を含む領域に位置するように設けられている。
　ここで、被施療者の前腕の長手方向をＺ方向、前腕の横幅方向（被施療者の左右方向）をＸ方向、前腕の上下方向をＹ方向と定義する。 These massage units 10, 10 are provided side by side along the longitudinal direction of the forearm. The second massage unit 10 may be provided so as to be positioned in the wrist side region of the forearm, but in the present embodiment, the second massage unit 10 is provided so as to be positioned in the region including the wrist and the hand. .
Here, the longitudinal direction of the forearm of the user is defined as the Z direction, the width direction of the forearm (the left and right direction of the user) is defined as the X direction, and the vertical direction of the forearm is defined as the Y direction.
　マッサージ手段８は、Ｚ方向両側及びＸ方向一方側（身体の中央側）に向かって開口している外カバー１９を有しており、この外カバー１９内に第１及び第２のマッサージユニット１０，１０が設けられている。外カバー１９及びマッサージユニット１０，１０は可撓性及び柔軟性のある布状部材（シート）によって覆われているが、図２に示すマッサージユニット１０（その１）では（及び後に説明する他の形態においても）説明のために、この布状部材を外した状態としている。 The massage means 8 has an outer cover 19 that opens toward both sides in the Z direction and one side in the X direction (the center side of the body), and the first and second massage units 10 are provided in the outer cover 19. , 10 are provided. The outer cover 19 and the massage units 10 and 10 are covered with flexible and flexible cloth-like members (sheets). In the massage unit 10 (part 1) shown in FIG. For the sake of explanation, this cloth-like member is removed.
　第１のマッサージユニット１０と第２のマッサージユニット１０とは同じ構成であり、第１のマッサージユニット１０によりその構成について説明する。第１のマッサージユニット１０（以下、単にマッサージユニット１０ともいう。）は、外カバー１９に固定されている一対の側壁１７，１８、板状である第１部材１１、及び、板状である第２部材１２を有している。外カバー１９及び一対の側壁１７，１８は、肘掛け部４（図１参照）に固定状態にあり、また、Ｘ方向一方側（身体の中央側）に開口している形状を有している。 The first massage unit 10 and the second massage unit 10 have the same configuration, and the first massage unit 10 will explain the configuration. The first massage unit 10 (hereinafter also simply referred to as the massage unit 10) includes a pair of side walls 17 and 18 fixed to the outer cover 19, a plate-shaped first member 11, and a plate-shaped first member. Two members 12 are provided. The outer cover 19 and the pair of side walls 17 and 18 are fixed to the armrest portion 4 (see FIG. 1) and have a shape that opens to one side in the X direction (the center side of the body).
　図３は、第１のマッサージユニット１０を、駆動ユニット４０側から見た説明図である。なお、図３では、駆動ユニット４０のカバー４０ａ（図２参照）を取り外した状態としている。図４は、図３に示すマッサージユニット１０から、更に駆動ユニット４０及び側壁１７を取り外した状態を示す説明図である。 FIG. 3 is an explanatory view of the first massage unit 10 as viewed from the drive unit 40 side. In FIG. 3, the cover 40a (see FIG. 2) of the drive unit 40 is removed. FIG. 4 is an explanatory view showing a state where the drive unit 40 and the side wall 17 are further removed from the massage unit 10 shown in FIG.
　マッサージユニット１０は、更に、腕先側の側壁１８に沿って設けられている第１リンク部材２１、第２リンク部材２２、及び第３リンク部材２３を有している。これら第１リンク部材２１、第２リンク部材２２、及び第３リンク部材２３は、図４において図示省略している肘側の側壁１７側にも設けられている。側壁１７，１８の両側それぞれにおいて、第３リンク部材２３の一端部２３ａが、第１リンク部材２１の端部と回転自在に取り付けられており、第３リンク部材２３の他端部２３ｂが、第２リンク部材２２の端部と回転自在に取り付けられている。第３リンク部材２３には、その長手方向の中央部に長穴２４が設けられおり、また、この長穴２４よりも他端部２３ｂ側が、側壁１７（１８）に揺動自在として取り付けられている。
　側壁１７（１８）に対する第３リンク部材２３の揺動中心線Ｚ１は、Ｚ方向（Ｚ方向に平行）の直線である。そして、側壁１７，１８の両側それぞれにおいて、第１リンク部材２１、第２リンク部材２２、及び第３リンク部材２３により、Ｘ方向一方側（身体の中央側）に開口する３辺からなるリンク機構２０が構成されている。 The massage unit 10 further includes a first link member 21, a second link member 22, and a third link member 23 that are provided along the side wall 18 on the arm tip side. The first link member 21, the second link member 22, and the third link member 23 are also provided on the side wall 17 side on the elbow side which is not shown in FIG. On both sides of the side walls 17 and 18, one end portion 23a of the third link member 23 is rotatably attached to the end portion of the first link member 21, and the other end portion 23b of the third link member 23 is The end of the two link member 22 is rotatably attached. The third link member 23 is provided with a long hole 24 at the center in the longitudinal direction, and the other end 23b side of the long hole 24 is attached to the side wall 17 (18) so as to be swingable. Yes.
The swing center line Z1 of the third link member 23 with respect to the side wall 17 (18) is a straight line in the Z direction (parallel to the Z direction). Then, on each side of the side walls 17 and 18, the first link member 21, the second link member 22, and the third link member 23 form a link mechanism comprising three sides that opens to one side in the X direction (the center side of the body). 20 is configured.
　板状である第１部材１１のＺ方向の両側それぞれに第１リンク部材２１が固定されている。板状である第２部材１２のＺ方向の両側それぞれに第２リンク部材２２が固定されている。第１リンク部材２１の長手方向に沿って設けられている板状である第１部材１１と、第２リンク部材２２の長手方向に沿って設けられている板状である第２部材１２との間に、空間Ｓ１が形成されている。
　以上より、このマッサージユニット１０では、第１部材１１と第２部材との間に被施療者の腕を位置させるための空間Ｓ１が形成されており、この空間Ｓ１のＸ方向一方側（身体の中央側）が、腕を出し入れするために開口している構成となる。
　以下において、腕を出し入れするために開口している側を「開口側」と呼び、その反対側を「非開口側」と呼ぶ。 The first link member 21 is fixed to both sides in the Z direction of the plate-like first member 11. The second link members 22 are fixed to both sides in the Z direction of the plate-like second member 12. A plate-shaped first member 11 provided along the longitudinal direction of the first link member 21 and a plate-shaped second member 12 provided along the longitudinal direction of the second link member 22. A space S1 is formed between them.
As described above, in the massage unit 10, the space S1 for positioning the arm of the user is formed between the first member 11 and the second member, and one side (the body of the body) in the X direction of the space S1. The center side) is configured to be opened to put in and out the arm.
In the following, the side that is opened to put in and out the arm is called “open side”, and the opposite side is called “non-open side”.
　第１部材１１には、（腕側に）腕を押圧可能とするマッサージ部材として、エアが供給されることで膨張する第１エアセル３１が設けられている。第１エアセル３１は、第１部材１１側の第１主エアセル３１ａと被施療者の腕側の第１副エアセル３１ｂとを含み、これら二つのエアセル３１ａ，３１ｂが膨張方向に重ねて設けられている。
　また、第２部材１２には、（腕側に）腕を押圧可能とするマッサージ部材として、エアが供給されることで膨張する第２エアセル３２が設けられている。第２エアセル３２は１つのみ設けられている。
　このように、マッサージユニット１０は、第１部材１１側に、腕に当接可能な第１マッサージ部材として第１エアセル３１を備えている他に、第２部材１２側に、この第２部材１２と共に設けられ腕に当接可能な第２マッサージ部材として第２エアセル３２を更に備えている。 The first member 11 is provided with a first air cell 31 that expands when air is supplied as a massage member that can press the arm (to the arm side). The first air cell 31 includes a first main air cell 31a on the first member 11 side and a first sub air cell 31b on the arm side of the user, and these two air cells 31a and 31b are provided so as to overlap in the expansion direction. Yes.
The second member 12 is provided with a second air cell 32 that expands when air is supplied as a massage member that can press the arm (to the arm side). Only one second air cell 32 is provided.
As described above, the massage unit 10 includes the first air cell 31 as the first massage member capable of contacting the arm on the first member 11 side, and the second member 12 on the second member 12 side. A second air cell 32 is further provided as a second massage member that is provided together with the arm and can be brought into contact with the arm.
　そして、第１部材１１は第１リンク部材２１に固定されており、第２部材１２は第２リンク部材２２に固定されていることから、前記リンク機構２０により、第１部材１１及び第２部材１２は動作可能となる。更に、第１エアセルは第１部材１１と一体であるため、第１エアセルは第１部材１１及び第１リンク部材２１と共に移動可能であり、また、第２エアセルは第２部材１２と一体であるため、第２エアセルは第２部材１２及び第２リンク部材２２と共に移動可能である。 And since the 1st member 11 is being fixed to the 1st link member 21, and the 2nd member 12 is being fixed to the 2nd link member 22, the 1st member 11 and the 2nd member by the link mechanism 20 are mentioned. 12 becomes operable. Further, since the first air cell is integral with the first member 11, the first air cell is movable together with the first member 11 and the first link member 21, and the second air cell is integral with the second member 12. Therefore, the second air cell is movable together with the second member 12 and the second link member 22.
　図３に示すように、一方側の側壁１７には、第１リンク部材２１を介して第１部材１１を所定の方向に移動可能としてガイドする第１ガイド部を有している。本実施形態の第１ガイド部は二つの長穴１３，１４からなる。これら長穴１３，１４に第１リンク部材２１の凸部２１ａ，２１ｂが穴の長手方向に移動可能となって嵌っている。また、この一方側の側壁１７には、第２リンク部材２２を介して第２部材１２を所定の方向に移動可能としてガイドする第２ガイド部を有している。本実施形態の第２ガイド部は二つの長穴１５，１６からなる。これら長穴１５，１６に第２リンク部材２２の凸部２２ａ，２２ｂが穴の長手方向に移動可能となって嵌っている。
　また、他方側の側壁１８も、同様に、第１ガイド部として二つの長穴１３，１４を有しており、第２ガイド部として二つの長穴１５，１６を有している。そして、第１リンク部材２１の凸部２１ａ，２１ｂが長穴１３，１４に穴の長手方向に移動可能となって嵌っており、第２リンク部材２２の凸部２２ａ，２２ｂが長穴１５，１６に穴の長手方向に移動可能となって嵌っている。 As shown in FIG. 3, the side wall 17 on one side has a first guide portion that guides the first member 11 to be movable in a predetermined direction via a first link member 21. The first guide portion of the present embodiment includes two elongated holes 13 and 14. The protrusions 21a and 21b of the first link member 21 are fitted in these elongated holes 13 and 14 so as to be movable in the longitudinal direction of the holes. In addition, the one side wall 17 has a second guide portion that guides the second member 12 to be movable in a predetermined direction via the second link member 22. The second guide portion of the present embodiment includes two elongated holes 15 and 16. The protrusions 22a and 22b of the second link member 22 are fitted in these elongated holes 15 and 16 so as to be movable in the longitudinal direction of the holes.
Similarly, the other side wall 18 has two long holes 13 and 14 as a first guide part, and two long holes 15 and 16 as a second guide part. The convex portions 21a and 21b of the first link member 21 are fitted in the elongated holes 13 and 14 so as to be movable in the longitudinal direction of the hole, and the convex portions 22a and 22b of the second link member 22 are elongated holes 15, 16 is fitted to be movable in the longitudinal direction of the hole.
　第１ガイド部の長穴１３，１４は、非開口側から開口側へ長い穴であり、Ｘ方向に対して及びＹ方向に対してそれぞれ傾斜している。一対の長穴１３，１４は平行に又は略平行に設けられており、これら長穴１３，１４に沿って第１リンク部材２１は第１部材１１と共に移動することができる。
　つまり、これら長穴１３，１４によれば、第１部材１１と共に第１エアセル３１は、次に定義する第１後退位置と第１前進位置とを往復移動可能となる。
　　・第１後退位置：空間Ｓ１を広くする位置であって非開口側の位置（図６参照）
　　・第１前進位置：空間Ｓ１を狭くする位置であって開口側の位置（図５参照） The long holes 13 and 14 of the first guide part are long holes from the non-opening side to the opening side, and are inclined with respect to the X direction and the Y direction, respectively. The pair of long holes 13 and 14 are provided in parallel or substantially in parallel, and the first link member 21 can move together with the first member 11 along the long holes 13 and 14.
That is, according to the long holes 13 and 14, the first air cell 31 together with the first member 11 can reciprocate between a first retracted position and a first advanced position defined next.
First retracted position: a position that widens the space S1 and is located on the non-opening side (see FIG. 6)
First advance position: a position that narrows the space S1 and is located on the opening side (see FIG. 5)
　図３において、第２ガイド部の長穴１５，１６は、非開口側から開口側へ長い穴であり、Ｘ方向に対して及びＹ方向に対してそれぞれ傾斜している。開口側に位置する長穴１５と、非開口側に位置する長穴１６とは、傾斜方向が異なって設けられており、これら長穴１５，１６に沿って第２リンク部材２２は第２部材１２と共に移動することができる。
　つまり、これら長穴１５，１６によれば、第２部材１２と共に第２エアセル３２は、次に定義する第２後退位置と第２前進位置とを往復移動可能となる。
　　・第２後退位置：空間Ｓ１を狭くする位置であって非開口側の位置（図５参照）
　　・第２前進位置：空間Ｓ１を広くする位置であって開口側の位置（図６参照） In FIG. 3, the long holes 15 and 16 of the second guide portion are long holes from the non-opening side to the opening side, and are inclined with respect to the X direction and the Y direction, respectively. The long hole 15 positioned on the opening side and the long hole 16 positioned on the non-opening side are provided with different inclination directions, and the second link member 22 is a second member along the long holes 15 and 16. 12 can move together.
That is, according to the long holes 15 and 16, the second air cell 32 together with the second member 12 can reciprocate between a second retracted position and a second advanced position defined next.
Second retracted position: a position for narrowing the space S1 and a position on the non-opening side (see FIG. 5)
Second advance position: a position to widen the space S1 and a position on the opening side (see FIG. 6)
　図４に示すように、第３リンク部材２３の長穴２４には、偏心カム４１が設けられている。偏心カム４１は、Ｚ方向に長い駆動軸４２と一体回転可能である。偏心カム４１の回転中心、つまり駆動軸４２の中心は、偏心カム４１の中心から偏心している。
　駆動軸４２は、駆動ユニット４０（図３参照）が有している減速機４０ｃ及びモータ４０ｂによって回転する。
　駆動軸４２と共に偏心カム４１が駆動軸４２の中心線Ｚ２回りに回転すると、偏心カム４１は長穴２４内を摺動し、これにより、第３リンク部材２３は、揺動中心線Ｚ１回りに往復揺動する。この第３リンク部材２３が往復揺動すると、第１リンク部材２１と共に第１部材１１及び第１エアセル３１は、前記第１ガイド部（長穴１３，１４）に沿って往復移動すると共に、第２リンク部材２２と共に第２部材１２及び第２エアセル３２は、前記第２ガイド部（長穴１５，１６）に沿って往復移動する。 As shown in FIG. 4, an eccentric cam 41 is provided in the long hole 24 of the third link member 23. The eccentric cam 41 can rotate integrally with a drive shaft 42 that is long in the Z direction. The rotation center of the eccentric cam 41, that is, the center of the drive shaft 42 is eccentric from the center of the eccentric cam 41.
The drive shaft 42 is rotated by a speed reducer 40c and a motor 40b included in the drive unit 40 (see FIG. 3).
When the eccentric cam 41 rotates together with the drive shaft 42 about the center line Z2 of the drive shaft 42, the eccentric cam 41 slides in the elongated hole 24, whereby the third link member 23 moves about the swing center line Z1. Swing back and forth. When the third link member 23 swings back and forth, the first member 11 and the first air cell 31 together with the first link member 21 reciprocate along the first guide portion (the long holes 13 and 14), and The second member 12 and the second air cell 32 together with the two link members 22 reciprocate along the second guide portion (the long holes 15 and 16).
　この往復移動において、図５に示すように、第１リンク部材２１、第１部材１１及び第１エアセル３１（以下、これらを含めて第１機構部５１と呼ぶ）が開口側へ移動すると、第２リンク部材２２、第２部材１２及び第２エアセル３２（以下、これらを含めて第２機構部５２と呼ぶ）は非開口側へ移動する。これに対して、図６に示すように、前記第１機構部５１が非開口側へ移動すると、第２機構部５２は開口側へ移動する。
　また、第１機構部５１が開口側へ移動すると（図５参照）前記空間Ｓ１を狭くし、非開口側へ移動すると（図６参照）前記空間Ｓ１を広くする。そして、第２機構部５２が非開口側へ移動すると（図５参照）前記空間Ｓ１を狭くし、開口側へ移動すると（図６参照）前記空間Ｓ１を広くする。 In this reciprocation, as shown in FIG. 5, when the first link member 21, the first member 11, and the first air cell 31 (hereinafter referred to as the first mechanism portion 51) move to the opening side, The two link member 22, the second member 12, and the second air cell 32 (hereinafter referred to as the second mechanism portion 52) move to the non-opening side. On the other hand, as shown in FIG. 6, when the first mechanism 51 moves to the non-opening side, the second mechanism 52 moves to the opening side.
Further, when the first mechanism 51 moves to the opening side (see FIG. 5), the space S1 is narrowed, and when it moves to the non-opening side (see FIG. 6), the space S1 is widened. And if the 2nd mechanism part 52 moves to the non-opening side (refer FIG. 5), the said space S1 will be narrowed, and if it moves to the opening side (refer FIG. 6), the said space S1 will be expanded.
　このように、第１機構部５１が開口側へ移動すると前記空間Ｓ１を狭くし、この移動に併せて、第２機構部５２が非開口側へ移動すると前記空間Ｓ１を狭くすることから、これら第１機構部５１と第２機構部５２との間で、被施療者の腕を掴む動作を行うことができる。
　なお、第１エアセル３１及び第２エアセル３２が全て膨張していない状態であっても、第１部材１１と第２部材１２とが空間Ｓ１を狭くする動作を行うことから、被施療者の腕を掴もうとする機械的な動作を行うことができる。
　そして、第１主エアセル３１ａ、第１副エアセル３１ｂ及び第２エアセル３２の少なくとも一つが膨張することで、更に空間Ｓ１を狭くすることができ、被施療者の腕を掴むエアセルによる動作を行うと共に、このエアセルの膨張によって腕を押圧することができる。 As described above, when the first mechanism portion 51 moves to the opening side, the space S1 is narrowed. When the second mechanism portion 52 moves to the non-opening side, the space S1 is narrowed. Between the 1st mechanism part 51 and the 2nd mechanism part 52, the operation | movement which grasps a user's arm can be performed.
Even when the first air cell 31 and the second air cell 32 are not inflated, the first member 11 and the second member 12 perform the operation of narrowing the space S1, so that the arm of the user It is possible to perform a mechanical operation to try to grab.
Then, when at least one of the first main air cell 31a, the first sub air cell 31b, and the second air cell 32 expands, the space S1 can be further narrowed, and the operation by the air cell that grasps the arm of the user is performed. The arm can be pressed by the expansion of the air cell.
　つまり、本実施形態のマッサージユニット１０では、第１部材１１、第２部材１２、第１リンク部材２１、第２リンク部材２２、第３リンク部材２３、及び側壁１７，１８は、それぞれが剛性を有する部材からなり、このような剛性を有する部材が動作することで機械的に行われる掴み動作と、圧縮性を有する膨張しているエアセル３１，３２により行われる掴み動作との複合動作（ハイブリッド動作）によって、被施療者の腕に対する掴み動作が行われる。 That is, in the massage unit 10 of the present embodiment, the first member 11, the second member 12, the first link member 21, the second link member 22, the third link member 23, and the side walls 17 and 18 are each rigid. A hybrid operation (hybrid operation) of a gripping operation mechanically performed by the operation of a member having such rigidity and a gripping operation performed by the expanding air cells 31 and 32 having compressibility ), The grasping operation for the arm of the user is performed.
　図５及び図６は、マッサージユニット１０をＺ方向から見た説明図である。第１部材１１は、板状の部材であって第１エアセル３１を外側（上）から覆う構成である。第１エアセル３１が膨張することで被施療者の腕Ｂを押圧することができるが、第１エアセル３１にはその押圧による反力が生じる。そこで、この反力は、第１部材１１によって支持される。これと同様に、第２部材１２は、板状の部材であって第２エアセル３２を外側（下）から覆う構成である。第２エアセル３２が膨張することで被施療者の腕Ｂを押圧することができるが、第２エアセル３２にはその押圧による反力が生じる。そこで、この反力は、第２部材１２によって支持される。 5 and 6 are explanatory views of the massage unit 10 as viewed from the Z direction. The 1st member 11 is a plate-shaped member, and is the structure which covers the 1st air cell 31 from the outer side (upper). The arm B of the user can be pressed by the expansion of the first air cell 31, but a reaction force is generated in the first air cell 31 due to the pressing. Therefore, this reaction force is supported by the first member 11. Similarly, the second member 12 is a plate-like member and covers the second air cell 32 from the outside (bottom). The arm B of the user can be pressed by the expansion of the second air cell 32, but a reaction force due to the pressing is generated in the second air cell 32. Therefore, this reaction force is supported by the second member 12.
　また、板状である第１部材１１は、Ｚ方向に沿って見ると、全体として、非開口側（図５において右側）から開口側（図５において左側）へ向かうにしたがって上に向かうように（空間Ｓ１を広げる方向に）傾斜して設けられているが、非開口側から開口側へ向かう途中（折れ曲がり部１１ａ）で、第１部材１１は下へ（空間Ｓ１を狭くする方向に）折れ曲がった形状を有している。
　そして、第１エアセル３１（第１主エアセル３１ａ及び第１副エアセル３１ｂ）は、自由状態（エアが供給されていない収縮状態）で、第１部材１１の前記折れ曲がり形状に併せて、折れ曲がり形状を有している。つまり、第１主エアセル３１ａ及び第１副エアセル３１ｂは上に凸となる形状を有しており、第１主エアセル３１ａ及び第１副エアセル３１ｂの内側面は、凹状の湾曲形状となっている。 Further, when viewed along the Z direction, the plate-like first member 11 generally moves upward from the non-opening side (right side in FIG. 5) toward the opening side (left side in FIG. 5). The first member 11 is bent downward (in the direction of narrowing the space S1) in the middle (bending portion 11a) from the non-opening side to the opening side (in the direction of expanding the space S1). It has a different shape.
The first air cell 31 (the first main air cell 31a and the first sub air cell 31b) is in a free state (a contracted state in which no air is supplied) and has a bent shape in addition to the bent shape of the first member 11. Have. That is, the first main air cell 31a and the first sub air cell 31b have a convex shape, and the inner side surfaces of the first main air cell 31a and the first sub air cell 31b have a concave curved shape. .
　板状である第２部材１２は、Ｚ方向に沿って見ると、全体として、非開口側（図５において右側）から開口側（図５において左側）へ向かうにしたがって上に向かうように傾斜して設けられている。なお、第２部材１２は、非開口側（図５において右側）から開口側（図５において左側）に向かう途中で折れ曲がっておらず、直線形状を有している。
　そして、第２エアセル３２は、第２部材１２の直線形状に併せて、直線形状を有している。 When viewed along the Z direction, the plate-like second member 12 as a whole is inclined so as to go upward from the non-opening side (right side in FIG. 5) toward the opening side (left side in FIG. 5). Is provided. The second member 12 is not bent in the middle from the non-opening side (right side in FIG. 5) to the opening side (left side in FIG. 5), and has a linear shape.
The second air cell 32 has a linear shape in addition to the linear shape of the second member 12.
　第１主エアセル３１ａと第１副エアセル３１ｂとはそれぞれ独立して膨張及び収縮することができる。つまり、第１主エアセル３１ａ及び第１副エアセル３１ｂを、共に収縮させたり（図５参照）、共に膨張させたり（図７参照）することができる他に、第１主エアセル３１ａを収縮させた状態で第１副エアセル３１ｂを膨張させたり（図８参照）、第１副エアセル３１ｂを収縮させた状態で第１主エアセル３１ａを膨張させたりする（図９参照）ことができる。
　また、第２エアセル３２の膨張と収縮の動作は、第１エアセル３１と独立している。つまり、第１エアセル３１が収縮している状態で第２エアセル３２は膨張したり収縮したり（図５参照）することができ、また、第１エアセル３１が膨張している状態で第２エアセル３２は膨張したり（図７～図９参照）、収縮したりすることができる。
　第１主エアセル３１ａと第１副エアセル３１ｂと第２エアセル３２の内のいずれか一つが膨張することで、空間Ｓ１に位置する被施療者の腕Ｂを押圧することができる。 The first main air cell 31a and the first sub air cell 31b can expand and contract independently. That is, the first main air cell 31a and the first sub air cell 31b can be contracted together (see FIG. 5) or expanded together (see FIG. 7), and the first main air cell 31a can be contracted. The first sub air cell 31b can be expanded in a state (see FIG. 8), or the first main air cell 31a can be expanded in a state where the first sub air cell 31b is contracted (see FIG. 9).
Further, the expansion and contraction operations of the second air cell 32 are independent of the first air cell 31. That is, the second air cell 32 can expand and contract (see FIG. 5) while the first air cell 31 is contracted, and the second air cell 31 is expanded when the first air cell 31 is expanded. 32 can expand (see FIGS. 7-9) or contract.
When any one of the first main air cell 31a, the first sub air cell 31b, and the second air cell 32 is expanded, the arm B of the user who is located in the space S1 can be pressed.
　また、前記のとおり、第１リンク部材２１、第１部材１１及び第１エアセル３１を含む第１機構部５１が開口側へ移動すると前記空間Ｓ１を狭くし、この移動に併せて、第２リンク部材２２、第２部材１２及び第２エアセル３２を含む第２機構部５２が非開口側へ移動すると前記空間Ｓ１を狭くすることから、これら第１機構部５１と第２機構部５２との間で、被施療者の腕Ｂを掴む動作を行うことができる。 In addition, as described above, when the first mechanism 51 including the first link member 21, the first member 11, and the first air cell 31 moves to the opening side, the space S1 is narrowed. When the second mechanism portion 52 including the member 22, the second member 12, and the second air cell 32 moves to the non-opening side, the space S1 is narrowed. Therefore, the space between the first mechanism portion 51 and the second mechanism portion 52 is reduced. Thus, an operation of grasping the arm B of the user can be performed.
　以上より、本実施形態のマッサージユニット１０は、被施療者の腕Ｂを掴む動作を行うが可能となる掴み機構３０を備えており、この掴み機構３０は、第１部材１１と一体移動する第１リンク部材２１、第２部材１２と一体移動する第２リンク部材２２、一端部２３ａ側が第１リンク部材２１と回転自在に連結されかつ他端部２３ｂ側が第２リンク部材２２と回転自在に連結されている第３リンク部材２３、第３リンク部材２３の一端部２３ａ側を開口側の方向へ移動させると他端部２３ｂ側を非開口側の方向へ移動させる押し引き動作を行わせるための回転部材となる偏心カム４１、及び、第１部材１１を所定の変位方向へ誘導する第１ガイド部として長穴１３，１４が形成されていると共に第２部材１２を所定の変位方向へ誘導する第２ガイド部として長穴１５，１６が形成されている側壁１７，１８を有する。 As described above, the massage unit 10 of the present embodiment includes the gripping mechanism 30 that can perform the operation of gripping the arm B of the user, and the gripping mechanism 30 moves together with the first member 11. The first link member 21, the second link member 22 that moves integrally with the second member 12, the one end 23a side is rotatably connected to the first link member 21, and the other end 23b side is rotatably connected to the second link member 22. When the third link member 23 and the one end portion 23a side of the third link member 23 are moved in the direction of the opening side, a push-pull operation for moving the other end portion 23b side in the direction of the non-opening side is performed. Elongated holes 13 and 14 are formed as first guide portions for guiding the eccentric cam 41 and the first member 11 in a predetermined displacement direction, and the second member 12 is guided in the predetermined displacement direction. First Having side walls 17 and 18 elongated holes 15 and 16 are formed as a guide portion.
　そして、本実施形態に係る椅子型のマッサージ装置１（図１参照）は、肘掛け部４において、マッサージユニット１０，１０（図２参照）を備えており、このマッサージユニット１０は、被施療者の身体部位である腕の上下両側（Ｙ方向両側）に設けられる第１部材１１及び第２部材１２を有しており、これら第１部材１１と第２部材１２との間に形成される空間Ｓ１のＸ方向一方側（図２において右側）が、被施療者の腕の出し入れのために開口している構成となっている。
　そして、各マッサージユニット１０（図３参照）は、更に、第１部材１１と共に設けられ被施療者の腕に当接可能なマッサージ部材として第１エアセル３１と、前記掴み機構３０とを有している。この掴み機構３０は、第１エアセル３１と共に第１部材１１を全体として空間Ｓ１を狭くする方向へ変位させかつ前記開口側の方向（Ｘ方向一方側）へ変位させる。このような掴み機構３０による「第１エアセル３１と共に第１部材１１を全体として空間Ｓ１を狭くする方向へ変位させかつ開口側の方向（Ｘ方向一方側）へ変位させる」動作を、第１部材１１の前進動作という。なお、この前進動作は、図６から図５に示すように、第３リンク部材２３の一端部２３ａ側が開口側（図６，５において左側）へ移動するようにこの第３リンク部材２３を揺動させることで実現される。 And the chair type massage apparatus 1 (refer FIG. 1) which concerns on this embodiment is equipped with the massage units 10 and 10 (refer FIG. 2) in the armrest part 4, This massage unit 10 is a user's treatment. It has a first member 11 and a second member 12 provided on the upper and lower sides (both sides in the Y direction) of the arm, which is a body part, and a space S1 formed between the first member 11 and the second member 12 The X direction one side (right side in FIG. 2) is configured to be opened for taking in and out the arm of the user.
Each massage unit 10 (see FIG. 3) further includes a first air cell 31 as a massage member that is provided together with the first member 11 and can be brought into contact with the arm of the user, and the gripping mechanism 30. Yes. The gripping mechanism 30 displaces the first member 11 together with the first air cell 31 in the direction of narrowing the space S1 and in the direction of the opening (one side in the X direction). The operation of “displace the first member 11 together with the first air cell 31 in the direction of narrowing the space S1 and displace in the direction of the opening side (one side in the X direction)” by the gripping mechanism 30 is performed. 11 forward movements. As shown in FIGS. 6 to 5, the forward movement is performed by shaking the third link member 23 so that the one end portion 23a side of the third link member 23 moves to the opening side (left side in FIGS. 6 and 5). Realized by moving.
　この前進動作を行うマッサージユニット１０によれば、被施療者の腕Ｂの上下両側に設けられている第１部材１１と第２部材１２との内の第１部材１１を、被施療者の腕Ｂに当接可能な第１エアセル３１と共に、空間Ｓ１を狭くする方向へ変位させることで（図５、図７～図９の状態）、第１部材１１と第２部材１２との間で第１エアセル３１を介して被施療者の腕Ｂを掴むことができ、また、この掴む際に第１部材１１を全体として開口側の方向（Ｘ方向一方側）へも変位させることで、第１エアセル３１を被施療者の腕Ｂの開口側の部分Ｂ１にまで到達させることができる。この結果、第１エアセル３１によるマッサージ範囲を広げることが可能となる。
　なお、前記前進動作を行わない状態（図６参照）で第１エアセル３１を膨張させた場合、図６の二点鎖線で示すように、第１エアセル３１（第１副エアセル３１ｂ）を被施療者の腕Ｂの開口側の部分Ｂ１にまで到達させることができず、腕Ｂの上部中央Ｂ３にしか到達することができない。 According to the massage unit 10 that performs this forward movement, the first member 11 of the first member 11 and the second member 12 provided on the upper and lower sides of the arm B of the user is used as the arm of the user. Along with the first air cell 31 capable of contacting B, the space S1 is displaced in the direction of narrowing (states of FIGS. 5 and 7 to 9), so that the first member 11 and the second member 12 are The arm B of the user can be grasped via the 1 air cell 31, and the first member 11 is displaced as a whole in the direction of the opening side (one side in the X direction) to grasp the first The air cell 31 can reach the portion B1 on the opening side of the arm B of the user. As a result, the massage range by the first air cell 31 can be expanded.
When the first air cell 31 is expanded in a state where the forward movement is not performed (see FIG. 6), the first air cell 31 (first sub air cell 31b) is treated as shown by a two-dot chain line in FIG. The arm B can not reach the portion B1 on the opening side, and can reach only the upper center B3 of the arm B.
　そして、前記掴み機構３０は、空間Ｓ１を狭くする方向へ変位しかつ開口側の方向（Ｘ方向一方側）へ変位した第１部材１１を、開口側と反対側である非開口側の方向（Ｘ方向他方側）へ変位させることができる。つまり、前記前進動作を行った第１部材１１を、非開口側の方向へ変位させており、このような「前記前進動作を行った第１部材１１を、非開口側の方向へ変位させる」動作を、第１部材１１の後退動作という。なお、この後退動作は、図５から図６の状態に示すように、第３リンク部材２３の一端部２３ａ側が非開口側へ移動するようにこの第３リンク部材２３を揺動させることで実現される。
　この掴み機構３０の後退動作によれば、第１部材１１と第２部材１２との間で第１エアセル３１を介して腕Ｂを挟むようにして掴んだ後、この腕Ｂの内の第１部材１１側であって開口側にある部分Ｂ１を、非開口側の方向へ動かすような動作（引き揉み動作）を行うことができる。なお、この引き揉みを行う際、エアセル３１ａ，３１ｂ，３２の少なくとも一つを膨張させているのが好ましい。 The gripping mechanism 30 displaces the first member 11 displaced in the direction of narrowing the space S1 and displaced in the direction of the opening side (one side in the X direction) in the direction of the non-opening side that is the opposite side of the opening side ( It can be displaced to the other side in the X direction. That is, the first member 11 that has performed the forward movement is displaced in the non-opening direction, and such “the first member 11 that has performed the forward movement is displaced in the non-opening direction”. The operation is referred to as a backward movement of the first member 11. This backward movement operation is realized by swinging the third link member 23 so that the one end portion 23a side of the third link member 23 moves to the non-opening side, as shown in the states of FIGS. Is done.
According to the retraction operation of the gripping mechanism 30, after gripping the arm B between the first member 11 and the second member 12 via the first air cell 31, the first member 11 in the arm B is held. An operation (plucking operation) can be performed such that the portion B1 that is on the opening side is moved toward the non-opening side. In addition, when performing this dragging, it is preferable that at least one of the air cells 31a, 31b, 32 is expanded.
　さらに、この掴み機構３０は、第１エアセル３１と共に第１部材１１を全体として空間Ｓ１を狭くする方向へ変位させかつ前記開口側の方向（Ｘ方向一方側）へ変位させる間に、第２エアセル３２と共に第２部材１２を全体として非開口側の方向（Ｘ方向他方側）へ変位させている。つまり、図６から図５の状態に示すように、第１部材１１が前記前進動作を行っている間に、第２エアセル３２と共に第２部材１２を全体として非開口側の方向（Ｘ方向他方側）へ変位させており、このような「第１部材１１が前記前進動作を行っている間に、第２エアセル３２と共に第２部材１２を全体として非開口側の方向（Ｘ方向他方側）へ変位させる」動作を、第２部材１２の後退動作という。
　この第２部材１２の後退動作によれば、第１部材１１及び第１エアセル３１が、第２部材１２との間で被施療者の腕Ｂを掴もうとする際に、この腕Ｂの内の第２部材１２側の部分Ｂ２を、非開口側へ動かすような動作（引き揉み動作）を行うことができる。なお、この引き揉みを行う際、エアセル３１ａ，３１ｂ，３２の少なくとも一つを膨張させているのが好ましい。 Further, the gripping mechanism 30 moves the second air cell while displacing the first member 11 together with the first air cell 31 in the direction of narrowing the space S1 and in the direction of the opening side (one side in the X direction). 32, the second member 12 as a whole is displaced in the non-opening direction (the other side in the X direction). That is, as shown in the state of FIGS. 6 to 5, while the first member 11 performs the forward movement, the second member 12 together with the second air cell 32 is moved in the non-opening direction (the other in the X direction). Such as “while the first member 11 is moving forward, the second member 12 together with the second air cell 32 as a whole is in the non-opening direction (the other side in the X direction). The action of “displace to” is referred to as the backward movement of the second member 12.
According to the backward movement of the second member 12, when the first member 11 and the first air cell 31 try to grip the arm B of the user with the second member 12, It is possible to perform an operation (plucking operation) of moving the portion B2 on the second member 12 side to the non-opening side. In addition, when performing this dragging, it is preferable that at least one of the air cells 31a, 31b, 32 is expanded.
　また、このように第２部材１２が後退動作を行う場合において、掴み機構３０は、第２エアセル３２と共に第２部材１２を全体として非開口側の方向（Ｘ方向他方側）へ変位させる間に、更に、図６から図５の状態に示すように、この第２エアセル３２と共に第２部材１２の先部１２ａ側を、空間Ｓ１を狭くする方向へ変位させる。つまり、第２部材の後退動作は「第１部材１１が前進動作を行っている間に、第２エアセル３２と共に第２部材１２を全体として、非開口側の方向（Ｘ方向他方側）へ変位させ、かつ、第２部材１２の先部１２ａ側を、空間Ｓ１を狭くする方向へ変位させる」動作となる。 Further, when the second member 12 performs the retreating operation in this way, the gripping mechanism 30 moves the second member 12 together with the second air cell 32 as a whole in the non-opening direction (the other side in the X direction). Furthermore, as shown in the state of FIGS. 6 to 5, the front part 12a side of the second member 12 together with the second air cell 32 is displaced in the direction of narrowing the space S1. That is, the backward movement of the second member is “displacement of the second member 12 together with the second air cell 32 in the direction of the non-opening side (the other side in the X direction) while the first member 11 is moving forward. And “displace the tip 12a side of the second member 12 in the direction of narrowing the space S1”.
　このような第２部材１２の後退動作によれば、第１エアセル３１と共に第１部材１１を全体として空間Ｓ１を狭くする方向へ変位させかつ開口側の方向へ変位させる間に、第２エアセル３２と共に第２部材１２を全体として非開口側の方向へ変位させかつ空間Ｓ１を狭くする方向へ変位させることができる。
　したがって、第１部材１１と第２部材１２とが空間Ｓ１を狭くするように動作することで腕Ｂを掴む際に、第１部材１１は開口側の方向へ第２部材１２はその反対側の方向へ変位することとなる。これにより、腕Ｂを掴みながらひねるような動作（引き揉み動作）を行うことが可能となる。なお、この引き揉み動作を行う際、エアセル３１ａ，３１ｂ，３２の少なくとも一つを膨張させているのが好ましい。 According to the retreating operation of the second member 12, the second air cell 32 is moved while the first member 11 together with the first air cell 31 is displaced in the direction of narrowing the space S 1 and displaced in the direction of the opening. In addition, the second member 12 as a whole can be displaced in the direction of the non-opening side and in the direction of narrowing the space S1.
Therefore, when the first member 11 and the second member 12 operate so as to narrow the space S1, the first member 11 moves in the direction of the opening side, and the second member 12 moves in the opposite direction. Will be displaced in the direction. As a result, it is possible to perform an operation (plucking operation) that twists while holding the arm B. When performing this pulling operation, it is preferable that at least one of the air cells 31a, 31b, 32 is expanded.
　また、この掴み機構３０は、第１部材１１が前記後退動作を行うと、第２部材１２の先端１２ａ側を、空間Ｓ１を広くする方向へ変位させ、かつ、第２部材１２を全体として開口側の方向（Ｘ方向一方側）へ変位させる。つまり、このような「第１部材１１が前記後退動作を行うと、第２部材１２の先端１２ａ側を、空間Ｓ１を広くする方向へ変位させ、かつ、第２部材１２を全体として開口側の方向（Ｘ方向一方側）へ変位させる」動作を、第２部材１２の前進動作という。 Further, when the first member 11 performs the retreating operation, the gripping mechanism 30 displaces the tip 12a side of the second member 12 in the direction of widening the space S1, and opens the second member 12 as a whole. It is displaced in the direction of the side (one side in the X direction). In other words, such “when the first member 11 performs the backward movement, the distal end 12a side of the second member 12 is displaced in the direction of widening the space S1, and the second member 12 as a whole is located on the opening side. The operation of “displacement in the direction (one side in the X direction)” is referred to as advance operation of the second member 12.
　以上より、第１部材１１が前進動作すると第２部材１２は後退動作を行い、第１部材が後退動作すると第２部材１２は前進動作を行い、駆動軸４２が回転を継続することで、このような動作を繰り返すことができる。 From the above, when the first member 11 moves forward, the second member 12 moves backward, and when the first member moves backward, the second member 12 moves forward, and the drive shaft 42 continues to rotate. Such an operation can be repeated.
　また、本実施形態において、第１部材１１及び第２部材１２は、金属製の板を加工して得られたものであり、第１部材１１は被施療者の腕を一方（上側）から覆う板状の部材であり、また、第２部材１２は、この腕を他方（下側）から覆う板状の部材である。このように板状であるため、被施療者の腕を上下から包み込むようにして掴むことができる。 Further, in the present embodiment, the first member 11 and the second member 12 are obtained by processing a metal plate, and the first member 11 covers the arm of the user from one side (upper side). The second member 12 is a plate-like member that covers this arm from the other side (lower side). Since it is plate-shaped in this way, the user's arm can be gripped as if wrapped from above and below.
　また、図７、図８及び図９に示すように、第１主エアセル３１ａ及び第１副エアセル３１ｂは、非開口側でのみ第１部材１１に対して固定されており、膨張することで開口側は自由に変形することができる。このため、図７に示すように、第１主エアセル３１ａ及び第１副エアセル３１ｂが共に膨張している状態では、膨張状態にある第１主エアセル３１ａの内側面３１ａ－１に沿って（内側面３１ａ－１を基準として）第１副エアセル３１ｂが膨張し、被施療者の腕Ｂを開口側から非開口側へ押し入れる成分が生じる。
　このため、これら第１主エアセル３１ａ及び第１副エアセル３１ｂが共に膨張している状態で、第１部材１１が開口側の位置から非開口側の位置へ移動することで、この第１部材１１により被施療者の腕Ｂを非開口側へ引き込む際に、エアセル３１ａ，３１ｂによる開口側から非開口側へ押し入れる作用が付加されて、その腕Ｂの上側（第１部材１１側）を非開口側へ確実に引き込むことができる。 Further, as shown in FIGS. 7, 8, and 9, the first main air cell 31a and the first sub air cell 31b are fixed to the first member 11 only on the non-opening side, and are opened by expanding. The side can be freely deformed. Therefore, as shown in FIG. 7, in the state where both the first main air cell 31a and the first sub air cell 31b are inflated, along the inner side surface 31a-1 of the first main air cell 31a in the inflated state (inner The first sub air cell 31b expands (with reference to the side surface 31a-1), and a component is generated that pushes the arm B of the user from the opening side to the non-opening side.
For this reason, the first member 11 moves from the position on the opening side to the position on the non-opening side while the first main air cell 31a and the first sub air cell 31b are inflated. When the user's arm B is pulled to the non-opening side, an action of pushing the air cell 31a, 31b from the opening side to the non-opening side is added, and the upper side (the first member 11 side) of the arm B is not It can be reliably pulled into the opening side.
　以上より、本実施形態のマッサージユニット１０は、第１部材１１と共に設けられ膨張することで腕Ｂを押すための第１エアセル３１と、第１部材１１に所定の掴み動作を行わせるマッサージ機構部とを有している。本実施形態のマッサージ機構部は、前記リンク機構２０（図４参照）からなり、このリンク機構２０は、腕Ｂを掴むために第１部材１１と第２部材１２とを相対的に接近させる動作、及び、エアセル３１を介して第１部材１１と第２部材１２との間で挟んだ腕Ｂを動かすために、膨張している状態にあるエアセル３１と共に第１部材１１を非開口側の方向へ移動させる動作を行う。
　このマッサージユニット１０によれば、第１部材１１と第２部材１２との間でエアセル３１が膨張していることにより腕Ｂを掴んでから、その膨張している状態にあるエアセル３１と共に第１部材１１を非開口側の方向へ移動させることで、第１部材１１と第２部材１２との間でエアセル３１を介して掴んだ腕Ｂを非開口側へ動かすような動きが可能となる。つまり、腕Ｂに対して引き揉みのマッサージ動作が可能となり、単純に腕Ｂを両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 As described above, the massage unit 10 according to the present embodiment is provided with the first member 11 and is inflated to press the arm B, and the massage mechanism unit that causes the first member 11 to perform a predetermined gripping operation. And have. The massage mechanism part of this embodiment consists of the said link mechanism 20 (refer FIG. 4), and this link mechanism 20 is the operation | movement which makes the 1st member 11 and the 2nd member 12 approach relatively, in order to grasp the arm B In order to move the arm B sandwiched between the first member 11 and the second member 12 via the air cell 31, the first member 11 is moved in the non-opening direction together with the air cell 31 in an expanded state. To move to.
According to this massage unit 10, the air cell 31 is inflated between the first member 11 and the second member 12, so that the arm B is gripped and then the first air cell 31 is in the inflated state. By moving the member 11 in the direction toward the non-opening side, it is possible to move the arm B grasped via the air cell 31 between the first member 11 and the second member 12 toward the non-opening side. That is, it is possible to perform a massaging massage operation with respect to the arm B, and the body sensation of the massage is improved as compared with the massaging performed by simply sandwiching the arm B from both sides.
　また、このリンク機構２０は、膨張している状態にあるエアセル３１と共に第１部材１１を、開口側及び非開口側の内の少なくとも一方側の方向へ移動させる動作を行えばよい。つまり、開口側の方向へ移動させてもよく、開口側の方向と非開口側の方向との双方向へ交互に移動させてもよい。
　開口側の方向へ移動させる場合、第１部材１１と第２部材１２との間でエアセル３１を介して掴んだ腕Ｂを、開口側の方向へ動かすようなマッサージ動作が可能となる。つまり、腕Ｂに対して押し揉みのマッサージ動作が可能となる。 Moreover, this link mechanism 20 should just perform the operation | movement which moves the 1st member 11 with the air cell 31 in the expanded state to the direction of at least one side of an opening side and a non-opening side. That is, it may be moved in the direction of the opening side, or may be moved alternately in both directions of the direction of the opening side and the direction of the non-opening side.
When moving in the direction of the opening side, a massage operation in which the arm B grasped through the air cell 31 between the first member 11 and the second member 12 is moved in the direction of the opening side is possible. That is, it is possible to perform a massage operation by pressing against the arm B.
　さらに、第２エアセル３２が膨張している状態で、又は、第２エアセル３２が収縮した状態であっても、前記のとおり第１部材１１が開口側の位置から非開口側の位置へ移動するのに併せて第２部材１２が非開口側の位置から開口側の位置へ移動するため、上側が非開口側に引き込まれようとする腕Ｂの第２部材１２側の部分Ｂ２（下側）を開口側へ押し出すことができる。
　このように、腕Ｂは、その上側が非開口側へ引きこまれ下側が開口側へ押し出される成分を受けることができ、腕Ｂに対してマッサージユニット１０は引き揉みを行うことが可能となる。 Further, as described above, the first member 11 moves from the opening side position to the non-opening side position even when the second air cell 32 is expanded or the second air cell 32 is contracted. At the same time, the second member 12 moves from the position on the non-opening side to the position on the opening side, so that the upper part B2 of the arm B that is about to be pulled into the non-opening side (lower side) B2 Can be pushed to the opening side.
In this way, the arm B can receive a component in which the upper side is drawn into the non-opening side and the lower side is pushed out to the opening side, and the massage unit 10 can be pulled against the arm B. .
　また、本実施形態の前記掴み機構３０（リンク機構２０）によれば、第１部材１１を全体として空間Ｓ１を狭くする方向へ変位させかつ開口側の方向へ変位させると共に、第２部材１２を全体として空間Ｓ１を狭くする方向へ変位させかつ非開口側の方向へ変位させる構成が得られる。
　この構成によれば、第１部材１１と第２部材１２との間でエアセル３１を介して腕Ｂを掴むことができる。さらに、第１部材１１を、空間Ｓ１を狭くする方向へ変位させかつ開口側の方向へ変位させると共に、第２部材１２を、空間Ｓ１を狭くする方向へ変位させかつ非開口側の方向へ変位させることで、掴んだ腕Ｂを第１部材１１側が押し下げ第２部材１２側が引き上げるような引き揉み（又は押し揉み）が可能であり、単純に身体部位を両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 Further, according to the gripping mechanism 30 (link mechanism 20) of the present embodiment, the first member 11 is displaced in the direction of narrowing the space S1 as a whole and in the direction of the opening side, and the second member 12 is moved. As a whole, a configuration is obtained in which the space S1 is displaced in the direction of narrowing and displaced in the direction of the non-opening side.
According to this configuration, the arm B can be gripped between the first member 11 and the second member 12 via the air cell 31. Further, the first member 11 is displaced in the direction of narrowing the space S1 and displaced in the direction of the opening, and the second member 12 is displaced in the direction of narrowing of the space S1 and displaced in the direction of the non-opening side. By doing so, it is possible to squeeze (or push squeeze) that the first member 11 side pushes down and the second member 12 side pulls up the gripped arm B. , Massage experience is improved.
　以上の構成を有しているマッサージユニット１０をＺ方向に沿って見ると、人の手Ｈの形状（図１０）に近似した構成を有することができる。そして、前記のような「腕Ｂを掴みながらひねるような動作（引き揉み）」は、図１０の（Ａ）から（Ｂ）に示すように、マッサージ師が手首Ｈａを効かせて行う引き揉みマッサージとなる。つまり、マッサージ師が手Ｈを使って被施療者の腕Ｂをマッサージする場合、その腕Ｂを、マッサージ師は「親指ｈ１」と「人差し指及び中指ｈ２」とで掴み、「人差し指及び中指ｈ２」の先端を腕Ｂの側部ｂ１へ回り込ませた状態（図１０（Ａ）参照）としてから、掴み揉み（引き揉み：図１０（Ｂ）参照）によるマッサージが行われる。このようなマッサージ師の手Ｈによるマッサージを、本実施形態のマッサージユニット１０は実行することが可能であり、これにより、単純に上下等の両方向から腕Ｂを挟んで行うマッサージと比較して、本実施形態のマッサージユニット１０によればマッサージ感をより一層高めることが可能となる。 When the massage unit 10 having the above configuration is viewed along the Z direction, it can have a configuration approximating the shape of a human hand H (FIG. 10). And, as described above, “the action of pulling while holding the arm B (pulling)” is performed by the masseur using the wrist Ha as shown in FIGS. 10 (A) to 10 (B). It becomes a massage. That is, when the masseur massages the arm B of the user using the hand H, the masseur grasps the arm B with “thumb h1” and “index finger and middle finger h2”, and “index finger and middle finger h2”. After the tip of the arm is turned around the side b1 of the arm B (see FIG. 10A), massage by gripping (plucking: see FIG. 10B) is performed. The massage unit 10 of the present embodiment can perform such massage by the masseur's hand H, and as a result, compared to a massage that is performed simply by sandwiching the arm B from both directions such as up and down, According to the massage unit 10 of the present embodiment, it is possible to further enhance the massage feeling.
　また、第１リンク部材２１、第２リンク部材２２、及び第３リンク部材２３により３辺からなるリンク機構２０が構成されており、特に本実施形態では（図５、図６参照）、第３リンク部材２３は、一端部２３ａ側と他端部２３ｂ側との間に設けられている揺動中心線Ｚ１回りに揺動自在であり、この揺動中心線Ｚ１は一端部２３ａ側よりも他端部２３ｂ側に近い位置に偏って設けられている。
　このリンク機構２０の構成によれば、第３リンク部材２３の一端部２３ａ側の揺動ストロークは、他端部２３ｂ側の揺動ストロークよりも大きくなり、図６の軌跡Ｖ１と軌跡Ｖ２とに示すように、第１部材１１の変位量と第２部材１２の変位量とを相違させることができる。軌跡Ｖ１は、第１部材１１が前記前進動作（又は前記後退動作）を行った場合における、第１エアセル３１の移動軌跡であり、軌跡Ｖ２は、第２部材１２が前記前進動作（又は前記後退動作）を行った場合における、第２エアセル３２の移動軌跡である。 In addition, the first link member 21, the second link member 22, and the third link member 23 constitute a link mechanism 20 having three sides, and particularly in the present embodiment (see FIGS. 5 and 6), the third The link member 23 is swingable about a swing center line Z1 provided between the one end portion 23a side and the other end portion 23b side. The swing center line Z1 is other than the one end portion 23a side. It is provided at a position close to the end 23b side.
According to the configuration of the link mechanism 20, the swing stroke on the one end portion 23a side of the third link member 23 is larger than the swing stroke on the other end portion 23b side, and the locus V1 and the locus V2 in FIG. As shown, the displacement amount of the first member 11 and the displacement amount of the second member 12 can be made different. The trajectory V1 is a movement trajectory of the first air cell 31 when the first member 11 performs the forward movement operation (or the backward movement operation), and the trajectory V2 is the second member 12 of the forward movement operation (or the backward movement operation). This is a movement locus of the second air cell 32 when the operation is performed.
　また、本実施形態のマッサージユニット１０では、図４に示すように、第１の側壁１７側に設けられている第３リンク部材２３を動かすための第１の偏心カム４１と、第２の側壁１８側に設けられている第３リンク部材２３を動かすための第２の偏心カム４１とは、同位相で駆動軸４２に取り付けられている。このため、駆動軸４２が回転することで、両側に在る一対の第３リンク部材２３は、同期して同じ動作を行い、これにより、両側に在る一対の第１リンク部材２１及び両側にある一対の第２リンク部材２２も同期して同じ動作を行う。このため、第１部材１１は、第２部材１２に対して接近する方向の成分を有する動作と、第２部材１２から離れる方向の成分を有する動作とを繰り返し行い、第２部材１２は、第１部材１１に対して接近する方向の成分を有する動作と、第１部材１１から離れる方向の成分を有する動作とを繰り返し行う。 Moreover, in the massage unit 10 of this embodiment, as shown in FIG. 4, the 1st eccentric cam 41 for moving the 3rd link member 23 provided in the 1st side wall 17 side, and a 2nd side wall The second eccentric cam 41 for moving the third link member 23 provided on the 18th side is attached to the drive shaft 42 in the same phase. For this reason, when the drive shaft 42 rotates, the pair of third link members 23 on both sides perform the same operation in synchronism, and thereby the pair of first link members 21 on both sides and the both sides. A pair of second link members 22 perform the same operation in synchronization. For this reason, the first member 11 repeatedly performs an operation having a component in a direction approaching the second member 12 and an operation having a component in a direction away from the second member 12, and the second member 12 An operation having a component in a direction approaching the first member 11 and an operation having a component in a direction away from the first member 11 are repeated.
　これに対して、図示しないが、第１の偏心カム４１と第２の偏心カム４１は、異なる位相で駆動軸４２に取り付けられていてもよい。例えば、第１の偏心カム４１と第２の偏心カム４１とが、駆動軸４２の中心線Ｚ２を中心として９０°や１８０°離れた位相で設けられていてもよい。この場合、駆動軸４２が回転することで、両側に在る一対の第３リンク部材２３は、相互で異なる動作を行い、これにより、両側に在る一対の第１リンク部材２１及び両側にある一対の第２リンク部材２２も相互で異なる動作を行う。
　図３を参考にして具体的に説明すると、例えば、第１の偏心カム４１と第２の偏心カム４１とが９０°の位相を違えて設けられている場合、一方の側壁１７側の第１リンク部材２１が開口側へ移動を開始すると、これに遅れて、他方の側壁１８側の第１リンク部材２１が開口側へ移動を開始する。そして、一方の側壁１７側の第１リンク部材２１が非開口側へ移動を開始すると、これに遅れて、他方の側壁１８側の第１リンク部材２１が非開口側へ移動を開始する。 On the other hand, although not shown, the first eccentric cam 41 and the second eccentric cam 41 may be attached to the drive shaft 42 with different phases. For example, the first eccentric cam 41 and the second eccentric cam 41 may be provided with a phase that is 90 ° or 180 ° apart from the center line Z2 of the drive shaft 42. In this case, when the drive shaft 42 rotates, the pair of third link members 23 on both sides perform different operations from each other, whereby the pair of first link members 21 on both sides and the pair of third link members 23 are on both sides. The pair of second link members 22 also perform different operations.
Specifically, referring to FIG. 3, for example, when the first eccentric cam 41 and the second eccentric cam 41 are provided with a phase difference of 90 °, the first eccentric cam 41 on the side of one side wall 17 is used. When the link member 21 starts moving toward the opening side, the first link member 21 on the other side wall 18 side starts moving toward the opening side with a delay. When the first link member 21 on one side wall 17 side starts moving to the non-opening side, the first link member 21 on the other side wall 18 side starts moving to the non-opening side.
　これにより、第１部材１１及び第１エアセル３１は、「第２部材１２に対して接近する方向の成分を有すると共に、Ｙ方向の仮想中心線Ｙ１（図３参照）回りの一方向に揺動する成分（図３の矢印Ｒ１）を有する動作」と、「第２部材１２から離れる方向の成分を有すると共に、Ｙ方向の仮想中心線Ｙ１回りの他方向に揺動する成分（図３の矢印Ｒ２）を有する動作」とを繰り返し行うことができる。
　また、第２部材１２及び第２エアセル３２は、「第１部材１１に対して接近する方向の成分を有すると共に、Ｙ方向の仮想中心線Ｙ２回りの一方向に揺動する成分（図３の矢印Ｒ３）を有した動作」と、「第１部材１１から離れる方向の成分を有すると共に、Ｙ方向の仮想中心線Ｙ２回りの他方向に揺動する成分（図４の矢印Ｒ４）を有する動作」とを繰り返し行うことができる。
　このように、第１の偏心カム４１と第２の偏心カム４１との位相を相違させることで、掴み動作に変化を与えることができる。 As a result, the first member 11 and the first air cell 31 have a component in a direction approaching the second member 12 and swing in one direction around the virtual center line Y1 in the Y direction (see FIG. 3). And a component having a component in a direction away from the second member 12 and swinging in the other direction around the virtual center line Y1 in the Y direction (an arrow in FIG. 3). The operation | movement which has R2) "can be performed repeatedly.
Further, the second member 12 and the second air cell 32 have a component in a direction approaching the first member 11 and a component that swings in one direction around the virtual center line Y2 in the Y direction (see FIG. 3). An operation having an arrow R3) and an operation having a component that moves away from the first member 11 and swings in the other direction around the virtual center line Y2 in the Y direction (arrow R4 in FIG. 4). Can be repeated.
In this way, by changing the phases of the first eccentric cam 41 and the second eccentric cam 41, the gripping operation can be changed.
　また、図２に示すように、被施療者の腕の肘側の第１のマッサージユニット１０と、手首側の第２のマッサージユニット１０とは、同期して同じ動作を行ってもよいが、異なる動作を行うように構成してもよい。後にも説明するが、同期して同じ動作を行わせるためには、全て（４つ）の偏心カム４１を同位相で設ければよく、異なる動作を行わせるためには、第１のマッサージユニット１０の偏心カム４１と、第２のマッサージユニット１０の偏心カム４１との位相を相違させればよい。 In addition, as shown in FIG. 2, the first massage unit 10 on the elbow side of the arm of the user and the second massage unit 10 on the wrist side may perform the same operation synchronously, You may comprise so that different operation | movement may be performed. As will be described later, in order to perform the same operation in synchronism, all (four) eccentric cams 41 may be provided in the same phase, and in order to perform different operations, the first massage unit What is necessary is just to make the phase of the eccentric cam 41 of 10 and the eccentric cam 41 of the 2nd massage unit 10 different.
　また、本実施形態（図２参照）では、第１のマッサージユニット１０に掴み揉みの動作を行わせるための駆動軸４２は、第２のマッサージユニット１０に掴み揉みの動作を行わせるための駆動軸としても兼用されている。そして、この駆動軸４２を、駆動ユニット４０のモータ４０ｂ（図３参照）によって回転させることができ、この駆動軸４２の回転よって掴み機構３０を動作させることが可能となる。つまり、肘掛け部４には、被施療者の腕の内の肘側用のマッサージユニット１０と、手首側用の前記マッサージユニット１０とが設けられており、手首側用のマッサージユニット１０の掴み機構３０を動作させる駆動源（モータ）と、肘側用のマッサージユニット１０の掴み機構３０を動作させる駆動源（モータ）とは、共通する駆動源（モータ４０ｂ）からなる。これにより、二つのマッサージユニット１０，１０を含むマッサージ手段８の構成の簡素化及び小型化が図れる。 Further, in the present embodiment (see FIG. 2), the drive shaft 42 for causing the first massage unit 10 to perform the gripping operation is a drive for causing the second massage unit 10 to perform the gripping operation. It is also used as a shaft. The drive shaft 42 can be rotated by a motor 40b (see FIG. 3) of the drive unit 40, and the gripping mechanism 30 can be operated by the rotation of the drive shaft 42. That is, the armrest part 4 is provided with the massage unit 10 for the elbow side of the arm of the user and the massage unit 10 for the wrist side, and a gripping mechanism for the massage unit 10 for the wrist side. The drive source (motor) that operates 30 and the drive source (motor) that operates the gripping mechanism 30 of the elbow-side massage unit 10 are composed of a common drive source (motor 40b). Thereby, simplification and size reduction of the structure of the massage means 8 containing the two massage units 10 and 10 can be achieved.
　なお、図示しないが、第１のマッサージユニット１０用の駆動軸と、第２のマッサージユニット１０用の駆動軸とを別としてもよく、また、この場合、駆動ユニット４０も別とすればよく、一対の駆動ユニット４０を独立して動作させる構成であってもよい。 Although not shown, the drive shaft for the first massage unit 10 and the drive shaft for the second massage unit 10 may be separated. In this case, the drive unit 40 may be separated, The configuration may be such that the pair of drive units 40 are operated independently.
　また、第１のマッサージユニット１０と第２のマッサージユニット１０とが同期して同じ動作を行うためには、第１のマッサージユニット１０と第２のマッサージユニット１０とが同じ構成となっており、特に、第１のマッサージユニット１０が有する一対の偏心カム４１と、第２のマッサージユニット１０が有する一対の偏心カム４１とが、同じ位相となっている必要がある。なお、第１のマッサージユニット１０が有する一対の偏心カム４１は、同じ位相であってもよく異なっていてもよい。また、第２のマッサージユニット１０が有する一対の偏心カム４１も、同じ位相であってもよく異なっていてもよい。 Moreover, in order for the 1st massage unit 10 and the 2nd massage unit 10 to synchronize and perform the same operation | movement, the 1st massage unit 10 and the 2nd massage unit 10 have the same structure, In particular, the pair of eccentric cams 41 included in the first massage unit 10 and the pair of eccentric cams 41 included in the second massage unit 10 need to have the same phase. Note that the pair of eccentric cams 41 included in the first massage unit 10 may have the same phase or different phases. Also, the pair of eccentric cams 41 included in the second massage unit 10 may be in the same phase or different.
　これに対して、第１のマッサージユニット１０と第２のマッサージユニット１０とが、同じ時間帯に異なる動作を行うためには、第１のマッサージユニット１０が有する一対の偏心カム４１と、第２のマッサージユニット１０が有する一対の偏心カム４１とが、異なる位相となっていればよく、この点で第１のマッサージユニット１０と第２のマッサージユニット１０とが異なる構成となっている必要がある。
　例えば、第１のマッサージユニット１０の一対の偏心カム４１の位相と、第２のマッサージユニット１０の偏心カム４１の位相とが、１８０°異なる場合、第１のマッサージユニット１０は掴み動作を行うタイミングで、第２のマッサージユニット１０は掴みを解除する動作を行うことができ、また、第１のマッサージユニット１０が掴みを解除する動作を行うタイミングで、第２のマッサージユニット１０は掴み動作を行うことができる。
　または、例えば、第１のマッサージユニット１０の一対の偏心カム４１の位相と、第２のマッサージユニット１０の偏心カム４１の位相とが、９０°異なる場合、一方のマッサージユニット１０が掴み動作を開始すると、これに遅れて、他方のマッサージユニット１０が掴み動作を開始することができる。 On the other hand, in order that the 1st massage unit 10 and the 2nd massage unit 10 perform different operation | movement in the same time slot | zone, a pair of eccentric cam 41 which the 1st massage unit 10 has, and 2nd The pair of eccentric cams 41 included in the massage unit 10 need only be in different phases, and in this respect, the first massage unit 10 and the second massage unit 10 need to be configured differently. .
For example, when the phase of the pair of eccentric cams 41 of the first massage unit 10 and the phase of the eccentric cam 41 of the second massage unit 10 differ by 180 °, the timing at which the first massage unit 10 performs the gripping operation Thus, the second massage unit 10 can perform the operation of releasing the grip, and the second massage unit 10 performs the grip operation at the timing when the first massage unit 10 performs the operation of releasing the grip. be able to.
Or, for example, when the phase of the pair of eccentric cams 41 of the first massage unit 10 and the phase of the eccentric cam 41 of the second massage unit 10 are different by 90 °, one massage unit 10 starts gripping operation. Then, after this, the other massage unit 10 can start the gripping operation.
　また、駆動ユニット４０は、モータ４０ｂの回転方向を切り替えることにより、駆動軸４２の回転方向（正転及び逆転）を切り換え可能である。例えば、駆動軸４２を所定回転数について正転させた後、この駆動軸４２を逆転させてもよい。これにより、掴み動作が途中で変更される。 Further, the drive unit 40 can switch the rotation direction (forward rotation and reverse rotation) of the drive shaft 42 by switching the rotation direction of the motor 40b. For example, the drive shaft 42 may be reversely rotated after the drive shaft 42 is rotated forward at a predetermined rotational speed. Thereby, the gripping operation is changed on the way.
＜第２節＞
〔マッサージユニット（その２）〕
　図１１は、別のマッサージユニット１０の説明図であり、被施療者の身体部位の長手方向に沿ってマッサージユニット１０を見た図である。このマッサージユニット１０によって施療を行う対象となる被施療者の身体部位を、前腕Ｂとすることができる。この場合、図１１は、前腕Ｂの長手方向に沿って見た図となり、特に、右腕の前腕Ｂを、肘側から指先側に向かう方向に沿って見た図となる。以下において、前腕Ｂを、単に腕Ｂと称して説明することもある。また、腕Ｂの長手方向をＺ方向、腕Ｂの横幅方向（被施療者の左右方向）をＸ方向、腕Ｂの上下方向をＹ方向と定義する。 <Section 2>
[Massage unit (2)]
FIG. 11 is an explanatory diagram of another massage unit 10 and is a view of the massage unit 10 viewed along the longitudinal direction of the body part of the user. The body part of the user to be treated by the massage unit 10 can be the forearm B. In this case, FIG. 11 is a view seen along the longitudinal direction of the forearm B, and in particular, is a view seen from the forearm B of the right arm along the direction from the elbow side to the fingertip side. Hereinafter, the forearm B may be simply referred to as the arm B. The longitudinal direction of the arm B is defined as the Z direction, the lateral width direction of the arm B (the left and right direction of the user) is defined as the X direction, and the vertical direction of the arm B is defined as the Y direction.
　マッサージユニット１０は、腕Ｂの周方向に沿った二箇所に設けられている第１部材１１及び第２部材１２を有している。図１１に示す形態では、第１部材１１及び第２部材１２は、腕Ｂの上下両側に設けられている。そして、このマッサージユニット１０では、第１部材１１と第２部材１２との間に形成される空間Ｓ１の一方側（図１１では、左側）が、腕Ｂの出し入れのために開口している。図１１に示す形態では、第１部材１１は、以下に説明する第１リンク部材６１であり、前記第２部材１２は、以下に説明する第３リンク部材６３である。以下において、腕を出し入れするために開口している側を「開口側」と呼び、その反対側を「非開口側」と呼ぶ。 The massage unit 10 has a first member 11 and a second member 12 provided at two locations along the circumferential direction of the arm B. In the form shown in FIG. 11, the first member 11 and the second member 12 are provided on both upper and lower sides of the arm B. In the massage unit 10, one side (left side in FIG. 11) of the space S <b> 1 formed between the first member 11 and the second member 12 is opened for taking in and out the arm B. In the form shown in FIG. 11, the first member 11 is a first link member 61 described below, and the second member 12 is a third link member 63 described below. In the following, the side that is opened to put in and out the arm is called “open side”, and the opposite side is called “non-open side”.
　マッサージユニット１０は、腕Ｂを掴む動作を行うことが可能となる掴み機構３０を備えている。図１１及び図１２において、この掴み機構３０は、側壁１７，１８、複数のリンク部材６１～６３、リンク部材６１～６３を動作させるための動作用のエアセル６５ａ，６５ｂ、腕Ｂを押圧するためのマッサージ用のエアセル３１，３２、及び、弾性部材であるばね（コイルばね）６６ｂ，６６ｃを備えている。更にこの掴み機構３０は、エアセル３１により動作する押圧部材６４、及び弾性部材であるばね（コイルばね）６６ａを備えている。図１２は、図１１に示すマッサージユニット１０をＸ方向から（図１１の右側から）見た説明図である。 The massage unit 10 includes a gripping mechanism 30 that can perform an operation of gripping the arm B. 11 and 12, the gripping mechanism 30 presses the side walls 17 and 18, the plurality of link members 61 to 63, the air cells 65a and 65b for operating the link members 61 to 63, and the arm B. Air cells 31 and 32 for massage, and springs (coil springs) 66b and 66c which are elastic members. Further, the gripping mechanism 30 includes a pressing member 64 that is operated by the air cell 31, and a spring (coil spring) 66a that is an elastic member. FIG. 12 is an explanatory view of the massage unit 10 shown in FIG. 11 viewed from the X direction (from the right side of FIG. 11).
　側壁１７，１８は、Ｚ方向に離れて設けられており、肘掛け部４（図１参照）に固定状態にある。また、側壁１７，１８は、Ｘ方向一方側（身体の中央側）に開口している形状を有している。 The side walls 17 and 18 are provided apart in the Z direction and are fixed to the armrest 4 (see FIG. 1). Moreover, the side walls 17 and 18 have a shape opened to one side in the X direction (the center side of the body).
　第１リンク部材６１は、軸６８ａによって第２リンク部材６２に揺動可能に取り付けられている。第２リンク部材６２は、軸６８ｂによって側壁１７，１８に揺動可能に取り付けられている。第３リンク部材６３は、軸６８ｃによって、第２リンク部材６２に揺動可能に取り付けられている。押圧部材６４は、施療子６４ａ，６４ｂを有するリンク部材からなり、軸６８ｄによって第１リンク部材６１に揺動可能に取り付けられている。施療子６４ａ，６４ｂは、腕Ｂに当接可能となる突起部である。
　軸６８ａ～６８ｄは、Ｚ方向を中心線とする部材であり、押圧部材６４及びリンク部材６１，６２，６３は、この中心線回りに揺動可能である。
　これら複数のリンク部材６１，６２，６３により多関節機構６０が構成されている。また、前記多関節機構６０には、リンク部材としても機能する押圧部材６４が含まれていてもよい。また、リンク部材の数は図示する形態に限らず変更可能であり、図１１に示す形態よりも多くてもよい。 The first link member 61 is swingably attached to the second link member 62 by a shaft 68a. The second link member 62 is swingably attached to the side walls 17 and 18 by a shaft 68b. The third link member 63 is swingably attached to the second link member 62 by a shaft 68c. The pressing member 64 includes a link member having treatment elements 64a and 64b, and is attached to the first link member 61 so as to be swingable by a shaft 68d. The treatment elements 64 a and 64 b are protrusions that can come into contact with the arm B.
The shafts 68a to 68d are members whose center line is the Z direction, and the pressing member 64 and the link members 61, 62, 63 can swing around the center line.
The plurality of link members 61, 62, 63 constitute a multi-joint mechanism 60. The multi-joint mechanism 60 may include a pressing member 64 that also functions as a link member. Further, the number of link members is not limited to the form shown in the figure, and can be changed, and may be larger than that shown in FIG.
　図１１において、マッサージ用のエアセル３１は、押圧部材６４と第１リンク部材６１との間に介在し、エアが供給されると膨張し、押圧部材６４を押して軸６８ｄ回りに揺動させる。ばね６６ａは、押圧部材６４と第１リンク部材６１との間に設けられており、エアセル３１の膨張により第１リンク部材６１から押圧部材６４を離反させると伸長し、また、エアセル３１が排気状態になると弾性復元力により第１リンク部材６１に押圧部材６４を接近させる構成である。なお、第１リンク部材６１から押圧部材６４が離反する動作は、前記空間Ｓ１を狭くする動作となり、また、腕Ｂを掴む動作となる。 11, the massage air cell 31 is interposed between the pressing member 64 and the first link member 61, expands when air is supplied, and pushes the pressing member 64 to swing around the shaft 68d. The spring 66a is provided between the pressing member 64 and the first link member 61. The spring 66a extends when the pressing member 64 is separated from the first link member 61 due to the expansion of the air cell 31, and the air cell 31 is in an exhausted state. Then, the pressing member 64 is brought close to the first link member 61 by an elastic restoring force. In addition, the operation | movement from which the press member 64 leaves | separates from the 1st link member 61 becomes operation | movement which narrows said space S1, and becomes operation | movement which grasps the arm B.
　動作用のエアセル６５ａは、第１リンク部材６１と第２リンク部材６２との間に介在し、エアが供給されると膨張し、第１リンク部材６１を押して軸６８ａ回りに揺動させる。なお、図１１に示す形態では、エアセル６５ａは、重ねて設けられている二つのエアセル６５ａ－１，６５ａ－２からなるが、一つのエアセルであってもよい。ばね６６ｂは、リンク部材６１，６２間に設けられており、エアセル６５ａの膨張により第２リンク部材６２から第１リンク部材６１を離反させると伸長し、エアセル６５ａが排気状態になると弾性復元力により第２リンク部材６２に第１リンク部材６１を接近させる構成である。第２リンク部材６２から第１リンク部材６１が離反する動作は、前記空間Ｓ１を狭くする動作となり、また、腕Ｂを掴む動作となる。 The air cell 65a for operation is interposed between the first link member 61 and the second link member 62, expands when air is supplied, and pushes the first link member 61 to swing around the shaft 68a. In the form shown in FIG. 11, the air cell 65a is composed of two air cells 65a-1 and 65a-2 provided in an overlapping manner, but may be one air cell. The spring 66b is provided between the link members 61 and 62, and expands when the first link member 61 is separated from the second link member 62 due to the expansion of the air cell 65a. The first link member 61 is brought close to the second link member 62. The operation of separating the first link member 61 from the second link member 62 is an operation of narrowing the space S1 and an operation of grasping the arm B.
　動作用のエアセル６５ｂは、側壁１７，１８に固定の固定部材６９と第２リンク部材６２との間に介在し、エアが供給されると膨張し、第２リンク部材６２を押して軸６８ｂ回りに揺動させる。ばね６６ｃは、第２リンク部材６２と側壁１７（１８）との間に設けられており、エアセル６５ｂの膨張により固定部材６９から第２リンク部材６２を離反させると伸長し、エアセル６５ｂが排気状態になると弾性復元力により固定部材６９に第２リンク部材６２を接近させる。固定部材６９から第２リンク部材６２が離反する動作は、前記空間Ｓ１を狭くすると共に、第２リンク部材６２に搭載されている第１リンク部材６１及び押圧部材６４を開口側の方向へ移動させる動作となり、また、腕Ｂを掴む動作となる。 The air cell 65b for operation is interposed between the fixing member 69 fixed to the side walls 17 and 18 and the second link member 62, expands when air is supplied, and pushes the second link member 62 around the shaft 68b. Rock. The spring 66c is provided between the second link member 62 and the side wall 17 (18). The spring 66c extends when the second link member 62 is separated from the fixing member 69 due to the expansion of the air cell 65b, and the air cell 65b is in an exhausted state. Then, the second link member 62 is brought close to the fixing member 69 by the elastic restoring force. The operation of separating the second link member 62 from the fixing member 69 narrows the space S1 and moves the first link member 61 and the pressing member 64 mounted on the second link member 62 in the direction toward the opening side. It becomes operation, and also becomes operation which grasps arm B.
　第３リンク部材６３は、軸６８ｃよって第２リンク部材６２に揺動可能に取り付けられており、エアセル６５ｂの動作に応じて動作する。リンク部材６３には、長穴６３ｂが形成されており、この長穴６３ｂには、側壁１７，１８に取り付けられている軸６８ｅが挿通されており、リンク部材６３は軸６８ｅに沿って往復移動する。第２リンク部材６２が図１１に示す状態から軸６８ｂを中心として反時計回りに揺動すると（図１３参照）、第３リンク部材６３は、非開口側の方向に移動する。図１３の状態から、第２リンク部材６２が軸６８ｂを中心として時計回りに揺動すると、第３リンク部材６３は、開口側の方向に移動する（図１１参照）。 The third link member 63 is swingably attached to the second link member 62 by a shaft 68c, and operates according to the operation of the air cell 65b. A long hole 63b is formed in the link member 63, and a shaft 68e attached to the side walls 17 and 18 is inserted into the long hole 63b, and the link member 63 reciprocates along the shaft 68e. To do. When the second link member 62 swings counterclockwise about the shaft 68b from the state shown in FIG. 11 (see FIG. 13), the third link member 63 moves in the non-opening direction. When the second link member 62 swings clockwise about the shaft 68b from the state of FIG. 13, the third link member 63 moves in the direction of the opening (see FIG. 11).
　マッサージ用のエアセル３２は、第３リンク部材６３に取り付けられており、エアの供給により膨張し、腕Ｂを押圧する。
　動作用のエアセル６５ａ，６５ｂ及びマッサージ用のエアセル３１，３２は、それぞれ独立して動作することができる（膨張することができる）。つまり、これらエアセルのうちの少なくとも一つのみを膨張させることができる。 The massage air cell 32 is attached to the third link member 63, expands by supplying air, and presses the arm B.
The operation air cells 65a and 65b and the massage air cells 31 and 32 can operate independently (expand). That is, at least one of these air cells can be inflated.
　以上の構成を備えているマッサージユニット１０の動作について説明する。図１１は、動作用のエアセル６５ａ，６５ｂ及びマッサージ用のエアセル３１，３２が収縮した状態にある。この状態では、第１リンク部材６１と第３リンク部材６３との間に形成される空間Ｓ１は最も広くなる。
　これに対して図１３は、動作用のエアセル６５ａ，６５ｂが膨張している状態にある。この状態では、第１リンク部材６１と第３リンク部材６３との間に形成される空間Ｓ１はもっとも狭くなる。また、図１３では、マッサージ用のエアセル３１，３２も膨張状態にあり、押圧部材６４の施療子６４ａ，６４ｂが、空間Ｓ１に存在する腕Ｂを上から押圧することができ、また、エアセル３２が空間Ｓ１に存在する腕Ｂを下から押圧することができる。図１３は、掴み機構３０が腕Ｂを掴み終えた掴み完了状態を示す。 Operation | movement of the massage unit 10 provided with the above structure is demonstrated. FIG. 11 shows a state in which the air cells 65a and 65b for operation and the air cells 31 and 32 for massage are contracted. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the largest.
On the other hand, FIG. 13 shows a state where the air cells 65a and 65b for operation are inflated. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the narrowest. In FIG. 13, the massage air cells 31 and 32 are also in an expanded state, and the treatment elements 64 a and 64 b of the pressing member 64 can press the arm B present in the space S <b> 1 from above, and the air cell 32. Can press the arm B existing in the space S1 from below. FIG. 13 shows a gripping completion state in which the gripping mechanism 30 has gripped the arm B.
　図１３に示す掴み完了状態から、動作用のエアセル６５ａ，６５ｂ及びマッサージ用のエアセル３１，３２が排気可能状態になると、ばね６６ａ，６６ｂ，６６ｃの弾性力によって図１１に示す掴み開放状態となる。図１１に示す掴み開放状態で、空間Ｓ１における腕Ｂの出し入れが可能となる。 When the operation air cells 65a and 65b and the massage air cells 31 and 32 are in the exhaustable state from the gripping completion state shown in FIG. 13, the gripping release state shown in FIG. 11 is brought about by the elastic force of the springs 66a, 66b and 66c. . In the state shown in FIG. 11, the arm B can be taken in and out of the space S1.
　このように図１３に示す掴み完了状態では、第１リンク部材６１と第３リンク部材６３とが接近し、両者の間で腕Ｂを掴むことができ、さらに、エアセル３１，３２が膨張することで、施療子６４ａ，６４ｂとエアセル３２との間で腕Ｂを掴むことができる。そして、この状態からエアセル６５ｂを排気状態とすると、図１４からさらに図１５に示すように、ばね６６ｃの弾性力によって第２リンク部材６２が固定部材６９側に後退する。ただし、この動作の際、エアセル３１，６５ａは膨張状態にある。これにより、腕Ｂを掴んだ状態でその腕Ｂを非開口側へ引き込むような動作が可能となる。つまり、腕Ｂに対して引き揉みのマッサージが可能となる。
　更に、図１５に示す状態から、エアセル６５ｂを膨張させることで、図１４に示す状態を経て、図１３に示す状態とすることもできる。なお、この動作の際、エアセル３１，６５ａは膨張状態にある。この場合、腕Ｂを掴んだ状態でその腕Ｂを開口側へ押すような動作が可能となる。つまり、腕Ｂに対して押し揉みのマッサージが可能となる。
　更に、図１３に示す状態と、図１５に示す状態とを繰り返すこともできる。これにより、腕Ｂを掴んだ状態で押し引きすることが可能となる。 Thus, in the grip completion state shown in FIG. 13, the first link member 61 and the third link member 63 approach each other, the arm B can be gripped between them, and the air cells 31 and 32 expand. Thus, the arm B can be grasped between the treatment elements 64 a and 64 b and the air cell 32. Then, when the air cell 65b is brought into the exhausted state from this state, the second link member 62 is retracted to the fixing member 69 side by the elastic force of the spring 66c as shown in FIGS. However, during this operation, the air cells 31 and 65a are in an expanded state. Thereby, the operation | movement which draws the arm B to the non-opening side in the state which grasped the arm B is attained. That is, it is possible to massage the arm B.
Further, by expanding the air cell 65b from the state shown in FIG. 15, the state shown in FIG. 13 can be obtained through the state shown in FIG. During this operation, the air cells 31 and 65a are in an expanded state. In this case, an operation can be performed in which the arm B is pushed toward the opening side while the arm B is held. That is, it is possible to massage the arm B with a push.
Furthermore, the state shown in FIG. 13 and the state shown in FIG. 15 can be repeated. This makes it possible to push and pull while holding the arm B.
　また、図１１に示す掴み開放状態から図１３に示す掴み完了状態に変化すると、腕Ｂの開口側の部分Ｂ１に施療子６４ａを到達させることでき、施療子６４ａは腕Ｂの開口側の部分Ｂ１を掴むことができる。そして、腕Ｂの開口側の部分Ｂ１を掴んだ状態で、図１３から図１５に示す状態とすることで、掴んだ部分（Ｂ１）を非開口側へ引いて行う引き揉みのマッサージが可能となる。 When the grip opening state shown in FIG. 11 is changed to the gripping completion state shown in FIG. 13, the treatment element 64a can reach the opening B portion B1 of the arm B, and the treatment element 64a is a portion of the arm B on the opening side. You can grab B1. And by holding the part B1 on the opening side of the arm B, the state shown in FIG. 13 to FIG. 15 can be used to perform a massage of pulling that is performed by pulling the gripped part (B1) to the non-opening side. Become.
＜第３節＞
〔マッサージユニット（その３）〕
　図１６は、別のマッサージユニット１０の説明図である。図１６に示すマッサージユニット１０は、図１１に示すマッサージユニット１０の変形例に相当する。なお、図１６は、図１１と同様、右腕の前腕Ｂを肘側から指先側に向かう方向に沿って見た図である。図１６に示すマッサージユニット１０も、多関節機構６０を備えている。 <Section 3>
[Massage unit (part 3)]
FIG. 16 is an explanatory diagram of another massage unit 10. The massage unit 10 shown in FIG. 16 corresponds to a modification of the massage unit 10 shown in FIG. FIG. 16 is a view of the forearm B of the right arm as viewed in the direction from the elbow side to the fingertip side, as in FIG. 11. The massage unit 10 shown in FIG. 16 also includes a multi-joint mechanism 60.
　マッサージユニット１０は、腕Ｂの周方向に沿った二箇所に設けられている第１部材１１及び第２部材１２を有している。図１６に示す形態では、第１部材１１及び第２部材１２は、腕Ｂの下と右横に設けられている。そして、このマッサージユニット１０では、第１部材１１と第２部材１２との間に形成される空間Ｓ１の一方側（図１６では、左側）が、腕Ｂの出し入れのために開口している。図１６に示す形態では、第１部材１１は、以下に説明する第１リンク部材６１であり、前記第２部材１２は、以下に説明する第３リンク部材６３である。なお、第３リンク部材６３は、第２リンク部材６２と一体構造である。以下において、腕を出し入れするために開口している側を「開口側」と呼び、その反対側を「非開口側」と呼ぶ。 The massage unit 10 has a first member 11 and a second member 12 provided at two locations along the circumferential direction of the arm B. In the form shown in FIG. 16, the first member 11 and the second member 12 are provided below the arm B and on the right side. In the massage unit 10, one side (left side in FIG. 16) of the space S <b> 1 formed between the first member 11 and the second member 12 is opened for taking in and out the arm B. In the form shown in FIG. 16, the 1st member 11 is the 1st link member 61 demonstrated below, and the said 2nd member 12 is the 3rd link member 63 demonstrated below. The third link member 63 has an integral structure with the second link member 62. In the following, the side that is opened to put in and out the arm is called “open side”, and the opposite side is called “non-open side”.
　マッサージユニット１０は、腕Ｂを掴む動作を行うことが可能となる掴み機構３０を備えている。図１６及び図１７において、この掴み機構３０は、側壁１７，１８、複数のリンク部材６１～６３、リンク部材６１～６３を動作させるための動作用のエアセル６５ａ，６５ｂ、腕Ｂを押圧するためのマッサージ用のエアセル３１，３２、及び、エアセル３１により動作する押圧部材６４を備えている。更にこの掴み機構３０は、図示しないが、図１１に示すマッサージユニット１０と同様のばね（６６ａ，６６ｂ，６６ｃ）を備えている。図１７は、図１１に示すマッサージユニット１０をＸ方向に沿って（図１６の右側から）見た説明図である。 The massage unit 10 includes a gripping mechanism 30 that can perform an operation of gripping the arm B. 16 and 17, the gripping mechanism 30 presses the side walls 17 and 18, the plurality of link members 61 to 63, the air cells 65a and 65b for operating the link members 61 to 63, and the arm B. The massage air cells 31 and 32 and a pressing member 64 operated by the air cell 31 are provided. Further, although not shown, the gripping mechanism 30 includes springs (66a, 66b, 66c) similar to those of the massage unit 10 shown in FIG. FIG. 17 is an explanatory view of the massage unit 10 shown in FIG. 11 as viewed along the X direction (from the right side of FIG. 16).
　側壁１７，１８は、Ｚ方向に離れて設けられており、肘掛け部４（図１参照）に固定状態にある。また、側壁１７，１８は、Ｘ方向一方側（身体の中央側）に開口している形状を有している。 The side walls 17 and 18 are provided apart in the Z direction and are fixed to the armrest 4 (see FIG. 1). Moreover, the side walls 17 and 18 have a shape opened to one side in the X direction (the center side of the body).
　第１リンク部材６１は、軸６８ａによって第２リンク部材６２に揺動可能に取り付けられている。第２リンク部材６２は、軸６８ｂによって側壁１７，１８に揺動可能に取り付けられている。第２リンク部材６２と第３リンク部材６３とは一体であり、これらによりＬ字形を有している。押圧部材６４は、施療子６４ａ，６４ｂを有するリンク部材からなり、軸６８ｄによって第１リンク部材６１に揺動可能に取り付けられている。施療子６４ａ，６４ｂは、腕Ｂに当接可能となる突起部である。
　軸６８ａ，６８ｂ，６８ｄは、Ｚ方向を中心線とする部材であり、押圧部材６４及びリンク部材６１，６２（６３）は、この中心線回りに揺動可能である。
　これら複数のリンク部材６１，６２（６３）により多関節機構６０が構成されている。また、前記多関節機構６０には、リンク部材としても機能する押圧部材６４が含まれていてもよい。また、リンク部材の数は図示する形態に限らず変更可能であり、図１６に示す形態よりも多くてもよい。 The first link member 61 is swingably attached to the second link member 62 by a shaft 68a. The second link member 62 is swingably attached to the side walls 17 and 18 by a shaft 68b. The second link member 62 and the third link member 63 are integral with each other and have an L shape. The pressing member 64 includes a link member having treatment elements 64a and 64b, and is attached to the first link member 61 so as to be swingable by a shaft 68d. The treatment elements 64 a and 64 b are protrusions that can come into contact with the arm B.
The shafts 68a, 68b, and 68d are members having a center line in the Z direction, and the pressing member 64 and the link members 61 and 62 (63) can swing around the center line.
A multi-joint mechanism 60 is constituted by the plurality of link members 61 and 62 (63). The multi-joint mechanism 60 may include a pressing member 64 that also functions as a link member. Further, the number of link members is not limited to the form shown in the figure, and can be changed, and may be larger than the form shown in FIG.
　図１６において、マッサージ用のエアセル３１は、押圧部材６４と第１リンク部材６１との間に介在し、エアが供給されると膨張し、押圧部材６４を押して軸６８ｄ回りに揺動させる。押圧部材６４と第１リンク部材６１との間には、ばね（図示省略）が設けられており、このばねは、エアセル３１の膨張により第１リンク部材６１から押圧部材６４を離反させると伸長し、また、エアセル３１が排気状態になると弾性復元力により第１リンク部材６１に押圧部材６４を接近させる。なお、第１リンク部材６１から押圧部材６４が離反する動作は、前記空間Ｓ１を狭くする動作となり、また、腕Ｂを掴む動作となる。 In FIG. 16, the massage air cell 31 is interposed between the pressing member 64 and the first link member 61, expands when air is supplied, and pushes the pressing member 64 to swing around the shaft 68d. A spring (not shown) is provided between the pressing member 64 and the first link member 61, and this spring expands when the pressing member 64 is separated from the first link member 61 by the expansion of the air cell 31. When the air cell 31 is in the exhaust state, the pressing member 64 is brought close to the first link member 61 by the elastic restoring force. In addition, the operation | movement from which the press member 64 leaves | separates from the 1st link member 61 becomes operation | movement which narrows said space S1, and becomes operation | movement which grasps the arm B.
　動作用のエアセル６５ａは、第１リンク部材６１と第２リンク部材６２との間に介在し、エアが供給されると膨張し、第１リンク部材６１を押して軸６８ａ回りに揺動させる。リンク部材６１，６２間には、ばね（図示省略）が設けられており、このばねは、エアセル６５ａの膨張により第２リンク部材６２から第１リンク部材６１を離反させると伸長し、エアセル６５ａが排気状態になると弾性復元力により第２リンク部材６２に第１リンク部材６１を接近させる。第２リンク部材６２から第１リンク部材６１が離反する動作は、前記空間Ｓ１を狭くする動作となり、また、腕Ｂを掴む動作となる。 The air cell 65a for operation is interposed between the first link member 61 and the second link member 62, expands when air is supplied, and pushes the first link member 61 to swing around the shaft 68a. A spring (not shown) is provided between the link members 61 and 62. This spring expands when the first link member 61 is separated from the second link member 62 due to expansion of the air cell 65a, and the air cell 65a When the exhaust state is reached, the first link member 61 is brought close to the second link member 62 by the elastic restoring force. The operation of separating the first link member 61 from the second link member 62 is an operation of narrowing the space S1 and an operation of grasping the arm B.
　動作用のエアセル６５ｂは、側壁１７，１８に固定の固定部材６９と第２リンク部材６２との間に介在し、エアが供給されると膨張し、第２リンク部材６２を押して軸６８ｂ回りに揺動させる。第２リンク部材６２と側壁１７（１８）との間には、ばね（図示省略）が設けられており、このばねは、エアセル６５ｂの膨張により固定部材６９から第２リンク部材６２を離反させると伸長し、エアセル６５ｂが排気状態になると弾性復元力により固定部材６９に第２リンク部材６２を接近させる。固定部材６９から第２リンク部材６２が離反する動作は、前記空間Ｓ１を狭くすると共に、第２リンク部材６２に搭載されている第１リンク部材６１及び押圧部材６４を開口側の方向へ移動させる動作となり、また、腕Ｂを掴む動作となる。 The air cell 65b for operation is interposed between the fixing member 69 fixed to the side walls 17 and 18 and the second link member 62, expands when air is supplied, and pushes the second link member 62 around the shaft 68b. Rock. A spring (not shown) is provided between the second link member 62 and the side wall 17 (18). When the spring separates the second link member 62 from the fixing member 69 due to expansion of the air cell 65b. When the air cell 65b is in an exhaust state, the second link member 62 is brought close to the fixing member 69 by an elastic restoring force. The operation of separating the second link member 62 from the fixing member 69 narrows the space S1 and moves the first link member 61 and the pressing member 64 mounted on the second link member 62 in the direction toward the opening side. It becomes operation, and also becomes operation which grasps arm B.
　マッサージ用のエアセル３２は、第３リンク部材６３に取り付けられており、エアの供給により膨張し、腕Ｂを押圧する。
　動作用のエアセル６５ａ，６５ｂ及びマッサージ用のエアセル３１，３２は、それぞれ独立して動作することができる（膨張することができる）。つまり、これらエアセルのうちの少なくとも一つのみを膨張させることができる。 The massage air cell 32 is attached to the third link member 63, expands by supplying air, and presses the arm B.
The operation air cells 65a and 65b and the massage air cells 31 and 32 can operate independently (expand). That is, at least one of these air cells can be inflated.
　以上の構成を備えているマッサージユニット１０の動作について説明する。図１６は、動作用のエアセル６５ａ，６５ｂ及びマッサージ用のエアセル３１，３２が収縮した状態にある。この状態では、第１リンク部材６１と第３リンク部材６３との間に形成される空間Ｓ１は最も広くなる。
　これに対して図１８は、動作用のエアセル６５ａ，６５ｂが膨張している状態にある。この状態では、第１リンク部材６１と第３リンク部材６３との間に形成される空間Ｓ１はもっとも狭くなる。また、図１８では、マッサージ用のエアセル３１，３２も膨張状態にあり、押圧部材６４の施療子６４ａ，６４ｂが、空間Ｓ１に存在する腕Ｂを上から押圧することができ、また、エアセル３２が空間Ｓ１に存在する腕Ｂを下から押圧することができる。図１８は、掴み機構３０が腕Ｂを掴み終えた掴み完了状態を示す。 Operation | movement of the massage unit 10 provided with the above structure is demonstrated. FIG. 16 shows a state in which the air cells 65a and 65b for operation and the air cells 31 and 32 for massage are contracted. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the largest.
On the other hand, FIG. 18 shows a state where the operation air cells 65a and 65b are inflated. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the narrowest. In FIG. 18, the massage air cells 31 and 32 are also in an inflated state, and the treatment elements 64 a and 64 b of the pressing member 64 can press the arm B existing in the space S <b> 1 from above, and the air cell 32. Can press the arm B existing in the space S1 from below. FIG. 18 shows a grip completion state in which the gripping mechanism 30 has finished gripping the arm B.
　図１８に示す掴み完了状態から、動作用のエアセル６５ａ，６５ｂｃ及びマッサージ用のエアセル３１，３２が排気可能状態になると、前記ばね（図示省略）の弾性力によって図１６に示す掴み開放状態となる。図１６に示す掴み開放状態で、空間Ｓ１における腕Ｂの出し入れが可能となる。 When the air cells 65a and 65bc for operation and the air cells 31 and 32 for massage are in an exhaustable state from the grip completion state shown in FIG. 18, the grip open state shown in FIG. 16 is brought about by the elastic force of the spring (not shown). . In the state shown in FIG. 16, the arm B can be taken in and out of the space S1.
　このように図１８に示す掴み完了状態では、第１リンク部材６１と第３リンク部材６３とが接近し、両者の間で腕Ｂを掴むことができ、さらに、エアセル３１，３２が膨張することで、施療子６４ａ，６４ｂとエアセル３２との間で腕Ｂを掴むことができる。そして、この状態からエアセル６５ｂを排気状態とすると、図１９からさらに図２０に示すように、ばねの弾性力によって第２リンク部材６２が固定部材６９側に後退する。ただし、この動作の際、エアセル３１，６５ａは膨張状態にある。これにより、腕Ｂを掴んだ状態でその腕Ｂを非開口側へ引き込むような動作が可能となる。つまり、腕Ｂに対して引き揉みのマッサージが可能となる。
　更に、図２０に示す状態から、エアセル６５ｂを膨張させることで、図１９に示す状態を経て、図１８に示す状態とすることもできる。なお、この動作の際、エアセル３１，６５ａは膨張状態にある。この場合、腕Ｂを掴んだ状態でその腕Ｂを開口側へ押すような動作が可能となる。つまり、腕Ｂに対して押し揉みのマッサージが可能となる。
　更に、図１８に示す状態と、図２０に示す状態とを繰り返すこともできる。これにより、腕Ｂを掴んだ状態で押し引きすることが可能となる。 Thus, in the grip completion state shown in FIG. 18, the first link member 61 and the third link member 63 approach each other, the arm B can be gripped between them, and the air cells 31 and 32 expand. Thus, the arm B can be grasped between the treatment elements 64 a and 64 b and the air cell 32. When the air cell 65b is brought into the exhaust state from this state, the second link member 62 moves backward toward the fixing member 69 by the elastic force of the spring as shown in FIG. 19 and FIG. However, during this operation, the air cells 31 and 65a are in an expanded state. Thereby, the operation | movement which draws the arm B to the non-opening side in the state which grasped the arm B is attained. That is, it is possible to massage the arm B.
Further, by expanding the air cell 65b from the state shown in FIG. 20, the state shown in FIG. 18 can be obtained through the state shown in FIG. During this operation, the air cells 31 and 65a are in an expanded state. In this case, an operation can be performed in which the arm B is pushed toward the opening side while the arm B is held. That is, it is possible to massage the arm B with a push.
Furthermore, the state shown in FIG. 18 and the state shown in FIG. 20 can be repeated. This makes it possible to push and pull while holding the arm B.
　また、図１６に示す掴み開放状態から図１８に示す掴み完了状態に変化すると、腕Ｂの開口側の部分Ｂ１に施療子６４ａを到達させることでき、施療子６４ａは腕Ｂの開口側の部分Ｂ１を掴むことができる。そして、腕Ｂの開口側の部分Ｂ１を掴んだ状態で、図１８から図２０に示す状態とすることで、掴んだ部分（Ｂ１）を非開口側へ引いて行う引き揉みのマッサージが可能となる。 When the grip opening state shown in FIG. 16 is changed to the gripping completion state shown in FIG. 18, the treatment element 64 a can reach the opening B portion B1 of the arm B, and the treatment element 64 a is a portion of the arm B on the opening side. You can grab B1. Then, by holding the part B1 on the opening side of the arm B, the state shown in FIG. 18 to FIG. 20 can be used to perform a massage of pulling that is performed by pulling the gripped part (B1) to the non-opening side. Become.
＜第４節＞
〔前記マッサージユニット１０（その２）及び（その３）について〕
　前記のとおり、図１１に示すマッサージユニット１０（その２）、及び図１６に示すマッサージユニット１０（その３）は、それぞれ、第１部材１１となる第１リンク部材６１と共に設けられ膨張することで腕Ｂを押すための第１エアセル３１と、第１リンク部材６１に所定の掴み動作を行わせるマッサージ機構部５０とを有している。このマッサージ機構部５０は、第１～第３リンク部材６１～６３を有するリンク機構２０からなる。ただし、図１６に示すマッサージユニット１０では、第２リンク部材６２と第３リンク部材６３とは一体である。
　そして、このマッサージ機構部５０（リンク機構２０）は、腕Ｂを掴むために第１リンク部材６１と第３リンク部材６３とを相対的に接近させる動作、及び、エアセル３１を介して第１リンク部材６１と第３リンク部材６３との間で挟んだ腕Ｂを動かすために、膨張している状態にあるエアセル３１と共に第１リンク部材６１を非開口側の方向へ移動させる動作を行うことができる。 <Section 4>
[About the massage unit 10 (part 2) and (part 3)]
As described above, the massage unit 10 (No. 2) shown in FIG. 11 and the massage unit 10 (No. 3) shown in FIG. 16 are provided together with the first link member 61 serving as the first member 11 and expanded. It has the 1st air cell 31 for pushing the arm B, and the massage mechanism part 50 which makes the 1st link member 61 perform predetermined | prescribed gripping operation. The massage mechanism unit 50 includes a link mechanism 20 having first to third link members 61 to 63. However, in the massage unit 10 shown in FIG. 16, the second link member 62 and the third link member 63 are integral.
And this massage mechanism part 50 (link mechanism 20) is the 1st link via the operation | movement which makes the 1st link member 61 and the 3rd link member 63 approach relatively in order to grasp the arm B, and the air cell 31. In order to move the arm B sandwiched between the member 61 and the third link member 63, an operation of moving the first link member 61 in the direction of the non-opening side together with the air cell 31 in an expanded state is performed. it can.
　このマッサージユニット１０によれば、第１リンク部材６１と第３リンク部材６３との間でエアセル３１が膨張していることにより腕Ｂを掴んでから、その膨張している状態にあるエアセル３１と共に第１リンク部材６１を非開口側の方向へ移動させると、第１リンク部材６１と第３リンク部材６３との間でエアセル３１を介して掴んだ腕Ｂを非開口側へ動かすような動きが可能となる。つまり、腕Ｂに対して引き揉みのマッサージ動作が可能となる。これは、単純に腕Ｂを両側から挟んで行う揉みと比較して、マッサージの体感が向上するマッサージとなる。 According to the massage unit 10, after the air cell 31 is inflated between the first link member 61 and the third link member 63, the arm B is gripped, and then the air cell 31 is in an inflated state. When the first link member 61 is moved in the non-opening direction, the movement of moving the arm B grasped via the air cell 31 to the non-opening side between the first link member 61 and the third link member 63 is performed. It becomes possible. That is, it is possible to perform a massaging massage operation on the arm B. This is a massage in which the body sensation of the massage is improved as compared with a massage that is simply performed by sandwiching the arm B from both sides.
　なお、リンク機構２０は、膨張している状態にあるエアセル３１と共に第１リンク部材６１を、開口側及び非開口側の内の少なくとも一方側の方向へ移動させる動作を行えばよい。つまり、双方向へ交互に移動させてもよく、開口側の方向へ移動させてもよい。開口側へ移動させる場合、第１リンク部材６１と第３リンク部材６３との間でエアセル３１を介して掴んだ腕Ｂを開口側へ動かすような動きが可能となる。つまり、腕Ｂに対して押し揉みのマッサージ動作が可能となる。 In addition, the link mechanism 20 should just perform the operation | movement which moves the 1st link member 61 to the direction of at least one side of an opening side and a non-opening side with the air cell 31 in the expanded state. That is, it may be moved alternately in both directions, or may be moved in the direction of the opening. When moving to the opening side, the movement which moves the arm B grasped via the air cell 31 between the 1st link member 61 and the 3rd link member 63 to the opening side is attained. That is, it is possible to perform a massage operation by pressing against the arm B.
　また、マッサージユニット１０は、腕Ｂの周方向に沿って設けられる第１機構部５１及び第２機構部５２を有している。第１機構部５１には、腕Ｂを押圧可能であるマッサージ部としてのエアセル３１及び押圧部材６４の他に、第１リンク部材６１及び第２リンク部材６２が含まれる。第２機構部５２には、腕Ｂを押圧可能であるマッサージ部としてのエアセル３２の他に、第３リンク部材６３が含まれる。そして、これら第１機構部５１と第２機構部５２との間に形成される空間Ｓ１の一方側が腕Ｂの出し入れのために開口している構成となっている。 Further, the massage unit 10 has a first mechanism part 51 and a second mechanism part 52 provided along the circumferential direction of the arm B. The first mechanism unit 51 includes a first link member 61 and a second link member 62 in addition to the air cell 31 and the pressing member 64 as a massage unit capable of pressing the arm B. The second mechanism portion 52 includes a third link member 63 in addition to the air cell 32 as a massage portion capable of pressing the arm B. And one side of space S1 formed between these 1st mechanism parts 51 and the 2nd mechanism parts 52 becomes the structure opened for taking in and out of the arm B. As shown in FIG.
　第１リンク部材６１には、前記マッサージ部（エアセル３１及び押圧部材６４）が取り付けられており、更に、この第１リンク部材６１は、腕Ｂから離れた第１後退位置Ｂ－１（図１１、図１６参照）と、腕Ｂに近づいた第１前進位置Ｆ－１（図１３、図１８参照）との間を往復動作することができる。
　また、第２リンク部材６２には、第１リンク部材６１が前記第１後退位置Ｂ－１と前記第１前進位置Ｆ－１との間を往復動作可能として取り付けられており、更に、この第２リンク部材６２は、腕Ｂから離れた第２後退位置Ｂ－２（図１１、図１６参照）と、腕Ｂに近づいた第２前進位置Ｆ－２（図１３、図１８参照）との間を往復動作することができる。
　そして、第１リンク部材６１と共に第２リンク部材６２が第２前進位置Ｆ－２へ移動して（図１３、図１８参照）腕Ｂを掴む動作を行うことが可能であり、また、第１リンク部材６１と共に第２リンク部材６２が移動することで、マッサージ動作を行うことも可能である。 The massage part (the air cell 31 and the pressing member 64) is attached to the first link member 61. Further, the first link member 61 is separated from the arm B by a first retracted position B-1 (FIG. 11). 16) and the first forward position F-1 (see FIGS. 13 and 18) approaching the arm B can be reciprocated.
The first link member 61 is attached to the second link member 62 so as to be capable of reciprocating between the first retracted position B-1 and the first advanced position F-1. The two link member 62 has a second retracted position B-2 (see FIGS. 11 and 16) away from the arm B and a second advanced position F-2 (see FIGS. 13 and 18) approaching the arm B. It can reciprocate between them.
Then, the second link member 62 can move to the second forward movement position F-2 together with the first link member 61 (see FIGS. 13 and 18) to perform an operation of grasping the arm B. It is also possible to perform a massage operation by moving the second link member 62 together with the link member 61.
　このように、腕Ｂを押圧するマッサージ部（エアセル３１及び押圧部材６４）が取り付けられている第１リンク部材６１と共に、第２リンク部材６２を第２前進位置Ｆ－２（図１３、図１８）とすることで、第１機構部５１と第２機構部５２との間でマッサージ部（エアセル３１及び押圧部材６４）を介して腕Ｂを掴むことができる。この掴む際、第１リンク部材６１のみを第１前進位置Ｆ－１とするが、第２リンク部材６２を第２前進位置Ｆ－２としないで第２後退位置Ｂ－２とする場合と比較すると、本実施形態の場合には、腕Ｂに対してマッサージ部に含まれる施療子６４ａを開口側の遠い位置へ到達させることが可能となる。つまり、腕Ｂの開口側の部分Ｂ１を掴むことができる。
　そして、この腕Ｂ（部分Ｂ１）を掴んだ状態で、第１リンク部材６１と共に第２リンク部材６２が移動することにより、マッサージ部（エアセル３１及び押圧部材６４）を移動させてマッサージ動作を行うことが可能となる。 Thus, together with the first link member 61 to which the massage part (the air cell 31 and the pressing member 64) for pressing the arm B is attached, the second link member 62 is moved to the second forward position F-2 (FIGS. 13 and 18). ), The arm B can be grasped between the first mechanism portion 51 and the second mechanism portion 52 via the massage portion (the air cell 31 and the pressing member 64). When gripping, only the first link member 61 is set to the first forward position F-1, but the second link member 62 is not set to the second forward position F-2 but to the second reverse position B-2. Then, in the case of this embodiment, it becomes possible to make the treatment element 64a contained in the massage part reach the distant position on the opening side with respect to the arm B. That is, the portion B1 on the opening side of the arm B can be grasped.
And in the state which hold | gripped this arm B (part B1), when the 2nd link member 62 moves with the 1st link member 61, a massage part (the air cell 31 and the press member 64) is moved, and massage operation is performed. It becomes possible.
　このマッサージ動作の具体例として次に示す動作がある。つまり、図１３（図１８）に示す腕Ｂを掴んだ状態から、図１４（図１９）の状態を経て、図１５（図２０）に示すように、エアセル３１が膨張状態にあって第１前進位置Ｆ－１にある第１リンク部材６１と共に、第２前進位置Ｆ－２にあった第２リンク部材６２が、この第２前進位置Ｆ－２から第２後退位置Ｂ－２へと移動する動作を行う。
　この動作では、第２リンク部材６２を第２前進位置Ｆ－２としかつ第１リンク部材６１を第１前進位置Ｆ－１とすることで、第１機構部５１と第２機構部５２との間でマッサージ部（エアセル３１及び押圧部材６４）を介して腕Ｂを掴んでから（図１３、図１８）、第１リンク部材６１と共に第２リンク部材６２を第２後退位置Ｂ－２へ移動させることから（図１５、図２０）、この掴んだ腕Ｂを開口側から非開口側へと動かすような引き揉みが可能となる。この引き揉みによるマッサージ動作は、単純に腕Ｂを両側から挟んで行う揉みと比較して、マッサージの体感が向上する動作となる。
　更に、この引き揉みのマッサージ動作とは反対に、第１前進位置Ｆ－１にある第１リンク部材６１と共に第２リンク部材６２が、図１５（図２０）の状態から、図１４（図１９）の状態を経て、図１３（図１８）に示すように、第２後退位置Ｂ－２から第２前進位置Ｆ－２へと移動してマッサージ動作を行うことが可能である。 The following operation is a specific example of this massage operation. That is, from the state of grasping the arm B shown in FIG. 13 (FIG. 18), through the state of FIG. 14 (FIG. 19), the air cell 31 is in the expanded state as shown in FIG. Along with the first link member 61 at the forward movement position F-1, the second link member 62 at the second forward movement position F-2 moves from the second forward movement position F-2 to the second backward movement position B-2. To perform the operation.
In this operation, the second link member 62 is set to the second forward position F-2 and the first link member 61 is set to the first forward position F-1, so that the first mechanism portion 51 and the second mechanism portion 52 After grasping the arm B via the massage part (air cell 31 and pressing member 64) (FIGS. 13 and 18), the second link member 62 is moved to the second retracted position B-2 together with the first link member 61. (FIGS. 15 and 20), the gripping arm B can be pulled so as to move from the opening side to the non-opening side. This massage operation by pulling is an operation that improves the bodily sensation of massage as compared with the massage performed by simply sandwiching the arm B from both sides.
Further, contrary to the massage operation of this pulling, the second link member 62 together with the first link member 61 at the first advance position F-1 is changed from the state of FIG. 15 (FIG. 20) to FIG. 14 (FIG. 19). ), The massage operation can be performed by moving from the second backward position B-2 to the second forward position F-2 as shown in FIG. 13 (FIG. 18).
　また、本実施形態のマッサージユニット１０において、前記のとおり、第１機構部５１は、複数のリンク部材６１，６２を有していると共に、隣り合うリンク部材６１，６２同士を連結する関節部を有しており、複数の前記関節部を起点として複数のリンク部材６１，６２が動作可能である多関節機構６０を有している。前記各形態では、前記関節部は、軸６８ａ，６８ｂ（６８ｄ）によるリンク部材の連結構造により構成される。
　さらに、第１機構部５１は、腕Ｂを押圧可能であるマッサージ部として、エアセル３１及び押圧部材６４を有しており、このマッサージ部は、複数のリンク部材６１，６２の内の腕Ｂに近い先部リンク部材（第１リンク部材６１）に設けられている。
　そして、第１機構部５１と第２機構部５２とが腕Ｂの周方向に沿って設けられている状態（図１１、図１６参照）から、前記多関節機構６０は、複数の前記関節部の全てを起点として複数のリンク部材６１，６２の全てを一方向（図１１、図１６において反時計回り）に動作させることにより、図１３（図１８）に示すように、前記マッサージ部（押圧部材６４の施療子６４ａ）を、腕Ｂに接触可能となる位置であって施療子６４ａを、前記一方向へ動作させる前の状態と比較して、開口側の遠い位置へ移動させる移動動作を行うことができる。
　すなわち、多関節機構６０が前記移動動作を行うことで、施療子６４ａは動作前の状態と比較して、腕Ｂの開口側の遠い部分へ位置することができる。そして、その状態から多関節機構６０が動作してマッサージ動作を行えば、開口側の遠くに位置していた施療子６４ａ（６４ｂ）を用いたマッサージが可能であり、マッサージ範囲を広げることができ、単純に腕Ｂを両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 Moreover, in the massage unit 10 of this embodiment, as above-mentioned, while the 1st mechanism part 51 has several link members 61 and 62, the joint part which connects adjacent link members 61 and 62 with each other is provided. And a multi-joint mechanism 60 in which a plurality of link members 61 and 62 can operate from a plurality of the joint portions as starting points. In each of the above embodiments, the joint portion is configured by a link member connecting structure using shafts 68a and 68b (68d).
Furthermore, the 1st mechanism part 51 has the air cell 31 and the press member 64 as a massage part which can press the arm B, and this massage part is on the arm B in the some link members 61 and 62. It is provided in the near front link member (first link member 61).
From the state in which the first mechanism portion 51 and the second mechanism portion 52 are provided along the circumferential direction of the arm B (see FIGS. 11 and 16), the multi-joint mechanism 60 includes a plurality of the joint portions. As shown in FIG. 13 (FIG. 18), all the plurality of link members 61 and 62 are moved in one direction (counterclockwise in FIGS. Compared with the state before the treatment element 64a) of the member 64 can be brought into contact with the arm B and the treatment element 64a is moved in the one direction, a moving operation for moving the treatment element 64a to a far position on the opening side is performed. It can be carried out.
That is, when the multi-joint mechanism 60 performs the moving operation, the treatment element 64a can be positioned at a far portion on the opening side of the arm B as compared with the state before the operation. If the multi-joint mechanism 60 operates to perform a massage operation from that state, it is possible to perform massage using the treatment element 64a (64b) located far from the opening side, and the massage range can be expanded. Compared with itching that simply sandwiches the arm B from both sides, the bodily sensation of massage is improved.
　また、このような多関節機構６０を備えているマッサージユニット１０において、この多関節機構６０は、前記移動動作の他に、第１機構部５１と第２機構部５２とが腕Ｂの周方向に沿って腕Ｂの近傍に設けられている状態（図１３、図１８参照）から、エアセル３１が膨張している状態でかつ前記移動動作後の状態にある複数のリンク部材６１，６２の内の少なくとも前記先部リンク部材（第１リンク部材６１）以外のリンク部材６２を、前記一方向と反対方向（図１３、図１８において時計回り）に動作させる。この動作により、開口側にあった施療子６４ａ（６４ｂ）が押圧する腕Ｂを、非開口側へ引き寄せるマッサージ動作を行うことができる。 Moreover, in the massage unit 10 including such a multi-joint mechanism 60, the multi-joint mechanism 60 includes a first mechanism 51 and a second mechanism 52 in the circumferential direction of the arm B in addition to the moving operation. Of the plurality of link members 61 and 62 in the state in which the air cell 31 is inflated and in the state after the moving operation from the state provided in the vicinity of the arm B along the direction (see FIGS. 13 and 18). The link members 62 other than at least the front link member (first link member 61) are moved in the direction opposite to the one direction (clockwise in FIGS. 13 and 18). By this operation, it is possible to perform a massage operation that draws the arm B pressed by the treatment element 64a (64b) on the opening side toward the non-opening side.
　以上より、多関節機構６０が前記移動動作を行うことで、施療子６４ａ（６４ｂ）は動作前の状態と比較して腕Ｂの内の開口側の遠くに位置することができる。そして、その状態から多関節機構６０が動作して前記マッサージ動作を行うことで、開口側の遠くに位置していた施療子６４ａ（６４ｂ）を引き寄せることで、腕Ｂに対して引き揉みが可能となる。この引き揉みのマッサージ動作は、単純に身体部位を両側から挟んで行う揉みと比較して、マッサージの体感が向上する動作である。なお、先部リンク部材（第１リンク部材６１）以外のリンク部材６２を一方向と反対方向（図１３において時計回り）に動作させると、先部リンク部材（第１リンク部材６１）は、その隣りの第２リンク部材６２に対して変位しないが、腕Ｂに対しては変位することとなる。 As described above, the multi-joint mechanism 60 performs the moving operation, so that the treatment element 64a (64b) can be positioned farther on the opening side in the arm B than the state before the operation. Then, the multi-joint mechanism 60 operates from that state and performs the massage operation, so that the treatment element 64a (64b) located far away on the opening side can be attracted and pulled against the arm B. It becomes. This massaging massage operation is an operation that improves the bodily sensation of the massage as compared to the massaging performed simply by sandwiching the body part from both sides. When the link members 62 other than the front link member (first link member 61) are operated in the direction opposite to one direction (clockwise in FIG. 13), the front link member (first link member 61) Although it is not displaced with respect to the adjacent second link member 62, it is displaced with respect to the arm B.
＜第５節＞
〔前記マッサージユニット１０（その２）及び（その３）の変形例〕
　前記マッサージユニット１０（その２）及び（その３）の場合、押圧部材６４、第１部材１１（第１リンク部材６１）、及び他のリンク部材６２～６３を動作させる動作機構は、膨張することで押圧部材６４及び第１部材１１（第１リンク部材６１）等を押して移動させるエアセル３１，６５ａ，６５ｂと、移動した第１部材１１（第１リンク部材６１）等を移動前の位置に復帰させる付勢力を生じさせるばね（６６ａ，６６ｂ，６６ｃ）とを有する構成である。この構成によれば、エアセル３１，６５ａ等の膨張により押圧部材６４及び第１部材１１（第１リンク部材６１）等を前進させ、エアセル３１，６５ａ等が収縮すると、ばね６６ａ，６６ｂの付勢力により押圧部材６４及び第１部材１１（第１リンク部材６１）等を後退させる構成が得られる。 <Section 5>
[Modification of the massage unit 10 (part 2) and (part 3)]
In the case of the massage unit 10 (part 2) and (part 3), the operating mechanism for operating the pressing member 64, the first member 11 (first link member 61), and the other link members 62 to 63 is inflated. Return the air cells 31, 65a, 65b to be moved by pushing the pressing member 64 and the first member 11 (first link member 61), and the moved first member 11 (first link member 61) to the position before the movement. And a spring (66a, 66b, 66c) for generating an urging force to be generated. According to this configuration, when the pressure member 64 and the first member 11 (first link member 61) are advanced by the expansion of the air cells 31, 65a and the like, and the air cells 31, 65a and the like contract, the biasing force of the springs 66a and 66b Thus, a configuration in which the pressing member 64, the first member 11 (first link member 61), and the like are retracted is obtained.
　押圧部材６４、第１部材１１（第１リンク部材６１）及び他のリンク部材６２，６３を動作させる動作機構は、他の構成であってもよく、エアセル３１，６５ａ，６５ｂの代わりに、回転するカム部材を用いてもよい。図２１及び図２２は、図１６に示すマッサージユニット１０の変形例を説明する説明図である。
　図２１及び図２２に示すように、押圧部材６４と第１リンク部材６１との間に第１のカム部材６７ａが設けられており、第１リンク部材６１と第２リンク部材６２との間に第２のカム部材６７ｂが設けられており、第２リンク部材６２と固定部材６９との間に第３のカム部材６７ｃが設けられている。これらカム部材６７ａ～６７ｃはそれぞれ独立して回転駆動可能である。なお、これらカム部材６７ａ～６７ｃの回転は、図外のモータによる。 The operation mechanism that operates the pressing member 64, the first member 11 (first link member 61), and the other link members 62, 63 may have another configuration, and instead of the air cells 31, 65a, 65b, the rotation mechanism rotates. A cam member may be used. FIG.21 and FIG.22 is explanatory drawing explaining the modification of the massage unit 10 shown in FIG.
As shown in FIGS. 21 and 22, a first cam member 67 a is provided between the pressing member 64 and the first link member 61, and between the first link member 61 and the second link member 62. A second cam member 67 b is provided, and a third cam member 67 c is provided between the second link member 62 and the fixing member 69. These cam members 67a to 67c can be independently driven to rotate. The cam members 67a to 67c are rotated by a motor (not shown).
　カム部材６７ａ，６７ｂ，６７ｃそれぞれは、回転中心ｐから外周までの距離が長い部分（以下、長径部ｅという）と、回転中心ｐから外周までの距離が短い部分（以下、短径部ｆという）とを有している。
　カム部材６７ａ～６７ｃそれぞれの長径部ｅが、押圧部材６４及びリンク部材６１，６２を押す状態（図２１に示す状態）が、前記エアセル３１，６５ａ，６５ｂが膨張した状態に相当する。これに対して、カム部材６７ａ～６７ｃそれぞれの短径部ｆが、押圧部材６４及びリンク部材６１，６２を押す状態（図２２に示す状態）が、前記エアセル３１，６５ａ，６５ｂが収縮した状態に相当する。 Each of the cam members 67a, 67b, and 67c has a portion having a long distance from the rotation center p to the outer periphery (hereinafter referred to as a long diameter portion e) and a portion having a short distance from the rotation center p to the outer periphery (hereinafter referred to as a short diameter portion f). ).
The state in which the long diameter portion e of each of the cam members 67a to 67c pushes the pressing member 64 and the link members 61 and 62 (the state shown in FIG. 21) corresponds to the state in which the air cells 31, 65a and 65b are expanded. In contrast, the state in which the short diameter portion f of each of the cam members 67a to 67c pushes the pressing member 64 and the link members 61 and 62 (the state shown in FIG. 22) is a state in which the air cells 31, 65a and 65b are contracted. It corresponds to.
　このように図２１及び図２２に示すマッサージユニット１０では、押圧部材６４及び第１リンク部材６１等を動作させる動作機構は、カム部材６７ａ，６７ｂ，６７ｃを備えており、カム部材６７ａ，６７ｂ，６７ｃそれぞれによれば、長径部ｅが押圧部材６４及びリンク部材６１，６２を押すことで、押圧部材６４及びリンク部材６１，６２を前進させ、短径部ｆが押圧部材６４及びリンク部材６１，６２を押す状態で、押圧部材６４及びリンク部材６１，６２を後退させる。なお、この動作機構は、図示しないが、前記短径部ｆが押圧部材６４及びリンク部材６１，６２に当接するのに併せて、押圧部材６４及びリンク部材６１，６２を後退させる付勢力を生じさせる弾性部材としてばねを有している。このばね（弾性部材）の構成は、図１１に示すマッサージユニット１０のばね６６ａ，６６ｂ，６６ｃと同様である。この構成によれば、カム部材６７ａ，６７ｂ，６７ｃの回転により押圧部材６４及び第１リンク部材６１等を動作させる構成が得られる。 As described above, in the massage unit 10 shown in FIGS. 21 and 22, the operating mechanism for operating the pressing member 64, the first link member 61, and the like includes the cam members 67a, 67b, and 67c, and the cam members 67a, 67b, According to each of 67c, the long diameter portion e pushes the pressing member 64 and the link members 61, 62, thereby causing the pressing member 64 and the link members 61, 62 to advance, and the short diameter portion f to move the pressing member 64 and the link members 61, In a state where 62 is pressed, the pressing member 64 and the link members 61 and 62 are retracted. Although not shown in the drawing, this operating mechanism generates an urging force that causes the pressing member 64 and the link members 61 and 62 to retreat as the short diameter portion f abuts against the pressing member 64 and the link members 61 and 62. It has a spring as an elastic member to be made. The configuration of this spring (elastic member) is the same as the springs 66a, 66b, 66c of the massage unit 10 shown in FIG. According to this structure, the structure which operates the press member 64, the 1st link member 61, etc. by rotation of cam member 67a, 67b, 67c is obtained.
＜第６節＞
〔前記マッサージユニット１０（その２）及び（その３）の適用例〕
　図１１、図１６及び図２１に示す各マッサージユニット１０は、前腕Ｂを広い範囲で掴み、掴んだ部分を同時にマッサージすることができる。これに対して、図２３に示すマッサージ装置は、前腕Ｂの複数箇所を掴み、掴んだ部分についてマッサージすることができる構成を有している。すなわち、例えば図１２（図１１）に示すマッサージユニット１０についてＺ方向の寸法を小さく構成し、これを、図２３に示すように、前腕Ｂの長手方向（Ｚ方向）に沿って複数（図２３では三つ）設けた構成とする。なお、図２３及び図２４は、三つのマッサージユニット１０－１，１０－２，１０－３の平面図である。 <Section 6>
[Application examples of the massage unit 10 (part 2) and (part 3)]
Each of the massage units 10 shown in FIGS. 11, 16 and 21 can grip the forearm B over a wide range and massage the gripped portions at the same time. On the other hand, the massage device shown in FIG. 23 has a configuration in which a plurality of portions of the forearm B can be gripped and massaged on the gripped portion. That is, for example, with respect to the massage unit 10 shown in FIG. 12 (FIG. 11), the dimension in the Z direction is configured to be small, and as shown in FIG. 23, a plurality of (FIG. 23) along the longitudinal direction (Z direction) of the forearm B. Then, it is set as the structure provided three). 23 and 24 are plan views of the three massage units 10-1, 10-2, 10-3.
　三つのマッサージユニット１０－１，１０－２，１０－３はそれぞれ、図２４に示すように独立して動作することができる。例えば、手首に最も近い第１のマッサージユニット１０－１は掴み開放状態（図１１，図１６参照）にあり、その隣りの第２のマッサージユニット１０－２は、掴み完了状態（図１３、図１８参照）にあり、肘に最も近い第３のマッサージユニット１０－３は、マッサージユニット１０－２のように前腕Ｂの一部を掴んだ状態で、その後、非開口側へ押圧部材６４を移動させた状態、つまり、引き揉み動作を行った状態にある。 Each of the three massage units 10-1, 10-2, 10-3 can operate independently as shown in FIG. For example, the first massage unit 10-1 closest to the wrist is in the grip open state (see FIGS. 11 and 16), and the adjacent second massage unit 10-2 is in the grip complete state (see FIGS. 18) and the third massage unit 10-3 closest to the elbow holds the part of the forearm B like the massage unit 10-2, and then moves the pressing member 64 to the non-opening side. In this state, that is, a state in which a pulling operation is performed.
　以上より、図２３及び図２４に示す形態では、マッサージ装置は、前腕Ｂの長手方向に沿って設けられている複数のマッサージユニット１０－１，１０－２，１０－３を備えており、制御ユニット（制御部）７（図１参照）は、これらマッサージユニット１０－１，１０－２，１０－３の動作を制御することができる。特に、図２４に示す形態では、制御ユニット７は、これらマッサージユニット１０－１，１０－２，１０－３の動作タイミングを相違させて、マッサージユニット１０－１，１０－２，１０－３のそれぞれを動作させる制御を行っている。このマッサージ装置によれば、例えば、前腕Ｂの一つの範囲を順に掴んで順に引き揉みを行うような動作が可能となる。
　なお、ここでは、図１１に示すマッサージユニット１０を三つ設けた場合について説明したが、図１６又は図２１に示すマッサージユニット１０を三つ設けた構成であってもよく、また、マッサージユニット１０の数は、三つに限らず、二つ又は四つ以上であってもよい。 As described above, in the form shown in FIGS. 23 and 24, the massage apparatus includes the plurality of massage units 10-1, 10-2, 10-3 provided along the longitudinal direction of the forearm B. The unit (control unit) 7 (see FIG. 1) can control the operations of the massage units 10-1, 10-2, and 10-3. In particular, in the form shown in FIG. 24, the control unit 7 makes the operation timings of the massage units 10-1, 10-2, and 10-3 different so that the massage units 10-1, 10-2, and 10-3 have different operation timings. Control to operate each is performed. According to this massage device, for example, it is possible to perform an operation of sequentially grasping one range of the forearm B and sequentially pulling it.
In addition, although the case where the three massage units 10 shown in FIG. 11 were provided was demonstrated here, the structure which provided the three massage units 10 shown in FIG. 16 or FIG. The number of is not limited to three, but may be two or four or more.
＜第７節＞
〔前記マッサージユニット１０（その２）の変形例〕
　図２５は、図１１に示すマッサージユニット１０の変形例を示す説明図である。図１１に示すマッサージユニット１０では、第３リンク部材６３に取り付けられているマッサージ用のエアセル３２は単一であるが、図２５に示すマッサージユニット１０では、マッサージ用のエアセルとして、二つのエアセル３２－１，３２－２が設けられている。なお、第１機構部５１側は、図１１に示すマッサージユニット１０と同じ構成である。 <Section 7>
[Modification of Massage Unit 10 (Part 2)]
FIG. 25 is an explanatory view showing a modification of the massage unit 10 shown in FIG. In the massage unit 10 shown in FIG. 11, the massage air cell 32 attached to the third link member 63 is single, but in the massage unit 10 shown in FIG. 25, two air cells 32 are used as massage air cells. -1,32-2 are provided. In addition, the 1st mechanism part 51 side is the same structure as the massage unit 10 shown in FIG.
　これらエアセル３２－１，３２－２は独立して膨張動作及び収縮動作を行うことができる。第３リンク部材６３の先部側（図２５では左側）に位置するエアセル３２－１は、膨張すると腕Ｂを非開口側へ押圧する成分を有する構成であり、第３リンク部材６３の基部側（図２５では右側）に位置するエアセル３２－２は、膨張すると腕Ｂを開口側へ押圧する成分を有する構成である。 These air cells 32-1 and 32-2 can perform an expansion operation and a contraction operation independently. The air cell 32-1 located on the front side (the left side in FIG. 25) of the third link member 63 is configured to have a component that presses the arm B toward the non-opening side when inflated, and the base side of the third link member 63 The air cell 32-2 positioned on the right side (right side in FIG. 25) has a component that presses the arm B toward the opening side when expanded.
　前記のとおり、マッサージユニット１０が腕Ｂを、押圧部材６４を介して第１リンク部材６１と第３リンク部材６３との間で掴んだ状態で（図２６参照）、押圧部材６４が第１リンク部材６１と共に非開口側へ移動することで、掴んだ腕Ｂに対して引き揉み動作を行うことができるが、この引き揉み動作の際、腕Ｂは、空間Ｓ１の非開口側のスペースＡ１（図２５参照）に逃げるおそれがある。しかし、本実施形態では、非開口側のスペースＡ１に移動しようとする腕Ｂに対して、エアセル３２－２は、その反対方向となる開口側へ押圧する成分を有して膨張することから、腕Ｂが非開口側のスペースＡ１に逃げるのを防ぐことができる。これにより、強い引き揉み動作を行うことが可能となる。
　なお、図２５及び図２６に示す二つのエアセル３２－１，３２－２の構成については、図１６及び図２１に記載のマッサージユニット１０に適用してもよい。 As described above, with the massage unit 10 gripping the arm B between the first link member 61 and the third link member 63 via the pressing member 64 (see FIG. 26), the pressing member 64 is the first link. By moving to the non-opening side together with the member 61, it is possible to perform a pulling operation on the gripped arm B. During this pulling operation, the arm B moves to the space A1 (non-opening side of the space S1). (See FIG. 25). However, in this embodiment, the air cell 32-2 expands with a component that presses toward the opening side in the opposite direction with respect to the arm B trying to move to the space A1 on the non-opening side. The arm B can be prevented from escaping to the space A1 on the non-opening side. As a result, a strong pulling operation can be performed.
The configurations of the two air cells 32-1 and 32-2 shown in FIGS. 25 and 26 may be applied to the massage unit 10 shown in FIGS.
＜第８節＞
〔マッサージユニット（その４）〕
　図２７は、別のマッサージユニット１０の説明図である。図２７に示すマッサージユニット１０は、図１１に示すマッサージユニット１０の変形例に相当する。なお、図２７は、図１１と同様、右腕の前腕Ｂを肘側から指先側に向かう方向に沿って見た図である。
　図２７に示すマッサージユニット１０は、図１１に示すマッサージユニット１０と比較すると、押圧部材６４の構成が異なり、また、吸引ポンプ３４を備えている点で異なる。その他（例えば、掴み機構３０や多関節機構６０等）については同じであり、同じ点については詳細な説明を省略する。 <Section 8>
[Massage unit (part 4)]
FIG. 27 is an explanatory diagram of another massage unit 10. The massage unit 10 shown in FIG. 27 corresponds to a modification of the massage unit 10 shown in FIG. FIG. 27 is a view of the forearm B of the right arm as viewed in the direction from the elbow side to the fingertip side, as in FIG. 11.
27 is different from the massage unit 10 shown in FIG. 11 in that the configuration of the pressing member 64 is different and the suction pump 34 is provided. Others (for example, the gripping mechanism 30 and the multi-joint mechanism 60) are the same, and detailed description of the same points is omitted.
　押圧部材６４は、施療子６４ａ，６４ｂの代わりに、吸引部６４ｃを有している。そして、本実施形態のマッサージ装置は、吸引ポンプ（以下、ポンプ３４という。）を更に備えており、ポンプ３４と吸引部６４ｃとは配管３４ａを通じて繋がっている。ポンプ３４が駆動すると、吸引部６４ｃから、被施療者の腕Ｂが位置する空間Ｓ１の空気が吸引され、これにより、図２８及び図２９に示すように、腕Ｂの一部を吸引部６４ｃに吸着する。
　そして、このマッサージユニット１０は、押圧部材６４、複数のリンク部材６１，６２，６３、リンク部材６１，６２，６３を動作させるための動作用のエアセル６５ａ，６５ｂ、マッサージ用のエアセル３１，３２、及び、弾性部材であるばね（コイルばね）６６ａ，６６ｂ，６６ｃを備えている。 The pressing member 64 has a suction part 64c instead of the treatment elements 64a and 64b. The massage device of the present embodiment further includes a suction pump (hereinafter referred to as pump 34), and the pump 34 and the suction part 64c are connected through a pipe 34a. When the pump 34 is driven, the air in the space S1 in which the arm B of the user is located is sucked from the suction part 64c, whereby a part of the arm B is sucked into the suction part 64c as shown in FIGS. Adsorb to.
The massage unit 10 includes a pressing member 64, a plurality of link members 61, 62, 63, air cells 65a, 65b for operating the link members 61, 62, 63, air cells 31, 32 for massage, In addition, springs (coil springs) 66a, 66b, 66c, which are elastic members, are provided.
　以上の構成を備えているマッサージユニット１０の動作について説明する。図２７は、動作用のエアセル６５ａ，６５ｂ及びマッサージ用のエアセル３１，３２が収縮した状態にある。この状態では、第１リンク部材６１と第３リンク部材６３との間に形成される空間Ｓ１は最も広くなる。
　これに対して図２９は、動作用のエアセル６５ａ，６５ｂが膨張している状態にある。この状態では、第１リンク部材６１と第３リンク部材６３との間に形成される空間Ｓ１はもっとも狭くなる。また、図２９では、マッサージ用のエアセル３１，３２も膨張状態にあり、エアセル３２が空間Ｓ１に存在する腕Ｂを下から押圧することができ、また、押圧部材６４の吸引部６４ｃが、空間Ｓ１に存在する腕Ｂに上から接触することができる。また、図２９では、ポンプ３４がエアの吸引を行っており、吸引部６４ｃに腕Ｂの一部が吸着した状態にある。ここで、前記多関節機構６０の動作により、吸引部６４ｃは腕Ｂの内の開口側の部分Ｂ１に吸着することができる。また、図２９は、第１リンク部材６１と第３リンク部材６３とにより腕Ｂを掴み終えた状態であって、かつ、吸引部６４ｃにより腕Ｂを吸着している状態を示す。 Operation | movement of the massage unit 10 provided with the above structure is demonstrated. FIG. 27 shows a state in which the operation air cells 65a and 65b and the massage air cells 31 and 32 are contracted. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the largest.
On the other hand, FIG. 29 shows a state in which the air cells 65a and 65b for operation are inflated. In this state, the space S1 formed between the first link member 61 and the third link member 63 is the narrowest. In FIG. 29, the massage air cells 31 and 32 are also in an inflated state, and the air cell 32 can press the arm B existing in the space S1 from below, and the suction part 64c of the pressing member 64 is in the space. The arm B existing in S1 can be contacted from above. In FIG. 29, the pump 34 is sucking air, and a part of the arm B is adsorbed to the suction part 64c. Here, by the operation of the multi-joint mechanism 60, the suction portion 64c can be adsorbed to the opening B portion B1 of the arm B. FIG. 29 shows a state where the arm B has been grasped by the first link member 61 and the third link member 63 and the arm B is adsorbed by the suction portion 64c.
　図２９に示す掴み吸着状態から、動作用のエアセル６５ａ，６５ｂ及びマッサージ用のエアセル３１，３２が排気可能状態になると、ばね６６ａ，６６ｂ，６６ｃの弾性力によって図１１に示す掴み開放状態となる。また、前記排気可能状態となると共に、ポンプ３４による吸引動作を停止することで、図２７に示す開放状態となり、空間Ｓ１における腕Ｂの出し入れが可能となる。 When the air cells 65a and 65b for operation and the air cells 31 and 32 for massage are in an exhaustable state from the grip adsorption state shown in FIG. 29, the grip open state shown in FIG. 11 is brought about by the elastic force of the springs 66a, 66b and 66c. . Further, the exhaust state is enabled, and the suction operation by the pump 34 is stopped, so that the open state shown in FIG.
　このように図２９に示す掴み吸着状態では、第１リンク部材６１と第３リンク部材６３とが接近し、両者の間で腕Ｂを掴むことができ、さらに、エアセル３１，３２が膨張することで、吸引部６４ｃとエアセル３２との間で腕Ｂを掴むことができると共に、この掴んだ部分を吸引部６４ｃに吸着することができる。
　そして、この状態からエアセル６５ｂを排気状態とすると、図２８に示すように、ばね６６ｃの弾性力によって第２リンク部材６２が固定部材６９側に後退する。ただし、この動作の際、エアセル３１，６５ａは膨張状態にある。これにより、腕Ｂを掴んでかつ吸着した状態で、その腕Ｂを非開口側へ引き込むような動作が可能となる。つまり、腕Ｂに対して引き揉みのマッサージが可能となる。
　更に、腕Ｂを非開口側へ引き込んだ状態から、エアセル６５ｂを膨張させることで、図２８に示す状態を経て、図２９に示す状態とすることもできる。なお、この動作の際、エアセル３１，６５ａは膨張状態にある。この場合、腕Ｂを掴んでかつ吸着した状態でその腕Ｂを開口側へ押すような動作が可能となる。つまり、腕Ｂに対して押し揉みのマッサージが可能となる。
　更に、腕Ｂを開口側へ押した状態（図２９参照）と、腕Ｂを非開口側へ引き込んだ状態とを繰り返すこともできる。これにより、腕Ｂを掴んでかつ吸着した状態で押し引きすることが可能となる。 29, the first link member 61 and the third link member 63 approach each other, the arm B can be gripped between them, and the air cells 31 and 32 expand. Thus, the arm B can be gripped between the suction portion 64c and the air cell 32, and the gripped portion can be adsorbed to the suction portion 64c.
Then, when the air cell 65b is brought into the exhaust state from this state, the second link member 62 moves backward toward the fixing member 69 by the elastic force of the spring 66c as shown in FIG. However, during this operation, the air cells 31 and 65a are in an expanded state. As a result, it is possible to perform an operation in which the arm B is pulled toward the non-opening side while the arm B is being gripped and sucked. That is, it is possible to massage the arm B.
Furthermore, by expanding the air cell 65b from the state where the arm B is pulled to the non-opening side, the state shown in FIG. During this operation, the air cells 31 and 65a are in an expanded state. In this case, it is possible to perform an operation such that the arm B is pushed toward the opening side while the arm B is grasped and adsorbed. That is, it is possible to massage the arm B with a push.
Furthermore, the state where the arm B is pushed toward the opening side (see FIG. 29) and the state where the arm B is pulled toward the non-opening side can be repeated. As a result, the arm B can be pushed and pulled while being gripped and adsorbed.
　また、図２７に示す開放状態から図２９に示す掴み吸着状態に変化すると、腕Ｂの開口側の部分Ｂ１に吸引部６４ｃを到達させることでき、吸引部６４ｃは腕Ｂの開口側の部分Ｂ１を掴みかつ吸着することができる。そして、腕Ｂの開口側の部分Ｂ１を掴みかつ吸着した状態で、エアセル６５ｂを収縮させることで、掴みかつ吸着した部分（Ｂ１）を非開口側へ引いて行う引き揉みのマッサージが可能となる。
　なお、図２７に示す吸引部６４ｃ及びポンプ３４を備える構成については、図１６及び図２１に記載のマッサージユニット１０に適用してもよい。 In addition, when the state changes from the open state shown in FIG. 27 to the gripping and sucking state shown in FIG. 29, the suction part 64c can reach the opening B portion B1 of the arm B, and the suction part 64c is the opening B part B1 of the arm B. Can be grabbed and adsorbed. Then, by contracting the air cell 65b in a state where the portion B1 on the opening side of the arm B is grasped and adsorbed, it is possible to perform a massaging massage performed by pulling the grasped and adsorbed portion (B1) to the non-opening side. .
In addition, you may apply to the massage unit 10 of FIG.16 and FIG.21 about the structure provided with the suction part 64c and the pump 34 shown in FIG.
　以上より、このマッサージユニット１０は、腕Ｂの上下両側に設けられる第１リンク部材６１及び第３リンク部材６３を有しており、これらの間に形成される空間Ｓ１の一方側が腕Ｂの出し入れのために開口している。更に、このマッサージユニット１０は、第１リンク部材６１と共に設けられ腕Ｂを吸引可能とする吸引部６４ｃを備えている。そして、このマッサージユニット１０が備えているマッサージ機構部５０（リンク機構２０）は、第１リンク部材６１と第３リンク部材６３とを相対的に接近させる動作の他に、吸引部６４ｃと共に第１リンク部材６１を、空間Ｓ１の非開口側の方向へ移動させる動作を行うことができる。 As described above, the massage unit 10 has the first link member 61 and the third link member 63 provided on the upper and lower sides of the arm B, and one side of the space S1 formed between them is the arm B in and out. Is open for. Further, the massage unit 10 includes a suction portion 64 c that is provided together with the first link member 61 and that can suck the arm B. And the massage mechanism part 50 (link mechanism 20) with which this massage unit 10 is equipped is the 1st with the suction part 64c other than the operation | movement which makes the 1st link member 61 and the 3rd link member 63 approach relatively. The link member 61 can be moved in the direction toward the non-opening side of the space S1.
　このマッサージユニット１０によれば、第１リンク部材６１と第３リンク部材６３とを接近させることで、吸引部６４ｃを、空間Ｓ１に存在する腕Ｂの一部に接触させることができる。そして、吸引部６４ｃが腕Ｂの一部を吸着した状態で、第１リンク部材６１を非開口側の方向へ移動させると、第１リンク部材６１と第３リンク部材６３との間で掴みかつ吸着した腕Ｂを、非開口側へ動かすような動きが可能となる。これは、単純に腕Ｂを両側から挟んで行う揉みと比較して、マッサージの体感が向上するマッサージとなる。 According to the massage unit 10, the suction part 64c can be brought into contact with a part of the arm B existing in the space S1 by bringing the first link member 61 and the third link member 63 closer to each other. Then, when the first link member 61 is moved in the direction of the non-opening side with the suction part 64c adsorbing a part of the arm B, the first link member 61 and the third link member 63 are gripped and Movement that moves the adsorbed arm B to the non-opening side is possible. This is a massage in which the body sensation of the massage is improved as compared with a massage that is simply performed by sandwiching the arm B from both sides.
　なお、リンク機構２０は、腕Ｂの一部を吸着している吸引部６４ｃと共に第１リンク部材６１を、開口側及び非開口側の内の少なくとも一方側の方向へ移動させる動作を行えばよい。つまり、双方向へ交互に移動させてもよく、開口側の方向へ移動させてもよい。開口側へ移動させる場合、第１リンク部材６１と第３リンク部材６３との間で掴みかつ吸着した腕Ｂを開口側へ動かすような動きが可能となる。つまり、腕Ｂに対して押し揉みのマッサージ動作が可能となる。 In addition, the link mechanism 20 should just perform the operation | movement which moves the 1st link member 61 to the direction of at least one side of an opening side and a non-opening side with the suction part 64c which is adsorbing a part of arm B. . That is, it may be moved alternately in both directions, or may be moved in the direction of the opening. When moving to the opening side, it is possible to move the arm B gripped and adsorbed between the first link member 61 and the third link member 63 to the opening side. That is, it is possible to perform a massage operation by pressing against the arm B.
＜第９節＞
〔マッサージユニット１０（その５）〕
　図３０及び図３１は、別のマッサージユニット１０の説明図である。図３０及び図３１に示すマッサージユニット１０（その５）は、図５に示すマッサージユニット１０の変形例であり、このマッサージユニット１０（その５）を、第１章で説明したマッサージ装置１に設けることができる。なお、図３０及び図３１は、図５と同様、被施療者の右腕の前腕Ｂを肘側から指先側に向かう方向に沿って見た図である。図３２は、マッサージユニット１０（その５）を腕Ｂの横幅方向の外側から見た説明図である。なお、本節で説明するマッサージ装置１の各部の動作は、このマッサージ装置１の制御ユニット７（図１参照）からの制御信号に基づいて行われる。 <Section 9>
[Massage unit 10 (part 5)]
30 and 31 are explanatory diagrams of another massage unit 10. The massage unit 10 (No. 5) shown in FIGS. 30 and 31 is a modification of the massage unit 10 shown in FIG. 5. The massage unit 10 (No. 5) is provided in the massage device 1 described in Chapter 1. be able to. 30 and 31 are views of the forearm B of the right arm of the user as seen in the direction from the elbow side to the fingertip side, as in FIG. FIG. 32 is an explanatory view of the massage unit 10 (No. 5) viewed from the outside in the lateral width direction of the arm B. In addition, operation | movement of each part of the massage apparatus 1 demonstrated in this section is performed based on the control signal from the control unit 7 (refer FIG. 1) of this massage apparatus 1. FIG.
　マッサージユニット１０は、板状である第１部材１１、及び、板状である第２部材１２を有している。本実施形態では、第２部材１２は、マッサージ装置１の固定部（肘掛け部４：図１参照）に固定状態として設けられているのに対して、第１部材１１は、この第２部材１２に対して接近及び離反する方向に移動可能となっている。第１部材１１には、軸状の延在部７１が取り付けられている。 The massage unit 10 has a plate-like first member 11 and a plate-like second member 12. In the present embodiment, the second member 12 is provided in a fixed state on the fixing portion (armrest portion 4: see FIG. 1) of the massage device 1, whereas the first member 11 is the second member 12. It is possible to move in the direction of approaching and moving away. A shaft-like extending portion 71 is attached to the first member 11.
　第１部材１１は、被施療者の腕Ｂの周囲の一部（外側の側部）に設けられており、腕Ｂの外側の側面部Ｂ１に対向する部材である。第２部材１２は、腕Ｂの周囲の他部（下部）に設けられており、腕Ｂの下面部Ｂ２に対向する部材である。そして、このマッサージユニット１０は、第１部材１１と第２部材１２との間に形成される空間Ｓ１の一方側（横幅方向の内側又は内上方側）が、腕Ｂの出し入れのために開口している構成を備えている。 The first member 11 is a member provided on a part (outer side part) around the arm B of the user and facing the outer side part B1 of the arm B. The second member 12 is provided at the other part (lower part) around the arm B and is a member facing the lower surface part B2 of the arm B. In the massage unit 10, one side of the space S1 formed between the first member 11 and the second member 12 (inner side or upper side in the lateral width direction) is opened for taking in and out of the arm B. It has the composition which is.
　マッサージユニット１０は、更に、第１部材１１と共に設けられているマッサージ部を有している。本実施形態の前記マッサージ部は、エアセル３１であり、このエアセル３１はエアが供給されて膨張し、腕Ｂの一部（外側の側面部）Ｂ１を押圧可能である。 The massage unit 10 further has a massage part provided together with the first member 11. The massage part of the present embodiment is an air cell 31, and the air cell 31 is inflated when supplied with air, and can press a part (outer side surface part) B1 of the arm B.
　また、このマッサージユニット１０は、更に、第１部材１１から延在する前記延在部７１の端部７１ａを支持する支持部７２と、第１部材１１を第２部材１２に対して接近及び離反させるための動作部７０とを有している。 The massage unit 10 further includes a support portion 72 that supports the end portion 71 a of the extending portion 71 that extends from the first member 11, and the first member 11 approaches and separates from the second member 12. And an operation unit 70 for the purpose.
　本実施形態の支持部７２は、延在部７１の端部７１ａを支持するガイドレール７２ａである。ガイドレール７２ａは、マッサージ装置１の固定部（肘掛け部４：図１参照）に固定状態として設けられている。このガイドレール７２ａは、一方向（横幅方向）を溝長手方向とする溝を有し、この溝に端部７１ａが挿入された状態にある。そして、このガイドレール７２ａは、延在部７１の端部７１ａを、溝長手方向の直線に沿って往復移動可能でかつこの直線に直交する方向に移動不能として支持している。 The support portion 72 of the present embodiment is a guide rail 72a that supports the end portion 71a of the extending portion 71. The guide rail 72a is provided in a fixed state on a fixed portion (armrest portion 4: see FIG. 1) of the massage device 1. The guide rail 72a has a groove whose one direction (horizontal width direction) is the groove longitudinal direction, and the end 71a is inserted in the groove. And this guide rail 72a is supporting the edge part 71a of the extension part 71 so that reciprocation is possible along the straight line of a groove | channel longitudinal direction, and immovable in the direction orthogonal to this straight line.
　動作部７０は、傾斜カム７３と、この傾斜カム７３を回転させる駆動部７５とを有している。駆動部７５は、モータ７５ａと、モータ７５ａによって回転する回転軸７５ｂとを有している。回転軸７５ｂは、横幅方向の軸線Ｐ１回りに回転可能である。
　本実施形態の傾斜カム７３は、第１傾斜カム７３ａと第２傾斜カム７３ｂとを有しており、前記駆動部７５によって、これら傾斜カム７３ａ，７３ｂは軸線Ｐ１回りに回転軸７５ｂと一体回転可能となっている。
　第１部材１１の延在部７１の途中部に孔が形成されており、この孔を回転軸７５ｂが貫通しており、この孔と回転軸７５ｂとの間には隙間が設けられている。そして、一対の傾斜カム７３ａ，７３ｂによって延在部７１は挟まれた状態にある。 The operation unit 70 includes an inclined cam 73 and a drive unit 75 that rotates the inclined cam 73. The drive unit 75 includes a motor 75a and a rotating shaft 75b that is rotated by the motor 75a. The rotation shaft 75b can rotate about the axis P1 in the horizontal width direction.
The tilt cam 73 of this embodiment has a first tilt cam 73a and a second tilt cam 73b, and the tilt cams 73a and 73b are rotated integrally with the rotary shaft 75b around the axis P1 by the drive unit 75. It is possible.
A hole is formed in the middle of the extending portion 71 of the first member 11, and the rotation shaft 75b passes through this hole, and a gap is provided between the hole and the rotation shaft 75b. The extending portion 71 is sandwiched between the pair of inclined cams 73a and 73b.
　第１傾斜カム７３ａは、軸線Ｐ１に対して傾斜する面７４ａを有しており、第２傾斜カム７３ｂは、軸線Ｐ１に対して傾斜する面７４ｂを有しており、これら傾斜する面７４ａ,７４ｂが延在部７１に当接するようにして、傾斜カム７３ａ，７３ｂは配設されている。傾斜する面７４ａ，７４ｂは平行である。 The first inclined cam 73a has a surface 74a inclined with respect to the axis P1, and the second inclined cam 73b has a surface 74b inclined with respect to the axis P1, and these inclined surfaces 74a, The inclined cams 73a and 73b are arranged so that 74b abuts on the extending portion 71. The inclined surfaces 74a and 74b are parallel.
　以上の構成を備えたマッサージユニット１０によれば、モータ７５ａによって傾斜カム７３ａ,７３ｂを回転させることで、第１部材１１が、回転軸７５ｂを支点として揺動し、これにより第２部材１２に対して接近及び離反する方向へ移動可能となる。なお、この際、ガイドレール７２ａは、この第１部材１１の前記移動を許容するようにして、延在部７１の端部７１ａを支持している。そして、傾斜カム７３ａ,７３ｂの回転を継続することで、第１部材１１は第２部材１２に対して接近及び離反を繰り返し行うことができる。これにより、第１部材１１は、前記空間Ｓ１を狭くする方向へ移動し、また、前記空間Ｓ１を広くする方向へ移動し、更にこの第１部材１１に設けられているエアセル３１が膨張することによって、腕Ｂに対してマッサージ動作を行うことができる。つまり、第１部材１１が第２部材１２との間で腕Ｂを挟むと共に、この挟む動作に併せて膨張するエアセル３１が腕Ｂを押すマッサージ動作が可能となる。 According to the massage unit 10 having the above configuration, the first member 11 swings around the rotation shaft 75b as a fulcrum by rotating the inclined cams 73a and 73b by the motor 75a. On the other hand, it can move in the direction of approaching and moving away. At this time, the guide rail 72 a supports the end portion 71 a of the extending portion 71 so as to allow the movement of the first member 11. The first member 11 can repeatedly approach and separate from the second member 12 by continuing the rotation of the inclined cams 73a and 73b. As a result, the first member 11 moves in the direction of narrowing the space S1, moves in the direction of widening the space S1, and the air cell 31 provided in the first member 11 expands. Thus, a massage operation can be performed on the arm B. In other words, the first member 11 can sandwich the arm B with the second member 12, and a massage operation can be performed in which the air cell 31 that expands in accordance with the sandwiching operation pushes the arm B.
　特に本実施形態では、第１部材１１は、傾斜カム７３ａ,７３ｂによって動作し、前記のような支持部７２によって支持されていることから、モータ７５ａによる傾斜カム７３ａ,７３ｂの回転によって、第１部材１１は、延在部７１の長手方向に沿った仮想線Ｌ１を中心として一方向（図３２の矢印Ｒ１方向）に回りながら第２部材１２に接近する動作を行うことができ（図３０から図３１の状態）、また、第１部材１１は、前記仮想線Ｌ１を中心として他方向（図３２の矢印Ｒ２方向）に回りながら第２部材１２から離れる動作を行うことができる（図３１から図３０の状態）。これにより、腕Ｂに与えるマッサージ感をより一層高めることができる。 In particular, in the present embodiment, the first member 11 is operated by the inclined cams 73a and 73b and is supported by the support portion 72 as described above. Therefore, the first member 11 is rotated by the rotation of the inclined cams 73a and 73b by the motor 75a. The member 11 can perform an operation of approaching the second member 12 while rotating in one direction (in the direction of arrow R1 in FIG. 32) around the virtual line L1 along the longitudinal direction of the extending portion 71 (from FIG. 30). In addition, the first member 11 can move away from the second member 12 while turning in the other direction (the direction of arrow R2 in FIG. 32) with the virtual line L1 as the center (from FIG. 31). The state of FIG. Thereby, the massage feeling given to the arm B can be further enhanced.
＜第１０節＞
〔前記マッサージユニット１０（その５）の変形例〕
　図３３～図３５は、図３０～図３２に示すマッサージユニット１０の変形例を示す説明図である。両マッサージユニット１０において異なる点は、支持部７２の構成である。その他は同じであり、ここでは同じ点については説明を省略する。 <Section 10>
[Modification of the massage unit 10 (part 5)]
FIGS. 33 to 35 are explanatory views showing modifications of the massage unit 10 shown in FIGS. A difference between the massage units 10 is the configuration of the support portion 72. Others are the same, and description of the same points is omitted here.
　図３３～図３５において、支持部７２は、球面継手構造を有して第１部材１１を支持している。つまり、支持部７２は、延在部７１の端部７１ａに設けられている第１球面座７２ｂと、固定状態にある第２球面座７２ｃと、これら球面座７２ｂ，７２ｃの間に介在しているシャフト７２ｄとを有している。第２球面座７２ｃは、マッサージ装置１の固定部（肘掛け部４：図１参照）に固定状態として設けられている。 33 to 35, the support portion 72 has a spherical joint structure and supports the first member 11. That is, the support portion 72 is interposed between the first spherical seat 72b provided at the end 71a of the extending portion 71, the second spherical seat 72c in a fixed state, and the spherical seats 72b and 72c. And a shaft 72d. The 2nd spherical seat 72c is provided in the fixed part (armrest part 4: refer to Drawing 1) of massage device 1 as a fixed state.
　シャフト７２ｄは、その両端に、球面座７２ｂ，７２ｃと摺接する球面部７２ｅ,７２ｆを有しており、シャフト７２ｄは、第１球面座７２ｂに保持されている第１球面部７２ｅの中心回りに３６０°変位可能であり、また、第２球面座７２ｃに保持されている第２球面部７２ｆの中心回りに３６０°変位可能となっている。 The shaft 72d has spherical portions 72e and 72f in sliding contact with the spherical seats 72b and 72c at both ends thereof, and the shaft 72d is around the center of the first spherical portion 72e held by the first spherical seat 72b. It can be displaced by 360 °, and can be displaced by 360 ° around the center of the second spherical portion 72f held by the second spherical seat 72c.
　以上の構成を備えたマッサージユニット１０によれば、モータ７５ａによって傾斜カム７３ａ,７３ｂを回転させることで、第１部材１１が、回転軸７５ｂを支点として揺動し、これにより第２部材１２に対して接近及び離反する方向へ移動可能となる。なお、この際、球面継手構造を有する支持部７２は、この第１部材１１の前記移動を許容するようにして、延在部７１の端部７１ａを支持している。そして、傾斜カム７３ａ,７３ｂの回転を継続することで、第１部材１１は第２部材１２に対して接近及び離反を繰り返し行うことができる。これにより、第１部材１１は、前記空間Ｓ１を狭くする方向へ移動し、また、前記空間Ｓ１を広くする方向へ移動し、この第１部材１１に設けられているエアセル３１が膨張することによって、腕Ｂに対してマッサージ動作を行うことができる。つまり、第１部材１１が第２部材１２との間で腕Ｂを挟むと共に、この挟む動作に併せて膨張するエアセル３１が腕Ｂを押すマッサージ動作が可能となる。 According to the massage unit 10 having the above configuration, the first member 11 swings around the rotation shaft 75b as a fulcrum by rotating the inclined cams 73a and 73b by the motor 75a. On the other hand, it can move in the direction of approaching and moving away. At this time, the support portion 72 having a spherical joint structure supports the end portion 71 a of the extending portion 71 so as to allow the movement of the first member 11. The first member 11 can repeatedly approach and separate from the second member 12 by continuing the rotation of the inclined cams 73a and 73b. Thereby, the 1st member 11 moves to the direction which narrows said space S1, and moves to the direction which widens said space S1, and the air cell 31 provided in this 1st member 11 expands. The massage operation can be performed on the arm B. In other words, the first member 11 can sandwich the arm B with the second member 12, and a massage operation can be performed in which the air cell 31 that expands in accordance with the sandwiching operation pushes the arm B.
　特に本実施形態では、第１部材１１は、傾斜カム７３ａ,７３ｂによって動作し、前記のような支持部７２によって支持されていることから、モータ７５ａによる傾斜カム７３ａ,７３ｂの回転によって、第１部材１１は、延在部７１の長手方向に沿った仮想線Ｌ１を中心として一方向（図３５の矢印Ｒ１方向）に回りながら第２部材１２に接近する動作を行うことができ（図３３から図３４の状態）、また、第１部材１１は、前記仮想線Ｌ１を中心として他方向（図３５の矢印Ｒ２方向）に回りながら第２部材１２から離れる動作を行うことができる（図３４から図３３の状態）。これにより、腕Ｂに与えるマッサージ感をより一層高めることができる。 In particular, in the present embodiment, the first member 11 is operated by the inclined cams 73a and 73b and is supported by the support portion 72 as described above. Therefore, the first member 11 is rotated by the rotation of the inclined cams 73a and 73b by the motor 75a. The member 11 can perform an operation of approaching the second member 12 while turning in one direction (in the direction of arrow R1 in FIG. 35) about the virtual line L1 along the longitudinal direction of the extending portion 71 (from FIG. 33). 34), and the first member 11 can move away from the second member 12 while turning in the other direction (arrow R2 direction in FIG. 35) around the virtual line L1 (from FIG. 34). FIG. 33). Thereby, the massage feeling given to the arm B can be further enhanced.
　また、前記マッサージユニット１０（その５：図３０～図３２）及びその変形例（図３３～図３５）の動作によれば、被施療者の腕Ｂを第１部材１１と第２部材１２との間で掴み揉みすることができる。しかも、第１部材１１と第２部材１２とは剛性を有する部材からなり、このような剛性を有する部材が接近することで腕Ｂに対して機械的に行われる掴み動作と、圧縮性を有する膨張状態のエアセル３１によりこの腕Ｂに対して行われる掴み動作との複合動作（ハイブリッド動作）が可能であり、この複合動作によって、被施療者の腕Ｂに対する掴み動作が行われる。しかも、第１部材１１は、前記仮想線Ｌ１を中心として回りながら掴み動作を行うことができ、腕Ｂを徐々に掴む動作となる。 Further, according to the operation of the massage unit 10 (No. 5: FIGS. 30 to 32) and its modified examples (FIGS. 33 to 35), the arm B of the user is attached to the first member 11 and the second member 12. You can grab and rub between them. Moreover, the first member 11 and the second member 12 are made of members having rigidity, and have a gripping operation that is mechanically performed on the arm B when the members having such rigidity approach and compressibility. A combined operation (hybrid operation) with the gripping operation performed on the arm B by the inflated air cell 31 is possible, and the gripping operation on the arm B of the user is performed by this combined operation. In addition, the first member 11 can perform a gripping operation while rotating around the virtual line L1, and thus gradually moves the arm B.
＜第１１節＞
〔マッサージユニット１０（その６）〕
　図３６～図３８は、別のマッサージユニット１０の説明図である。このマッサージユニット１０（その６）は、図５に示すマッサージユニット１０の変形例であり、このマッサージユニット１０（その６）を、第１章で説明したマッサージ装置１に設けることができる。なお、図３６～図３８は、図５と同様、被施療者の右腕の前腕Ｂを肘側から指先側に向かう方向に沿って見た説明図である。図３９は、マッサージユニット１０（その６）を腕Ｂの横幅方向の外側から見た説明図である。なお、本節で説明するマッサージ装置１の各部の動作は、このマッサージ装置１の制御ユニット７（図１参照）からの制御信号に基づいて行われる。 <Section 11>
[Massage unit 10 (6)]
36 to 38 are explanatory diagrams of another massage unit 10. The massage unit 10 (No. 6) is a modification of the massage unit 10 shown in FIG. 5, and the massage unit 10 (No. 6) can be provided in the massage device 1 described in Chapter 1. 36 to 38 are explanatory views of the forearm B of the right arm of the user as seen in the direction from the elbow side to the fingertip side, as in FIG. FIG. 39 is an explanatory view of the massage unit 10 (No. 6) viewed from the outside of the arm B in the lateral width direction. In addition, operation | movement of each part of the massage apparatus 1 demonstrated in this section is performed based on the control signal from the control unit 7 (refer FIG. 1) of this massage apparatus 1. FIG.
　マッサージユニット１０は、被施療者の腕Ｂの上下両側に設けられる第１機構部５１及び第２機構部５２を有している。第１機構部５１は、腕Ｂを一方側（上側）から覆う第１部材７６と、この第１部材７６に沿って移動可能であって第１エアセル３１が取り付けられている第１移動体７８とを有している。第１移動体７８は、第１部材７６に設けられている図外のガイドによって移動可能に支持されている。第２機構部５２は、腕Ｂを他方側（下側）から覆う第２部材７９と、この第２部材７９に沿って移動可能であって第２エアセル３２が取り付けられている第２移動体８１とを有している。第２移動体８１は、第２部材７９に設けられている図外のガイドによって移動可能に支持されている。 The massage unit 10 has a first mechanism 51 and a second mechanism 52 provided on both upper and lower sides of the arm B of the user. The first mechanism 51 includes a first member 76 that covers the arm B from one side (upper side), and a first moving body 78 that is movable along the first member 76 and to which the first air cell 31 is attached. And have. The first moving body 78 is movably supported by a guide (not shown) provided on the first member 76. The second mechanism portion 52 includes a second member 79 that covers the arm B from the other side (lower side), and a second moving body that is movable along the second member 79 and to which the second air cell 32 is attached. 81. The second moving body 81 is movably supported by a guide (not shown) provided on the second member 79.
　第１部材７６及び第２部材７９は、腕Ｂの横幅方向（図３６では左右方向）に所定の長さを有する上壁部材及び下壁部材からなり、これらは側部の壁部材７６ｂによって連結されており、全体として横幅方向の内側に開口した構成となっている。図３６～図３８において、左側が開口側となり、その反対側が非開口側となる。そして、第２部材７９が、マッサージ装置１（図１参照）の肘掛け部４に取り付けられている。このマッサージユニット１０では、第１機構部５１（第１部材７６）と第２機構部５２（第２部材７９）との間に形成される空間Ｓ１の一方側（内側）が腕Ｂの出し入れのために開口している。 The first member 76 and the second member 79 are composed of an upper wall member and a lower wall member having a predetermined length in the lateral width direction (left and right direction in FIG. 36) of the arm B, and these are connected by a side wall member 76b. As a whole, it is configured to open to the inside in the width direction. 36 to 38, the left side is the opening side, and the opposite side is the non-opening side. And the 2nd member 79 is attached to the armrest part 4 of the massage apparatus 1 (refer FIG. 1). In this massage unit 10, one side (inside) of the space S <b> 1 formed between the first mechanism portion 51 (first member 76) and the second mechanism portion 52 (second member 79) is the arm B being put in and out. Open for.
　更に、第１機構部５１は、第１部材７６及び側部の壁部材７６ｂに沿って設けられ回転駆動する環状の第１無端ベルト７７を有している。第１無端ベルト７７は、複数のローラ７７ｂによって支持されており、そして、モータ７７ａによって回転する。マッサージ装置１の制御ユニット７（図１参照）からの制御信号に基づいて、モータ７７ａは正逆回転可能である。 Furthermore, the first mechanism portion 51 includes an annular first endless belt 77 that is provided along the first member 76 and the side wall member 76b and is driven to rotate. The first endless belt 77 is supported by a plurality of rollers 77b and is rotated by a motor 77a. Based on a control signal from the control unit 7 (see FIG. 1) of the massage apparatus 1, the motor 77a can rotate forward and backward.
　前記第１移動体７８は、第１無端ベルト７７の一部に取り付けられており、第１無端ベルト７７の正逆回転により、第１移動体７８は第１部材７６に沿ってマッサージユニット１０の前記開口側の位置とその反対側（非開口側）の位置との間を往復移動する。第１移動体７８には第１エアセル３１が取り付けられていることから、第１エアセル３１は、マッサージユニット１０の前記開口側の位置とその反対側（非開口側）の位置との間を往復移動可能となる。 The first moving body 78 is attached to a part of the first endless belt 77, and the first moving body 78 moves along the first member 76 of the massage unit 10 by forward and reverse rotation of the first endless belt 77. It reciprocates between the position on the opening side and the position on the opposite side (non-opening side). Since the first air cell 31 is attached to the first moving body 78, the first air cell 31 reciprocates between the position on the opening side of the massage unit 10 and the position on the opposite side (non-opening side). It becomes movable.
　また、第２機構部５２は、第２部材７９に沿って設けられ回転駆動する環状の第２無端ベルト８０を有している。第２無端ベルト８０は、ローラ８０ｂによって支持されており、そして、モータ８０ａによって回転する。マッサージ装置１の制御ユニット７（図１参照）からの制御信号に基づいて、モータ８０ａは正逆回転可能である。
　前記第２移動体８１は、第２無端ベルト８０の一部に取り付けられており、第２無端ベルト８０の正逆回転により、第２移動体８１は第２部材７９に沿ってマッサージユニット１０の前記開口側の位置とその反対側（非開口側）の位置との間を往復移動する。第２移動体８１には第２エアセル３２が取り付けられていることから、第２エアセル３２は、マッサージユニット１０の前記開口側の位置とその反対側（非開口側）の位置との間を往復移動可能となる。 The second mechanism portion 52 has an annular second endless belt 80 that is provided along the second member 79 and is driven to rotate. The second endless belt 80 is supported by a roller 80b and is rotated by a motor 80a. Based on a control signal from the control unit 7 (see FIG. 1) of the massage apparatus 1, the motor 80a can rotate forward and backward.
The second moving body 81 is attached to a part of the second endless belt 80, and the second moving body 81 moves along the second member 79 of the massage unit 10 by forward and reverse rotation of the second endless belt 80. It reciprocates between the position on the opening side and the position on the opposite side (non-opening side). Since the second air cell 32 is attached to the second moving body 81, the second air cell 32 reciprocates between the position on the opening side of the massage unit 10 and the position on the opposite side (non-opening side). It becomes possible to move.
　そして、このマッサージユニット１０では、第１エアセル３１と第２エアセル３２とが膨張することにより、腕Ｂを挟んだ状態とすることができ、そして、この状態で、第１エアセル３１と第２エアセル３２とは相互の間隔を変化させて移動することができる。具体的に説明すると、第１エアセル３１と第２エアセル３２とが膨張して腕Ｂを挟んだ状態で、図３７に示すように、第１エアセル３１が開口側に位置し、そして、第２エアセル３２が非開口側に位置している状態から、第１エアセル３１が非開口側に移動し、そして、第２エアセル３２が開口側に移動し、図３８に示すように、第１エアセル３１が非開口側に位置し、第２エアセル３２が開口側に位置することができる。その後、第１エアセル３１と第２エアセル３２とが膨張して腕Ｂを挟んだ状態で、第１エアセル３１が開口側に移動し、そして、第２エアセル３２が非開口側に移動することで、図３７に示す状態に戻る。このように図３７に示す状態と図３８に示す状態とを交互に繰り返すことで、第１機構部５１と第２機構部５２との間でエアセル３１,３２により掴んだ腕Ｂを、開口側及びその反対側（非開口側）へ動かすような引き揉み（又は押し揉み）が可能となる。この結果、単純に腕Ｂを両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 In the massage unit 10, the first air cell 31 and the second air cell 32 are inflated, so that the arm B can be sandwiched. In this state, the first air cell 31 and the second air cell 32 can be moved by changing the mutual interval. More specifically, as shown in FIG. 37, the first air cell 31 and the second air cell 32 are inflated to sandwich the arm B, the first air cell 31 is positioned on the opening side, and the second air cell 31 From the state in which the air cell 32 is located on the non-opening side, the first air cell 31 moves to the non-opening side, and then the second air cell 32 moves to the opening side. As shown in FIG. Can be located on the non-opening side, and the second air cell 32 can be located on the opening side. Thereafter, in a state where the first air cell 31 and the second air cell 32 expand and sandwich the arm B, the first air cell 31 moves to the opening side, and the second air cell 32 moves to the non-opening side. Return to the state shown in FIG. Thus, by alternately repeating the state shown in FIG. 37 and the state shown in FIG. 38, the arm B gripped by the air cells 31 and 32 between the first mechanism portion 51 and the second mechanism portion 52 can be opened. Further, pulling (or pushing) that moves to the opposite side (non-opening side) becomes possible. As a result, the body sensation of the massage is improved as compared with the itch that is simply sandwiched between the arms B from both sides.
＜第１２節＞
〔前記マッサージユニット１０（その６）の変形例〕
　図４０～図４２は、図３６～図３８に示すマッサージユニット１０の変形例を示す説明図である。両マッサージユニット１０において異なる点は、第１移動体７８及び第２移動体８１を移動させるための機構である。その他は同じであり、ここでは同じ点については説明を省略する。 <Section 12>
[Modification of the massage unit 10 (part 6)]
40 to 42 are explanatory views showing modifications of the massage unit 10 shown in FIGS. 36 to 38. FIG. A difference between the massage units 10 is a mechanism for moving the first moving body 78 and the second moving body 81. Others are the same, and description of the same points is omitted here.
　図４０～図４２に示すマッサージユニット１０において、第１機構部５１側では、腕Ｂを一方側（上側）から覆う第１部材７６に第１ラック部７６ａが設けられており、第２機構部５２側では、腕Ｂを他方側（下側）から覆う第２部材７９に第２ラック部７９ａが設けられている。これらラック部７６ａ,７９ａは、腕Ｂの横幅方向に長く設けられている。 In the massage unit 10 shown in FIGS. 40 to 42, on the first mechanism portion 51 side, the first rack portion 76a is provided on the first member 76 that covers the arm B from one side (upper side), and the second mechanism portion is provided. On the 52nd side, a second rack 79a is provided on the second member 79 that covers the arm B from the other side (lower side). These rack portions 76a and 79a are long in the lateral width direction of the arm B.
　第１移動体７８には、第１エアセル３１が取り付けられており、また、この第１移動体７８には、第１ラック部７６ａに噛み合う第１ピニオン７８ａ、及びこの第１ピニオン７８ａを回転させる第１モータ７８ｂが搭載されている。第１モータ７８ｂの出力軸と、第１ピニオン７８ａとの間には無端ベルト７８ｃが介在し、動力伝達がなされる。また、第１移動体７８には、ガイドローラ７８ｄ及び連結部材７８ｅが設けられており、このガイドローラ７８ｄが第１部材７６を第１ピニオン７８ａとの間で挟むようにして構成されている。連結部材７８ｅは、ガイドローラ７８ｄと第１ピニオン７８ａとを連結している。 The first air cell 31 is attached to the first moving body 78, and the first pinion 78a meshing with the first rack portion 76a and the first pinion 78a are rotated by the first moving body 78. A first motor 78b is mounted. An endless belt 78c is interposed between the output shaft of the first motor 78b and the first pinion 78a to transmit power. The first moving body 78 is provided with a guide roller 78d and a connecting member 78e, and the guide roller 78d is configured to sandwich the first member 76 with the first pinion 78a. The connecting member 78e connects the guide roller 78d and the first pinion 78a.
　第２移動体８１には、第２エアセル３２が取り付けられており、また、この第２移動体８１には、第２ラック部７９ａに噛み合う第２ピニオン８１ａ、及びこの第２ピニオン８１ａを回転させる第２モータ８１ｂが搭載されている。第２モータ８１ｂの出力軸と、第２ピニオン８１ａとの間には無端ベルト８１ｃが介在し、動力伝達がなされる。また、第２移動体８１には、ガイドローラ８１ｄ及び連結部材８１ｅが設けられており、このガイドローラ８１ｄが第２部材７９を第２ピニオン８１ａとの間で挟むようにして構成されている。連結部材８１ｅは、ガイドローラ８１ｄと第２ピニオン８１ａとを連結している。 A second air cell 32 is attached to the second moving body 81, and the second moving body 81 rotates the second pinion 81a meshing with the second rack portion 79a and the second pinion 81a. A second motor 81b is mounted. An endless belt 81c is interposed between the output shaft of the second motor 81b and the second pinion 81a to transmit power. The second moving body 81 is provided with a guide roller 81d and a connecting member 81e, and the guide roller 81d is configured to sandwich the second member 79 with the second pinion 81a. The connecting member 81e connects the guide roller 81d and the second pinion 81a.
　このマッサージユニット１０の場合、第１モータ７８ｂにより第１ピニオン７８ａを回転させることで、第１移動体７８は第１ラック部７６ａに沿って移動可能となり、また、第２モータ８１ｂにより第２ピニオン８１ａを回転させることで、第２移動体８１は第２ラック部７９ａに沿って移動可能となる。 In the case of the massage unit 10, the first moving body 78 can move along the first rack portion 76a by rotating the first pinion 78a by the first motor 78b, and the second pinion is driven by the second motor 81b. By rotating 81a, the second moving body 81 can move along the second rack portion 79a.
　そして、前記マッサージユニット１０（その６）と同様に、第１エアセル３１と第２エアセル３２とが膨張して腕Ｂを挟んだ状態で、第１エアセル３１と第２エアセル３２とは相互の間隔を変化させて移動することができる（図４１及び図４２参照）。つまり、図４１に示す状態と、図４２に示す状態とを交互に繰り返すことで、第１機構部５１と第２機構部５２との間でエアセル３１,３２により掴んだ腕Ｂを、開口側及びその反対側（非開口側）へ動かすような引き揉み（又は押し揉み）が可能となる。この結果、単純に腕Ｂを両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 And like the said massage unit 10 (the 6), in the state which the 1st air cell 31 and the 2nd air cell 32 expand | swelled and pinched the arm B, the 1st air cell 31 and the 2nd air cell 32 are mutual space | intervals. Can be moved (see FIGS. 41 and 42). That is, by alternately repeating the state shown in FIG. 41 and the state shown in FIG. 42, the arm B gripped by the air cells 31 and 32 between the first mechanism portion 51 and the second mechanism portion 52 can be opened. Further, pulling (or pushing) that moves to the opposite side (non-opening side) becomes possible. As a result, the body sensation of the massage is improved as compared with the itch that is simply sandwiched between the arms B from both sides.
＜第１３節＞
〔前記マッサージユニット１０（その６）の更に別の変形例〕
　図４３～図４５は、図３６～図３８に示すマッサージユニット１０の変形例を示す図である。両マッサージユニット１０において異なる点は、第１移動体７８及び第２移動体８１を移動させるための機構である。その他は同じであり、ここでは同じ点については説明を省略する。 <Section 13>
[Still another modification of the massage unit 10 (part 6)]
FIGS. 43 to 45 are views showing modifications of the massage unit 10 shown in FIGS. A difference between the massage units 10 is a mechanism for moving the first moving body 78 and the second moving body 81. Others are the same, and description of the same points is omitted here.
　図４３～図４５に示すマッサージユニット１０において、第１機構部５１は、第１部材７６、第１移動体７８、第１クランク８３ａ、第１ワイヤ８４ａ、及び第１バネ８２ａを有している。前記マッサージユニット１０（その６）と同様に、第１部材７６は、腕Ｂを一方側（上側）から覆う壁部材であり、また、第１移動体７８は、第１エアセル３１が取り付けられていると共に、第１部材７６に沿って移動可能となっている。第１移動体７８は、第１部材７６に設けられている図外のガイドによって移動可能に支持されている。 In the massage unit 10 shown in FIGS. 43 to 45, the first mechanism 51 includes a first member 76, a first moving body 78, a first crank 83a, a first wire 84a, and a first spring 82a. . Similar to the massage unit 10 (No. 6), the first member 76 is a wall member that covers the arm B from one side (upper side), and the first moving body 78 has the first air cell 31 attached thereto. And is movable along the first member 76. The first moving body 78 is movably supported by a guide (not shown) provided on the first member 76.
　第１クランク８３ａは、側部の壁部材７６ｂ側に設けられており、マッサージ装置１の制御ユニット７（図１参照）からの制御信号に基づいて、図外のモータによって正逆回転する。
　第１ワイヤ８４ａは、第１クランク８３ａと第１移動体７８とを連結しており、また、その途中は、複数のローラ８４ｃによって支持されている。第１クランク８３ａの回転方向の位相に応じて、第１ワイヤ８４ａは、第１移動体７８を非開口側へ引っ張ることができる（図４４参照）。
　第１バネ８２ａは、第１部材７６の開口側の一部と第１移動体７８との間に取り付けられており、第１ワイヤ８４ａが第１移動体７８を引っ張る力に抗する弾性力を第１移動体７８に付与することができる。このため、第１クランク８３ａの回転方向の位相に応じて、第１バネ８２ａは、第１移動体７８を開口側へ引っ張ることができる（図４５参照）。 The first crank 83a is provided on the side wall member 76b side, and is rotated forward and backward by a motor (not shown) based on a control signal from the control unit 7 (see FIG. 1) of the massage apparatus 1.
The first wire 84a connects the first crank 83a and the first moving body 78, and the middle thereof is supported by a plurality of rollers 84c. Depending on the phase in the rotational direction of the first crank 83a, the first wire 84a can pull the first moving body 78 to the non-opening side (see FIG. 44).
The first spring 82 a is attached between a part of the opening side of the first member 76 and the first moving body 78, and has an elastic force that resists the force with which the first wire 84 a pulls the first moving body 78. It can be given to the first moving body 78. For this reason, according to the phase of the rotation direction of the first crank 83a, the first spring 82a can pull the first moving body 78 to the opening side (see FIG. 45).
　第２機構部５２は、第２部材７９、第２移動体８１、第２クランク８３ｂ、第２ワイヤ８４ｂ、及び第２バネ８２ｂを有している。前記マッサージユニット１０（その６）と同様に、第２部材７９は、腕Ｂを他方側（下側）から覆う壁部材であり、また、第２移動体８１は、第２エアセル３２が取り付けられていると共に、第２部材７９に沿って移動可能となっている。第２移動体８１は、第２部材７９に設けられている図外のガイドによって移動可能に支持されている。 The second mechanism portion 52 includes a second member 79, a second moving body 81, a second crank 83b, a second wire 84b, and a second spring 82b. Similar to the massage unit 10 (No. 6), the second member 79 is a wall member that covers the arm B from the other side (lower side), and the second moving body 81 has the second air cell 32 attached thereto. And is movable along the second member 79. The second moving body 81 is movably supported by a guide (not shown) provided on the second member 79.
　第２クランク８３ｂは、側部の壁部材７６ｂ側に設けられており、マッサージ装置１の制御ユニット７（図１参照）からの制御信号に基づいて、図外のモータによって正逆回転する。
　第２ワイヤ８４ｂは、第２クランク８３ｂと第２移動体８１とを連結している。第２クランク８３ｂの回転方向の位相に応じて、第２ワイヤ８４ｂは、第２移動体８１を非開口側へ引っ張ることができる（図４５参照）。
　第２バネ８２ｂは、第２部材７９の開口側の一部と第２移動体８１との間に取り付けられており、第２ワイヤ８４ｂが第２移動体８１を引っ張る力に抗する弾性力を第２移動体８１に付与することができる。このため、第２クランク８３ｂの回転方向の位相に応じて、第２バネ８２ｂは、第２移動体８１を開口側へ引っ張ることができる（図４４参照）。 The second crank 83b is provided on the side of the side wall member 76b, and rotates forward and backward by a motor (not shown) based on a control signal from the control unit 7 (see FIG. 1) of the massage apparatus 1.
The second wire 84 b connects the second crank 83 b and the second moving body 81. The second wire 84b can pull the second moving body 81 toward the non-opening side according to the phase in the rotation direction of the second crank 83b (see FIG. 45).
The second spring 82 b is attached between a part of the opening side of the second member 79 and the second moving body 81, and has an elastic force that resists the force with which the second wire 84 b pulls the second moving body 81. It can be given to the second moving body 81. For this reason, according to the phase of the rotation direction of the second crank 83b, the second spring 82b can pull the second moving body 81 toward the opening side (see FIG. 44).
　以上の構成を備えているマッサージユニット１０によれば、図４５に示す状態から図４４に示す状態のように、第１機構部５１において、第１クランク８３ａの回転方向の位相に応じて第１ワイヤ８４ａが第１移動体７８を引っ張ると（図４４）、第１バネ８２ａに抗して、第１移動体７８は非開口側に移動する。そして、このような図４５に示す状態から図４４に示す状態のように、第１移動体７８の移動タイミングに併せて、第２機構部５２において、第２クランク８３ｂの回転方向の位相に応じて第２ワイヤ８４ｂによる第２移動体８１の引っ張りが解除されると、第２バネ８２ｂの復元力により第２移動体８１は開口側に移動する。
　図４４の状態から、第１クランク８３ａが１８０°回転すると、その回転方向の位相に応じて第１ワイヤ８４ａによる第１移動体７８の引っ張りが解除され（図４５）、第１バネ８２ａの復元力により第１移動体７８は開口側に移動する。この第１移動体７８の移動タイミングに併せて、第２クランク８３ｂが１８０°回転すると、その回転方向の位相に応じて第２ワイヤ８４ｂが第２移動体８１を引っ張り、第２バネ８２ｂに抗して、第２移動体８１は非開口側に移動する（図４５）。 According to the massage unit 10 having the above configuration, as shown in FIG. 45 to the state shown in FIG. 45, the first mechanism unit 51 has the first in accordance with the phase in the rotational direction of the first crank 83a. When the wire 84a pulls the first moving body 78 (FIG. 44), the first moving body 78 moves to the non-opening side against the first spring 82a. Then, as in the state shown in FIG. 44 from the state shown in FIG. 45, the second mechanism unit 52 responds to the phase in the rotational direction of the second crank 83b in accordance with the movement timing of the first moving body 78. When the pulling of the second moving body 81 by the second wire 84b is released, the second moving body 81 moves to the opening side by the restoring force of the second spring 82b.
When the first crank 83a rotates 180 ° from the state of FIG. 44, the first moving body 78 is released from the tension by the first wire 84a according to the phase in the rotational direction (FIG. 45), and the first spring 82a is restored. The first moving body 78 moves to the opening side by force. When the second crank 83b rotates 180 ° in accordance with the movement timing of the first moving body 78, the second wire 84b pulls the second moving body 81 according to the phase in the rotation direction, and resists the second spring 82b. Then, the second moving body 81 moves to the non-opening side (FIG. 45).
　このように、前記マッサージユニット１０（その６）と同様に、第１エアセル３１と第２エアセル３２とが膨張して腕Ｂを挟んだ状態で、第１エアセル３１と第２エアセル３２とは相互の間隔を変化させて移動することができる（図４４及び図４５参照）。つまり、図４４に示す状態と、図４５に示す状態とを交互に繰り返すことで、第１機構部５１と第２機構部５２との間でエアセル３１,３２により掴んだ腕Ｂを、開口側及びその反対側（非開口側）へ動かすような引き揉み（又は押し揉み）が可能となる。この結果、単純に腕Ｂを両側から挟んで行う揉みと比較して、マッサージの体感が向上する。 Thus, like the said massage unit 10 (the 6), in the state which the 1st air cell 31 and the 2nd air cell 32 expand | swelled and pinched the arm B, the 1st air cell 31 and the 2nd air cell 32 mutually It is possible to move by changing the interval (see FIGS. 44 and 45). That is, by alternately repeating the state shown in FIG. 44 and the state shown in FIG. 45, the arm B gripped by the air cells 31 and 32 between the first mechanism portion 51 and the second mechanism portion 52 can be opened. Further, pulling (or pushing) that moves to the opposite side (non-opening side) becomes possible. As a result, the body sensation of the massage is improved as compared with the itch that is simply sandwiched between the arms B from both sides.
＜第１４節＞
〔マッサージユニット１０（その７）〕
　図４６及び図４７は、別のマッサージユニット１０の説明図である。このマッサージユニット１０（その７）は、図５に示すマッサージユニット１０の変形例であり、このマッサージユニット１０（その７）を、第１章で説明したマッサージ装置１に設けることができる。なお、図４６及び図４７は、図５と同様、被施療者の右腕の前腕Ｂを肘側から指先側に向かう方向に沿って見た図である。図４８は、マッサージユニット１０（その７）を腕Ｂの横幅方向の外側から見た図である。なお、本節で説明するマッサージ装置１の各部の動作は、このマッサージ装置１の制御ユニット７（図１参照）からの制御信号に基づいて行われる。 <Section 14>
[Massage unit 10 (7)]
46 and 47 are explanatory diagrams of another massage unit 10. The massage unit 10 (part 7) is a modification of the massage unit 10 shown in FIG. 5, and the massage unit 10 (part 7) can be provided in the massage apparatus 1 described in Chapter 1. 46 and 47 are views of the forearm B of the right arm of the user as seen in the direction from the elbow side to the fingertip side, as in FIG. FIG. 48 is a view of the massage unit 10 (No. 7) viewed from the outside in the lateral width direction of the arm B. In addition, operation | movement of each part of the massage apparatus 1 demonstrated in this section is performed based on the control signal from the control unit 7 (refer FIG. 1) of this massage apparatus 1. FIG.
　マッサージユニット１０は、枠体５９と、被施療者の腕Ｂの上側に設けられる第１部材１１と、この腕Ｂの下側に設けられる第２部材１２とを有している。枠体５９は、上枠５９ａ、下枠５９ｂ、及びこれら上枠５９ａと下枠５９ｂとを連結している横枠５９ｃを有しており、上枠５９ａ、下枠５９ｂ、及び横枠５９ｃそれぞれは板状の部材からなる。そして、下枠５９ｂが、マッサージ装置１（図１参照）の肘掛け部４に取り付けられている。第１部材１１は、（厚い）板状の部材であり、上枠５９ａ側において図外のガイドによって上下方向に移動可能として支持されている。第２部材１２は、（厚い）板状の部材であり、下枠５９ｂ側において図外のガイドによって上下方向に移動可能として支持されている。 The massage unit 10 has a frame 59, a first member 11 provided on the upper side of the arm B of the user, and a second member 12 provided on the lower side of the arm B. The frame body 59 includes an upper frame 59a, a lower frame 59b, and a horizontal frame 59c that connects the upper frame 59a and the lower frame 59b. The upper frame 59a, the lower frame 59b, and the horizontal frame 59c, respectively. Consists of a plate-like member. And the lower frame 59b is attached to the armrest part 4 of the massage apparatus 1 (refer FIG. 1). The first member 11 is a (thick) plate-like member, and is supported on the upper frame 59a side so as to be movable in the vertical direction by a guide (not shown). The second member 12 is a (thick) plate-like member, and is supported on the lower frame 59b side so as to be movable in the vertical direction by a guide (not shown).
　第１部材１１と第２部材１２との間には空間Ｓ１が形成されており、このマッサージユニット１０では、第１部材１１と第２部材１２とが離れた状態で、前記空間Ｓ１の一方側（横幅方向の内側）が腕Ｂの出し入れのために開口している。図４６及び図４７において、左側が開口側となり、その反対側が非開口側となる。また、第２部材１２は、腕Ｂの下方に設置されることから、腕Ｂを下から支持する構成となる。 A space S <b> 1 is formed between the first member 11 and the second member 12, and in this massage unit 10, one side of the space S <b> 1 with the first member 11 and the second member 12 being separated from each other. (Inner side in the width direction) is opened for taking in and out of the arm B. 46 and 47, the left side is the opening side, and the opposite side is the non-opening side. Moreover, since the 2nd member 12 is installed under the arm B, it becomes the structure which supports the arm B from the bottom.
　本実施形態のマッサージユニット１０は、更に、第１部材１１を上下方向に移動させる第１の駆動部５３と、第２部材１２を上下方向に移動させる第２の駆動部５４とを有している。 The massage unit 10 of the present embodiment further includes a first drive unit 53 that moves the first member 11 in the vertical direction and a second drive unit 54 that moves the second member 12 in the vertical direction. Yes.
　第１の駆動部５３は、上枠５９ａと第１部材１１との間に介在している第１駆動用エアセル５３ａ及び第１バネ５３ｂを有して構成されている。第１駆動用エアセル５３ａは、エアが供給されることで膨張し、上枠５９ａに対して第１部材１１を押し下げる。第１バネ５３ｂは、エアセル５３ａを挟んで両側に設けられている。第１バネ５３ｂは、引張バネであり、エアセル５３ａのエアが排気状態になると、第１部材１１を引き上げる機能を有している。 The first driving unit 53 includes a first driving air cell 53a and a first spring 53b interposed between the upper frame 59a and the first member 11. The first driving air cell 53a expands when air is supplied, and pushes down the first member 11 against the upper frame 59a. The first springs 53b are provided on both sides of the air cell 53a. The first spring 53b is a tension spring, and has a function of pulling up the first member 11 when the air in the air cell 53a is exhausted.
　第２の駆動部５４は、下枠５９ｂと第２部材１２との間に介在している第２駆動用エアセル５４ａ及び第２バネ５４ｂを有して構成されている。第２駆動用エアセル５４ａは、エアが供給されることで膨張し、下枠５９ｂに対して第２部材１２を押し上げる。第２バネ５４ｂは、エアセル５４ａを挟んで両側に設けられている。第２バネ５４ｂは、引張バネであり、エアセル５４ａのエアが排気状態になると、第２部材１２を引き下げる機能を有している。 The second driving unit 54 includes a second driving air cell 54a and a second spring 54b interposed between the lower frame 59b and the second member 12. The second driving air cell 54a expands when air is supplied, and pushes up the second member 12 against the lower frame 59b. The second springs 54b are provided on both sides of the air cell 54a. The second spring 54b is a tension spring and has a function of pulling down the second member 12 when the air in the air cell 54a is exhausted.
　本実施形態では、第１部材１１及び第２部材１２の双方が、駆動部５３，５４によって上下方向に移動する場合について説明したが、第１部材１１及び第２部材１２の内の少なくとも一方が、駆動部５３（５４）によって上下方向に移動する構成であればよい。例えば、第２部材１２は固定された部材であってもよい。 In this embodiment, although the case where both the 1st member 11 and the 2nd member 12 moved to the up-down direction by the drive parts 53 and 54 was demonstrated, at least one of the 1st member 11 and the 2nd member 12 is Any configuration that moves in the vertical direction by the drive unit 53 (54) may be used. For example, the second member 12 may be a fixed member.
　第１部材１１は、一対のマッサージ用エアセル５５，５５を有している。これらエアセル５５，５５はエアが供給されることで膨張することができ、腕Ｂの一部（上部）を押すことができる。第１部材１１側では、腕Ｂの一部（上部）の両側にエアセル５５，５５が設けられていることから、これらエアセル５５，５５が膨張することにより、腕Ｂの一部（上部）を両側から挟む動作を行うことができる。 The first member 11 has a pair of massage air cells 55 and 55. These air cells 55 and 55 can be expanded by supplying air, and can push a part (upper part) of the arm B. On the first member 11 side, since the air cells 55 and 55 are provided on both sides of a part (upper part) of the arm B, a part (upper part) of the arm B is formed by the expansion of the air cells 55 and 55. The operation of sandwiching from both sides can be performed.
　第２部材１２は、一対のマッサージ用エアセル５６，５６を有している。これらエアセル５６，５６はエアが供給されることで膨張することができ、腕Ｂの一部（下部）を押すことができる。第２部材１２側では、腕Ｂの一部（下部）の両側にエアセル５６，５６が設けられていることから、これらエアセル５６，５６が膨張することにより、腕Ｂの一部（下部）を両側から挟む動作を行うことができる。 The second member 12 has a pair of massage air cells 56 and 56. These air cells 56 and 56 can be expanded by supplying air, and can push a part (lower part) of the arm B. On the second member 12 side, air cells 56 and 56 are provided on both sides of a part (lower part) of the arm B. Therefore, when these air cells 56 and 56 expand, a part (lower part) of the arm B is The operation of sandwiching from both sides can be performed.
　第１の駆動部５３が有する第１駆動用エアセル５３ａ、及び第２の駆動部５４が有する第２駆動用エアセル５４ａに対してエアが給気されると、第１部材１１と第２部材１２とは接近動作し、エアが排気状態になると、バネ５３ｂ,５４ｂの弾性力により、第１部材１１と第２部材１２とは離反動作する。
　そして、第１部材１１と第２部材１２とが接近した状態であって、上側のマッサージ用エアセル５５，５５が膨張して腕Ｂの一部（上部）を挟んでいる状態で、第１駆動用エアセル５３ａのエアが給気状態から排気可能状態となると、第１バネ５３ｂの力（復元力）により、第１部材１１はエアセル５５，５５と共に上昇する（図４７参照）。これに併せて、下側のマッサージ用エアセル５６，５６が膨張して腕Ｂの一部（下部）を挟んでいる状態で、第２駆動用エアセル５４ａのエアが給気状態から排気可能状態となると、第２バネ５４ｂの力（復元力）により、第２部材１２はエアセル５６，５６と共に降下する（図４７参照）。 When air is supplied to the first driving air cell 53a of the first driving unit 53 and the second driving air cell 54a of the second driving unit 54, the first member 11 and the second member 12 are supplied. When the air is exhausted, the first member 11 and the second member 12 are separated from each other by the elastic force of the springs 53b and 54b.
In the state where the first member 11 and the second member 12 are close to each other and the upper massage air cells 55 and 55 are inflated to sandwich a part (upper part) of the arm B, the first drive is performed. When the air in the air cell 53a changes from the supply state to the exhaustable state, the first member 11 rises together with the air cells 55 and 55 by the force (restoring force) of the first spring 53b (see FIG. 47). At the same time, in a state where the lower massage air cells 56, 56 are inflated and sandwich a part (lower part) of the arm B, the air in the second driving air cell 54a is in an exhaustable state from the supply state. Then, the second member 12 moves down together with the air cells 56 and 56 by the force (restoring force) of the second spring 54b (see FIG. 47).
　以上のように、このマッサージユニット１０によれば、第２部材１２により下から支持する腕Ｂを、一対のマッサージ用のエアセル５５，５５（及び５６，５６）によって両側から挟んだ状態で、第１部材１１と第２部材１２とを相対的に上下方向に沿って離反させることができる。これにより、腕Ｂに対して引き揉みが可能となり、マッサージの体感が向上する。 As described above, according to the massage unit 10, the arm B supported from below by the second member 12 is sandwiched between the pair of massage air cells 55 and 55 (and 56 and 56) from both sides. The first member 11 and the second member 12 can be relatively separated along the vertical direction. As a result, the arm B can be squeezed and the massage experience is improved.
　また、この後、第１駆動用エアセル５３ａ及び第２駆動用エアセル５４ａを、排気状態から給気状態とすると、第１部材１１と第２部材１２とは接近し、更に、一対のマッサージ用のエアセル５５，５５（及び５６，５６）によって腕Ｂを両側から挟んだ状態で、第１駆動用エアセル５３ａ及び第２駆動用エアセル５４ａを、給気状態から排気可能状態とし、これを繰り返すことで、引き揉みのマッサージを繰り返し行うことができる。 After that, when the first driving air cell 53a and the second driving air cell 54a are changed from the exhaust state to the air supply state, the first member 11 and the second member 12 approach each other, and further, a pair of massage cells are used. With the arm B sandwiched between the air cells 55 and 55 (and 56 and 56) from both sides, the first driving air cell 53a and the second driving air cell 54a are made to be in an exhaustable state from the supply state, and this is repeated. The massage can be repeated.
　なお、このマッサージユニット１０は、腕Ｂを上下両側から挟み、上下方向に沿って引き揉みを行う場合について説明したが、図４６及び図４７に示すマッサージユニット１０を、例えば時計回り方向に９０°回転させた配置とし、第１部材１１と第２部材とが腕Ｂを横幅方向の両側から挟み、横幅方向に沿って引き揉みを行う構成としてもよい。
　なお、図４６及び図４７に示す実施形態のように腕Ｂを上下両側から挟むマッサージユニット１０の場合、第２部材１２のマッサージ用のエアセル５６，５６を省略してもよいが、腕Ｂを横幅方向の両側から挟むマッサージユニット１０の場合、腕Ｂを拘束するために、第１部材１１のマッサージ用のエアセル５５，５５、及び第２部材１２のマッサージ用のエアセル５６，５６の双方が必要である。 In addition, although this massage unit 10 demonstrated the case where the arm B was pinched | interposed from the upper and lower sides and dragged along an up-down direction, the massage unit 10 shown in FIG.46 and FIG.47 is 90 degrees clockwise, for example. The arrangement may be such that the first member 11 and the second member sandwich the arm B from both sides in the lateral width direction and perform the dragging along the lateral width direction.
In the case of the massage unit 10 that sandwiches the arm B from the upper and lower sides as in the embodiment shown in FIGS. 46 and 47, the massage air cells 56, 56 of the second member 12 may be omitted, but the arm B In the case of the massage unit 10 sandwiched from both sides in the width direction, in order to restrain the arm B, both the massage air cells 55 and 55 of the first member 11 and the massage air cells 56 and 56 of the second member 12 are necessary. It is.
　つまり、腕Ｂを例えば横幅方向の両側から挟むマッサージユニット１０を構成するためには、このマッサージユニット１０は、被施療者の腕Ｂに対して第１の方向（横幅方向）の一方側（外側）に設けられる第１部材１１、この腕Ｂに対して第１の方向（横幅方向）の他方側（内側）に設けられる第２部材１２、及び、これら第１部材１１及び第２部材１２の内の少なくとも一方を第１の方向（横幅方向）に移動させる駆動部５３（５４）を有している。そして、このマッサージユニット１０では、第１部材１１と第２部材１２とが離れた状態で、これら第１部材１１と第２部材１２との間において腕Ｂを、上方から出し入れ可能とすることができる。
　第１部材１１は、膨張することで腕Ｂを第２の方向（上下方向）の両側から挟む動作を行う一対の第１のエアセル５５，５５を有しており、また、第２部材１２は、膨張することで腕Ｂを第２の方向（上下方向）の両側から挟む動作を行う一対の第２のエアセル５６，５６を有している。
　そして、駆動部５３（５４）は、第１のエアセル５５，５５及び第２のエアセル５６，５６によって腕Ｂを挟んだ状態で、第１部材１１と第２部材１２とを相対的に第１の方向（左右方向）に沿って離反させる。 That is, in order to constitute the massage unit 10 that sandwiches the arm B from both sides in the lateral width direction, for example, the massage unit 10 has one side (outside side) in the first direction (lateral width direction) with respect to the arm B of the user. ) Provided on the other side (inner side) of the first direction (lateral width direction) with respect to the arm B, and the first member 11 and the second member 12. It has a drive part 53 (54) that moves at least one of them in the first direction (lateral width direction). In the massage unit 10, the arm B can be inserted and removed from above between the first member 11 and the second member 12 in a state where the first member 11 and the second member 12 are separated from each other. it can.
The first member 11 includes a pair of first air cells 55 and 55 that perform an operation of sandwiching the arm B from both sides in the second direction (vertical direction) by expanding, and the second member 12 includes , And a pair of second air cells 56 that perform an operation of sandwiching the arm B from both sides in the second direction (vertical direction) by expanding.
And the drive part 53 (54) is the state which clamped the 1st member 11 and the 2nd member 12 in the state which pinched | interposed the arm B by the 1st air cell 55,55 and the 2nd air cell 56,56. Are separated along the direction (left-right direction).
　この構成によれば、腕Ｂは、第１の方向の両側（つまり、第１部材１１側及び第２部材１２側）それぞれにおいて、第１のエアセル５５，５５及び第２のエアセル５６，５６により第２の方向（つまり、上下方向）の両側から挟まれた状態となり、この状態から、駆動部５３（５４）によって第１部材１１と第２部材１２とを第１の方向（横幅方向）に沿って離反させることで、腕Ｂに対して引き揉みが可能となり、マッサージ感が向上する。 According to this configuration, the arm B is formed by the first air cells 55 and 55 and the second air cells 56 and 56 on both sides in the first direction (that is, the first member 11 side and the second member 12 side), respectively. The state is sandwiched from both sides in the second direction (that is, the vertical direction). From this state, the first member 11 and the second member 12 are moved in the first direction (lateral width direction) by the drive unit 53 (54). By separating along, it becomes possible to bend the arm B and improve the feeling of massage.
＜第１５節＞
〔各種マッサージユニット１０を変位させるための機構〕
　前記の各節で説明した被施療者の身体部位（腕Ｂ）を掴み揉みするマッサージユニット１０を全体として変位させてもよく、そのための機構（以下、変位機構と呼ぶ）について説明する。なお、以下において説明する図４９～図６１では、マッサージユニット１０の構成を簡略化して記載している。なお、前記変位機構を備えているマッサージ装置１の場合、マッサージユニット１０が肘掛け部４等に完全に固定されている構成ではなく、マッサージユニット１０は肘掛け部４等に変位可能として支持されている構成となる。また、本節で説明するマッサージ装置１の各部の動作は、このマッサージ装置１の制御ユニット７（図１参照）からの制御信号に基づいて行われる。 <Section 15>
[Mechanism for displacing various massage units 10]
The massage unit 10 that grasps and massages the body part (arm B) of the user described in the above sections may be displaced as a whole, and a mechanism for that purpose (hereinafter referred to as a displacement mechanism) will be described. 49 to 61 described below, the configuration of the massage unit 10 is simplified. In the case of the massage device 1 including the displacement mechanism, the massage unit 10 is not fixed to the armrest portion 4 or the like, but the massage unit 10 is supported by the armrest portion 4 or the like as being displaceable. It becomes composition. Moreover, operation | movement of each part of the massage apparatus 1 demonstrated in this section is performed based on the control signal from the control unit 7 (refer FIG. 1) of this massage apparatus 1. FIG.
〔変位機構（その１）〕
　図４９は、被施療者の腕Ｂを掴み揉みするマッサージユニット１０の変位機構９９の概略構成図であり、腕Ｂの横幅方向の外側から見た場合の図である。図４９に示す変位機構９９は、マッサージユニット１０の内の腕Ｂの長手方向一方側（肘側）に設けられている第１アクチュエータ９１ａと、マッサージユニット１０の内の腕Ｂの長手方向他方側（指先側）に設けられている第２アクチュエータ９１ｂとを備えている。本実施形態のアクチュエータ９１ａ，９１ｂは、油圧シリンダーである。そこで、このマッサージ装置１は、アクチュエータ９１ａ，９１ｂを動作させる油圧ユニット９２を更に備えている。油圧ユニット９２は、アクチュエータ９１ａ，９１ｂそれぞれに作動油を供給することで、アクチュエータ９１ａ，９１ｂを伸長させることができ、また、作動油を油圧ユニット９２側に排出させることで、アクチュエータ９１ａ，９１ｂを短縮させる。 [Displacement mechanism (1)]
FIG. 49 is a schematic configuration diagram of the displacement mechanism 99 of the massage unit 10 that grasps and squeezes the arm B of the user, and is a view when viewed from the outside in the lateral width direction of the arm B. The displacement mechanism 99 shown in FIG. 49 includes a first actuator 91a provided on one side (elbow side) of the arm B in the massage unit 10 and the other side in the longitudinal direction of the arm B in the massage unit 10. And a second actuator 91b provided on the (fingertip side). The actuators 91a and 91b of this embodiment are hydraulic cylinders. Therefore, the massage apparatus 1 further includes a hydraulic unit 92 that operates the actuators 91a and 91b. The hydraulic unit 92 can extend the actuators 91a and 91b by supplying hydraulic oil to the actuators 91a and 91b, respectively, and can discharge the hydraulic oil to the hydraulic unit 92 side to cause the actuators 91a and 91b to move. Shorten.
　第１アクチュエータ９１ａのロッド９２ａの先端は、球面継手９３ａを介してマッサージユニット１０（外カバー１９等）の肘側の部分（１９ａ）と連結されている。球面継手９３ａは、ロッド９２ａの先端に設けられている球状部９３ａ－１と、マッサージユニット１０に取り付けられている球面座９３ａ－２とを備えている。第１アクチュエータ９１ａのシリンダー本体はマッサージ装置１のフレームに固定されている。
　そして、第１アクチュエータ９１ａは、伸縮動作することによって、マッサージユニット１０の一部（肘側の部分）１９ａを変位させることができる。図５０及び図５１に示すように、本実施形態では、水平の姿勢にあった腕Ｂに対して上下方向（腕Ｂの長手方向に交差する方向）に、マッサージユニット１０の一部（肘側の部分）１９ａを上下方向に変位させることができる。 The tip of the rod 92a of the first actuator 91a is connected to the elbow side portion (19a) of the massage unit 10 (outer cover 19 etc.) via a spherical joint 93a. The spherical joint 93 a includes a spherical portion 93 a-1 provided at the tip of the rod 92 a and a spherical seat 93 a-2 attached to the massage unit 10. The cylinder body of the first actuator 91 a is fixed to the frame of the massage device 1.
And the 1st actuator 91a can displace a part (elbow side part) 19a of the massage unit 10 by expanding and contracting. As shown in FIGS. 50 and 51, in the present embodiment, a part (elbow side) of the massage unit 10 in the vertical direction (direction intersecting the longitudinal direction of the arm B) with respect to the arm B in a horizontal posture. ) 19a can be displaced in the vertical direction.
　第２アクチュエータ９１ｂのロッド９２ｂの先端は、球面継手９３ｂを介してマッサージユニット１０（外カバー１９等）の指先側の部分（１９ｂ）と連結されている。球面継手９３ｂは、ロッド９２ｂの先端に設けられている球状部９３ｂ－１と、マッサージユニット１０に取り付けられている球面座９３ｂ－２とを備えている。第２アクチュエータ９１ｂのシリンダー本体はマッサージ装置１のフレームに固定されている。
　そして、第２アクチュエータ９１ｂは、伸縮動作することによって、マッサージユニット１０の一部（指先側の部分）１９ｂを変位させることができる。図５０及び図５１に示すように、本実施形態では、水平の姿勢にあった腕Ｂに対して上下方向（腕Ｂの長手方向に交差する方向）に、マッサージユニット１０の一部（指先側の部分）１９ｂを上下方向に変位させることができる。 The tip of the rod 92b of the second actuator 91b is connected to the fingertip side portion (19b) of the massage unit 10 (outer cover 19 etc.) via a spherical joint 93b. The spherical joint 93 b includes a spherical portion 93 b-1 provided at the tip of the rod 92 b and a spherical seat 93 b-2 attached to the massage unit 10. The cylinder body of the second actuator 91b is fixed to the frame of the massage device 1.
And the 2nd actuator 91b can displace a part (part on the fingertip side) 19b of the massage unit 10 by expanding and contracting. As shown in FIGS. 50 and 51, in the present embodiment, a part (fingertip side) of the massage unit 10 in the vertical direction (direction intersecting the longitudinal direction of the arm B) with respect to the arm B in a horizontal posture. ) 19b can be displaced in the vertical direction.
　この変位機構９９を備えているマッサージ装置１によれば、マッサージユニット１０を上下方向に変位させることができる。本実施形態では、図５０に示すように、第１アクチュエータ９１ａを伸長させ第２アクチュエータ９１ｂを収縮させることにより、腕Ｂをエアセル３１，３２によって挟んだ状態にあるマッサージユニット１０を、この腕Ｂの長手方向に直交する横幅方向の仮想線Ｌ２回りに変位（回転）させることができる。そして、これとは逆に、図５１に示すように、第２アクチュエータ９１ｂを伸長させ第１アクチュエータ９１ａを収縮させることにより、腕Ｂをエアセル３１，３２によって掴んだ状態にあるマッサージユニット１０を、仮想線Ｌ２回りに反対方向に変位（回転）させることができる。そして、この動作を交互に繰り返し行うことができ、腕Ｂを、掴んだ状態で、その腕Ｂの長手方向に直交する左右方向の仮想線Ｌ２回りに回すマッサージ動作が可能となる。 According to the massage device 1 provided with this displacement mechanism 99, the massage unit 10 can be displaced in the vertical direction. In the present embodiment, as shown in FIG. 50, by extending the first actuator 91a and contracting the second actuator 91b, the massage unit 10 in a state where the arm B is sandwiched between the air cells 31 and 32 is moved to the arm B. It can be displaced (rotated) around the imaginary line L2 in the lateral direction perpendicular to the longitudinal direction. And conversely, as shown in FIG. 51, by extending the second actuator 91b and contracting the first actuator 91a, the massage unit 10 in a state where the arm B is gripped by the air cells 31 and 32, It can be displaced (rotated) in the opposite direction around the virtual line L2. And this operation | movement can be repeated alternately and the massaging operation | movement which turns around the virtual line L2 of the left-right direction orthogonal to the longitudinal direction of the arm B in the state which hold | gripped the arm B is attained.
〔変位機構（その２）〕
　図５２は、被施療者の腕Ｂを掴み揉みするマッサージユニット１０の変位機構９９の概略構成図であり、腕Ｂの横幅方向の外側から見た場合の図である。図５２に示す変位機構９９は、マッサージユニット１０を腕Ｂの長手方向に交差（直交）する方向の直線（仮想線Ｌ２）に平行な仮想線（Ｌ３）回りに変位（回動）させるアクチュエータ機構９４を備えている。 [Displacement mechanism (2)]
FIG. 52 is a schematic configuration diagram of the displacement mechanism 99 of the massage unit 10 that grasps and squeezes the arm B of the user, and is a view when seen from the outside in the lateral width direction of the arm B. 52 is an actuator mechanism that displaces (rotates) the massage unit 10 around a virtual line (L3) parallel to a straight line (virtual line L2) in a direction intersecting (orthogonal) with the longitudinal direction of the arm B. 94.
　図５２に示す形態では、マッサージユニット１０の一部（外カバー１９）に、ラック部９４ａが形成されている。このラック部９４ａは、このラック部９４ａに噛み合う後述のピニオン９４ｂの回転中心線Ｌ３を中心とした円弧に沿って複数の歯が形成されて成るものである。なお、この回転中心線Ｌ３は、腕Ｂの長手方向に交差（直交）する方向の直線（仮想線Ｌ２）に平行な直線である。そして、アクチュエータ機構９４は、このラック部９４ａに噛み合うピニオン９４ｂと、このピニオン９４ｂを回転させるモータ９４ｃとを有している。マッサージ装置１の制御ユニット７（図１参照）からの制御信号に基づいて、モータ９４ｃは正逆回転可能である。 52, a rack portion 94a is formed on a part of the massage unit 10 (outer cover 19). The rack portion 94a is formed by forming a plurality of teeth along an arc centering on a rotation center line L3 of a pinion 94b to be described later that meshes with the rack portion 94a. The rotation center line L3 is a straight line parallel to a straight line (virtual line L2) in a direction intersecting (orthogonal) with the longitudinal direction of the arm B. The actuator mechanism 94 includes a pinion 94b that meshes with the rack portion 94a, and a motor 94c that rotates the pinion 94b. Based on a control signal from the control unit 7 (see FIG. 1) of the massage apparatus 1, the motor 94c can rotate forward and backward.
　ピニオン９４ｂは、マッサージ装置１のフレーム等に、横幅方向の回転中心線Ｌ３回りに回転可能として設置されている。そして、マッサージユニット１０は、この回転中心線Ｌ３を中心とする円弧に沿って移動可能として、図外のガイドによってマッサージ装置１のフレーム等に支持されている。 The pinion 94b is installed on the frame or the like of the massage device 1 so as to be rotatable around the rotation center line L3 in the width direction. And the massage unit 10 is supported by the flame | frame etc. of the massage apparatus 1 by the guide outside a figure so that it can move along the circular arc centering on this rotation center line L3.
　この変位機構９９を備えているマッサージ装置１によれば、モータ９４ｃによりピニオン９４ｂを一方向（図５２において矢印Ｒ１方向）に回転させることで、マッサージユニット１０を前記直線（Ｌ２）に平行な仮想線（前記回転中心線Ｌ３）回りに変位（回転）させることができる（図５３参照）。そして、この図５３に示す状態からピニオン９４ｂを他方向（図５３において矢印Ｒ２方向）に回転させることで、マッサージユニット１０を前記仮想線（前記回転中心線Ｌ３）回りに、反対方向に変位（回転）させることができる（図５４参照）。そして、この動作を交互に繰り返し行うことができる。
　これにより、マッサージユニット１０が腕Ｂを掴んだ状態で、この腕Ｂを前記直線（仮想線Ｌ２）回りに回す（捻る）マッサージ動作が可能となる。 According to the massage apparatus 1 provided with the displacement mechanism 99, the massage unit 10 is virtually connected to the straight line (L2) by rotating the pinion 94b in one direction (in the direction of arrow R1 in FIG. 52) by the motor 94c. It can be displaced (rotated) around a line (the rotation center line L3) (see FIG. 53). Then, by rotating the pinion 94b in the other direction (in the direction of arrow R2 in FIG. 53) from the state shown in FIG. 53, the massage unit 10 is displaced in the opposite direction around the virtual line (the rotation center line L3) ( (See FIG. 54). This operation can be repeated alternately.
Thereby, in a state where the massage unit 10 holds the arm B, a massage operation of turning (twisting) the arm B around the straight line (virtual line L2) becomes possible.
〔変位機構（その３）〕
　図５５及び図５６は、マッサージユニット１０の変位機構９９の概略構成図であり、被施療者の右腕の前腕Ｂを肘側から指先側に向かう方向に沿って見た図である。また、図５７は、マッサージユニット１０及び変位機構９９を腕Ｂの横幅方向の外側から見た場合の説明図である。 [Displacement mechanism (part 3)]
FIG.55 and FIG.56 is a schematic block diagram of the displacement mechanism 99 of the massage unit 10, and it is the figure which looked at the forearm B of a user's right arm along the direction which goes to a fingertip side from an elbow side. FIG. 57 is an explanatory diagram when the massage unit 10 and the displacement mechanism 99 are viewed from the outside in the lateral width direction of the arm B.
　本実施形態では、被施療者の腕Ｂを掴み揉みするマッサージユニット１０の一部（外カバー１９の開口側の下部）が、支持部９６によって支持されている。支持部９６は、球面継手を有する構成である。つまり、支持部９６は、マッサージ装置１のフレーム等に固定されている第１球面座９６ａと、マッサージユニット１０の開口側の一部（外カバー１９の開口側の下部）に設けられている第２球面座９６ｂと、これら球面座９６ａ，９６ｂの間に介在しているシャフト９６ｃとを有している。 In this embodiment, a part of the massage unit 10 (the lower part on the opening side of the outer cover 19) that holds and rubs the arm B of the user is supported by the support unit 96. The support part 96 has a configuration having a spherical joint. That is, the support portion 96 is provided on the first spherical seat 96a fixed to the frame or the like of the massage device 1 and a part on the opening side of the massage unit 10 (the lower portion on the opening side of the outer cover 19). Two spherical seats 96b, and a shaft 96c interposed between the spherical seats 96a and 96b.
　シャフト９６ｃは、その両端に、球面座９６ａ，９６ｂと摺接する球面部９６ｄ,９６ｅを有しており、シャフト９６ｃは、第１球面座９６ａに保持されている第１球面部９６ｄの中心回りに３６０°変位可能であり、また、第２球面座９６ｂに保持されている第２球面部９６ｅの中心回りに３６０°変位可能となっている。 The shaft 96c has spherical portions 96d and 96e in sliding contact with the spherical seats 96a and 96b at both ends, and the shaft 96c is around the center of the first spherical portion 96d held by the first spherical seat 96a. It can be displaced by 360 °, and can be displaced by 360 ° around the center of the second spherical portion 96e held by the second spherical seat 96b.
　そして、このマッサージ装置１では、変位機構９９として、腕Ｂを掴み揉みするマッサージユニット１０の他部（外カバー１９の非開口側の部分）と連結されているアクチュエータ機構９７を備えている。このアクチュエータ機構９７は、支持部９６側を支点としてマッサージユニット１０を、腕Ｂの長手方向に交差する上下方向に変位させることができる。
　この変位を実現させるために、アクチュエータ機構９７は、腕Ｂの長手方向に平行な回転中心線Ｌ６回りに回転する偏心カム９７ａと、この偏心カム９７ａとマッサージユニット１０の他部（外カバー１９の非開口側の部分）とを連結しているアーム９７ｂとを有している。偏心カム９７ａは、図外のモータによって回転する。 In the massage apparatus 1, the displacement mechanism 99 includes an actuator mechanism 97 that is connected to the other part of the massage unit 10 that grips and squeezes the arm B (the part on the non-opening side of the outer cover 19). The actuator mechanism 97 can displace the massage unit 10 in the vertical direction intersecting the longitudinal direction of the arm B with the support portion 96 side as a fulcrum.
In order to realize this displacement, the actuator mechanism 97 includes an eccentric cam 97a that rotates about a rotation center line L6 parallel to the longitudinal direction of the arm B, and the eccentric cam 97a and the other part of the massage unit 10 (the outer cover 19). And a non-opening side portion). The eccentric cam 97a is rotated by a motor (not shown).
　そして、本実施形態のアクチュエータ機構９７は、図５７に示すように、マッサージユニット１０の内の腕Ｂの長手方向に離れた二箇所それぞれの前記他部（外カバー１９の非開口側の部分）と連結されている。つまり、第１のアクチュエータ機構９７－１は、マッサージユニット１０の肘側の部分１９ａと連結されており、第２のアクチュエータ機構９７－２は、マッサージユニット１０の指先側の部分１９ｂと連結されている。 Then, as shown in FIG. 57, the actuator mechanism 97 of the present embodiment includes the other portions (portions on the non-opening side of the outer cover 19) at two locations apart in the longitudinal direction of the arm B in the massage unit 10. It is connected with. That is, the first actuator mechanism 97-1 is connected to the elbow side portion 19 a of the massage unit 10, and the second actuator mechanism 97-2 is connected to the fingertip side portion 19 b of the massage unit 10. Yes.
　そして、一方側である第１のアクチュエータ機構９７－１の偏心カム９７ａ－１と、他方側である第２のアクチュエータ機構９７－２の偏心カム９７ａ－２とは、これらカム９７ａ－１,９７ａ－２の回転方向の位相が一致して、共通する回転軸９８に取り付けられている。なお、この回転軸９８は、図外のモータによって前記回転中心線Ｌ６回りに回転する。 The eccentric cam 97a-1 of the first actuator mechanism 97-1 on one side and the eccentric cam 97a-2 of the second actuator mechanism 97-2 on the other side are the cams 97a-1, 97a. -2 are attached to a common rotary shaft 98 with the same phase in the rotational direction. The rotating shaft 98 is rotated around the rotation center line L6 by a motor (not shown).
　この構成によれば、回転軸９８が回転することで、一方側の偏心カム９７ａ－１と他方側の偏心カム９７ａ－２とは、同時に同じ位相で回転することができ、図５５及び図５６に示すように、マッサージユニット１０を、支持部９６側を支点として、上下方向に変位させることができる。この結果、このマッサージユニット１０で掴み揉みする腕Ｂの長手方向に平行な仮想線Ｌ４を回転中心として、このマッサージユニット１０を往復運動（往復回動）させることができる。 According to this configuration, the rotation shaft 98 rotates, so that the eccentric cam 97a-1 on one side and the eccentric cam 97a-2 on the other side can rotate at the same phase at the same time. As shown, the massage unit 10 can be displaced in the vertical direction with the support portion 96 side as a fulcrum. As a result, the massage unit 10 can be reciprocated (reciprocally rotated) around the virtual line L4 parallel to the longitudinal direction of the arm B that is gripped and squeezed by the massage unit 10.
〔変位機構（その４）〕
　なお、図５５～図５７に示す形態では、カム９７ａ－１,９７ａ－２の回転方向の位相が一致している場合について説明したが、回転方向の位相が相違していてもよい。図５８に示す形態では、一方側の偏心カム９７ａ－１と、他方側の偏心カム９７ａ－２とは、回転方向の位相が、１８０°相違している。なお、この場合、マッサージユニット１０（外カバー１９）の二箇所の部分１９ａ，１９ｂそれぞれと、アーム９７ｂ，９７ｂとは、球面継手により結合されている。
　この場合、偏心カム９７ａ－１,９７ａ－２を回転させることで、マッサージユニット１０を、支持部９６側を支点として上下方向に変位させることができると共に、その変位の位相を、マッサージユニット１０の二箇所（１９ａ，１９ｂ）それぞれにおいて相違させることができる（図５８及び図５９参照）。この結果、腕Ｂの長手方向に直交する仮想線Ｌ５回りに、マッサージユニット１０を往復運動（往復回動）させる成分も生じさせることができる。 [Displacement mechanism (part 4)]
55 to 57, the case where the cams 97a-1 and 97a-2 have the same phase in the rotation direction has been described. However, the phases in the rotation direction may be different. In the form shown in FIG. 58, the eccentric cam 97a-1 on one side and the eccentric cam 97a-2 on the other side have a phase difference of 180 ° in the rotational direction. In this case, the two portions 19a and 19b of the massage unit 10 (outer cover 19) and the arms 97b and 97b are coupled by a spherical joint.
In this case, by rotating the eccentric cams 97 a-1 and 97 a-2, the massage unit 10 can be displaced in the vertical direction with the support portion 96 side as a fulcrum, and the displacement phase of the massage unit 10 is changed. It can be made different in each of the two places (19a, 19b) (see FIGS. 58 and 59). As a result, a component that causes the massage unit 10 to reciprocate (reciprocally rotate) around the virtual line L5 orthogonal to the longitudinal direction of the arm B can also be generated.
〔変位機構（その５）〕
　また、図６０に示すように、偏心カム９７ａ－１,９７ａ－２は、偏心傾斜カムであってもよい。つまり、一方の偏心カム９７ａ－１は、この偏心カム９７ａ－１の回転中心線Ｌ６に対して傾斜する面９７ｃを有している。そして、この傾斜する面９７ｃがアーム９７ｂに当接可能として設けられている。なお、他方の偏心カム９７ａ－２も同様の構成である。これにより、偏心カム９７ａ－１（９７ａ－２）が回転すると、アーム９７ｂは、腕Ｂの長手方向の成分を有して揺動することができ（図６０及び図６１参照）、これにより、マッサージユニット１０を腕Ｂの長手方向の成分を有して揺動させる。 [Displacement mechanism (5)]
As shown in FIG. 60, the eccentric cams 97a-1 and 97a-2 may be eccentric inclined cams. That is, one eccentric cam 97a-1 has a surface 97c that is inclined with respect to the rotation center line L6 of the eccentric cam 97a-1. The inclined surface 97c is provided so as to be able to contact the arm 97b. The other eccentric cam 97a-2 has the same configuration. As a result, when the eccentric cam 97a-1 (97a-2) rotates, the arm 97b can swing with a component in the longitudinal direction of the arm B (see FIGS. 60 and 61). The massage unit 10 is swung with a component in the longitudinal direction of the arm B.
　このように偏心カム９７ａ－１,９７ａ－２が偏心傾斜カムである場合、マッサージユニット１０を、支持部９６側を支点として、上下方向に変位させることができると共に、このマッサージユニット１０を、腕Ｂの長手方向の成分を有して揺動させる。つまり、このマッサージユニット１０を、腕Ｂの前後に揺すりながら長手方向に直交する仮想線Ｌ５回りに往復運動（往復回動）させる成分も生じさせることができる。 When the eccentric cams 97a-1 and 97a-2 are eccentric inclined cams as described above, the massage unit 10 can be displaced in the vertical direction with the support portion 96 side as a fulcrum, and the massage unit 10 can be Swing with a component in the longitudinal direction of B. In other words, it is possible to generate a component that reciprocates (reciprocates) the massage unit 10 around the imaginary line L5 orthogonal to the longitudinal direction while shaking the arm B back and forth.
＜第１６節＞
〔マッサージユニット１０の配置について〕
　被施療者の腕や脚をマッサージするために、前記各形態のマッサージユニット１０を肘掛け部４やフットレスト５に設けた場合について説明したが、マッサージユニット１０は、他の身体部位を対象としてマッサージ動作するように構成してもよい。例えば、被施療者の上腕、肩、腰等を対象としてもよく、この場合、マッサージユニット１０を座部２や背もたれ部３等に設けてもよい。 <Section 16>
[About the arrangement of the massage unit 10]
Although the case where the massage unit 10 of each said form was provided in the armrest part 4 or the footrest 5 in order to massage a user's arm and leg was demonstrated, the massage unit 10 is massaging operation | movement targeting another body part. You may comprise. For example, the user's upper arm, shoulder, waist, and the like may be targeted. In this case, the massage unit 10 may be provided on the seat 2, the backrest 3, or the like.
＜第１７節＞
　この第２章で説明した各形態のマッサージユニット１０により、被施療者の身体部位（腕や脚等）を掴むことができる。そして、この第２章で説明した各マッサージユニット１０を搭載するマッサージ装置は、被施療者の身体部位を掴むのみならず、掴んだ部位を動かす動作を含むマッサージを行うことができる。例えば、第２章で説明した各形態の掴み機構３０を、次の第３章で説明する機構部１０３の一部の機能（例えば、第１施療部材１２１Ａや第２施療部材１２１Ｂを移動させる機能）により、身体部位（腕や脚等）に対して移動させればよい。なお、第２章で説明した各機構を、第３章の第１節、第２節、第３節、及び第４節で開示した機構の代わりに適用することができる。
　以上より、第２章の各構成（マッサージユニット１０）を用いて、第３章の第１節、第２節、第３節、及び第４節で説明したような身体部位を掴んで動かす掴み揉みのマッサージを実現することができる。 <Section 17>
The body part (arm, leg, etc.) of the user can be grasped by the massage unit 10 of each form described in the second chapter. And the massage apparatus carrying each massage unit 10 demonstrated in this Chapter 2 can perform the massage including the operation | movement which moves not only the body part of a user but the grasped part. For example, the gripping mechanism 30 of each form described in Chapter 2 is part of the function of the mechanism unit 103 described in the next Chapter 3 (for example, the function of moving the first treatment member 121A and the second treatment member 121B). ) To move relative to the body part (arms, legs, etc.). Each mechanism described in Chapter 2 can be applied in place of the mechanism disclosed in Sections 1, 2, 3, and 4 of Chapter 3.
As described above, using each configuration of the second chapter (massage unit 10), the gripping and moving the body part as described in the first section, the second section, the third section, and the fourth section of the third chapter. A massage of massage can be realized.
＜＜第３章＞＞
＜はじめに（掴み動作）＞
　第３章では、掴み揉みに他の動きが加わった動作（以下、「掴み動作」という）について説明する。
　以下、第１節～第４節において、掴み動作についての実施形態及びその詳細について説明する。
　なお、第３章で説明するマッサージユニット１０は、第１章で説明したマッサージ装置１に設けることができる。 << Chapter 3 >>
<Introduction (gripping operation)>
In Chapter 3, an operation in which another movement is added to the gripping (hereinafter referred to as “grabbing operation”) will be described.
In the following, in the first section to the fourth section, embodiments of the gripping operation and details thereof will be described.
The massage unit 10 described in Chapter 3 can be provided in the massage device 1 described in Chapter 1.
＜第１節：身体部位の筋繊維の方向を中心とした回転＞
〔本発明の実施形態の説明〕
　本節における実施形態を列記して説明する。本節での説明に付されている符号は、図１及び図６２～図８６において使用されている。
（２１）本発明のマッサージ装置（実施の一形態）１は、身体部位１００に対する掴み揉みを行う施療部１０１と、施療部１０１による掴み揉みが行われている状態で、掴み揉みが行われている身体部位１００の筋繊維の方向に沿った回転中心１０２回りに施療部１０１を回転させる機構部１０３と、を備えている。 <Section 1: Rotation around the direction of muscle fibers of the body part>
[Description of Embodiment of the Present Invention]
The embodiments in this section are listed and described. The reference numerals used in the description in this section are used in FIG. 1 and FIGS.
(21) The massage device (one embodiment) 1 of the present invention includes a treatment unit 101 that performs grasping and squeezing on the body part 100, and a state where gripping and squeezing is performed by the treatment unit 101. And a mechanism unit 103 that rotates the treatment unit 101 around the rotation center 102 along the direction of the muscle fibers of the body part 100 that is present.
　施療部１０１が、掴み揉みが行われている身体部位１００の筋線維の方向に沿った回転中心１０２回りに回転することで、掴み揉みに回転が加わったマッサージが得られ、単なる掴み揉みよりもマッサージ感が向上する。 The treatment unit 101 rotates around the rotation center 102 along the direction of the muscle fibers of the body part 100 where the grasping is performed, so that a massage in which the rotation is added to the grasping is obtained. A feeling of massage improves.
　身体部位１００の筋線維の方向に沿った方向は、例えば、腕の長手方向、脚の長手方向、肩（首から肩関節までの間の範囲、以下同様）の左右方向、及び首の長手方向を含む。腕、脚又は首に対する掴み揉みを行う施療部１０１の場合、例えば、腕、脚又は首の周方向回りに施療部１０１が回転する。肩に対する掴み揉みを行う施療部１０１の場合、施療部１０１は、例えば、肩付近を通る左右方向の回転中心回りに回転する。
　機構部１０３は、施療部１０１の全体を回転させる必要はなく、施療部１０１の少なくとも一部を回転させるもので足りる。施療部１０１が後述の対の押圧部材１０１ａ，１０１ｂを含む場合、機構部１０３は、対の押圧部材１０１ａ，１０１ｂの少なくとも一方を回転させる。 The direction along the direction of the muscle fiber of the body part 100 is, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the left-right direction of the shoulder (the range from the neck to the shoulder joint, and so on), and the longitudinal direction of the neck. including. In the case of the treatment unit 101 that grips and rubs the arm, leg, or neck, for example, the treatment unit 101 rotates around the circumferential direction of the arm, leg, or neck. In the case of the treatment unit 101 that performs grasping and squeezing on the shoulder, the treatment unit 101 rotates, for example, around a rotation center in the left-right direction passing near the shoulder.
The mechanism part 103 does not need to rotate the whole treatment part 101, and what rotates at least one part of the treatment part 101 is sufficient. When the treatment unit 101 includes a pair of pressing members 101a and 101b described later, the mechanism unit 103 rotates at least one of the pair of pressing members 101a and 101b.
　回転は、真円に沿った軌跡を描く運動である必要はなく、楕円その他の変形した円に沿った軌跡を描く運動であれば足りる。施療部１０１の運動軌跡が真円に沿った軌跡でない場合、回転中心は、施療部１０１の運動軌跡に近似する真円を想定したときに、その真円の中心付近に存在することを観念できるものであれば足りる。
　例えば、第２章第１節で説明したマッサージユニット１０における掴み機構３０の引き揉み動作（及び押し揉み動作）も、第３章における施療部１０１の回転と同視することができる。 The rotation does not need to be a motion that draws a trajectory along a perfect circle, but a motion that draws a trajectory along an ellipse or other deformed circle is sufficient. When the motion trajectory of the treatment unit 101 is not a trajectory along a perfect circle, it is possible to imagine that the center of rotation exists near the center of the perfect circle when assuming a perfect circle that approximates the motion trajectory of the treatment unit 101. Anything is enough.
For example, the pulling operation (and the pressing operation) of the gripping mechanism 30 in the massage unit 10 described in Chapter 2 Section 1 can be regarded as the rotation of the treatment unit 101 in Chapter 3.
（２２）前記施療部１０１は、身体部位１００に対する掴み揉みを行うための対の押圧部材１０１ａ，１０１ｂを含み、機構部１０３は、対の押圧部材１０１ａ，１０１ｂ同士の相対的位置関係が変化するように、対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方の押圧部材を、回転中心回りに回転させるよう構成されているのが好ましい。対の押圧部材の相対的位置関係が変化することで、相対位置関係を維持したままの回転とは異なるマッサージ感が得られる。 (22) The treatment unit 101 includes a pair of pressing members 101a and 101b for grasping and gripping the body part 100, and the mechanism unit 103 changes the relative positional relationship between the pair of pressing members 101a and 101b. Thus, it is preferable that at least one of the pair of pressing members 101a and 101b is configured to rotate around the rotation center. By changing the relative positional relationship between the pair of pressing members, a massage feeling different from the rotation while maintaining the relative positional relationship is obtained.
（２３）前記機構部１０３は、対の押圧部材１０１ａ，１０１ｂを互いに逆向きに回転させるよう構成されているのが好ましい。対の押圧部材１０１ａ，１０１ｂの逆向き回転により、対の押圧部材１０１ａ，１０１ｂの相対位置関係を変化させることができる。対の押圧部材１０１ａ，１０１ｂの一方だけを回転させることで相対位置関係を変化させてもよい。対の押圧部材１０１ａ，１０１ｂを同時に同じ方向に回転させるが、対の押圧部材１０１ａ，１０１ｂそれぞれの移動速度を異ならせることで相対位置関係を変化させても良い。 (23) The mechanism 103 is preferably configured to rotate the pair of pressing members 101a and 101b in opposite directions. The relative positional relationship between the pair of pressing members 101a and 101b can be changed by reverse rotation of the pair of pressing members 101a and 101b. The relative positional relationship may be changed by rotating only one of the pair of pressing members 101a and 101b. Although the pair of pressing members 101a and 101b are simultaneously rotated in the same direction, the relative positional relationship may be changed by changing the moving speeds of the pair of pressing members 101a and 101b.
（２４）施療部１０１は、上腕１００ａに対して掴み揉みを行うよう設けられた施療部材１２１を含み、機構部１０３は、施療部材１２１による上腕１００ａに対する掴み揉みが行われている状態で、上腕１００ａにおける筋繊維の方向に沿った回転中心回りに施療部材１２１を回転させるよう構成されているのが好ましい。上腕用の施療部材１２１の回転は、掴み揉みに回転が加わったマッサージを、上腕に対して施す。 (24) The treatment unit 101 includes a treatment member 121 provided so as to grasp and squeeze the upper arm 100a, and the mechanism unit 103 is in a state where the treatment member 121 is grasped and squeezed by the upper arm 100a. The treatment member 121 is preferably configured to rotate around the center of rotation along the direction of the muscle fibers in 100a. Rotation of the upper arm treatment member 121 applies to the upper arm a massage in which rotation is added to gripping.
（２５）マッサージ装置１は、背もたれ部３と、背もたれ部３の側部から前方に突出する側壁部３Ａと、を備え、機構部１０３は、上腕１００ａにおける筋繊維の方向に沿った回転中心回りに前記施療部材を回転させる上腕用機構部１０３ａを含み、上腕用機構部１０３ａは、上腕機構部１０３ａの少なくとも一部が、側壁部３Ａ内に設けられているのが好ましい。背もたれ部３に設けられた側壁部３Ａは、上腕機構部１０３ａの少なくとも一部を収容することができ、上腕機構部１０３ａの配置スペース確保に有利である。 (25) The massage device 1 includes a backrest part 3 and a side wall part 3A that protrudes forward from the side part of the backrest part 3, and the mechanism part 103 is around the center of rotation along the direction of muscle fibers in the upper arm 100a. It is preferable that the upper arm mechanism portion 103a includes at least a part of the upper arm mechanism portion 103a in the side wall portion 3A. The side wall portion 3A provided on the backrest portion 3 can accommodate at least a part of the upper arm mechanism portion 103a, which is advantageous for securing an arrangement space for the upper arm mechanism portion 103a.
（２６）施療部１０１は、上腕に対する掴み揉みを行う対の押圧部材１０１ａ，１０１ｂを含み、機構部１０３は、対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方が上腕１００ａの後側（背中側）１００ａ－１から前方に（上腕１００ａの前側１００－２に向けて）に移動するよう、対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方を、上腕１００ａにおける筋繊維の方向に沿った回転中心１０２回りに回転させるよう構成されているのが好ましい。この場合、上腕１００ａの後側１００ａ－１に配置された押圧部材１０１ａ（１０１ｂ）を前方に移動させることができる。 (26) The treatment unit 101 includes a pair of pressing members 101a and 101b that grip and squeeze the upper arm, and the mechanism unit 103 includes at least one of the pair of pressing members 101a and 101b on the rear side (back side) of the upper arm 100a. ) At least one of the pair of pressing members 101a and 101b is moved to the front from 100a-1 (toward the front side 100-2 of the upper arm 100a) with the center of rotation along the direction of the muscle fibers in the upper arm 100a. It is preferably configured to rotate about 102. In this case, the pressing member 101a (101b) disposed on the rear side 100a-1 of the upper arm 100a can be moved forward.
（２７）対の押圧部材１０１ａ，１０１ｂは、上腕１００ａを胴体１００ｂ側から押圧する第１押圧部材１０１ａと、第１押圧部材と対向する第２押圧部材１０１ｂと、を含み、機構部１０３は、対の押圧部材１０１ａ，１０１ｂを互いに逆向きに回転させるよう構成されているのが好ましい。 (27) The pair of pressing members 101a and 101b includes a first pressing member 101a that presses the upper arm 100a from the body 100b side, and a second pressing member 101b that faces the first pressing member. The pair of pressing members 101a and 101b are preferably configured to rotate in opposite directions.
（２８）施療部１０１は、上腕１００ａを押圧する第１押圧部材１０１ａと、第１押圧部材１０１ａと対向する第２押圧部材１０１ｂと、を含み、機構部１０３は、第１押圧部材１０１ａ及び第２押圧部材１０１ｂそれぞれを、上腕１００ａにおける筋繊維の方向に沿った回転中心１０２回りに回転させるよう構成され、第２押圧部材１０１ｂの回転移動可能範囲１０５ｂは、前記上腕１００ａの前側１００ａ－２及び上腕１００ａの前側１００ａ－２よりも外側１００ａ－３の範囲を含むと共に、前１押圧部材１０１ａの回転移動可能範囲１０５ａよりも大きいのが好ましい。この場合、第２押圧部材１０１ｂは、上腕１００ａの前側１００ａ－２及び外側１００ａ－３の付近において大きく移動することができる。 (28) The treatment unit 101 includes a first pressing member 101a that presses the upper arm 100a and a second pressing member 101b that faces the first pressing member 101a. The mechanism unit 103 includes the first pressing member 101a and the first pressing member 101a. Each of the two pressing members 101b is configured to rotate around the rotation center 102 along the direction of the muscle fibers in the upper arm 100a, and the rotationally movable range 105b of the second pressing member 101b is the front side 100a-2 of the upper arm 100a and It is preferable to include the range of the outer side 100a-3 from the front side 100a-2 of the upper arm 100a and to be larger than the rotationally movable range 105a of the front pressing member 101a. In this case, the second pressing member 101b can move greatly in the vicinity of the front side 100a-2 and the outer side 100a-3 of the upper arm 100a.
（２９）施療部１０１は、上腕１００ａを押圧する第１押圧部材１０１ａと、第１押圧部材１０１ａと対向する第２押圧部材１０１ｂと、を含み、機構部１０３は、第１押圧部材１０１ａ及び第２押圧部材１０１ｂそれぞれを、上腕１００ａにおける筋繊維の方向に沿った回転中心１０２回りに回転させるよう構成され、第１押圧部材１０１ａの回転移動可能範囲１０５ａは、上腕１００ａの後側１００ａ－１及び上腕１００ａの後側１００ａ－１よりも内側１００ａ－４を含むと共に、第２押圧部材１０１ｂの回転移動可能範囲１０５ｂよりも大きいのが好ましい。この場合、第１押圧部材１０１ａは、上腕１００ａの後側１００ａ－１及び内側１００ａ－４の付近において大きく移動することができる。 (29) The treatment unit 101 includes a first pressing member 101a that presses the upper arm 100a and a second pressing member 101b that faces the first pressing member 101a. The mechanism unit 103 includes the first pressing member 101a and the first pressing member 101a. Each of the two pressing members 101b is configured to rotate around the rotation center 102 along the direction of the muscle fibers in the upper arm 100a, and the rotationally movable range 105a of the first pressing member 101a includes the rear side 100a-1 of the upper arm 100a and It is preferable to include the inner side 100a-4 from the rear side 100a-1 of the upper arm 100a and to be larger than the rotationally movable range 105b of the second pressing member 101b. In this case, the first pressing member 101a can move greatly in the vicinity of the rear side 100a-1 and the inner side 100a-4 of the upper arm 100a.
（３０）施療部１０１は、身体部位１００に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによる掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂの少なくともいずれか一方を、回転中心１０２回りに回転させるよう構成されているのが好ましい。この場合、複数の施療部材１２１Ａ，１２１Ｂの少なくともいずれか一方によって身体部位を回転させることができる。 (30) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes the body part 100, and the mechanism unit 103 grasps the first treatment member 121A and the second treatment member 121B. It is preferable that at least one of the first treatment member 121 </ b> A and the second treatment member 121 </ b> B is rotated around the rotation center 102 in a state where the stagnation is performed. In this case, the body part can be rotated by at least one of the plurality of treatment members 121A and 121B.
（３１）施療部１０１は、身体部位１００に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによる掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを互いに逆向きに回転させるよう構成されているのが好ましい。この場合、身体部位１００ｃ、１００ｄを逆向きにねじることができる。 (31) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes the body part 100, and the mechanism unit 103 grasps by the first treatment member 121A and the second treatment member 121B. It is preferable that the first treatment member 121A and the second treatment member 121B are configured to rotate in directions opposite to each other in a state where the stagnation is performed. In this case, the body parts 100c and 100d can be twisted in the opposite direction.
（３２）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、機構部１０３は、第１施療部材１２１Ａによる掴み揉みが行われている状態で、筋繊維の方向に沿った第１回転中心１０２Ａ回りに第１施療部材１２１Ａを回転させるよう構成され、かつ、第２施療部材１２１Ｂによる掴み揉みが行われている状態で、筋繊維の方向に沿った第２回転中心１０２Ｂ回りに第２施療部材１２１Ｂを回転させるよう構成され、第１回転中心１０２Ａ及び前記第２回転中心１０２Ｂは、互いに位置が異なるのが好ましい。この場合、第１施療部材１２１Ａの回転と、第２施療部材１２１Ｂの回転とが異なる軌道となり、身体部位ごとに異なる回転感を与えることができる。 (32) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the mechanism unit 103 is in a state where the first treatment member 121A is gripped and squeezed. In the state where the first treatment member 121A is rotated around the first rotation center 102A along the direction of the muscle fiber and the second treatment member 121B is gripped and squeezed, the direction of the muscle fiber The second treatment member 121B is rotated around the second rotation center 102B along the first rotation center 102B, and the first rotation center 102A and the second rotation center 102B are preferably located at different positions. In this case, the rotation of the first treatment member 121A and the rotation of the second treatment member 121B become different trajectories, and a different rotation feeling can be given to each body part.
（３３）機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによる掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを互いに逆向きに回転させるよう構成されているのが好ましい。 (33) The mechanism unit 103 is configured to rotate the first treatment member 121A and the second treatment member 121B in directions opposite to each other in a state where the first treatment member 121A and the second treatment member 121B are gripped. It is preferable.
（３４）機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによる掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを同じ向きに回転させるよう構成されているのが好ましい。 (34) The mechanism portion 103 is configured to rotate the first treatment member 121A and the second treatment member 121B in the same direction in a state in which the first treatment member 121A and the second treatment member 121B are gripped. It is preferable.
（３５）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃを含み、第１施療部材１２Ａは、身体の第１範囲１００ａ，１００ｅに対して掴み揉みを行うよう設けられ、第２施療部材１２１Ｂは、前記第１範囲１００ａ，１００ｅとの間に少なくとも一つの関節を介して、前記第１範囲１００ａ，１００ｅとは異なる範囲である身体の第２範囲１００ｄ，１００ｆに対して掴み揉みを行うよう設けられ、第３施療部材１２１Ｃは、前記第２の範囲１００ｄ，１００ｆとの間に少なくとも一つの他の関節を介して、前記第１範囲１００ａ，１００ｅ及び前記第２範囲１００ｄ、１００ｆとは異なる範囲である身体の第３範囲１００ｃ、１００ｇに対して掴み揉みを行うよう設けられているのが好ましい。３つの施療部材１２１Ａ，１２１Ｂ，１２１Ｃによって、関節を介した異なる３つの範囲の掴み揉みを行うことができる。例えば、第１範囲は上腕１００ａ、第２範囲は前腕１００ｄ、第３範囲１００ｃは手（手首よりも先の範囲であって、手のひら及び指を含む範囲をいう、以下同様）である。第１範囲は肩、第２範囲は上腕、第３範囲は前腕であってもよい。第１範囲は肩、第２範囲は上腕、第３範囲は手であってもよい。第１範囲は、大腿１００ｅ、第２範囲は下腿１００ｆ、第３範囲は足１００ｇ（足首よりも先の範囲をいう、以下同様）であってもよい。第１範囲は臀部、第２範囲は大腿、第３範囲は下腿であってもよい。
　施療部１０１が含む施療部材は３以上であってもよい。 (35) The treatment unit 101 includes a first treatment member 121A, a second treatment member 121B, and a third treatment member 121C, each of which grips and squeezes a body part, and the first treatment member 12A is a first range of the body. The second treatment member 121B is different from the first ranges 100a and 100e through at least one joint between the first range 100a and 100e. The third treatment member 121C is provided via the at least one other joint between the second range 100d and 100f. Grabbing the third range 100c, 100g of the body, which is different from the first range 100a, 100e and the second range 100d, 100f Preferably provided to perform themselves. With the three treatment members 121A, 121B, and 121C, three different ranges of gripping can be performed via the joint. For example, the first range is the upper arm 100a, the second range is the forearm 100d, and the third range 100c is the hand (the range before the wrist and includes the palm and fingers, and so on). The first range may be a shoulder, the second range may be an upper arm, and the third range may be a forearm. The first range may be a shoulder, the second range may be an upper arm, and the third range may be a hand. The first range may be the thigh 100e, the second range may be the lower leg 100f, and the third range may be the foot 100g (refers to the range ahead of the ankle, and so on). The first range may be the buttocks, the second range may be the thigh, and the third range may be the lower leg.
Three or more treatment members may be included in the treatment unit 101.
（３６）機構部１０３は、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃのうちの二以上の施療部材による掴み揉みが行われている状態で、掴み揉みを行っている二以上の施療部材の少なくとも一つを、回転中心１０２回りに回転させるよう構成されているのが好ましい。二以上の施療部材それぞれの回転方向は、同じ方向であってもよいし、逆方向でもよい。 (36) The mechanism unit 103 performs the grasping and squeezing in a state where the squeezing is performed by two or more treatment members among the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. It is preferable that at least one of the two or more treatment members is configured to rotate around the rotation center 102. The rotation direction of each of the two or more treatment members may be the same direction or may be opposite directions.
（３７）施療部１０１は、手首又は足首に対する掴み揉みを行う第１部材１２１Ｂと、前記第１部材１２１Ｂよりも身体の先端側の部位に当接する第２部材１２１Ｃと、を含み、機構部１０３は、第１部材による手首又は足首に対する掴み揉みが行われている状態で、手首又は足首の筋繊維の方向に沿った回転中心まわりに第２部材１２１Ｃを回転させるのが好ましい。例えば、手首に対する掴み揉みが行うことで手首を固定した状態で、手を回すことができる。足首に対する掴み揉みを行うことで足首を固定した状態で、足を回すことができる。 (37) The treatment unit 101 includes a first member 121B that performs grasping and squeezing on the wrist or ankle, and a second member 121C that abuts on a portion closer to the distal end side of the body than the first member 121B. It is preferable to rotate the second member 121C around the center of rotation along the direction of the muscle fiber of the wrist or ankle in a state where the first member is gripped against the wrist or ankle. For example, the hand can be turned in a state where the wrist is fixed by gripping the wrist. It is possible to turn the foot while the ankle is fixed by gripping the ankle.
［本発明の実施形態の詳細］
　図６２は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、フットレスト５の第１保持部５ａに設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、下腿（脹脛）である。マッサージは、身体部位１００の掴み揉みを含む。下腿１００の筋繊維は、下腿１００の長手方向に向いている。 [Details of the embodiment of the present invention]
FIG. 62 shows an example of the massage unit 10. This massage unit 10 is provided in the 1st holding part 5a of footrest 5, for example, and massages body part 100 of a user. The body part 100 is, for example, the lower leg (scalpel). The massage includes grasping and massaging the body part 100. The muscle fibers of the lower leg 100 are oriented in the longitudinal direction of the lower leg 100.
　図６２の第１保持部５ａは、上方（Ｙ方向）に開口を有している。図６２の第１保持部５ａの上方開口は、図１の第１保持部５ａの前方開口に対応する。図６２のマッサージユニット１０は、肘掛け部４に設けられて、被施療者の前腕のマッサージ（掴み揉み）を行っても良い。図１に示すように肘掛け部４を側方開口状態で設ける場合、図６２の第１保持部５ａの上方開口は、図１の第１保持部５ａの側方開口に対応する。図６２の第１保持部５ａは、被施療者の部位に応じて、適切な位置及び向きで、マッサージ装置１０に設置できる。例えば、図６２のマッサージユニット１０は、フットレスト５の第２保持部５ｂに設けられて、足首又は足のマッサージ（掴み揉み）を行っても良い。図６２のマッサージユニット１０は、上腕、大腿、肩、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 62 has an opening upward (Y direction). The upper opening of the first holding part 5a in FIG. 62 corresponds to the front opening of the first holding part 5a in FIG. The massage unit 10 in FIG. 62 may be provided on the armrest 4 to perform massage (grasping) of the forearm of the user. When the armrest portion 4 is provided in a side opening state as shown in FIG. 1, the upper opening of the first holding portion 5a in FIG. 62 corresponds to the side opening of the first holding portion 5a in FIG. The first holding unit 5a in FIG. 62 can be installed in the massage device 10 at an appropriate position and orientation according to the part of the user. For example, the massage unit 10 of FIG. 62 may be provided in the second holding portion 5b of the footrest 5 to perform ankle or foot massage (grasping). The massage unit 10 of FIG. 62 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the upper arm, thigh, shoulder, and other body parts.
　図６２のマッサージユニット１０は、身体部位１００に対するマッサージを行う施療部１０１を備えている。施療部１０１は、掴み揉みを含むマッサージを身体部位１００に対して施す。施療部１０１は、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の身体部位１００を配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。エアセル１０１ａ，１０１ｂは、図示しない空気回路による給排気を受ける。エアセル１０１ａ，１０１ｂは給排気によって膨張収縮する。膨張した対のエアセル１０１ａ，１０１ｂは、身体部位を両側から押圧する（図６６参照）。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。 The massage unit 10 in FIG. 62 includes a treatment unit 101 that performs massage on the body part 100. The treatment unit 101 applies a massage including gripping to the body part 100. The treatment part 101 has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are arranged to face each other so as to have a space in which the body part 100 to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. The air cells 101a and 101b are supplied and exhausted by an air circuit (not shown). The air cells 101a and 101b expand and contract by supply and exhaust. The pair of inflated air cells 101a and 101b press the body part from both sides (see FIG. 66). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
　施療部１０１は、身体部位（例えば、下腿）１００における筋繊維の方向（例えば、下腿の長手方向）に交わる方向から身体部位１００に対する掴み揉みを行う。下腿１００の筋繊維の方向（下腿の長手方向）は、図６２において、Ｚ方向である。
　掴み揉みは、対の押圧部材１０１ａ，１０１ｂの間に身体部位１００を位置させた状態で、対の押圧部材１０１ａ，１０１ｂを互いに近接させることで行われる。このように、掴み揉みは、身体部位１００を挟み込むシンプルな動作で足りる。 The treatment unit 101 performs grasping and squeezing with respect to the body part 100 from the direction intersecting the direction of muscle fibers (for example, the longitudinal direction of the lower leg) in the body part (for example, lower leg) 100. The direction of the muscle fibers of the lower leg 100 (the longitudinal direction of the lower leg) is the Z direction in FIG.
The gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
　図６２のマッサージユニット１０は、施療部１０１を移動させる機構部１０３を更に備えている。機構部１０３は、対のエアセル１０１ａ，１０１ｂのうちの一方のエアセル（第１エアセル）１０１ａが取り付けられる第１支持部材１１３ａと、他方のエアセル（第２エアセル）１０１ｂが取り付けられる第２支持部材１１３ｂと、を備えている。第１支持部材１１３ａ及び第２支持部材１１３ｂは、円弧状に湾曲した板状部材によって構成されている。第１支持部材１１３ａ及び第２支持部材１１３ｂは、図示しないガイドによって、回転中心１０２を中心とした円弧に沿った軌跡上を移動可能に、第１保持部５ａに支持されている。第１支持部材１１３ａ及び第２支持部材１１３ｂは、それらの移動軌跡である円弧に沿って湾曲している。 The massage unit 10 in FIG. 62 further includes a mechanism unit 103 that moves the treatment unit 101. The mechanism 103 includes a first support member 113a to which one of the pair of air cells 101a and 101b (first air cell) 101a is attached and a second support member 113b to which the other air cell (second air cell) 101b is attached. And. The 1st support member 113a and the 2nd support member 113b are comprised by the plate-shaped member curved in circular arc shape. The first support member 113a and the second support member 113b are supported by the first holding unit 5a by a guide (not shown) so as to be movable on a locus along an arc centered on the rotation center 102. The first support member 113a and the second support member 113b are curved along an arc that is a movement locus thereof.
　第１エアセル１０１ａは、その端部が、固定具１１５ａによって第１支持部材１１３ａの正面側（図６２の上側）に取り付けられている。同様に、第２エアセル１０１ｂは、その端部が、固定部１１５ｂによって、第２支持部材１１３ｂの正面側に取り付けられている。 The end of the first air cell 101a is attached to the front side of the first support member 113a (upper side in FIG. 62) by a fixture 115a. Similarly, the end of the second air cell 101b is attached to the front side of the second support member 113b by a fixing portion 115b.
　図６３にも示すように、機構部１０３は、第１支持部材１１３ａの湾曲した背面（図６２の下側）に設けられた２つの第１ラック１１４ａと、第２支持部材１１３ｂの湾曲した背面に設けられた２つの第２ラック１１４ｂと、を更に備えている。２つの第１ラック１１４ａは、それらの長手方向が、第１支持部材１１３ａの長手方向（図６３のＸ方向）に沿って延びるように設けられている。複数の第１ラック１１４ａは、第１支持部材１１３ａの幅方向（図６３のＺ方向）に並んで設けられている。複数の第２ラック１１４ａは、それらの長手方向が、第２支持部材１１３ｂの長手方向に沿って延びるように設けられている。複数の第２ラック１１４ｂは、第２支持部材１１３ｂの幅方向に並んで設けられている。 As shown in FIG. 63, the mechanism unit 103 includes two first racks 114a provided on the curved back surface (the lower side of FIG. 62) of the first support member 113a and the curved back surface of the second support member 113b. And two second racks 114b provided on the rack. The two first racks 114a are provided such that their longitudinal directions extend along the longitudinal direction of the first support member 113a (the X direction in FIG. 63). The plurality of first racks 114a are provided side by side in the width direction (Z direction in FIG. 63) of the first support member 113a. The plurality of second racks 114a are provided such that their longitudinal directions extend along the longitudinal direction of the second support member 113b. The plurality of second racks 114b are provided side by side in the width direction of the second support member 113b.
　第１支持部材１１３ａは、第２支持部材１１３ｂに隣接する側の端部において、櫛歯構造を有する。第１支持部材１１３ａの櫛歯構造は、３つの凸部１１７ａ及び３つの凹部１１６ａを有する。第２支持部材１１３ｂは、第１支持部材１１３ａに隣接する側の端部において、第１支持部材１１３ａ櫛歯構造に嵌り合う櫛歯構造を有する。第２支持部材１１３ｂの櫛歯構造は、３つの凸部１１７ｂ及び３つの凹部１１６ｂを有する。 The first support member 113a has a comb structure at an end portion adjacent to the second support member 113b. The comb-tooth structure of the first support member 113a has three convex portions 117a and three concave portions 116a. The second support member 113b has a comb-tooth structure that fits into the first support member 113a comb-tooth structure at an end portion on the side adjacent to the first support member 113a. The comb-tooth structure of the second support member 113b has three convex portions 117b and three concave portions 116b.
　２つの第１ラック１１４ａは、第１支持部材１１３ａの凸部１１７ａの範囲まで延びている。２つの第２ラック１１４ｂも、第２支持部材１１３ｂの凸部１１７ｂの範囲まで延びている。図６３に示すように、第１支持部材１１３ａ及び第２支持部材１１３ｂの櫛歯構造が互いに嵌り合っている場合、第１ラック１１４ａ及び第２ラック１１４ｂは、それらの長手方向において、一部重複して位置する。 The two first racks 114a extend to the range of the convex portion 117a of the first support member 113a. The two second racks 114b also extend to the range of the convex portion 117b of the second support member 113b. As shown in FIG. 63, when the comb-tooth structures of the first support member 113a and the second support member 113b are fitted to each other, the first rack 114a and the second rack 114b partially overlap in the longitudinal direction. Is located.
　機構部１０３は、２つの第１ラック１１４ａに噛み合う第１ピニオン１１１ａと、２つの第２ラック１１４ｂに噛み合う複数の第２ピニオン１１１ｂと、を更に備えている。第１ピニオン１１１ａ及び第２ピニオン１１１ｂそれぞれは、図示しない駆動部（モータ）によって回転駆動される回転軸１１２ａ、１１２ｂを有している。 The mechanism portion 103 further includes a first pinion 111a that meshes with the two first racks 114a, and a plurality of second pinions 111b that mesh with the two second racks 114b. Each of the first pinion 111a and the second pinion 111b has rotating shafts 112a and 112b that are rotationally driven by a driving unit (motor) (not shown).
　回転駆動された第１ピニオン１１１ａは、第１ラック１１４ａを介して、第１支持部材１１３ａを、回転中心１０２回りに回転させる。同様に、回転駆動された第２ピニオン１１１ｂは、第２ラック１１４ｂを介して第２支持部材１１３ｂを、回転中心回り１０２に回転させる。エアセル１０１ａ，１０１ｂは、支持部材１１３ａ，１１３ｂの回転に伴って、回転中心１０２回りに回転する。回転中心１０２は、下腿の筋繊維の方向（下腿の長手方向）に沿った向きを有する。回転中心１０２回りに回転するエアセル１０１ａ，１０１ｂは、身体部位１００の周方向に沿って移動する。エアセル１０１ａ，１０１ｂは、図示しない駆動部の正逆回転により、回転中心１０２回りの正逆回転が可能である。 The rotationally driven first pinion 111a rotates the first support member 113a around the rotation center 102 via the first rack 114a. Similarly, the second pinion 111b that is driven to rotate rotates the second support member 113b around the center of rotation 102 via the second rack 114b. The air cells 101a and 101b rotate around the rotation center 102 as the support members 113a and 113b rotate. The rotation center 102 has a direction along the direction of the muscle fibers of the lower leg (longitudinal direction of the lower leg). The air cells 101 a and 101 b rotating around the rotation center 102 move along the circumferential direction of the body part 100. The air cells 101a and 101b can rotate forward and backward around the rotation center 102 by forward and reverse rotation of a driving unit (not shown).
　図６２では、エアセル１０１ａ，１０１ｂは、共通の回転中心１０２回りに回転するが、それぞれ異なる回転中心回りに回転してもよい。例えば、第１支持部材１１３ａ及び第２支持部材１１３ｂの湾曲度合をより大きくしたり、より小さくすることで、エアセル１０１ａ，１０１ｂは、互いに異なる回転中心回りに回転することになる。
　機構部１０３は、ラック１１４ａ，１１４ｂ及びピニオン１１１ａ，１１１ｂを有するものに限られず、エアセル１０１ａ，１０１ｂを身体部位の周りで回転させるよう構成されていれば足りる。 In FIG. 62, the air cells 101a and 101b rotate around a common rotation center 102, but may rotate around different rotation centers. For example, the air cells 101a and 101b rotate around different rotation centers by increasing or decreasing the degree of curvature of the first support member 113a and the second support member 113b.
The mechanism unit 103 is not limited to the one having the racks 114a and 114b and the pinions 111a and 111b, and it is sufficient that the mechanism unit 103 is configured to rotate the air cells 101a and 101b around the body part.
　両ピニオン１１１ａ，１１１ｂは、共通の駆動部によって駆動されてもよいし、それぞれ別の駆動部によって独立して駆動されてもよい。共通の駆動部によって両ピニオン１１１ａ，１１１ｂが駆動される機構部１０３は、エアセル１０１ａ，１０１ｂを互いに逆方向に連動して回転させるよう構成されていてもよいし、エアセル１０１ａ，１０１ｂを同じ方向に連動して回転させるよう構成されていてもよい。
　両ピニオン１１１ａ，１１１ｂがそれぞれ別の駆動部によって独立して駆動される機構部１０３は、エアセル１０１ａ，１０１ｂを互いに逆方向に連動して回転させたり、エアセル１０１ａ，１０１ｂを同じ方向に連動して回転させたり、一方のエアセルだけを回転させたりすることができる。 Both pinions 111a and 111b may be driven by a common driving unit, or may be independently driven by different driving units. The mechanism unit 103 in which both pinions 111a and 111b are driven by a common drive unit may be configured to rotate the air cells 101a and 101b in the opposite directions, or the air cells 101a and 101b in the same direction. You may be comprised so that it may rotate in conjunction.
The mechanism unit 103 in which both the pinions 111a and 111b are independently driven by different driving units rotates the air cells 101a and 101b in opposite directions, and rotates the air cells 101a and 101b in the same direction. It can be rotated or only one of the air cells can be rotated.
　エアセル１０１ａ，１０１ｂを互いに逆方向に連動して回転させる場合、エアセル１０１ａ，１０１ｂの相対位置関係が変化する。エアセル１０１ａ，１０１ｂを同じ方向に同じ速度で連動して回転させる場合、エアセル１０１ａ，１０１ｂの相対位置関係は変化しない。エアセル１０１ａ，１０１ｂを同じ方向に連動して回転させても、両エアセル１０１ａ，１０１ｂの移動速度が異なれば、エアセル１０１ａ，１０１ｂの相対位置関係は変化する。一方のエアセルだけを回転させる場合も、エアセル１０１ａ，１０１ｂの相対位置関係は変化する。 When the air cells 101a and 101b are rotated in the opposite directions, the relative positional relationship between the air cells 101a and 101b changes. When the air cells 101a and 101b are rotated in the same direction at the same speed, the relative positional relationship between the air cells 101a and 101b does not change. Even if the air cells 101a and 101b are rotated in the same direction, if the moving speeds of the air cells 101a and 101b are different, the relative positional relationship between the air cells 101a and 101b changes. Even when only one air cell is rotated, the relative positional relationship between the air cells 101a and 101b changes.
　図６２の状態では、エアセル１０１ａ，１０１ｂの間隔は大きく、身体部位１００を上方からエアセル１０１ａ，１０１ｂ間に挿入させることは容易である。図６２に示す位置にあるエアセル１０１ａ，１０１ｂは、膨張することにより、身体部位（下腿）１００の右側１００－３及び左側１００－４よりも身体部位１００の下側（下腿の後側１００－１）の範囲をマッサージすることができる（図６６参照）。 62, the distance between the air cells 101a and 101b is large, and it is easy to insert the body part 100 between the air cells 101a and 101b from above. The air cells 101a and 101b at the positions shown in FIG. 62 expand to expand the lower side of the body part 100 (the rear side 100-1 of the lower leg) relative to the right side 100-3 and the left side 100-4 of the body part (lower leg) 100. ) Can be massaged (see FIG. 66).
　図６４及び図６５は、エアセル１０１ａ，１０１ｂが互いに逆方向に回転した状態を示している。エアセル１０１ａ，１０１ｂは、回転中心１０２回りの回転によって、身体部位１００の周方向に沿って、図６４の上方（Ｙ方向）に移動する。図６５に示すように、両支持部材１１３ａ，１１３ｂの櫛歯構造は、互いに離れた状態となる。図６４に示す位置にあるエアセル１０１ａ，１０１ｂは、膨張することにより、身体部位（下腿）１００の右側１００－３及び左側１００－４よりも身体部位１００の上側（下腿の前側１００－２）の範囲をマッサージすることができる（図６７参照）。 64 and 65 show a state where the air cells 101a and 101b are rotated in opposite directions. The air cells 101 a and 101 b move upward (Y direction) in FIG. 64 along the circumferential direction of the body part 100 by rotation around the rotation center 102. As shown in FIG. 65, the comb-tooth structure of both the support members 113a and 113b is in a state of being separated from each other. The air cells 101a and 101b at the positions shown in FIG. 64 are expanded to be located above the right side 100-3 and left side 100-4 of the body part (lower leg) 100 and above the body part 100 (front side 100-2 of the lower leg). The range can be massaged (see FIG. 67).
　エアセル１０１ａ，１０１ｂの回転は、エアセル１０１ａ，１０１ｂが収縮した状態（図６２及び図６４の状態）で行われても良いし、エアセル１０１ａ，１０１ｂが膨張した状態（図６６及び図６７の状態）で行われても良い。エアセル１０１ａ，１０１ｂが膨張して、身体部位１００に対する掴み揉みが行われている状態で、エアセル１０１ａ，１０１ｂが回転中心１０２回りに回転することで、掴み揉みに回転が加わったマッサージが得られる。 The rotation of the air cells 101a and 101b may be performed with the air cells 101a and 101b contracted (the state shown in FIGS. 62 and 64), or the air cells 101a and 101b expanded (the state shown in FIGS. 66 and 67). It may be done in. In a state where the air cells 101a and 101b are inflated and the body part 100 is gripped, the air cells 101a and 101b rotate around the rotation center 102 to obtain a massage in which rotation is added to the grip.
　エアセル１０１ａ，１０１ｂの膨張量が比較的小さく比較的弱い掴み揉みが行われている状態で、エアセル１０１ａ，１０１ｂを回転させると、掴み揉みが行われている身体部位１００の表面（皮膚）がエアセル１０１ａ，１０１ｂと共に回転し、身体部位１００の表面に周方向の引っ張り感を与えるマッサージが行える。エアセル１０１ａ，１０１ｂの膨張量が比較的大きく掴み揉みが比較的強い状態で、エアセル１０１ａ，１０１ｂを回転させると、掴み揉みが行われている身体部位１００の筋肉がエアセル１０１ａ，１０１ｂと共に回転し、筋繊維に交差する方向への刺激を与えて筋繊維をほぐしたり、身体部位１００を回転方向にねじるようなマッサージが行える。 When the air cells 101a and 101b are rotated in a state where the air cells 101a and 101b have a relatively small expansion amount and a relatively weak gripping, the surface (skin) of the body part 100 where the gripping is performed is the air cell. It can rotate with 101a and 101b, and the massage which gives the feeling of a tension | pulling of the circumferential direction to the surface of the body part 100 can be performed. When the air cells 101a and 101b are rotated in a state where the expansion amount of the air cells 101a and 101b is relatively large and gripping is relatively strong, the muscles of the body part 100 where the gripping is performed rotate together with the air cells 101a and 101b. It is possible to perform massage such as loosening the muscle fibers by applying a stimulus in a direction crossing the muscle fibers or twisting the body part 100 in the rotation direction.
　エアセル１０１ａ，１０１ｂの回転は、エアセル１０１ａ，１０１ｂの膨張量を一定に保ったまま行っても良いし、膨張量を変化させながら行っても良い。図６６の状態において、左側のエアセル１０１ａを回転させずに、右側のエアセル１０１ｂを図６７のように回転させることで、身体部位１００を左下側と右上側から掴み揉みすることができる。図６６の状態において、右側のエアセル１０１ｂを回転させずに、左側のエアセル１０１ａを図６７のように回転させることで、身体部位１００を右下側と左上側から掴み揉みすることができる。
　なお、図６４に示すように、エアセル１０１ａ，１０１ｂが収縮した状態で、エアセル１０１ａ，１０１ｂを回転させると、身体部位１００への押圧を解除した状態で、エアセル１０１ａ，１０１ｂの位置を変更することができる。 The rotation of the air cells 101a and 101b may be performed while keeping the expansion amount of the air cells 101a and 101b constant, or may be performed while changing the expansion amount. In the state of FIG. 66, the body part 100 can be grasped and squeezed from the lower left side and the upper right side by rotating the right air cell 101b as shown in FIG. 67 without rotating the left air cell 101a. In the state of FIG. 66, the body part 100 can be grasped and squeezed from the lower right side and the upper left side by rotating the left air cell 101a as shown in FIG. 67 without rotating the right air cell 101b.
As shown in FIG. 64, when the air cells 101a and 101b are rotated while the air cells 101a and 101b are contracted, the positions of the air cells 101a and 101b are changed while the pressure on the body part 100 is released. Can do.
　図６８は、マッサージユニット１０の例を示している。図６８に示すマッサージユニット１０は、以下において説明されていない点については、図６２～図６７に示すマッサージユニット１０と同様の構成を有している。
　図６８に示すマッサージユニット１０は、背もたれ部３の左右両側に設けられた側壁部（側面パネル）３Ａに設けられ、被施療者の上腕１００ａに対して、掴み揉みを含むマッサージをする。上腕１００ａの筋繊維は、上腕の長手方向に向いている。 FIG. 68 shows an example of the massage unit 10. The massage unit 10 shown in FIG. 68 has the same configuration as that of the massage unit 10 shown in FIGS. 62 to 67 in the points not described below.
The massage unit 10 shown in FIG. 68 is provided on side wall portions (side panels) 3A provided on the left and right sides of the backrest portion 3, and massages the user's upper arm 100a including gripping. The muscle fibers of the upper arm 100a are oriented in the longitudinal direction of the upper arm.
　図６８は、背もたれ部３の右側に設けられた側壁部３Ａとその内部に設けられたマッサージユニット１０を示している。マッサージユニット１０は、背もたれ部３の左側に設けられた側壁部３Ａにも設けられている。背もたれ部３の左側のマッサージユニット１０は、図６８に示すマッサージユニット１０と左右対称に設けられる。図６８のマッサージユニット１０は、マッサージ装置１０の他の位置に設置することができる。図６８のマッサージユニット１０は、肘掛け部４、フットレスト５の第１保持部５ａ又は第２保持部５ｂに設けられても良い。図６８のマッサージユニット１０は、肩をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 68 shows the side wall 3A provided on the right side of the backrest 3 and the massage unit 10 provided therein. The massage unit 10 is also provided on the side wall 3 </ b> A provided on the left side of the backrest 3. The massage unit 10 on the left side of the backrest 3 is provided symmetrically with the massage unit 10 shown in FIG. The massage unit 10 of FIG. 68 can be installed at another position of the massage apparatus 10. The massage unit 10 of FIG. 68 may be provided in the armrest part 4, the first holding part 5 a or the second holding part 5 b of the footrest 5. The massage unit 10 of FIG. 68 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the shoulder.
　図６８のマッサージユニット１０は、施療部１０１として、上腕１００ａに対して掴み揉みを行うように設けられた施療部材１２１を含む。上腕用の施療部材１２１は、対の押圧部材（エアセル）１０１ａ，１０１ｂを含む、エアセル１０１ａ，１０１ｂは、膨張することにより、上腕１００ａを両側から押圧し、掴み揉みすることができる。 The massage unit 10 in FIG. 68 includes a treatment member 121 provided as a treatment unit 101 so as to grasp and rub the upper arm 100a. The upper arm treatment member 121 includes a pair of pressing members (air cells) 101a and 101b. When the air cells 101a and 101b are inflated, the upper arm 100a can be pressed from both sides and grasped and squeezed.
　上腕用の施療部材１２１は、上腕１００ａにおける筋繊維の方向（上腕の長手方向）に交わる方向から上腕１００ａに対する掴み揉みを行う。上腕１００ａの筋繊維の方向（上腕の長手方向）は、図６８において、Ｚ方向である。 The upper arm treatment member 121 grips and rubs the upper arm 100a from the direction intersecting the direction of the muscle fibers in the upper arm 100a (longitudinal direction of the upper arm). The muscle fiber direction of the upper arm 100a (the longitudinal direction of the upper arm) is the Z direction in FIG.
　図６８のマッサージユニット１０は、施療部材１２１を移動させる機構部１０３（上腕機構部１０３ａ）を更に備えている。機構部１０３は、その大部分が、側壁部３Ａ内に設けられており、残りの一部が背もたれ部３内に配置されている。側壁部３Ａ内に機構部１０３の少なくとも一部を設けることで、背もたれ部３において機構部１０３を配置するために必要なスペースを小さくすることができる。これにより、上腕１００ａをマッサージするためのマッサージユニット１０が、背もたれ部３内において背中をマッサージするために設けられたマッサージユニット９０に干渉するのを防止することができる。 The massage unit 10 in FIG. 68 further includes a mechanism 103 (upper arm mechanism 103a) that moves the treatment member 121. Most of the mechanism part 103 is provided in the side wall part 3 </ b> A, and the remaining part is arranged in the backrest part 3. By providing at least a part of the mechanism portion 103 in the side wall portion 3 </ b> A, a space necessary for disposing the mechanism portion 103 in the backrest portion 3 can be reduced. Thereby, it can prevent that the massage unit 10 for massaging the upper arm 100a interferes with the massage unit 90 provided in order to massage the back in the backrest part 3. FIG.
　図６８の機構部１０３は、図６２の機構部１０３と同様に、第１支持部材１１３ａ及び第２支持部材１１３ｂを有している。図６８の機構部１０３では、第２支持部材１１３ｂ及び第２ラック１１４ｂの長手方向は、第１支持部材１１３ａ及び第１ラック１１４ａの長手方向よりも大きい。このため、第２支持部材１１３ｂ及び第２支持部材１１３ｂに設けられた第２エアセル１０１ｂの回転移動可能範囲１０５ｂは、第１支持部材１１３ａ及び第１支持部材１１３ａに設けられた第１エアセル１０１ａの回転移動可能範囲１０５ａよりも大きい。 68 has a first support member 113a and a second support member 113b, similarly to the mechanism unit 103 in FIG. 68, the longitudinal direction of the second support member 113b and the second rack 114b is larger than the longitudinal direction of the first support member 113a and the first rack 114a. For this reason, the rotational movement possible range 105b of the second air cell 101b provided on the second support member 113b and the second support member 113b is the same as that of the first air cell 101a provided on the first support member 113a and the first support member 113a. It is larger than the rotationally movable range 105a.
　第１エアセル１０１ａの回転移動可能範囲１０５ａは、上腕１００ａの後側１００ａ－１及び後側１００ａ－１よりも内側１００ａ－４よりの範囲を含む。第１エアセル１０１ａは、回転移動可能範囲１０５ａに対応した上腕１００ａの位置を押圧することができる。
　第２エアセル１０１ｂの回転移動可能範囲１０５ｂは、上腕１００ａの前側１００ａ－２、前側１００ａ－２よりも外側１００ａ－３よりの範囲、及び前側１００ａ－２よりも内側１００ａ－４よりの範囲を含む。第２エアセル１０１ｂは、回転移動可能範囲１０５ｂに対応した上腕１００ａの位置を押圧することができる。
　なお、図６８の回転移動可能範囲１０５ａ、１０５ｂは、単なる例示であって、それらの位置及び長さは、適宜設定できる。 The rotationally movable range 105a of the first air cell 101a includes a range from the rear side 100a-1 of the upper arm 100a and from the inner side 100a-4 to the rear side 100a-1. The first air cell 101a can press the position of the upper arm 100a corresponding to the rotationally movable range 105a.
The rotationally movable range 105b of the second air cell 101b includes the front side 100a-2 of the upper arm 100a, the range from the outer side 100a-3 to the front side 100a-2, and the range from the inner side 100a-4 to the front side 100a-2. . The second air cell 101b can press the position of the upper arm 100a corresponding to the rotationally movable range 105b.
The rotationally movable ranges 105a and 105b in FIG. 68 are merely examples, and their positions and lengths can be set as appropriate.
　図６８の機構部１０３において、第２ピニオン１１１ｂの径は、第１ピニオン１１１ａの径よりも大きい。したがって、両ピニオン１１１ａ，１１１ｂを同じ回転速度で回転させた場合、第２支持部材１１３ｂ及び第２エアセル１０１ｂの方が、より速く回転することができる。両ピニオン１１１ａ，１１１ｂの回転量が同じである場合、第２支持部材１１３ｂ及び第２エアセル１０１ｂの方が、より多く回転することができる。なお、図６８の機構部１０３は、図６２の機構部１０３のような櫛歯構造を有していないが、櫛歯構造を有していても良い。 68, the diameter of the second pinion 111b is larger than the diameter of the first pinion 111a. Therefore, when both pinions 111a and 111b are rotated at the same rotational speed, the second support member 113b and the second air cell 101b can rotate faster. When the rotation amounts of both pinions 111a and 111b are the same, the second support member 113b and the second air cell 101b can rotate more. 68 does not have a comb-tooth structure like the mechanism section 103 in FIG. 62, it may have a comb-tooth structure.
　図６８において、第１支持部材１１３ａは、上腕１００ａの後側１００ａ－１に配置され、第２支持部材１１３ｂは、上腕１００ａの外側１００ａ－３に配置されている。なお、上腕１００ａの外側１００ａ－３とは、上腕１００ａの内側１００ａ－４（胴体１００ｂ側）の反対側をいう。図６８において、第１支持部材１１３ａに支持された第１エアセル１０１ａは、膨張すると、上腕の後側１００ａ－１の範囲を押圧することができ、第２支持部材１１３ｂに支持された第２エアセル１０１ｂは、上腕１００ａの前側１００ａ－２の外側１００ａ－３の範囲を押圧することができる。 68, the first support member 113a is disposed on the rear side 100a-1 of the upper arm 100a, and the second support member 113b is disposed on the outer side 100a-3 of the upper arm 100a. The outer side 100a-3 of the upper arm 100a refers to the opposite side of the inner side 100a-4 (the body 100b side) of the upper arm 100a. In FIG. 68, when the first air cell 101a supported by the first support member 113a is inflated, it can press the range of the rear side 100a-1 of the upper arm, and the second air cell supported by the second support member 113b. 101b can press the range of the outer side 100a-3 of the front side 100a-2 of the upper arm 100a.
　エアセル１０１ａ，１０１ｂは、支持部材１１３ａ，１１３ｂの回転に伴って、回転中心１０２回りに回転する。回転中心１０２は、上腕１００ａの筋繊維の方向（上腕の長手方向）に沿った向きを有する。回転中心１０２回りに回転するエアセル１０１ａ，１０１ｂは、上腕１００ａの周方向に沿って移動する。 The air cells 101a and 101b rotate around the rotation center 102 as the support members 113a and 113b rotate. The rotation center 102 has a direction along the direction of the muscle fibers of the upper arm 100a (longitudinal direction of the upper arm). The air cells 101a and 101b rotating around the rotation center 102 move along the circumferential direction of the upper arm 100a.
　図６８の状態では、エアセル１０１ａ，１０１ｂの間隔は、大きく、上腕１００ａを、図６８の左上側から、エアセル１０１ａ，１０１ｂの間に挿入させることは容易である。
　図６９は、第１エアセル１０１ａは回転せず、第２エアセル１０１ｂが、反時計まわりに回転した状態を示している。図６９に示す位置にあるエアセル１０１ａ，１０１ｂは、膨張することにより、エアセル１０１ａ，１０１ｂは、上腕１００ａを前後から押圧することができる（図７１参照）。
　図６９に示すように、側壁部３Ａに設けた機構１０３によって、上腕１００ａの内側１００ａ－４付近にエアセル１０１ｂを移動させることができる。 In the state of FIG. 68, the space between the air cells 101a and 101b is large, and it is easy to insert the upper arm 100a between the air cells 101a and 101b from the upper left side of FIG.
FIG. 69 shows a state in which the first air cell 101a does not rotate and the second air cell 101b rotates counterclockwise. When the air cells 101a and 101b in the positions shown in FIG. 69 expand, the air cells 101a and 101b can press the upper arm 100a from the front and rear (see FIG. 71).
As shown in FIG. 69, the air cell 101b can be moved near the inner side 100a-4 of the upper arm 100a by the mechanism 103 provided on the side wall 3A.
　ここで、上腕１００ａの内側１００ａ－４には、胴体１００ｂが存在する。このため、上腕１００ａを内側１００ａ－４側から押圧する押圧部材（例えばエアセル）を支持する部材を、被施療者の脇の下（胴体１００ｂと上腕１００ａとの間）付近に固定的に配置すると、被施療者はリラックスした姿勢を維持するのが困難になる。これに対し、エアセル１０１ｂを上腕の外側１００ａ－３よりの位置から内側１００ａ－４よりの位置へ移動させることで、被施療者への影響が少ない。 Here, the body 100b exists on the inner side 100a-4 of the upper arm 100a. Therefore, if a member that supports a pressing member (for example, an air cell) that presses the upper arm 100a from the inner side 100a-4 side is fixedly placed near the armpit of the user (between the body 100b and the upper arm 100a), The therapist has difficulty maintaining a relaxed posture. On the other hand, by moving the air cell 101b from the position from the outer side 100a-3 of the upper arm to the position from the inner side 100a-4, there is little influence on the user.
　図７０は、図６８の位置にあるエアセル１０１ａ，１０１ｂを膨張させた状態を示している。図７０のようにエアセル１０１ａ，１０１ｂが膨張して、上腕１００ａに対する掴み揉みが行われている状態で、エアセル１０１ｂが反時計回りに回転することで、エアセル１０１ａ，１０１ｂが図７１の位置に移動し、掴み揉みに回転が加わったマッサージが得られる。
　図７１のようにエアセル１０１ｂが回転する際に、エアセル１０１ａも時計回りに回転させることで、エアセル１０１ａ，１０１ｂによって、上腕１００ａの内側１００ａ－４よりの範囲を前後から掴み揉みすることができる。
　また、図７１のようにエアセル１０１ｂが回転する際に、エアセル１０１ａも反時計回りに回転させることで、上腕１００ａを、左前側と右後側とから押圧することができる。 FIG. 70 shows a state where the air cells 101a and 101b at the position of FIG. 68 are expanded. As shown in FIG. 70, when the air cells 101a and 101b are inflated and gripped and squeezed with respect to the upper arm 100a, the air cells 101a and 101b move to the positions shown in FIG. 71 by rotating counterclockwise. And you can get a massage that adds rotation to gripping.
When the air cell 101b rotates as shown in FIG. 71, the air cell 101a is also rotated clockwise so that the air cell 101a, 101b can grasp and squeeze the range from the inner side 100a-4 of the upper arm 100a from the front and rear.
As shown in FIG. 71, when the air cell 101b rotates, the air cell 101a is also rotated counterclockwise, so that the upper arm 100a can be pressed from the left front side and the right rear side.
　図７２は、マッサージユニット１０の例を示している。図７２に示すマッサージユニット１０は、以下において説明されていない点については、図６８～図７１に示すマッサージユニット１０と同様の構成を有している。
　図７２に示すマッサージユニット１０も、上腕用である。図７２のマッサージユニット１０の機構部１０３（１０３ａ）は、第１支持部材１１３ａ及び第２支持部材１１３ｂを有している。 FIG. 72 shows an example of the massage unit 10. The massage unit 10 shown in FIG. 72 has the same configuration as that of the massage unit 10 shown in FIGS. 68 to 71 in the points not described below.
The massage unit 10 shown in FIG. 72 is also for the upper arm. The mechanism unit 103 (103a) of the massage unit 10 in FIG. 72 includes a first support member 113a and a second support member 113b.
　図７２の機構部１０３では、図６８の機構部１０３とは逆に、第１支持部材１１３ａ及び第１ラック１１４ａの長手方向は、第２支持部材１１３ｂ及び第２ラック１１４ｂの長手方向よりも大きい。このため、第１支持部材１１３ａ及び第１支持部材１１３ａに設けられた第１エアセル１０１ａの回転移動可能範囲１０５ａは、第２支持部材１１３ｂ及び第２支持部材１１３ｂに設けられた第２エアセル１０１ｂの回転移動可能範囲１０５ｂよりも大きい。 72, the longitudinal direction of the first support member 113a and the first rack 114a is larger than the longitudinal direction of the second support member 113b and the second rack 114b, contrary to the mechanism portion 103 of FIG. . For this reason, the rotational movement possible range 105a of the first air cell 101a provided on the first support member 113a and the first support member 113a is the same as that of the second air cell 101b provided on the second support member 113b and the second support member 113b. It is larger than the rotationally movable range 105b.
　第１エアセル１０１ａの回転移動可能範囲１０５ａは、上腕１００ａの後側１００ａ－１及び内側１００ａ－４、及び、内側１００ａ－４よりも前側１００ａ－２よりの範囲を含む。第１エアセル１０１ａは、回転移動可能範囲１０５ａに対応した上腕１００ａの位置を押圧することができる。
　第２エアセル１０１ｂの回転移動可能範囲１０５ｂは、上腕１００ａの前側１００ａ－２、及び前側１００ａ－２よりも外側１００ａ－３よりの範囲を含む。第２エアセル１０１ｂは、回転移動可能範囲１０５ｂに対応した上腕１００ａの位置を押圧することができる。
　なお、図６８の回転移動可能範囲１０５ａ、１０５ｂは、単なる例示であって、それらの位置及び長さは、適宜設定できる。
　図７２の機構部１０３において、第１ピニオン１１１ａの径は、第２ピニオン１１１ｂの径よりも大きい。 The rotationally movable range 105a of the first air cell 101a includes a range from the rear side 100a-1 and the inner side 100a-4 of the upper arm 100a and from the front side 100a-2 to the inner side 100a-4. The first air cell 101a can press the position of the upper arm 100a corresponding to the rotationally movable range 105a.
The rotationally movable range 105b of the second air cell 101b includes a range from the front side 100a-2 of the upper arm 100a and a range from the outer side 100a-3 to the front side 100a-2. The second air cell 101b can press the position of the upper arm 100a corresponding to the rotationally movable range 105b.
The rotationally movable ranges 105a and 105b in FIG. 68 are merely examples, and their positions and lengths can be set as appropriate.
72, the diameter of the first pinion 111a is larger than the diameter of the second pinion 111b.
　図７２において、エアセル１０１ａ，１０１ｂは、膨張することにより、図６８のエアセル１０１，１０１ｂと同様の位置を押圧することができる。
　図７３は、第２エアセル１０１ｂは回転せず、第１エアセル１０１ａが、時計回りに回転した状態を示している。第１エアセル１０１ａは、時計回りに回転すると、上腕１００ａの後側１００ａ－１から、上腕１００ａの内側１００ａ－４（被施療者の脇の下の位置）へ移動することができる。図７３に示す位置にあるエアセル１０１ａ，１０１ｂは、膨張することにより、上腕１００ａの前側を左右から押圧することができる（図７５参照）。 72, the air cells 101a and 101b can press the same positions as the air cells 101 and 101b of FIG. 68 by expanding.
FIG. 73 shows a state where the second air cell 101b does not rotate and the first air cell 101a rotates clockwise. When the first air cell 101a rotates clockwise, it can move from the rear side 100a-1 of the upper arm 100a to the inner side 100a-4 of the upper arm 100a (the position under the arm of the user). The air cells 101a and 101b in the positions shown in FIG. 73 can press the front side of the upper arm 100a from the left and right by expanding (see FIG. 75).
　図７４は、図７２の位置にあるエアセル１０１ａ，１０１ｂを膨張させた状態を示している。図７４のようにエアセル１０１ａ，１０１ｂが膨張して、上腕１００ａに対する掴み揉みが行われている状態で、エアセル１０１ａが時計回りに回転することで、エアセル１０１ａが図７５の位置に移動し、掴み揉みに回転が加わったマッサージが得られる。
　図７５のようにエアセル１０１ａが回転する際に、エアセル１０１ｂを反時計回りに回転させたり、時計回りに回転させたりしてもよい。 FIG. 74 shows a state where the air cells 101a and 101b at the position of FIG. 72 are expanded. As shown in FIG. 74, when the air cells 101a and 101b are inflated and are gripped with respect to the upper arm 100a, the air cell 101a rotates clockwise so that the air cell 101a moves to the position shown in FIG. A massage with rotation added to itching is obtained.
As shown in FIG. 75, when the air cell 101a rotates, the air cell 101b may be rotated counterclockwise or clockwise.
　図７６は、図６２～図７５に示すマッサージユニット１０を設けるのに適した身体部位における筋繊維の方向（回転中心）１０２（１０２ａ～１０２ｈ）と施療部１０１の回転方向１３０ａ～１３０ｇの例を示している。図７６に示すように、マッサージユニット１０による掴み揉みが行われる部位が肩であれば、施療部１０１の回転方向１３０ａは、肩の筋繊維の方向（左右方向）に沿った回転中心１０２ａ回りとなる。
　同様に、図７６に示す各回転中心１０２ｂ，１０２ｃ，１０２ｄ，１０２ｅ，１０２ｆ，１０２ｇ，１０２ｈは、図７６に示される各部位（上腕、前腕、手、太腿、下腿、足、首）の筋繊維の方向に沿っており、施療部１０１の回転方向１３０ｂ，１３０ｃ，１３０ｄ，１３０ｅ，１３０ｆ，１３０ｇ，１３０ｈは、対応する回転中心１０２ｂ～１０２ｈ回りとなる。 FIG. 76 shows an example of the direction (rotation center) 102 (102a to 102h) of muscle fibers and the rotation directions 130a to 130g of the treatment portion 101 in a body part suitable for providing the massage unit 10 shown in FIGS. Show. As shown in FIG. 76, if the part where the massage unit 10 is gripped is shoulder, the rotation direction 130a of the treatment unit 101 is around the rotation center 102a along the direction of the muscle fiber of the shoulder (left-right direction). Become.
Similarly, the rotation centers 102b, 102c, 102d, 102e, 102f, 102g, and 102h shown in FIG. 76 are the muscles of the respective parts (upper arm, forearm, hand, thigh, lower leg, foot, and neck) shown in FIG. Along the direction of the fibers, the rotation directions 130b, 130c, 130d, 130e, 130f, 130g, and 130h of the treatment portion 101 are the corresponding rotation centers 102b to 102h.
　図７７及び図７８は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、前腕１００ｄである。マッサージは、身体部位１００の掴み揉みを含む。前腕１００ｄの筋繊維は、前腕１００ｄの長手方向（図７７のＺ方向）に向いている。 77 and 78 show examples of the massage unit 10. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, a forearm 100d. The massage includes grasping and massaging the body part 100. The muscle fibers of the forearm 100d are oriented in the longitudinal direction of the forearm 100d (Z direction in FIG. 77).
　マッサージユニット１０は、前腕１００ｄにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、前腕１００ｄの手首側よりの部位をマッサージ（掴み揉み）する第１施療部材１２１Ａと、前腕１００ｄの肘側よりの部位をマッサージ（掴み揉み）する第２施療部材１２１Ｂと、を含む。
　肘掛け部４に設けられる施療部材１２１Ａ，１２１Ｂの数は、３以上でもよい。図７７及び図７８に示す施療部材１２１Ａ，１２１Ｂは、首、肩、上腕、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the forearm 100d. The treatment unit 101 includes a first treatment member 121A for massaging (grabbing and grasping) a portion of the forearm 100d from the wrist side, and a second treatment member 121B for massaging (grabbing and grasping) the portion of the forearm 100d from the elbow side. Including.
The number of treatment members 121A and 121B provided in the armrest portion 4 may be three or more. The treatment members 121A and 121B shown in FIGS. 77 and 78 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.
　第１施療部材１２１Ａは、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の身体部位１００（前腕１００ｄ）を配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。エアセル１０１ａ，１０１ｂは、図示しない空気回路による給排気を受ける。エアセル１０１ａ，１０１ｂは給排気によって膨張収縮する。膨張した対のエアセル１０１ａ，１０１ｂは、前腕１００ｄの両側から押圧する（図７９参照）。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。 The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are opposed to each other so as to have a space in which the body part 100 (forearm 100d) to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. The air cells 101a and 101b are supplied and exhausted by an air circuit (not shown). The air cells 101a and 101b expand and contract by supply and exhaust. The pair of expanded air cells 101a and 101b press from both sides of the forearm 100d (see FIG. 79). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
　第１施療部材１２１Ａは、前腕１００ｄにおける筋繊維の方向（前腕１００ｄの長手方向；図７７のＺ方向）に交わる方向（図７７のＹ方向）から前腕１００ｄに対する掴み揉みを行う。
　掴み揉みは、対の押圧部材１０１ａ，１０１ｂの間に身体部位１００（前腕１００ｄ）を位置させた状態で、対の押圧部材１０１ａ，１０１ｂを互いに近接させることで行われる。このように、掴み揉みは、身体部位１００を挟み込むシンプルな動作で足りる。 The first treatment member 121A grips and forges the forearm 100d from the direction (Y direction in FIG. 77) intersecting the direction of the muscle fibers in the forearm 100d (longitudinal direction of the forearm 100d; Z direction in FIG. 77).
The gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 (the forearm 100d) positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
　第２施療部材１２１Ｂは、第１施療部材１２１Ａと同様の構成を有し、同様に動作する。すなわち、第２施療部材１２１Ｂは、対の押圧部材１０１ａ，１０１ｂを有し、対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。 The 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
　図７７及び図７８のマッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を更に備えている。機構部１０３は、第１施療部材１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、を含む。 77 and 78 further includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
　第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ、対のエアセル１０１ａ，１０１ｂが取り付けられる支持部材１１３を備えている。支持部材１１３は、リング状に形成されている。支持部材１１３の内周面には、対のエアセル１０１ａ，１０１ｂが対向配置されている。被施療者は、前腕１００ｄを、支持部材１１３の長手方向両側の開口の一方から支持部材１１３内に挿入することができる。支持部材１１３内に挿入された前腕１００ｄは、対のエアセル１０１ａ，１０１ｂの間に位置する。
　支持部材１１３は、図示しないガイドによって、回転中心１０２回りに回転自在に支持されている。 103 A of 1st mechanism parts and the 2nd mechanism part 103B are each provided with the supporting member 113 to which a pair of air cell 101a, 101b is attached. The support member 113 is formed in a ring shape. On the inner peripheral surface of the support member 113, a pair of air cells 101a and 101b are arranged to face each other. The user can insert the forearm 100 d into the support member 113 from one of the openings on both sides in the longitudinal direction of the support member 113. The forearm 100d inserted into the support member 113 is positioned between the pair of air cells 101a and 101b.
The support member 113 is supported so as to be rotatable around the rotation center 102 by a guide (not shown).
　第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ、支持部材１１３の外周側において全周にわたって形成された２つのラック１１４と、ラック１１４に噛み合うピニオン１１１と、を更に備えている。ピニオン１１１は、回転軸１１２を備えており、回転軸１１２が駆動部１５４によって回転駆動されることで、ピニオン１１１が回転する。ピニオン１１１の回転によって、支持部材１１３が回転中心１０２回りに回転する。エアセル１０１ａ，１０１ｂは、支持部材１１３の回転に伴って、回転中心１０２回りに回転する。回転中心１０２は、前腕１００ｄの筋繊維の方向（前腕の長手方向）に沿った向きを有する。回転中心１０２回りに回転するエアセル１０１ａ，１０１ｂは、前腕１００ｄの周方向に沿って移動する。エアセル１０１ａ，１０１ｂの周方向に沿った移動により、掴み揉みの方向を変更することができる。図８０は、エアセル１０１ａ，１０１ｂが、図７９の位置から時計回りに９０°回転した状態を示している。エアセル１０１ａ，１０１ｂは、図７９の位置にある場合には、前腕１００ｄをＹ方向から押圧していたのに対し、図８０の位置にある場合には、前腕１００ｄをＸ方向から押圧する。
　エアセル１０１ａ，１０１ｂは、駆動部１５４の正逆回転により、回転中心１０２回りの正逆回転が可能である。 Each of the first mechanism portion 103 </ b> A and the second mechanism portion 103 </ b> B further includes two racks 114 formed over the entire circumference on the outer peripheral side of the support member 113 and a pinion 111 that meshes with the rack 114. The pinion 111 includes a rotating shaft 112, and the pinion 111 rotates when the rotating shaft 112 is rotationally driven by the drive unit 154. The support member 113 rotates around the rotation center 102 by the rotation of the pinion 111. The air cells 101a and 101b rotate around the rotation center 102 as the support member 113 rotates. The rotation center 102 has a direction along the direction of the muscle fibers of the forearm 100d (longitudinal direction of the forearm). The air cells 101a and 101b rotating around the rotation center 102 move along the circumferential direction of the forearm 100d. By moving the air cells 101a and 101b along the circumferential direction, the direction of gripping can be changed. FIG. 80 shows a state where the air cells 101a and 101b are rotated 90 ° clockwise from the position shown in FIG. When the air cells 101a and 101b are at the position of FIG. 79, the forearm 100d is pressed from the Y direction, whereas when the air cells 101a and 101b are at the position of FIG. 80, the forearm 100d is pressed from the X direction.
The air cells 101 a and 101 b can rotate forward and backward around the rotation center 102 by forward and reverse rotation of the drive unit 154.
　図７７では、第１施療部材１２１Ａのエアセル１０１ａ，１０１ｂと、第２施療部材１２１Ｂのエアセル１０１ａ，１０１ｂは、それぞれ別の駆動部１５４によって回転駆動されるため、それぞれ独立した回転が可能である。第１施療部材１２１Ａのエアセル１０１ａ，１０１ｂと、第２施療部材１２１Ｂのエアセル１０１ａ，１０１ｂは、共通の駆動部によって回転駆動されてもよい。
　図７７では、第１施療部材１２１Ａのエアセル１０１ａ，１０１ｂと、第２施療部材１２１Ｂのエアセル１０１ａ，１０１ｂは、共通の回転中心１０２回りに回転するが、それぞれの回転中心１０２Ａ，１０２Ｂの位置が異なっていても良い。回転中心１０１Ａ，１０２Ｂの位置は、図７８のＸ方向及びＹ方向の少なくともいずれか一方において異なることができる。 In FIG. 77, since the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B are driven to rotate by separate drive units 154, they can be independently rotated. The air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B may be rotationally driven by a common drive unit.
In FIG. 77, the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B rotate around a common rotation center 102, but the positions of the rotation centers 102A and 102B are different. May be. The positions of the rotation centers 101A and 102B can be different in at least one of the X direction and the Y direction in FIG.
　機構部１０３は、ラック１１４及びピニオン１１１を有するものに限られず、エアセル１０１ａ，１０１ｂを身体部位の周りで回転させるよう構成されていれば足りる。 The mechanism unit 103 is not limited to the one having the rack 114 and the pinion 111, and it is sufficient that the mechanism unit 103 is configured to rotate the air cells 101a and 101b around the body part.
　図８１は、第１施療部材１２１Ａ（エアセル１０１ａ，１０１ｂ）と第２施療部材１２１Ｂ（エアセル１０１ａ，１０１ｂ）が、前腕１００ｄを掴み揉みした状態で、互いに逆方向に回転した状態を示している。図８１では、第１施療部材１２１Ａのエアセル１０１ａ，１０１ｂは、時計回りに回転し、第２施療部材１２１Ｂのエアセル１０１ａ，１０１ｂは、反時計回りに回転している。このような動作によって、前腕１００ｄに対する掴み揉みに前腕１００ｄをねじる動作が加わったマッサージが得られる。 FIG. 81 shows a state where the first treatment member 121A ( air cells 101a and 101b) and the second treatment member 121B ( air cells 101a and 101b) are rotated in opposite directions while holding the forearm 100d. In FIG. 81, the air cells 101a and 101b of the first treatment member 121A rotate clockwise, and the air cells 101a and 101b of the second treatment member 121B rotate counterclockwise. By such an operation, a massage in which an operation of twisting the forearm 100d is added to the grasping and gripping of the forearm 100d is obtained.
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂのうち一方を回転させずに、他方を回転させてもよい。この場合も前腕１００ｄをねじることができる。第１施療部材１２１Ａと第２施療部材１２１Ｂは、複数の施療部材１２１Ａ，１２１Ｂの間に被施療者の関節（例えば、手関節）が位置するように配置されていてもよい。かかる配置において、第１施療部材１２１Ａと第２施療部材１２１Ｂとを逆方向に回転させると、関節（例えば、手関節）をねじることができる。
　なお、エアセル１０１ａ，１０１ｂが収縮した状態で、エアセルを回転させると身体部位１００への押圧を解除した状態で、エアセル１０１ａ，１０１ｂの位置を変更することができる。 One of the first treatment member 121A and the second treatment member 121B may be rotated without rotating the other. Also in this case, the forearm 100d can be twisted. The first treatment member 121A and the second treatment member 121B may be arranged such that a joint (for example, a wrist joint) of the user is positioned between the plurality of treatment members 121A and 121B. In such an arrangement, when the first treatment member 121A and the second treatment member 121B are rotated in opposite directions, a joint (for example, a wrist joint) can be twisted.
When the air cells are rotated while the air cells 101a and 101b are contracted, the positions of the air cells 101a and 101b can be changed while the pressure on the body part 100 is released.
　図８２及び図８３は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、前腕１００ｄ及び上腕１００ａである。マッサージは、身体部位１００の掴み揉みを含む。前腕１００ｄの筋繊維は、前腕１００ｄの長手方向に向き、上腕１００ａの筋繊維は、上腕１００ａの長手方向に向く。 82 and 83 show an example of the massage unit 10. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, a forearm 100d and an upper arm 100a. The massage includes grasping and massaging the body part 100. The muscle fibers of the forearm 100d are oriented in the longitudinal direction of the forearm 100d, and the muscle fibers of the upper arm 100a are oriented in the longitudinal direction of the upper arm 100a.
　マッサージユニット１０は、前腕１００ｄ及び上腕１００ａにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、前腕１００ｄをマッサージ（掴み揉み）する第１施療部材１２１Ａと、上腕１００ａをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、を含む。第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、それらの間に、使用者の肘関節が位置するように設けられている。
　肘掛け部４に設けられる施療部材１２１Ａ，１２１Ｂの数は、３以上でもよい。図８２及び図８３に示す施療部材１２１Ａ，１２１Ｂは、首、肩、手、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the forearm 100d and the upper arm 100a. The treatment unit 101 includes a first treatment member 121A for massaging (grabbing and grasping) the forearm 100d and a second treatment member 121B for massaging (grabbing and grasping) the upper arm 100a. 121 A of 1st treatment members and the 2nd treatment member 121B are provided so that a user's elbow joint may be located among them.
The number of treatment members 121A and 121B provided in the armrest portion 4 may be three or more. The treatment members 121A and 121B shown in FIGS. 82 and 83 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulders, hands, thighs, lower thighs, legs, and other body parts. good.
第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、それぞれ、対の押圧部材１０１ａ，１０１ｂを有している。これらの押圧部材１０１ａ，１０１ｂは、図７７及び図７８に示す第１施療部材１２１Ａ及び第２施療部材１２１Ｂが有する対の押圧部材１０１ａ，１０１ｂと同様の構成を有し、同様の動作が可能である。 The first treatment member 121A and the second treatment member 121B each have a pair of pressing members 101a and 101b. These pressing members 101a and 101b have the same configuration as the pair of pressing members 101a and 101b included in the first treatment member 121A and the second treatment member 121B shown in FIGS. 77 and 78, and can perform the same operation. is there.
　図８２及び図８３のマッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を更に備えている。機構部１０３は、第１施療部材１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、を含む。 82 and 83 further includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
　第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ、対のエアセル１０１ａ，１０１ｂが取り付けられる支持部材１１３を備えている。支持部材１１３は、リング状に形成されている。支持部材１１３の内周面には、対のエアセル１０１ａ，１０１ｂが対向配置されている。被施療者は、腕１００ｄ，１００ａを、支持部材１１３の長手方向両側の開口の一方から支持部材１１３内に挿入することができる。支持部材１１３内に挿入された腕１００ｄ，１００ａは、対のエアセル１０１ａ，１０１ｂの間に位置する。
　支持部材１１３は、図示しないガイドによって、回転中心１０２Ａ，１０２Ｂ回りに回転自在に支持されている。 103 A of 1st mechanism parts and the 2nd mechanism part 103B are each provided with the supporting member 113 to which a pair of air cell 101a, 101b is attached. The support member 113 is formed in a ring shape. On the inner peripheral surface of the support member 113, a pair of air cells 101a and 101b are arranged to face each other. The user can insert the arms 100 d and 100 a into the support member 113 from one of the openings on both sides in the longitudinal direction of the support member 113. The arms 100d and 100a inserted into the support member 113 are positioned between the pair of air cells 101a and 101b.
The support member 113 is supported by a guide (not shown) so as to be rotatable around the rotation centers 102A and 102B.
　図８３（ａ）に示す第１機構部１０３Ａは、図７８の第１機構部１０３Ａと同様の構成を有している。すなわち、第１機構部１０３Ａは、支持部材１１３の外周側において全周にわたって形成された２つのラック１１４と、ラック１１４に噛み合うピニオン１１１と、を更に備えている。ピニオン１１１は、回転軸１１２を備えており、回転軸１１２が駆動部１５４によって回転駆動されることで、ピニオン１１１が回転する。ピニオン１１１の回転によって、支持部材１１３が回転中心１０２Ａ回りに回転する。エアセル１０１ａ，１０１ｂは、支持部材１１３の回転に伴って、回転中心１０２Ａ回りに回転する。回転中心１０２Ａは、支持部材１１３の内側に位置し、前腕１００ｄの筋繊維の方向（前腕の長手方向）に沿った向きを有する。回転中心１０２Ａ回りに回転するエアセル１０１ａ，１０１ｂは、前腕１００ｄの周方向に沿って移動する。エアセル１０１ａ，１０１ｂの周方向に沿った移動により、掴み揉みの方向を変更することができる。エアセル１０１ａ，１０１ｂは、駆動部１５４の正逆回転により、回転中心１０２回りの正逆回転が可能である。 The first mechanism unit 103A shown in FIG. 83A has the same configuration as the first mechanism unit 103A of FIG. That is, the first mechanism portion 103 </ b> A further includes two racks 114 formed over the entire circumference on the outer peripheral side of the support member 113, and a pinion 111 that meshes with the rack 114. The pinion 111 includes a rotating shaft 112, and the pinion 111 rotates when the rotating shaft 112 is rotationally driven by the drive unit 154. As the pinion 111 rotates, the support member 113 rotates about the rotation center 102A. The air cells 101a and 101b rotate around the rotation center 102A as the support member 113 rotates. The rotation center 102A is located inside the support member 113 and has a direction along the direction of the muscle fibers of the forearm 100d (the longitudinal direction of the forearm). The air cells 101a and 101b rotating around the rotation center 102A move along the circumferential direction of the forearm 100d. By moving the air cells 101a and 101b along the circumferential direction, the direction of gripping can be changed. The air cells 101 a and 101 b can rotate forward and backward around the rotation center 102 by forward and reverse rotation of the drive unit 154.
　図８３（ｂ）に示す第２機構部１０３Ｂは、支持部材１１３の外側の回転中心１０２Ｂ回りに支持部材１１３を回転させる。支持部材１１３は、その外周側に、ベース部１１３ｃを有している。ベース部１１３ｃには、支持部材１１３の回転中心１０２Ｂとなる回転軸１１１ｃの一端側が取り付けられている。回転軸１１１ｃの他端にはピニオン１１１ｂが取り付けられている。第２機構部１０３Ｂは、ピニオン１１１ｂに噛み合うピニオン１１１ａを更に備えている。ピニオン１１１ａは、回転軸１１２を備えており、回転軸１１２が駆動部１５４によって回転駆動されることで、ピニオン１１１ａが回転する。ピニオン１１１ａの回転によって、ピニオン１１１ｂ及び回転軸１１１ｃが回転し、支持部材１１３が、回転軸１１１ｃの軸心を回転中心１０２Ｂとして、回転する。 83B rotates the support member 113 around the rotation center 102B outside the support member 113. The second mechanism portion 103B shown in FIG. The support member 113 has a base portion 113c on the outer peripheral side thereof. One end side of a rotation shaft 111c that is the rotation center 102B of the support member 113 is attached to the base portion 113c. A pinion 111b is attached to the other end of the rotating shaft 111c. The second mechanism portion 103B further includes a pinion 111a that meshes with the pinion 111b. The pinion 111a includes a rotating shaft 112, and the pinion 111a rotates when the rotating shaft 112 is rotationally driven by the drive unit 154. The rotation of the pinion 111a rotates the pinion 111b and the rotation shaft 111c, and the support member 113 rotates about the axis of the rotation shaft 111c as the rotation center 102B.
　図８２において、第１施療部材１２１Ａの回転中心１０２Ａと、第２施療部材１２１Ｂの回転中心１０２Ｂとは、回転中心の位置及び向きが異なる。図８２の第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、肘を曲げた状態の上腕１００ａ及び前腕１００ｄをマッサージするように配置されているため、回転中心１０２Ａ，１０２Ｂの向きが異なる。また、第１施療部材１２１Ａの回転中心１０２Ａは、支持部材１１３の内側に位置しているのに対して、第２施療部材１２１Ｂの回転中心１０２Ｂは、支持部材１１３の外側に位置しており、回転中心１０２Ａ，１０２Ｂの位置が異なる。各回転中心１０２Ａ，１０２Ｂ回りの回転は、互いに同じ方向への回転でもよいし、逆方向への回転であってもよい。 82, the rotation center 102A of the first treatment member 121A and the rotation center 102B of the second treatment member 121B are different in position and orientation of the rotation center. Since the first treatment member 121A and the second treatment member 121B in FIG. 82 are arranged to massage the upper arm 100a and the forearm 100d with the elbows bent, the directions of the rotation centers 102A and 102B are different. The rotation center 102A of the first treatment member 121A is located inside the support member 113, whereas the rotation center 102B of the second treatment member 121B is located outside the support member 113. The positions of the rotation centers 102A and 102B are different. The rotations about the respective rotation centers 102A and 102B may be rotations in the same direction or in opposite directions.
　図８２の第１施療部材１２１Ａが前腕１００ｄをマッサージ（掴み揉み）している状態で、第１施療部材１２１Ａが回転中心１０２Ａ回りに回転すると、前腕１００ｄに対する掴み揉みに前腕１００ｄをねじる動作が加わったマッサージが得られる。図８２の第２施療部材１２１Ｂが上腕１００ａをマッサージ（掴み揉み）している状態で、第２施療部材１２１Ｂが回転中心１０２Ｂ回りに回転すると、上腕１００ａを掴みながら、回転中心１０２Ｂ回りに上腕１００ａを振り回すようなマッサージが得られる。さらに、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを同時に回転させると、前腕１００ｄをねじりながら、上腕１００ａを振り回すようなマッサージ感が得られる。また、図８２の配置では、使用者は、肘を曲げてリラックスした状態で、上腕１００ａと前腕１００ｄのマッサージを受けることができる。 When the first treatment member 121A rotates around the rotation center 102A in the state where the first treatment member 121A in FIG. 82 is massaging (grabbing and grasping) the forearm 100d, an operation of twisting the forearm 100d is added to grasping and grasping the forearm 100d. A massage can be obtained. When the second treatment member 121B rotates around the rotation center 102B in the state where the second treatment member 121B of FIG. 82 is massaging (grabbing), the upper arm 100a around the rotation center 102B while grasping the upper arm 100a. Get a massage that wields. Furthermore, when the first treatment member 121A and the second treatment member 121B are simultaneously rotated, a massage feeling that swings the upper arm 100a while twisting the forearm 100d is obtained. In the arrangement of FIG. 82, the user can receive a massage of the upper arm 100a and the forearm 100d in a relaxed state by bending the elbow.
　なお、図８２の第１機構部１０３Ａとして、第２機構部１０３Ｂと同様の構成を採用してもよいし、第２機構部１０３Ｂとして第１機構部１０３Ａと同様の構成を採用してもよい。機構部１０３は、ラック１１４及びピニオン１１１，１１１ａ，１１１ｂを有するものに限られず、エアセル１０１ａ，１０１ｂを回転させるよう構成されていれば足りる。第１施療部材１２１Ａ及び第２施療部材１２１Ｂのうち一方を回転させずに、他方を回転させてもよい。また、エアセル１０１ａ，１０１ｂが収縮した状態で、エアセルを回転させると身体部位１００への押圧を解除した状態で、エアセル１０１ａ，１０１ｂの位置を変更することができる。 The first mechanism 103A in FIG. 82 may have the same configuration as the second mechanism 103B, or the second mechanism 103B may have the same configuration as the first mechanism 103A. . The mechanism unit 103 is not limited to the one having the rack 114 and the pinions 111, 111a, and 111b, and it is sufficient if the mechanism unit 103 is configured to rotate the air cells 101a and 101b. One of the first treatment member 121A and the second treatment member 121B may be rotated without rotating the other. Further, when the air cells are rotated in a state where the air cells 101a and 101b are contracted, the positions of the air cells 101a and 101b can be changed in a state where the pressure on the body part 100 is released.
　図８４及び図８５は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。図１に示す左右の肘掛け部４それぞれは、一体的に構成されているが、図８４の肘掛け部４は、上腕１００ａを支持する第１支持部４Ａと、前腕１００ｄを支持する第２支持部４Ｂと、手１００ｃを支持する第３支持部４Ｃと、がそれぞれ別体で設けられている。
　マッサージユニット１０によってマッサージされる身体部位１００は、例えば、上腕１００ａ、前腕１００ｄ、及び手１００ｃである。マッサージは、身体部位１００の掴み揉みを含む。上腕１００ａの筋繊維は、上腕１００ａの長手方向に向き、前腕１００ｄの筋繊維は、前腕１００ｄの長手方向に向き、手１００ｃの筋繊維は、手１００ｃの長手方向に向く。 84 and 85 show an example of the massage unit 10. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. Each of the left and right armrest portions 4 shown in FIG. 1 is configured integrally, but the armrest portion 4 of FIG. 84 includes a first support portion 4A that supports the upper arm 100a and a second support portion that supports the forearm 100d. 4B and the third support portion 4C that supports the hand 100c are provided separately.
The body part 100 to be massaged by the massage unit 10 is, for example, the upper arm 100a, the forearm 100d, and the hand 100c. The massage includes grasping and massaging the body part 100. The muscle fibers of the upper arm 100a are oriented in the longitudinal direction of the upper arm 100a, the muscle fibers of the forearm 100d are oriented in the longitudinal direction of the forearm 100d, and the muscle fibers of the hand 100c are oriented in the longitudinal direction of the hand 100c.
　マッサージユニット１０は、上腕１００ａ、前腕１００ｄ、及び手１００ｃにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、第１範囲である上腕１００ａをマッサージ（掴み揉み）する第１施療部材１２１Ａと、第２範囲である前腕１００ｄをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、第３範囲である手１００ｃをマッサージ（掴み揉み）する第３施療部材１２１Ｃと、を含む。第１範囲である上腕１００ａと第２範囲である前腕１００ｄとの間には、使用者の肘関節が位置し、第２範囲である前腕１００ｄと第３範囲である手１００ｃとの間には、使用者の手関節が位置する。本実施形態において、第２施療部材１２１Ｂは、前腕１００ｄのうち手１００ｃ側の範囲（手首の範囲）に対するマッサージ（掴み揉み）を行うように配置されている。 The massage unit 10 has a treatment unit 101 that massages (grabs) the upper arm 100a, the forearm 100d, and the hand 100c. The treatment unit 101 includes a first treatment member 121A that massages (grabs) the upper arm 100a that is the first range, a second treatment member 121B that massages (grabs) the forearm 100d that is the second range, and a third range. And a third treatment member 121C that massages (grabs) the hand 100c. The user's elbow joint is located between the upper arm 100a that is the first range and the forearm 100d that is the second range, and between the forearm 100d that is the second range and the hand 100c that is the third range. The user's wrist joint is located. In the present embodiment, the second treatment member 121B is arranged so as to perform massage (grasping) for the range (wrist range) on the hand 100c side of the forearm 100d.
　第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃは、それぞれ、対の押圧部材１０１ａ，１０１ｂを有している。これらの押圧部材１０１ａ，１０１ｂも、前述の押圧部材１０１ａ，１０１ｂと同様に、エアセル１０１ａ，１０１ｂによって構成され、対のエアセル１０１ａ，１０１ｂによって身体部位への掴み揉みが得られる。 The first treatment member 121A, the second treatment member 121B, and the third treatment member 121C each have a pair of pressing members 101a and 101b. These pressing members 101a and 101b are also constituted by the air cells 101a and 101b similarly to the above-described pressing members 101a and 101b, and the pair of air cells 101a and 101b can grip and grasp the body part.
　図８４及び図８５のマッサージユニット１０は、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃを移動させる機構部１０３を更に備えている。機構部１０３は、第１施療部材１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、第３施療部材１２１Ｃを移動させる第３機構部１０３Ｃと、を備えている。なお、図８４では、機構部１０３Ａ～１０３Ｃの図示は省略している。 84 and 85 further includes a mechanism 103 that moves the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. The mechanism 103 includes a first mechanism 103A that moves the first treatment member 121A, a second mechanism 103B that moves the second treatment member 121B, a third mechanism 103C that moves the third treatment member 121C, It has. In FIG. 84, the mechanism portions 103A to 103C are not shown.
　図８５に示す機構部１０３Ａ，１０３Ｂ，１０３Ｃは、図６８に示す機構部１０３に類似したものである。ただし、図６８に示す機構部１０３では、エアセル１０１ａ，１０１ｂの支持部材が、２つの支持部材１１３ａ，１１３ｂによって構成されているのに対して、図８５に示す機構部１０３Ａ，１０３Ｂ，１０３Ｃでは、エアセル１０１ａ，１０１ｂの支持部材は、それぞれ、単一の半円状支持部材１１３によって構成されている。支持部材１１３の外周面にはラック１１４が形成されている。機構部１０３Ａ，１０３Ｂ，１０３Ｃは、ラック１１４に噛み合う２つのピニオン１１１ａ，１１１ｂを有している。これらのピニオン１１１ａ，１１１ｂが取り付けられた回転軸１１２ａ，１１２ｂが、図示しない駆動部によって回転駆動されることで、支持部材１１３は、身体部位の筋線維の方向に沿った回転中心１０２回りに正逆回転することができる（図８５（ｂ）参照）。 The mechanism units 103A, 103B, and 103C shown in FIG. 85 are similar to the mechanism unit 103 shown in FIG. However, in the mechanism unit 103 shown in FIG. 68, the support members of the air cells 101a and 101b are constituted by two support members 113a and 113b, whereas in the mechanism units 103A, 103B and 103C shown in FIG. The support members of the air cells 101a and 101b are each constituted by a single semicircular support member 113. A rack 114 is formed on the outer peripheral surface of the support member 113. The mechanism portions 103A, 103B, and 103C have two pinions 111a and 111b that mesh with the rack 114. The rotation shafts 112a and 112b to which these pinions 111a and 111b are attached are rotationally driven by a drive unit (not shown), so that the support member 113 is rotated around the rotation center 102 along the direction of the muscle fibers of the body part. Reverse rotation is possible (see FIG. 85 (b)).
　機構部１０３は、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃのうちの二以上の施療部材によるマッサージ（掴み揉み）が行われている状態で、掴み揉みを行っている二以上の施療部材の少なくとも一つを、各施療部材の回転中心１０２回りに回転させることができる。例えば、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって、上腕１００ａ及び前腕１００ｄに対する掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂのいずれか一方、又は両方を、回転中心１０２回りに回転させることができる。また、第１施療部材１２１Ａ及び第３施療部材１２１Ｃによって、上腕１００ａ及び手１００ｃに対する掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第３施療部材１２１Ｃのいずれか一方、又は両方を、回転中心１０２回りに回転させることができる。また、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃによって、前腕１００ｄ及び手１００ｃに対する掴み揉みが行われている状態で、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃのいずれか一方、又は両方を、回転中心１０２回りに回転させることができる。また、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃによって、上腕１００ａ、前腕１００ｄ及び手１００ｃに対する掴み揉みが行われている状態で、第１施療部材１２１Ａ、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃのいずれか一つ若しくはいずれか二つ又は全部を、回転中心１０２回りに回転させることができる。上記のようなマッサージによって、使用者の関節をひねることができる。 The mechanism unit 103 performs grasping and kneading in a state where massage (gripping) is performed by two or more treatment members among the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. At least one of the two or more treatment members can be rotated around the rotation center 102 of each treatment member. For example, in a state where the first treatment member 121A and the second treatment member 121B are gripping the upper arm 100a and the forearm 100d, either or both of the first treatment member 121A and the second treatment member 121B are used. The rotation center 102 can be rotated. In addition, in a state where the first treatment member 121A and the third treatment member 121C are gripping the upper arm 100a and the hand 100c, either one or both of the first treatment member 121A and the third treatment member 121C is used. The rotation center 102 can be rotated. In addition, in a state where the second treatment member 121B and the third treatment member 121C are gripping the forearm 100d and the hand 100c, either one or both of the second treatment member 121B and the third treatment member 121C are used. The rotation center 102 can be rotated. Further, the first treatment member 121A and the second treatment are performed in a state where the upper arm 100a, the forearm 100d and the hand 100c are gripped by the first treatment member 121A, the second treatment member 121B and the third treatment member 121C. Any one, any two, or all of the member 121B and the third treatment member 121C can be rotated around the rotation center 102. The user's joint can be twisted by the massage as described above.
　ここで、図８４の第２施療部材１２１Ｂ及び第３施療部材１２１Ｃに着目する。ここでは、第２施療部材１２１Ｂを第１部材といい、第３施療部材１２１Ｃを第２部材という。機構部１０３は、第１部材１２１Ｂによる手首（前腕１００ｄ）に対する掴み揉みが行われている状態で、手首１００ｄの筋繊維の方向に沿った回転中心１０２回りに第２部材１２１Ｃを回転させることで、手首１００ｄを固定した状態で、手１００ｃを回すことができる。手１００ｃは比較的平坦であるため、第２部材１２１Ｃによって手１００ｃに対する掴み揉みが行われていてもいなくても、第２部材１２１Ｃが回転すると、第２部材１２１Ｃが手１００ｃに当接して、手１００ｃを回転させることができる。 Here, attention is focused on the second treatment member 121B and the third treatment member 121C of FIG. Here, the second treatment member 121B is referred to as a first member, and the third treatment member 121C is referred to as a second member. The mechanism unit 103 rotates the second member 121C around the rotation center 102 along the direction of the muscle fibers of the wrist 100d in a state where the wrist (forearm 100d) is gripped by the first member 121B. The hand 100c can be turned with the wrist 100d fixed. Since the hand 100c is relatively flat, the second member 121C contacts the hand 100c when the second member 121C rotates, whether or not the hand 100c is gripped by the second member 121C. The hand 100c can be rotated.
　図８６は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、フットレスト５に設けられている。図８６のフットレストでは、大腿１００ｅを支持する第１支持部５Ａと、下腿１００ｆを支持する第２支持部５Ｂと、足１００ｇを支持する第３支持部５Ｃと、がそれぞれ別体で設けられている。図８６のマッサージユニット１０によってマッサージされる身体部位１００は、大腿１００ｅ、下腿１００ｆ、及び足１００ｇである。マッサージは、身体部位１００の掴み揉みを含む。大腿１００ｅの筋繊維は、大腿１００ｅの長手方向に向き、下腿１００ｆの筋繊維は、下腿１００ｆの長手方向に向き、足１００ｇの筋繊維は、足１００ｇの長手方向に向く。 FIG. 86 shows an example of the massage unit 10. The massage unit 10 is provided on the footrest 5, for example. 86, the first support portion 5A that supports the thigh 100e, the second support portion 5B that supports the lower leg 100f, and the third support portion 5C that supports the foot 100g are provided separately. Yes. The body parts 100 to be massaged by the massage unit 10 in FIG. 86 are a thigh 100e, a lower leg 100f, and a leg 100g. The massage includes grasping and massaging the body part 100. The muscle fibers of the thigh 100e face the longitudinal direction of the thigh 100e, the muscle fibers of the lower leg 100f face the longitudinal direction of the lower leg 100f, and the muscle fibers of the foot 100g face the longitudinal direction of the foot 100g.
　マッサージユニット１０は、大腿１００ｅ、下腿１００ｆ、及び足１００ｇにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、第１範囲である大腿１００ｅをマッサージ（掴み揉み）する第１施療部材１２１Ａと、第２範囲である下腿１００ｆをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、第３範囲である足１００ｇをマッサージ（掴み揉み）する第３施療部材１２１Ｃと、を含む。第１範囲である大腿１００ｅと第２範囲である下腿１００ｆとの間には、使用者の膝関節が位置し、第２範囲である下腿１００ｆと第３範囲である足１００ｇとの間には、使用者の足関節が位置する。本実施形態において、第２施療部材１２１Ｂは、下腿１００ｆのうち、足１００ｇ側の範囲（足首の範囲）に対するマッサージ（掴み揉み）を行うように配置されている。 The massage unit 10 has a treatment unit 101 that massages (grabs) the thigh 100e, the lower leg 100f, and the leg 100g. The treatment unit 101 includes a first treatment member 121A that massages (grabs) the thigh 100e that is the first range, a second treatment member 121B that massages (grabs and grasps) the lower leg 100f that is the second range, and a third range. And a third treatment member 121C for massaging (grabbing) the leg 100g. The user's knee joint is located between the thigh 100e which is the first range and the lower leg 100f which is the second range, and between the lower leg 100f which is the second range and the foot 100g which is the third range. The user's ankle joint is located. In the present embodiment, the second treatment member 121B is arranged so as to perform massage (grasping) on the leg 100g side range (ankle range) of the lower leg 100f.
　第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃは、それぞれ、対の押圧部材１０１ａ，１０１ｂを有している。これらの押圧部材１０１ａ，１０１ｂも、前述の押圧部材１０１ａ，１０１ｂと同様に、エアセル１０１ａ，１０１ｂによって構成され、対のエアセル１０１ａ，１０１ｂによって身体部位への掴み揉みが得られる。 The first treatment member 121A, the second treatment member 121B, and the third treatment member 121C each have a pair of pressing members 101a and 101b. These pressing members 101a and 101b are also constituted by the air cells 101a and 101b similarly to the above-described pressing members 101a and 101b, and the pair of air cells 101a and 101b can grip and grasp the body part.
　図８６に示すマッサージユニット１０も、図８４に示すマッサージユニット１０と同様に機構部１０３を有しているが、図８６においては図８４と同様に機構部１０３が省略されている。各施療部材１２１Ａ，１２１Ｂ，１２１Ｃを移動させる機構部は、図８５に示す機構部１０３Ａ，１０３Ｂ，１０３Ｃと同様のものが採用される。したがって、第１施療部材１２１Ａ、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃは、それぞれ、身体部位の筋繊維の方向に沿った回転中心１０２回りに正逆回転することができる。 The massage unit 10 shown in FIG. 86 also has a mechanism 103 similar to the massage unit 10 shown in FIG. 84, but the mechanism 103 is omitted in FIG. 86 as in FIG. As the mechanism units for moving the treatment members 121A, 121B, and 121C, the same units as the mechanism units 103A, 103B, and 103C shown in FIG. 85 are employed. Therefore, the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C can rotate forward and backward around the rotation center 102 along the direction of the muscle fiber of the body part.
　機構部１０３は、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃのうちの二以上の施療部材によるマッサージ（掴み揉み）が行われている状態で、掴み揉みを行っている二以上の施療部材の少なくとも一つを、各施療部材の回転中心１０２回りに回転させることができる。例えば、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって、大腿１００ｅ及び下腿１００ｆに対する掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂのいずれか一方、又は両方を、回転中心１０２回りに回転させることができる。また、第１施療部材１２１Ａ及び第３施療部材１２１Ｃによって、大腿１００ｅ及び足１００ｇに対する掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第３施療部材１２１Ｃのいずれか一方、又は両方を、回転中心１０２回りに回転させることができる。また、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃによって、下腿１００ｆ及び足１００ｇに対する掴み揉みが行われている状態で、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃのいずれか一方、又は両方を、回転中心１０２回りに回転させることができる。また、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃによって、大腿１００ｅ、下腿１００ｆ及び足１００ｇに対する掴み揉みが行われている状態で、第１施療部材１２１Ａ、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃのいずれか一つ若しくはいずれか二つ又は全部を、回転中心１０２回りに回転させることができる。上記のようなマッサージによって、使用者の関節をひねることができる。 The mechanism unit 103 performs grasping and kneading in a state where massage (gripping) is performed by two or more treatment members among the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. At least one of the two or more treatment members can be rotated around the rotation center 102 of each treatment member. For example, in a state in which the first treatment member 121A and the second treatment member 121B are gripping the thigh 100e and the lower leg 100f, either one or both of the first treatment member 121A and the second treatment member 121B is used. The rotation center 102 can be rotated. In addition, in a state where the first treatment member 121A and the third treatment member 121C are gripping the thigh 100e and the foot 100g, either one or both of the first treatment member 121A and the third treatment member 121C is used. The rotation center 102 can be rotated. In addition, in a state where the second treatment member 121B and the third treatment member 121C are gripped and crushed on the lower leg 100f and the foot 100g, either one or both of the second treatment member 121B and the third treatment member 121C are used. The rotation center 102 can be rotated. In addition, the first treatment member 121A and the second treatment are performed in a state where the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping and kneading the thigh 100e, the lower leg 100f, and the foot 100g. Any one, any two, or all of the member 121B and the third treatment member 121C can be rotated around the rotation center 102. The user's joint can be twisted by the massage as described above.
　ここで、図８６の第２施療部材１２１Ｂ及び第３施療部材１２１Ｃに着目する。ここでは、第２施療部材１２１Ｂを第１部材といい、第３施療部材１２１Ｃを第２部材という。機構部１０３は、第１部材１２１Ｂによる足首（下腿１００ｆ）に対する掴み揉みが行われている状態で、足首１００ｆの筋繊維の方向に沿った回転中心１０２回りに第２部材１２１Ｃを回転させることで、足首１００ｆを固定した状態で、足１００ｇを回すことができる。なお、第２部材１２１Ｃによって足１００ｇに対する掴み揉みが行われていてもいなくても、第２部材１２１Ｃが回転すると、第２部材１２１Ｃが足１００ｇ当接して、足１００ｇを回転させることができる。 Here, attention is focused on the second treatment member 121B and the third treatment member 121C of FIG. Here, the second treatment member 121B is referred to as a first member, and the third treatment member 121C is referred to as a second member. The mechanism 103 rotates the second member 121C around the rotation center 102 along the direction of the muscle fiber of the ankle 100f in a state where the first member 121B is gripping and crutching the ankle (lower leg 100f). The foot 100g can be turned with the ankle 100f fixed. Even if the second member 121C is not gripped with respect to the foot 100g, when the second member 121C rotates, the second member 121C comes into contact with the foot 100g and can rotate the foot 100g.
＜第２節：身体部位の筋繊維の方向に交わる面内方向を中心とした回転＞
　本節における実施形態を列記して説明する。本節での説明に付されている符号は、図１及び図８７～図１２７において使用されている。
〔本発明の実施形態の説明〕
（３８）本発明のマッサージ装置（実施の一形態）１は、身体部位１００に対する掴み揉みを行う施療部１０１と、施療部１０１による掴み揉みが行われている状態で、掴み揉みが行われている身体部位における筋繊維の方向に交わる面内方向に向く回転中心１０２回りに施療部１０１を回転させる機構部１０３と、を備えている。 <Section 2: Rotation around the in-plane direction intersecting the direction of muscle fibers of the body part>
The embodiments in this section are listed and described. The reference numerals used in the description in this section are used in FIG. 1 and FIGS. 87 to 127.
[Description of Embodiment of the Present Invention]
(38) A massage device (one embodiment) 1 according to the present invention includes a treatment unit 101 that performs grasping and squeezing on the body part 100, and a gripping and squeezing performed by the treatment unit 101. And a mechanism unit 103 that rotates the treatment unit 101 around a rotation center 102 that faces an in-plane direction that intersects the direction of muscle fibers in the body part.
　施療部１０１が、掴み揉みが行われている身体部位１００の筋繊維の方向に交わる面内方向に向く回転中心１０２に回転することで、掴み揉みに回転が加わったマッサージが得られ、単なる掴み揉みよりもマッサージ感が向上する。筋繊維の方向は、例えば、腕の長手方向、脚の長手方向、肩の左右方向、及び首の長手方向を含む。腕、脚又は首に対する掴み揉みを行う施療部１０１の場合、施療部１０１は、例えば、腕、脚又は首の長手方向に交差する方向の回転中心１０２回りに回転する。腕、脚又は首などの身体部位の長手方向が上下方向を向いている場合、上記の面内方向は、身体部位の左右方向又は身体部位の前後方向を含む。肩に対する掴み揉みを行う施療部１０１の場合、施療部１０１は、例えば、肩の左右方向に交差する方向の回転中心１０２回りに回転する。肩の左右方向に交差する面内方向は、例えば、肩の前後方向及び肩の上下方向を含む。 The treatment unit 101 rotates to the center of rotation 102 facing in the in-plane direction intersecting the direction of the muscle fibers of the body part 100 where the grasping is performed, whereby a massage in which the rotation is added to the grasping is obtained. A feeling of massage improves rather than itching. The direction of the muscle fiber includes, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the left-right direction of the shoulder, and the longitudinal direction of the neck. In the case of the treatment unit 101 that performs grasping and squeezing with respect to the arm, leg, or neck, the treatment unit 101 rotates around the rotation center 102 in a direction that intersects the longitudinal direction of the arm, leg, or neck, for example. When the longitudinal direction of a body part such as an arm, a leg, or a neck faces the up-down direction, the in-plane direction includes the left-right direction of the body part or the front-back direction of the body part. In the case of the treatment unit 101 that performs grasping and kneading on the shoulder, the treatment unit 101 rotates, for example, around a rotation center 102 in a direction that intersects the left-right direction of the shoulder. The in-plane direction intersecting the left and right direction of the shoulder includes, for example, the front and rear direction of the shoulder and the vertical direction of the shoulder.
　機構部１０３は、施療部１０１の全体を回転させる必要はなく、施療部１０１の少なくとも一部を回転させるもので足りる。施療部１０１が後述の対の押圧部材１０１ａ，１０１ｂを含む場合、機構部１０３は、対の押圧部材１０１ａ，１０１ｂの少なくとも一方を回転させる。
　回転は、真円に沿った軌跡を描く運動である必要はなく、楕円その他の変形した円に沿った軌跡を描く運動であれば足りる。施療部１０１の運動軌跡が真円に沿った軌跡でない場合、回転中心は、施療部１０１の運動軌跡に近似する真円を想定したときに、その真円の中心付近に存在することを観念できるものであれば足りる。
　例えば、第２章第１節で説明したマッサージユニット１０における掴み機構３０の引き揉み動作（及び押し揉み動作）も、第３章における施療部１０１の回転と同視することができる。 The mechanism part 103 does not need to rotate the whole treatment part 101, and what rotates at least one part of the treatment part 101 is sufficient. When the treatment unit 101 includes a pair of pressing members 101a and 101b described later, the mechanism unit 103 rotates at least one of the pair of pressing members 101a and 101b.
The rotation does not need to be a motion that draws a trajectory along a perfect circle, but a motion that draws a trajectory along an ellipse or other deformed circle is sufficient. When the motion trajectory of the treatment unit 101 is not a trajectory along a perfect circle, it is possible to imagine that the center of rotation exists near the center of the perfect circle when assuming a perfect circle that approximates the motion trajectory of the treatment unit 101. Anything is enough.
For example, the pulling operation (and the pressing operation) of the gripping mechanism 30 in the massage unit 10 described in Chapter 2 Section 1 can be regarded as the rotation of the treatment unit 101 in Chapter 3.
（３９）回転中心１０２は、施療部１０１によって掴み揉みされる身体部位１００の内部に位置することができる。この場合、身体部位１００をその内部の回転中心１０２回りに回転させることができる。 (39) The rotation center 102 can be located inside the body part 100 that is grasped and squeezed by the treatment unit 101. In this case, the body part 100 can be rotated around the center of rotation 102 therein.
（４０）回転中心１０２は、施療部１０１によって掴み揉みされる身体部位１００の外部に位置することができる。この場合、身体部位１００をその外部の回転中心１０２回りに回転させることができる。 (40) The rotation center 102 can be located outside the body part 100 that is grasped and squeezed by the treatment unit 101. In this case, the body part 100 can be rotated around the rotation center 102 outside the body part 100.
（４１）施療部１０１は、接近及び離反して身体部位に対する掴み揉みを行うための対の押圧部材１０１ａ，１０１ｂを含み、機構部１０３は、対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方の押圧部材を、筋繊維の方向に交わる面内方向に向く回転中心１０２回りに回転させるよう構成されているのが好ましい。対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方の押圧部材が回転することで、単なる掴み揉みよりもマッサージ感が向上する。 (41) The treatment part 101 includes a pair of pressing members 101a and 101b for approaching and moving away from each other and gripping the body part, and the mechanism part 103 includes at least one of the pair of pressing members 101a and 101b. It is preferable that the pressing member is configured to rotate around the rotation center 102 facing in the in-plane direction intersecting the direction of the muscle fibers. When at least one of the pair of pressing members 101a and 101b rotates, the feeling of massage is improved more than a simple gripping.
（４２）機構部１０３は、対の押圧部材１０１ａ，１０１ｂを互いに逆方向に回転させるよう構成されているのが好ましい。対の押圧部材１０１ａ，１０１ｂを互いに逆方向に回転させることで、単なる掴み揉みよりもマッサージ感が向上する。 (42) The mechanism 103 is preferably configured to rotate the pair of pressing members 101a and 101b in opposite directions. By rotating the pair of pressing members 101a and 101b in directions opposite to each other, the feeling of massage is improved more than mere gripping.
（４３）施療部１０１は、身体部位１００に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ，１２１Ｂ及び第２施療部材１２１Ｃ，１２１Ｄを含み、第１施療部材１２１Ａ，１２１Ｂ及び第２施療部材１２１Ｃ，１２１Ｄは、筋繊維の方向に並設され、機構部１０３は、前記第１施療部材１２１Ａ，１２１Ｂ及び第２施療部材１２１Ｃ，１２１Ｄの少なくともいずれか一方を、筋繊維の方向に交わる面内方向に向く回転中心１０２回りに回転させるよう構成されているのが好ましい。 (43) The treatment unit 101 includes first treatment members 121A and 121B and second treatment members 121C and 121D, each of which grips and squeezes the body part 100, and includes the first treatment members 121A and 121B and the second treatment members 121C, 121D is juxtaposed in the direction of the muscle fibers, and the mechanism portion 103 has at least one of the first treatment members 121A and 121B and the second treatment members 121C and 121D in an in-plane direction intersecting the direction of the muscle fibers. It is preferably configured to rotate about the rotation center 102 facing.
（４４）第１施療部材１２１Ａ，１２１Ｂ及び第２施療部材１２１Ｃ，１２１Ｄは、第１施療部材１２１Ａ，１２１Ｂと第２施療部材１２１Ｃ，１２１Ｄとの間に身体部位１００が位置するように、対向して配置されているのが好ましい。ここで、「対向して配置され」とは、身体部位１００を挟んで身体部位１００の両側に配置されていれば足りる。例えば、第１施療部材１２１Ａ，１２１Ｂ及び第２施療部材１２１Ｃ，１２１Ｄが、身体部位の長手方向にずれて配置されていてもよい。 (44) The first treatment members 121A and 121B and the second treatment members 121C and 121D face each other so that the body part 100 is positioned between the first treatment members 121A and 121B and the second treatment members 121C and 121D. Are preferably arranged. Here, “arranged to face” is sufficient if it is arranged on both sides of the body part 100 with the body part 100 in between. For example, the first treatment members 121A and 121B and the second treatment members 121C and 121D may be arranged so as to be shifted in the longitudinal direction of the body part.
（４５）施療部１０は、身体部位１００に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、機構部１０３は、第１施療部材１２１Ａによる掴み揉みが行われている状態で、第１施療部材１２１Ａによって掴み揉みが行われている身体部位１００ｃにおける筋繊維の方向に交わる面内方向に向く第１回転１０２Ａ中心回りに第１施療部材１２１Ａを回転させるよう構成され、かつ第２施療部材１２１Ｂによる掴み揉みが行われている状態で、第２施療部材１２１Ｂによって掴み揉みが行われている身体部位１００ｄにおける筋繊維の方向に交わる面内方向に向く第２回転１０２Ｂ中心まわりに第２施療部材１０Ｂを回転させるよう構成されているのが好ましい。 (45) The treatment unit 10 includes a first treatment member 121A and a second treatment member 121B, each of which grips and rubs the body part 100, and the mechanism unit 103 is gripped by the first treatment member 121A. In the state, the first treatment member 121A is configured to rotate around the center of the first rotation 102A in the in-plane direction intersecting the direction of the muscle fibers in the body part 100c that is grasped and squeezed by the first treatment member 121A. In the state in which the second treatment member 121B is grasped and squeezed, the center of the second rotation 102B oriented in the in-plane direction intersecting the direction of the muscle fiber in the body part 100d that is grasped and squeezed by the second treatment member 121B It is preferable that the second treatment member 10B is configured to rotate around.
（４６）第１回転中心１０２Ａは、第２回転中心１０２Ｂとは異なる方向を向いているのが好ましい。 (46) The first rotation center 102A preferably faces a different direction from the second rotation center 102B.
（４７）第１回転中心１０２Ａは、第２回転中心１０２Ｂとは異なる位置に存在するのが好ましい。 (47) The first rotation center 102A is preferably present at a position different from the second rotation center 102B.
（４８）第１施療部材１２１Ａ及び第２施療部材１２１Ｂの少なくともいずれか一方は、身体部位に対する掴み揉みを行うための対の押圧部材１０１ａ，１０１ｂを含み、機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって身体部位を掴み揉みが行われている状態で、対の押圧部材１０１ａ，１０１ｂ同士の相対位置関係が変化するように、対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方の押圧部材を、第１回転中心１０２Ａ又は第２回転中心１０２Ｂまわりに回転させるのが好ましい。 (48) At least one of the first treatment member 121A and the second treatment member 121B includes a pair of pressing members 101a and 101b for grasping and squeezing the body part, and the mechanism unit 103 includes the first treatment member 121A. In addition, at least one of the pair of pressing members 101a and 101b is changed so that the relative positional relationship between the pair of pressing members 101a and 101b changes in the state where the body part is grasped and squeezed by the second treatment member 121B. It is preferable to rotate the pressing member around the first rotation center 102A or the second rotation center 102B.
（４９）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、機構部１０３は、第１施療部材１２１Ａによる掴み揉みが行われている状態で、第１施療部材１２１Ａによって掴み揉みが行われている身体部位１００ｃにおける筋繊維の方向に交わる面内方向に向く第１回中心１０２Ａ回りに前記第１施療部材１２１Ａを回転させるよう構成され、かつ第２施療部材１２１Ｂによる掴み揉みが行われている状態で、第２施療部材１２１Ｂによって掴み揉みが行われている身体部位１００ｄにおける筋繊維の方向に交わる面内方向に向く第２回転１０２Ｂ中心まわりに第２施療部材１２１Ｂを回転させるよう構成され、第１回転中心１０２Ａは、第１施療部材１２１Ａによって掴み揉みが行われている身体部位１００ｃの内部に位置し、第２回転中心１０２Ｂは、１２１Ｂ第２施療部材によって掴み揉みが行われている身体部位１００ｄの外部に位置するのが好ましい。 (49) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the mechanism unit 103 is in a state in which the first treatment member 121A is gripped and squeezed. Thus, the first treatment member 121A is configured to rotate around the first center 102A facing in the in-plane direction intersecting the direction of the muscle fibers in the body part 100c being grasped by the first treatment member 121A. In the state in which the second treatment member 121B is grasped and squeezed, the center of the second rotation 102B oriented in the in-plane direction intersecting the direction of the muscle fiber in the body part 100d that is grasped and squeezed by the second treatment member 121B The second treatment member 121B is configured to rotate around, and the first rotation center 102A is gripped by the first treatment member 121A. Kneading located within the body part 100c that is being performed, the second rotational center 102B is preferably located outside of the body part 100d that massaging gripping by 121B second treatment member is being performed.
（５０）機構部１０２は、施療部１０１による掴み揉みが行われている状態で、更に、前記筋繊維に沿った方向へ施療部１０１を動かすよう構成されているのが好ましい。 (50) It is preferable that the mechanism unit 102 is further configured to move the treatment unit 101 in a direction along the muscle fiber in a state in which the treatment unit 101 is grasped and squeezed.
（５１）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、機構部１０３は、第１施療部材による掴み揉みが行われている状態で、前記筋繊維の方向に交わる面内方向に向く回転中心回りに第１施療部材を回転させ、更に、前記筋繊維に沿った方向へ第１施療部材を動かすよう構成され、かつ第２施療部材による掴み揉みが行われている状態で、筋繊維の方向に交わる面内方向に向く回転中心回りに第２施療部材を回転させ、更に、筋繊維に沿った方向へ前記第２施療部材を動かすよう構成されているのが好ましい。 (51) The treatment unit 101 includes a first treatment member and a second treatment member that respectively perform gripping and scoring on the body part, and the mechanism unit 103 is in a state where the gripping and scoring by the first treatment member is performed. The first treatment member is configured to rotate around the center of rotation in the in-plane direction intersecting with the direction of the muscle fibers, and to move the first treatment member in the direction along the muscle fibers, and to be gripped by the second treatment member A configuration in which the second treatment member is rotated around the center of rotation in the in-plane direction intersecting with the direction of the muscle fibers and the second treatment member is moved in the direction along the muscle fibers in the state where the stagnation is performed. It is preferable.
（５２）機構部１０３は、第１施療部材及び第２施療部材が互いに離れるように、第１施療部材及び第２施療部材の少なくともいずれか一方を前記筋繊維に沿った方向へ動かすよう構成されているのが好ましい。 (52) The mechanism portion 103 is configured to move at least one of the first treatment member and the second treatment member in a direction along the muscle fibers so that the first treatment member and the second treatment member are separated from each other. It is preferable.
（５３）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃを含み、第１施療部材１２１Ａは、身体の第１範囲１００ｈに対して掴み揉みを行うよう設けられ、第２施療部材１２１Ｂは、第１範囲１００ｈとの間に少なくとも一つの関節を介して、第１範囲１００ｈとは異なる範囲である身体の第２範囲１００ａに対して掴み揉みを行うよう設けられ、第３施療部材１２１Ｃは、第２の範囲１００ａとの間に少なくとも一つの他の関節を介して、第１範囲１００ｈ及び第２範囲１００ａとは異なる範囲である身体の第３範囲１００ｄに対して掴み揉みを行うよう設けられているのが好ましい。 (53) The treatment unit 101 includes a first treatment member 121A, a second treatment member 121B, and a third treatment member 121C, each of which grips and squeezes a body part, and the first treatment member 121A is a first range of the body. The second treatment member 121B is provided to perform grasping and squeezing with respect to 100h, and the second range of the body is a range different from the first range 100h via at least one joint between the second range and the first range 100h. The third treatment member 121C is different from the first range 100h and the second range 100a through at least one other joint between the third treatment member 121C and the second range 100a. It is preferable that the third range 100d of the body, which is the range, is provided so as to be grasped and squeezed.
（５４）機構部１０３は、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃのうちの二以上の施療部材による掴み揉みが行われている状態で、掴み揉みを行っている二以上の施療部材の少なくとも一つを、前記回転中心１０２回りに回転させるよう構成されているのが好ましい。 (54) The mechanism unit 103 performs gripping and kneading in a state where gripping is performed by two or more of the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. It is preferable that at least one of the two or more treatment members is configured to rotate around the rotation center 102.
（５５）対の押圧部材１０１ａ，１０１ｂのうちの一方の押圧部材１０１ａは、肩上側１００ｈａを押圧し、対の押圧部材１０１ａ，１０１ｂのうちの他方の押圧部材１０１ｂは、肩裏側１００ｈｂを押圧するのが好ましい。 (55) One pressing member 101a of the pair of pressing members 101a and 101b presses the shoulder upper side 100ha, and the other pressing member 101b of the pair of pressing members 101a and 101b presses the shoulder back side 100hb. Is preferred.
（５６）施療部１０１は、首１００ｈに対する掴み揉みを行うよう設けられているのが好ましい。 (56) It is preferable that the treatment part 101 is provided so as to grip and knead the neck 100h.
（５７）他の観点からみたマッサージ装置は、肩１００ｈに対する掴み揉みを行う施療部１０１と、施療部１０１が首１００ｉに対する掴み揉みが行えるように首１００ｉまで移動させる機構部１０３と、を備える。 (57) A massage device viewed from another viewpoint includes a treatment unit 101 that performs grasping and squeezing on the shoulder 100h, and a mechanism unit 103 that moves the treatment unit 101 to the neck 100i so that the neck 100i can be grasped and squeezed.
（５８）前記施療部１０１は、掴み揉みを行うための対の押圧部材１０１ａ，１０１ｂを含み、前記機構部１０３は、更に、前記対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方の押圧部材１０１ａ，１０１ｂを、掴み揉みが行われる身体部位における筋繊維の方向に交わる面内方向に向く回転中心回りに回転させるよう構成されているのが好ましい。 (58) The treatment unit 101 includes a pair of pressing members 101a and 101b for gripping and squeezing, and the mechanism unit 103 further includes at least one pressing member 101a of the pair of pressing members 101a and 101b. , 101b is preferably configured to rotate about the center of rotation directed in the in-plane direction intersecting the direction of the muscle fibers in the body part where the gripping is performed.
［本発明の実施形態の詳細］
　図８７及び図８８は、マッサージユニット例１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、手１００ｃ及び前腕１００ｄである。マッサージは、身体部位１００の掴み揉みを含む。手１００ｃ及び前腕１００ｄの筋繊維は、手１００ｃ及び前腕１００ｄの長手方向（図８７のＺ方向）に向いている。 [Details of the embodiment of the present invention]
87 and 88 show an example of the massage unit example 10. FIG. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage includes grasping and massaging the body part 100. The muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction (Z direction in FIG. 87) of the hand 100c and the forearm 100d.
　マッサージユニット１０は、手１００ｃ及び前腕１００ｄにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、手１００ｃをマッサージ（掴み揉み）する第１施療部材１２１Ａと、前腕１００ｄをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、を含む。
　肘掛け部４に設けられる施療部材１２１Ａ，１２１Ｂの数は、１つでもよいし、３以上でもよい。図８７及び図８８に示す施療部材１２１Ａ，１２１Ｂは、首、肩、上腕、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d. The treatment unit 101 includes a first treatment member 121A that massages (grabs) the hand 100c and a second treatment member 121B that massages (grabs) the forearm 100d.
The number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more. The treatment members 121A and 121B shown in FIGS. 87 and 88 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulder, upper arm, thigh, lower leg, foot, and other body parts. good.
　第１施療部材１２１Ａは、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の手１００ｃを配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。対の押圧部材１０１ａ，１０１ｂのうち、上側の押圧部材１０１ａを構成するエアセルの数は２つであり、下側の押圧部材１０１ｂを構成するエアセルの数は１つである。エアセル１０１ａ，１０１ｂは、図示しない空気回路による給排気を受ける。エアセル１０１ａ，１０１ｂは給排気によって膨張収縮する。膨張した対のエアセル１０１ａ，１０１ｂは、手１００ｃの両側から押圧する（図８９参照）。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。 The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are disposed so as to face each other so as to have a space in which a hand 100c to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. Of the pair of pressing members 101a and 101b, the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b are supplied and exhausted by an air circuit (not shown). The air cells 101a and 101b expand and contract by supply and exhaust. The expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 89). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
　第１施療部材１２１Ａは、手１００ｃにおける筋繊維の方向（手１００ｃの長手方向；図８７のＺ方向）に交わる方向（図８７のＹ方向）から手１００ｃに対する掴み揉みを行う。
　掴み揉みは、対の押圧部材１０１ａ，１０１ｂの間に身体部位１００を位置させた状態で、対の押圧部材１０１ａ，１０１ｂを互いに近接させることで行われる。このように、掴み揉みは、身体部位１００を挟み込むシンプルな動作で足りる。 The first treatment member 121A grips and grips the hand 100c from the direction (Y direction in FIG. 87) intersecting the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c; Z direction in FIG. 87).
The gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
　第２施療部材１２１Ｂは、第１施療部材１２１Ａと同様の構成を有し、同様に動作する。すなわち、第２施療部材１２１Ｂは、対の押圧部材１０１ａ，１０１ｂを有し、対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。 The 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
　図８７及び図８８のマッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を更に備えている。機構部１０３は、第１施療部材１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、を含む。 87 and 88 further includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
　第１機構部１０３Ａは、対のエアセル１０１ａ，１０１ｂのうちの一方のエアセル（第１エアセル）１０１ａが取り付けられる第１支持部材１５３ａと、他方のエアセル（第２エアセル）１０１ｂが取り付けられる第２支持部材１５３ｂと、第１支持部材１５３ａ及び第２支持部材１５３ｂを手の外側（小指側）で連結する第３支持部材１５３ｃと、第３支持部材１５３ｃに連結された回転軸（回転中心）１０２と、を備えている。回転軸１０２は、駆動部１５４によって回転駆動される。 The first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached. A member 153b, a third support member 153c for connecting the first support member 153a and the second support member 153b on the outer side (the little finger side) of the hand, and a rotation shaft (rotation center) 102 connected to the third support member 153c. It is equipped with. The rotating shaft 102 is rotationally driven by the drive unit 154.
　回転軸（回転中心）１０２は、手１００ｃの筋繊維の方向（Ｚ方向）に交わる方向（Ｘ方向）を向いている。換言すると、回転中心１０２は、手１００ｃの筋繊維の方向（Ｚ方向）に交わる面内方向を向いている。
　駆動部１５４は、支持部材１５３ａ，１５３ｂ，１５３ｃを、回転軸（回転中心）１０２回りに回転駆動する。エアセル１０１ａ，１０１ｂは、支持部材１５３ａ，１５３ｂ，１５３ｃの回転に伴って、回転軸（回転中心）１０２回りに回転する。エアセル１０１ａ，１０１ｂは、駆動部１５４の正逆回転により、回転軸（回転中心）１０２回りの正逆回転が可能である。 The rotation axis (rotation center) 102 faces the direction (X direction) that intersects the direction (Z direction) of the muscle fibers of the hand 100c. In other words, the center of rotation 102 faces the in-plane direction that intersects the direction of the muscle fibers of the hand 100c (Z direction).
The drive unit 154 rotationally drives the support members 153 a, 153 b, and 153 c around the rotation axis (rotation center) 102. The air cells 101a and 101b rotate around the rotation axis (rotation center) 102 as the support members 153a, 153b, and 153c rotate. The air cells 101a and 101b can rotate forward and backward around the rotation axis (rotation center) 102 by forward and reverse rotation of the drive unit 154.
　図８９及び図９０において、回転中心１０２は、対のエアセル１０１ａ，１０１ｂによる押圧方向（Ｙ方向）と交差（直交）する方向に向けられている。エアセル１０１ａ，１０１ｂの回転によって、押圧方向を変化させることができる。 89 and 90, the rotation center 102 is directed in a direction intersecting (orthogonal) with the pressing direction (Y direction) by the pair of air cells 101a and 101b. The pressing direction can be changed by the rotation of the air cells 101a and 101b.
　図８９及び図９０に示すように、回転軸１０２による回転中心は、掴み揉みされる身体部位（手又は前腕）の内部に位置する。ここで、身体部位の内部とは、掴み揉みされた状態での身体部位の内部をいう。回転中心１０２が身体部位１００の内部に位置する場合、回転中心１０２は、対の押圧部材１０１ａ，１０１ｂの間を通る。回転中心１０２が身体内部を通る位置にあることで、図９０に示すように、回転中心１０２回りに、掴み揉みされた身体部位を傾けるように動作させることができる。
　なお、図８９及び図９０において、回転中心１０２が、身体部位の外部に位置するように配置してもよい。 As shown in FIGS. 89 and 90, the rotation center of the rotation shaft 102 is located inside the body part (hand or forearm) to be grasped and squeezed. Here, the inside of the body part refers to the inside of the body part in a state of being grasped and squeezed. When the rotation center 102 is located inside the body part 100, the rotation center 102 passes between the pair of pressing members 101a and 101b. Since the rotation center 102 is located at a position passing through the inside of the body, as shown in FIG. 90, the body part grasped and squeezed can be operated to tilt around the rotation center 102.
89 and 90, the rotation center 102 may be disposed outside the body part.
　第２機構部１０３Ｂは、第１機構部１０３Ａと同様の構成を有し、同様に動作する。すなわち、第２機構部１０３Ｂは、支持部１５３ａ，１５３ｂ，１５３ｃと、回転軸（回転中心）１０２と、を有する。第２機構部１０３Ｂの回転軸１０２も駆動部１５４によって回転駆動される。
　図８８において、第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ別の駆動部１５４によって駆動されるが、第１機構部１０３Ａ及び第２機構部１０３Ｂは、共通の駆動部によって駆動されてもよい。 The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support portions 153a, 153b, and 153c and a rotation shaft (rotation center) 102. The rotation shaft 102 of the second mechanism unit 103B is also rotationally driven by the drive unit 154.
In FIG. 88, the first mechanism unit 103A and the second mechanism unit 103B are driven by separate drive units 154, but the first mechanism unit 103A and the second mechanism unit 103B are driven by a common drive unit. Also good.
　図９０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって手１００ｃ及び前腕１００ｄを掴み揉みした状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを互いに、逆方向に回転させた様子を示している。第１施療部材１２１Ａは、時計回りに回転し、第２施療部材１２１Ｂは、反時計回りに回転している。第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、それらの間に位置する関節（図９０では手関節）を曲げ点として、手１００ｃと前腕１００ｄとをＶ字状に曲げることができ、ストレッチ作用が生じる。第１施療部材１２１Ａ及び第２施療部材１２１Ｂが互いに逆方向に回転するように、回転軸１０２の正逆回転を繰り返すことで、関節（手関節）の曲げを繰り返すことができる。
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって手１００ｃ及び前腕１００ｄを掴み揉みした状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂのうちのいずれか一方だけを回転させてもよい。この場合も、曲げ角度は比較的小さくなるが、関節を曲げることができる。 FIG. 90 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in opposite directions while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. Show. The first treatment member 121A rotates clockwise, and the second treatment member 121B rotates counterclockwise. The first treatment member 121A and the second treatment member 121B can bend the hand 100c and the forearm 100d into a V shape with the joint located between them (the wrist joint in FIG. 90) as the bending point, and the stretching action Occurs. By repeating forward and reverse rotation of the rotating shaft 102 so that the first treatment member 121A and the second treatment member 121B rotate in opposite directions, the bending of the joint (the wrist joint) can be repeated.
Only one of the first treatment member 121A and the second treatment member 121B may be rotated while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. In this case as well, the bending angle is relatively small, but the joint can be bent.
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって手１００ｃ及び前腕１００ｄを掴み揉みした状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを同じ方向回転させてもよい。この場合、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを互いに、逆方向に回転させた場合とは、異なるマッサージ感が得られる。 The first treatment member 121A and the second treatment member 121B may be rotated in the same direction while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. In this case, a different massage feeling is obtained when the first treatment member 121A and the second treatment member 121B are rotated in opposite directions.
　第１施療部材１２１Ａが手１００ｃを掴み揉みしているが、第２施療部材１２１Ｂは前腕１００ｄを掴み揉みしていない状態で、第１施療部材１２１Ａを回転させてもよい。この場合も、手関節を曲げることができる。第２施療部材１２１Ｂが前腕１００ｄを掴み揉みしているが、第１施療部材１２１Ａが手を掴み揉みしていない状態で、第２施療部材１２１Ｂを回転させてもよい。この場合、肘関節又は肩関節を曲げることができる。 Although the first treatment member 121A grasps and grips the hand 100c, the second treatment member 121B may rotate the first treatment member 121A in a state where it does not grasp and grasp the forearm 100d. Also in this case, the wrist joint can be bent. Although the second treatment member 121B grasps and holds the forearm 100d, the second treatment member 121B may be rotated in a state where the first treatment member 121A does not grasp and grasp the hand. In this case, the elbow joint or shoulder joint can be bent.
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、第１施療部材１２１Ａ及び第２施療部材１２１Ｂの間に被施療者の関節が位置しないように配置されてもよい。例えば、第１施療部材１２１Ａは、前腕１００ｄの手首側の部分をマッサージし、第２施療部材１２１Ｂは、前腕１００ｄの肘側の部分をマッサージするものであってもよい。第１施療部材１２１Ａ及び第２施療部材１２１Ｂの間に被施療者の関節が位置しない場合、掴み揉みされている身体部位をねじるようなマッサージ感を得ることができる。 The first treatment member 121A and the second treatment member 121B may be arranged so that the joint of the user is not located between the first treatment member 121A and the second treatment member 121B. For example, the first treatment member 121A may massage the wrist side portion of the forearm 100d, and the second treatment member 121B may massage the elbow side portion of the forearm 100d. When the joint of the user is not positioned between the first treatment member 121A and the second treatment member 121B, it is possible to obtain a massage feeling that twists the gripped body part.
　図９１及び図９２は、マッサージユニットの他の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、手１００ｃ及び前腕１００ｄである。マッサージは、身体部位１００の掴み揉みを含む。手１００ｃ及び前腕１００ｄの筋繊維は、手１００ｃ及び前腕１００ｄの長手方向（図８７のＺ方向）に向いている。 91 and 92 show another example of the massage unit. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage includes grasping and massaging the body part 100. The muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction (Z direction in FIG. 87) of the hand 100c and the forearm 100d.
　　マッサージユニット１０は、手１００ｃ及び前腕１００ｄにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、手１００ｃをマッサージ（掴み揉み）する第１施療部材１２１Ａと、前腕１００ｄをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、を含む。
　肘掛け部４に設けられる施療部材１２１Ａ，１２１Ｂの数は、１つでもよいし、３以上でもよい。図９１及び図９２に示す施療部材１２１Ａ，１２１Ｂは、首、肩、上腕、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d. The treatment unit 101 includes a first treatment member 121A that massages (grabs) the hand 100c and a second treatment member 121B that massages (grabs) the forearm 100d.
The number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more. The treatment members 121A and 121B shown in FIGS. 91 and 92 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.
　第１施療部材１２１Ａは、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の手１００ｃを配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。対の押圧部材１０１ａ，１０１ｂのうち、上側の押圧部材１０１ａを構成するエアセルの数は２つであり、下側の押圧部材１０１ｂを構成するエアセルの数は１つである。エアセル１０１ａ，１０１ｂは、図示しない空気回路による給排気を受ける。エアセル１０１ａ，１０１ｂは給排気によって膨張収縮する。膨張した対のエアセル１０１ａ，１０１ｂは、手１００ｃの両側から押圧する。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。 The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are disposed so as to face each other so as to have a space in which a hand 100c to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. Of the pair of pressing members 101a and 101b, the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b are supplied and exhausted by an air circuit (not shown). The air cells 101a and 101b expand and contract by supply and exhaust. The pair of expanded air cells 101a and 101b press from both sides of the hand 100c. Gripping is obtained by pressing by the pair of air cells 101a and 101b.
　第１施療部材１２１Ａは、手１００ｃにおける筋繊維の方向（手１００ｃの長手方向；図９１のＺ方向）に交わる方向（図９１のＹ方向）から手１００ｃに対する掴み揉みを行う。
　掴み揉みは、対の押圧部材１００ａ，１００ｂの間に身体部位１００を位置させた状態で、対の押圧部材１００ａ，１００ｂを互いに近接させることで行われる。このように、掴み揉みは、身体部位１００を挟み込むシンプルな動作で足りる。 The first treatment member 121A grips and grips the hand 100c from the direction (Y direction in FIG. 91) intersecting the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c; Z direction in FIG. 91).
The gripping is performed by bringing the pair of pressing members 100a and 100b close to each other while the body part 100 is positioned between the pair of pressing members 100a and 100b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
　第２施療部材１２１Ｂは、第１施療部材１２１Ａと同様の構成を有し、同様に動作する。すなわち、第２施療部材１２１Ｂは、対の押圧部材１０１ａ，１０１ｂを有し、対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。 The 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
　図９１及び図９２のマッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を更に備えている。機構部１０３は、第１施療部材１１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、を含む。 91 and 92 further includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 1121A and a second mechanism unit 103B that moves the second treatment member 121B.
　第１機構部１０３Ａは、対のエアセル１０１ａ，１０１ｂのうちの一方のエアセル（第１エアセル）１０１ａが取り付けられる第１支持部材１５３ａと、他方のエアセル（第２エアセル）１０１ｂが取り付けられる第２支持部材１５３ｂと、第１支持部材１５３ａ及び第２支持部材１５３ｂを手の外側（小指側）で連結する第３支持部材１５３ｃと、第３支持部材１５３ｃに連結された回転軸（回転中心）１０２と、を備えている。回転軸１０２は、駆動部１５４によって回転駆動される。 The first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached. A member 153b, a third support member 153c for connecting the first support member 153a and the second support member 153b on the outer side (the little finger side) of the hand, and a rotation shaft (rotation center) 102 connected to the third support member 153c. It is equipped with. The rotating shaft 102 is rotationally driven by the drive unit 154.
　回転軸（回転中心）１０２は、手の筋繊維の方向（Ｚ方向）に交わる方向（Ｙ方向）を向いている。換言すると、回転中心１０２は、手１００ｃの筋繊維の方向（Ｚ方向）に交わる面内方向を向いている。
　駆動部１５４は、支持部材１５３ａ，１５３ｂ，１５３ｃを、回転軸（回転中心）１０２回りに回転駆動する。エアセル１０１ａ，１０１ｂは、支持部材１５３ａ，１５３ｂ，１５３ｃの回転に伴って、回転軸（回転中心）１０２回りに回転する。エアセル１０１ａ，１０１ｂは、駆動部１５４の正逆回転により、回転軸（回転中心）１０２回りの正逆回転が可能である。 The rotation axis (rotation center) 102 faces the direction (Y direction) that intersects the direction of the hand muscle fibers (Z direction). In other words, the center of rotation 102 faces the in-plane direction that intersects the direction of the muscle fibers of the hand 100c (Z direction).
The drive unit 154 rotationally drives the support members 153 a, 153 b, and 153 c around the rotation axis (rotation center) 102. The air cells 101a and 101b rotate around the rotation axis (rotation center) 102 as the support members 153a, 153b, and 153c rotate. The air cells 101a and 101b can rotate forward and backward around the rotation axis (rotation center) 102 by forward and reverse rotation of the drive unit 154.
　図９１及び図９２において、回転中心１０２は、対のエアセル１０１ａ，１０１ｂによる押圧方向（Ｙ方向）に沿って向けられている。エアセル１０１ａ，１０１ｂの回転によって、押圧位置を円弧上の回転軌跡に沿って変化させることができる。 91 and 92, the rotation center 102 is directed along the pressing direction (Y direction) by the pair of air cells 101a and 101b. By the rotation of the air cells 101a and 101b, the pressing position can be changed along the rotation locus on the arc.
　図９１及び図９２に示すように、回転軸１０２による回転中心は、掴み揉みされる身体部位（手又は前腕）の外部に位置する。ここで、身体部位の外部とは、掴み揉みされた状態での身体部位の外部をいう。回転中心１０２は、手１００ｃ及び前腕１００ｄの外側（小指側）になるが、手１００ｃ及び前腕１００ｄの内側（親指側）に配置されていてもよい。
　回転中心１０２が身体部位１０９の外部に位置する場合、回転中心１０２は、対の押圧部材１０１ａ，１０１ｂの間を通ることができる。回転中心１０２が身体外部を通る位置にあることで、図９０に示すように、回転中心１０２回りの移動量を大きくすることができる。
　なお、図９１及び図９２において、回転中心１０２が、身体部位の内部に位置するように配置してもよい。 As shown in FIGS. 91 and 92, the center of rotation by the rotation shaft 102 is located outside the body part (hand or forearm) to be grasped. Here, the outside of the body part refers to the outside of the body part in the state of being grasped and squeezed. The rotation center 102 is on the outer side (little finger side) of the hand 100c and the forearm 100d, but may be arranged on the inner side (thumb side) of the hand 100c and the forearm 100d.
When the rotation center 102 is located outside the body part 109, the rotation center 102 can pass between the pair of pressing members 101a and 101b. Since the rotation center 102 is at a position passing through the outside of the body, the amount of movement around the rotation center 102 can be increased as shown in FIG.
91 and 92, the rotation center 102 may be arranged so as to be located inside the body part.
　第２機構部１０３Ｂは、第１機構部１０３Ａと同様の構成を有し、同様に動作する。すなわち、第２機構部１０３Ｂは、支持部１５３ａ，１５３ｂ，１５３ｃと、回転軸（回転中心）１０２と、を有する。第２機構部１０３Ｂの回転軸１０２も駆動部１５４によって回転駆動される。
　図９１及び図９２において、第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ別の駆動部１５４によって駆動されるが、第１機構部１０３Ａ及び第２機構部１０３Ｂは、共通の駆動部によって駆動されてもよい。 The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support portions 153a, 153b, and 153c and a rotation shaft (rotation center) 102. The rotation shaft 102 of the second mechanism unit 103B is also rotationally driven by the drive unit 154.
91 and 92, the first mechanism unit 103A and the second mechanism unit 103B are driven by separate drive units 154, respectively, but the first mechanism unit 103A and the second mechanism unit 103B are driven by a common drive unit. It may be driven.
　図９３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって手１００ｃ及び前腕１００ｄを掴み揉みした状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを同じ方向に回転させた様子を示している。第１施療部材１２１Ａ及び第２施療部材１２１Ｂが同じ方向に回転するように、回転軸１０２の正逆回転を繰り返すことで、掴み揉みの位置を周期的に変化させることができる。
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって手１００ｃ及び前腕１００ｄを掴み揉みした状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂのうちのいずれか一方だけを回転させてもよい。
　第１施療部材１２１Ａが手１００ｃを掴み揉みしているが、第２施療部材１２１Ｂは上腕１００ｄを掴み揉みしていない状態で、第１施療部材１２１Ａを回転させてもよい。第２施療部材１２１Ｂが前腕１００ｄを掴み揉みしているが、第１施療部材１２１Ａが手を掴み揉みしていない状態で、第２施療部材１２１Ｂを回転させてもよい。 FIG. 93 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in the same direction in a state where the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. Yes. By repeating forward and reverse rotation of the rotating shaft 102 so that the first treatment member 121A and the second treatment member 121B rotate in the same direction, the position of the gripping can be periodically changed.
Only one of the first treatment member 121A and the second treatment member 121B may be rotated while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B.
Although the first treatment member 121A grasps and grips the hand 100c, the second treatment member 121B may rotate the first treatment member 121A while not grasping and grasping the upper arm 100d. Although the second treatment member 121B grasps and holds the forearm 100d, the second treatment member 121B may be rotated in a state where the first treatment member 121A does not grasp and grasp the hand.
　図９４は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって手１００ｃ及び前腕１００ｄを掴み揉みした状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを、互いに逆方向に回転させた様子を示している。第１施療部材１２１Ａ及び第２施療部材１２１Ｂが互いに逆方向に回転するように、回転軸１０２の正逆回転を繰り返すことで、手１００ｃと前腕１００ｄとを互いに近づける方向に力を加えたり、互いに離れる方向に力を加えたりすることができる。 FIG. 94 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in opposite directions while the hand 100c and the forearm 100d are grasped and squeezed by the first treatment member 121A and the second treatment member 121B. Show. By repeating forward and reverse rotation of the rotating shaft 102 so that the first treatment member 121A and the second treatment member 121B rotate in opposite directions, a force is applied in a direction in which the hand 100c and the forearm 100d are brought closer to each other, or Force can be applied in the direction of leaving.
　図９５及び図９６は、マッサージユニットの例を示している。図９５及び図９６に示すマッサージユニット１０は、図９１及び図９２に示すマッサージユニット１０とほぼ同様の構成を有している。異なるのは、図９５及び図９６に示すマッサージユニット１０における第１支持部材１５３ａ及び第２支持部材１５３ｂは、第３支持部材１５３ｃに対して、それぞれ独立して回転可能に構成されている点である。 95 and 96 show examples of massage units. The massage unit 10 shown in FIGS. 95 and 96 has substantially the same configuration as the massage unit 10 shown in FIGS. 91 and 92. The difference is that the first support member 153a and the second support member 153b in the massage unit 10 shown in FIGS. 95 and 96 are configured to be independently rotatable with respect to the third support member 153c. is there.
　図９５及び図９６のマッサージユニット１０において、第１支持部材１５３ａは、第１回転軸１０２ａ回りに回転自在に第３支持部材１５３ｃに設けられ、第２支持部材１５３ｂは、第１回転軸１０２ａと同軸状に設けられた第２回転軸１０２ｂ回りに回転自在に第３支持部材１５３ｃに設けられている。図９５及び図９６のマッサージユニット１０において、第１回転軸１０２ａ及び第２回転軸１０２ｂは、それぞれ別の駆動源１５４によって駆動される。このように、マッサージユニット１０の機構部１０３は、第１エアセル１０１ａ及び第２エアセル１０１ｂを互いに逆方向に回転させるよう構成されている。なお、機構部１０３は、共通の駆動源１５４によって、エアセル１０１ａ，１０１ｂを互いに逆方向に回転させるよう構成されていてもよい。 95 and 96, the first support member 153a is provided on the third support member 153c so as to be rotatable around the first rotation shaft 102a, and the second support member 153b is connected to the first rotation shaft 102a. It is provided on the third support member 153c so as to be rotatable about the second rotation shaft 102b provided coaxially. 95 and 96, the first rotating shaft 102a and the second rotating shaft 102b are driven by separate drive sources 154, respectively. As described above, the mechanism unit 103 of the massage unit 10 is configured to rotate the first air cell 101a and the second air cell 101b in opposite directions. The mechanism unit 103 may be configured to rotate the air cells 101a and 101b in opposite directions by a common drive source 154.
　図９７及び図９８は、エアセル１０１ａ，１０１ｂによって手１００ｃ及び前腕１００ｄを掴み揉みした状態で、第１施療部材１２１Ａを構成する対の押圧部材（エアセル）１０１ａ，１０１ｂを互いに逆方向に回転させ、同様に、第２施療部材１２１Ｂを構成する対の押圧部材(エアセル）１０１ａ，１０１ｂを互いに逆方向に回転させた状態を示している。このように対の押圧部材１０１ａ，１０１ｂを互いに逆方向に回転させることで、掴み揉みされている身体部位１００ｃ，１００ｄの両側に対して異なる方向の力を加えることができる。対の押圧部材１０１ａ，１０１ｂを互いに逆方向に回転させることで、対の押圧部材１０１ａ，１０１ｂの相対位置関係が変化し、対の押圧部材１０１ａ，１０１ｂそれぞれによる押圧位置を異ならせることができる。 97 and 98, in a state where the hand 100c and the forearm 100d are grasped and squeezed by the air cells 101a and 101b, the pair of pressing members (air cells) 101a and 101b constituting the first treatment member 121A are rotated in opposite directions, Similarly, the pair of pressing members (air cells) 101a and 101b constituting the second treatment member 121B are rotated in opposite directions. Thus, by rotating the pair of pressing members 101a and 101b in directions opposite to each other, forces in different directions can be applied to both sides of the body parts 100c and 100d that are gripped. By rotating the pair of pressing members 101a and 101b in opposite directions, the relative positional relationship between the pair of pressing members 101a and 101b changes, and the pressing positions of the pair of pressing members 101a and 101b can be made different.
　図９７及び図９８では、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれの第１エアセル１０１ａは、同じ方向に回転し、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれの第２エアセル１０１ｂも、同じ方向に回転する。ただし、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれの第１エアセル１０１ａは、互いに逆方向に回転し、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれの第２エアセル１０１ｂも、互いに逆方向に回転してもよい。 97 and 98, the first air cell 101a of each of the first treatment member 121A and the second treatment member 121B rotates in the same direction, and the second air cell 101b of each of the first treatment member 121A and the second treatment member 121B is also the same. Rotate in the same direction. However, the first air cells 101a of the first treatment member 121A and the second treatment member 121B rotate in the opposite directions, and the second air cells 101b of the first treatment member 121A and the second treatment member 121B also in the opposite directions. It may be rotated.
　図９９及び図１００は、マッサージユニットの例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、手１００ｃ及び前腕１００ｄである。マッサージは、身体部位１００の掴み揉みを含む。手１００ｃ及び前腕１００ｄの筋繊維は、手１００ｃ及び前腕１００ｄの長手方向（図９９のＺ方向）に向いている。 99 and 100 show an example of a massage unit. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage includes grasping and massaging the body part 100. The muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction (Z direction in FIG. 99) of the hand 100c and the forearm 100d.
　マッサージユニット１０は、手１００ｃ及び前腕１００ｄにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、手１００ｃをマッサージ（掴み揉み）する第１施療部材１２１Ａ及び第２施療部材１２１Ｃと、前腕１００ｄをマッサージ（掴み揉み）する第１施療部材１２１Ｂ及び第２施療部材１２１Ｄと、を有している。
　手１００ｃをマッサージ（掴み揉み）する第１施療部材１２１Ａ及び第２施療部材１２１Ｃは、それらの間に手１００ｃが位置するように、互いに対向して配置されている。前腕１００ｄをマッサージ（掴み揉み）する第１施療部材１２１Ｂ及び第２施療部材１２１Ｄは、それらの間に前腕１００ｄが位置するように、互いに対向して配置されている。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d. The treatment unit 101 includes a first treatment member 121A and a second treatment member 121C for massaging (grabbing and grasping) the hand 100c, and a first treatment member 121B and a second treatment member 121D for massaging (grabbing and grasping) the forearm 100d. Have.
The first treatment member 121A and the second treatment member 121C for massaging (grabbing) the hand 100c are arranged to face each other so that the hand 100c is located between them. The first treatment member 121B and the second treatment member 121D that massage (grab and squeeze) the forearm 100d are arranged to face each other so that the forearm 100d is located between them.
　身体部位１００ｃ，１００ｄを介して対向配置される対の施療部材は、一対でもよいし、３対以上でもよい。図９９及び図１００に示す施療部材１２１Ａ，１２１Ｂ、１２１Ｃ，１２１Ｄは、首、肩、上腕、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The pair of treatment members arranged to face each other via the body parts 100c and 100d may be a pair or three or more pairs. The treatment members 121A, 121B, 121C, and 121D shown in FIGS. 99 and 100 are attached to the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. It may be provided.
　図９９及び図１００の第１施療部材１２１Ａ，１２１Ｂは、図９１に示す２つの施療部材１２１Ａ，１２１Ｂを小型化したものに相当し、それらの構成及び動作は、共通している。また、マッサージユニット１０の機構部１０３は、第１施療部材１２１Ａ，１２１Ｂそれを移動させる第１機構部１０３Ａ，１０３Ｂを備えている。これらの機構部１０３Ａ，１０３Ｂも、図９１に示す２つの機構部１０３Ａ，１０３Ｂに相当し、それらの構成及び動作は、共通している。
　したがって、図９９及び図１００の第１施療部材１２１Ａ，１２１Ｂは、身体部位を掴み揉みした状態で、それらの回転中心１０２回りに回転することができる（図１００参照）。図９９及び図１００の第１施療部材１２１Ａ，１２１Ｂは、手１００ｃ及び前腕１００ｄの幅方向一方側（外側；小指側）のマッサージを担う。 The first treatment members 121A and 121B in FIG. 99 and FIG. 100 correspond to the downsized two treatment members 121A and 121B shown in FIG. 91, and their configuration and operation are common. Further, the mechanism unit 103 of the massage unit 10 includes first mechanism members 103A and 103B that move the first treatment members 121A and 121B. These mechanism units 103A and 103B also correspond to the two mechanism units 103A and 103B shown in FIG. 91, and the configuration and operation thereof are common.
Therefore, the first treatment members 121A and 121B shown in FIGS. 99 and 100 can rotate around their rotation centers 102 while grasping and pinching the body part (see FIG. 100). The first treatment members 121A and 121B in FIGS. 99 and 100 perform massage on one side (outside; little finger side) in the width direction of the hand 100c and the forearm 100d.
　図９９及び図１００の第２施療部材１２１Ｃ，１２１Ｄ及び第２機構部１０３Ｃ，１０３Ｄは、第１施療部材１２１Ａ，１２１Ｂ及び第１機構部１０３Ａ，１０３Ｂを、手１００ｃ及び前腕１００ｄの長手方向（Ｚ方向）に沿った対称軸に対して左右対称に配置しものに相当する。したがって、図９９及び図１００の第２施療部材１２１Ｃ，１２１Ｄは、身体部位を掴み揉みした状態で、それらの回転中心１０２回りに回転することができる（図１００参照）。図９９及び図１００の第２施療部材１２１Ｃ，１２１Ｄは、手１００ｃ及び前腕１００ｄの幅方向他方側（内側；親指側）のマッサージを担う。 99 and 100, the second treatment members 121C and 121D and the second mechanism portions 103C and 103D are different from the first treatment members 121A and 121B and the first mechanism portions 103A and 103B in the longitudinal direction of the hand 100c and the forearm 100d (Z It corresponds to a symmetrical arrangement with respect to an axis of symmetry along the direction. Therefore, the second treatment members 121C and 121D in FIGS. 99 and 100 can rotate around their rotation centers 102 in a state where the body parts are grasped and squeezed (see FIG. 100). The second treatment members 121C and 121D in FIGS. 99 and 100 perform massage on the other side (inner side; thumb side) in the width direction of the hand 100c and the forearm 100d.
　図１００では、手１００ｃ用の第１施療部材１２１Ａは時計回りに回転し、手１００ｃ用の第２施療部材１２１Ｃは反時計回りに回転しているが、それぞれ逆方向に回転することもできる。
　同様に、前腕１００ｄ用の第１施療部材１２１Ｂは時計回りに回転し、前腕１００ｄ用の第２施療部材１２１Ｄは反時計回りに回転しているが、それぞれ逆方向に回転することもできる。 In FIG. 100, the first treatment member 121A for the hand 100c rotates in the clockwise direction and the second treatment member 121C for the hand 100c rotates in the counterclockwise direction, but can also rotate in the opposite directions.
Similarly, the first treatment member 121B for the forearm 100d rotates in the clockwise direction and the second treatment member 121D for the forearm 100d rotates in the counterclockwise direction, but can also rotate in opposite directions.
　図１０１及び図１０２は、マッサージユニットの例を示している。このマッサージユニット１０は、図９１及び図９２に示すマッサージユニット１０とほぼ同様の構成を有している。異なるのは、第２施療部材１２１Ｂを回転させる第２機構部１０３Ｂの回転中心１０２が、前腕１００ｄの外側（小指側）ではなく、内側（親指側）に配置されている点である。第１施療部材１２１Ａの回転中心１０２と、第２施療部材１２１Ｂの回転中心１０２とは、身体部位１００ｃ，１００ｄを間に配置した状態で、対向して位置する。これにより、第１施療部材１２１Ａと第２施療部材１２１Ｂとは、それらの間に身体部位１００ｃ，１００ｄが位置するように、対向して配置されていることになる。 101 and 102 show examples of massage units. This massage unit 10 has substantially the same configuration as the massage unit 10 shown in FIGS. 91 and 92. The difference is that the rotation center 102 of the second mechanism portion 103B that rotates the second treatment member 121B is arranged not on the outer side (little finger side) but on the inner side (thumb side) of the forearm 100d. The rotation center 102 of the first treatment member 121A and the rotation center 102 of the second treatment member 121B are located facing each other with the body parts 100c and 100d disposed therebetween. Thereby, the first treatment member 121A and the second treatment member 121B are arranged to face each other so that the body parts 100c and 100d are located between them.
　図１０２において、第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、それぞれが掴み揉みした状態で、それぞれの回転中心１０２回りに、同方向に回転（時計回りの回転）する。同方向回転によって、第１施療部材１２１Ａは手先側に移動し、第２施療部材１２１Ｂは肘側に移動する。これにより、手１００ｃ及び前腕１００ｄを延ばすようなマッサージを与えることができる。
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、それぞれが掴み揉みした状態で、それぞれの回転中心１０２回りに、互いに逆方向に回転させることもできる。この場合、手１００ｃ及び前腕１００ｄを手先側に押し出したり、肘側に引きこんだりする動きを生じさせることができる。第１施療部材１２１Ａ及び第２施療部材１２１Ｂのいずれか一方だけを回転させてもよい。 In FIG. 102, the first treatment member 121A and the second treatment member 121B rotate in the same direction (clockwise rotation) around the respective rotation centers 102 in a state where each of the first treatment member 121A and the second treatment member 121B is grasped and squeezed. By rotating in the same direction, the first treatment member 121A moves to the hand side, and the second treatment member 121B moves to the elbow side. Thereby, the massage which extends the hand 100c and the forearm 100d can be given.
The first treatment member 121 </ b> A and the second treatment member 121 </ b> B can be rotated in directions opposite to each other around the respective rotation centers 102 in a state where each of the first treatment member 121 </ b> A and the second treatment member 121 </ b> B is gripped. In this case, the hand 100c and the forearm 100d can be pushed out toward the hand or pulled into the elbow. Only one of the first treatment member 121A and the second treatment member 121B may be rotated.
　図１０３は、マッサージユニットの例を示している。このマッサージユニット１０は、手１００ｃ用の第１施療部材１２１Ａ及び第１機構部１０３Ａとして、図８７に示す第１施療部材１２１Ａ及び第１機構部１０３Ａを設け、前腕１００ｄ用の第２施療部材１２１Ｂ及び第２機構部１０３Ｂとして、図９５に示す第２施療部材１２１Ｂ及び第２機構部１０３Ｂを設けたものである。なお、図８７に示す施療部材１２１Ａ，１２１Ｂ及び機構部１０３Ａ，１０３Ｂと、図９１に示す施療部材１２１Ａ，１２１Ｂ及び機構部１０３Ａ，１０３Ｂと、を組み合わせても良い。 FIG. 103 shows an example of a massage unit. This massage unit 10 is provided with a first treatment member 121A and a first mechanism portion 103A shown in FIG. 87 as a first treatment member 121A and a first mechanism portion 103A for the hand 100c, and a second treatment member 121B for the forearm 100d. As the second mechanism portion 103B, a second treatment member 121B and a second mechanism portion 103B shown in FIG. 95 are provided. Note that the treatment members 121A and 121B and the mechanism portions 103A and 103B shown in FIG. 87 may be combined with the treatment members 121A and 121B and the mechanism portions 103A and 103B shown in FIG.
　手１００ｃ用の第１施療部材１２１Ａの第１回転中心１０２Ａは、掴み揉みされる手１００ｃの内部を通り、図１０３のＸ方向を向く。前腕１００ｄ用の第２施療部材１２１Ｂの第２回転中心１０２Ｂは、前腕１００ｄの外部を通り、図１０３のＹ方向を向く。つまり、図１０３において、２つの回転中心１０２Ａ，１０２Ｂは位置が異なり、かつ、方向も異なる。 The first rotation center 102A of the first treatment member 121A for the hand 100c passes through the inside of the hand 100c to be gripped and faces the X direction in FIG. The second rotation center 102B of the second treatment member 121B for the forearm 100d passes through the outside of the forearm 100d and faces the Y direction in FIG. That is, in FIG. 103, the two rotation centers 102A and 102B have different positions and different directions.
　図１０４～図１０６に示すように、第１施療部材１２１Ａ及び第２施療部材１２１Ｂが掴み揉みした状態で、第２施療部材１２１Ｂの対のエアセル１０１ａ，１０１ｂは、互いに、相対位置関係が変化するように、第２回転中心１０２Ｂ回りに、互いに逆方向に回転することができる。つまり、第１エアセル１０１ａは、回転中心１０２Ｂ－ａ回りに、例えば時計回りに回転する場合、第２エアセル１０１ｂは、回転中心１０２Ｂ－ｂ回りに、反時計回りに回転する。
　なお、第１施療部材１２１Ａも、掴み揉みしている状態で、第１回転中心１０２Ａ回りに回転することができる。 As shown in FIGS. 104 to 106, in a state where the first treatment member 121A and the second treatment member 121B are grasped and squeezed, the pair of air cells 101a and 101b of the second treatment member 121B change in relative positional relationship with each other. In this way, the second rotation center 102B can be rotated in opposite directions. That is, when the first air cell 101a rotates around the rotation center 102B-a, for example, clockwise, the second air cell 101b rotates counterclockwise around the rotation center 102B-b.
Note that the first treatment member 121A can also rotate around the first rotation center 102A while being grasped and squeezed.
　例えば、図１０７に示すように、前腕１００ｄを掴み揉みしている第２施療部材１２１Ｂの対のエアセル１０１ａ，１０１ｂが第２回転中心１０２Ｂ回りに回転しているときに、手１００ｃを掴み揉みしている第１施療部材１２１Ａが第１回転中心１０２回りに回転することができる。 For example, as shown in FIG. 107, when the pair of air cells 101a and 101b of the second treatment member 121B that is grasping and grasping the forearm 100d is rotating around the second rotation center 102B, the hand 100c is grasped and grasped. The first treatment member 121 </ b> A can rotate around the first rotation center 102.
　図１０８～図１１４は、マッサージユニット１０の例を示している。図１０８～図１１４に示すマッサージユニット１０は、図８７～図９０に示すマッサージユニット１０のように施療部１２１Ａ，１２１Ｂが回転中心１０２回りに回転するよう構成されている。図１０８～図１１４に示すマッサージユニット１０においては、施療部１２１Ａ，１２１Ｂの回転に関する構成は、図８７～図９０に示すマッサージユニット１０と同様である。さらに、図１０８～図１１４に示すマッサージユニットでは、施療部１２１Ａ，１２１Ｂが回転中心１０２回りに回転するだけでなく、身体部位１００（１００ｄ，１００ｃ）の筋繊維に沿った方向へ移動するよう構成されている。 108 to 114 show examples of the massage unit 10. The massage unit 10 shown in FIGS. 108 to 114 is configured such that the treatment parts 121A and 121B rotate around the rotation center 102, like the massage unit 10 shown in FIGS. In the massage unit 10 shown in FIGS. 108 to 114, the configuration relating to the rotation of the treatment units 121A and 121B is the same as that of the massage unit 10 shown in FIGS. Further, in the massage unit shown in FIGS. 108 to 114, the treatment units 121A and 121B not only rotate around the rotation center 102 but also move in a direction along the muscle fibers of the body part 100 (100d, 100c). Has been.
　図１０９に示すように、マッサージユニット１０の機構部１０３Ａ，１０３Ｂは、エアセル１０１ａ，１０１ｂ（図１０９では図示省略）の支持部１５３ａ，１５３ｂ，１５３ｃに連結された回転軸１０２（回転中心１０２に対応）を回転駆動する駆動部１５４を支持するベース部１５５を備えている。機構部１０３Ａ，１０３Ｂは、ベース部１５５を直線駆動するためのねじ軸１５６と、ねじ軸１５６を回転駆動する駆動部１５８と、を更に備えている。ベース部１５５は、ねじ軸１５６に螺合するナット孔１５７を有し、ねじ軸１５６が回転することによりねじ軸１５６の長手方向に直線移動することができる。ねじ軸１５６は、施療部１２１Ａ，１２１Ｂによってマッサージ（掴み揉み）される身体部位１００ｄ、１００ｃの長手方向に沿って配置されおり、施療部１２１Ａ，１２１Ｂを身体部位１００ｄ、１００ｃの筋繊維方向に移動させることができる。図１１０に示すように、ベース部１５５は、ねじ軸１５６の長手方向の任意の位置へ移動でき、移動中又は停止した状態において、駆動部１５４が回転軸１０２を回転駆動することで、施療部１２１Ａ，１２１Ｂを回転中心１０２回りに回転させることができる。 As shown in FIG. 109, the mechanism portions 103A and 103B of the massage unit 10 correspond to the rotating shaft 102 (corresponding to the rotation center 102) connected to the support portions 153a, 153b, and 153c of the air cells 101a and 101b (not shown in FIG. 109). ) Is provided with a base portion 155 that supports a drive portion 154 that rotates. The mechanism portions 103A and 103B further include a screw shaft 156 for linearly driving the base portion 155 and a drive portion 158 for rotationally driving the screw shaft 156. The base portion 155 has a nut hole 157 that engages with the screw shaft 156, and can be linearly moved in the longitudinal direction of the screw shaft 156 when the screw shaft 156 rotates. The screw shaft 156 is disposed along the longitudinal direction of the body parts 100d and 100c to be massaged (gripped) by the treatment parts 121A and 121B, and moves in the muscle fiber direction of the treatment parts 121A and 121B. Can be made. As shown in FIG. 110, the base portion 155 can be moved to an arbitrary position in the longitudinal direction of the screw shaft 156, and in the state of being moved or stopped, the drive portion 154 rotationally drives the rotary shaft 102, whereby the treatment portion 121A and 121B can be rotated around the rotation center 102.
　第１施療部材１２１Ａと第２施療部材１２１Ｂとは、それぞれ独立して、筋繊維方向に移動可能である。第１施療部材１２１Ａの移動可能範囲は、手１００ｃから前腕１００ｄ（の手側）に及ぶ範囲である。第２施療部材１２１Ｂの移動可能範囲は、前腕１００ｄの範囲内であるが、前腕１００ｄから上腕に及ぶ範囲であってもよい。施療部材１２１Ａ，１２１Ｂが、手関節などの関節を跨ぐ範囲で移動可能であると、広範囲なマッサージが可能となる。 The first treatment member 121A and the second treatment member 121B are independently movable in the muscle fiber direction. The movable range of the first treatment member 121A is a range extending from the hand 100c to the forearm 100d (the hand side). The movable range of the second treatment member 121B is within the range of the forearm 100d, but may be a range extending from the forearm 100d to the upper arm. When the treatment members 121A and 121B are movable within a range over a joint such as a wrist joint, a wide range of massage is possible.
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、図１１１に示すように、第１施療部材１２１Ａが手１００ｃを掴み揉みし、第２施療部材１２１Ｂが前腕１００ｄを掴み揉みしている状態から、図１１２に示すように回転及び直線移動することができる。図１１２では、第１施療部材１２１Ａは、その回転中心１０２が図１１１に示す位置にとどまったまま（直線移動無）、回転中心１０２回りに、時計回りに回転する。第２施療部材１２１Ｂは、その回転中心１０２が図１１１に示す位置よりも上腕側（図１１２において右側）へ移動しつつ、回転中心１０２回りに、反時計回りに回転する。このような動きにより、第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、互いに離れつつ、回転をすることができる。第１施療部材１２１Ａ及び第２施療部材１２１Ｂは同一方向に回転してもよい。第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、筋繊維に沿った方向への移動中において、同一方向にだけ回転する必要はなく、正逆回転を繰り返しても良い。施療部材１２１Ａ，１２１Ｂの直線移動中に、施療部材１２１Ａ，１２１Ｂが正逆回転を繰り返すことで、正逆回転によるマッサージの位置を変化させることができる。 As shown in FIG. 111, the first treatment member 121A and the second treatment member 121B are in a state where the first treatment member 121A grasps and grips the hand 100c, and the second treatment member 121B grasps and grasps the forearm 100d. As shown in FIG. 112, rotation and linear movement are possible. In FIG. 112, the first treatment member 121A rotates clockwise around the rotation center 102 while the rotation center 102 remains at the position shown in FIG. 111 (no linear movement). The second treatment member 121B rotates counterclockwise around the rotation center 102 while the rotation center 102 moves to the upper arm side (right side in FIG. 112) from the position shown in FIG. By such movement, the first treatment member 121A and the second treatment member 121B can rotate while being separated from each other. The first treatment member 121A and the second treatment member 121B may rotate in the same direction. The first treatment member 121A and the second treatment member 121B do not need to rotate only in the same direction during movement in the direction along the muscle fibers, and may repeat forward and reverse rotation. During the linear movement of the treatment members 121A and 121B, the treatment members 121A and 121B repeat forward and reverse rotation, whereby the massage position by forward and reverse rotation can be changed.
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、図１１３に示すように、第１施療部材１２１Ａが手１００ｃ及び手首（前腕１００ｄの手１００ｃ側）に跨る範囲に位置し、第２施療部材１２１Ｂが前腕１００ｄに位置しており、第１施療部材１２１Ａ及び第２施療部材１２１Ｂが近接している状態から、図１１４に示すように、回転及び直線移動することができる。第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、図１１３の状態から、エアセル１０１ａ，１０１ｂを膨張させて、身体部位１００ｃ，１００ｄを掴み揉みし、さらに、図１１４に示すよう回転及び直線移動することができる。 As shown in FIG. 113, the first treatment member 121A and the second treatment member 121B are located in a range where the first treatment member 121A straddles the hand 100c and the wrist (the hand 100c side of the forearm 100d), and the second treatment member 121B. Is located on the forearm 100d, and can rotate and move linearly as shown in FIG. 114 from the state where the first treatment member 121A and the second treatment member 121B are close to each other. From the state of FIG. 113, the first treatment member 121A and the second treatment member 121B expand the air cells 101a and 101b, grasp the body parts 100c and 100d, and further rotate and linearly move as shown in FIG. be able to.
　図１１４では、第１施療部材１２１Ａは、手先側（図１１４の左側）へ移動し、回転中心１０２回りに、時計回りに回転する。第２施療部材１２１Ｂは、上腕側（図１１４の右側）へ移動し、回転中心１０２回りに、反時計回りに回転する。 114, the first treatment member 121A moves to the hand side (left side in FIG. 114), and rotates clockwise around the rotation center 102. The second treatment member 121B moves to the upper arm side (right side in FIG. 114) and rotates counterclockwise around the rotation center 102.
　図１１５及び図１１６は、マッサージユニット１０の例を示している。図１１５のマッサージユニット１０は、図９１及び図９２に示す施療部材１２１Ａ，１２１Ｂを３つ設けたものである。図１１５のマッサージユニット１０は、第１範囲である肩１００ｈをマッサージ（掴み揉み）する第１施療部材１２１Ａと、第２範囲である上腕１００ａをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、第３範囲である前腕１００ｄをマッサージ（掴み揉み）する第３施療部材１２１Ｃと、を有している。第１範囲である肩１００ｈと第２範囲である上腕１００ａとの間には、使用者の肩関節が位置し、第２範囲である上腕１００ａと第３範囲である前腕１００ｄとの間には、使用者の肘関節が位置する。 115 and 116 show an example of the massage unit 10. The massage unit 10 in FIG. 115 is provided with three treatment members 121A and 121B shown in FIGS. 115 is a first treatment member 121A for massaging (grabbing) the shoulder 100h, which is the first range, and a second treatment member 121B, for massaging (grabbing) the upper arm 100a, which is the second range, And a third treatment member 121C that massages (grabs) the forearm 100d, which is the third range. The shoulder joint of the user is located between the shoulder 100h which is the first range and the upper arm 100a which is the second range, and between the upper arm 100a which is the second range and the forearm 100d which is the third range. The elbow joint of the user is located.
　図１１５のマッサージユニット１０は、図９１及び図９２に示す機構部１０３Ａ，１０３Ｂと同様に、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃそれぞれを回転中心１０２回りに回転させる機構部を備えている。 115, the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C rotate about the rotation center 102, similarly to the mechanism portions 103A and 103B shown in FIGS. 91 and 92. The mechanism part to be made is provided.
　図１１６に示すように、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃは、それぞれが身体部位１００ｈ，１００ａ，１００ｃを掴み揉みしつつ、回転中心１０２に回転（搖動）することができる。例えば、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃは、これらの施療部材１２１Ａ，１２１Ｂ，１２１Ｃのうちの二以上の施療部材による掴み揉みが行われている状態で、掴み揉みを行っている二以上の施療部材の少なくとも一つを、回転中心１０２回りに回転させることができる。 As shown in FIG. 116, the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C each rotate (swing) around the rotation center 102 while grasping and pinching the body parts 100h, 100a, and 100c. can do. For example, the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are in a state where gripping and squeezing by two or more treatment members among these treatment members 121A, 121B, and 121C is performed. At least one of the two or more treatment members performing the gripping can be rotated around the rotation center 102.
　より具体的には、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって肩１００ｈ及び上腕１００ａに対する掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂのうちのいずれか一方、又は両方を、それらの回転中心１０２回りに回転させることができる。また、第１施療部材１２１Ａ及び第３施療部材１２１Ｃによって肩１００ｈ及び前腕１００ｄに対する掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第３施療部材１２１Ｃのうちのいずれか一方、又は両方を、それらの回転中心１０２回りに回転させることができる。また、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃによって上腕１００ａ及び前腕１００ｄに対する掴み揉みが行われている状態で、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃのうちのいずれか一方、又は両方を、それらの回転中心１０２回りに回転させることができる。また、第１施療部材１２１Ａ、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃによって肩１００ｈ、上腕１００ａ、及び前腕１００ｄに対する掴み揉みが行われている状態で、第１施療部材１２１Ａ、第２施療部材１２１Ｂ及び第３施療部材１２１Ｃのうちのいずれか一つ、若しくはいずれか二つ、又は全部を、それらの回転中心１０２回りに回転させることができる。複数の施療部材１２１Ａ，１２１Ｂ，１２１Ｃの回転方向は同一であってもよいし、異なっても良い。 More specifically, any one of the first treatment member 121A and the second treatment member 121B in a state where the first treatment member 121A and the second treatment member 121B are gripping the shoulder 100h and the upper arm 100a. One or both can be rotated about their center of rotation 102. In addition, in a state where the first treatment member 121A and the third treatment member 121C are gripping the shoulder 100h and the forearm 100d, either one or both of the first treatment member 121A and the third treatment member 121C are used. Can be rotated about their center of rotation 102. In addition, in a state where the second treatment member 121B and the third treatment member 121C are gripping the upper arm 100a and the forearm 100d, either one or both of the second treatment member 121B and the third treatment member 121C Can be rotated about their center of rotation 102. In addition, the first treatment member 121A and the second treatment member are in a state in which the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripping the shoulder 100h, the upper arm 100a, and the forearm 100d. Any one, any two, or all of the 121B and the third treatment member 121C can be rotated around the rotation center 102 thereof. The rotation directions of the plurality of treatment members 121A, 121B, and 121C may be the same or different.
　図１１７～図１２１は、マッサージユニット１０の例を示している。図１１７～図１２１に示すマッサージユニット１０は、例えば、背もたれ部３に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、首１００ｉである。マッサージは、身体部位１００の掴み揉みを含む。首１００ｉの筋繊維は、首１００ｉの長手方向（図１１７のＹ方向）に向いている。 117 to 121 show an example of the massage unit 10. The massage unit 10 shown in FIGS. 117 to 121 is provided, for example, on the backrest 3 and massages the body part 100 of the user. The body part 100 is, for example, a neck 100i. The massage includes grasping and massaging the body part 100. The muscle fibers of the neck 100i face the longitudinal direction of the neck 100i (Y direction in FIG. 117).
　マッサージユニット１０は、首１００ｉにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の首１００ｉを配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。エアセル１０１ａ，１０１ｂは、給排気によって膨張収縮し、首１００ｉを左右から押圧する。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。 The massage unit 10 has a treatment unit 101 that massages (grabs) the neck 100i. The treatment part 101 has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are arranged so as to face each other so as to have a space in which the neck 100i to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. The air cells 101a and 101b expand and contract by air supply and exhaust, and press the neck 100i from the left and right. Gripping is obtained by pressing by the pair of air cells 101a and 101b.
　施療部１０１は、首１００ｉにおける筋繊維の方向（首の長手方向；図１１７のＹ方向）に交わる方向（図１１７及び図１１８のＸ方向）から、首１００ｉに対する掴み揉みを行う。 The treatment unit 101 grips and squeezes the neck 100i from the direction (X direction in FIGS. 117 and 118) intersecting the direction of the muscle fibers in the neck 100i (the longitudinal direction of the neck; the Y direction in FIG. 117).
　図１１７～図１２１のマッサージユニット１０は、施療部１０１を移動させる機構部１０３を更に備えている。機構部１０３は、対のエアセル１０１ａ、１０１ｂのうちの一方のエアセル（第１エアセル）１０１ａが取り付けられる第１支持部材１５３ａと、他方のエアセル（第２エアセル）１０１ｂが取り付けられる第２支持部材１５３ｂと、を備えている。両支持部材１５３ａ，１５３ｂは、板状に形成され、前側（図１１７の左側）ほど、両支持部材１５３ａ，１５３ｂの間隔が大きくなるように傾斜して配置されている。 117 to 121 further includes a mechanism unit 103 for moving the treatment unit 101. The mechanism 103 includes a first support member 153a to which one of the pair of air cells 101a and 101b (first air cell) 101a is attached and a second support member 153b to which the other air cell (second air cell) 101b is attached. And. Both the support members 153a and 153b are formed in a plate shape and are inclined so that the distance between the support members 153a and 153b increases toward the front side (left side in FIG. 117).
　機構部１０３は、第１エアセル１０１ａを第１回転中心１０２Ａ回りに回転させ、第２エアセル１０１ｂを第２回転中心１０２Ｂ回りに回転させ、さらに、第１エアセル１０１ａ及び第２エアセル１０１ｂを第３回転中心１０２Ｃ回りに回転させることができるよう構成されている。第１回転中心１０２Ａ、第２回転中心１０２Ｂ、及び第３回転中心１０２Ｃは、いずれも、首１００ｉの筋繊維に交わる面内方向（図１１７及び図１１８のＸ－Ｚ平面内の方向）に向いている。 The mechanism unit 103 rotates the first air cell 101a around the first rotation center 102A, rotates the second air cell 101b around the second rotation center 102B, and further rotates the first air cell 101a and the second air cell 101b through the third rotation. It is configured to be able to rotate around the center 102C. The first rotation center 102A, the second rotation center 102B, and the third rotation center 102C are all directed in the in-plane direction (the direction in the XZ plane in FIGS. 117 and 118) intersecting the muscle fibers of the neck 100i. ing.
　第１支持部材１５３ａは、その後端に、第１回転軸１０２ａが取り付けられており、第１回転軸１０２ａには、第１回転軸１０２ａを回転駆動する第１駆動部１５４ａが連結されている。第１駆動部１５４ａによって第１回転軸１０２ａが回転駆動されると、第１エアセル１０１ａは、第１回転中心１０２Ａ回りに回転することができる。
第２支持部材１５３ｂは、その後端に、第２回転軸１０２ｂが取り付けられており、第２回転軸１０２ｂには、第２回転軸１０２ｂを回転駆動する第２駆動部１５４ｂが連結されている。第２駆動部１５４ｂによって第２回転軸１０２ｂが回転駆動されると、第２エアセル１０１ｂは、第２回転中心１０２Ｂ回りに回転することができる。 The first support member 153a has a first rotation shaft 102a attached to the rear end thereof, and a first drive unit 154a that rotationally drives the first rotation shaft 102a is connected to the first rotation shaft 102a. When the first rotation shaft 102a is rotationally driven by the first drive unit 154a, the first air cell 101a can rotate around the first rotation center 102A.
The second support member 153b has a second rotation shaft 102b attached to the rear end thereof, and a second drive unit 154b that rotationally drives the second rotation shaft 102b is connected to the second rotation shaft 102b. When the second rotating shaft 102b is rotationally driven by the second driving unit 154b, the second air cell 101b can rotate around the second rotation center 102B.
　第１駆動部１５４ａ及び第２駆動部１５４ｂは、ベース部１５５によって保持されている。ベース部１５５は、その左右方向一端に、第３回転軸１０２ｃが取り付けられており、第３回転軸１０２ｃには、第３回転軸１０２ｃを回転駆動する第３駆動部１５４ｃが連結されている。第３駆動部１５４ｃによって第３回転軸１０２ｃが回転駆動されると、ベース部１５５は、左右方向（Ｘ方向）の第３回転中心１０２Ｃ回りに回転することができる。 The first drive unit 154a and the second drive unit 154b are held by the base unit 155. The base portion 155 has a third rotation shaft 102c attached to one end in the left-right direction, and a third drive portion 154c that rotates the third rotation shaft 102c is connected to the third rotation shaft 102c. When the third rotation shaft 102c is rotationally driven by the third drive unit 154c, the base unit 155 can rotate around the third rotation center 102C in the left-right direction (X direction).
　施療部１０１によって首１００ｉを掴み揉みしている状態で、図１１８及び図１１９に示すように、第１エアセル１０１ａが第１回転中心１０２Ａ回りに回転（搖動）し、第２エアセル１０１ｂが、第２回転中心１０２Ｂ回りに回転（搖動）することで、掴み揉みに回転を加えたマッサージを首１００ｉに与えることができる。第１回転軸１０２ａ及び第２回転軸１０２ｂの回転方向は、互いに同じでもよいし、互いに逆方向であってもよい。 As shown in FIGS. 118 and 119, the first air cell 101a rotates (swings) around the first rotation center 102A while the neck 100i is grasped and squeezed by the treatment unit 101, and the second air cell 101b is By rotating (swinging) around the two rotation centers 102B, a massage obtained by adding rotation to the gripper can be applied to the neck 100i. The rotation directions of the first rotation shaft 102a and the second rotation shaft 102b may be the same as each other, or may be opposite to each other.
　施療部１０１によって首１００ｉを掴み揉みしている状態で、図１２０及び図１２１に示すように、第１エアセル１０１ａ及び第２エアセル１０１ｂが、首１００ｉの後方に位置する第３回転中心１０２Ｃ回りに回転（搖動）することで、第１エアセル１０１ａ及び第２エアセル１０１ｂが上下に搖動する。この搖動によって、首１００ｉを掴み揉みしながら、首１００ｉを上下にさすることができる。なお、第１回転中心１０２Ａ，第２回転中心１０２Ｂ，及び第３回転中心１０２Ｃ回りの回転は、それぞれ単独で行われても良いし、全てが同時に行われてもよい。 120 and 121, the first air cell 101a and the second air cell 101b are arranged around the third rotation center 102C located behind the neck 100i in a state where the neck 100i is grasped and squeezed by the treatment unit 101. By rotating (swinging), the first air cell 101a and the second air cell 101b swing up and down. By this peristaltic movement, the neck 100i can be held up and down while grasping and squeezing the neck 100i. Note that the rotation around the first rotation center 102A, the second rotation center 102B, and the third rotation center 102C may be performed independently, or all may be performed simultaneously.
　図１２２及び図１２３は、マッサージユニット１０の例を示している。図１２２及び図１２３に示すマッサージユニット１０は、背もたれ部３に設けられ、被施療者の肩１００ｈのマッサージを行う。マッサージは肩１００ｈの掴み揉みを含む。肩１００ｈの筋繊維は、肩の左右方向（図１２２及び図１２３のＸ方向）に向いている。 122 and 123 show an example of the massage unit 10. The massage unit 10 shown in FIGS. 122 and 123 is provided on the backrest 3 and massages the shoulder 100h of the user. The massage includes grabbing the shoulder 100h. The muscle fibers of the shoulder 100h face in the left-right direction of the shoulder (X direction in FIGS. 122 and 123).
　マッサージユニット１０は、肩１００ｈにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、左肩をマッサージする第１施療部材１２１Ａと、右肩をマッサージする第２施療部材１２１Ｂと、を有している。第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、それぞれ、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂのうちの一方の押圧部材（第１押圧部材）１０１ａは、肩上側１００ｈａを押圧し、他方の押圧部材（第２押圧部材）１０１ｂは、肩裏側（肩の背中側）１００ｈｂを押圧するよう配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。エアセル１０１ａ，１０１ｂは、給排気によって膨張収縮する。第１押圧部材であるエアセル１０１ａは、下方に膨張し、肩上側１００ｈａを下方へ押圧する。第２押圧部材であるエアセル１０１ｂは、前方に膨張し、肩後側１００ｈｂを前方へ押圧する。対のエアセル１０１ａ，１０１ｂによる押圧によって、肩１００ｈに対する掴み揉みが得られる。 The massage unit 10 has a treatment unit 101 that massages (grabs) the shoulder 100h. The treatment part 101 has a first treatment member 121A for massaging the left shoulder and a second treatment member 121B for massaging the right shoulder. The first treatment member 121A and the second treatment member 121B each have a pair of pressing members 101a and 101b. One of the pair of pressing members 101a and 101b (first pressing member) 101a presses the shoulder upper side 100ha, and the other pressing member (second pressing member) 101b presses the back of the shoulder (back side of the shoulder). ) It is arranged to press 100hb. Each of the pair of pressing members 101a and 101b is constituted by an air cell. The air cells 101a and 101b expand and contract by supply and exhaust. The air cell 101a as the first pressing member expands downward and presses the shoulder upper side 100ha downward. The air cell 101b as the second pressing member expands forward and presses the shoulder rear side 100hb forward. By pressing by the pair of air cells 101a and 101b, gripping and gripping with respect to the shoulder 100h is obtained.
　図１２２及び図１２３のマッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を備えている。機構部１０３は、第１施療部材１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、を含む。 122 and 123 includes a mechanism unit 103 that moves the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
　第１機構部１０３Ａは、対のエアセル１０１ａ，１０１ｂが取り付けられる支持部材１５３を有している。支持部材１５３は、第１エアセル１０１ａが取り付けられる第１支持部材１５３ａと、第２エアセル１０１ｂが取り付けられる第２支持部材１５３ｂと、を有している。第１支持部材１５３ａは、肩上側１００ｈａに対向するよう配置され、第２支持部材１５３ｂは肩後側１００ｈｂに対向するよう配置されている。第１支持部材１５３ａの後端及び第２支持部材１５３ｂの上端は連結されており、図１２２に示すように、支持部材１５３は、側面視において、Ｌ字状に形成されている。 The first mechanism 103A has a support member 153 to which the pair of air cells 101a and 101b are attached. The support member 153 includes a first support member 153a to which the first air cell 101a is attached and a second support member 153b to which the second air cell 101b is attached. The first support member 153a is disposed to face the shoulder upper side 100ha, and the second support member 153b is disposed to face the shoulder rear side 100hb. The rear end of the first support member 153a and the upper end of the second support member 153b are connected. As shown in FIG. 122, the support member 153 is formed in an L shape in a side view.
　第１機構部１０３Ａは、支持部材１５３（第２支持部材１５３ｂ）に連結された回転軸（回転中心）１０２を更に備えている。回転軸１０２は、駆動部１５４によって回転駆動される。 The first mechanism portion 103A further includes a rotation shaft (rotation center) 102 connected to the support member 153 (second support member 153b). The rotating shaft 102 is rotationally driven by the drive unit 154.
　回転軸（回転中心）１０２は、肩１００ｈの筋繊維の方向（Ｘ方向）に交わる面内方向（Ｚ方向）を向いている。なお、回転軸（回転中心）１０２は、Ｙ方向又は、その他の方向（肩１００ｈの筋繊維の方向（Ｘ方向）に交わる面内方向）に向いていてもよい。
　駆動部１５４は、支持部材１５３を、回転軸（回転中心）１０２回りに回転駆動する。エアセル１０１ａ，１０１ｂは、支持部材１５３の回転に伴って、回転軸（回転中心）１０２回りに回転する。エアセル１０１ａ，１０１ｂは、駆動部１５４の正逆回転により、回転軸（回転中心）１０２回りの正逆回転が可能である。 The rotation axis (rotation center) 102 faces the in-plane direction (Z direction) that intersects the direction (X direction) of the muscle fibers of the shoulder 100h. The rotation axis (rotation center) 102 may be oriented in the Y direction or other directions (in-plane direction intersecting the direction of the muscle fibers of the shoulder 100h (X direction)).
The drive unit 154 rotationally drives the support member 153 around the rotation axis (rotation center) 102. The air cells 101a and 101b rotate around the rotation axis (rotation center) 102 as the support member 153 rotates. The air cells 101a and 101b can rotate forward and backward around the rotation axis (rotation center) 102 by forward and reverse rotation of the drive unit 154.
　第２機構部１０３Ｂは、第１機構部１０３Ａと同様の構成を有し、同様に動作可能である。すなわち、第２機構部１０３Ｂは、支持部材１５３と、回転軸（回転中心）１０２と、を有する。第２機構部１０３Ｂの回転軸１０２も駆動部１５４によって回転駆動される。第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ別の駆動部１５４によって駆動されてもよいし、共通の駆動部１５４によって駆動されてもよい。 The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and can operate in the same manner. That is, the second mechanism unit 103 </ b> B includes a support member 153 and a rotation shaft (rotation center) 102. The rotation shaft 102 of the second mechanism unit 103B is also rotationally driven by the drive unit 154. The first mechanism unit 103A and the second mechanism unit 103B may be driven by different driving units 154 or may be driven by a common driving unit 154.
　図１２３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって、左右の肩１００ｈを掴み揉みした状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを互いに逆方向に回転させた様子を示している。図１２３において、第１施療部材１２１Ａは、反時計回りに回転し、第２施療部材１２１Ｂは、時計回りに回転している。第１施療部材１２１Ａ及び第２施療部材１２１Ｂの回転によって、肩１００ｈをほぐすような掴み揉みが行える。 FIG. 123 shows a state in which the first treatment member 121A and the second treatment member 121B are rotated in opposite directions with the first treatment member 121A and the second treatment member 121B gripping the left and right shoulders 100h. ing. In FIG. 123, the first treatment member 121A rotates counterclockwise, and the second treatment member 121B rotates clockwise. By the rotation of the first treatment member 121A and the second treatment member 121B, it is possible to perform grasping and squeezing to loosen the shoulder 100h.
　なお、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを同じ方向に回転させてもよいし、第１施療部材１２１Ａ及び第２施療部材１２１Ｂのうちのいずれか一方だけを回転させてもよい。また、第１支持部材１５３ａと、第２支持部材１５３ｂとが、独立して回転するように構成してもよく、この場合、対の押圧部材のいずれか一方だけを回転させることもできる。さらに、第１施療部材１２１Ａ及び第２施療部材１２１Ｂが、肩１００ｈを掴み揉みしていない状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを回転させて掴み揉みの位置を変化させた後、肩を掴み揉みしてもよい。 The first treatment member 121A and the second treatment member 121B may be rotated in the same direction, or only one of the first treatment member 121A and the second treatment member 121B may be rotated. Further, the first support member 153a and the second support member 153b may be configured to rotate independently, and in this case, only one of the pair of pressing members can be rotated. Further, after the first treatment member 121A and the second treatment member 121B are not grasping and gripping the shoulder 100h, the first treatment member 121A and the second treatment member 121B are rotated to change the position of the grasping and grasping. You can grab your shoulder and rub it.
　図１２４～図１２６は、マッサージユニット１０の例を示している。図１２４～図１２６に示すマッサージユニット１０は、背もたれ部３に設けられ、被施療者のマッサージを行う。マッサージは、被施療者の肩（図では左肩）１００ｈ又は首１００ｉの掴み揉みを含む。首１００ｉの筋繊維は、首の長手方向（図１２４のＹ方向）に向いている。 124 to 126 show examples of the massage unit 10. The massage unit 10 shown in FIGS. 124 to 126 is provided on the backrest 3 and massages the user. The massage includes grasping and gripping the shoulder (left shoulder in the figure) 100h or the neck 100i of the user. The muscle fibers of the neck 100i are oriented in the longitudinal direction of the neck (Y direction in FIG. 124).
　マッサージユニット１０は、肩１００ｈ又は首１００ｉにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂのうちの一方の押圧部材（第１押圧部材）１０１ａは、肩上側１００ｈａを押圧し、他方の押圧部材（第２押圧部材）１０１ｂは、肩裏側（肩の背中側）１００ｈｂを押圧するよう配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。エアセル１０１ａ，１０１ｂは、給排気によって膨張収縮する。第１押圧部材であるエアセル１０１ａは、下方に膨張し、肩上側１００ｈａを下方へ押圧する。第２押圧部材であるエアセル１０１ｂは、前方に膨張し、肩後側１００ｈｂを前方へ押圧する。対のエアセル１０１ａ，１０１ｂによる押圧によって、肩１００ｈに対する掴み揉みが得られる。 The massage unit 10 has a treatment unit 101 that massages (grabs) the shoulder 100h or the neck 100i. The treatment part 101 has a pair of pressing members 101a and 101b. One of the pair of pressing members 101a and 101b (first pressing member) 101a presses the shoulder upper side 100ha, and the other pressing member (second pressing member) 101b presses the back of the shoulder (back side of the shoulder). ) It is arranged to press 100hb. Each of the pair of pressing members 101a and 101b is constituted by an air cell. The air cells 101a and 101b expand and contract by supply and exhaust. The air cell 101a as the first pressing member expands downward and presses the shoulder upper side 100ha downward. The air cell 101b as the second pressing member expands forward and presses the shoulder rear side 100hb forward. By pressing by the pair of air cells 101a and 101b, gripping and gripping with respect to the shoulder 100h is obtained.
　図１２４～図１２６のマッサージユニット１０は、施療部１０１を移動させる機構部１０３を備えている。機構部１０３は、対のエアセル１０１ａ，１０１ｂが取り付けられる支持部材１５３を有している。支持部材１５３は、第１エアセル１０１ａが取り付けられる第１支持部材１５３ａと、第２エアセル１０１ｂが取り付けられる第２支持部材１５３ｂと、第２支持部材１５３ｂが取り付けられる第３支持部材１５３ｃと、を有している。第１支持部材１５３ａは、肩上側１００ｈａに対向するよう配置され、第２支持部材１５３ｂは肩後側１００ｈｂに対向するよう配置されている。第１支持部材１５３ａの後端及び第２支持部材１５３ｂの上端は連結されており、図１２４に示すように、第１支持部材１５３ａ及び第２支持部材１５３ｂは、全体として、側面視において、Ｌ字状に形成されている。 The massage unit 10 shown in FIGS. 124 to 126 includes a mechanism unit 103 that moves the treatment unit 101. The mechanism 103 has a support member 153 to which the pair of air cells 101a and 101b are attached. The support member 153 includes a first support member 153a to which the first air cell 101a is attached, a second support member 153b to which the second air cell 101b is attached, and a third support member 153c to which the second support member 153b is attached. is doing. The first support member 153a is disposed to face the shoulder upper side 100ha, and the second support member 153b is disposed to face the shoulder rear side 100hb. The rear end of the first support member 153a and the upper end of the second support member 153b are connected to each other. As shown in FIG. 124, the first support member 153a and the second support member 153b are generally L in a side view. It is formed in a letter shape.
　機構部１０３は、第２支持部材１５３ｂと第３支持部材１５３ｃとを連結する回転軸（回転中心）１０２を更に備えている。第３支持部材１５３ｃには、回転軸１０２を回転させる駆動部１５４が設けられている。回転軸（回転中心）１０２は、肩１００ｈの筋繊維の方向（Ｘ方向）に交わる面内方向（Ｚ方向）を向いている。なお、回転軸（回転中心）１０２は、Ｙ方向又は、その他の方向（肩１００ｈの筋繊維の方向（Ｘ方向）に交わる面内方向）に向いていてもよい。
　駆動部１５４は、第１支持部材１５３ａ及び第２支持部材１５３ｂを、回転軸（回転中心）１０２回りに回転駆動する。エアセル１０１ａ，１０１ｂは、支持部材１５３の回転に伴って、回転軸（回転中心）１０２回りに回転する。エアセル１０１ａ，１０１ｂは、駆動部１５４の正逆回転により、回転軸（回転中心）１０２回りの正逆回転が可能である。 The mechanism unit 103 further includes a rotation shaft (rotation center) 102 that connects the second support member 153b and the third support member 153c. The third support member 153c is provided with a drive unit 154 that rotates the rotating shaft 102. The rotation axis (rotation center) 102 faces the in-plane direction (Z direction) that intersects the direction (X direction) of the muscle fibers of the shoulder 100h. The rotation axis (rotation center) 102 may be oriented in the Y direction or other directions (in-plane direction intersecting the direction of the muscle fibers of the shoulder 100h (X direction)).
The drive unit 154 rotationally drives the first support member 153 a and the second support member 153 b around the rotation axis (rotation center) 102. The air cells 101a and 101b rotate around the rotation axis (rotation center) 102 as the support member 153 rotates. The air cells 101a and 101b can rotate forward and backward around the rotation axis (rotation center) 102 by forward and reverse rotation of the drive unit 154.
　機構部１０３は、第３支持部材１５３ｃを、背もたれ３に対して左右方向（Ｘ方向）に移動させることができるように構成されている。具体的には、背もたれ部３には、長手方向が左右方向（Ｘ方向）に向けられたラック１６４を有している。ラック１６４に噛み合うピニオン１６３が、回転軸１６２を介して、第３支持部材１５３ｃに設けられた駆動部１６１に連結されている。駆動部１６１は、ピニオン１６３を回転駆動することにより、図１２５（ａ）に示すように、ピニオン１６３がラック１６４上を左右方向に移動する。これにより、駆動部１６１が設けられている第３支持部材１５３ｃが左右方向に移動する。第３支持部材１５３ｃの移動により、第１支持部材１５３ａ及び第２支持部材１５３ｂも左右方向へ移動する。したがって、施療部１０１（エアセル１０１ａ，１０１ｂ）は、駆動部１６１の正逆回転により、左右方向の移動が可能である。
　なお、第３支持部材１５３ｃには、駆動部１６１が取り付けられる取付体１６７と、取付体１６７から背もたれ部３側へ延びる支持軸１６６と、が設けられている。支持軸１６６の後端にはガイドローラ１６５が回転自在に取り付けられており、ラック１６４の下面に転動自在に接触している。ガイドローラ１６５によるラック１６４への転動接触によって、第３支持部材１５３ｃの左右方向の移動がガイドされる。 The mechanism unit 103 is configured to be able to move the third support member 153 c in the left-right direction (X direction) with respect to the backrest 3. Specifically, the backrest 3 has a rack 164 whose longitudinal direction is directed in the left-right direction (X direction). A pinion 163 that meshes with the rack 164 is connected to a drive unit 161 provided on the third support member 153 c via a rotation shaft 162. The drive unit 161 rotationally drives the pinion 163, so that the pinion 163 moves in the left-right direction on the rack 164 as shown in FIG. 125 (a). Thereby, the 3rd support member 153c in which the drive part 161 is provided moves to the left-right direction. As the third support member 153c moves, the first support member 153a and the second support member 153b also move in the left-right direction. Therefore, the treatment unit 101 ( air cells 101a and 101b) can be moved in the left-right direction by forward and reverse rotation of the drive unit 161.
The third support member 153c is provided with an attachment body 167 to which the drive unit 161 is attached, and a support shaft 166 extending from the attachment body 167 to the backrest part 3 side. A guide roller 165 is rotatably attached to the rear end of the support shaft 166 and is in contact with the lower surface of the rack 164 so as to be able to roll. By the rolling contact with the rack 164 by the guide roller 165, the movement of the third support member 153c in the left-right direction is guided.
　支持部材１５３全体が、駆動部１６１によって左右方向の任意の位置に移動した状態において、第２支持部材１５３ｂは、図１２５（ｂ）に示すように、駆動部１５４によって回転することができる。例えば、図１２６（ａ）に示すように、支持部材１５３が、左肩１００ｈの左外側端に位置して、施療部１０１によって肩１００ｈ（左肩）をマッサージ可能な状態から、首１００ｉの付け根付近へ移動し、第２支持部材１５３ｂが、回転中心１０２回りに、時計回りに回転することができる。図１２６（ｂ）に示すように、回転後において、第１支持部材１５３ａは、首１００ｉの側方（左則方）に位置し、第２支持部材１５３ｂは、首１００ｉの背後に位置する。したがって、施療部１０１によって、首１００ｉを側方と背後から掴み揉みすることができる。このように、機構部１０３は、肩１００ｈに対するマッサージを行う施療部１０１が、首１００ｉに対する掴み揉みが行えるように、施療部１０１を首１００ｉの位置まで移動させることができる。 In the state where the entire support member 153 is moved to an arbitrary position in the left-right direction by the drive unit 161, the second support member 153b can be rotated by the drive unit 154 as shown in FIG. 125 (b). For example, as shown in FIG. 126 (a), the support member 153 is positioned at the left outer end of the left shoulder 100h, and the shoulder 100h (left shoulder) can be massaged by the treatment portion 101, to the vicinity of the base of the neck 100i. The second support member 153b can move and rotate clockwise around the rotation center 102. As shown in FIG. 126 (b), after rotation, the first support member 153a is located on the side (left-hand side) of the neck 100i, and the second support member 153b is located behind the neck 100i. Therefore, the treatment part 101 can grasp and squeeze the neck 100i from the side and the back. In this manner, the mechanism unit 103 can move the treatment unit 101 to the position of the neck 100i so that the treatment unit 101 that performs massage on the shoulder 100h can grasp and squeeze the neck 100i.
　なお、第１支持部材１５３ａと、第２支持部材１５３ｂとが、独立して回転するように構成してもよく、この場合、対の押圧部材のいずれか一方だけを回転させることもできる。さらに、図１２４～図１２６の施療部１０１は、左肩に対するマッサージを行うものであるが、同様の施療部１０１を右肩用にも設けることで、左右両方の肩をマッサージすることができる。 The first support member 153a and the second support member 153b may be configured to rotate independently. In this case, only one of the pair of pressing members can be rotated. Further, the treatment unit 101 in FIGS. 124 to 126 performs massage on the left shoulder, but by providing the same treatment unit 101 for the right shoulder, both the left and right shoulders can be massaged.
　図１２７は、図８７～図１２６に示すマッサージユニット１０を設けるのに適した身体部位における筋繊維の方向１６３ａ～１６３ｈと、施療部１０１（施療部材１２１Ａ～１２１Ｄ）の回転方向１６６Ａ，１６６Ｂの例を示している。図１２７に示すように施療部１０１（施療部材１２１Ａ～１２１Ｄ）は、筋繊維の方向１６３ａ～１６３ｈに交わる（直交する）面１６５を想定した場合に、その面内方向（例えば、図１２７の方向１０２Ａ，１０２Ｂ）を回転中心とした回転方向１６６Ａ，１６６Ｂに回転する。面内方向は、図１２７の方向１０２Ａ，１０２Ｂに限られるものではなく、他の面内方向であってもよい。 FIG. 127 shows examples of muscle fiber directions 163a to 163h in the body part suitable for providing the massage unit 10 shown in FIGS. 87 to 126 and rotation directions 166A and 166B of the treatment unit 101 (treatment members 121A to 121D). Is shown. As shown in FIG. 127, the treatment unit 101 (treatment members 121A to 121D) assumes an in-plane direction (for example, the direction of FIG. 127) when assuming a surface 165 that intersects (orthogonally) the muscle fiber directions 163a to 163h. 102A, 102B) are rotated in the rotation directions 166A, 166B with the rotation center. The in-plane direction is not limited to the directions 102A and 102B in FIG. 127, and may be other in-plane directions.
＜第３節：身体部位の筋繊維の方向に交わる面内方向の動き＞
　本節における実施形態を列記して説明する。本節での説明に付されている符号は、図１及び図１２８～図１５０において使用されている。
〔本発明の実施形態の説明〕
（５９）本発明のマッサージ装置（実施の一形態）１は、身体部位に対する掴み揉みを行う施療部１０１と、施療部１０１による掴み揉みが行われている状態で、掴み揉みが行われている身体部位１００における筋繊維の方向に交わる面内方向へ、施療部１０１を動かす機構部１０３と、を備えている。 <Section 3: Movement in the in-plane direction intersecting the direction of muscle fibers of the body part>
The embodiments in this section are listed and described. The reference numerals used in the description in this section are used in FIGS. 1 and 128 to 150.
[Description of Embodiment of the Present Invention]
(59) A massage apparatus (one embodiment) 1 of the present invention is a treatment unit 101 that performs grasping and squeezing on a body part, and is gripped and squeezed by the treatment unit 101. A mechanism unit 103 that moves the treatment unit 101 in an in-plane direction that intersects the direction of muscle fibers in the body part 100.
　施療部１０１が、掴み揉みが行われている身体部位１００の筋繊維の方向に交わる面内方向へ動くことで、掴み揉みに更なる動きが加わり、単なる掴み揉みよりもマッサージ感が向上する。筋繊維の方向は、例えば、腕の長手方向、脚の長手方向、肩の左右方向、及び首の長手方向を含む。腕、脚又は首に対する掴み揉みを行う施療部１０１の場合、施療部１０１は、例えば、腕、脚又は首の長手方向に交差する方向に動く。腕、脚又は首などの身体部位の長手方向が上下方向を向いている場合、上記の面内方向は、身体部位の左右方向又は身体部位の前後方向を含む。肩に対する掴み揉みを行う施療部１０１の場合、施療部１０１は、例えば、肩の左右方向に交差する方向に動く。肩の左右方向に交差する面内方向は、例えば、肩の前後方向及び肩の上下方向を含む。 When the treatment unit 101 moves in the in-plane direction intersecting the direction of the muscle fibers of the body part 100 where the grasping is performed, a further movement is added to the grasping, and the massage feeling is improved more than the simple grasping. The direction of the muscle fiber includes, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the left-right direction of the shoulder, and the longitudinal direction of the neck. In the case of the treatment unit 101 that grips and squeezes the arm, leg, or neck, the treatment unit 101 moves, for example, in a direction that intersects the longitudinal direction of the arm, leg, or neck. When the longitudinal direction of a body part such as an arm, a leg, or a neck faces the up-down direction, the in-plane direction includes the left-right direction of the body part or the front-back direction of the body part. In the case of the treatment unit 101 that performs grasping and kneading on the shoulder, the treatment unit 101 moves, for example, in a direction that intersects the left and right direction of the shoulder. The in-plane direction intersecting the left and right direction of the shoulder includes, for example, the front and rear direction of the shoulder and the vertical direction of the shoulder.
　施療部１０１の前記面内方向の動きは、前記面内方向の動き成分を動きの主成分として有していれば足り、他の方向への動き成分を有していても良い。他の方向への動き成分とは、例えば、面外方向（面の法線方向）への動き成分である。施療部１０１の前記面内方向の動きは、直線運動である必要はなく、曲線運動であってもよい。 The motion in the in-plane direction of the treatment unit 101 is sufficient if it has the motion component in the in-plane direction as a main component of the motion, and may have a motion component in another direction. The movement component in the other direction is, for example, a movement component in the out-of-plane direction (surface normal direction). The movement in the in-plane direction of the treatment unit 101 does not have to be a linear motion, and may be a curved motion.
　機構部１０３は、施療部１０１の全体を動かす必要はなく、施療部１０１の少なくとも一部を動かすもので足りる。施療部１０１が後述の対の押圧部材１０１ａ，１０１ｂを含む場合、機構部１０３は、対の押圧部材１０１ａ，１０１ｂの少なくとも一方を動かす。 The mechanism unit 103 does not need to move the entire treatment unit 101, and only needs to move at least a part of the treatment unit 101. When the treatment unit 101 includes a pair of pressing members 101a and 101b described later, the mechanism unit 103 moves at least one of the pair of pressing members 101a and 101b.
（６０）施療部１０１は、筋繊維の方向に交わる方向から身体部位を掴み揉みするよう構成され、機構部１０３は、前記面内方向に含まれる方向、かつ、施療部１０１による掴み揉みの方向に交わる方向へ、施療部１０１を動かすよう構成されているのが好ましい。施療部１０１が、掴み揉みの方向に交わる方向へ動くことで、掴み揉みされている身体部位の筋線維を横切る動きが生じ、このような動きにより、例えば、筋肉をほぐすことができる。 (60) The treatment unit 101 is configured to grasp and squeeze a body part from a direction intersecting with the direction of muscle fibers, and the mechanism unit 103 includes a direction included in the in-plane direction and a direction of squeezing by the treatment unit 101. It is preferable that the treatment unit 101 is configured to move in a direction that intersects with the. When the treatment unit 101 moves in a direction intersecting with the direction of grasping and squeezing, a movement across the muscle fiber of the body part being grasped and squeezed occurs, and for example, the muscle can be loosened.
（６１）施療部１０１は、筋繊維の方向に交わる方向から身体部位を掴み揉みするよう構成され、機構部１０３は、面内方向に含まれる方向、かつ、施療部１０１による掴み揉みの方向に沿った方向へ、施療部１０１を動かすよう構成されているのが好ましい。施療部１０１が、掴み揉みの方向に沿って動くことで、掴み揉みされている身体部位への押圧感を変化させることができる。 (61) The treatment unit 101 is configured to grasp and squeeze the body part from the direction intersecting with the direction of the muscle fibers, and the mechanism unit 103 is included in the direction included in the in-plane direction and in the direction of squeezing by the treatment unit 101. It is preferable that the treatment unit 101 is configured to move in the direction along. When the treatment unit 101 moves along the direction of grasping and squeezing, it is possible to change the feeling of pressing on the body part that is being squeezed.
（６２）施療部１０１は、身体部位１００に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによる掴み揉みが行われている状態で、第１施療部材１２１Ａと第２施療部材１２１Ｂとの相対的位置関係が変化するように、第１施療部材１２１Ａ及び第２施療部材１２１Ｂの少なくともいずれか一方を、面内方向へ動かすよう構成されているのが好ましい。 (62) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes the body part 100, and the mechanism unit 103 grasps the first treatment member 121A and the second treatment member 121B. At least one of the first treatment member 121A and the second treatment member 121B is changed so that the relative positional relationship between the first treatment member 121A and the second treatment member 121B changes while the stagnation is performed. It is preferably configured to move in the in-plane direction.
（６３）第１施療部材１２１Ａは、身体の第１範囲１００ｃに対して掴み揉みを行うよう設けられ、第２施療部材１２１Ｂは、第１範囲１００ｃとの間に少なくとも一つの関節を介して、第１範囲１００ｃとは異なる範囲である身体の第２範囲１００ｄに対して掴み揉みを行うよう設けられているのが好ましい。例えば、第１範囲は手であり第２範囲は前腕、第１範囲は前腕であり第２範囲は上腕、第１範囲は上腕であり第２範囲は肩、第１範囲は肩であり第２範囲は首、第１範囲は足であり第２範囲は下腿、第１範囲は下腿であり第２範囲は大腿、とすることができる。 (63) The first treatment member 121A is provided to grip and squeeze the first range 100c of the body, and the second treatment member 121B is interposed between the first range 100c and at least one joint. It is preferable that the second range 100d of the body, which is a range different from the first range 100c, is provided so as to be grasped and squeezed. For example, the first range is the hand and the second range is the forearm, the first range is the forearm, the second range is the upper arm, the first range is the upper arm, the second range is the shoulder, the first range is the shoulder, the second The range can be the neck, the first range is the foot and the second range is the lower leg, the first range is the lower leg and the second range is the thigh.
（６４）施療部１０１は、前記身体部位に対する掴み揉みを行うための対の押圧部材１０１ａ，１０１ｂを含み、機構部１０３は、対の押圧部材１０１ａ，１０１ｂ同士の相対的位置関係が変化するように、対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方の押圧部材を、面内方向へ動かすよう構成されているのが好ましい。対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方の押圧部材が動くことで、単なる掴み揉みよりもマッサージ感が向上する。 (64) The treatment unit 101 includes a pair of pressing members 101a and 101b for grasping and squeezing the body part, and the mechanism unit 103 changes the relative positional relationship between the pair of pressing members 101a and 101b. In addition, it is preferable that at least one of the pair of pressing members 101a and 101b is configured to move in the in-plane direction. By moving at least one of the pair of pressing members 101a and 101b, the feeling of massage is improved more than a simple gripping.
（６５）機構部１０３は、第１施療部材１２１Ａ及び前記第２施療部材１２１Ｂを、面内方向へ動かすよう構成されているのが好ましい。 (65) The mechanism 103 is preferably configured to move the first treatment member 121A and the second treatment member 121B in the in-plane direction.
（６６）機構部１０３は、第１施療部材１２１Ａと第２施療部材１２１Ｂとの相対的位置関係が変化するように、第１施療部材１２１Ａ及び前記第２施療部材１２１Ｂを、面内方向へ動かすよう構成されているのが好ましい。 (66) The mechanism unit 103 moves the first treatment member 121A and the second treatment member 121B in the in-plane direction so that the relative positional relationship between the first treatment member 121A and the second treatment member 121B changes. It is preferable that it is comprised.
（６７）機構部１０３は、第１施療部材１２１Ａと第２施療部材１２１Ｂとの相対的位置関係を維持しつつ、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを、面内方向へ動かすよう構成されているのが好ましい。 (67) The mechanism unit 103 is configured to move the first treatment member 121A and the second treatment member 121B in the in-plane direction while maintaining the relative positional relationship between the first treatment member 121A and the second treatment member 121B. It is preferable.
（６８）第１施療部材１２１Ａは、肩に対する掴み揉みを行うように設けられ、第２施療部材１２１Ｂは、上肢又は首に対する掴み揉みを行うように設けられているのが好ましい。 (68) It is preferable that the first treatment member 121A is provided so as to grip and squeeze the shoulder, and the second treatment member 121B is provided so as to perform a grip and squeeze against the upper limbs or the neck.
　施療部１０１は、手に対する掴み揉みを行うよう設けられた第１施療部材と、前腕に対する掴み揉みを行うよう設けられた第２施療部材と、上腕に対する掴み揉みを行うよう設けられた第３施療部材と、肩に対する掴み揉みを行うよう設けられた第４施療部材と、を含み、機構部１０３は、第１施療部材、第２施療部、第３施療部、及び、第４施療部材のうちの二以上の施療部材による掴み揉みが行われている状態で、掴み揉みを行っている二以上の施療部材の少なくとも一つを、前記面内方向へ動かすよう構成されているのが好ましい。 The treatment unit 101 includes a first treatment member provided to grip the hand and a second treatment member provided to grip the forearm, and a third treatment provided to grip the upper arm. A member and a fourth treatment member provided to grip and squeeze the shoulder, and the mechanism unit 103 includes a first treatment member, a second treatment unit, a third treatment unit, and a fourth treatment member. It is preferable that at least one of the two or more treatment members that are grasping and gripping is moved in the in-plane direction in a state where the two or more treatment members are being gripped and gripped.
　施療部１０１は、足に対する掴み揉みを行うよう設けられた第１施療部材と、下腿に対する掴み揉みを行うよう設けられた第２施療部材と、大腿に対する掴み揉みを行うよう設けられた第３施療部材と腰に対する掴み揉みを行うよう設けられた第４施療部材と、を含み、機構部１０３は、第１施療部材、第２施療部、第３施療部、及び、第４施療部材のうちの二以上の施療部材による掴み揉みが行われている状態で、掴み揉みを行っている二以上の施療部材の少なくとも一つを、前記面内方向へ動かすよう構成されているのが好ましい。 The treatment unit 101 includes a first treatment member provided for gripping the foot, a second treatment member provided for gripping the lower leg, and a third treatment provided for gripping the thigh. A fourth treatment member provided to perform gripping and squeezing on the member and the waist, and the mechanism unit 103 includes a first treatment member, a second treatment unit, a third treatment unit, and a fourth treatment member. It is preferable that at least one of the two or more treatment members that are grasping and gripping is moved in the in-plane direction in a state where the gripping and gripping is performed by two or more treatment members.
（６９）施療部１０１は、身体部位における筋繊維の方向に交わる方向から身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、第１施療部材１２１Ａは、身体の第１範囲１００ｄに対して掴み揉みを行うよう設けられ、第２施療部材１２１Ｂは、前記第１範囲１００ｄとの間に少なくとも一つの関節を介して、前記第１範囲１００ｄとは異なる範囲である身体の第２範囲１００ａに対して掴み揉みを行うよう設けられ、機構部１０３は、面内方向に含まれる第１方向に第１施療部材１２１Ａを移動させるとともに、面内方向に含まれる方向であって第１方向に交わる第２方向に第２施療部材１２１Ｂを移動させるよう構成されているのが好ましい。 (69) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which performs gripping and squeezing with respect to the body part from a direction intersecting with the direction of the muscle fibers in the body part. The second treatment member 121B is provided in a range different from the first range 100d through at least one joint between the first range 100d and the second treatment member 121B. A mechanism 103 is provided so as to grasp and squeeze a second range 100a of a body, and the mechanism 103 moves the first treatment member 121A in a first direction included in the in-plane direction and includes a direction included in the in-plane direction. However, it is preferable that the second treatment member 121B is moved in a second direction intersecting the first direction.
（７０）身体部位１００は、肩１００ｈであり、機構部１０３は、施療部１０１による肩１００ｈに対する掴み揉みが行われている状態で、肩１００ｈにおける筋繊維の方向に交わる面内方向へ、施療部１０１を動かすよう構成されているのが好ましい。 (70) The body part 100 is the shoulder 100h, and the mechanism part 103 is treated in an in-plane direction intersecting with the direction of the muscle fibers in the shoulder 100h in a state where the treatment part 101 is gripping and squeezing the shoulder 100h. It is preferably configured to move the part 101.
（７１）施療部１０１は、左右の一方の肩に対する掴み揉みを行う第１施療部材１２１Ａ－１と、左右の他方の肩に対する掴み揉みを行う第２施療部材１２１Ａ－２と、を含み、機構部１０３は、第１施療部材１２１Ａ－１及び第２施療部材１２１Ａ－２により左右の前記肩に対する掴み揉みが行われている状態で、第１施療部材１２１Ａ－１及び第２施療部材１２１Ａ－２それぞれを肩における筋繊維の方向に交わる面内方向へ動かすよう構成されているのが好ましい。 (71) The treatment unit 101 includes a first treatment member 121A-1 that performs gripping for the left and right shoulders, and a second treatment member 121A-2 that performs gripping for the other shoulders of the left and right. The portion 103 is in a state in which the first and second treatment members 121A-1 and 121A-2 are gripped with respect to the left and right shoulders by the first treatment member 121A-1 and the second treatment member 121A-2. Preferably, each is configured to move in an in-plane direction intersecting the direction of muscle fibers in the shoulder.
［本発明の実施形態の詳細］
　図１２８～図１３０は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、手１００ｃ及び前腕１００ｄである。マッサージは、身体部位１００の掴み揉みを含む。手１００ｃ及び前腕１００ｄの筋繊維は、手１００ｃ及び前腕１００ｄの長手方向（図１２８のＺ方向）に向いている。 [Details of the embodiment of the present invention]
128 to 130 show examples of the massage unit 10. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage includes grasping and massaging the body part 100. The muscle fibers of the hand 100c and the forearm 100d are oriented in the longitudinal direction of the hand 100c and the forearm 100d (the Z direction in FIG. 128).
　マッサージユニット１０は、手１００ｃ及び前腕１００ｄにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、手１００ｃをマッサージ（掴み揉み）する第１施療部材１２１Ａと、前腕１００ｄをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、を含む。
　肘掛け部４に設けられる施療部材１２１Ａ，１２１Ｂの数は、１つでもよいし、３以上でもよい。図７１～図１３０に示す施療部材１２１Ａ，１２１Ｂは、首、肩、上腕、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d. The treatment unit 101 includes a first treatment member 121A that massages (grabs) the hand 100c and a second treatment member 121B that massages (grabs) the forearm 100d.
The number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more. The treatment members 121A and 121B shown in FIGS. 71 to 130 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulder, upper arm, thigh, lower leg, foot, and other body parts. good.
　第１施療部材１２１Ａは、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の手１００ｃを配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。対の押圧部材１０１ａ，１０１ｂのうち、上側の押圧部材１０１ａを構成するエアセルの数は２つであり、下側の押圧部材１０１ｂを構成するエアセルの数は１つである。エアセル１０１ａ，１０１ｂは、図示しない空気回路による給排気を受ける。エアセル１０１ａ，１０１ｂは給排気によって膨張収縮する。膨張した対のエアセル１０１ａ，１０１ｂは、手１００ｃの両側から押圧する（図１３１参照）。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。 The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are disposed so as to face each other so as to have a space in which a hand 100c to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. Of the pair of pressing members 101a and 101b, the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b are supplied and exhausted by an air circuit (not shown). The air cells 101a and 101b expand and contract by supply and exhaust. The expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 131). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
　第１施療部材１２１Ａは、手１００ｃにおける筋繊維の方向（手１００ｃの長手方向；図１２８のＺ方向）に交わる方向（図１２８のＹ方向）から手１００ｃに対する掴み揉みを行う。
　掴み揉みは、対の押圧部材１０１ａ，１０１ｂの間に身体部位１００を位置させた状態で、対の押圧部材１０１ａ，１０１ｂを互いに近接させることで行われる。このように、掴み揉みは、身体部位１００を挟み込むシンプルな動作で足りる。 The first treatment member 121A grips and grips the hand 100c from the direction (Y direction in FIG. 128) intersecting the direction of muscle fibers in the hand 100c (longitudinal direction of the hand 100c; Z direction in FIG. 128).
The gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
　第２施療部材１２１Ｂは、第１施療部材１２１Ａと同様の構成を有し、同様に動作する。すなわち、第２施療部材１２１Ｂは、対の押圧部材１０１ａ，１０１ｂを有し、対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。 The 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
　図１２８～図１３０のマッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を更に備えている。機構部１０３は、第１施療部材１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、を含む。 128 to 130 further includes a mechanism portion 103 that moves the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
　第１機構部１０３Ａは、対のエアセル１０１ａ，１０１ｂのうちの一方のエアセル（第１エアセル）１０１ａが取り付けられる第１支持部材１５３ａと、他方のエアセル（第２エアセル）１０１ｂが取り付けられる第２支持部材１５３ｂと、第１支持部材１５３ａ及び第２支持部材１５３ｂを手の外側（小指側）で連結する第３支持部材１５３ｃと、第２支持部材１５３ｂに連結されたナット部１５６と、ナット部１５６を直線移動させるねじ軸１５５と、を備えている。ねじ軸１５５は、駆動部１５４によって回転駆動される。 The first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached. A member 153b, a third support member 153c for connecting the first support member 153a and the second support member 153b on the outer side (little finger side) of the hand, a nut portion 156 connected to the second support member 153b, and a nut portion 156 And a screw shaft 155 for linearly moving. The screw shaft 155 is rotationally driven by the drive unit 154.
　ねじ軸１５５は、手１００ｃの筋繊維の方向（Ｚ方向）に交わる方向（Ｘ方向）を向いている。回転駆動されたねじ軸１５５はナット部１５６を、図１３０のＸ方向に移動させる。
　ナット部１５６がＸ方向に移動すると、ナット部１５６を備えた支持部材１５３ａ，１５３ｂ，１５３ｃも、Ｘ方向に移動する。支持部材１５３ａ，１５３ｂ，１５３ｃがＸ方向へ移動することにより、エアセル１０１ａ，１０１ｂも、Ｘ方向へ移動する。エアセル１０１ａ，１０１ｂは、駆動部１５４の正逆回転により、Ｘ方向への往復動作が可能である。 The screw shaft 155 faces the direction (X direction) that intersects the direction (Z direction) of the muscle fibers of the hand 100c. The screw shaft 155 that is rotationally moved moves the nut portion 156 in the X direction of FIG.
When the nut portion 156 moves in the X direction, the support members 153a, 153b, and 153c including the nut portion 156 also move in the X direction. As the support members 153a, 153b, and 153c move in the X direction, the air cells 101a and 101b also move in the X direction. The air cells 101a and 101b can reciprocate in the X direction by forward and reverse rotation of the drive unit 154.
　ねじ軸１５５は、Ｙ方向に向けて配置されていてもよい。この場合、エアセル１０１ａ，１０１ｂがＹ方向へ移動することができる。ねじ軸１５５は、ＸＹ平面に含まれるＸ方向Ｙ方向以外の他の方向（他の面内方向）に向けて配置されていてもよい。この場合、エアセル１０１ａ，１０１ｂがＸＹ平面内の他の方向へ移動することができる。
　なお、図１２８～図１３０において、ＸＹ平面は、筋繊維の方向（Ｚ方向）と直交する方向の面である。ただし、エアセル１０１ａ，１０１ｂが移動可能な方向は、Ｚ方向と直交する方向に限られず、Ｚ方向に交わる方向であれば足りる。 The screw shaft 155 may be arranged in the Y direction. In this case, the air cells 101a and 101b can move in the Y direction. The screw shaft 155 may be arranged in a direction other than the X direction and the Y direction (other in-plane directions) included in the XY plane. In this case, the air cells 101a and 101b can move in other directions in the XY plane.
128 to 130, the XY plane is a plane in a direction orthogonal to the direction of muscle fibers (Z direction). However, the direction in which the air cells 101a and 101b can move is not limited to the direction orthogonal to the Z direction, and may be any direction that intersects the Z direction.
　第２機構部１０３Ｂは、第１機構部１０３Ａと同様の構成を有し、同様に動作する。すなわち、第２機構部１０３Ｂは、支持部材１５３ａ，１５３ｂ，１５３ｃと、ナット部１５６と、ねじ軸１５５と、を有する。第２機構部１０３Ｂのねじ軸１５５も駆動部１５４によって回転駆動される。
　図１３１において、第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ別の駆動部１５４によって駆動されるが、第１機構部１０３Ａ及び第２機構部１０３Ｂは、共通の駆動部によって駆動されてもよい。 The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support members 153a, 153b, and 153c, a nut portion 156, and a screw shaft 155. The screw shaft 155 of the second mechanism unit 103B is also rotationally driven by the drive unit 154.
In FIG. 131, the first mechanism unit 103A and the second mechanism unit 103B are driven by separate drive units 154, respectively, but the first mechanism unit 103A and the second mechanism unit 103B are driven by a common drive unit. Also good.
　図１３２及び図１３３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって手１００ｃ及び前腕１００ｄを掴み揉みした状態で、一方の施療部材１２１Ａ，１２１Ｂを、Ｘ方向に移動させた様子を示している。図１３２において、第２施療部材１２１ＢはＸ方向に移動することなく、第１施療部材１２１ＡがＸ方向（手１００ｃの小指側）に動いている。第１施療部材１２１Ａのこのような動きにより、前腕１００ｄの位置を固定した状態で、第１施療部材１２１Ａと第２施療部材１２１Ｂとの間に位置する関節（図１３２では手関節）を曲げ点として、手１００ｃを前腕１００ｄに対してＸ方向（左右）に曲げることができ、ストレッチ作用が生じる。第１施療部材１２１Ａが、Ｘ方向において往復動を繰り返すことで、手関節の左右方向への曲げを繰り返すことができる。 132 and 133 show a state where one of the treatment members 121A and 121B is moved in the X direction in a state where the hand 100c and the forearm 100d are grasped and pinched by the first treatment member 121A and the second treatment member 121B. Yes. In FIG. 132, the second treatment member 121B does not move in the X direction, and the first treatment member 121A moves in the X direction (the little finger side of the hand 100c). With such a movement of the first treatment member 121A, the joint (a wrist joint in FIG. 132) located between the first treatment member 121A and the second treatment member 121B is bent at a position where the position of the forearm 100d is fixed. As described above, the hand 100c can be bent in the X direction (left and right) with respect to the forearm 100d, and a stretching action occurs. The first treatment member 121A repeats reciprocation in the X direction, so that bending of the wrist joint in the left-right direction can be repeated.
　図１３３において、第１施療部材１２１ＡはＸ方向に移動することなく、第２施療部材１２１ＡがＸ方向（手１００ｃの小指側）に動いている。第２施療部材１２１Ｂのこのような動きにより、手１００ｃの位置を固定した状態で、第１施療部材１２１Ａと第２施療部材１２１Ｂとの間に位置する関節（図１３３では手関節）を曲げ点として、前腕１００ｄを手１００ｃに対してＸ方向に曲げることができ、ストレッチ作用が生じる。第２施療部材１２１Ｂが、Ｘ方向において往復動を繰り返すことで、手関節の左右方向への曲げを繰り返すことができる。 133, the first treatment member 121A does not move in the X direction, and the second treatment member 121A moves in the X direction (the little finger side of the hand 100c). With such a movement of the second treatment member 121B, the joint (a hand joint in FIG. 133) located between the first treatment member 121A and the second treatment member 121B is bent at a position where the position of the hand 100c is fixed. As described above, the forearm 100d can be bent in the X direction with respect to the hand 100c, and a stretching action occurs. The second treatment member 121B repeats reciprocation in the X direction, so that bending of the wrist joint in the left-right direction can be repeated.
　上記のようにエアセル１０１ａ，１０１ｂをＸ方向に動かすと、手１００ｃを掴み揉みしているエアセル１０１ａ，１０１ｂが手１００ｃの筋繊維を横切ることができるため、筋肉をほぐす作用が得られる。また、図１３４に示すように、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれを、Ｘ方向における逆向きに同時に動かしても良い。また、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれを、Ｙ方向における逆向きに同時に動かしても良い。これにより、手関節の曲げを大きくすることができる。 When the air cells 101a and 101b are moved in the X direction as described above, the air cells 101a and 101b that are grasping and grasping the hand 100c can cross the muscle fibers of the hand 100c. Further, as shown in FIG. 134, the first treatment member 121A and the second treatment member 121B may be simultaneously moved in the opposite directions in the X direction. Moreover, you may move the 1st treatment member 121A and the 2nd treatment member 121B simultaneously in the reverse direction in the Y direction. Thereby, bending of a wrist joint can be enlarged.
　このように、第１施療部材１２１Ａ及び第２施療部材１２１Ｂが、それらの相対位置関係が変化するように動くことで、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれによって掴み揉みされている身体部位を相対的にずらすような力を各身体部位に与えることができる。したがって、第１施療部材１２１Ａと第２施療部材１２１Ｂの間に関節が位置する場合、関節を曲げることができる。第１施療部材１２１Ａと第２施療部材１２１Ｂの相対位置関係は、それぞれの動作タイミングをずらしたり、それぞれの移動速度を異ならせることでも、変化させることができる。
　第２施療部材１２１Ａ及び第２施療部材１２１Ｂは、それらの相対位置関係を維持しつつ動いても良い。つまり、図１３５に示すように、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれを、Ｘ方向の同じ向きに同時に動かしても良い。また、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれを、Ｙ方向の同じ向きに同時に動かしても良い As described above, the first treatment member 121A and the second treatment member 121B move so as to change their relative positional relationship, so that the body is grasped and squeezed by the first treatment member 121A and the second treatment member 121B, respectively. A force that relatively shifts the part can be applied to each body part. Therefore, when a joint is located between the first treatment member 121A and the second treatment member 121B, the joint can be bent. The relative positional relationship between the first treatment member 121 </ b> A and the second treatment member 121 </ b> B can be changed by shifting the operation timings or changing the movement speeds.
The second treatment member 121A and the second treatment member 121B may move while maintaining their relative positional relationship. That is, as shown in FIG. 135, the first treatment member 121A and the second treatment member 121B may be moved simultaneously in the same direction in the X direction. Further, the first treatment member 121A and the second treatment member 121B may be moved simultaneously in the same direction in the Y direction.
　なお、エアセル１０１ａ，１０１ｂをＹ方向に動かした場合、肘掛け部４に載せられた手関節を上下方向に曲げることができる。Ｙ方向はエアセル１０１ａ，１０１ｂによる掴み揉み方向であるため、機構部１０３によりエアセル１０１ａ，１０１ｂをＹ方向に動かした場合、Ｙ方向への押圧力が変化し、掴み揉みによるマッサージ感に変化を与えることもできる。 When the air cells 101a and 101b are moved in the Y direction, the wrist joint placed on the armrest portion 4 can be bent in the vertical direction. Since the Y direction is the direction of gripping by the air cells 101a and 101b, when the air cells 101a and 101b are moved in the Y direction by the mechanism unit 103, the pressing force in the Y direction changes, and the massage feeling due to gripping changes. You can also.
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、それらの間に関節（手関節）が位置しないように配置されていてもよい。例えば、両施療部材１２１Ａ，１２１Ｂを前腕１００ｄ用としてもよい。この場合、両施療部材１２１Ａ，１２１Ｂが動くと、前腕１００ｄの複数における掴み揉み部位の位置を変化させることができる。 The first treatment member 121A and the second treatment member 121B may be arranged such that no joint (hand joint) is positioned between them. For example, both treatment members 121A and 121B may be used for the forearm 100d. In this case, when both the treatment members 121A and 121B move, the positions of the gripping and kneading portions in the plurality of forearms 100d can be changed.
　図１３６及び図１３７は、マッサージユニット１０の例を示している。図１３６及び図１３７に示すマッサージユニット１０は、図１２８～図１３０に示すマッサージユニット１０とほぼ同様の構成を有している。異なるのは、図１３６及び図１３７に示すマッサージユニット１０における第１支持部材１５３ａ及び第２支持部材１５３ｂは、それぞれ独立してＸ方向に移動可能に構成されている点である。 136 and 137 show an example of the massage unit 10. The massage unit 10 shown in FIGS. 136 and 137 has substantially the same configuration as the massage unit 10 shown in FIGS. 128 to 130. The difference is that the first support member 153a and the second support member 153b in the massage unit 10 shown in FIGS. 136 and 137 are configured to be independently movable in the X direction.
　図１３６及び図１３７のマッサージユニット１０において、第１施療部材１２１Ａを移動させる第１機構部１０３Ａは、第１支持部材１５３ａを移動させる機構と、第２支持部材１５３ｂを移動させる機構と、を備えている。第１支持部材１５３ａの第１支持部材１５３ａ及び第２支持部材１５３ｂには、それぞれナット部１５６が連結されている。同様に、第２施療部材１２１Ｂの第１支持部材１５３ａ及び第２支持部材１５３ｂには、それぞれナット部１５６が連結されている。
ナット部１５６は、それぞれ、駆動部１５４によって回転駆動されるねじ軸１５５の回転によって直線移動する。各ねじ軸１５５は、手１００ｃの筋繊維の方向（Ｚ方向）に交わる方向（Ｘ方向）を向いている。回転駆動されたねじ軸１５５はナット部１５６を、図１３７のＸ方向に移動させる。
　以上のように構成されていることで、図１３６及び図１３７に示すマッサージユニット１０では、対のエアセル１０１ａ，１０１ｂそれぞれが独立して移動可能である。図１３６及び図１３７のねじ軸１５５も、Ｙ方向及び筋繊維の方向に交わる面内方向に含まれるその他の方向に向いていても良い。なお、対のエアセル１０１ａ，１０１ｂは、共通の駆動部で駆動され、連動して動くものであってもよい。この場合、対のエアセル１０１ａ，１０１ｂは連動して動くものの、対のエアセル１０１ａ，１０１ｂそれぞれの動きを異ならせることは可能である。 136 and 137, the first mechanism portion 103A that moves the first treatment member 121A includes a mechanism that moves the first support member 153a and a mechanism that moves the second support member 153b. ing. A nut portion 156 is coupled to each of the first support member 153a and the second support member 153b of the first support member 153a. Similarly, nut portions 156 are connected to the first support member 153a and the second support member 153b of the second treatment member 121B, respectively.
Each of the nut portions 156 moves linearly by the rotation of the screw shaft 155 that is rotationally driven by the drive portion 154. Each screw shaft 155 faces a direction (X direction) that intersects the direction (Z direction) of the muscle fibers of the hand 100c. The screw shaft 155 that is driven to rotate moves the nut portion 156 in the X direction in FIG.
With the above configuration, in the massage unit 10 shown in FIGS. 136 and 137, the pair of air cells 101a and 101b can move independently. The screw shaft 155 of FIGS. 136 and 137 may also face other directions included in the in-plane direction that intersects the Y direction and the direction of the muscle fibers. The pair of air cells 101a and 101b may be driven by a common drive unit and move in conjunction with each other. In this case, although the pair of air cells 101a and 101b move in conjunction with each other, the movement of the pair of air cells 101a and 101b can be made different.
　図１３８は、エアセル１０１ａ，１０１ｂによって、身体部位（手１００ｃ又は前腕１００ｄ）を掴み揉みした状態で、一方のエアセル（第１エアセル）１０１ａをＸ方向に往復移動させつつも、他方のエアセル（第２エアセル）１０１ｂの位置を固定した状態を示している。この場合、図１３８の手１００ｃ又は前腕１００ｄの上側で第１エアセル１０１ａがＸ方向（左右方向；筋繊維に直交する方向）に動くため、第１エアセル１０１ａが当接している部位の筋肉をほぐすことができる。 FIG. 138 shows a state in which one air cell (first air cell) 101a is reciprocated in the X direction while the body part (hand 100c or forearm 100d) is grasped and squeezed by the air cells 101a and 101b, while the other air cell (first air cell) (2 air cell) 101b is shown fixed. In this case, since the first air cell 101a moves in the X direction (left-right direction; the direction perpendicular to the muscle fibers) on the upper side of the hand 100c or the forearm 100d in FIG. 138, the muscles of the portion where the first air cell 101a is in contact are loosened. be able to.
　図１３９は、エアセル１０１ａ，１０１ｂによって、身体部位（手１００ｃ又は前腕１００ｄ）を掴み揉みした状態で、対のエアセル１０１ａ，１０１ｂそれぞれを同時にＸ方向に往復動させた状態を示している。対のエアセル１０１ａ，１０１ｂは、例えば、それらの相対位置関係を維持するように、同じ方向に同期して動作する。この場合、エアセル１０１ａ，１０１ｂは筋繊維に交差する方向に動作するため筋肉をほぐす作用が得られる。
図１４０に示すように、対のエアセル１０１ａ，１０１ｂは、それらの相対位置関係が変化するように、同期して逆向きに往復動してもよい。この場合、筋肉を互いに逆方向に動かす作用が得られる。対のエアセル１０１ａ，１０１ｂそれぞれの往復動作は、互いに周期が異なっても良いし、往復動作のストロークが異なっていても良い。 FIG. 139 shows a state in which the pair of air cells 101a and 101b are simultaneously reciprocated in the X direction while the body part (hand 100c or forearm 100d) is grabbed and pinched by the air cells 101a and 101b. For example, the pair of air cells 101a and 101b operate in synchronization in the same direction so as to maintain the relative positional relationship thereof. In this case, since the air cells 101a and 101b operate in a direction intersecting with the muscle fibers, an action of relaxing the muscles can be obtained.
As shown in FIG. 140, the pair of air cells 101a and 101b may reciprocate in the opposite direction synchronously so that their relative positional relationship changes. In this case, an effect of moving the muscles in opposite directions can be obtained. The reciprocating operations of the pair of air cells 101a and 101b may have different periods or different strokes.
　図１４１は、エアセル１０１ａ，１０１ｂによって、身体部位（手１００ｃ又は前腕１００ｄ）を掴み揉みした状態で、一方のエアセル（第２エアセル）１０１ｂをＸ方向に往復移動させつつも、他方のエアセル（第１エアセル）１０１ａの位置を固定した状態を示している。この場合、図１４１の手１００ｃ又は前腕１００ｄの下側で第２エアセル１０１ｂがＸ方向（左右方向；筋繊維に直交する方向）に動くため、第２エアセル１０１ｂが当接している部位の筋肉をほぐすことができる。 FIG. 141 shows a state in which one air cell (second air cell) 101b is reciprocated in the X direction while the body part (hand 100c or forearm 100d) is grasped and pinched by the air cells 101a and 101b, while the other air cell (first (1 air cell) 101a is fixed. In this case, the second air cell 101b moves in the X direction (left-right direction; the direction perpendicular to the muscle fibers) on the lower side of the hand 100c or the forearm 100d in FIG. 141, so that the muscle of the portion where the second air cell 101b is in contact is moved. Can be loosened.
　図１４２～図１４４は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、手１００ｃ及び前腕１００ｄである。マッサージは、身体部位１００の掴み揉みを含む。手１００ｃ及び前腕１００ｄの筋繊維は、手１００ｃ及び前腕１００ｄの長手方向（図１４２のＺ方向）に向いている。 142 to 144 show an example of the massage unit 10. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage includes grasping and massaging the body part 100. The muscle fibers of the hand 100c and the forearm 100d face the longitudinal direction of the hand 100c and the forearm 100d (the Z direction in FIG. 142).
　マッサージユニット１０は、手１００ｃ及び前腕１００ｄにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、手１００ｃをマッサージ（掴み揉み）する第１施療部材１２１Ａと、前腕１００ｄをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、を含む。
　肘掛け部４に設けられる施療部材１２１Ａ，１２１Ｂの数は、１つでもよいし、３以上でもよい。図１４２～図１４４に示す施療部材１２１Ａ，１２１Ｂは、首、肩、上腕、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d. The treatment unit 101 includes a first treatment member 121A that massages (grabs) the hand 100c and a second treatment member 121B that massages (grabs) the forearm 100d.
The number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more. The treatment members 121A and 121B shown in FIGS. 142 to 144 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.
　第１施療部材１２１Ａは、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の手１００ｃを配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。対の押圧部材１０１ａ，１０１ｂのうち、上側の押圧部材１０１ａを構成するエアセルの数は２つであり、下側の押圧部材１０１ｂを構成するエアセルの数は１つである。エアセル１０１ａ，１０１ｂは、図示しない空気回路による給排気を受ける。エアセル１０１ａ，１０１ｂは給排気によって膨張収縮する。膨張した対のエアセル１０１ａ，１０１ｂは、手１００ｃの両側から押圧する（図１４３参照）。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。 The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are disposed so as to face each other so as to have a space in which a hand 100c to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. Of the pair of pressing members 101a and 101b, the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b are supplied and exhausted by an air circuit (not shown). The air cells 101a and 101b expand and contract by supply and exhaust. The expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 143). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
　第１施療部材１２１Ａは、手１００ｃにおける筋繊維の方向（手１００ｃの長手方向；図１４２のＺ方向）に交わる方向（図１４２のＹ方向）から手１００ｃに対する掴み揉みを行う。
　掴み揉みは、対の押圧部材１０１ａ，１０１ｂの間に身体部位１００を位置させた状態で、対の押圧部材１０１ａ，１０１ｂを互いに近接させることで行われる。このように、掴み揉みは、身体部位１００を挟み込むシンプルな動作で足りる。 The first treatment member 121A grasps and grips the hand 100c from the direction (Y direction in FIG. 142) intersecting the direction of the muscle fibers in the hand 100c (longitudinal direction of the hand 100c; Z direction in FIG. 142).
The gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
　第２施療部材１２１Ｂは、第１施療部材１２１Ａと同様の構成を有し、同様に動作する。すなわち、第２施療部材１２１Ｂは、対の押圧部材１０１ａ，１０１ｂを有し、対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。 The 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
　図１４２～図１４４のマッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を更に備えている。機構部１０３は、第１施療部材１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、を含む。 142 to 144 further includes a mechanism portion 103 that moves the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
　第１機構部１０３Ａは、対のエアセル１０１ａ，１０１ｂのうちの一方のエアセル（第１エアセル）１０１ａが取り付けられる第１支持部材１５３ａと、他方のエアセル（第２エアセル）１０１ｂが取り付けられる第２支持部材１５３ｂと、第１支持部材１５３ａ及び第２支持部材１５３ｂを手の外側（小指側）で連結する第３支持部材１５３ｃと、第２支持部材１５３ｂに、ボールジョイント１５９を介して連結されたロッド１５８と、ボールジョイント１５９側とは反対側のロッド１５８の端部に設けられた偏心カム１５７と、第１ねじ軸１５５ａと、保持部１５６ａと、を備えている。第１ねじ軸１５５ａは、保持部１５６ａ内に設けられた第１駆動部１５４ａによって回転駆動される。保持部１５６ａには、ナット部１５６ｂが取り付けられている。ナット部１５６ｂは、第２駆動部１５４ｂによって回転駆動される第２ねじ軸１５５ｂに螺合している。 The first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached. A member 153b, a third support member 153c for connecting the first support member 153a and the second support member 153b on the outer side (little finger side) of the hand, and a rod connected to the second support member 153b via a ball joint 159 158, an eccentric cam 157 provided at the end of the rod 158 opposite to the ball joint 159 side, a first screw shaft 155a, and a holding portion 156a. The first screw shaft 155a is rotationally driven by a first drive unit 154a provided in the holding unit 156a. A nut portion 156b is attached to the holding portion 156a. The nut portion 156b is screwed to the second screw shaft 155b that is rotationally driven by the second drive portion 154b.
　第１ねじ軸１５５ａは、手１００ｃ又は前腕１００ｄの筋繊維の方向（Ｚ方向）に交わる方向（Ｘ方向）を向いている。第１ねじ軸１５５ａによって回転駆動される偏心カム１５７は、ロッド１５８の端部において回転自在に保持されている。第２支持部材１５３ｂは、保持部１５６ａに向かって延びて、保持部１５６ａ内に先端が挿入された規制部材１５３ｄを有している。規制部材１５３ｄは、例えば、棒状部材であり、その先端が、保持部１５６ａに設けられた貫通孔１５６ｃを通って、保持部１５６ａ内に位置している。規制部材１５３ｄは、貫通孔１５６ｃを形成する周面に対して摺動自在であることにより、第２支持部材１５３ｂが上下方向（Ｙ方向）に移動することを許容するが、前後方向（Ｚ方向）に搖動するのを規制する。 The first screw shaft 155a faces the direction (X direction) that intersects the direction of the muscle fibers of the hand 100c or the forearm 100d (Z direction). The eccentric cam 157 that is rotationally driven by the first screw shaft 155 a is rotatably held at the end of the rod 158. The second support member 153b has a regulating member 153d extending toward the holding portion 156a and having a tip inserted into the holding portion 156a. The restriction member 153d is, for example, a rod-like member, and the tip thereof is positioned in the holding portion 156a through the through hole 156c provided in the holding portion 156a. The regulating member 153d is slidable with respect to the peripheral surface forming the through hole 156c, thereby allowing the second support member 153b to move in the vertical direction (Y direction). ) Is controlled.
　偏心カム１５７は、第１駆動部１５４ａによって駆動される第１ねじ軸１５５ａの回転に伴って偏心回転し、偏心カム１５７に取り付けられたロッド１５８を介して、支持部材１５３ａ，１５３ｂ，１５３ｃを、上下方向（Ｙ方向）に往復移動させる。支持部材１５３ａ，１５３ｂ，１５３ｃがＹ方向へ移動することにより、エアセル１０１ａ，１０１ｂも、Ｙ方向へ移動する。このように、エアセル１０１ａ，１０１ｂは、Ｙ方向への移動が可能である。 The eccentric cam 157 rotates eccentrically with the rotation of the first screw shaft 155a driven by the first drive unit 154a, and the support members 153a, 153b, and 153c are connected via the rod 158 attached to the eccentric cam 157. Reciprocate in the vertical direction (Y direction). As the support members 153a, 153b, and 153c move in the Y direction, the air cells 101a and 101b also move in the Y direction. Thus, the air cells 101a and 101b can move in the Y direction.
　第２ねじ軸１５５ｂは、手１００ｃの筋繊維（Ｚ方向）に交わる方向（Ｘ方向）を向いている。第２駆動部１５４ｂによって回転駆動された第２ねじ軸１５５ｂは、ナット部１５６ｂを、Ｘ方向に移動させる。ナット部１５６ｂがＸ方向に移動することで、エアセル１０１ａ，１０１ｂもＸ方向に移動する。したがって、第１駆動部１５４ａ及び第２駆動部１５４ｂが同時に動作することで、エアセル１０１ａ，１０１ｂは、Ｘ方向へ移動しつつ、Ｙ方向への移動が可能である。この場合、被施療部１００ｃ，１００ｄを広範囲にマッサージできる。なお、第１駆動部１５４ａ及び第２駆動部１５４ｂは、それぞれ単独で動作してもよい。 The second screw shaft 155b faces the direction (X direction) intersecting the muscle fibers (Z direction) of the hand 100c. The second screw shaft 155b that is rotationally driven by the second drive unit 154b moves the nut unit 156b in the X direction. As the nut portion 156b moves in the X direction, the air cells 101a and 101b also move in the X direction. Therefore, when the first driving unit 154a and the second driving unit 154b operate simultaneously, the air cells 101a and 101b can move in the Y direction while moving in the X direction. In this case, the treatment parts 100c and 100d can be massaged over a wide range. Note that the first driving unit 154a and the second driving unit 154b may each operate independently.
　第２ねじ軸１５５ｂは、ＸＹ平面に含まれるＸ方向以外の他の方向（他の面内方向）に向けて配置されていてもよい。この場合、エアセル１０１ａ，１０１ｂがＸＹ平面内の他の方向へ移動することができる。
　なお、図１４２～図１４４において、ＸＹ平面は、筋繊維の方向（Ｚ方向）と直交する方向の面である。ただし、エアセル１０１ａ，１０１ｂが移動可能な方向は、Ｚ方向と直交する方向に限られず、Ｚ方向に交わる方向であれば足りる。 The second screw shaft 155b may be arranged in a direction other than the X direction (other in-plane direction) included in the XY plane. In this case, the air cells 101a and 101b can move in other directions in the XY plane.
142 to 144, the XY plane is a plane in a direction orthogonal to the direction of muscle fibers (Z direction). However, the direction in which the air cells 101a and 101b can move is not limited to the direction orthogonal to the Z direction, and may be any direction that intersects the Z direction.
　第２機構部１０３Ｂは、第１機構部１０３Ａと同様の構成を有し、同様に動作する。すなわち、第２機構部１０３Ｂは、支持部材１５３ａ，１５３ｂ，１５３ｃと、ロッド１５８と、ボールジョイント１５９と、偏心カム１５７と、第１ねじ軸１５５ａと、保持部１５６ａと、ナット部１５６ｂと、第２ねじ軸１５５ｂと、規制部材１５３ｄと、を有する。第２機構部１０３Ｂの第１ねじ軸１５５ａは第１駆動部１５４ａによって回転駆動され、第２ねじ軸１５５ｂは第２駆動部１５４ｂによって回転駆動される。
　図１４２～図１４４において、第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ別の第２駆動部１５４ｂによって駆動されるが、第１機構部１０３Ａ及び第２機構部１０３Ｂは、共通の第２駆動部１５４ｂによって駆動されてもよい。 The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support members 153a, 153b, and 153c, a rod 158, a ball joint 159, an eccentric cam 157, a first screw shaft 155a, a holding portion 156a, a nut portion 156b, It has two screw shafts 155b and a regulating member 153d. The first screw shaft 155a of the second mechanism unit 103B is rotationally driven by the first drive unit 154a, and the second screw shaft 155b is rotationally driven by the second drive unit 154b.
In FIGS. 142 to 144, the first mechanism unit 103A and the second mechanism unit 103B are driven by different second drive units 154b, respectively, but the first mechanism unit 103A and the second mechanism unit 103B are shared by a common second drive unit 154b. It may be driven by the two drive unit 154b.
　図１４３に示すように、エアセル１０１ａ，１０１ｂの膨張によって、手１００ｃ又は前腕１００ｄを掴み揉みした状態で、第１駆動部１５４ａを動作させることで、被施療部１００ｃ，１００ｄを掴み揉みしながら、被施療部１００ｃ，１００ｄを掴み揉みの方向に移動させることができる。図１４３では、第１施療部１２１Ａが下方移動しているときに、第２施療部材１２１Ｂが上方移動している。このように、第１施療部材１２１Ａ，１２１Ｂの相対位置関係が変化するように移動させることにより、手関節を上下曲げるストレッチ作用が得られる。また、本実施形態では、第１施療部材１２１Ａ，１２１Ｂは、左右方向（Ｘ方向）にも移動するため、手関節を左右に曲げるストレッチ効果も得られる。
　なお、第１施療部材１２１Ａ及び第２施療部材１２１Ｂの相対位置関係を維持するように、両部材１２１Ａ，１２１Ｂを同時に上方移動させたり、下方移動させたりしてもよい。また、各施療部材１２１Ａ，１２１Ｂを構成する対の押圧部材１０１ａ，１０１ｂそれぞれを独立して移動させてもよい。このとき、対の押圧部材１０１ａ，１０１ｂ同士の相対位置関係が変化するように、対の押圧部材１０１ａ，１０１ｂを移動させることで、マッサージ感を変化させることができる。 As shown in FIG. 143, by grasping and grasping the hand 100c or the forearm 100d by the expansion of the air cells 101a and 101b, the first drive unit 154a is operated to grasp the treatment parts 100c and 100d. The treated parts 100c and 100d can be grasped and moved in the direction of the squeezing. In FIG. 143, when the first treatment part 121A is moving downward, the second treatment member 121B is moving upward. In this way, by moving the first treatment members 121A and 121B so as to change the relative positional relationship, a stretching action for bending the wrist joint up and down is obtained. Moreover, in this embodiment, since the 1st treatment member 121A, 121B moves also in the left-right direction (X direction), the stretch effect which bends a wrist joint to right and left is also acquired.
Both members 121A and 121B may be simultaneously moved upward or downward so as to maintain the relative positional relationship between the first treatment member 121A and the second treatment member 121B. Further, the pair of pressing members 101a and 101b constituting each of the treatment members 121A and 121B may be moved independently. At this time, the massage feeling can be changed by moving the pair of pressing members 101a and 101b so that the relative positional relationship between the pair of pressing members 101a and 101b changes.
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、それらの間に関節（手関節）が位置しないように配置されていてもよい。例えば、両施療部材１２１Ａ，１２１Ｂを前腕１００ｄ用としてもよい。この場合、両施療部材１２１Ａ，１２１Ｂが動くと、前腕１００ｄの複数における掴み揉み部位の位置を変化させることができる。 The first treatment member 121A and the second treatment member 121B may be arranged such that no joint (hand joint) is positioned between them. For example, both treatment members 121A and 121B may be used for the forearm 100d. In this case, when both the treatment members 121A and 121B move, the positions of the gripping and kneading portions in the plurality of forearms 100d can be changed.
　図１４５～図１４７は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、手１００ｃ及び前腕１００ｄである。マッサージは、身体部位１００の掴み揉みを含む。 FIGS. 145 to 147 show examples of the massage unit 10. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage includes grasping and massaging the body part 100.
　マッサージユニット１０は、前腕１００ｄ及び上腕１００ａにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、第１範囲である前腕１００ｄをマッサージ（掴み揉み）する第１施療部材１２１Ａと、第２範囲である上腕１００ａをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、を含む。第１範囲である前腕１００ｄと第２範囲である上腕１００ａとの間には、肘関節が位置する。
　肘掛け部４に設けられる施療部材１２１Ａ，１２１Ｂの数は、１つでもよいし、３以上でもよい。図１４５～図１４７に示す施療部材１２１Ａ，１２１Ｂは、首、肩、手、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the forearm 100d and the upper arm 100a. The treatment unit 101 includes a first treatment member 121A that massages (grabs and grips) the forearm 100d that is the first range, and a second treatment member 121B that massages (grabs and grips) the upper arm 100a that is the second range. An elbow joint is located between the forearm 100d as the first range and the upper arm 100a as the second range.
The number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more. The treatment members 121A and 121B shown in FIGS. 145 to 147 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulders, hands, thighs, lower legs, legs, and other body parts. good.
　マッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を備えている。第１施療部材１２１Ａを移動させる機構部１０３Ａとしては、図１２８～図１３５又は図１３６～図１４１に示す機構部１０３と同様のものが採用される。したがって、第１施療部材１２１Ａは、左右方向（Ｘ方向；前腕１００ｄの筋繊維の方向に交わる面内方向に含まれる第１方向）に移動することができる。第２施療部材１２１Ｂを移動させる機構部１０３Ｂとしては、図１４６に示すものが採用される。図１４６の機構部１０３Ｂは、第２施療部材１２１Ｂを、上下方向（Ｙ方向；上腕１００ｄの筋繊維の方向に交わる面内方向に含まれる第２方向）に移動させるためのものである。図１４６の機構部１０３Ｂは、図１３０に示す機構部１０３のねじ軸１５５を上下方向（Ｙ方向）に向けて配置し、ねじ軸１５５によって直線移動させられるナット部１５６を、第３支持部材１５３ｃに連結したものである。なお、第２施療部材１２１Ｂを上下方向に移動させる機構部１０３Ｂとしては、図１４２～図１４４に示す機構部１０３を採用してもよい。 The massage unit 10 includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B. As the mechanism 103A for moving the first treatment member 121A, the same mechanism as that shown in FIGS. 128 to 135 or 136 to 141 is employed. Therefore, the first treatment member 121A can move in the left-right direction (the X direction; the first direction included in the in-plane direction intersecting the direction of the muscle fibers of the forearm 100d). As the mechanism portion 103B for moving the second treatment member 121B, the one shown in FIG. 146 is employed. 146 of FIG. 146 is for moving the second treatment member 121B in the vertical direction (Y direction; second direction included in the in-plane direction intersecting the direction of the muscle fibers of the upper arm 100d). The mechanism portion 103B of FIG. 146 has a screw shaft 155 of the mechanism portion 103 shown in FIG. 130 arranged in the vertical direction (Y direction), and a nut portion 156 that is linearly moved by the screw shaft 155, the third support member 153c. It is connected to. Note that the mechanism 103 shown in FIGS. 142 to 144 may be employed as the mechanism 103B that moves the second treatment member 121B in the vertical direction.
　図１４７に示すように、第１施療部材１２１Ａは、左右方向（第１方向）に移動可能であるのに対して、第２施療部材１２１Ｂは、上下方向（第２方向）に移動可能である。第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、身体部位１００ｄ，１００ａを掴み揉みした状態で、移動することができる。また、第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、身体部位１００ｄ，１００ａを掴み揉みしていない状態で移動し、その後、身体部１００ｄ，１００ａを掴み揉みすることができる。 As shown in FIG. 147, the first treatment member 121A is movable in the left-right direction (first direction), while the second treatment member 121B is movable in the up-down direction (second direction). . The first treatment member 121A and the second treatment member 121B can move in a state where the body parts 100d and 100a are grasped and squeezed. In addition, the first treatment member 121A and the second treatment member 121B can move in a state where the body parts 100d and 100a are not gripped and then grip the body parts 100d and 100a.
　図１４８及び図１４９は、マッサージユニット１０の例を示している。このマッサージユニット１０は、施療部として、左右の肩それぞれをマッサージ（掴み揉み）する対の肩用施療部材１２１Ａ－１，１２１Ａ－２と、首の左右それぞれをマッサージ（掴み揉み）する対の首用施療部材１２１Ｂ－１，１２１Ｂ－２と、左右の上腕それぞれをマッサージ（掴み揉み）する対の上腕用施療部材１２１Ｃ－１，１２１Ｃ－２と、を備えている。 FIG. 148 and FIG. 149 show an example of the massage unit 10. This massage unit 10 includes a pair of shoulder treatment members 121A-1 and 121A-2 for massaging (grabbing) each of the left and right shoulders, and a pair of necks for massaging (grabbing) each of the left and right necks. Treatment members 121B-1 and 121B-2 and a pair of upper arm treatment members 121C-1 and 121C-2 for massaging (grabbing) each of the left and right upper arms.
　これらの施療部材１２１Ａ－１，１２１Ａ－２，１２１Ｂ－１，１２１Ｂ－２，１２１Ｃ－１，１２１Ｃ－２は、図１２８～図１４７に示す各施療部材１２１Ａ，１２１Ｂと同様に、対の押圧部材（エアセル）を有している。肩用施療部材１２１Ａ－１，１２１Ａ－２は、例えば、肩１００ｈを前後方向（Ｚ方向）から押圧することができる。首用施療部材１２１Ｂ－１，１２１Ｂ－２は、例えば、首１００ｉを前後方向（Ｚ方向）から押圧することができる。上腕用施療部材１２１Ｃ－１，１２１Ｃ－２は、例えば、上腕１００ａを、前後方向（Ｚ方向）から押圧することができる。 These treatment members 121A-1, 121A-2, 121B-1, 121B-2, 121C-1, 121C-2 are a pair of pressing members, similar to the treatment members 121A, 121B shown in FIGS. 128 to 147. (Air cell). For example, the shoulder treatment members 121A-1 and 121A-2 can press the shoulder 100h from the front-rear direction (Z direction). For example, the neck treatment members 121B-1 and 121B-2 can press the neck 100i from the front-rear direction (Z direction). The upper arm treatment members 121C-1 and 121C-2 can, for example, press the upper arm 100a from the front-rear direction (Z direction).
　図１４８及び図１４９のマッサージユニット１０は、各施療部材１２１Ａ－１，１２１Ａ－２，１２１Ｂ－１，１２１Ｂ－２，１２１Ｃ－１，１２１Ｃ－２を、マッサージ対象の身体部位１００ｈ，１００ｉ，１００ａの筋繊維の方向に交わる面内方向へ、移動させる機構部を備えている。この機構部としては、図１２８～図１４７に示す機構部１０３（１０３Ａ，１０３Ｂ）を採用できる。機構部は、肩用施療部材１２１Ａ－１，１２１Ａ－２を、例えば、肩１００ｈの筋繊維の方向（Ｘ方向）に交わる面内方向であるＺ方向又はＹ方向に肩用施療部材１２１Ａ－１，１２１Ａ－２を移動させることができる。また、機構部は、首用施療部材１２１Ｂ－１，１２１Ｂ－２を、例えば、首１００ｉの筋繊維の方向（Ｙ方向）に交わる面内方向であるＸ方向又はＺ方向に、首用施療部材１２１Ｂ－１，１２１Ｂ－２を移動させることができる。また、機構部は、上腕用施療部材１２１Ｃ－１，１２１Ｃ－２は、上腕１００ａの筋繊維の方向（Ｙ方向）に交わる面内方向であるＸ方向又はＺ方向に、上腕用施療部材１２１Ｃ－１，１２１Ｃ－２を移動させることができる。 The massage unit 10 shown in FIG. 148 and FIG. 149 has the treatment members 121A-1, 121A-2, 121B-1, 121B-2, 121C-1, 121C-2 attached to the body parts 100h, 100i, 100a to be massaged. It has a mechanism that moves in an in-plane direction that intersects the direction of the muscle fibers. As this mechanism part, the mechanism part 103 (103A, 103B) shown in FIGS. 128 to 147 can be adopted. The mechanism unit moves the shoulder treatment members 121A-1 and 121A-2 to the shoulder treatment members 121A-1 in the Z direction or the Y direction, for example, an in-plane direction that intersects the muscle fiber direction (X direction) of the shoulder 100h. , 121A-2 can be moved. Further, the mechanism unit moves the neck treatment members 121B-1 and 121B-2 in the X direction or the Z direction, which is an in-plane direction intersecting the direction of the muscle fibers of the neck 100i (Y direction), for example. 121B-1 and 121B-2 can be moved. Further, the upper arm treatment member 121C-1, 121C-2 is the upper arm treatment member 121C- in the X direction or the Z direction which is the in-plane direction intersecting the direction of the muscle fibers of the upper arm 100a (Y direction). 1, 121C-2 can be moved.
　図１４８及び図１４９に示すマッサージユニットの機構部は、各施療部材による掴み揉みが行われている状態で、掴み揉みを行っている施療部材１２１Ａ－１，１２１Ａ－２，１２１Ｂ－１，１２１Ｂ－２，１２１Ｃ－１，１２１Ｃ－２のうちのいずれか又は全部を移動させることで、各施療部１２１Ａ－１，１２１Ａ－２，１２１Ｂ－１，１２１Ｂ－２，１２１Ｃ－１，１２１Ｃ－２間の相対位置を変化させて、マッサージ感を変化させることができる。 The mechanism unit of the massage unit shown in FIG. 148 and FIG. 149 is the treatment member 121A-1, 121A-2, 121B-1, 121B- which is grasping and squeezing in the state where the squeezing is performed by each treatment member. 2, 121C-1, 121C-2, or any one of them, by moving, between each treatment part 121A-1, 121A-2, 121B-1, 121B-2, 121C-1, 121C-2 The feeling of massage can be changed by changing the relative position.
　例えば、図１４９に示すように、肩用施療部材１２１Ａ－１，１２１Ａ－２により左右の肩に対する掴み揉みが行われている状態で、肩用施療部材１２１Ａ－１，１２１Ａ－２を、下方（Ｙ方向）に移動させることで、肩を掴んだ状態で肩を下方へ押圧するマッサージが得られる。 For example, as shown in FIG. 149, when the shoulder treatment members 121A-1 and 121A-2 are gripping the left and right shoulders, the shoulder treatment members 121A-1 and 121A-2 are moved downward ( By moving in the Y direction), a massage that presses the shoulder downward while holding the shoulder is obtained.
　図１５０は、図１２８～図１４９に示すマッサージユニット１０を設けるのに適した身体部位における筋繊維の方向１６３ａ～１６３ｉと、施療部１０１（施療部材１２１Ａ，１２１Ｂ）の動き（往復動）の方向１７０Ａ，１７０Ｂの例を示している。図１５０に示すように施療部１０１（施療部材１２１Ａ，１２１Ｂ）は、筋繊維の方向１６３ａ～１６３ｉに交わる（直交する）面１６５を想定した場合に、その面内方向（例えば、図１５０の方向１７０Ａ，１７０Ｂ）に動く。図１５０の方向１７０Ａ，１７０Ｂは、図１２８～図１４１のＸ方向又はＹ方向に対応する。面内方向は、図１５０の方向１７０Ａ，１７０Ｂに限られるものではなく、他の面内方向であってもよい。 FIG. 150 shows the directions of muscle fibers 163a to 163i in the body part suitable for providing the massage unit 10 shown in FIGS. 128 to 149 and the direction of movement (reciprocating) of the treatment unit 101 ( treatment members 121A and 121B). Examples of 170A and 170B are shown. As shown in FIG. 150, the treatment unit 101 ( treatment members 121A and 121B) assumes an in-plane direction (for example, the direction of FIG. 150) when assuming a surface 165 that intersects (orthogonally) the muscle fiber directions 163a to 163i. 170A, 170B). The directions 170A and 170B in FIG. 150 correspond to the X direction or the Y direction in FIGS. The in-plane direction is not limited to the directions 170A and 170B in FIG. 150, and may be other in-plane directions.
＜第４節：身体部位の筋繊維の方向の動き＞
　本節における実施形態を列記して説明する。本節での説明に付されている符号は、図１及び図１５１～図１７３において使用されている。
〔本発明の実施形態の説明〕
（７２）本発明のマッサージ装置（実施の一形態）１は、身体部位に対する掴み揉みを行う施療部１０１と、施療部による掴み揉みが行われている状態で、掴み揉みが行われている身体部位における筋繊維の方向へ沿った移動方向へ、施療部を動かす機構部１０３と、を備えている。 <Section 4: Movement in the direction of muscle fibers in the body part>
The embodiments in this section are listed and described. The reference numerals used in the description in this section are used in FIGS. 1 and 151 to 173.
[Description of Embodiment of the Present Invention]
(72) The massage apparatus (one embodiment) 1 of the present invention includes a treatment unit 101 that performs grasping and squeezing on a body part, and a body that is grasped and squeezed by the treatment unit. And a mechanism portion 103 that moves the treatment portion in the moving direction along the direction of the muscle fibers in the region.
　施療部１０１が、掴み揉みが行われている身体部位１００の筋繊維の方向に動くことで、掴み揉みに更なる動きが加わり、単なる掴み揉みよりもマッサージ感が向上する。筋繊維の方向は、例えば、腕の長手方向、脚の長手方向、肩の左右方向、首の長手方向、及び指の長手方向を含む。腕、脚又は首に対する掴み揉みを行う施療部１０１の場合、施療部１０１は、例えば、腕、脚又は首の長手方向に動く。肩に対する掴み揉みを行う施療部１０１の場合、施療部１０１は、例えば、肩の左右方向に動く。指に対する掴み揉みを行う施療部１０１を備えたマッサージ装置の場合、指の位置決め部材を更に備えているのが好ましい。 When the treatment unit 101 moves in the direction of the muscle fibers of the body part 100 where the grasping is performed, a further movement is added to the grasping and the massage feeling is improved more than the simple grasping. The directions of the muscle fibers include, for example, the longitudinal direction of the arm, the longitudinal direction of the leg, the lateral direction of the shoulder, the longitudinal direction of the neck, and the longitudinal direction of the finger. In the case of the treatment unit 101 that grips and squeezes the arm, leg, or neck, the treatment unit 101 moves in the longitudinal direction of the arm, leg, or neck, for example. In the case of the treatment unit 101 that grips and rubs the shoulder, the treatment unit 101 moves, for example, in the lateral direction of the shoulder. In the case of the massage apparatus including the treatment unit 101 that performs grasping and squeezing with respect to the finger, it is preferable to further include a finger positioning member.
　施療部１０１の動きは、筋繊維の方向の動き成分を動きの主成分として有していれば足り、他の方向への動き成分を有していても良い。他の方向への動き成分とは、例えば、筋繊維に交わる方向への動き成分である。施療部１０１の動きは、直線運動である必要はなく、曲線運動であってもよい。 The movement of the treatment unit 101 is sufficient if it has a movement component in the direction of muscle fibers as the main component of movement, and may have a movement component in another direction. The movement component in the other direction is, for example, a movement component in a direction intersecting with muscle fibers. The movement of the treatment unit 101 does not have to be a linear motion, and may be a curved motion.
　機構部１０３は、施療部１０１の全体を動かす必要はなく、施療部１０１の少なくとも一部を動かすもので足りる。施療部１０１が後述の対の押圧部材１０１ａ，１０１ｂを含む場合、機構部１０３は、対の押圧部材１０１ａ，１０１ｂの少なくとも一方を動かす。 The mechanism unit 103 does not need to move the entire treatment unit 101, and only needs to move at least a part of the treatment unit 101. When the treatment unit 101 includes a pair of pressing members 101a and 101b described later, the mechanism unit 103 moves at least one of the pair of pressing members 101a and 101b.
（７３）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、身体部位の筋線維の方向に交わる方向に並設され、機構部１０３は、第１施療部材１２１Ａと第２施療部材１２１Ｂとの相対的位置関係が変化するように、第１施療部材及び第２施療部材の少なくともいずれか一方を、移動方向へ動かすよう構成されているのが好ましい。第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、筋繊維の方向にずれて配置されていてもよい。第１施療部材１２１Ａと第２施療部材１２１Ｂとの相対的位置関係は、例えば、いずれか一方のみが動いたり、互いに逆方向に動いたり、それぞれの移動速度が異なることで、変化することができる。 (73) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the first treatment member 121A and the second treatment member 121B include muscle fibers of the body part. The mechanism unit 103 is arranged in parallel with the direction intersecting the direction, and the mechanism unit 103 is at least one of the first treatment member and the second treatment member so that the relative positional relationship between the first treatment member 121A and the second treatment member 121B changes. Preferably, one is configured to move in the direction of movement. The first treatment member 121A and the second treatment member 121B may be arranged so as to be shifted in the direction of muscle fibers. The relative positional relationship between the first treatment member 121A and the second treatment member 121B can be changed, for example, when only one of them moves or moves in the opposite direction, and the respective moving speeds are different. .
（７４）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、身体部位の筋線維の方向に交わる方向に並設され、機構部１０３は、第１施療部材１２１Ａと第２施療部材１２１Ｂとの相対的位置関係を維持しつつ、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを、移動方向へ動かすよう構成されていてもよい。 (74) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the first treatment member 121A and the second treatment member 121B include muscle fibers of the body part. The mechanism unit 103 moves the first treatment member 121A and the second treatment member 121B while maintaining the relative positional relationship between the first treatment member 121A and the second treatment member 121B. It may be configured to move in the direction.
（７５）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂの少なくともいずれか一方を、移動方向へ動かすよう構成され、第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、第１施療部材１２１Ａによって掴み揉みが行われる身体の第１範囲と、第２施療部材１２１Ａによって掴み揉みが行われる身体の第２範囲とが、身体の関節を含まない同一の範囲に含まれるよう、設けられているのが好ましい。 (75) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the mechanism unit 103 includes at least one of the first treatment member 121A and the second treatment member 121B. The first treatment member 121A and the second treatment member 121B are grasped by the first treatment member 121A and the first treatment member 121A and the first treatment member 121A and the second treatment member 121A. It is preferable that the second range of the body in which itching is performed is included so as to be included in the same range that does not include the joints of the body.
（７６）身体部位は、上肢又は下肢であるのが好ましい。 (76) The body part is preferably the upper limb or the lower limb.
（７７）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、第１施療部材１２１Ａは、手首に対する掴み揉みを行うよう設けられ、第２施療部材１２１Ｂは、第１施療部材１２１Ａよりも肘側の位置において、前腕に対する掴み揉みを行うよう設けられ、機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによる掴み揉みが行われている状態で、第１施療部材１２１Ａから離れる向きへ第２施療部材１２１Ｂを動かすよう構成されているのが好ましい。
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、他の身体部位を掴み揉みするよう設けられても良い。例えば、第１施療部材１２１Ａは足を掴み揉みし、第２施療部材１２１Ｂは下腿を掴み揉みしてもよい。また、第１施療部材１２１Ａは足のつま先を掴み揉みし、第２施療部材１２１Ｂは踵を掴み揉みしてもよい。また、第１施療部材１２１Ａは足首を掴み揉みし、第２施療部材１２１Ｂは脹脛を掴み揉みしてもよい。 (77) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which performs gripping and gripping on the body part, and the first treatment member 121A is provided to perform gripping and gripping on the wrist. The treatment member 121B is provided so as to grip and squeeze the forearm at a position closer to the elbow than the first treatment member 121A, and the mechanism 103 is gripped and squeezed by the first treatment member 121A and the second treatment member 121B. It is preferable that the second treatment member 121B is moved in a direction away from the first treatment member 121A.
The first treatment member 121A and the second treatment member 121B may be provided so as to grasp and squeeze another body part. For example, the first treatment member 121A may grasp and squeeze the foot, and the second treatment member 121B may grasp and squeeze the lower leg. Further, the first treatment member 121A may grasp and squeeze the toe of the foot, and the second treatment member 121B may grasp and squeeze the heel. Further, the first treatment member 121A may grasp and squeeze the ankle, and the second treatment member 121B may grasp and squeeze the calf.
（７８）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、機構部１０３は、第１施療部材１２１Ａ及び第２施療部材に１２１Ｂよる掴み揉みが行われている状態で、筋繊維の方向に沿った回転中心１０２回りに第２施療部材１２１Ｂを回転させながら、第１施療部材１２１Ａから離れる向きへ第２施療部材１２１Ｂを動かすよう構成されているのが好ましい。 (78) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which grips and squeezes a body part, and the mechanism unit 103 grasps the first treatment member 121A and the second treatment member by 121B. The second treatment member 121B is configured to move in a direction away from the first treatment member 121A while rotating the second treatment member 121B around the rotation center 102 along the direction of the muscle fiber in a state where the itch is being performed. It is preferable.
（７９）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ及び第２施療部材１２１Ｂを含み、機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによる掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂの少なくともいずれか一方を筋繊維の方向に沿った回転中心回りに回転させながら、第１施療部材１２１Ａ及び第２施療部材１２１Ｂの少なくともいずれか一方を前記移動方向へ動かすよう構成されているのが好ましい。 (79) The treatment unit 101 includes a first treatment member 121A and a second treatment member 121B, each of which performs gripping with respect to a body part, and the mechanism unit 103 includes a first treatment member 121A and a second treatment member 121B. The first treatment member 121A and the second treatment member are rotated while at least one of the first treatment member 121A and the second treatment member 121B is rotated around the center of rotation along the direction of the muscle fibers. It is preferable that at least one of 121B is configured to move in the moving direction.
（８０）機構部１０３は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを回転中心１０２回りで互いに逆向きに回転させながら、第１施療部材１２１Ａと第２施療部材１２１Ｂとの相対的距離が大きくなるように、第１施療部材１２１Ａ及び第２施療部材１２１Ｂの少なくともいずれか一方を前記移動方向へ動かすよう構成されているのが好ましい。 (80) While the mechanism unit 103 rotates the first treatment member 121A and the second treatment member 121B around the rotation center 102 in opposite directions, the relative distance between the first treatment member 121A and the second treatment member 121B is increased. It is preferable that at least one of the first treatment member 121A and the second treatment member 121B is moved in the moving direction so as to increase.
（８１）施療部１０１は、前記身体部位に対する掴み揉みを行うための対の押圧部材１０１ａ，１０１ｂを含み、機構部１０３は、対の押圧部材１０１ａ，１０１ｂ同士の相対的位置関係が変化するように、対の押圧部材１０１ａ，１０１ｂの少なくともいずれか一方の押圧部材を、前記移動方向へ動かすよう構成されているのが好ましい。 (81) The treatment unit 101 includes a pair of pressing members 101a and 101b for gripping and squeezing the body part, and the mechanism unit 103 seems to change the relative positional relationship between the pair of pressing members 101a and 101b. In addition, it is preferable that at least one of the pair of pressing members 101a and 101b is configured to move in the moving direction.
（８２）機構部１０３は、互いに逆向きに動くように対の押圧部材１０１ａ，１０１ｂを動かすよう構成されているのが好ましい。 (82) The mechanism 103 is preferably configured to move the pair of pressing members 101a and 101b so as to move in opposite directions.
（８３）身体部位は、肩であり、機構部１０３は、施療部１０１による肩に対する掴み揉みが行われている状態で、肩における筋繊維に沿った方向へ、施療部１０１を動かすよう構成されているのが好ましい。 (83) The body part is the shoulder, and the mechanism unit 103 is configured to move the treatment unit 101 in a direction along the muscle fiber in the shoulder in a state where the treatment unit 101 is gripping and squeezing the shoulder. It is preferable.
（８４）施療部１０１は、左右の一方の肩に対する掴み揉みを行う第１施療部材１２１Ａと、左右の他方の肩に対する掴み揉みを行う第２施療部材１２１Ｂと、を含み、機構部１０１は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂにより左右の前記肩に対する掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第２施療部材１２１Ｂそれぞれを肩における筋繊維に沿った方向へ動かすよう構成されているのが好ましい。 (84) The treatment unit 101 includes a first treatment member 121A that performs gripping and squeezing on one of the left and right shoulders, and a second treatment member 121B that performs gripping and squeezing on the other shoulder of the left and right. The first treatment member 121A and the second treatment member 121B are moved in the direction along the muscle fibers in the shoulder in a state in which the first treatment member 121A and the second treatment member 121B are gripped with respect to the left and right shoulders. It is preferable that it is comprised.
（８５）施療部１０１は、身体部位に対する掴み揉みをそれぞれが行う第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃを含み、第１施療部材１２１Ａは、身体の第１範囲に対して掴み揉みを行うよう設けられ、第２施療部材１２１Ｂは、第１範囲との間に少なくとも一つの関節を介して、第１範囲とは異なる範囲である身体の第２範囲に対して掴み揉みを行うよう設けられ、第３施療部材１２１Ｃは、第２の範囲との間に少なくとも一つの他の関節を介して、第１範囲及び第２範囲とは異なる範囲である身体の第３範囲に対して掴み揉みを行うよう設けられているのが好ましい。例えば、第１～第３範囲は、それぞれ、手、前腕、上腕、肩及び首からなる群から選択される。また、第１～第３範囲は、それぞれ、足、下腿、大腿、腰、背中、肩、及び首からなる群から選択される。 (85) The treatment unit 101 includes a first treatment member 121A, a second treatment member 121B, and a third treatment member 121C, each of which grips and squeezes a body part, and the first treatment member 121A is a first range of the body. The second treatment member 121B is provided with respect to the second range of the body that is different from the first range through at least one joint between the second range and the first range. The third treatment member 121C is provided to perform grasping and squeezing, and the third treatment member 121C has a third range of the body different from the first range and the second range via at least one other joint between the third range and the second range. It is preferably provided to grip and squeeze the range. For example, the first to third ranges are each selected from the group consisting of a hand, forearm, upper arm, shoulder, and neck. The first to third ranges are each selected from the group consisting of feet, lower legs, thighs, waist, back, shoulders, and neck.
（８６）機構部１０３は、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃのうちの二以上の施療部材による掴み揉みが行われている状態で、掴み揉みを行っている二以上の施療部材のうちの少なくとも一つを、前記移動方向へ動かすよう構成されているのが好ましい。 (86) The mechanism unit 103 performs the grasping and squeezing in a state where the squeezing is performed by two or more of the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C. It is preferable that at least one of the two or more treatment members is configured to move in the moving direction.
（８７）機構部１０３は、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃによる掴み揉みが行われている状態で、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃのうちの少なくとも一つを、前記移動方向へ動かすよう構成されているのが好ましい。 (87) The mechanism portion 103 is in a state in which the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripped, and the first treatment member 121A, the second treatment member 121B, and It is preferable that at least one of the third treatment members 121C is configured to move in the movement direction.
（８８）機構部１０３は、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃによる掴み揉みが行われている状態で、第２施療部材１２１Ｂを、前記移動方向へ動かすよう構成されているのが好ましい。第２施療部材１２１Ｂは、第１施療部材１２１Ａと第３施療部材１２１Ｃとの間に位置するのが好ましい。 (88) The mechanism unit 103 moves the second treatment member 121B in the moving direction in a state where the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripped. Preferably, it is configured. The second treatment member 121B is preferably located between the first treatment member 121A and the third treatment member 121C.
（８９）機構部１０３は、第１施療部材１２１Ａ、第２施療部材１２１Ｂ、及び第３施療部材１２１Ｃによる掴み揉みが行われている状態で、第１施療部材１２１Ａ及び第３施療部材１２１Ｃを、前記移動方向へ動かすよう構成されているのが好ましい。 (89) The mechanism unit 103 moves the first treatment member 121A and the third treatment member 121C in a state in which the first treatment member 121A, the second treatment member 121B, and the third treatment member 121C are gripped. It is preferably configured to move in the moving direction.
［本発明の実施形態の詳細］
　図１５１～図１５８はマッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、手１００ｃ及び前腕１００ｄである。マッサージは、身体部位１００の掴み揉みを含む。手１００ｃ及び前腕１００ｄの筋繊維は、手１００ｃ及び前腕１００ｄの長手方向（図１５１のＺ方向）に向いている。 [Details of the embodiment of the present invention]
151 to 158 show examples of the massage unit 10. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, a hand 100c and a forearm 100d. The massage includes grasping and massaging the body part 100. The muscle fibers of the hand 100c and the forearm 100d face the longitudinal direction of the hand 100c and the forearm 100d (Z direction in FIG. 151).
　マッサージユニット１０は、手１００ｃ及び前腕１００ｄにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、手１００ｃをマッサージ（掴み揉み）する対の手用施療部材１２１Ａ－２，１２１Ｂ－２と、前腕１００ｄをマッサージ（掴み揉み）する対の前腕用施療部材１２１Ａ－１，１２１Ｂ－１と、を有している。対の手用施療部材１２１Ａ－２，１２１Ｂ－２は、手１００ｃの筋繊維の方向（Ｚ方向）に交わる方向である左右方向（Ｘ方向）に並設されている。対の手用施療部材１２１Ａ－２，１２１Ｂ－２は、それらの間に手１００ｃが位置するように、互いに対向して配置されている。対の前腕用施療部材１２１Ａ－１，１２１Ｂ－１も、前腕１００ｄの筋繊維の方向（Ｚ方向）に交わる方向である左右方向（Ｘ方向）に並設されている。対の前腕用施療部材１２１Ａ－１，１２１Ｂ－１は、それらの間に前腕１００ｄが位置するように、互いに対向して配置されている。なお、図１５１では、手１００ｃ及び前腕用として二対の施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１が設けられているが、一対でもよいし、三対以上でもよい。図１５１～図１５８に示す施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１は、首、肩、上腕、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c and the forearm 100d. The treatment section 101 includes a pair of hand treatment members 121A-2 and 121B-2 for massaging (grabbing and grasping) the hand 100c and a pair of forearm treatment members 121A-1 and 121B- for massaging (grabbing and grasping) the forearm 100d. 1. The pair of hand treatment members 121A-2 and 121B-2 are juxtaposed in the left-right direction (X direction), which is the direction intersecting the direction of the muscle fibers (Z direction) of the hand 100c. The pair of hand treatment members 121A-2 and 121B-2 are arranged to face each other so that the hand 100c is located between them. The pair of forearm treatment members 121A-1 and 121B-1 are also juxtaposed in the left-right direction (X direction), which is the direction intersecting the muscle fiber direction (Z direction) of the forearm 100d. The pair of forearm treatment members 121A-1 and 121B-1 are arranged to face each other such that the forearm 100d is located between them. In FIG. 151, two pairs of treatment members 121A-2, 121B-2, 121A-1, and 121B-1 are provided for the hand 100c and the forearm, but may be a pair or three or more pairs. The treatment members 121A-2, 121B-2, 121A-1, and 121B-1 shown in FIGS. 151 to 158 massage the neck, shoulders, upper arms, thighs, lower thighs, legs, and other body parts. As such, the massage device 1 may be provided.
　図１５２に示すように、各施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１は、それぞれ、対の押圧部材１０１ａ，１０１ｂを有している。なお、図１５２は、施療部材１２１Ａ－２，１２１Ａ－１の構成を示し、施療部材１２１Ｂ－２，１２１Ｂ－１の構成は、図１５２に示す構成を左右反転したものとなる。 As shown in FIG. 152, each of the treatment members 121A-2, 121B-2, 121A-1, 121B-1 has a pair of pressing members 101a, 101b. 152 shows the configuration of the treatment members 121A-2 and 121A-1, and the configuration of the treatment members 121B-2 and 121B-1 is a left-right inverted version of the configuration shown in FIG.
　対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の手１００ｃ又は前腕１００ｄを配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。対の押圧部材１０１ａ，１０１ｂのうち、上側の押圧部材１０１ａを構成するエアセルの数は２つであり、下側の押圧部材１０１ｂを構成するエアセルの数は１つである。エアセル１０１ａ，１０１ｂは、図示しない空気回路による給排気を受ける。エアセル１０１ａ，１０１ｂは給排気によって膨張収縮する。膨張した対のエアセル１０１ａ，１０１ｂは、手１００ｃ又は前腕１００ｄの両側から押圧する。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。図１５２の施療部材１２１Ａ－１，１２１Ａ－２は、手１００ｃ又は前腕１００ｄにおける筋繊維の方向（Ｙ方向）から手１００ｃ又は腕１００ｄに対する掴み揉みを行う。 The pair of pressing members 101a and 101b are disposed so as to face each other with a space in which the hand 100c or the forearm 100d to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. Of the pair of pressing members 101a and 101b, the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b are supplied and exhausted by an air circuit (not shown). The air cells 101a and 101b expand and contract by supply and exhaust. The expanded air cells 101a and 101b are pressed from both sides of the hand 100c or the forearm 100d. Gripping is obtained by pressing by the pair of air cells 101a and 101b. The treatment members 121A-1 and 121A-2 in FIG. 152 perform grasping and kneading on the hand 100c or the arm 100d from the direction of the muscle fibers in the hand 100c or the forearm 100d (Y direction).
　図１５１～図１５８のマッサージユニット１０は、各施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１を移動させる機構部１０３を更に備えている。機構部１０３は、４つの施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１それぞれを移動させる複数の機構部１０３Ａ－２，１０３Ｂ－２，１０３Ａ－１，１０３Ｂ－１を含んでいる。各機構部１０３Ａ－２，１０３Ｂ－２，１０３Ａ－１，１０３Ｂ－１は、それぞれ、対のエアセル１０１ａ，１０１ｂのうちの一方のエアセル（第１エアセル）１０１ａが取り付けられる第１支持部材１５３ａと、他方のエアセル（第２エアセル）１０１ｂが取り付けられる第２支持部材１５３ｂと、第１支持部材１５３ａ及び第２支持部材１５３ｂを手の外側で連結する第３支持部材１５３ｃと、第３支持部材１５３ｃに取り付けられたナット部１５６と、回転によってナット部１５６を直線移動させるねじ軸１５５と、を備えている。ねじ軸１５５は、駆動部１５４によって回転駆動される。駆動部１５４によってねじ軸１５５が回転駆動されると、ナット部１５６は、手１００ｃ又は前腕１００ｄの筋繊維の方向（Ｚ方向に）へ沿った移動方向へ、移動する。Ｚ方向へのナット部１５６の移動によって、各施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１もＺ方向へ移動することができる。 151 to 158 further includes a mechanism unit 103 for moving the treatment members 121A-2, 121B-2, 121A-1, and 121B-1. The mechanism unit 103 includes a plurality of mechanism units 103A-2, 103B-2, 103A-1, and 103B-1 that move the four treatment members 121A-2, 121B-2, 121A-1, and 121B-1, respectively. Yes. Each mechanism 103A-2, 103B-2, 103A-1, 103B-1 includes a first support member 153a to which one of the pair of air cells 101a, 101b (first air cell) 101a is attached, The second support member 153b to which the other air cell (second air cell) 101b is attached, the third support member 153c that connects the first support member 153a and the second support member 153b outside the hand, and the third support member 153c An attached nut portion 156 and a screw shaft 155 that linearly moves the nut portion 156 by rotation are provided. The screw shaft 155 is rotationally driven by the drive unit 154. When the screw shaft 155 is rotationally driven by the drive unit 154, the nut unit 156 moves in the movement direction along the direction of the muscle fiber of the hand 100c or the forearm 100d (in the Z direction). By moving the nut portion 156 in the Z direction, the treatment members 121A-2, 121B-2, 121A-1, and 121B-1 can also move in the Z direction.
　機構部は、複数の施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１のいずれか又は全部によって身体部位１００ｃ、１００ｄに掴み揉みが行われている状態で、掴み揉みが行われている身体部位１００ｃ，１００ｄの筋繊維の方向へ沿った移動方向（Ｚ方向）へ、掴み揉みしている施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１を移動させることができる。なお、各施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１は、独立して移動することができる。 The mechanism part is gripped and squeezed in a state where the body parts 100c and 100d are gripped and squeezed by any or all of the plurality of treatment members 121A-2, 121B-2, 121A-1, and 121B-1. To move the grasping and grasping treatment members 121A-2, 121B-2, 121A-1, 121B-1 in the moving direction (Z direction) along the direction of the muscle fibers of the body parts 100c, 100d it can. Each of the treatment members 121A-2, 121B-2, 121A-1, 121B-1 can move independently.
　例えば、図１５３に示すように、対の手用施療部材１２１Ａ－２，１２１Ｂ－２の一方の施療部材（第１施療部材）１２１Ａ－２を図１５３のＺ方向（肘側）へ移動させる一方、他方の施療部材１２１Ｂ－２（第２施療部材）１２１Ｂ－２は、移動させないことで、両施療部材１２１Ａ－２，１２１Ｂ－２の相対位置関係が変化し、両施療部材１２１Ａ－２，１２１Ｂ－２によるマッサージ感に変化が生じる。
　同様に、対の前腕用施療部材１２１Ａ－１，１２１Ｂ－１の一方の施療部材（第１施療部材１２１Ａ－１をＺ方向（肘側）へ移動させる一方、他方の施療部材（第２施療部材）１２１Ｂ－１は移動させないことで、両施療部材１２１Ａ－１，１２１Ｂ－１の相対位置関係が変化し、両施療部材１２１Ａ－１，１２１Ｂ－１によるマッサージ感に変化が生じる。なお、両施療部材を共に移動させつつ、その移動速度を異ならせることで、両施療部材の位置関係を変化させてもよい。 For example, as shown in FIG. 153, one treatment member (first treatment member) 121A-2 of the pair of hand treatment members 121A-2 and 121B-2 is moved in the Z direction (elbow side) in FIG. Since the other treatment member 121B-2 (second treatment member) 121B-2 is not moved, the relative positional relationship between the treatment members 121A-2 and 121B-2 changes, and both treatment members 121A-2 and 121B are changed. -2 changes the massage feeling.
Similarly, one of the pair of forearm treatment members 121A-1 and 121B-1 (the first treatment member 121A-1 is moved in the Z direction (elbow side) while the other treatment member (the second treatment member is moved). ) When 121B-1 is not moved, the relative positional relationship between the two treatment members 121A-1 and 121B-1 changes, and the massage feeling of both treatment members 121A-1 and 121B-1 changes. The positional relationship between the two treatment members may be changed by moving the members together and changing the moving speed thereof.
　また、例えば、各施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１が、図１５４の位置で掴み揉みをしている状態において、図１５５に示すように、全施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１を、Ｚ方向（肘側）へ移動させることで、各施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１の相対位置関係を維持しつつ、各施療部材を移動させることができる。この場合、掴み揉みしつつ、掴み揉みの位置を変化させることができる。 Further, for example, in a state where each of the treatment members 121A-2, 121B-2, 121A-1, 121B-1 is grasped and squeezed at the position of FIG. 154, as shown in FIG. 155, all the treatment members 121A- 2, 121B-2, 121A-1, 121B-1 are moved in the Z direction (elbow side), so that the relative positional relationship between the treatment members 121A-2, 121B-2, 121A-1, 121B-1 is changed. Each treatment member can be moved while maintaining. In this case, the position of gripping can be changed while gripping.
　図１５６～図１６１は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、手１００ｃ及び前腕１００ｄなどの上肢である。マッサージは、身体部位１００の掴み揉みを含む。手１００ｃ及び前腕１００ｄの筋繊維は、手１００ｃ及び前腕１００ｄの長手方向（図１５６のＺ方向）に向いている。 FIGS. 156 to 161 show examples of the massage unit 10. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, an upper limb such as the hand 100c and the forearm 100d. The massage includes grasping and massaging the body part 100. The muscle fibers of the hand 100c and the forearm 100d face the longitudinal direction of the hand 100c and the forearm 100d (Z direction in FIG. 156).
　マッサージユニット１０は、手１００ｃ又は前腕１００ｄにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、手１００ｃ又は前腕１００ｄをマッサージ（掴み揉み）する第１施療部材１２１Ａと、前腕１００ｄをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、を含む。
　肘掛け部４に設けられる施療部材１２１Ａ，１２１Ｂの数は、１つでもよいし、３以上でもよい。図１５６及び図１６１に示す施療部材１２１Ａ，１２１Ｂは、首、肩、上腕、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c or the forearm 100d. The treatment unit 101 includes a first treatment member 121A that massages (grabs and grips) the hand 100c or the forearm 100d, and a second treatment member 121B that massages (grabs and grips) the forearm 100d.
The number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more. The treatment members 121A and 121B shown in FIGS. 156 and 161 may be provided in the massage device 1 so as to massage (grab and squeeze) the neck, shoulders, upper arms, thighs, lower legs, legs, and other body parts. good.
　第１施療部材１２１Ａは、対の押圧部材１０１ａ，１０１ｂを有している。対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の前腕１００ｄ（又は手１００ｃ）を配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。対の押圧部材１０１ａ，１０１ｂのうち、上側の押圧部材１０１ａを構成するエアセルの数は２つであり、下側の押圧部材１０１ｂを構成するエアセルの数は１つである。エアセル１０１ａ，１０１ｂは、図示しない空気回路による給排気を受ける。エアセル１０１ａ，１０１ｂは給排気によって膨張収縮する。膨張した対のエアセル１０１ａ，１０１ｂは、手１００ｃの両側から押圧する（図１５７参照）。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。 The first treatment member 121A has a pair of pressing members 101a and 101b. The pair of pressing members 101a and 101b are opposed to each other so as to have a space in which the forearm 100d (or hand 100c) to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. Of the pair of pressing members 101a and 101b, the number of air cells constituting the upper pressing member 101a is two, and the number of air cells constituting the lower pressing member 101b is one. The air cells 101a and 101b are supplied and exhausted by an air circuit (not shown). The air cells 101a and 101b expand and contract by supply and exhaust. The expanded air cells 101a and 101b are pressed from both sides of the hand 100c (see FIG. 157). Gripping is obtained by pressing by the pair of air cells 101a and 101b.
　第１施療部材１２１Ａは、前腕１００ｄにおける筋繊維の方向（前腕１００ｄの長手方向；図１５６のＺ方向）に交わる方向（図１５６のＹ方向）から前腕１００ｄに対する掴み揉みを行う。
　掴み揉みは、対の押圧部材１０１ａ，１０１ｂの間に身体部位１００を位置させた状態で、対の押圧部材１０１ａ，１０１ｂを互いに近接させることで行われる。このように、掴み揉みは、身体部位１００を挟み込むシンプルな動作で足りる。 The first treatment member 121A grips and squeezes the forearm 100d from the direction (Y direction in FIG. 156) that intersects the direction of the muscle fibers in the forearm 100d (the longitudinal direction of the forearm 100d; the Z direction in FIG. 156).
The gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
　第２施療部材１２１Ｂは、第１施療部材１２１Ａと同様の構成を有し、同様に動作する。すなわち、第２施療部材１２１Ｂは、対の押圧部材１０１ａ，１０１ｂを有し、対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。 The 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
　図１５６～図１６１のマッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を更に備えている。機構部１０３は、第１施療部材１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、を含む。 The massage unit 10 shown in FIGS. 156 to 161 further includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
　第１機構部１０３Ａは、対のエアセル１０１ａ，１０１ｂのうちの一方のエアセル（第１エアセル）１０１ａが取り付けられる第１支持部材１５３ａと、他方のエアセル（第２エアセル）１０１ｂが取り付けられる第２支持部材１５３ｂと、第１支持部材１５３ａ及び第２支持部材１５３ｂを手の外側（小指側）で連結する第３支持部材１５３ｃと、第３支持部材１５３ｃに連結されたナット部１５６と、ナット部１５６を直線移動させるねじ軸１５５と、を備えている。ねじ軸１５５は、駆動部１５４によって回転駆動される。ねじ軸１５５は、軸方向がＺ方向に向けて設けられており、駆動部１５４によってねじ軸１５５が回転駆動されると、ナット部１５６がＺ方向に移動し、第１施療部材１２１ＡがＺ方向に移動する。 The first mechanism 103A includes a first support member 153a to which one of the air cells 101a and 101b (first air cell) 101a is attached and a second support to which the other air cell (second air cell) 101b is attached. A member 153b, a third support member 153c for connecting the first support member 153a and the second support member 153b on the outer side (little finger side) of the hand, a nut portion 156 connected to the third support member 153c, and a nut portion 156 And a screw shaft 155 for linearly moving. The screw shaft 155 is rotationally driven by the drive unit 154. The screw shaft 155 is provided with the axial direction directed in the Z direction. When the screw shaft 155 is rotationally driven by the drive unit 154, the nut portion 156 moves in the Z direction, and the first treatment member 121A moves in the Z direction. Move to.
　第２機構部１０３Ｂは、第１機構部１０３Ａと同様の構成を有し、同様に動作する。すなわち、第２機構部１０３Ｂは、支持部材１５３ａ，１５３ｂ，１５３ｃと、ナット部１５６と、ねじ軸１５５と、を有する。第２機構部１０３Ｂのねじ軸１５５も駆動部１５４によって回転駆動される。 The second mechanism unit 103B has the same configuration as the first mechanism unit 103A and operates in the same manner. That is, the second mechanism portion 103B includes support members 153a, 153b, and 153c, a nut portion 156, and a screw shaft 155. The screw shaft 155 of the second mechanism unit 103B is also rotationally driven by the drive unit 154.
　図１５６において、第１施療部材１２１Ａ及び第２施療部材１２１Ｂは、ともに、前腕１００ｄをマッサージするように配置されている。第１施療部材１２１Ａは、前腕１００ｄの手首側の範囲である第１範囲をマッサージし、第２施療部材１２１Ｂは、前腕１００ｄの肘側の範囲である第２範囲をマッサージする。第１範囲及び第２範囲は、いずれも手関節から肘関節の間にある前腕１００ｄの範囲（関節を含まない範囲）という同一の範囲内にある。 In FIG. 156, the first treatment member 121A and the second treatment member 121B are both arranged to massage the forearm 100d. The first treatment member 121A massages a first range that is the wrist side range of the forearm 100d, and the second treatment member 121B massages a second range that is the elbow side range of the forearm 100d. The first range and the second range are both in the same range, ie, the range of the forearm 100d between the wrist joint and the elbow joint (the range not including the joint).
　図１５７に示すように、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって、前腕１００ｄを掴み揉みしている状態で、さらに、図１５８に示すように、第２施療部材１２１Ｂを後方（肘側）へ移動させることで、前腕１００を延ばすようにマッサージをすることができる。 As shown in FIG. 157, the first treatment member 121A and the second treatment member 121B hold the forearm 100d and squeeze the second treatment member 121B backward (elbow side) as shown in FIG. ) Can be massaged so as to extend the forearm 100.
　また、図１５９において、第１施療部材１２１Ａは、手首をマッサージするように配置され、第２施療部材１２１Ｂは、第１施療部材１２１Ａよりも肘側の位置において、前腕１００ｄに対する掴み揉みをするように配置されている。図１６０に示すように、第１施療部材１２１Ａ及び第２施療部材１２１Ｂによって、手首と前腕１００ｄを掴み揉みしている状態で、さらに、図１６１に示すように、第２施療部材１２１Ｂを後方（肘側）へ移動させることで、前腕１００ａを延ばすようにマッサージをすることができる。 In FIG. 159, the first treatment member 121A is arranged so as to massage the wrist, and the second treatment member 121B is grasped and squeezed with respect to the forearm 100d at a position closer to the elbow than the first treatment member 121A. Is arranged. As shown in FIG. 160, with the first treatment member 121A and the second treatment member 121B grasping and squeezing the wrist and forearm 100d, the second treatment member 121B is moved backward (see FIG. 161). By moving to the elbow side), massage can be performed to extend the forearm 100a.
　図１６２は、マッサージユニット１０の例を示している。このマッサージユニット１６２は、図１５６～図１６１のマッサージユニット１０を、左右の脚（下肢）それぞれに対応するように並設したものである。その他の点については、図１６２のマッサージユニット１０は、図１５６～図１６１のマッサージユニット１０と同様である。図１６２のマッサージユニット１０によって、左右の下腿１００ｆそれぞれを、前腕１００ｄと同様にマッサージすることができる。 FIG. 162 shows an example of the massage unit 10. This massage unit 162 is obtained by arranging the massage units 10 of FIGS. 156 to 161 in parallel so as to correspond to the left and right legs (lower limbs). In other respects, the massage unit 10 in FIG. 162 is the same as the massage unit 10 in FIGS. 156 to 161. The massage unit 10 in FIG. 162 can massage each of the left and right lower legs 100f in the same manner as the forearm 100d.
　図１６３～図１６７は、マッサージユニット１０の例を示している。このマッサージユニット１０は、例えば、肘掛け部４に設けられ、被施療者の身体部位１００のマッサージを行う。身体部位１００は、例えば、手１００ｃ及び前腕１００ｄなどの上肢である。マッサージは、身体部位１００の掴み揉みを含む。手１００ｃ及び前腕１００ｄの筋繊維は、手１００ｃ及び前腕１００ｄの長手方向（図１６３のＺ方向）に向いている。 FIGS. 163 to 167 show examples of the massage unit 10. This massage unit 10 is provided in the armrest part 4, for example, and massages the body part 100 of a user. The body part 100 is, for example, an upper limb such as the hand 100c and the forearm 100d. The massage includes grasping and massaging the body part 100. The muscle fibers of the hand 100c and the forearm 100d face the longitudinal direction of the hand 100c and the forearm 100d (Z direction in FIG. 163).
　マッサージユニット１０は、手１００ｃ又は前腕１００ｄにマッサージ（掴み揉み）する施療部１０１を有している。施療部１０１は、手１００ｃ又は前腕１００ｄをマッサージ（掴み揉み）する第１施療部材１２１Ａと、前腕１００ｄをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、を含む。
　肘掛け部４に設けられる施療部材１２１Ａ，１２１Ｂの数は、１つでもよいし、３以上でもよい。図１６３から図１６７に示す施療部材１２１Ａ，１２１Ｂは、首、肩、上腕、太腿、下腿、足、及びその他の身体部位をマッサージ（掴み揉み）するように、マッサージ装置１に設けられても良い。 The massage unit 10 includes a treatment unit 101 that massages (grabs) the hand 100c or the forearm 100d. The treatment unit 101 includes a first treatment member 121A that massages (grabs and grips) the hand 100c or the forearm 100d, and a second treatment member 121B that massages (grabs and grips) the forearm 100d.
The number of treatment members 121A and 121B provided in the armrest portion 4 may be one, or may be three or more. The treatment members 121A and 121B shown in FIGS. 163 to 167 may be provided in the massage apparatus 1 so as to massage (grab and squeeze) the neck, shoulder, upper arm, thigh, lower leg, foot, and other body parts. good.
　第１施療部材１２１Ａは、対の押圧部材１０１ａ，１０１ｂを有している（図１６５参照）。対の押圧部材１０１ａ，１０１ｂは、それらの間にマッサージ対象の前腕１００ｄ（又は手１００ｃ）を配置可能な空間を有するように対向配置されている。対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。エアセル１０１ａ，１０１ｂは、図示しない空気回路による給排気を受ける。エアセル１０１ａ，１０１ｂは給排気によって膨張収縮する。膨張した対のエアセル１０１ａ，１０１ｂは、手１００ｃの両側から押圧する。対のエアセル１０１ａ，１０１ｂによる押圧によって掴み揉みが得られる。 The first treatment member 121A has a pair of pressing members 101a and 101b (see FIG. 165). The pair of pressing members 101a and 101b are opposed to each other so as to have a space in which the forearm 100d (or hand 100c) to be massaged can be placed. Each of the pair of pressing members 101a and 101b is constituted by an air cell. The air cells 101a and 101b are supplied and exhausted by an air circuit (not shown). The air cells 101a and 101b expand and contract by supply and exhaust. The pair of expanded air cells 101a and 101b press from both sides of the hand 100c. Gripping is obtained by pressing by the pair of air cells 101a and 101b.
　第１施療部材１２１Ａは、手１００ｃ又は前腕１００ｄにおける筋繊維の方向（図１６３のＺ方向）に交わる方向（例えば、図１６３のＹ方向）から手１００ｃ又は前腕１００ｄに対する掴み揉みを行う。掴み揉みは、対の押圧部材１０１ａ，１０１ｂの間に身体部位１００を位置させた状態で、対の押圧部材１０１ａ，１０１ｂを互いに近接させることで行われる。このように、掴み揉みは、身体部位１００を挟み込むシンプルな動作で足りる。 The first treatment member 121A grips and squeezes the hand 100c or the forearm 100d from the direction (for example, the Y direction in FIG. 163) intersecting the direction of the muscle fibers in the hand 100c or the forearm 100d (the Z direction in FIG. 163). The gripping is performed by bringing the pair of pressing members 101a and 101b close to each other with the body part 100 positioned between the pair of pressing members 101a and 101b. In this way, the grasping and squeezing is sufficient by a simple operation of sandwiching the body part 100.
　第２施療部材１２１Ｂは、第１施療部材１２１Ａと同様の構成を有し、同様に動作する。すなわち、第２施療部材１２１Ｂは、対の押圧部材１０１ａ，１０１ｂを有し、対の押圧部材１０１ａ，１０１ｂそれぞれは、エアセルによって構成されている。 The 2nd treatment member 121B has the same composition as the 1st treatment member 121A, and operates similarly. That is, the second treatment member 121B includes a pair of pressing members 101a and 101b, and each of the pair of pressing members 101a and 101b is configured by an air cell.
　図１６３～図１６７のマッサージユニット１０は、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを移動させる機構部１０３を更に備えている。機構部１０３は、第１施療部材１２１Ａを移動させる第１機構部１０３Ａと、第２施療部材１２１Ｂを移動させる第２機構部１０３Ｂと、を含む。 The massage unit 10 shown in FIGS. 163 to 167 further includes a mechanism 103 that moves the first treatment member 121A and the second treatment member 121B. The mechanism unit 103 includes a first mechanism unit 103A that moves the first treatment member 121A and a second mechanism unit 103B that moves the second treatment member 121B.
　図１６５（ｂ）に示すように、第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ、対のエアセル１０１ａ，１０１ｂが取り付けられる第１支持部材１１３ａを備えている。第１支持部材１１３ａは、リング状に形成されている。第１支持部材１１３ａの内周面には、対のエアセル１０１ａ，１０１ｂが対向配置されている。被施療者は、手１００ｃ又は前腕１００ｄを、第１支持部材１１３ａの長手方向両側の開口の一方から第１支持部材１１３ａ内に挿入することができる。第１支持部材１１３ａ内に挿入された手１００ｃ又は前腕１００ｄは、対のエアセル１０１ａ，１０１ｂの間に位置する。
　第１支持部材１１３ａは、第１支持部材１１３ａの外周側に設けられた第２支持部材１１３ｂに対して、図示しないガイドを介して、回転中心１０２回りに回転自在に支持されている。第２支持部材１１３ｂは、第１支持部材１１３ａを覆うカバーとして構成されている。 As shown in FIG. 165 (b), the first mechanism portion 103A and the second mechanism portion 103B each include a first support member 113a to which a pair of air cells 101a and 101b are attached. The first support member 113a is formed in a ring shape. A pair of air cells 101a and 101b are disposed opposite to each other on the inner peripheral surface of the first support member 113a. The user can insert the hand 100c or the forearm 100d into the first support member 113a from one of the openings on both sides in the longitudinal direction of the first support member 113a. The hand 100c or the forearm 100d inserted into the first support member 113a is positioned between the pair of air cells 101a and 101b.
The first support member 113a is supported rotatably around the rotation center 102 via a guide (not shown) with respect to the second support member 113b provided on the outer peripheral side of the first support member 113a. The second support member 113b is configured as a cover that covers the first support member 113a.
　第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ、第１支持部材１１３ａの外周側において全周にわたって形成されたラック１１４と、ラック１１４に噛み合うピニオン１１１と、を更に備えている。ピニオン１１１は、回転軸１１２を備えており、回転軸１１２が第１駆動部１５４ａによって回転駆動されることで、ピニオン１１１が回転する。ピニオン１１１の回転によって、第１支持部材１１３ａが回転中心１０２回りに回転する。エアセル１０１ａ，１０１ｂは、第１支持部材１１３ａの回転に伴って、回転中心１０２回りに回転する。回転中心１０２は、手１００ｃ又は前腕１００ｄの筋繊維の方向（手又は前腕の長手方向）に沿った向きを有する。回転中心１０２回りに回転するエアセル１０１ａ，１０１ｂは、手１００ｃ又は前腕１００ｄの周方向に沿って移動する。エアセル１０１ａ，１０１ｂの周方向に沿った移動により、掴み揉みの方向を変更することができる。エアセル１０１ａ，１０１ｂは、第１駆動部１５４ａの正逆回転により、回転中心１０２回りの正逆回転が可能である。 Each of the first mechanism portion 103A and the second mechanism portion 103B further includes a rack 114 formed over the entire circumference on the outer peripheral side of the first support member 113a, and a pinion 111 that meshes with the rack 114. The pinion 111 includes a rotation shaft 112, and the pinion 111 rotates when the rotation shaft 112 is rotationally driven by the first drive unit 154a. As the pinion 111 rotates, the first support member 113 a rotates around the rotation center 102. The air cells 101a and 101b rotate around the rotation center 102 as the first support member 113a rotates. The rotation center 102 has an orientation along the direction of the muscle fibers of the hand 100c or the forearm 100d (the longitudinal direction of the hand or forearm). The air cells 101a and 101b rotating around the rotation center 102 move along the circumferential direction of the hand 100c or the forearm 100d. By moving the air cells 101a and 101b along the circumferential direction, the direction of gripping can be changed. The air cells 101a and 101b can perform forward and reverse rotation around the rotation center 102 by forward and reverse rotation of the first drive unit 154a.
　図１６３では、第１施療部材１２１Ａのエアセル１０１ａ，１０１ｂと、第２施療部材１２１Ｂのエアセル１０１ａ，１０１ｂは、それぞれ別の第１駆動部１５４ａによって回転駆動されるため、それぞれ独立した回転が可能である。第１施療部材１２１Ａのエアセル１０１ａ，１０１ｂと、第２施療部材１２１Ｂのエアセル１０１ａ，１０１ｂは、共通の駆動部によって回転駆動されてもよい。 In FIG. 163, the air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B are driven to rotate by separate first driving units 154a, and thus can be independently rotated. is there. The air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B may be rotationally driven by a common drive unit.
　第１施療部材１２１Ａのエアセル１０１ａ，１０１ｂと、第２施療部材１２１Ｂのエアセル１０１ａ，１０１ｂと、は、それぞれ、回転中心１０２回りに鑑定する。それぞれの回転中心１０２の位置は、同じでもよいし、図１６４に示すように異なっていても良い。回転中心１０２の位置は、図１６４のＸ方向及びＹ方向の少なくともいずれか一方において異なることができる。
　エアセル１０１ａ，１０１ｂを身体部位の周りで回転させる機構は、ラック１１４及びピニオン１１１を有するものに限られず、エアセル１０１ａ，１０１ｂを身体部位の周りで回転させるよう構成されていれば足りる。 The air cells 101a and 101b of the first treatment member 121A and the air cells 101a and 101b of the second treatment member 121B are identified around the rotation center 102, respectively. The positions of the respective rotation centers 102 may be the same or different as shown in FIG. The position of the rotation center 102 can be different in at least one of the X direction and the Y direction in FIG.
The mechanism for rotating the air cells 101a and 101b around the body part is not limited to the one having the rack 114 and the pinion 111, and it is sufficient if the air cells 101a and 101b are configured to rotate around the body part.
　第１機構部１０３Ａ及び第２機構部１０３Ｂは、それぞれ、第２支持部材１１３ｂに設けられたナット部１５６と、ナット部１５６を直線移動させるねじ軸１５５と、を更に備えている。ねじ軸１５５は、第２駆動部１５４ｂによって回転駆動される。ねじ軸１５５は、軸方向がＺ方向に向けて設けられており、第２駆動部１５４ｂによってねじ軸１５５が回転駆動されると、ナット部１５６がＺ方向に移動し、第１施療部材１２１Ａ及び／又は第２施療部１２１ＢがＺ方向に移動する。 Each of the first mechanism portion 103A and the second mechanism portion 103B further includes a nut portion 156 provided on the second support member 113b and a screw shaft 155 that linearly moves the nut portion 156. The screw shaft 155 is rotationally driven by the second drive unit 154b. The screw shaft 155 is provided with the axial direction directed in the Z direction. When the screw shaft 155 is rotationally driven by the second drive portion 154b, the nut portion 156 moves in the Z direction, and the first treatment member 121A and / Or the 2nd treatment part 121B moves to a Z direction.
　図１６６（ａ）において、第１施療部材１２１Ａは、手１００ｃをマッサージするように配置され、第２施療部材１２１Ｂは、前腕１００ｄをマッサージするように配置されている。図１６６（ａ）の位置において、第１施療部材１２１Ａ及び第２施療部材１２１Ｂが、マッサージ（掴み揉み）をしている状態で、第１機構部１０３Ａ及び第２機構部１０３Ｂのいずれか一方又は両方の第１駆動部１５４ａを動作させることで、各施療部材１２１Ａ，１２１Ｂのいずれか一方、又は両方を、回転中心１０２回りに回転させることができる。複数の施療部材１２１Ａ，１２１Ｂは、図１６６（ａ）に示すように、同一方向に回転してもよいし、互いに逆方向に回転してもよい。同一方向の回転によって、手１００ｃ及び前腕１００ｄ全体をひねることができる。逆方向の回転によって、手首をひねることができる。 166 (a), the first treatment member 121A is arranged to massage the hand 100c, and the second treatment member 121B is arranged to massage the forearm 100d. At the position of FIG. 166 (a), in a state where the first treatment member 121A and the second treatment member 121B are massaging (gripping), either the first mechanism portion 103A or the second mechanism portion 103B or By operating both of the first drive units 154a, one or both of the treatment members 121A and 121B can be rotated around the rotation center 102. As shown in FIG. 166 (a), the plurality of treatment members 121A and 121B may rotate in the same direction or in opposite directions. By rotating in the same direction, the entire hand 100c and the forearm 100d can be twisted. The wrist can be twisted by rotating in the opposite direction.
　図１６６（ａ）の位置において、第１施療部材１２１Ａ及び第２施療部材１２１Ｂが、マッサージ（掴み揉み）をしている状態で、各施療部材１２１Ａ，１２１Ｂを回転中心１０２回りに回転させながら、第２施療部材１２１Ｂを図１６６（ｂ）のように動かすことができる。すなわち、第２施療部材１２１Ｂが、第１施療部材１２１Ａから離れる向き図１６６の右方）へ移動することで、ひねりを加えながら手首を伸ばすことができる。図１６６では、第１施療部材１２１ＡをＺ方向に移動させずに、第２施療部材１２１ＢをＺ方向に移動させたが、第２施療部材１２１ＢをＺ方向に移動させずに、第１施療部材１２１ＡをＺ方向に移動させてもよい。 At the position of FIG. 166 (a), while the first treatment member 121A and the second treatment member 121B are massaging (gripping), the treatment members 121A and 121B are rotated around the rotation center 102, The second treatment member 121B can be moved as shown in FIG. 166 (b). That is, by moving the second treatment member 121B in the direction away from the first treatment member 121A (to the right in FIG. 166), it is possible to stretch the wrist while adding a twist. In FIG. 166, the first treatment member 121A is moved in the Z direction without moving the first treatment member 121A in the Z direction, but the first treatment member 121B is moved in the Z direction without moving the second treatment member 121B in the Z direction. 121A may be moved in the Z direction.
　図１６７（ａ）において、第１施療部材１２１Ａは、手首付近をマッサージするように配置され、第２施療部材１２１Ｂは、前腕１００ｄをマッサージするように配置されている。 167 (a), the first treatment member 121A is arranged to massage the vicinity of the wrist, and the second treatment member 121B is arranged to massage the forearm 100d.
　図１６７（ａ）の位置において、第１施療部材１２１Ａ及び第２施療部材１２１Ｂが、マッサージ（掴み揉み）をしている状態で、各施療部材１２１Ａ，１２１Ｂを回転中心１０２回りに回転させながら、第１施療部材１２１Ａ及び第２施療部材１２１Ｂを図１６８（ｂ）のように動かすことができる。すなわち、第１施療部材１２１Ａ及び第２施療部材１２１ＢとのＺ方向の相対的距離が大きくなるように、第１施療部材１２１Ａ及び第２施療部材１２１ＢがＺ方向に移動することで、ひねりを加えながら手首を大きく伸ばすことができる。第１施療部材１２１Ａ及び第２施療部材１２１Ｂが、Ｚ方向に移動しながら、回転中心１０２回りに互いに逆向きに回転することで、引っ張り感及びひねり感を含むマッサージ感が得られる。 At the position of FIG. 167 (a), while the first treatment member 121A and the second treatment member 121B are massaging (gripping), while rotating each treatment member 121A, 121B around the rotation center 102, The first treatment member 121A and the second treatment member 121B can be moved as shown in FIG. 168 (b). That is, the first treatment member 121A and the second treatment member 121B move in the Z direction so that the relative distance in the Z direction between the first treatment member 121A and the second treatment member 121B is increased, thereby adding a twist. While extending the wrist greatly. The first treatment member 121 </ b> A and the second treatment member 121 </ b> B rotate in opposite directions around the rotation center 102 while moving in the Z direction, so that a massage feeling including a tension feeling and a twist feeling can be obtained.
　図１６８及び図１６９は、マッサージユニット１０の例を示している。このマッサージユニット１０は、図１５６～図１６１のマッサージユニット１０の施療部材１２１Ａ－２，１２１Ｂ－２を構成する対の押圧部材１０１ａ，１０１ｂそれぞれを、独立して移動可能に構成したものである。なお、図１５６～図１６１のマッサージユニット１０の施療部材１２１Ａ－１，１２１Ｂ－１を構成する対の押圧部材１０１ａ，１０１ｂそれぞれを、独立して移動可能に構成してもよい。 168 and 169 show examples of the massage unit 10. The massage unit 10 is configured such that each of the pair of pressing members 101a and 101b constituting the treatment members 121A-2 and 121B-2 of the massage unit 10 of FIGS. 156 to 161 can be moved independently. Note that each of the pair of pressing members 101a and 101b constituting the treatment members 121A-1 and 121B-1 of the massage unit 10 of FIGS. 156 to 161 may be configured to be independently movable.
　図１６８及び図１６９のマッサージユニット１０の施療部材１２１Ａ－２，１２１Ｂ－２を移動させる機構部１０３Ａ－２（１０３Ｂ－２，１０３）は、施療部材１２１Ａ－２，１２１Ｂ－２を構成する対の押圧部材（エアセル）１０１ａ，１０１ｂのうち、第１エアセル１０１ａを支持する第１支持部材１５３ａと、第２エアセル１０１ｂを支持する第２支持部材１５３ｂと、を備えている。第１支持部材１５３ａと第２支持部材１５３ｂとは、互いに分離しており、独立して移動可能である。機構部１０３Ａ－２は、第１支持部材１５３ａに取り付けられた第１ナット部１５６と、第１ナット部１５６を直線移動させる第１ねじ軸１５５と、第２支持部材１５３ｂに取り付けられた第２ナット部１５６と、第２ナット部１５６を直線移動させる第２ねじ軸１５５と、を更に備えている。ねじ軸１５５，１５５は、それぞれ駆動部１５４，１５４によって回転駆動される。ねじ軸１５５，１５５は、軸方向がＺ方向に向けられており、対の押圧部材１０１ａ，１０１ｂは、Ｚ方向に移動することができる。 The mechanism 103A-2 (103B-2, 103) for moving the treatment members 121A-2, 121B-2 of the massage unit 10 of FIGS. 168 and 169 is a pair of the treatment members 121A-2, 121B-2. Of the pressing members (air cells) 101a and 101b, a first support member 153a that supports the first air cell 101a and a second support member 153b that supports the second air cell 101b are provided. The first support member 153a and the second support member 153b are separated from each other and can move independently. The mechanism portion 103A-2 includes a first nut portion 156 attached to the first support member 153a, a first screw shaft 155 that linearly moves the first nut portion 156, and a second nut attached to the second support member 153b. A nut portion 156 and a second screw shaft 155 that linearly moves the second nut portion 156 are further provided. The screw shafts 155 and 155 are rotationally driven by drive units 154 and 154, respectively. The axial directions of the screw shafts 155 and 155 are directed in the Z direction, and the pair of pressing members 101a and 101b can move in the Z direction.
　対の押圧部材（エアセル）１０１ａ，１０１ｂは、例えば、図１６８のようにＺ方向において同じ位置に存在しているときに、前腕１００ｄを掴み揉みし、その状態で、図１６９のように、第１エアセル１０１ａが肘側へ移動し、第２エアセル１０１ｂが逆向きである手１００ｃ側へ移動することで、両エアセル１０１ａ，１０１ｂの相対位置を変化させることができる。図１６９の場合、両エアセル１０１ａ，１０１ｂの相対距離が、図１６８の場合よりも大きくなる。 For example, when the pair of pressing members (air cells) 101a and 101b are present at the same position in the Z direction as shown in FIG. 168, the forearm 100d is grasped and squeezed in this state as shown in FIG. When the first air cell 101a moves to the elbow side and the second air cell 101b moves to the opposite hand 100c side, the relative positions of the two air cells 101a and 101b can be changed. In the case of FIG. 169, the relative distance between both air cells 101a and 101b is larger than that in the case of FIG.
　図１７０及び図１７１は、マッサージユニット１０の例を示している。このマッサージユニット１０は、施療部として、左右の肩それぞれをマッサージ（掴み揉み）する対の肩用施療部材（第１施療部材１２１Ａ，第２施療部材１２１Ｂ）を備えている。これらの施療部材１２１Ａ，１２１Ｂは、図１５１及び図１５２に示す施療部材１２１Ａ－２，１２１Ｂ－２，１２１Ａ－１，１２１Ｂ－１と同様に、対の押圧部材（エアセル）を有している。肩用施療部材１２１Ａ，１２１Ｂは、例えば、肩１００ｈを前後方向（Ｚ方向）から押圧する。 170 and 171 show examples of the massage unit 10. The massage unit 10 includes a pair of shoulder treatment members (first treatment member 121A and second treatment member 121B) that massage (grab and squeeze) the left and right shoulders as treatment portions. Similar to the treatment members 121A-2, 121B-2, 121A-1, 121B-1 shown in FIGS. 151 and 152, these treatment members 121A, 121B have a pair of pressing members (air cells). For example, the shoulder treatment members 121A and 121B press the shoulder 100h from the front-rear direction (Z direction).
　図１７０及び図１７１のマッサージユニット１０は、各施療部材１２１Ａ，１２１Ｂを、左右の肩１００ｈそれぞれの筋繊維に沿った方向へ移動させる機構部を備えている。この機構部としては、図１５１及び図１５２に示す機構部１０３と同様に、筋繊維に沿った方向に配置されたねじ軸１５５とナット部１５６を有する機構を採用できる。この機構部は、施療部材１２１Ａ，１２１Ｂが肩１００ｈを掴み揉みしている状態で、肩１００ｈの筋繊維に沿った方向へ移動させる。これにより、単なる肩１００ｈの掴み揉みに比べて肩に対するより効果的なマッサージを行える。 170 and 171 are provided with a mechanism for moving the treatment members 121A and 121B in directions along the muscle fibers of the left and right shoulders 100h. As the mechanism portion, a mechanism having a screw shaft 155 and a nut portion 156 arranged in a direction along the muscle fiber can be adopted as in the mechanism portion 103 shown in FIGS. 151 and 152. This mechanism part is moved in a direction along the muscle fibers of the shoulder 100h in a state where the treatment members 121A and 121B are grasping and pinching the shoulder 100h. As a result, a more effective massage can be performed on the shoulder as compared to a simple gripping of the shoulder 100h.
　図１７０及び図１７１は、左右の施療部材１２１Ａ，１２１Ｂを互いに逆方向に繰り返し往復動作させている様子を示している。これにより、左右の施療部材１２１Ａ，１２１Ｂは、肩１００ｈを掴み揉みしている状態で、近接離反を繰り返し、肩１００ｈを広範囲に効果的にマッサージすることができる。なお、図１７０及び図１７１に示す動作では、左右の施療部材１２１Ａ，１２１Ｂの移動により、両者の相対位置関係が変化しているが、左右の施療部材１２１Ａ，１２１Ｂの相対位置関係が維持されるように、両者が移動してもよい。また、左右の施療部材１２１Ａ，１２１Ｂのいずれか一方だけを移動させてもよい。 170 and 171 show a state in which the left and right treatment members 121A and 121B are repeatedly reciprocated in opposite directions. Thereby, the right and left treatment members 121A and 121B can repeat the approach and separation in a state where the shoulder 100h is grasped and squeezed, and the shoulder 100h can be effectively massaged over a wide range. In the operation shown in FIGS. 170 and 171, the relative positional relationship between the left and right treatment members 121 </ b> A and 121 </ b> B is maintained due to the movement of the left and right treatment members 121 </ b> A and 121 </ b> B. Thus, both may move. Further, only one of the left and right treatment members 121A and 121B may be moved.
　図１７２及び図１７３は、マッサージユニット１０の例を示している。このマッサージユニット１０は、施療部として、第１範囲である肩１００ｈをマッサージ（掴み揉み）する第１施療部材１２１Ａと、第２範囲である上腕１００ａをマッサージ（掴み揉み）する第２施療部材１２１Ｂと、第３範囲である前腕１００ｄをマッサージ（掴み揉み）する第３施療部材１２１Ｃと、を備えている。第１範囲である肩１００ｈと第２範囲である上腕１００ａとの間には肩関節が位置し、第２範囲である上腕１００ａと第３範囲である前腕１００ｄとの間には肘関節が位置する。 FIG. 172 and FIG. 173 show an example of the massage unit 10. This massage unit 10 has a first treatment member 121A that massages (grabs) the shoulder 100h, which is the first range, and a second treatment member 121B, which massages (grabs) the upper arm 100a, which is the second range. And a third treatment member 121C that massages (grabs and grips) the forearm 100d that is the third range. A shoulder joint is located between the shoulder 100h as the first range and the upper arm 100a as the second range, and an elbow joint is located between the upper arm 100a as the second range and the forearm 100d as the third range. To do.
　図１７２及び図１７３のマッサージユニット１０は、各施療部材１２１Ａ，１２１Ｂ，１２１Ｃを、各施療部材１２１Ａ，１２１Ｂ，１２１Ｃによるマッサージ対象の部位１００ｈ，１００ａ，１００ｄの筋繊維に沿った方向へ移動させる機構部を備えている。この機構部としては、図１５１及び図１５２に示す機構部１０３と同様に、筋繊維に沿った方向に配置されたねじ軸１５５とナット部１５６を有する機構を採用できる。この機構部は、各施療部材１２１Ａ，１２１Ｂ，１２１Ｃが身体部位１００ｈ，１００ａ，１００ｄを掴み揉みしている状態で、身体部位１００ｈ，１００ａ，１００ｄの筋繊維に沿った方向へ移動させる。これにより、単なる掴み揉みに比べてより効果的なマッサージを行える。 The massage unit 10 in FIGS. 172 and 173 has a mechanism for moving the treatment members 121A, 121B, and 121C in directions along the muscle fibers of the massage target portions 100h, 100a, and 100d by the treatment members 121A, 121B, and 121C. Department. As the mechanism portion, a mechanism having a screw shaft 155 and a nut portion 156 arranged in a direction along the muscle fiber can be adopted as in the mechanism portion 103 shown in FIGS. 151 and 152. This mechanism is moved in a direction along the muscle fibers of the body parts 100h, 100a, 100d in a state where the treatment members 121A, 121B, 121C are grasping and pinching the body parts 100h, 100a, 100d. Thereby, a more effective massage can be performed compared with a simple gripping.
　各施療部材１２１Ａ，１２１Ｂ，１２１Ｃは、全てが同時に動作してもよいし、いずれか二つ、又はいずれか一つが同時に動作してもよい。例えば、３つの施療部材１２１Ａ，１２１Ｂ，１２１Ｃ全てが掴み揉みを行っている状態で、３つの施療部材１２１Ａ，１２１Ｂのうちのいずれか一つ又は二つを移動させることができる。より具体的には、図１７２に示すように、３つの施療部材１２１Ａ，１２１Ｂ，１２１Ｃ全てが掴み揉みを行っている状態で、上腕１００ａ用の第２施療部材１００ａを上腕１００ａの筋繊維に沿った方向（肘側）に移動させることで、肩関節を引っ張るストレッチを行える。このとき、前腕１００ｄも前腕１００ａの筋繊維に沿った方向（手側）に移動させることで、肩関節を、より効果的に引っ張ることができる。 All of the treatment members 121A, 121B, and 121C may operate simultaneously, or any two or any one may operate simultaneously. For example, any one or two of the three treatment members 121A and 121B can be moved in a state where all the three treatment members 121A, 121B, and 121C are gripping and squeezing. More specifically, as shown in FIG. 172, the second treatment member 100a for the upper arm 100a is moved along the muscle fibers of the upper arm 100a in a state where all the three treatment members 121A, 121B, and 121C are gripping and kneading. Can be stretched by pulling the shoulder joint. At this time, the shoulder joint can be pulled more effectively by moving the forearm 100d in the direction (hand side) along the muscle fiber of the forearm 100a.
　また、３つの施療部材１２１Ａ，１２１Ｂ，１２１Ｃ全てが掴み揉みを行っている状態で、図１７３に示すように、肩１００ｈ用の第１施療部材１２１Ａを肩関節側へ移動させ、前腕１００ｄ用の第３施療部材１２１Ｃを手先側へ移動させることで、肩１００ｈから腕にわたる範囲を伸ばすマッサージが行える。 Further, in a state where all the three treatment members 121A, 121B, and 121C are grasping and squeezing, as shown in FIG. 173, the first treatment member 121A for the shoulder 100h is moved to the shoulder joint side, and the forearm 100d is moved. By moving the third treatment member 121C to the hand side, a massage that extends the range from the shoulder 100h to the arm can be performed.
　また、３つの施療部材１２１Ａ，１２１Ｂ，１２１Ｃのうち二つの施療部材が掴み揉みを行っている状態で、掴み揉みを行っている二つの施療部材のうちのいずれか一つ又は二つを移動させてもよい。例えば、図１７２の３つの施療部材１２１Ａ，１２１Ｂ，１２１Ｃのうち、肩１００ｈ用の第１施療部材１２１Ａと上腕１００ａ用の第２施療部材１２１Ｂが掴み揉みを行っている状態で、上腕１００ａ用の第２施療部材１００ａを上腕１００ａの筋繊維に沿った方向（肘側）に移動させることで、肩関節を引っ張るストレッチを行える。さらに、上腕用１００ａ用の第２施療部材１２１Ｂと前腕１００ｄ用の第３施療部材１２１Ｂが掴み揉みを行っている状態で、第３施療部材１２１Ｃを手先側へ移動させることで、肘関節を引っ張ることができる。 Further, in a state where two of the three treatment members 121A, 121B, and 121C are gripping and squeezing, either one or two of the two treatment members performing squeezing and gripping are moved. May be. For example, among the three treatment members 121A, 121B, and 121C in FIG. 172, the first treatment member 121A for the shoulder 100h and the second treatment member 121B for the upper arm 100a are grasping and squeezing, and the upper treatment for the upper arm 100a is performed. By moving the second treatment member 100a in the direction (elbow side) along the muscle fiber of the upper arm 100a, stretching that pulls the shoulder joint can be performed. Furthermore, the elbow joint is pulled by moving the third treatment member 121C to the hand side while the second treatment member 121B for the upper arm 100a and the third treatment member 121B for the forearm 100d are grasping and squeezing. be able to.
＜付言＞
　第３章で説明した掴み動作は、掴み揉みを行う施療部１０１として、第２章で説明したマッサージユニット１０を用いた場合にも実現することができる。
　第３章の第１節～第４節で説明したそれぞれの動作は組み合わせても良い。 <Appendix>
The gripping operation described in Chapter 3 can also be realized when the massage unit 10 described in Chapter 2 is used as the treatment unit 101 that performs gripping.
The operations described in Sections 1 to 4 of Chapter 3 may be combined.
　第３章で説明した施療部１０１又は施療部材１２１（１２１Ａ，１２１Ｂ）は、エアセル１０１ａ，１０１ｂ以外の部材を含んでも良い。エアセル１０１ａ，１０１ｂ以外の部材は、例えば、バイブレータである。バイブレータは、例えば、エアセル１０１ａ，１０１ｂの身体側に設けられる。バイブレータの動作によって、身体に振動を与えることができる。バイブレータを動作させながらエアセル１０１ａ，１０１ｂが膨張することで、身体を振動させながら掴み揉みをすることができる。 The treatment part 101 or the treatment member 121 (121A, 121B) described in Chapter 3 may include members other than the air cells 101a, 101b. A member other than the air cells 101a and 101b is, for example, a vibrator. The vibrator is provided on the body side of the air cells 101a and 101b, for example. Vibrations can be applied to the body by the operation of the vibrator. The air cells 101a and 101b expand while operating the vibrator, so that the body can be grasped and squeezed while vibrating.
　また、エアセル１０１ａ，１０１ｂ以外の部材は、施療子であってもよい。施療子は、例えば、エアセル１０１ａ，１０１ｂの身体側に設けられ、この場合、エアセル１０１ａ，１０１ｂが膨張すると、施療子を身体に押し付けることができる。施療子は、モータ駆動などによって、エアセル１０１ａ，１０１ｂによる動作とは別に、施療子自体が動作可能なものであってもよい。この場合、エアセル１０１ａ，１０１ｂによる押圧に、施療子の動作が加わった複雑なマッサージ動作が得られる。施療子は、それ自体は動作せず、エアセル１０１ａ，１０１ｂの膨張収縮に伴ってのみ移動するもの、例えば、指圧子であってもよい。なお、施療部材は、エアセル１０１ａ，１０１ｂ以外の部材であってもよい。また、施療部材は、ヒータを含んでいても良い。 Further, members other than the air cells 101a and 101b may be treatment elements. The treatment element is provided, for example, on the body side of the air cells 101a and 101b. In this case, when the air cells 101a and 101b expand, the treatment element can be pressed against the body. The treatment element may be one in which the treatment element itself can be operated separately from the operation by the air cells 101a and 101b by motor driving or the like. In this case, a complicated massage operation in which the operation of the treatment element is added to the pressing by the air cells 101a and 101b is obtained. The treatment element itself may not be operated, and may move only as the air cells 101a and 101b expand and contract, for example, an acupressure element. The treatment member may be a member other than the air cells 101a and 101b. Moreover, the treatment member may include a heater.
　第１施療部材１２１Ａ及び第２施療部材１２１Ｂなどの複数の施療部材を有するマッサージ装置は、複数の施療部材それぞれ単独で身体を施療してもよい。 The massage device having a plurality of treatment members such as the first treatment member 121A and the second treatment member 121B may treat the body independently of each of the plurality of treatment members.
　身体の長手方向に沿って配置された複数の施療部材は、全てが、エアセル１０１ａ，１０１ｂを動作させる機構部１０３を有している必要はなく、複数の施療部材のいずれかは、エアセル（押圧部材）１０１ａ，１０１ｂを有しているが、機構部１０３を有していないものであってもよい。 All of the plurality of treatment members arranged along the longitudinal direction of the body do not need to have the mechanism part 103 that operates the air cells 101a and 101b. (Members) 101a and 101b are provided, but the mechanism part 103 may not be provided.
　１：マッサージ装置　　　７：制御ユニット（制御部）
　１０：マッサージユニット　　　１１：第１部材　　　１２：第２部材
　２０：リンク機構　　　３１：第１エアセル（マッサージ部）
　５０：マッサージ機構部　　　５１：第１機構部　　　５２：第２機構部
　６０：多関節機構　　　６１：第１リンク部材（先部リンク部材）
　６２：第２リンク部材　　　６３：第３リンク部材
　６４：押圧部材（マッサージ部）　　　６４ｃ：吸引部
　６５ａ，６５ｂ：エアセル　　　６６ａ，６６ｂ，６６ｃ：ばね（弾性部材）
　６７ａ，６７ｂ，６７ｃ：カム部材　　　Ｂ：腕　　　Ｂ－１：第１後退位置
　Ｂ－２：第２後退位置　　　Ｆ－１：第１前進位置　　　Ｆ－２：第２前進位置
　Ｓ１：空間
　１００，１００ｃ，１００ｄ：身体部位
　１０１：施療部　　　１０１ａ，１０１ｂ：押圧部材（エアセル）
　１０２，１０２Ａ，１０２Ｂ：回転中心
　１２１，１２１Ａ，１２１Ｂ，１２１Ｃ，１２１Ｄ：施療部材
　１０３，１０３Ａ，１０３Ｂ：機構部 1: Massage device 7: Control unit (control unit)
10: Massage unit 11: 1st member 12: 2nd member 20: Link mechanism 31: 1st air cell (massage part)
50: Massage mechanism 51: First mechanism 52: Second mechanism 60: Articulated mechanism 61: First link member (front link member)
62: 2nd link member 63: 3rd link member 64: Pressing member (massage part) 64c: Suction part 65a, 65b: Air cell 66a, 66b, 66c: Spring (elastic member)
67a, 67b, 67c: cam member B: arm B-1: first retracted position B-2: second retracted position F-1: first advanced position F-2: second advanced position S1: space 100, 100c, 100d: body part 101: treatment part 101a, 101b: pressing member (air cell)
102, 102A, 102B: Center of rotation 121, 121A, 121B, 121C, 121D: Treatment member 103, 103A, 103B: Mechanism part

Claims (89)

  1. 　被施療者の身体部位の周方向に沿って設けられる第１部材及び第２部材を有し、当該第１部材と当該第２部材との間に形成される空間の一方側が前記身体部位の出し入れのために開口しているマッサージユニットを備え、
    　前記マッサージユニットは、更に、
    　　前記第１部材と共に設けられ膨張することで前記身体部位を押すためのエアセルと、
    　　前記第１部材と前記第２部材とを相対的に接近させる動作、及び、膨張している状態にある前記エアセルと共に前記第１部材を前記空間の開口側及びその反対側の内の少なくとも一方側の方向へ移動させる動作を行うマッサージ機構部と、
    　を有している、マッサージ装置。     A first member and a second member are provided along the circumferential direction of the body part of the user, and one side of the space formed between the first member and the second member is in and out of the body part With a massage unit that is open for
    The massage unit further comprises:
    An air cell for pushing the body part by being provided with the first member and inflating;
    The first member and the second member are moved relatively close to each other, and the air cell is in an inflated state, and the first member is at least one of the opening side and the opposite side of the space. A massage mechanism for performing movement in the direction of
    Having a massage device.
  2. 　被施療者の身体部位の周方向に沿って設けられる第１機構部及び第２機構部を有し、当該第１機構部と当該第２機構部との間に形成される空間の一方側が前記身体部位の出し入れのために開口しているマッサージユニットを備え、
    　前記第１機構部は、
    　　前記身体部位を押圧するためのマッサージ部と、
    　　前記マッサージ部が取り付けられ前記身体部位から離れた第１後退位置と前記身体部位に近づいた第１前進位置との間を往復動作する第１リンク部材と、
    　　前記第１リンク部材が前記往復動作可能として取り付けられ前記身体部位から離れた第２後退位置と前記身体部位に近づいた第２前進位置との間を往復動作する第２リンク部材と、を有し、
    　前記第１リンク部材と共に前記第２リンク部材が前記第２前進位置へ移動して前記身体部位を掴む動作を行うことが可能であると共に、前記第１リンク部材と共に前記第２リンク部材が移動してマッサージ動作を行うことが可能である、マッサージ装置。     It has a first mechanism part and a second mechanism part provided along the circumferential direction of the body part of the user, and one side of the space formed between the first mechanism part and the second mechanism part is It has a massage unit that is open for taking in and out of body parts,
    The first mechanism part is:
    A massage part for pressing the body part;
    A first link member that reciprocates between a first retracted position, to which the massage unit is attached and separated from the body part, and a first advanced position that approaches the body part;
    A second link member that is reciprocally moved between a second retracted position that is attached so that the first link member can reciprocate and is separated from the body part and a second advanced position that is close to the body part; ,
    The second link member can move to the second forward position together with the first link member to perform an operation of grasping the body part, and the second link member moves together with the first link member. A massage device that can perform massage operations.
  3. 　前記マッサージ動作として、前記第１前進位置にある前記第１リンク部材と共に、前記第２前進位置にある前記第２リンク部材は、前記第２後退位置に移動する動作を行う請求項２に記載のマッサージ装置。 The said 2nd link member in the said 2nd advance position performs the operation | movement which moves to the said 2nd reverse position with the said 1st link member in the said 1st advance position as the said massage operation | movement. Massage device.
  4. 　被施療者の身体部位の周方向に沿って設けられる第１部材及び第２部材を有し、当該第１部材と当該第２部材との間に形成される空間の一方側が前記身体部位の出し入れのために開口しているマッサージユニットを備え、
    　前記マッサージユニットは、更に、
    　　前記第１部材と共に設けられ前記身体部位を押圧するためのマッサージ部と、
    　　前記第１部材を、前記空間を狭くする方向へ変位させかつ前記開口側の方向へ変位させると共に、前記第２部材を、前記空間を狭くする方向へ変位させかつ前記開口側と反対側の方向へ変位させるリンク機構と、を有している、マッサージ装置。     A first member and a second member are provided along the circumferential direction of the body part of the user, and one side of the space formed between the first member and the second member is in and out of the body part With a massage unit that is open for
    The massage unit further comprises:
    A massage part provided together with the first member for pressing the body part;
    The first member is displaced in the direction of narrowing the space and displaced toward the opening side, and the second member is displaced in the direction of narrowing the space and opposite to the opening side. And a link mechanism for displacing the massage device.
  5. 　被施療者の身体部位の周方向に沿って設けられる第１機構部及び第２機構部を有し、当該第１機構部と当該第２機構部との間に形成される空間の一方側が前記身体部位の出し入れのために開口しているマッサージユニットを備え、
    　前記第１機構部は、
    　　複数のリンク部材を有すると共に、隣り合う当該リンク部材同士を連結する関節部を複数有し、複数の前記関節部を起点として複数の前記リンク部材が動作可能である多関節機構と、
    　　複数の前記リンク部材の内の被施療者の身体部位に近い先部リンク部材に設けられ当該身体部位を押圧するためのマッサージ部と、
    　を備え、
    　前記第１機構部と前記第２機構部とが前記身体部位の周方向に沿って設けられている状態から、前記多関節機構は、複数の前記関節部を起点として複数の前記リンク部材を一方向に動作させることにより、前記マッサージ部を、前記身体部位に接触可能な位置であって当該マッサージ部を当該一方向の動作前の状態と比較して前記開口側の位置へ移動させる移動動作を行う、マッサージ装置。     It has a first mechanism part and a second mechanism part provided along the circumferential direction of the body part of the user, and one side of the space formed between the first mechanism part and the second mechanism part is It has a massage unit that is open for taking in and out of body parts,
    The first mechanism part is:
    A multi-joint mechanism having a plurality of link members, a plurality of joint portions connecting the adjacent link members, and a plurality of the link members being operable starting from the plurality of joint portions;
    A massage part for pressing the body part provided on the front part link member near the body part of the user among the plurality of link members;
    With
    From the state in which the first mechanism portion and the second mechanism portion are provided along the circumferential direction of the body part, the multi-joint mechanism has a plurality of link members as a starting point from the plurality of joint portions. By moving the massage unit in a direction, the movement unit moves the massage unit to a position on the opening side in a position where the massage unit can be contacted with the body part and compared with the state before the one-way operation. Perform a massage device.
  6. 　前記多関節機構は、前記第１機構部と前記第２機構部とが前記身体部位の周方向に沿って設けられている状態から、前記移動動作を行い、当該移動動作後の状態にある前記複数のリンク部材の内の少なくとも前記先部リンク部材以外のリンク部材を、前記一方向と反対方向に動作させるマッサージ動作を行う請求項５に記載のマッサージ装置。 The multi-joint mechanism performs the moving operation from a state in which the first mechanism portion and the second mechanism portion are provided along a circumferential direction of the body part, and is in a state after the moving operation. The massage apparatus according to claim 5, wherein a massage operation is performed in which at least one of the plurality of link members other than the front link member is moved in a direction opposite to the one direction.
  7. 　前記第１部材を動作させる動作機構は、
    　　膨張することで当該第１部材を押して移動させるエアセルと、
    　　移動した前記第１部材を移動前の位置に復帰させる付勢力を生じさせる弾性部材と、を有している請求項１又は４に記載のマッサージ装置。     The operating mechanism for operating the first member is:
    An air cell that pushes and moves the first member by expanding;
    The massage device according to claim 1, further comprising: an elastic member that generates an urging force for returning the moved first member to a position before the movement.
  8. 　前記第１部材を動作させる動作機構は、
    　　回転中心から外周までの距離が長い部分及び当該回転中心から外周までの距離が短い部分を有し、当該長い部分が前記第１部材を押すことで当該第１部材を前進させ、当該短い部分が前記第１部材を押す状態で当該第１部材を後退可能とさせるカム部材と、
    　　当該第１部材を後退させる付勢力を生じさせる弾性部材と、を有している請求項１又は４に記載のマッサージ装置。     The operating mechanism for operating the first member is:
    A portion having a long distance from the rotation center to the outer periphery and a portion having a short distance from the rotation center to the outer periphery, and the long portion pushes the first member to advance the first member. A cam member that allows the first member to be retracted while pressing the first member;
    The massage device according to claim 1, further comprising: an elastic member that generates an urging force for retreating the first member.
  9. 　身体部位の長手方向に沿って設けられている複数の前記マッサージユニットと、
    　複数の前記マッサージユニットの動作タイミングを相違させて当該マッサージユニットのそれぞれを動作させる制御を行う制御部と、を備えている請求項１～８のいずれか一項に記載のマッサージ装置。     A plurality of the massage units provided along the longitudinal direction of the body part;
    The massage apparatus according to any one of claims 1 to 8, further comprising: a control unit that performs control to operate each of the massage units with different operation timings of the plurality of massage units.
  10. 　前記マッサージユニットは、前記第２部材と共に設けられ膨張することで前記身体部位を押すための第２のエアセルを更に、備え、
    　前記第２のエアセルは、膨張することで、前記身体部位に対して前記開口側へ押圧する成分を有する構成である請求項１に記載のマッサージ装置。     The massage unit further includes a second air cell provided together with the second member to press the body part by expanding.
    The massage device according to claim 1, wherein the second air cell has a component that expands to press the body part toward the opening.
  11. 　被施療者の身体部位の周方向に沿って設けられる第１部材及び第２部材を有し、当該第１部材と当該第２部材との間に形成される空間の一方側が前記身体部位の出し入れのために開口しているマッサージユニットを備え、
    　前記マッサージユニットは、更に、
    　　前記第１部材と共に設けられ前記身体部位を吸引可能とする吸引部と、
    　　前記第１部材と前記第２部材とを相対的に接近させる動作、及び、前記吸引部と共に前記第１部材を前記空間の開口側及びその反対側の内の少なくとも一方側の方向へ移動させる動作を行うマッサージ機構部と、
    　を有している、マッサージ装置。     A first member and a second member are provided along the circumferential direction of the body part of the user, and one side of the space formed between the first member and the second member is in and out of the body part With a massage unit that is open for
    The massage unit further comprises:
    A suction part provided together with the first member and capable of sucking the body part;
    An operation of relatively moving the first member and the second member, and an operation of moving the first member together with the suction portion in the direction of at least one of the opening side and the opposite side of the space. A massage mechanism for performing
    Having a massage device.
  12. 　被施療者の身体部位の周囲の一部に設けられている第１部材及び当該身体部位の周囲の他部に設けられている第２部材を有し、当該第１部材と当該第２部材との間に形成される空間の一方側が前記身体部位の出し入れのために開口しているマッサージユニットを備え、
    　前記マッサージユニットは、更に、前記第１部材と共に設けられ前記身体部位の一部を押圧可能であるマッサージ部と、前記第１部材から延在する延在部の端部を支持する支持部と、前記第１部材を前記第２部材に対して接近及び離反させるための動作部と、を有し、
    　前記動作部は、軸線回りに回転可能であり当該軸線に対して傾斜する面を有しかつ当該傾斜する面が前記延在部に当接して設けられている傾斜カムと、前記傾斜カムを前記軸線回りに回転させる駆動部と、を有している、マッサージ装置。     A first member provided in a part of the periphery of the body part of the user and a second member provided in the other part of the periphery of the body part, the first member and the second member; Comprising a massage unit that is open for taking in and out of the body part on one side of the space formed between
    The massage unit is further provided with the first member and capable of pressing a part of the body part, and a support part for supporting an end of the extending part extending from the first member, An operating part for causing the first member to approach and separate from the second member,
    The operating portion is rotatable about an axis, has an inclined surface with respect to the axis, and the inclined cam is provided in contact with the extending portion; And a drive unit that rotates around an axis.
  13. 　前記支持部は、前記延在部の端部を直線に沿って往復移動可能でかつ当該直線に直交する方向に移動不能として支持するガイドレールである請求項１２に記載のマッサージ装置。 The massage device according to claim 12, wherein the support portion is a guide rail that supports the end portion of the extending portion so as to be reciprocally movable along a straight line and not movable in a direction orthogonal to the straight line.
  14. 　前記支持部は、前記延在部の端部に設けられている第１球面座と、固定状態にある第２球面座と、前記第１球面座と前記第２球面座との間に介在し両端に前記球面座と摺接する球面部を有するシャフトと、を有している請求項１２に記載のマッサージ装置。 The support portion is interposed between a first spherical seat provided at an end of the extending portion, a second spherical seat in a fixed state, and the first spherical seat and the second spherical seat. The massage apparatus according to claim 12, further comprising: a shaft having a spherical portion that is in sliding contact with the spherical seat at both ends.
  15. 　被施療者の身体部位の両側に設けられる第１機構部及び第２機構部を有し、当該第１機構部と当該第２機構部との間に形成される空間の一方側が前記身体部位の出し入れのために開口しているマッサージユニットを備え、
    　前記第１機構部は、前記開口側の位置とその反対側の位置との間を往復移動可能として設けられている第１エアセルを有し、
    　前記第２機構部は、前記開口側の位置とその反対側の位置との間を往復移動可能として設けられている第２エアセルを有し、
    　前記第１エアセルと前記第２エアセルとが膨張して前記身体部位を挟んだ状態で、当該第１エアセルと当該第２エアセルとは相互の間隔を変化させて移動する、マッサージ装置。     A first mechanism part and a second mechanism part provided on both sides of the body part of the user; one side of the space formed between the first mechanism part and the second mechanism part is the body part It has a massage unit that is open for taking in and out,
    The first mechanism portion includes a first air cell provided so as to be reciprocally movable between the position on the opening side and the position on the opposite side,
    The second mechanism portion has a second air cell provided so as to be reciprocally movable between the position on the opening side and the position on the opposite side,
    A massage device in which the first air cell and the second air cell move while changing the mutual distance in a state where the first air cell and the second air cell are inflated and sandwich the body part.
  16. 　被施療者の身体部位の上側に設けられる第１部材、当該身体部位の下側に設けられる第２部材、及び、前記第１部材及び前記第２部材の内の少なくとも一方を上下方向に移動させる駆動部を有し、前記第１部材と前記第２部材とが離れた状態で当該第１部材と当該第２部材との間において前記身体部位を出し入れ可能とするマッサージユニットを備え、
    　前記第１部材は、膨張することで前記身体部位を挟む動作を行う一対のエアセルを有し、
    　前記第２部材は、前記身体部位を下から支持する構成であり、
    　　前記駆動部は、前記第２部材が下から支持する前記身体部位を前記一対のエアセルによって挟んだ状態で前記第１部材と前記第２部材とを相対的に上下方向に沿って離反させる、マッサージ装置。     The first member provided above the body part of the user, the second member provided below the body part, and at least one of the first member and the second member are moved in the vertical direction. A massage unit having a drive unit and allowing the body part to be taken in and out between the first member and the second member in a state where the first member and the second member are separated;
    The first member has a pair of air cells that perform an operation of sandwiching the body part by expanding,
    The second member is configured to support the body part from below,
    The massager causes the first member and the second member to move relatively apart in the vertical direction in a state where the body part supported by the second member from below is sandwiched between the pair of air cells. apparatus.
  17. 　被施療者の身体部位に対して第１の方向の一方側に設けられる第１部材、当該身体部位に対して当該第１の方向の他方側に設けられる第２部材、及び、前記第１部材及び前記第２部材の内の少なくとも一方を当該第１の方向に移動させる駆動部を有し、前記第１部材と前記第２部材とが離れた状態で当該第１部材と当該第２部材との間において前記身体部位を出し入れ可能とするマッサージユニットを備え、
    　前記第１部材は、膨張することで前記身体部位を第２の方向の両側から挟む動作を行う一対の第１のエアセルを有し、
    　前記第２部材は、膨張することで前記身体部位を前記第２の方向の両側から挟む動作を行う一対の第２のエアセルを有し、
    　前記駆動部は、前記第１のエアセル及び前記第２のエアセルによって前記身体部位を挟んだ状態で前記第１部材と前記第２部材とを前記第１の方向に沿って離反させる、マッサージ装置。     A first member provided on one side in the first direction with respect to the body part of the user, a second member provided on the other side in the first direction with respect to the body part, and the first member And a drive unit that moves at least one of the second members in the first direction, and the first member and the second member in a state where the first member and the second member are separated from each other. A massage unit that allows the body part to be taken in and out between,
    The first member has a pair of first air cells that perform an operation of sandwiching the body part from both sides in the second direction by expanding,
    The second member has a pair of second air cells that perform an operation of sandwiching the body part from both sides in the second direction by expanding,
    The said drive part is a massage apparatus which separates the said 1st member and the said 2nd member along the said 1st direction in the state which pinched | interposed the said body part with the said 1st air cell and the said 2nd air cell.
  18. 　被施療者の身体部位を掴むマッサージユニットと、
    　前記マッサージユニットの内の前記身体部位の長手方向一方側に設けられ、当該マッサージユニットの一部を前記身体部位の長手方向に交差する方向に変位させる第１アクチュエータと、
    　前記マッサージユニットの内の前記身体部位の長手方向他方側に設けられ、当該マッサージユニットの他部を前記身体部位の長手方向に交差する方向に変位させる第２アクチュエータと、を備えていることをマッサージ装置。     A massage unit for grasping the body part of the user;
    A first actuator that is provided on one side of the body part in the longitudinal direction of the body part and displaces a part of the body unit in a direction intersecting the longitudinal direction of the body part;
    And a second actuator provided on the other longitudinal side of the body part of the massage unit and displacing the other part of the massage unit in a direction intersecting the longitudinal direction of the body part. apparatus.
  19. 　被施療者の身体部位を掴むマッサージユニットと、
    　前記マッサージユニットを前記身体部位の長手方向に交差する方向の直線に平行な仮想線回りに変位させるアクチュエータ機構と、を備え、
    　前記アクチュエータ機構は、前記仮想線を回転中心線とする円弧に沿って前記マッサージユニットに設けられているラック部に噛み合うピニオンと、当該ピニオンを回転させるモータと、を有している、マッサージ装置。     A massage unit for grasping the body part of the user;
    An actuator mechanism for displacing the massage unit around an imaginary line parallel to a straight line in a direction intersecting the longitudinal direction of the body part,
    The said actuator mechanism is a massage apparatus which has a pinion which meshes | engages with the rack part provided in the said massage unit along the circular arc which makes the said virtual line a rotation centerline, and the motor which rotates the said pinion.
  20. 　被施療者の身体部位を掴むマッサージユニットと、
    　前記マッサージユニットの一部を支持する支持部と、
    　前記マッサージユニットの他部と連結され前記支持部側を支点として当該マッサージユニットを前記身体部位の長手方向に交差する方向に変位させるアクチュエータ機構と、を備え、
    　前記アクチュエータ機構は、回転する偏心カムと、当該偏心カムと前記マッサージユニットの他部とを連結しているアームと、を有している、マッサージ装置。     A massage unit for grasping the body part of the user;
    A support part for supporting a part of the massage unit;
    An actuator mechanism connected to the other part of the massage unit and displacing the massage unit in a direction intersecting the longitudinal direction of the body part with the support side as a fulcrum;
    The said actuator mechanism is a massage apparatus which has the eccentric cam which rotates, and the arm which has connected the said eccentric cam and the other part of the said massage unit.
  21. 　身体部位に対する掴み揉みを行う施療部と、
    　前記施療部による掴み揉みが行われている状態で、掴み揉みが行われている前記身体部位の筋繊維の方向に沿った回転中心回りに前記施療部を回転させる機構部と、
    　を備えているマッサージ装置。     A treatment unit for grasping and massaging the body part;
    A mechanism unit that rotates the treatment unit around a rotation center along a direction of muscle fibers of the body part in which the grasping is performed in a state where the grasping operation is performed by the treatment unit;
    A massage device.
  22. 　前記施療部は、前記身体部位に対する掴み揉みを行うための対の押圧部材を含み、
    　前記機構部は、前記対の押圧部材同士の相対的位置関係が変化するように、前記対の押圧部材の少なくともいずれか一方の押圧部材を、前記回転中心回りに回転させるよう構成されている
    　請求項２１に記載のマッサージ装置。     The treatment unit includes a pair of pressing members for gripping and massaging the body part,
    The mechanism portion is configured to rotate at least one of the pair of pressing members around the rotation center so that a relative positional relationship between the pair of pressing members changes. Item 22. The massage device according to Item 21.
  23. 　前記機構部は、前記対の押圧部材を互いに逆向きに回転させるよう構成されている
    　請求項２２に記載のマッサージ装置。     The massage device according to claim 22, wherein the mechanism portion is configured to rotate the pair of pressing members in directions opposite to each other.
  24. 　前記施療部は、上腕に対して掴み揉みを行うよう設けられた施療部材を含み、
    　前記機構部は、前記施療部材による上腕に対する掴み揉みが行われている状態で、前記上腕における筋繊維の方向に沿った回転中心回りに前記施療部材を回転させるよう構成されている
    　請求項２１に記載のマッサージ装置。     The treatment part includes a treatment member provided to grasp and rub the upper arm,
    The mechanism portion is configured to rotate the treatment member around a rotation center along a direction of muscle fibers in the upper arm in a state where the upper arm is gripped by the treatment member. The massage device described.
  25. 　背もたれ部と、
    　背もたれ部の側部から前方に突出する側壁部と、を更に備え、
    　前記機構部は、前記上腕における筋繊維の方向に沿った回転中心回りに前記施療部材を回転させる上腕用機構部を含み、
    　前記上腕用機構部は、前記上腕機構部の少なくとも一部が、前記側壁部内に設けられている
    　請求項２４に記載のマッサージ装置。     Backrest,
    A side wall portion protruding forward from a side portion of the backrest portion, and
    The mechanism includes an upper arm mechanism that rotates the treatment member around a rotation center along the direction of muscle fibers in the upper arm,
    The massage device according to claim 24, wherein the upper arm mechanism part includes at least a part of the upper arm mechanism part in the side wall part.
  26. 　前記施療部は、上腕に対する掴み揉みを行う対の押圧部材を含み、
    　前記機構部は、前記対の押圧部材の少なくともいずれか一方が上腕の後側から前方に移動するよう、前記対の押圧部材の少なくともいずれか一方を、前記上腕における筋繊維の方向に沿った回転中心回りに回転させるよう構成されている
    　請求項２１に記載のマッサージ装置。     The treatment unit includes a pair of pressing members that perform gripping and squeezing with respect to the upper arm,
    The mechanism portion rotates at least one of the pair of pressing members along the direction of muscle fibers in the upper arm so that at least one of the pair of pressing members moves forward from the rear side of the upper arm. The massage device according to claim 21, wherein the massage device is configured to rotate around a center.
  27. 　前記対の押圧部材は、前記上腕を胴体側から押圧する第１押圧部材と、前記第１押圧部材と対向する第２押圧部材と、を含み、
    　前記機構部は、前記対の押圧部材を互いに逆向きに回転させるよう構成されている
    　請求項２６に記載のマッサージ装置。     The pair of pressing members includes a first pressing member that presses the upper arm from the body side, and a second pressing member that faces the first pressing member,
    The massage device according to claim 26, wherein the mechanism portion is configured to rotate the pair of pressing members in directions opposite to each other.
  28. 　前記施療部は、上腕を押圧する第１押圧部材と、前記第１押圧部材と対向する第２押圧部材と、を含み、
    　前記機構部は、前記第１押圧部材及び前記第２押圧部材それぞれを、前記上腕における筋繊維の方向に沿った回転中心回りに回転させるよう構成され、
    　前記第２押圧部材の回転移動可能範囲は、前記上腕の前側及び前記上腕の前側よりも外側の範囲を含むと共に、前記第１押圧部材の回転移動可能範囲よりも大きい
    　請求項２１に記載のマッサージ装置。     The treatment section includes a first pressing member that presses the upper arm, and a second pressing member that faces the first pressing member,
    The mechanism portion is configured to rotate the first pressing member and the second pressing member around a rotation center along a direction of muscle fibers in the upper arm,
    The massage according to claim 21, wherein the rotationally movable range of the second pressing member includes a range outside the front side of the upper arm and the front side of the upper arm and is larger than the rotationally movable range of the first pressing member. apparatus.
  29. 　前記施療部は、上腕を押圧する第１押圧部材と、前記第１押圧部材と対向する第２押圧部材と、を含み、
    　前記機構部は、前記第１押圧部材及び前記第２押圧部材それぞれを、前記上腕における筋繊維の方向に沿った回転中心回りに回転させるよう構成され、
    　前記第１押圧部材の回転移動可能範囲は、前記上腕の後側及び前記上腕の後側よりも内側よりの範囲を含むと共に、前記第２押圧部材の回転移動可能範囲よりも大きい
    　請求項２１に記載のマッサージ装置。     The treatment section includes a first pressing member that presses the upper arm, and a second pressing member that faces the first pressing member,
    The mechanism portion is configured to rotate the first pressing member and the second pressing member around a rotation center along a direction of muscle fibers in the upper arm,
    The range in which the first pressing member can be rotated includes a range from the rear side of the upper arm and the inner side of the rear side of the upper arm, and is larger than the rotational movement range of the second pressing member. The massage device described.
  30. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、前記第１施療部材及び前記第２施療部材による掴み揉みが行われている状態で、前記第１施療部材及び前記第２施療部材の少なくともいずれか一方を、前記回転中心回りに回転させるよう構成されている
    　請求項２１に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    In the state in which the mechanism portion is gripped by the first treatment member and the second treatment member, at least one of the first treatment member and the second treatment member is moved around the rotation center. The massage device according to claim 21, wherein the massage device is configured to rotate.
  31. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、前記第１施療部材及び前記第２施療部材による掴み揉みが行われている状態で、前記第１施療部材及び前記第２施療部材を互いに逆向きに回転させるよう構成されている
    　請求項３０に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The mechanism portion is configured to rotate the first treatment member and the second treatment member in directions opposite to each other in a state in which the first treatment member and the second treatment member are gripped. The massage apparatus according to claim 30.
  32. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、
    　　前記第１施療部材による掴み揉みが行われている状態で、前記筋繊維の方向に沿った第１回転中心回りに前記第１施療部材を回転させるよう構成され、かつ、
    　　前記第２施療部材による掴み揉みが行われている状態で、前記筋繊維の方向に沿った第２回転中心回りに前記第２施療部材を回転させるよう構成され、
    　前記第１回転中心及び前記第２回転中心は、互いに位置が異なる
    　請求項３０に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The mechanism part is
    The first treatment member is configured to rotate around a first rotation center along the direction of the muscle fibers in a state where the first treatment member is grasped and squeezed, and
    The second treatment member is configured to rotate around a second rotation center along the direction of the muscle fiber in a state where the grasping and squeezing by the second treatment member is performed,
    The massage device according to claim 30, wherein the first rotation center and the second rotation center are different in position.
  33. 　前記機構部は、前記第１施療部材及び前記第２施療部材による掴み揉みが行われている状態で、前記第１施療部材及び前記第２施療部材を互いに逆向きに回転させるよう構成されている
    　請求項３２に記載のマッサージ装置。     The mechanism portion is configured to rotate the first treatment member and the second treatment member in directions opposite to each other in a state in which the first treatment member and the second treatment member are gripped. The massage apparatus according to claim 32.
  34. 　前記機構部は、前記第１施療部材及び前記第２施療部材による掴み揉みが行われている状態で、前記第１施療部材及び前記第２施療部材を同じ向きに回転させるよう構成されている
    　請求項３２に記載のマッサージ装置。     The mechanism unit is configured to rotate the first treatment member and the second treatment member in the same direction in a state where the first treatment member and the second treatment member are gripped and gripped. Item 33. The massage device according to Item 32.
  35. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材、第２施療部材、及び第３施療部材を含み、
    　前記第１施療部材は、身体の第１範囲に対して掴み揉みを行うよう設けられ、
    　前記第２施療部材は、前記第１範囲との間に少なくとも一つの関節を介して、前記第１範囲とは異なる範囲である身体の第２範囲に対して掴み揉みを行うよう設けられ、
    　前記第３施療部材は、前記第２の範囲との間に少なくとも一つの他の関節を介して、前記第１範囲及び前記第２範囲とは異なる範囲である身体の第３範囲に対して掴み揉みを行うよう設けられている
    　請求項２１に記載のマッサージ装置。     The treatment unit includes a first treatment member, a second treatment member, and a third treatment member, each of which grips and rubs the body part,
    The first treatment member is provided to grasp and squeeze against the first range of the body,
    The second treatment member is provided to grip and squeeze a second range of the body that is different from the first range via at least one joint between the second treatment member and the first range,
    The third treatment member grasps the third range of the body that is different from the first range and the second range via at least one other joint between the third range and the second range. The massage device according to claim 21, wherein the massage device is provided to massage.
  36. 　前記機構部は、前記第１施療部材、前記第２施療部材、及び前記第３施療部材のうちの二以上の施療部材による掴み揉みが行われている状態で、掴み揉みを行っている二以上の施療部材の少なくとも一つを、前記回転中心回りに回転させるよう構成されている
    　請求項３５に記載のマッサージ装置。     Two or more of the mechanism portions are gripping and gripping in a state where gripping is performed by two or more treatment members of the first treatment member, the second treatment member, and the third treatment member. The massage device according to claim 35, wherein at least one of the treatment members is rotated around the rotation center.
  37. 　前記施療部は、手首又は足首に対する掴み揉みを行う第１部材と、前記第１部材よりも身体の先端側の部位に当接する第２部材と、を含み、
    　前記機構部は、前記第１部材による手首又は足首に対する掴み揉みが行われている状態で、前記手首又は足首の筋繊維の方向に沿った回転中心まわりに前記第２部材を回転させる
    　請求項２１に記載のマッサージ装置。     The treatment section includes a first member that performs gripping and squeezing on the wrist or ankle, and a second member that abuts on a portion closer to the distal end side of the body than the first member,
    The mechanism unit rotates the second member around a center of rotation along a direction of a muscle fiber of the wrist or ankle in a state where the first member is gripped against the wrist or ankle. The massage device described in 1.
  38. 　身体部位に対する掴み揉みを行う施療部と、
    　前記施療部による掴み揉みが行われている状態で、掴み揉みが行われている身体部位における筋繊維の方向に交わる面内方向に向く回転中心回りに前記施療部を回転させる機構部と、
    　を備えているマッサージ装置。     A treatment unit for grasping and massaging the body part;
    A mechanism unit that rotates the treatment unit around a rotation center that is directed in an in-plane direction that intersects the direction of muscle fibers in a body part that is being grasped and gripped by the treatment unit;
    A massage device.
  39. 　前記回転中心は、前記施療部によって掴み揉みされる前記身体部位の内部に位置する
    　請求項３８に記載のマッサージ装置。     The massage device according to claim 38, wherein the center of rotation is located inside the body part grasped and squeezed by the treatment unit.
  40. 　前記回転中心は、前記施療部によって掴み揉みされる前記身体部位の外部に位置する
    　請求項３８に記載のマッサージ装置。     The massage device according to claim 38, wherein the center of rotation is located outside the body part grasped and squeezed by the treatment unit.
  41. 　前記施療部は、身体部位に対する掴み揉みを行うための対の押圧部材を含み、
    　前記機構部は、前記対の押圧部材の少なくともいずれか一方の押圧部材を、前記筋繊維の方向に交わる面内方向に向く回転中心回りに回転させるよう構成されている
    　請求項３８に記載のマッサージ装置。     The treatment unit includes a pair of pressing members for gripping and squeezing a body part,
    39. The massage according to claim 38, wherein the mechanism portion is configured to rotate at least one of the pair of pressing members around a rotation center directed in an in-plane direction intersecting the direction of the muscle fibers. apparatus.
  42. 　前記機構部は、前記対の押圧部材を互いに逆方向に回転させるよう構成されている
    　請求項４１に記載のマッサージ装置。     The massage device according to claim 41, wherein the mechanism portion is configured to rotate the pair of pressing members in directions opposite to each other.
  43. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記第１施療部材及び前記第２施療部材は、前記筋繊維の方向に並設され、
    　前記機構部は、前記第１施療部材及び前記第２施療部材の少なくともいずれか一方を、前記筋繊維の方向に交わる面内方向に向く回転中心回りに回転させるよう構成されている
    　請求項３８に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The first treatment member and the second treatment member are juxtaposed in the direction of the muscle fibers,
    The mechanism portion is configured to rotate at least one of the first treatment member and the second treatment member around a rotation center facing in an in-plane direction intersecting the direction of the muscle fibers. The massage device described.
  44. 　前記第１施療部材及び前記第２施療部材は、前記第１施療部材と前記第２施療部材との間に身体部位が位置するように、対向して配置されている
    　請求項４３に記載のマッサージ装置。     The massage according to claim 43, wherein the first treatment member and the second treatment member are arranged to face each other so that a body part is located between the first treatment member and the second treatment member. apparatus.
  45. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、
    　　前記第１施療部材による掴み揉みが行われている状態で、前記第１施療部材によって掴み揉みが行われている身体部位における筋繊維の方向に交わる面内方向に向く第１回転中心回りに前記第１施療部材を回転させるよう構成され、かつ
    　　前記第２施療部材による掴み揉みが行われている状態で、前記第２施療部材によって掴み揉みが行われている身体部位における筋繊維の方向に交わる面内方向に向く第２回転中心まわりに前記第２施療部材を回転させるよう構成されている
    　請求項３８に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The mechanism part is
    In a state where the first treatment member is grasped and squeezed, the first rotation center around the first rotation center facing the in-plane direction intersecting the direction of the muscle fiber in the body part being grasped and squeezed by the first treatment member. It is configured to rotate the first treatment member, and intersects the direction of muscle fibers in the body part that is grasped and squeezed by the second treatment member in a state where the second treatment member is squeezed and grasped. The massage device according to claim 38, wherein the massage device is configured to rotate the second treatment member around a second rotation center facing in an in-plane direction.
  46. 　前記第１回転中心は、前記第２回転中心とは異なる方向を向いている
    　請求項４５に記載のマッサージ機。     The massage machine according to claim 45, wherein the first rotation center faces a direction different from the second rotation center.
  47. 　前記第１回転中心は、前記第２回転中心とは異なる位置に存在する
    　請求項４５又は４６に記載のマッサージ装置。     The massage device according to claim 45 or 46, wherein the first rotation center exists at a position different from the second rotation center.
  48. 　前記第１施療部材及び前記第２施療部材の少なくともいずれか一方は、身体部位に対する掴み揉みを行うための対の押圧部材を含み、
    　前記機構部は、前記第１施療部材及び前記第２施療部材によって身体部位を掴み揉みが行われている状態で、前記対の押圧部材同士の相対位置関係が変化するように、前記対の押圧部材の少なくともいずれか一方の押圧部材を、前記第１回転中心又は前記第２回転中心まわりに回転させる
    　請求項４５～４７のいずれか１項に記載のマッサージ装置。     At least one of the first treatment member and the second treatment member includes a pair of pressing members for gripping and squeezing the body part,
    The mechanism portion is configured to press the pair of pressing members so that a relative positional relationship between the pair of pressing members changes in a state where the body part is grasped and squeezed by the first treatment member and the second treatment member. The massage device according to any one of claims 45 to 47, wherein at least one of the pressing members is rotated around the first rotation center or the second rotation center.
  49. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、
    　　前記第１施療部材による掴み揉みが行われている状態で、前記第１施療部材によって掴み揉みが行われている身体部位における筋繊維の方向に交わる面内方向に向く第１回転中心回りに前記第１施療部材を回転させるよう構成され、かつ
    　　前記第２施療部材による掴み揉みが行われている状態で、前記第２施療部材によって掴み揉みが行われている身体部位における筋繊維の方向に交わる面内方向に向く第２回転中心まわりに前記第２施療部材を回転させるよう構成され、
    　前記第１回転中心は、前記第１施療部材によって掴み揉みが行われている身体部位の内部に位置し、
    　前記第２回転中心は、前記第２施療部材によって掴み揉みが行われている身体部位の外部に位置する
    　請求項３８に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The mechanism part is
    In a state where the first treatment member is grasped and squeezed, the first rotation center around the first rotation center facing the in-plane direction intersecting the direction of the muscle fiber in the body part being grasped and squeezed by the first treatment member. It is configured to rotate the first treatment member, and intersects the direction of muscle fibers in the body part that is grasped and squeezed by the second treatment member in a state where the second treatment member is squeezed and grasped. Configured to rotate the second treatment member about a second rotation center facing in an in-plane direction;
    The first rotation center is located inside a body part that is grasped and squeezed by the first treatment member,
    The massage device according to claim 38, wherein the second rotation center is located outside a body part that is grasped and squeezed by the second treatment member.
  50. 　前記機構部は、前記施療部による掴み揉みが行われている状態で、更に、前記筋繊維に沿った方向へ前記施療部を動かすよう構成されている
    　請求項３８に記載のマッサージ装置。     The massage device according to claim 38, wherein the mechanism portion is further configured to move the treatment portion in a direction along the muscle fiber in a state where the treatment portion is grasped and squeezed.
  51. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、
    　　前記第１施療部材による掴み揉みが行われている状態で、前記筋繊維の方向に交わる面内方向に向く回転中心回りに前記第１施療部材を回転させ、更に、前記筋繊維に沿った方向へ前記第１施療部材を動かすよう構成され、かつ
    　　前記第２施療部材による掴み揉みが行われている状態で、前記筋繊維の方向に交わる面内方向に向く回転中心回りに前記第２施療部材を回転させ、更に、前記筋繊維に沿った方向へ前記第２施療部材を動かすよう構成されている
    　請求項５０に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The mechanism part is
    In a state in which the first treatment member is grasped and squeezed, the first treatment member is rotated around a rotation center directed in an in-plane direction intersecting the direction of the muscle fibers, and further, the direction along the muscle fibers. The second treatment member is configured to move the first treatment member to the rotation center in the in-plane direction intersecting the direction of the muscle fibers in a state where the first treatment member is moved and gripped by the second treatment member. 51. The massage device according to claim 50, further configured to move the second treatment member in a direction along the muscle fibers.
  52. 　前記機構部は、前記第１施療部材及び前記第２施療部材が互いに離れるように、前記第１施療部材及び前記第２施療部材の少なくともいずれか一方を前記筋繊維に沿った方向へ動かすよう構成されている
    　請求項５１に記載のマッサージ装置。     The mechanism portion is configured to move at least one of the first treatment member and the second treatment member in a direction along the muscle fibers so that the first treatment member and the second treatment member are separated from each other. The massage apparatus according to claim 51.
  53. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材、第２施療部材、及び第３施療部材を含み、
    　前記第１施療部材は、身体の第１範囲に対して掴み揉みを行うよう設けられ、
    　前記第２施療部材は、前記第１範囲との間に少なくとも一つの関節を介して、前記第１範囲とは異なる範囲である身体の第２範囲に対して掴み揉みを行うよう設けられ、
    　前記第３施療部材は、前記第２の範囲との間に少なくとも一つの他の関節を介して、前記第１範囲及び前記第２範囲とは異なる範囲である身体の第３範囲に対して掴み揉みを行うよう設けられている
    　請求項３８に記載のマッサージ装置。     The treatment unit includes a first treatment member, a second treatment member, and a third treatment member, each of which grips and rubs the body part,
    The first treatment member is provided to grasp and squeeze against the first range of the body,
    The second treatment member is provided to grip and squeeze a second range of the body that is different from the first range via at least one joint between the second treatment member and the first range,
    The third treatment member grasps the third range of the body that is different from the first range and the second range via at least one other joint between the third range and the second range. The massage device according to claim 38, wherein the massage device is provided to itch.
  54. 　前記機構部は、前記第１施療部材、前記第２施療部材、及び前記第３施療部材のうちの二以上の施療部材による掴み揉みが行われている状態で、掴み揉みを行っている二以上の施療部材の少なくとも一つを、前記回転中心回りに回転させるよう構成されている
    　請求項５３に記載のマッサージ装置。     Two or more of the mechanism portions are gripping and gripping in a state where gripping is performed by two or more treatment members of the first treatment member, the second treatment member, and the third treatment member. The massage device according to claim 53, wherein at least one of the treatment members is rotated about the rotation center.
  55. 　前記対の押圧部材のうちの一方の押圧部材は、肩上側を押圧し、
    　前記対の押圧部材のうちの他方の押圧部材は、肩裏側を押圧する
    　請求項４１に記載のマッサージ装置。     One pressing member of the pair of pressing members presses the shoulder upper side,
    The massage device according to claim 41, wherein the other pressing member of the pair of pressing members presses the back of the shoulder.
  56. 　前記施療部は、首に対する掴み揉みを行うよう設けられている
    　請求項４１に記載のマッサージ装置。     The massage apparatus according to claim 41, wherein the treatment unit is provided so as to grip and knead the neck.
  57. 　肩に対する掴み揉みを行う施療部と、
    　前記施療部が首に対する掴み揉みが行えるように首まで移動させる機構部と、
    を備えるマッサージ装置。     A treatment unit that grips and rubs the shoulder,
    A mechanism unit that moves the neck to the neck so that the treatment unit can grip and knead the neck;
    A massage device comprising:
  58. 　前記施療部は、掴み揉みを行うための対の押圧部材を含み、
    　前記機構部は、更に、前記対の押圧部材の少なくともいずれか一方の押圧部材を、掴み揉みが行われる身体部位における筋繊維の方向に交わる面内方向に向く回転中心回りに回転させるよう構成されている
    　請求項５７に記載のマッサージ装置。     The treatment section includes a pair of pressing members for gripping and squeezing,
    The mechanism portion is further configured to rotate at least one of the pair of pressing members around a rotation center directed in an in-plane direction intersecting a direction of muscle fibers in a body part where gripping is performed. The massage apparatus according to claim 57.
  59. 　身体部位に対する掴み揉みを行う施療部と、
    　前記施療部による掴み揉みが行われている状態で、掴み揉みが行われている前記身体部位における筋繊維の方向に交わる面内方向へ、前記施療部を動かす機構部と、
    　を備えているマッサージ装置。     A treatment unit for grasping and massaging the body part;
    A mechanism that moves the treatment part in an in-plane direction that intersects the direction of muscle fibers in the body part where the grasping is performed, in a state where the grasping is performed by the treatment part;
    A massage device.
  60. 　前記施療部は、前記筋繊維の方向に交わる方向から前記身体部位を掴み揉みするよう構成され、
    　前記機構部は、前記面内方向に含まれる方向、かつ、前記施療部による掴み揉みの方向に交わる方向へ、前記施療部を動かすよう構成されている
    　請求項５９に記載のマッサージ装置。     The treatment section is configured to grab and squeeze the body part from the direction intersecting the direction of the muscle fibers,
    The massage device according to claim 59, wherein the mechanism unit is configured to move the treatment unit in a direction included in the in-plane direction and in a direction intersecting with a direction of grasping and squeezing by the treatment unit.
  61. 　前記施療部は、前記筋繊維の方向に交わる方向から前記身体部位を掴み揉みするよう構成され、
    　前記機構部は、前記面内方向に含まれる方向、かつ、前記施療部による掴み揉みの方向に沿った方向へ、前記施療部を動かすよう構成されている
    　請求項５９に記載のマッサージ装置。     The treatment section is configured to grab and squeeze the body part from the direction intersecting the direction of the muscle fibers,
    The massage device according to claim 59, wherein the mechanism unit is configured to move the treatment unit in a direction included in the in-plane direction and in a direction along a gripping and rubbing direction by the treatment unit.
  62. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、前記第１施療部材及び前記第２施療部材による掴み揉みが行われている状態で、前記第１施療部材と前記第２施療部材との相対的位置関係が変化するように、前記第１施療部材及び前記第２施療部材の少なくともいずれか一方を、前記面内方向へ動かすよう構成されている
    　請求項５９～６１のいずれか１項に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    In the state in which the mechanism portion is gripped by the first treatment member and the second treatment member, the relative positional relationship between the first treatment member and the second treatment member changes. The massage device according to any one of claims 59 to 61, wherein at least one of the first treatment member and the second treatment member is configured to move in the in-plane direction.
  63. 　前記第１施療部材は、身体の第１範囲に対して掴み揉みを行うよう設けられ、
    　前記第２施療部材は、前記第１範囲との間に少なくとも一つの関節を介して、前記第１範囲とは異なる範囲である身体の第２範囲に対して掴み揉みを行うよう設けられている
    　請求項６２に記載のマッサージ装置。     The first treatment member is provided to grasp and squeeze against the first range of the body,
    The second treatment member is provided to grip and squeeze a second range of the body that is different from the first range via at least one joint between the second treatment member and the first range. 63. A massage device according to claim 62.
  64. 　前記施療部は、前記身体部位に対する掴み揉みを行うための対の押圧部材を含み、
    　前記機構部は、前記対の押圧部材同士の相対的位置関係が変化するように、前記対の押圧部材の少なくともいずれか一方の押圧部材を、前記面内方向へ動かすよう構成されている
    　請求項５９～６１のいずれか１項に記載のマッサージ装置。     The treatment unit includes a pair of pressing members for gripping and massaging the body part,
    The mechanism section is configured to move at least one of the pair of pressing members in the in-plane direction so that a relative positional relationship between the pair of pressing members changes. The massage device according to any one of 59 to 61.
  65. 　前記機構部は、前記第１施療部材及び前記第２施療部材を、前記面内方向へ動かすよう構成されている
    　請求項６２に記載のマッサージ装置。     The massage device according to claim 62, wherein the mechanism portion is configured to move the first treatment member and the second treatment member in the in-plane direction.
  66. 　前記機構部は、前記第１施療部材と前記第２施療部材との相対的位置関係が変化するように、前記第１施療部材及び前記第２施療部材を、前記面内方向へ動かすよう構成されている
    　請求項６５に記載のマッサージ装置。     The mechanism is configured to move the first treatment member and the second treatment member in the in-plane direction so that a relative positional relationship between the first treatment member and the second treatment member changes. The massage apparatus according to claim 65.
  67. 　前記機構部は、前記第１施療部材と前記第２施療部材との相対的位置関係を維持しつつ、前記第１施療部材及び前記第２施療部材を、前記面内方向へ動かすよう構成されている
    　請求項６５に記載のマッサージ装置。     The mechanism is configured to move the first treatment member and the second treatment member in the in-plane direction while maintaining a relative positional relationship between the first treatment member and the second treatment member. The massage apparatus according to claim 65.
  68. 　第１施療部材は、肩に対する掴み揉みを行うように設けられ、
    　第２施療部材は、上肢又は首に対する掴み揉みを行うように設けられている
    　請求項６２に記載のマッサージ装置。     The first treatment member is provided so as to grip and rub the shoulder,
    64. The massage device according to claim 62, wherein the second treatment member is provided so as to grip and knead the upper limb or the neck.
  69. 　前記施療部は、前記身体部位における筋繊維の方向に交わる方向から前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記第１施療部材は、身体の第１範囲に対して掴み揉みを行うよう設けられ、
    　前記第２施療部材は、前記第１範囲との間に少なくとも一つの関節を介して、前記第１範囲とは異なる範囲である身体の第２範囲に対して掴み揉みを行うよう設けられ、
    　前記機構部は、前記面内方向に含まれる第１方向に前記第１施療部材を移動させるとともに、前記面内方向に含まれる方向であって前記第１方向に交わる第２方向に前記第２施療部材を移動させるよう構成されている
    　請求項５９～６１のいずれか１項に記載のマッサージ装置。     The treatment part includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part from a direction intersecting with a direction of muscle fibers in the body part,
    The first treatment member is provided to grasp and squeeze against the first range of the body,
    The second treatment member is provided to grip and squeeze a second range of the body that is different from the first range via at least one joint between the second treatment member and the first range,
    The mechanism unit moves the first treatment member in a first direction included in the in-plane direction and the second direction in a second direction that is included in the in-plane direction and intersects the first direction. The massage device according to any one of claims 59 to 61, wherein the massage member is configured to move.
  70. 　前記身体部位は、肩であり、
    　前記機構部は、前記施療部による前記肩に対する掴み揉みが行われている状態で、前記肩における筋繊維の方向に交わる面内方向へ、前記施療部を動かすよう構成されている
    　請求項５９～６１のいずれか１項に記載のマッサージ装置。     The body part is a shoulder;
    The mechanism portion is configured to move the treatment portion in an in-plane direction that intersects the direction of muscle fibers in the shoulder in a state where the shoulder is gripped by the treatment portion. 61. The massage apparatus according to any one of 61.
  71. 　前記施療部は、左右の一方の肩に対する掴み揉みを行う第１施療部材と、左右の他方の肩に対する掴み揉みを行う第２施療部材と、を含み、
    　前記機構部は、前記第１施療部材及び前記第２施療部材により左右の前記肩に対する掴み揉みが行われている状態で、前記第１施療部材及び第２施療部材それぞれを前記肩における筋繊維の方向に交わる面内方向へ動かすよう構成されている
    　請求項７０に記載のマッサージ装置。     The treatment part includes a first treatment member that performs gripping and squeezing for the left and right shoulders, and a second treatment member that performs gripping and squeezing for the other left and right shoulders,
    In the state where the right and left shoulders are gripped by the first treatment member and the second treatment member, the mechanism portion is configured to place the first treatment member and the second treatment member on muscle fibers in the shoulder, respectively. The massage apparatus according to claim 70, wherein the massage apparatus is configured to move in an in-plane direction that intersects the direction.
  72. 　身体部位に対する掴み揉みを行う施療部と、
    　前記施療部による掴み揉みが行われている状態で、掴み揉みが行われている身体部位における筋繊維の方向へ沿った移動方向へ、前記施療部を動かす機構部と、
    　を備えているマッサージ装置。     A treatment unit for grasping and massaging the body part;
    A mechanism that moves the treatment part in a moving direction along the direction of muscle fibers in the body part where the grasping is performed in a state where the grasping is performed by the treatment part;
    A massage device.
  73. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記第１施療部材及び前記第２施療部材は、前記身体部位の筋線維の方向に交わる方向に並設され、
    　前記機構部は、前記第１施療部材と前記第２施療部材との相対的位置関係が変化するように、前記第１施療部材及び前記第２施療部材の少なくともいずれか一方を、前記移動方向へ動かすよう構成されている
    　請求項７２に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The first treatment member and the second treatment member are juxtaposed in a direction intersecting the direction of muscle fibers of the body part,
    The mechanism portion moves at least one of the first treatment member and the second treatment member in the movement direction so that a relative positional relationship between the first treatment member and the second treatment member changes. 73. A massage device according to claim 72, configured to move.
  74. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記第１施療部材及び前記第２施療部材は、前記身体部位の筋線維の方向に交わる方向に並設され、
    　前記機構部は、前記第１施療部材と前記第２施療部材との相対的位置関係を維持しつつ、前記第１施療部材及び前記第２施療部材を、前記移動方向へ動かすよう構成されている
    　請求項７２に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The first treatment member and the second treatment member are juxtaposed in a direction intersecting the direction of muscle fibers of the body part,
    The mechanism portion is configured to move the first treatment member and the second treatment member in the moving direction while maintaining a relative positional relationship between the first treatment member and the second treatment member. 73. A massage device according to claim 72.
  75. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、前記第１施療部材及び前記第２施療部材の少なくともいずれか一方を、前記移動方向へ動かすよう構成され、
    　前記第１施療部材及び前記第２施療部材は、前記第１施療部材によって掴み揉みが行われる身体の第１範囲と、前記第２施療部材によって掴み揉みが行われる身体の第２範囲とが、身体の関節を含まない同一の範囲に含まれるよう、設けられている
    　請求項７２に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The mechanism is configured to move at least one of the first treatment member and the second treatment member in the movement direction,
    The first treatment member and the second treatment member have a first range of the body that is gripped and squeezed by the first treatment member, and a second range of the body that is squeezed and squeezed by the second treatment member, The massage device according to claim 72, wherein the massage device is provided so as to be included in the same range not including a joint of a body.
  76. 　前記身体部位は、上肢又は下肢である
    　請求項７５に記載のマッサージ装置。     The massage device according to claim 75, wherein the body part is an upper limb or a lower limb.
  77. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記第１施療部材は、手首に対する掴み揉みを行うよう設けられ、
    　前記第２施療部材は、前記第１施療部材よりも肘側の位置において、前腕に対する掴み揉みを行うよう設けられ、
    　前記機構部は、前記第１施療部材及び前記第２施療部材による掴み揉みが行われている状態で、前記第１施療部材から離れる向きへ前記第２施療部材を動かすよう構成されている
    　請求項７２に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    The first treatment member is provided to grip and rub the wrist,
    The second treatment member is provided to grip and forge against the forearm at a position closer to the elbow than the first treatment member,
    The mechanism portion is configured to move the second treatment member in a direction away from the first treatment member in a state in which the first treatment member and the second treatment member are gripped. 72. A massage device according to 72.
  78. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、前記第１施療部材及び前記第２施療部材による掴み揉みが行われている状態で、前記筋繊維の方向に沿った回転中心回りに前記第２施療部材を回転させながら、前記第１施療部材から離れる向きへ前記第２施療部材を動かすよう構成されている
    　請求項７２に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    While the mechanism portion is gripped by the first treatment member and the second treatment member, while rotating the second treatment member around the rotation center along the direction of the muscle fiber, The massage device according to claim 72, wherein the massage device is configured to move the second treatment member in a direction away from the first treatment member.
  79. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材及び第２施療部材を含み、
    　前記機構部は、前記第１施療部材及び前記第２施療部材による掴み揉みが行われている状態で、前記第１施療部材及び前記第２施療部材の少なくともいずれか一方を前記筋繊維の方向に沿った回転中心回りに回転させながら、前記第１施療部材及び前記第２施療部材の少なくともいずれか一方を前記移動方向へ動かすよう構成されている
    　請求項７２に記載のマッサージ装置。     The treatment unit includes a first treatment member and a second treatment member that each perform a grasping and squeezing with respect to the body part,
    In the state in which the mechanism portion is gripped by the first treatment member and the second treatment member, at least one of the first treatment member and the second treatment member is oriented in the direction of the muscle fibers. The massage device according to claim 72, wherein the massage device is configured to move at least one of the first treatment member and the second treatment member in the movement direction while rotating around a rotation center along the rotation center.
  80. 　前記機構部は、前記第１施療部材及び前記第２施療部材を前記回転中心回りで互いに逆向きに回転させながら、前記第１施療部材と前記第２施療部材との相対的距離が大きくなるように、前記第１施療部材及び前記第２施療部材の少なくともいずれか一方を前記移動方向へ動かすよう構成されている
    　請求項７９に記載のマッサージ装置。     The mechanism portion increases the relative distance between the first treatment member and the second treatment member while rotating the first treatment member and the second treatment member in opposite directions around the rotation center. The massage apparatus according to claim 79, wherein at least one of the first treatment member and the second treatment member is moved in the movement direction.
  81. 　前記施療部は、前記身体部位に対する掴み揉みを行うための対の押圧部材を含み、
    　前記機構部は、前記対の押圧部材同士の相対的位置関係が変化するように、前記対の押圧部材の少なくともいずれか一方の押圧部材を、前記移動方向へ動かすよう構成されている
    　請求項７２に記載のマッサージ装置。     The treatment unit includes a pair of pressing members for gripping and massaging the body part,
    The mechanism section is configured to move at least one of the pair of pressing members in the moving direction so that a relative positional relationship between the pair of pressing members changes. The massage device described in 1.
  82. 　前記機構部は、互いに逆向きに動くように前記対の押圧部材を動かすよう構成されている
    　請求項８１に記載のマッサージ装置。     The massage device according to claim 81, wherein the mechanism portion is configured to move the pair of pressing members so as to move in directions opposite to each other.
  83. 　前記身体部位は、肩であり、
    　前記機構部は、前記施療部による前記肩に対する掴み揉みが行われている状態で、前記肩における筋繊維に沿った方向へ、前記施療部を動かすよう構成されている
    　請求項７２に記載のマッサージ装置。     The body part is a shoulder;
    The massage according to claim 72, wherein the mechanism unit is configured to move the treatment unit in a direction along a muscle fiber in the shoulder in a state where the shoulder is gripped by the treatment unit. apparatus.
  84. 　前記施療部は、左右の一方の肩に対する掴み揉みを行う第１施療部材と、左右の他方の肩に対する掴み揉みを行う第２施療部材と、を含み、
    　前記機構部は、前記第１施療部材及び前記第２施療部材により左右の前記肩に対する掴み揉みが行われている状態で、前記第１施療部材及び第２施療部材それぞれを前記肩における筋繊維に沿った方向へ動かすよう構成されている
    　請求項８３に記載のマッサージ装置。     The treatment part includes a first treatment member that performs gripping and squeezing for the left and right shoulders, and a second treatment member that performs gripping and squeezing for the other left and right shoulders,
    In the state where the left and right shoulders are gripped by the first treatment member and the second treatment member, the mechanism portion is configured to use the first treatment member and the second treatment member as muscle fibers in the shoulder, respectively. 84. A massage device according to claim 83, configured to move in a direction along.
  85. 　前記施療部は、前記身体部位に対する掴み揉みをそれぞれが行う第１施療部材、第２施療部材、及び第３施療部材を含み、
    　前記第１施療部材は、身体の第１範囲に対して掴み揉みを行うよう設けられ、
    　前記第２施療部材は、前記第１範囲との間に少なくとも一つの関節を介して、前記第１範囲とは異なる範囲である身体の第２範囲に対して掴み揉みを行うよう設けられ、
    　前記第３施療部材は、前記第２の範囲との間に少なくとも一つの他の関節を介して、前記第１範囲及び前記第２範囲とは異なる範囲である身体の第３範囲に対して掴み揉みを行うよう設けられている
    　請求項７２に記載のマッサージ装置。     The treatment unit includes a first treatment member, a second treatment member, and a third treatment member, each of which grips and rubs the body part,
    The first treatment member is provided to grasp and squeeze against the first range of the body,
    The second treatment member is provided to grip and squeeze a second range of the body that is different from the first range via at least one joint between the second treatment member and the first range,
    The third treatment member grasps the third range of the body that is different from the first range and the second range via at least one other joint between the third range and the second range. 73. A massage device according to claim 72, wherein the massage device is provided to massage.
  86. 　前記機構部は、前記第１施療部材、前記第２施療部材、及び前記第３施療部材のうちの二以上の施療部材による掴み揉みが行われている状態で、掴み揉みを行っている二以上の施療部材のうちの少なくとも一つを、前記移動方向へ動かすよう構成されている
    　請求項８５に記載のマッサージ装置。     Two or more of the mechanism portions are gripping and gripping in a state where gripping is performed by two or more treatment members of the first treatment member, the second treatment member, and the third treatment member. The massage device according to claim 85, wherein at least one of the treatment members is moved in the moving direction.
  87. 　前記機構部は、前記第１施療部材、前記第２施療部材、及び前記第３施療部材による掴み揉みが行われている状態で、前記第１施療部材、前記第２施療部材、及び前記第３施療部材のうちの少なくとも一つを、前記移動方向へ動かすよう構成されている
    　請求項８６に記載のマッサージ装置。     The mechanism portion is in a state where the first treatment member, the second treatment member, and the third treatment member are gripped and squeezed, and the first treatment member, the second treatment member, and the third treatment portion The massage apparatus according to claim 86, wherein at least one of the treatment members is configured to move in the moving direction.
  88. 　前記機構部は、前記第１施療部材、前記第２施療部材、及び前記第３施療部材による掴み揉みが行われている状態で、前記第２施療部材を、前記移動方向へ動かすよう構成されている
    　請求項８７に記載のマッサージ装置。     The mechanism portion is configured to move the second treatment member in the moving direction in a state where the first treatment member, the second treatment member, and the third treatment member are gripped. The massage apparatus according to claim 87.
  89. 　前記機構部は、前記第１施療部材、前記第２施療部材、及び前記第３施療部材による掴み揉みが行われている状態で、前記第１施療部材及び前記第３施療部材を、前記移動方向へ動かすよう構成されている
    　請求項８７に記載のマッサージ装置。     The mechanism portion moves the first treatment member and the third treatment member in the moving direction in a state where the first treatment member, the second treatment member, and the third treatment member are gripped. 88. A massage device according to claim 87, wherein the massage device is configured to be moved to a position.
PCT/JP2015/079531 2014-11-12 2015-10-20 Massage device WO2016076079A1 (en)

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JP2014-230156 2014-11-12
JP2014230156 2014-11-12
JP2015123860A JP6603056B2 (en) 2014-11-12 2015-06-19 Massage equipment
JP2015-123860 2015-06-19

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JP2001333951A (en) * 2000-05-29 2001-12-04 Toshiba Tec Corp Massage machine
JP2002360645A (en) * 2001-06-06 2002-12-17 Omron Corp Massage machine
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JP2008079732A (en) * 2006-09-26 2008-04-10 Matsushita Electric Works Ltd Massaging machine
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JP2001333951A (en) * 2000-05-29 2001-12-04 Toshiba Tec Corp Massage machine
JP2002360645A (en) * 2001-06-06 2002-12-17 Omron Corp Massage machine
JP2004216120A (en) * 2002-12-27 2004-08-05 Family Co Ltd Chair type massage apparatus and forearm massage machine
JP2008079732A (en) * 2006-09-26 2008-04-10 Matsushita Electric Works Ltd Massaging machine
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CN111096890A (en) * 2020-01-08 2020-05-05 奥佳华智能健康科技集团股份有限公司 Leg massager and massage chair with adjustable intervals
CN111096890B (en) * 2020-01-08 2022-12-20 奥佳华智能健康科技集团股份有限公司 Leg massager and massage chair with adjustable intervals

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