JP4096925B2 - Massage machine - Google Patents

Description

  The present invention relates to a massage machine that allows a treatment element to perform various treatment operations.

  Since it is difficult to diversify the massaging operation of the massaging device with the movement locus of the massaging device mechanically determined, the recent massaging machines have a plurality of movements of the treatment device in multiple axial directions. By providing a plurality of drive units that are individually responsible for the movement of the shaft around the axis, and by combining the movements of the treatment element in multiple directions by these drive parts, it is possible to make the treatment element draw an arbitrary movement locus (See Patent Document 1).

  On the other hand, massage by a human hand includes not only a technique such as compression, scissors, and rubbing, but also a gripping operation. For this reason, it is disclosed in Japanese Patent Laid-Open No. 2002-238967 (Patent Document 2). However, this massage machine is specially designed for gripping massage, and allows various treatment trajectories to be drawn by the treatment element. It is not intended to provide a massage.

In addition, there is currently no massage that allows the treatment element to draw an arbitrary movement locus and at the same time also allows a grabbing massage.
JP 2004-016525 A JP 2002-238967 A

  The present invention has been invented in view of the above-described conventional problems, and the object of the present invention is to allow the treatment element to draw an arbitrary movement locus and to obtain various and effective massages. It is an object of the present invention to provide a massage machine that can simultaneously obtain a grip massage.

In order to solve the above-described problems, the massage machine according to the present invention changes the amount of forward protrusion of the treatment element included in the movable unit by moving the movable unit and the vertical drive unit that drives the movable unit in the vertical direction. Combined with the strength driving part, the width driving part for changing the horizontal position of the treatment element provided in the movable unit, and the position changing operation of the treatment element in the three directions by the control drive of these driving parts, the required for massage In a massage machine comprising a control means for drawing a movement locus on a treatment element, the treatment element is provided at each end of a first arm and a second arm, which are provided on a movable unit and supported so as to be rotatable up and down. provided, the movable unit comprises a gripping driving unit changing the vertical distance between the treatment element and treatment element of the second arm tip of the first arm tip by rotating the arm Particular feature units from the first arm and the second arm and gripping drive unit having the above-described treatment element is swingable is rotatably supported up and down at a predetermined angle in respect to the movable unit have.

  By combining the vertical and forward protrusion amounts and the changing operation of the horizontal position, it is possible to draw a required movement trajectory on the treatment element, and in addition, the treatment element at the distal end of the first arm and the treatment element at the distal end of the second arm A grasping massage can be obtained by changing the vertical distance by the grasping drive unit.

Moreover in order to the first arm and the second arm and gripping drive unit provided with a massaging head is made swingable being supported rotatably up and down at a predetermined angle in respect to the movable unit, the first arm It is possible to obtain a copying operation that can always obtain a state in which both the treatment element at the tip and the treatment element at the tip of the second arm are in contact with the body.

  And if the 1st arm and the 2nd arm are connected by the interlocking link, it will become easy to make the operation locus at the time of the grasping operation of the treatment element suitable for massage.

  Further, when the first arm and the second arm are rotatably supported on the same axis, the number of parts can be reduced, and the first arm and the second arm can be rotated on different axes. In this case, it is possible to cause the treatment element to draw a trajectory more suitable for gripping massage. At this time, if the grip drive unit and the arm are connected at a position where the distance from the rotation axis of the arm is farther than the distance from the rotation axis to the treatment element, the force generated by the grip drive unit is effective. The gripping force used for the can be obtained.

  The grip driving unit may be configured to connect the first arm and the second arm to change the interval between the two arms. The arrangement of the grip driving unit is facilitated.

  In addition, when the grip drive unit can fix the distance between the treatment element at the tip of the first arm and the treatment element at the tip of the second arm to an arbitrary state, the treatment element and the human body The touch feeling can be changed, and a variety of massages according to the user's preference can be performed.

  When an actuator that expands and contracts by air pressure is used as the grip driving unit, it is possible to avoid excessive gripping of the human body by the spring property by air, and the safety becomes high.

  Further, if the actuator that is the gripping drive part is expanded and contracted by air supply by an air pump and air suction and exhaust, not only the expansion but also the operation of contracting can be obtained accurately. .

  Furthermore, if the width of the treatment element of the first arm located on the upper side is larger than the width of the treatment element of the second arm, a grip massage having a sensation closer to that of a human body can be obtained.

  In addition, a more effective massage can be obtained when the grasping drive unit can operate simultaneously with at least one of the vertical drive unit, the strength drive unit, and the width drive unit.

  The strength drive unit rotates the movable unit to change the amount of protrusion of the treatment element, and when the protrusion amount is large, the grasping drive unit grips and drives the treatment element. If the shoulder of the human body is pressed from the front side and the lower side treatment element pushes the back of the human body from the back side, it is possible to more effectively perform a gripping massage on the shoulder, and when the protrusion amount is small If the grasping drive of the treatment element by the grasping drive unit is performed so that the front and rear direction positions of the upper and lower treatment elements are substantially the same position, it is possible to effectively perform grasping massage on the back of the human body.

Since the present invention allows the treatment element to draw a required movement trajectory by combining the amount of protrusion in the vertical direction and the forward direction and the movement of the horizontal position, any of various massages depending on the affected area is effective. Since the grip drive can be obtained by changing the vertical distance between the treatment element at the tip of the first arm and the treatment element at the tip of the second arm with the grip drive unit, it is more present as a massage machine. It will be valuable. Moreover, since the unit of the first arm and the second arm provided with the treatment element and the grip drive unit is pivotably supported up and down within a predetermined angle with respect to the movable unit, It is possible to obtain a copying operation in which it is possible to always obtain a state where both the treatment element at the tip of the first arm and the treatment element at the tip of the second arm are in contact with the body.

  Hereinafter, the present invention will be described based on an embodiment shown in the accompanying drawings. FIG. 2 shows a mechanism unit in a massage machine according to the present invention, and this mechanism unit is, for example, in a backrest 90 of a chair 9 shown in FIG. The vertical drive shaft 51 and the strong and weak drive shaft 61 are installed between the left and right side plates 91 and 91 constituting the frame, as shown in FIG. However, the movable unit is disposed between the side plates 91 and 91.

  As shown in FIG. 4, the vertical drive shaft 51 is rotationally driven by the output of the vertical drive motor 50 fixed to one side plate 91 being transmitted through a gear group in the gear box 52. Pinions 53 and 54 are respectively attached to both ends thereof. The rollers 54 roll together with the rollers 55 shown in FIG. 2 in a rail (not shown) disposed in the backrest 90, and the pinion 53 meshes with a rack (not shown) attached to the rail.

  As shown in FIG. 5, the strength driving shaft 61 is rotationally driven when the output of the strength driving motor 60 fixed to the other side plate 91 is transmitted through the gear group in the gear box 62. The gears 63, 63 for rotating the movable unit are attached to both ends thereof.

The movable unit has a width drive shaft 31, two slide guide shafts 32, 32 and a striking drive shaft 41 installed between a pair of left and right gear plates 30, 30, and a pair of left and right treatment element units 1, 1 (FIG. 2). And only one treatment element unit 1 is shown in FIG. 3), and both ends of the width drive shaft 31 that can freely rotate about the axis with respect to both the gear plates 30, 30 are the above pair. The side plates 91, 91 are supported between the side plates 91, 91, and the teeth 300, 300 on the outer peripheral surface of the gear plates 30, 30 are engaged with the gears 63, 63. One end of the width drive shaft 31 is connected to a pulley 38 to which the output of the width drive motor 35 attached to one side plate 91 is transmitted via a pulley 36 and a belt 37. The drive shaft 31 rotates around the axis by the output of the width driving motor 35.

  A knocking drive motor 40 is mounted on one gear plate 30 of the movable unit. The output of the motor 40 is transmitted to the hitting drive shaft 41 by pulleys 42 and 44 and a belt 43. The tapping drive shaft 41 is formed as a crankshaft having different eccentric directions on the left and right.

  As shown in FIG. 6, the treatment element unit 1 includes an arm base plate 10 as a treatment element support member, a striking plate 11, a treatment element arm 12, a first arm 13, a second arm 14, and two roller-type treatment elements. The arm base plate 10 includes a feed nut 33 that is screwed into a threaded portion of the width drive shaft 31, and sliders 34 and 34 that are slidably fitted to the slide guide shafts 32 and 32. In addition, the axial direction position of the width drive shaft 31 and the slide guide shaft 32 is changed by the rotation of the width drive shaft 31, and the thread portion formed on the width drive shaft 31 is formed with a reverse screw on one side. Therefore, the arm base plates 10 and 10 in the pair of left and right treatment element units 1 move toward and away from each other by the rotation of the width drive shaft 31. It is intended.

  The striking plate 11 is pivotally attached to the arm base plate 10, and the treatment arm 12 and the second arm 14 are pivotally attached to the striking plate 11 by the shaft 100, and the first arm 13 is pivoted to the treatment child arm 12 by the shaft 101. It is worn. Further, a shaft 102 provided on the hitting plate 11 and the hitting drive shaft 41 which is a crankshaft are connected by a link 45.

  Furthermore, the 1st arm 13 to which the treatment element 1a which is the main treatment element of two treatment elements 1a and 1b was attached to the front-end | tip part, and the 2nd arm to which the treatment element 1b which is an auxiliary treatment element was attached to the front-end | tip part 14 are connected by an interlocking link 15. Further, the arm base plate 10 and the projecting piece 121 projecting from the treatment arm 12 are connected by the swing interlocking links 19 and 18. In addition, the other treatment element unit 1 which makes a pair becomes a symmetrical form of the treatment element unit 1 of illustration.

  The grip driving unit that causes the pair of treatment elements 1a and 1b arranged in the vertical direction to perform a gripping operation is configured by an actuator A1 that performs an expansion and contraction operation by air, and between the pair of receiving plates 20 and 20 and both receiving plates 20 and 20. The actuator A1 including the airbag 21 disposed on the side of the actuator A1 has a protrusion in which one receiving plate 20 protrudes from the interlocking link 18 and the other receiving plate 20 provided with an airbag cover protrudes from the distal end portion of the second arm 14. The pieces 141 are connected to each other. The linear slide rail 17 connecting the interlocking link 18 and the projecting piece 141 is for preventing the airbag 21 from buckling when the actuator A1 is extended.

  Similarly to the actuator A1, the treatment element unit 1 includes a pair of receiving plates 20 and 20 and an airbag 21 disposed between the receiving plates 20 and 20, and includes an actuator A2 that performs expansion and contraction operation by air. Yes. The actuator A2 has one receiving plate 20 fixed on the hitting drive link 45 and the other receiving plate 20 attached to a lever 16 rotatably supported by the shaft 102. Reference numeral 16 includes a roller 160 that contacts the rear edge of the treatment arm 12. Note that reference numeral 95 in FIG. 2 denotes an air drive unit that houses an air pump and an electromagnetic valve for operating the actuators A1 and A2.

  The operation of the mechanism unit configured as described above will be described. First, when the vertical drive motor 51 is driven by the vertical drive motor 50, the mechanism unit is self-propelled up and down within the backrest of the chair described above, and the treatment element 1a. , 1b is changed up and down. Further, when the strength driving shaft 61 is driven by the strength driving motor 60, the gear 63 provided on the strength driving shaft 61 rotates the gear plate 30 around the axis of the width driving shaft 31, so that the arm integrally with the gear plate 30 is armed. The base plate 10 is rotated. For this reason, as shown in FIG. 11, the amount of protrusion of the treatment element 1a forward from the backrest as viewed from the width drive shaft 11 is small, and the width drive shaft 11 as shown in FIG. It is possible to obtain a state in which the amount of forward protrusion of the treatment element 1a viewed from above is large. That is, the strength adjustment can be performed by changing the forward protrusion amount of the treatment element 1a. Further, when the width drive shaft 31 is rotated by the width drive motor 35, the pair of left and right treatment element units 1 and 1 approach and separate in the width direction (left and right direction) as described above, and the left and right treatment elements 1a, 1a, The interval between 1b and 1b is changed.

By the way, this massage machine realizes so-called massage massage by combining the above-described operations by the three motors 50, 60, 35, and examples thereof are shown in FIGS. Each figure (a) shows the operating state of the motor, each figure (b) shows the movement of the treatment elements 1a, 1b in the width direction and the up-down direction, and each figure (c) shows the forward projecting direction and up-down direction of the treatment elements 1a, 1b. Shows direction movement. In order to enable such drive control, in addition to the vertical position sensor S2, the width position sensor S1, etc., as shown in FIG. 8, the strength position, the rotational speed (rotation angle) of each motor, etc. are detected. A sensor is provided to perform feedback control. 8 in FIG. 8 is a control unit comprising a microcomputer.

  When the hitting drive shaft 41, which is a crankshaft, is rotated by the hitting drive motor 40, the link 45 swings the hitting plate 11 in the front-rear direction, and the treatment element arm 12 and the arms 13, 14 are placed on the hitting plate 11. The treatment element 1a attached via the head performs a striking motion that moves back and forth finely.

  When the actuator A1 is extended, as shown in FIG. 1, the second arm 14 of the treatment element unit 1 is pushed and pivoted about the shaft 100. At the same time, the first arm 13 is pivoted by the interlocking link 15. The treatment elements 1a and 1b provided on the arms 13 and 14 move close to each other and perform a gripping operation. In particular, the treatment element 1a is attached to the tip of the first arm 13 that rotates about the shaft 101 located on the front side of the shaft 100, so that the strength adjustment is strengthened as shown in FIG. When grasping the shoulder in the set state, the treatment element 1a hits the shoulder of the human body obliquely from the front side and pushes it backward, and the treatment element 1b can obtain an operation of pushing the back of the human body forward. For this reason, the operation of grasping (picking) the shoulder can be performed very accurately. In the state where the strength adjustment is weakened, the front and rear positions of the treatment elements 1a and 1b are substantially the same, so that an operation of grasping the back of the human body from above and below can be obtained.

Further, the treatment element arm 12 and the second arm 14 provided with the first arm 13 in the treatment element unit 1 are pivotally attached to the striking plate 11 by the shaft 100, and FIG. 11 (a) (b) and FIG. ) Since it is swingable within the range shown in (b), it performs a copying operation so that the treatment elements 1a and 1b are in contact with the back of the human body during various massage operations including the gripping operation. For this reason, the treatment elements 1a and 1b reliably pinch the human body during the grasping operation. Although the second arm 14 is connected to the arm base plate 10 by the actuator A1, the actuator A1 is not directly connected to the arm base plate 10, but is connected via the swing interlocking links 18 and 19. Furthermore, the actuator A1 does not hinder the swinging.

  The gripping operation can also be performed in combination with the above-described vertical driving, width driving, and strength driving. That is, it is possible to move the treatment elements 1a and 1b in a state where the shoulders of the human body are pinched upward or to approach the neck side of the human body.

  Extending the actuator A1 changes the interval between the treatment elements 1a and 1b arranged vertically, so that not only pinching the human body but also fixing it at a certain interval, for example, during massage massage It can also be used to vary the pressing sensation of the human body. Further, the pressing feeling can be further changed by adjusting the air pressure in the airbag 21.

  Here, the link 15 is an interlocking link 15 that transmits the movement of the second arm 14 to the first arm 13 and rotates the first arm 13 in the opposite direction to the second arm 14. As shown in FIG. 1 (a), the two connection points with the contact point 14 are arranged in a substantially straight line when the actuator A1 is contracted, so that only the treatment element 1a contacts the human body. The first arm 13 is not rotated by the load external force from the treatment element 1a.

  In addition, because the distance from the shaft 100 to the point where the actuator A1 in the second arm 14 is connected is longer than the distance from the shaft 100 to the support shaft of the treatment element 1b in the second arm 14. Even if the air pump for extending the actuator A1 is a small household air pressure of 100 kPa or less, a sufficient gripping force can be generated in the treatment elements 1b and 1a. The presence of the linear slide rail 17 that supports the linear extension of the actuator A1 is also effective in using air pressure.

  In addition, when the treatment arm 1b presses the human body with the force F by being pushed by the actuator A1 and the second arm 14 is turned, the first arm 13 is turned in the reverse direction due to the presence of the link 15, and the treatment is performed. The child 1a presses the human body with the force P. The lengths of the arms 13 and 14 and the linkage link 15 are such that the force P is substantially equal to the force F (0.7F <P <1.3F). The position of the connecting point is determined so that when the human body is grasped by the treatment elements 1a and 1b, the treatment element arm 12 is largely rotated to lose a force.

  It is also preferable that the treatment element 1b located on the lower side has a shorter width than the treatment element 1a as shown in FIG. Specifically, a difference of 2 to 3 times is given to both widths. When grasping the shoulder portion of the human body with fingers, the thumb is applied to the back side and the other finger is applied to the upper surface side of the shoulder. This can be imitated.

Next, the operation when the actuator A2 is extended will be described. The lever 16 that rotates toward the front side by the extension of the actuator A2 pushes the rear edge of the treatment arm 12 by the rollers 160, and the treatment arm 12 is moved. By rotating, the treatment element 1a is moved forward, and the treatment element arm 12 is spring-biased by the actuator A2 that also functions as an air spring. As a result, the swingable range of the treatment element arm 12 having the first arm 13 and the second arm 14 in the treatment element unit 1 shown in FIG. 11 and FIG. 12 is substantially narrowed. When A2 is extended most, the range of the swing is substantially zero, and the above-described copying operation is not performed. In this case, a stronger massage can be obtained by the treatment element 1a. In addition, although the range of oscillation is narrowed, the actuator A2 is contracted when a large load is applied, so that it is excellent in terms of safety.

  Further, according to the extension state of the actuator A2, the copying operation is a load applied by spring bias by air pressure, so when performing massage massage by moving the treatment elements 1a, 1b up and down, Massages with different burden ratios of the treatment elements 1a and 1b can be obtained according to the air pressure. In addition, even during the above-mentioned gripping operation, when the shoulder of the human body is gripped, this load is applied so that the treatment element 1a that contacts the upper surface of the shoulder does not escape, so a more reliable gripping massage can be performed. Obtainable. Further, as shown in FIG. 14, when the treatment elements 1a and 1b are moved downward, the treatment element arm 12 starts swinging when the load value corresponding to the air pressure is exceeded. As a result, not only the treatment element 1a but also the treatment element 1a is moved. Even the treatment element 1b pushes the back of the human body.

  When the actuator A2 is extended to the maximum, the shape of the rear edge of the treatment arm 12 is applied to the contact portion between the roller 160 and the treatment element arm 12 so that a force in the direction in which the lever 16 is compressed acts. By defining the actuator A2, the actuator A2 can be maintained in the extended state even when a load greater than the force generated by the actuator A2 is applied to the treatment element arm 12 from the treatment elements 1a and 1b.

The maximum value of the swingable range of the treatment element arm 12 and the second arm 14 provided with the first arm 13 is determined by a stopper 120 provided on the treatment element arm 12, and A rotation range with respect to the treatment arm 12 is determined by the stopper 140. Further, a torsion coil spring (not shown) is disposed between the second arm 14 and the treatment element arm 12 to urge the treatment elements 1a and 1b in a wider direction.

  In addition to this, when the actuator A2 is stretched, if it is set to be strong by the strength drive, the strength setting is once set to the weak state, and the actuator A2 is stretched in this state (see FIG. 13 (a)). Control is performed so that the strength setting is returned to strong and the state shown in FIG. This is to ensure that the actuator A2 can be reliably extended even if the air pressure is not so high, and by controlling in this way, uncertain elements such as the weight, body shape and use state of the user are reduced. Thus, the switching operation can be ensured.

  9 and 10 show an example of the configuration of an air drive unit 95 for driving the actuator A1, FIG. 9 shows that the exhaust from the actuator A1 (airbag 21) is performed by natural exhaust, and FIG. 10 shows the air pump. It is shown that exhaust from the airbag 21 is performed by forced exhaust by 96 intake air. In the latter case, the operation of separating the treatment elements 1a and 1b can be performed more reliably. In addition, as a massage, it is preferable to exhaust the air faster than the air supply for expansion.

  FIG. 16 shows an apparatus provided with a pressure detection unit 98 for detecting the pressure applied to the treatment element arm 12 from the user side. In this case, based on the pressure signal detected by the pressure detection unit 98, at least one of position control or speed control is fed back for at least one of the strength driving unit, the width driving unit, and the vertical driving unit. By controlling, the load pressure of the treatment element arm 12 can always be set to a preset load pressure.

17 and 18 show other examples. Here, one receiving plate 20 in the gripping actuator A1 is provided on the second arm 14, the other receiving plate 20 is attached to the treatment arm 12 , and one receiving plate 20 in the actuator A2 is connected to the link 45. The other receiving plate 20 is attached to the treatment element arm 12.

In this case, if the actuator A1 is extended, the second arm 14 and the first arm 13 connected to the first arm 13 are rotated in a direction approaching each other. A grabbing action can be obtained. When the actuator A2 is extended, the treatment arm 12 rotates about the shaft 100. In the case of this example, the swing of the first arm 13 provided with the treatment element 1a and the second arm 14 provided with the treatment element arm 12 and the treatment element 1b provided with the treatment element 1a is restricted by the actuator A2. It differs from the above in that it is an operation in the state.

  Another example is shown in FIGS. This eliminates the striking plate 11 and the treatment element arm 12 in both the above examples, and the first arm 13 provided with the treatment element 1a is directly attached to the arm base plate 10 by the axis 100 like the second arm 14, The actuator A1 is interposed between the first arm 13 and the second arm 14, and the actuator A2 is further interposed between the link 45 and the first arm 13. In this case, the swinging of the first arm 13 and the second arm 14 provided with the treatment element 1a shown in FIG. 20 is performed in a state in which the first arm 13 and the second arm 14 are regulated by the actuator A2. In a state where the space is open to the outside, the first arm 13 and the second arm 14 provided with the treatment element 1a swing while expanding and contracting the actuator A2, and when the actuator A2 is supplied with air and extended. A spring load is applied to the retracting of the treatment element 1a when the actuator A2 swings. The link 45 having one end connected to the drive shaft 41 is connected to the first arm 13 at the other end, and the shaft 48 at the other end is engaged with a long hole 49 provided in the first arm 13. By doing so, the swinging is not hindered.

  Further, when the actuator A1 is extended, the second arm 14 rotates as shown in FIG. 22 so that the treatment element 1b approaches the treatment element 1a side and further the actuator A2 is extended, as shown in FIG. Thus, the first arm 13 and the second arm 14 rotate. FIG. 24 shows a state where the actuator A2 is extended when the gripping operation is performed by extending the actuator A1.

  In this case, only the treatment element 1b is driven in the direction approaching the treatment element 1a side by the extension of the actuator A1, but during this movement, the treatment element 1b contacts the human body and the second arm 14 rotates. When the movement is stopped, the first arm 13 side rotates with the extension of the actuator A1 and the treatment element 1a moves in a direction approaching the treatment element 1b side. Can be held. In addition, if the strength adjustment is set to the weak state, the action of grasping the back of the human body from the back can be performed, and if the strength adjustment is set to the strong state, the action of grasping the shoulder of the human body from the top and the back can be performed. Occasionally, the actuator A2 is extended as shown in FIG. 24, so that the treatment element 1a does not escape from the load on the human body, and an effective gripping operation can be performed.

  Another example is shown in FIGS. In this embodiment, instead of the actuator A2 in the first embodiment, a tension spring 88 is suspended between a portion below the shaft 100 in the treatment element arm 12 and an upper portion of the frame in the mechanism unit. Is applied with an urging force to rotate the lens forward. This urging force can be strengthened by turning the entire movable unit forward by adjusting the strength to obtain the state shown in FIG.

An example of an embodiment of the present invention is shown, and (a) and (b) are explanatory views of a gripping operation. It is a perspective view of the whole mechanism unit same as the above. It is a perspective view of a movable unit same as the above. It is a perspective view of the up-and-down drive part same as the above. It is a perspective view of the same strength driving part. It is a disassembled perspective view of a treatment element unit same as the above. It is a perspective view of the chair which incorporated the mechanism unit same as the above in the backrest. It is a block circuit diagram same as the above. It is a piping diagram which shows an example of air piping same as the above. It is a piping diagram which shows the other examples of air piping same as the above. (a) (b) is explanatory drawing about the rocking | fluctuation for a copying operation when strength adjustment is weak. (a) (b) is explanatory drawing about the rocking | fluctuation for a copying operation when strength adjustment is strong. (a) (b) is explanatory drawing about the urging | biasing operation | movement by an actuator same as the above. (a) is operation | movement explanatory drawing when lowering a treatment element, (b) is explanatory drawing which shows the relationship between urging | biasing force and rocking | fluctuation force. (a) (b) is sectional drawing of a treatment element, respectively. It is a block circuit diagram of another example. It is a perspective view of the movable unit of another example. It is a disassembled perspective view of a treatment element unit same as the above. Furthermore, it is a perspective view of the movable unit of another example. It is a side view same as the above. (a) and (b) are perspective views of a first arm and a second arm, respectively. It is explanatory drawing which shows the holding operation same as the above. It is explanatory drawing about urging | biasing force change same as the above. It is explanatory drawing of composite operation | movement same as the above. It is sectional drawing of another example. It is sectional drawing same as the above. It shows an example of the stagnation drive operation, (a) is a time chart, (b) is an explanatory view of the vertical and width direction operation of the treatment element, (c) is an explanatory view of the vertical and forward and backward protruding direction operation of the treatment element. is there. It shows another example of the stagnation drive operation, (a) is a time chart, (b) is an explanatory diagram of the vertical and width direction operation of the treatment element, (c) is an explanatory diagram of the vertical and forward and backward protruding direction operation of the treatment element It is. FIG. 4 shows still another example of the stagnation driving operation, in which (a) is a time chart, (b) is an explanatory diagram of vertical and width direction operations of the treatment element, and (c) is an explanation of vertical and longitudinal protrusion direction operations of the treatment element FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1a Treatment element 1b Treatment element 13 1st arm 14 2nd arm A1 Actuator

Claims (14)

A vertical drive unit that travels and drives the movable unit in the vertical direction, a strength and weakness drive unit that moves the movable unit to change the amount of forward protrusion of the treatment element provided in the movable unit, and a horizontal direction of the treatment element provided in the movable unit A massage comprising: a width driving unit for changing the position; and a control unit that draws a required movement locus for the massage by combining the above-mentioned three-direction position changing operations of the treatment element by the control drive of these driving parts. Machine,
The treatment applicators provided respectively on each tip of the first arm and the second arm is rotatably supported by vertically provided on the movable unit, the first arm end is movable unit by rotating the arm A grip drive unit that changes the vertical distance between the treatment element of the first arm and the treatment element at the tip of the second arm ,
A unit of the first arm and the second arm provided with the treatment element and a grip driving unit is supported so as to be pivotable up and down within a predetermined angle with respect to the movable unit, and is swingable. And massage machine. It is characterized by comprising a biasing means for biasing the unit of the first arm and the second arm provided with the treatment element and the grip driving unit in a direction in which the treatment element side provided on the first arm protrudes forward. The massage machine according to claim 1.   The massage machine according to claim 1 or 2, wherein the first arm and the second arm are connected by an interlocking link.   The massage machine according to any one of claims 1 and 2, wherein the first arm and the second arm are rotatably supported on the same axis.   The massage machine according to any one of claims 1 to 3, wherein the first arm and the second arm are rotatably supported by different axes. The grip drive unit is connected to one arm, and the distance from the pivot center of the arm to the connection point between the arm and the grip drive unit is from the arm pivot center to the treatment element provided on the arm. The massage machine according to claim 5, wherein the massage machines are connected at a place longer than the distance .   The massage machine according to any one of claims 1 to 5, wherein the grip driving unit is configured to connect the first arm and the second arm to change a distance between the both arms.   The gripping drive unit can fix the interval between the treatment element at the tip of the first arm and the treatment element at the tip of the second arm in an arbitrary state. The listed massage machine.   The massage machine according to claim 1, wherein the grip driving unit is an actuator that expands and contracts by air pressure.   The massage machine according to claim 9, wherein the actuator that is the grip driving unit extends and contracts by air supply by an air pump and air suction and exhaust.   The massage machine according to any one of claims 1 to 10, wherein the width of the treatment element of the first arm located on the upper side is larger than the width of the treatment element of the second arm.   The massage machine according to any one of claims 1 to 11, wherein the grasping drive unit can operate simultaneously with at least one of the vertical drive unit, the strength drive unit, and the width drive unit.   The strength and weakness drive unit rotates the movable unit to change the protrusion amount of the treatment element, and when the protrusion amount is large, the gripper drive unit grips the treatment element so that the upper treatment element is the The massage machine according to any one of claims 1 to 12, wherein the shoulder is pressed from the front side, and the lower treatment element pushes the back of the human body from behind.   The strength and weakness drive unit rotates the movable unit to change the amount of protrusion of the treatment element, and when the protrusion amount is small, the grasping drive part is driven by the position of the upper and lower treatment elements in the front-rear direction. The massage machine according to any one of claims 1 to 12, wherein the massage is performed at substantially the same position.

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