JP7620316B2 - Massage machine - Google Patents

Description

The present invention relates to a massage machine.

Conventionally, massage machines have been proposed that allow the massage position, strength, and duration of a pre-stored massage course to be changed according to the preferences of the person being treated. (See, for example, Patent Document 1.)

JP 2006-263269 A

The massage machine disclosed in the above-mentioned Patent Document 1 has a problem in that the massage intensity and other factors are changed using a remote control-type operation unit, and the user must stand up from the backrest and look at the remote control to operate it, meaning that the massage course cannot be changed while in the position to receive a massage. Therefore, the present invention has been made to solve the above-mentioned problem, and aims to provide a massage machine that allows the user to change the massage course while remaining in the position to receive a massage.

The present invention provides a massage device having a plurality of massage units for treating a user, a control unit for controlling the massage units, a first operating device for operating the massage units via the control unit, and a second operating device provided separately from the first operating device and capable of operating at least some functions of the massage units, the control unit having a massage course composed of a plurality of motion blocks for operating at least one of the massage units in accordance with a preset program, and a memory unit for storing the massage course, the user can change at least one of the motion blocks using the second operating device while the massage course is being performed, the control unit stores the changed motion block in the memory unit, and applies the changes made to the changed motion block to other motion blocks that are the same as or similar to the motion block before the change in the massage course.
With this configuration, the massage course can be changed by the second operating device.

In addition, it is preferable that the motion block is provided for each treatment area of the massage unit, and when the treatment areas are the same or similar, the changed contents of the modified motion block are applied.
With this configuration, it is possible to change the massage section for each treatment area.

In addition, it is preferable that the motion block is provided for each technique of the massage unit, and when the techniques are the same or similar, the change contents of the changed motion block are applied.
By configuring in this way, it is possible to change the massage unit for each massage technique.

It is also preferable that the operation block is made up of a plurality of massage steps for operating the massage parts in a predetermined order.
By configuring in this way, changes can be made on a massage step basis.

It is also preferable that the second actuator is capable of being displaced from a neutral position, and that at least a portion of the operation block is changeable in response to the displacement of the second actuator from the neutral position by operation of the user.
With this configuration, the massage course can be changed by an intuitive operation of displacing the second operating device from the neutral position.

It is also preferable that the device has a lifting drive unit that enables the massage unit to be raised and lowered in the longitudinal direction of the body, and that the second operating device controls the lifting drive unit to enable the lifting position of the massage unit to be manipulated, and that the lifting position of the massage unit can be changed in the operation block.
With this configuration, it is possible to adjust the elevation position of the massage section in the motion block of a massage course.

In addition, it is preferable that the second operating device has a strength change means that can change the strength of the massage by the massage section, and that the second operating device can change the strength of the massage section by the strength change means in the operation block.
With this configuration, the strength of the massage portion in the motion block of the massage course can be adjusted.

It is also preferable that the second operating device has a technique changing means for changing the massage technique in the motion block, making it possible to change the massage technique in the motion block.
With this configuration, the massage technique can be changed.

It is also preferable that the present invention has a modification step capable of modifying the operation block, the modification step being capable of modifying the operation block within a predetermined time, and has an alarm unit for notifying a user, the alarm unit notifying the user that the modification step has started and/or that the predetermined time has elapsed.
By configuring in this way, it is possible to notify the user of the timing at which the action block can be changed.

It is also preferable that the method has a creation step capable of creating a new massage course, and the creation step causes the massage section of the operation block to perform operations in a predetermined order based on operation of the second operating device, and stores the operations in the memory section as a new massage course.
By configuring in this way, a new massage course can be created.

It is also preferable that the massage device has an alarm unit that notifies the user, and when the other action block to which the changes made to the changed action block are applied is started while the massage course is being executed, the alarm unit notifies the user that the other action block is about to be started.
By configuring in this manner, the user can know that another operation block to which the changed contents are applied will be executed, and the user can easily reconfirm the changes made in one operation block in the other operation block.

It is also preferable that the device further has a registration unit capable of registering multiple users, and a user selection unit capable of selecting a user from the users registered by the registration unit, and the memory unit is capable of storing the massage course for each user selected by the user selection unit.
With this configuration, changes in massage courses can be stored for each user.

According to the present invention, the user can change the massage course while remaining in the position in which he or she is receiving the massage.

1 is a perspective view of a massage machine according to an embodiment of the present invention. 1 is a block diagram of a massage machine according to an embodiment of the present invention. FIG. 2 is a side view illustrating the posture of the massage machine according to the embodiment of the present invention. 1 is a front view of a massage unit of a massage machine according to an embodiment of the present invention. 1A and 1B are cross-sectional views of a joystick according to an embodiment of the present invention, in which FIG. 1A is a view seen from the left side, and FIG. 1A is a cross-sectional view of a joystick according to one embodiment of the present invention as viewed from the left side, in which (a) is a diagram showing when it is displaced from the neutral position to the rear position, (b) is a diagram showing when it is displaced from the neutral position to the forward position, (c) is a diagram showing when it is displaced from the neutral position to the upward position, and (d) is a diagram showing when it is displaced from the neutral position to the downward position. 1A and 1B are cross-sectional views showing the state of a direction detection switch when a joystick according to one embodiment of the present invention is displaced in the forward/backward and upward directions, where (a) is a plan view when displaced from the neutral position to the rearward position, (b) is a plan view at the neutral position, (c) is a plan view when displaced from the neutral position to the forward position, (d) is a front view when displaced from the neutral position to the upward position, (e) is a front view at the neutral position, and (f) is a front view when displaced from the neutral position to the downward position. FIG. 4 is a flow diagram showing control of the massage machine according to one embodiment of the present invention. FIG. 4 is a flow diagram showing control of the massage machine according to one embodiment of the present invention. FIG. 2 is a plan view of an operation panel according to an embodiment of the present invention. FIG. 2 is a configuration diagram of an operation block according to an embodiment of the present invention. 1A and 1B are diagrams showing changes to operation blocks in one embodiment of the present invention, in which (a) is the initial state of operation block b, (b) is the state after changes have been made to operation block b1, and (c) is the state after the changes made to operation block b1 have been applied to operation block b3.

[Configuration of the massage machine according to one embodiment]
The overall configuration of the massage machine 1 according to one embodiment of the present invention will be described below. FIG. 1 is a front perspective view of the massage machine 1 according to one embodiment of the present invention. Note that external parts such as sewn products are omitted. FIG. 2 is a block diagram of the massage machine 1 according to one embodiment of the present invention. FIG. 3 is a side view explaining the posture of the massage machine 1 according to one embodiment of the present invention. FIG. 4 is a front view of the massage unit 8 of the massage machine 1 according to one embodiment of the present invention. FIG. 5 is a cross-sectional view of the joystick 102 according to one embodiment of the present invention, where (a) is a view seen from the left side, and (b) is a view seen from the rear. FIG. 6 is a cross-sectional view of the joystick 102 according to one embodiment of the present invention seen from the left side, where (a) is a view showing the joystick 102 when displaced from the neutral position to the rear position, (b) is a view showing the joystick 102 when displaced from the neutral position to the forward position, (c) is a view showing the joystick 102 when displaced from the neutral position to the upper position, and (d) is a view showing the joystick 102 when displaced from the neutral position to the lower position. 7A and 7B are cross-sectional views showing the state of the direction detection switch 117 when the joystick 102 according to an embodiment of the invention is displaced in the forward/backward and up/down directions, where (a) is a plan view when displaced from the neutral position to the rearward position, (b) is a plan view at the neutral position, (c) is a plan view when displaced from the neutral position to the forward position, (d) is a front view when displaced from the neutral position to the upward position, (e) is a front view at the neutral position, and (f) is a front view when displaced from the neutral position to the downward position. FIG. 10 is a plan view of the operation panel 103 according to an embodiment of the present invention.
The concept of direction is defined as follows: as viewed from a user seated on massage machine 1, the head side in the height direction is "up", the waist side in the height direction is "down", the direction facing the front side of the body (e.g., the face, chest, abdomen, or shin) is "front", the direction facing the back side of the body (e.g., the back of the head, back, waist, or calf) is "back", the left hand side is "left", and the right hand side is "right", and other cases will be explained as appropriate.

[Overall configuration of the massage machine]
As shown in Fig. 1 to Fig. 4, the massage machine 1 according to the first embodiment of the present invention mainly includes a seat 2 on which a user sits, a backrest 3 on which the user leans, which is provided at the rear of the seat 2 so as to be reclined, a footrest 4 on which the user's lower limbs are supported, which is provided at the front of the seat 2 so as to be able to swing up and down, and armrests 6 on both the left and right sides of the seat 2. The seat 2, the backrest 3, the footrest 4, and the armrests 6 function as a body support section that supports the body of the user. Each of the body support sections 2 to 4, 6 is provided with a massage section 15 that includes an air cell 20 (to be described later) and a vibrator 21 (to be described later) that massages the body of the user. The massage machine 1 also includes a massage unit 8 as the massage section 15 that performs a kneading massage and/or a tapping massage on the backrest 3, a control section 9 that controls each operation of the massage machine 1, and a controller 10, which is a first operating device that allows the user to perform various operations, which will be described later. In addition, a pillow portion (not shown) for supporting the user's head and/or neck may be provided on the upper front surface of the backrest portion 3.

2 and 3, the backrest 3 is configured to be reclined forward and backward relative to the seat 2 by a first actuator 31 provided below the seat 2, and can be changed from the standing position shown in FIG. 1 to a reclined position in which the backrest surface is approximately horizontal. The armrests 6 may be configured to move in conjunction with the reclining of the backrest 3. The footrest 4 is configured to be swingable up and down relative to the seat 2 by a second actuator 41 provided below the seat 2, and can be changed from a hanging position in which the footrest 4 hangs down to an elevated position in which the lower legs and feet are supported with the knees extended. The backrest 3 and the footrest 4 may be linked to each other, and a single actuator may be used to achieve reclining of the backrest 3 and swinging of the footrest 4.

1 and 2, the seat 2 has walls 22 on both sides thereof, facing the outer surfaces of the buttocks and/or thighs of the user. The walls 22 are erected upward on the sides of the seat. The inner surfaces of the walls 22 are provided with buttock massage sections a4 for massaging the outer surfaces of the buttocks and/or thighs. The inner walls of the armrests 6 on both sides of the seat 2 may be used as the walls 22, in which case the buttock massage sections a4 may be provided on the inner walls of the armrests 6. The seat 2 also has buttock massage sections a5 for massaging the buttocks and/or thighs of the user from below (the back surface). The buttock massage sections a4 and a5 are made of air cells 20 that expand and contract by supplying and discharging air. In this way, the buttock massage sections a4 and a5 are paired on the left and right. The left and right sides can be controlled independently by the control unit 9.

2 and 3, below the seat 2, there is provided an air supply/exhaust device 13 having a pump 13a and a valve 13b for supplying and exhausting air to each massage section a1 to a5 consisting of an air cell 20, and the above-mentioned control section 9. A vibrator 21 driven by a motor may be provided at the same location as each massage section a1 to a5. The air cell 20 can press the user by supplying and exhausting air. The vibrator 21 can apply vibration to the user by rotating an eccentric weight. The control section 9 has a programmable microcomputer or the like, and drives and controls each actuator 31, 41, massage unit 8, and air supply/exhaust device 13. The control section 9 is electrically connected to a controller 10 and a memory section 50. The massage machine 1 operates according to a preset program (massage course C) stored in the memory section 50, and also operates according to instructions from the controller 10 and the second operating device 101 by the user. It is preferable that the control section 9 stores multiple types of massage courses. As shown in Figures 1 and 2, the controller 10 is provided with an operation unit consisting of buttons and the like for selecting or executing massage course C.

[Configuration of the backrest]
As shown in Figs. 1 and 4, the backrest 3 is composed of a rigid back frame 3a, a guide rail 18 for guiding the up-down movement of the massage unit 8, which is the massage unit 15 attached to the back frame 3a, and a cover member (not shown) for covering the back frame 3a. The back frame 3a is composed of a metal member and/or a resin member. The back frame 3a has an opening 3b formed in the center of the left and right sides and opening in the front-rear direction, and is approximately gate-shaped when viewed from the front. The cover member (not shown) covers the opening 3b from the front. The massage head 62 of the massage unit 8 protrudes forward from the opening 3b, and the user's torso can be massaged from the rear through the cover member (not shown).

[Massage unit configuration]
The configuration of the massage unit 8 will now be described.
As shown in Figs. 1, 2 and 4, the backrest 3 is provided with a massage unit 8 that massages the upper body of the user from the rear (back). A plurality of massage units 8 (one in this embodiment) may be provided along the height direction. The massage unit 8 is composed of a pair of arms 61 on the left and right and treatment members 62 provided at both upper and lower ends of the arms 61, and can perform a kneading action in which the left and right treatment members 62 approach and move away from each other by driving the massage motors M1 and M2, and a tapping action in which the left and right treatment members 62 move alternately toward and away from the user. In addition, the massage unit 8 can be moved upward or downward along the height direction by driving the lifting motor M3 to change its position relative to the body or perform a rolling massage. The back frame 3a is provided with a pair of guide rails 18 extending along the height direction, and the massage unit 8 moves along the guide rails 18. Since the massage unit 8 is movable in the height direction, the massage elements 62 can massage the area between the user's neck and waist.

As shown in FIG. 4, the massage unit 8 has a base frame 60a and a movable frame 60b supported by the base frame 60a. The base frame 60a has guide rollers 63 that fit into the guide rails 18 on both the left and right sides. The base frame 60a can move along the height direction by a lifting mechanism (not shown) consisting of a rack and pinion or the like. The movable frame 60b is supported by the base frame 60a via a left-right swing shaft 64. Between the base frame 60a and the movable frame 60b, a forward/backward drive unit 65 consisting of an air cell or the like is provided. The forward/backward drive unit 65 drives the movable frame 60b to move forward and backward around the swing shaft 64. Note that the structure does not have to move the movable frame 60b forward and backward, and the forward/backward drive unit 65 may be provided on the arm 61 to move only the arm 61 forward and backward.

The arm 61 is connected to the kneading shaft 66 and the beating shaft 67 that extend in the left-right direction. On both the left and right sides of the kneading shaft 66, an inclined cam 66a having an inclined shaft portion 66b is provided, and the arm 61 is attached to this inclined cam 66a. The left and right inclined shaft portions 66b are inclined with respect to the axis of the kneading shaft 66 so as to be approximately V-shaped when viewed from the front. On both the left and right sides of the beating shaft 67, an eccentric cam 67a having an eccentric shaft portion 67b eccentric with respect to the axis of the beating shaft 67 is provided, and the arm 61 is attached to this eccentric cam 67a via a connecting rod 68. The left and right eccentric shaft portions 67b have different phases with respect to the axis of the beating shaft 67, specifically, they differ by 180 degrees. The kneading shaft 66 and the beating shaft 67 are rotated by the drive of the massage motors M1 and M2, respectively. The treatment element 62 performs a kneading action by rotating the kneading shaft 66, and can provide a kneading massage to the user. The treatment element 62 also performs a tapping action by rotating the tapping shaft 67, and can provide a tapping massage to the user. In addition, the treatment element 62 performs a kneading and tapping action by rotating the kneading shaft 66 and the tapping shaft 67, and can provide a kneading and tapping massage to the user. By combining the kneading action with the drive of the forward and backward drive unit 65, a finger pressure action can be performed to provide a finger pressure massage to the user. The arm 61 on which the treatment element 62 is provided, the kneading shaft 66, and the tapping shaft 67 are supported by the movable frame 60b. Therefore, the treatment element 62 can be advanced and retreated relative to the user by advancing and retreating in the forward and backward directions of the movable frame 60b.

The arm 61 can swing back and forth, and is biased by a biasing means (not shown) such as a spring so that the upper treatment piece 62 protrudes forward. The massage unit 8 also has a sensor 69 that detects the user's physical information. The sensor 69 can obtain physical information by detecting that the arm 61 has reached a predetermined swing position. To be more specific, when the upper treatment piece 62 reaches above the shoulder in the process of raising the massage unit 8 along the height direction, the load acting on the treatment piece 62 is released, and the arm 61 swings forward to a predetermined swing position. The sensor 69 detects that the arm 61 has reached the predetermined swing position, and detects the position of the shoulder based on the vertical position of the massage unit 8 at that time. Using the position of the shoulder as a reference, the positions of other parts (neck, back, waist, etc.) are calculated. The detected physical information is stored in the memory unit 50, which will be described later.

The massage unit 8 is also provided with a sensor 70 that directly or indirectly detects the stiffness of the user's body parts. The sensor 70 indirectly detects the stiffness of the body by detecting the rotation speed of the massage motors M1 and M2. The stiffness of the user's body appears as a change in the rotation speed of the massage motors M1 and M2. That is, when the kneading and tapping operations are performed on the user's body parts by the rotation of the kneading shaft 66 and the tapping shaft 67, the rotation speed of the massage motors M1 and M2 is controlled to match the target rotation speed, but in the stiff parts of the body, the rotation speed of the massage motors M1 and M2 is not the target rotation speed, but is slower than the target rotation speed. If the rotation speed of the massage motors M1 and M2 matches the target rotation speed, the stiffness of the body is considered to be a predetermined value, but if the rotation speed of the massage motors M1 and M2 is lower than the target rotation speed, the stiffness of the body is considered to be equal to or higher than the predetermined value. Therefore, the stiffness of the body can be detected from the change in the rotation speed.

[Armrest configuration]
1, armrests 6 for supporting the user's hands and forearms are provided on both the left and right sides of the seat 2. A joystick 102, which is one of second operating devices 101 separate from a controller 10 (described later), is provided on the hand side of the right armrest 6.

[Footrest configuration]
1 and 3, the footrest 4 has a pair of left and right leg support parts 40 that support the lower legs of a user, and a pair of left and right foot support parts 41 that support the feet of the user. The leg support parts 40 have a bottom wall 40a provided opposite the back surface of the lower legs of the user, side walls 40b erected forward from both left and right ends of the bottom wall 40a, and a central wall 40c erected forward from the center of the left and right sides of the bottom wall 40a.

The inner surface of the side wall 40b is provided with a leg massage section a1 that massages the outer surface of the lower leg. The outer surfaces of both sides of the central wall 40c are provided with a leg massage section a1 that massages the inner surface of the lower leg. The bottom wall 40a is provided with a leg massage section a2 that massages the back of the user's lower leg. The leg massage sections a1 and a2 are composed of air cells 20 that expand and contract by supplying and discharging air. The leg massage section a1 is paired on the left and right, with the leg massage section a1 facing the inner surface of the lower leg and the leg massage section a1 facing the outer surface of the lower leg. The leg massage section a2 is paired on the left and right, with the leg massage section a2 facing the back of the left lower leg across the central wall 40c, and the leg massage section a2 facing the back of the right lower leg across the central wall 40c. The leg massage sections a1 and a2 can be controlled independently on the left and right sides by the control section 9.

The foot support section 41 is provided with a pair of foot massage sections a3 that massage the user's feet. The left and right foot massage sections a3 can be controlled independently by the control section 9. The foot massage sections a3 are made up of air cells 20 that expand and contract by supplying and exhausting air.

[Configuration of the first controller]
As shown in FIG. 1 and FIG. 2, the armrest 6 is provided with a controller 10 connected by a wire, and the user can operate it while seated. The controller 10 has a screen 10a that the user can visually confirm, a touch panel 10b that the user operates with his/her fingertips on the screen 10a, physical buttons 31 that the user operates by pressing, and a voice recognition unit 32 that recognizes and operates the user's voice using a microphone (not shown). By operating the controller 10, the backrest 3 can be reclined to change the posture, and the footrest 4 can be swung up and down to change the posture. In addition, the massage unit 8 and each massage part a1 to a5 to be operated can be selected, and the operation (technique or strength, etc.) of the massage unit 8 and each massage part a1 to a5 can be changed. A selection unit (not shown) is displayed on the screen 10a of the controller 10, and the user can select a massage course C based on a preset program by operating the touch panel 10b. The controller 10 may be connected wirelessly.

Instead of using the touch panel 10b, the user may use only the physical buttons 31 or the voice recognition unit 32 using a microphone installed in the controller 10. In this way, the user can easily select the massage course C.

The controller 10 also has an alarm unit 33. The alarm unit 33 may be the above-mentioned screen 10a, or may be a speaker (not shown) or an LED lamp (not shown) installed in the controller 10. By displaying characters and figures on the screen 10a, it is possible to make announcements regarding the massage machine 1 and the massage course C to the user. The alarm unit 33 does not need to be provided in the controller 10, and may be configured to be able to notify the user. For example, it may be provided inside the second operating device 101 or the massage machine 1.

[Configuration of the second controller (joystick)]
1, 2, 5 to 7, and 10, a second operating device 101 separate from the controller 10 is provided on the upper part of the armrest 6. The second operating device 101 has a joystick 102 that can be held by the user, and an operation panel 103 provided behind the joystick 102 and on the upper surface of the armrest 6, and the operation panel 103 is provided with physical buttons 104. In addition, a massage speed control unit 105 and a tapping speed control unit 106 are provided on the upper part of the joystick 102.

6A and 6B are cross-sectional views of the joystick 102 according to an embodiment of the present invention as viewed from the left side, in which (a) is a diagram showing the joystick 102 when displaced from the neutral position to the rear position, (b) is a diagram showing the joystick 102 when displaced from the neutral position to the forward position, (c) is a diagram showing the joystick 102 when displaced from the neutral position to the upward position, and (d) is a diagram showing the joystick 102 when displaced from the neutral position to the downward position. The joystick 102 is in the neutral position shown in Fig. 5A in the initial state, and can be operated in the forward and backward directions from the neutral position and can be operated in the up and down directions from the neutral position. Specifically, as shown in Fig. 6, the joystick 102 has a rear position (see Fig. 6(a)) where the joystick 102 is displaced rearward from the neutral position, a forward position (see Fig. 6(b)) where the user displaces the joystick 102 forward from the neutral position, an upper position (see Fig. 6(c)) where the joystick 102 is displaced upward, and a lower position (see Fig. 6(d)) where the joystick 102 is displaced downward, and the joystick 102 can be operated to each position from the neutral position. The joystick 102 is biased toward the neutral position by biasing means 120, 121 such as springs described later, and is configured to automatically return to the neutral position by the biasing means 120, 121 when the user releases the joystick 102 while it is displaced from the neutral position.
The biasing means 120 biases the joystick 102 from the upper and lower positions to the neutral position, and the biasing means 121 biases the joystick 102 from the forward and backward positions to the neutral position. The second operating device 101 has a direction detection switch 117, which is a displacement detection unit that detects whether the position of the joystick 102 is displaced from the neutral position in either the forward or backward direction or the up and down direction, and outputs a signal to the control unit 9 to execute control corresponding to the displacement for the massage unit 8 while the direction detection switch 117 detects that the joystick 102 is displaced in either direction. In this embodiment, the direction is the forward and backward direction and the up and down direction, but the joystick 102 may be displaced from the neutral position to the left and right direction, or a ball joint or the like may be provided at the lower part of the joystick 102 to rotate the joystick 102 around the neutral position.

In this embodiment, when the joystick 102 is operated in the forward/rearward direction from the neutral position, the forward/rearward drive section 65 of the massage unit 8 is driven to move the massage unit 8 forward/rearward. That is, when the joystick 102 is operated to the forward position, the massage unit 8 advances toward the user, and when the joystick 102 is operated to the rearward position, the massage unit 8 retreats toward the user.
When the joystick 102 is operated in the up or down direction from the neutral position, the lifting motor M3 of the massage unit 8 is driven to move the massage unit 8 up or down along the height direction. That is, when the joystick 102 is operated to the upper position, the massage unit 8 moves upward along the height direction, and when the joystick 102 is operated to the lower position, the massage unit 8 moves downward along the height direction.
The forward/backward movement and the upward/downward movement of the massage unit 8 are performed at a constant speed while the joystick 102 is being operated, and the movement can be stopped by returning the joystick 102 to the neutral position. Therefore, when the user wants to adjust the massage unit 8 forward/backward and upward/downward, the user can operate it by moving the joystick 102 in approximately the same direction, which allows intuitive operation and improves operability.

In this embodiment, the massage unit 8 moves at a constant speed while the joystick 102 is being operated, but the speed may be changed according to the amount of displacement of the joystick 102. For example, the greater the displacement of the joystick 102 from the neutral position, the faster the movement speed of the massage unit 8 is increased, and the smaller the displacement of the joystick 102 from the neutral position, the slower the movement speed of the massage unit 8 is decreased, allowing for more intuitive operation and fine adjustments. In addition, the amount of movement of the massage unit 8 may be changed according to the amount of displacement when the joystick 102 is operated once, regardless of the length of time the joystick 102 is being operated.

As shown in FIG. 10, the physical buttons 104 provided on the operation panel 103 include a change start button 107 which is a change start means for starting a change to the massage course C, a repeat button 108 for repeating the massage action currently being performed, a narrow button 109 located on the inside as seen by the user, a wide button 110 located on the outside as seen by the user, a memory button 111 for storing the change to the massage course C, and a user selection section 118 for selecting the user using the massage machine 1.

The change start button 107, the memory button 111, and the user selection section 118 will be described later in the section on changing the massage course C. The repeat button 108 can be pressed during operation of each of the operation blocks B described later to perform the operation of that operation block B again. The narrow button 109 and the wide button 110 can adjust the left and right width of the treatment element 62 of the massage unit 8. Pressing the narrow button 109 narrows the left and right width of the treatment element 62 to a narrow state, and pressing the wide button 110 widens the left and right width of the treatment element 62 to a wide state. Note that by pressing the wide button 110 in the narrow state or pressing the narrow button 109 in the wide state, the left and right width of the treatment element 62 can be returned to the initial width interval. Note that while the left and right width of the treatment element 62 is being adjusted by the narrow button 109 or the wide button 110, the massage unit 8 does not perform a treatment operation. Additionally, the width of the massage unit 8 may be adjusted depending on the length of time that the narrow button 109 and the wide button 110 are pressed.

The kneading speed control unit 105 and the tapping speed control unit 106 provided on the top of the joystick 102 are configured as push button switches. By pressing the kneading speed control unit 105 once, the speed of the kneading operation of the massage unit 8 increases by one step. By pressing the tapping speed control unit 106 once, the speed of the tapping operation of the massage unit 8 increases by one step. By repeatedly pressing the kneading speed control unit 105 and the tapping speed control unit 106 twice or three times, the speed increases. This allows the speed of the kneading operation and the tapping operation to be adjusted. Furthermore, when the kneading speed control unit 105 or the tapping speed control unit 106 is pressed at the fastest speed, the notification unit 33 notifies the user that the kneading operation or the tapping operation is at its fastest speed. By pressing the kneading speed control unit 105 or the tapping speed control unit 106 again after the notification, the speed may be switched to the slowest speed. Also, instead of a push button type, a dial type may be used so that adjustment can be made by turning the dial. In this way, it becomes possible to adjust not only the speed up but also the speed down with one button. Also, it is possible to adjust to the desired speed with a single operation. Although the speed is increased each time the massage speed control unit 105 or the tapping speed control unit 106 is pressed, it is also possible to configure the speed to decrease instead. Also, the massage speed control unit 105 and the tapping speed control unit 106 may be integrated to control the speed of both the massage action and the tapping action. In this case, the speed of the massage action will be controlled if a massage action is in progress, and the speed of the tapping action will be controlled if a tapping action is in progress.

In addition, the massage speed control unit 105 and the tapping speed control unit 106 may be used as a technique changing means for changing the technique of the massage unit 15 by pressing them. For example, pressing the tapping speed control unit 106 during a massage operation changes the massage operation to a tapping operation, and pressing the massage speed control unit 105 during a tapping operation changes the tapping operation to a massage operation. In this way, the user can select the massage operation or the tapping operation that he or she prefers.
In addition, a button as a technique changing means for changing the technique may be further provided on the joystick 102 or the operation panel 103. This allows the technique of the massage unit 8 to be changed to a technique other than the kneading action and the tapping action (for example, a rubbing massage).

As shown in Figures 5 to 7, the joystick 102 has a joystick main body 112 which is the outer part of the joystick 102 held by the user, and as an inner part, an up-down movable part 113 which is arranged so as to be movable in the up-down direction, and a front-back movable part 114 which is connected to the up-down movable part 113 and is movable in the front-back direction.
The vertical movable part 113 is provided with a vertical regulating part 115 that regulates the movement in the vertical direction. The vertical regulating part 115 has a regulating shaft 115a and a guide part 115b that is provided as an elliptical opening in the vertical direction so as to regulate the movement range of the regulating shaft 115a. The regulating shaft 115a is configured to be movable within the guide part 115b.
The front-rear movable part 114 is provided with a connecting part 122, which is an axis provided relatively above and connected to the up-down movable part 113, a front-rear movable shaft 123 provided relatively below the front-rear movable part 114 so as to be movable in the front-rear direction, and a front-rear regulating part 116 located between the connecting part 122 and the front-rear movable shaft 123 and regulating the movement of the front-rear movable shaft 123 in the front-rear direction. The front-rear regulating part 116 has a regulating shaft 116a fixed to the front-rear movable part 114, and a guide part 116b provided as an elliptical opening in the front-rear direction so as to guide the regulating shaft 116a. A direction detection switch 117 capable of inputting in the up-down direction and the front-rear direction is provided as a displacement detection part on the left and inner side surface 112a of the joystick main body 112. A base part 117a of the direction detection switch 117 is fixed to the side surface 112a. A tip 117b of the direction detection switch 117 protrudes to the right, and the vertically movable part 113 has a recess 113b constituted by a wall part 113a erected so as to surround the tip 117b in the up-down and front-rear directions.

When a user grips the joystick body 112 and displaces it forward or backward, the joystick body 112 and the front-rear movable part 114 move forward or backward within a displacement amount regulated by the front-rear regulating part 116. The direction detection switch 117 has a base 117a which moves in the same direction as the front-rear movable part 114 in conjunction with the front-rear movement of the front-rear movable part 114.
In other words, the front-rear movable part 114 and the tip part 117b move forward and backward in opposite directions and collide with the front or rear part of the wall part 113a, so that a front-rear input is performed in the direction opposite to the front-rear movement direction of the front-rear movable part 114.
Therefore, as shown in FIG. 7(a), when the joystick 102 is displaced from the neutral position in FIG. 7(b) to the rear position in FIG. 7(a), the tip 117b of the direction detection switch 117 is pressed against the rear portion of the wall portion 113a, and the tip 117b is deformed forward, making it possible to detect that the joystick 102 has been operated to the rear position.
Conversely, as shown in FIG. 7(c), when the joystick 102 is displaced from the neutral position in FIG. 7(b) to the forward position in FIG. 7(c), the tip 117b of the direction detection switch 117 is pressed against the front part of the wall portion 113a, and the tip 117b is deformed backward, making it possible to detect that the joystick 102 has been operated to the forward position.

On the other hand, when the user grips the joystick body 112 and displaces it upward or downward, the joystick body 112 and the vertically movable part 113 move up and down by an amount of displacement within the range regulated by the vertical regulation part 115. The direction detection switch 117 moves up and down within the recess 113b as the tip 117b moves in the same direction in conjunction with the vertical movement of the vertically movable part 113, and is pressed against the upper or lower part of the wall part 113a, whereby the tip 117b is deformed and an input in the vertical direction is performed.
In other words, as shown in FIG. 7(d), when the joystick 102 is operated from the neutral position in FIG. 7(e) to the upper position in FIG. 7(d), the tip 117b of the direction detection switch 117 is pressed against the lower part of the wall portion 113a, and the tip 117b is deformed upward, making it possible to detect that the joystick 102 has been operated to the upward position.
Conversely, as shown in FIG. 7(f), when the joystick 102 is operated from the neutral position in FIG. 7(e) to the downward position in FIG. 7(f), the tip 117b deforms downward, making it possible to detect that the joystick 102 has been operated to the downward position.

In this embodiment, the input to the direction detection switch 117 is determined only based on whether or not an input is being made in the up/down and forward/backward directions, but the amount of input may be changed according to the amount of displacement in the up/down and forward/backward directions. In this way, it becomes possible to perform operations according to the amount of displacement of the joystick 102 in each direction, allowing for more precise operation.

As shown in FIG. 6, the connecting portion 122 and the regulating shaft 115a are connected by a biasing means 120 such as a spring that biases them toward the neutral position, and the regulating shaft 116a and the forward/backward movable shaft 123 are connected by a biasing means 121 such as a spring that biases them toward the neutral position. As a result, when the joystick 102 is displaced upward or downward, the biasing means 120 applies a force to bias it toward the neutral position, and when the user releases the joystick 102, it is returned to the neutral position. Similarly, when the joystick 102 is displaced forward or backward, the biasing means 121 applies a force to bias it toward the neutral position, and when the user releases the joystick 102, it is returned to the neutral position.

[User Memory]
The massage machine 1 has a registration unit 119 capable of registering a user of the massage machine 1. A plurality of user data U can be registered in the registration unit 119, such as user data U1, user data U2, user data U3, . . . The registration unit 119 is configured to allow input of personal data of the user using the controller 10, and stores the inputted contents in the storage unit 50. The personal data is personal information such as the user's name, sex, height, weight, etc.
For example, when a user registers user data U1, the user follows the instructions displayed on screen 10a to input and register personal data such as the user's name, sex, height, weight, etc. using touch panel 10b or physical buttons 31.
The memory unit 50 has registered therein a plurality of body type patterns (e.g., six patterns of thin, normal, and obese for men and women) estimated from gender, height, weight, etc. By applying the body type of the user to the body type pattern from the input personal data, the position of the massage unit 8 and the strength of the treatment of the massage section 15 can be adjusted. Here, the strength of the treatment refers to parameters related to the user's bodily sensation of the massage, such as the amount of extrusion, the amount of expansion, the speed, the number of times, and the length of time of the treatment of the massage section 15. For example, in the case of an obese body type pattern, the amount of extrusion is increased to allow the treatment element 62 of the massage unit 8 to reach the depths of the body, and the expansion amount of the air cell 20 is suppressed to avoid a feeling of pressure, so that a treatment suited to the body type can be performed.

When using the massage machine 1, the user can select the user data U registered in the registration unit 119 by using the user selection unit 118. Specifically, the user selection unit 118 is composed of buttons provided for each piece of user data U, such as user data U1, user data U2, and user data U3. This can save the user the trouble of inputting his/her own personal data every time. Only one button can be provided in the user selection unit 118, and the user can be switched depending on the number of times the button is pressed. After pressing the button in the user selection unit 118, the name of the user data U (user data U1, user data U2, etc.) and the personal data can be displayed on the screen 10a or notified by the notification unit 33. The user data U displayed on the screen 10a can be selected by switching users by operating the joystick 102.

The storage unit 50 can also store changes to the massage course C for each piece of user data U registered in the registration unit 119. This can eliminate the need for the user to change the content of the massage course C to suit themselves each time they use the massage machine 1. In order to simplify the functions and make the massage machine 1 less expensive, the massage machine 1 may be configured not to require input of personal data. In this case, the manufacturer will register the data in the registration unit 119 in advance, and the user will simply need to select the user data U of their choice as their own data in the user selection unit 118.

[Change massage course]
Fig. 8 is a flow diagram showing the control of a massage machine according to an embodiment of the present invention. Fig. 11 is a configuration diagram of an operation block according to an embodiment of the present invention. Fig. 12 is a diagram showing the state of change of an operation block according to an embodiment of the present invention, where (a) is the initial state of operation block b, (b) is a state in which a change is made to operation block b1, and (c) is a state in which the change made to operation block b1 is applied to operation block b3.
By pressing the change start button 107 provided on the operation panel 103 while the massage course C is being executed, the user can switch to a change mode for changing the content of the currently executed massage course C. Hereinafter, the change mode of the massage course C will be described with reference to FIG.

The user selects his/her own user data U from the user data U registered in the registration unit 119 by the user selection unit 118 (step S1). This allows the user to use various massage courses C stored in the selected user data U.
Following step S1, the user selects an arbitrary massage course C with the joystick 102, and the selected massage course C is started (step S2). Specifically, a plurality of massage courses C are displayed on the screen 10a, and an arbitrary massage course C is selected using the joystick 102. When an arbitrary massage course C is selected, a shoulder position detection step is performed to detect the shoulder position of the user. When the shoulder position detection step is performed, it is preferable that the massage machine 1 is in an upright position. Also, when personal data is input in the user data U, it is preferable that the massage machine 1 is configured to move to a shoulder position estimated from the personal data. After that, a series of massages according to the massage course C is performed.

Following step S2, a change step that allows the massage unit 15 to be changed is started (step S3). Here, as shown in FIG. 11, the massage course C is composed of a series of motion block groups B consisting of a plurality of motion blocks b1, b2, b3, ... that operate the massage unit 15. Furthermore, the motion block b is composed of a plurality of massage steps that are operated in a predetermined order, and a preparation time for preparing the motion of the motion block b, a changeable time that allows changes to be made to the motion block b, and a transition time for moving to the next motion block b are each provided for a predetermined time. In the case of FIG. 11, the massage steps of the motion block b1 are executed sequentially, and first, in the preparation time for performing the massage motion in the motion block b1, the massage unit 8 is moved and shoulder position detection is performed. After that, various massage motions are executed, and a changeable time that allows changes to be made to the motion block b1 is started. Then, a transition time for moving to the next motion block b2 is started. Here, the changeable time ends, and the user is notified by the notification unit 33 that the motion block b2 will be moved to the next motion block b2.
While the operation block b is in the changeable time, the notification unit 33 notifies the user that the changeable time is available. The user switches to a change mode for changing the operation block B by using the change start button 107 during the changeable time. In the change mode, the user can change the operation of the massage unit 15 using the joystick 102 or the operation panel 103 of the second operating device 101, and the change mode is maintained until the user presses the change start button 107 again or the changeable time ends. For example, the user can change the strength of the massage by displacing the joystick 102 in the forward and backward directions, change the position of the massage unit 8 by displacing the joystick 102 in the upward and downward directions, or change the speed of the massage and tapping by the kneading speed control unit 105 and the tapping speed control unit 106. In addition, the user can press the repeat button 108 on the operation panel 103 to perform the operation of the operation block b again in the next operation block b, or extend the treatment time of the operation block b. The narrow button 109 and the wide button 110 can be used to change the interval between the pair of treatment elements 62 of the massage unit 8 to narrower or wider. When the interval is changed to the narrowest or widest state, the notification unit 33 may be used to notify the user. The time during which the interval can be changed may be set in advance for each operation block b, or may be a fixed time (e.g., 5 minutes) from the start of the change.
Following step S3, the change mode ends, and the operation contents of the operation block b of the massage course C stored in the memory unit 50 are updated to the operation contents of the operation block b after the change (step S4). Then, the process transitions to the next operation block b, and returns to step S3. This process is repeated until the series of operation blocks b is completed. When the series of operation blocks b is completed, the backrest 3 is raised, the footrest 4 is lowered, and the massage unit 8 is moved to a predetermined position, completing the massage course C (step S5).

In the above embodiment, the massage course C is updated every time the change mode is ended, but the user may select to update the massage course C. For example, a series of changes may be recorded by pressing the memory button 111 after the massage course C is ended, or the changes may be stored by pressing the memory button 111 after the change mode in each operation block b is ended. In this way, when the user is unable to make the changes as he or she wishes, it is possible to prevent the content of the operation block b from being updated with the changes. In addition, a reset button (not shown) that returns the changes to the initial state for each operation block b or each massage course C may be provided on the controller 10 or the second operating device 101. In addition, the memory button 111 and the change start button 107 may be one button. In this way, the number of buttons to be operated can be reduced, making operation easier.

Motion blocks b may also be provided for each treatment area. For example, motion block b1 may be a massage for the back, motion block b2 may be a massage for the legs, and so on, with each motion block b focusing on massaging that treatment area. In this way, the user only needs to adjust the massage for one treatment area, making it easier to change the massage course C.

The action block b may also be provided as a group for each technique of the massage unit 15. For example, by providing an action block b for each technique to be performed on the user, such as action block b1 for kneading massage, action block b2 for tapping massage, action block b3 for rubbing massage, etc., the user can adjust the massage for each technique. However, this is not limited to this, and action blocks b may be provided to suit various massage machines.

Also, as shown in FIG. 12, if there is another motion block b in the massage course C that is the same as the original motion of the changed motion block b, it is preferable to apply the change made to the motion block b to the other motion blocks b after the change of the motion block b. For example, as shown in FIG. 12(a), there are motion blocks b1, b2, b3, ..., where motion blocks b1 and b3 are the same, and b2 has a different motion content. Also, it is assumed that the position, extrusion amount, and speed of the massage unit 8 can be set to 1 to 10. As shown in FIG. 12(b), if the position, extrusion amount, and speed of the massage unit 8 of the motion block b1 are changed from the original values of 1, 1, and 1 to 2, 3, and 4, respectively, as shown in FIG. 12(c), the position, extrusion amount, and speed of the massage unit 8 of b3 are changed from the original values of 1, 1, and 1 to 2, 3, and 4, respectively, which are the same as b1. Note that if there is a motion content identical to that of the motion block b1 after b3, it is changed in the same way as b3.
In this way, the trouble of applying the same change to all other motion blocks b is eliminated. Note that motion block b and other motion blocks b do not have to be completely identical, and when a certain element in motion block b is the same, such as a massage technique such as a kneading motion or a tapping motion, or a treatment site such as a shoulder or a back, for example, motion block b and other motion blocks b are determined to be similar, and the change content of motion block b may be applied.
For example, when judging based on the manual technique, when the strength of the massage action in action block b that performs a massage action is changed, the same change is applied to the strength of the massage action in action block b that performs other massage actions; when judging based on the treatment area, when the strength of the shoulder massage in action block b that treats the shoulder is changed, the same change is applied to the shoulder massage in other action blocks b that treat the shoulder.
In addition, a combination of motion blocks b that the manufacturer considers to be similar or desirable to change together may be determined as a similar motion block b. For example, a motion block b of a neck massage and a motion block b of a shoulder massage may be determined to be similar, or a motion block b of a shoulder massage and a motion block b of a waist massage may be determined to be similar, so that massages in nearby treatment areas may be determined to be similar and adjusted together.
Also, only certain adjustments may be treated as similar. For example, with respect to the adjustment of the elevation position of the massage unit 8, the motion blocks b of each treatment part from the motion block b for massaging the neck to the motion block b for massaging the lower back are treated as similar. In this case, based on the change in the treatment position of the shoulder, the elevation positions of the massage unit 8 for related treatment parts such as the neck and lower back can also be changed.

When another action block b to which changes have been applied is started, the notification unit 33 may notify the user that an action block b to which the action content changed by the user is applied is about to start. In this way, the user knows that the next action block b to be performed is one to which the user has made changes, and can reconfirm whether the results of the changes he or she made are satisfactory.

[Create a new massage course]
In addition, the massage machine 1 may have a creation mode for creating a new massage course C1 in addition to the massage course C stored in advance. In this case, a play button 125 for playing the newly created massage course C1 stored in the storage unit 50 and a mode change button 126 for switching to the creation mode are provided as physical buttons 104 on the operation panel 103 of the second operation device 101 (see FIG. 10). In this way, not only can the massage course C stored in advance in the massage machine 1 be changed, but the user can also create and store a new massage course C1 of his/her preference, so that the massage course C1 can be used the next time the massage machine 1 is used. The play button 125 and the mode change button 126 may be provided on the controller 10, which is the first operation device. Hereinafter, the creation mode for creating a new massage course C1 will be described with reference to FIG. 9.

The user selects the mode change button 126 (step S1), which switches to a creation mode for creating a new massage course C2.
Following step S1, the user selects his/her own user data U from the user data U registered in the registration unit 119 by the user selection unit 118 (step S2). This allows the massage course C2 to be registered in the selected user data U.
Following step S2, a shoulder position detection step is started (step S3). Specifically, the shoulder position detection step is performed to detect the shoulder position of the user. When the shoulder position detection step is performed, it is preferable that the massage machine 1 is in an upright position. When personal data has been input, it is preferable that the massage machine 1 is moved to a shoulder position estimated from the personal data.

Following step S3, a creation step of creating a massage course C1 is started (step S4). In this step, the operation of the massage unit 8 by the operation of the joystick 102 or the operation panel 103 until the user presses the storage button 111 or until a certain time (for example, 5 minutes) has passed is stored in the storage unit 50 one by one. Instead of storing one by one, it may be performed separately for each operation block b, as in the above-mentioned change mode. For example, an operation block b is provided for performing a predetermined operation for each treatment part such as the back, waist, arms, and legs, and the operations are sequentially executed, and the changes in the operation content added to the operation are stored. In this way, the user can create the massage course C1 simply by changing the operation of each treatment part in order, so even a beginner in creating a massage course can easily create the massage course C1.
Following step S4, the creation mode is ended, and the massage course C1 is ended (step S5).

When using the stored massage course C1, the user presses the play button 125, and then selects the user data U in which the massage course C1 to be executed is stored from the user data U registered in the registration unit 119 by the user selection unit 118. The massage course C1 stored in the selected user data U is played back. At this time, shoulder position detection may be skipped on the assumption that the massage course C1 will be used by the user who created it.
The user may select his/her own user data U from among the user data U previously registered in the registration unit 119 by the user selection unit 118. In this manner, it is possible to prevent the user from selecting a massage course C1 created by another person.
In addition, the massage course C1 may be repeated for a predetermined time. For example, if the massage course C1 is a 5-minute course and the predetermined time is 15 minutes, the massage course C1 will be repeated three times before the end. In this way, a long massage course can be created simply by creating a short massage course C1.

The present invention can be applied to a massage machine that allows the user to change the massage course while remaining in the position in which they are receiving a massage.

1 Massage machine 9 Control unit 10 First operating device (controller)
101 Second operating device 15 Massage unit 50 Memory unit b Operation block C Massage course

Claims (8)

A control unit that has a plurality of massage units that treat a user and controls the massage units;
A first operating device for operating the massage unit via the control unit, and a second operating device that is provided separately from the first operating device and can operate at least a part of the functions of the massage unit,
The control unit has a massage course composed of a plurality of operation blocks for operating at least one of the massage units according to a preset program, and a storage unit for storing the massage course,
During execution of the massage course, a user can change at least one of the motion blocks using the second operating device,
In the operation block, at least one of an elevation drive unit that can raise and lower the massage unit in the longitudinal direction of the body by operation of the second operating device, and a strength change unit that can change the strength of the massage by the massage unit by operation of the second operating device;
In the operation block, a technique change means is further provided that allows the technique of the massage unit to be changed by operation of the second operating device,
The control unit is
storing the changed operation block in the storage unit;
Applying the change content of the changed motion block to other motion blocks that are the same as or similar to the motion block before the change in the massage course ;
A massage machine characterized in that the applied changes include at least one of the lifting position of the massage unit changed by the lifting drive unit and the massage strength of the massage unit changed by the strength change means, and do not include the technique of the massage unit changed by the technique change means . The motion block is provided for each treatment site of the massage unit,
2. The massage machine according to claim 1, wherein when the treatment area is the same or similar, the changed content of the changed motion block is applied. The massage machine according to claim 1, characterized in that the operation block is made up of a number of massage steps that operate the massage unit in a predetermined order. The second actuator is displaceable from a neutral position;
The massage machine according to any one of claims 1 to 3 , characterized in that at least a part of the motion block can be changed in response to a displacement of the second operating device from the neutral position by a user's operation. A modification step capable of modifying the operation block,
The changing step can change the action block within a predetermined time,
The massage machine according to any one of claims 1 to 4 , further comprising an alarm unit that notifies a user, the alarm unit notifying the user that the change step has started and/or that the predetermined time has elapsed. A creating step capable of creating a new massage course,
The massage machine according to any one of claims 1 to 5, characterized in that the creation step comprises performing the operations of the massage unit in the operation block in a predetermined order based on the operation of the second operating device, and storing the operations in the memory unit as a new massage course. The massage machine according to any one of claims 1 to 6, further comprising an alarm unit for notifying a user, the alarm unit notifying the user that the other operation block will be started when the other operation block to which the changed contents of the changed operation block are applied is started while the massage course is being executed. A registration unit capable of registering a plurality of users;
A user selection unit capable of selecting one user from the users registered by the registration unit,
8. The massage machine according to claim 1 , wherein the storage unit is capable of storing the massage course for each user selected by the user selection unit.

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