JPH0728895B2 - Matsusage machine - Google Patents

Description

Detailed Description of the Invention 【Technical field】

TECHNICAL FIELD The present invention relates to a massage machine which is adapted to obtain a massage operation, in particular, an acupressure operation by driving a treatment element.

[Background technology]

Conventionally, various massage machines have been provided, such as those that use eccentric tilted massage wheels that are driven to rotate, and those that use arm-type massage balls or direct-acting acupressure elements as treatment elements. In these massage machines that obtain a massage operation by displacing, the displacement pattern of the massaging element is the same as that obtained by the mechanism such as gears, cams, links, etc. Since it is not possible to adjust or adjust the speed, it is difficult to obtain a desired massage.

[Object of the Invention]

The present invention has been made in view of the above points, and an object of the present invention is to provide a massage machine that can easily realize a desired massage by changing the displacement pattern of the treatment element.

DISCLOSURE OF THE INVENTION

 Therefore, the present invention is provided on the output shaft that reciprocates.
The pressure applied to the human body is changed according to the forward and backward movements of the force axis.
And a motor that can rotate the output shaft for forward and reverse rotation.
And the output shaft according to the forward and reverse rotation of this motor.
And a conversion means for making the forward and backward movements.
In addition, a timer that repeatedly counts minute time and this timer
Rotation direction and rotation of the motor for each output of the timer
Having a speed control means for controlling the rolling speed
It is characterized by the fact that treatment is performed every time the timer outputs.
It is designed to change the moving speed of the child. Hereinafter, the present invention will be described in detail based on the illustrated embodiments. This ma
The massage machine is installed in the back of the chair or in the bed,
Massage of the waist, back, shoulders, or neck of the human body
However, here is the one built into the back of the chair
Shows. First, the structure of the chair and the mechanical structure of the massage machine.
Explaining from this point, the chair is shown in Figs. 1 and 2.
Sea bream, seat 82 and armrests on a lower frame 81 framed by a pipe
83 and the lower part of the frame 85 of the backrest 84
Is pivotally attached to the lower frame 81, and the lower end of the frame 85 and the lower frame 81 are
Attach the gas spring 86 between them, and
Expansion and contraction of the gas spring 86 by operating the lever 87 provided
So that the backrest 84 can be reclined
It Also, a headrest 88 is provided on the upper end of the backrest 84.
Installed on the front of the backrest 84 up to the headrest 88
On both sides of the back side of the cover sheet, support bands 90 are
Are arranged in each direction. The cross-sections of the backrest 84 and the side frames 85 are
Secure a pair of U-shaped rails 8 and 8 whose opening faces are opposite to each other.
At the same time, a rack 9 is longitudinally attached to the opening edge of each rail 8.
It is fixed along the direction, and rack 9 is placed between both rails 8 and 8.
Pinion 23 meshing with and roller 22 rolling in each rail 8
A mechanical part having both ends is installed. This mechanical part
Self-propelled along the rail 8 with a motor M that can rotate forward and backward
The main shaft 1 and the feed shaft 3 and a support substantially parallel to them
The gearbox 10 is arranged at one end of the holding frame 39, and the motor M is arranged at the other end.
Has been installed, as shown in Figs. 3 and 4.
Then, attach the cylinders 21, 21 to both ends of the main shaft 1 so that they can rotate freely.
Then, the rollers 22 rolling in the rails 8 are further idled in each cylinder 21.
It is freely attached and can be freely attached to both ends of the support frame 39.
A total of four rollers 22 together with the roller 22
It is installed between the rails 8. The main shaft 1 is a hollow shaft and is coaxial with the drive shaft 2 inside.
It is passed. The cylinders 21 and 21 are attached to both ends of the drive shaft 2.
Each is attached by spline connection, each cylinder 21
The pinion 23 that meshes with the rack 9 is provided on the
If the drive shaft 2 is rotated, the mechanism will move along the rail 8.
It moves up and down on the back of the backrest 84. The pressing unit 4 connected to the central portion of the main shaft 1 has a fifth
As shown in the figure, the housing is divided into left and right parts.
43 and the inside of this housing 43
A sprup with one end protruding from the front end surface of the housing 43.
Concentric with the in-shaft 41 and the spline shaft 41, and the spline shaft 41
Screw it into the housing 43 so that the rear part protrudes from the rear end face.
Attached to the tip of the screw shaft 42 and the spline shaft 41
Splice by rotating treatment element 40 and screw shaft 42.
The shaft 41 is moved in the axial direction and can be rotated forward and backward freely.
Consists of a servo motor SM that can control the rolling speed.
It The housing 43 has a key, and the main shaft 1 has a plain bearing.
When the arm 434 connected through the bracket 437 is provided at the front end,
Also, a flange 435 for mounting the servo motor SM is attached to the rear end.
A connecting arm 43 that hangs down and is screwed onto the feed shaft 3 from the upper surface.
6 is protruding. Spline shaft 41 with spline formed on the outer peripheral surface
Has internal threads 411 and 412 at the front and rear ends.
Sliding with the spline bearing 46, which has splines on its circumference.
It is engaged so as to be movable and capable of transmitting rotation. And sp
On the outer peripheral surface of the line bearing 46, the spiral gear 44 and a pair of
The inner races of the ball bearings 47, 47 are fixed. And ha
For the housing 43, the ball bearings 47, 47 are installed in the recess 432.
The rear part of the space 430 in the housing 43
Spiral housed and located outside housing 43
The Lugear 44 is engaged with the main shaft 1 slidably and capable of transmitting rotation.
It meshes with the matching spiral gear 45. Again
A phosphorus that is freely rotatably attached to the rear end of the plane shaft 41.
The guide pin 49 is inserted through the groove 431 on the bottom of the housing 43.
Projecting downward. The ring pin 49 is a retaining ring 413.
To prevent the spline shaft 41 from coming off.
It The spiral gear 45 mounted on the spindle 1 is
Since it is sandwiched by the plain bearings 437, it will be described later.
When the pressing unit 4 moves in the axial direction of the main shaft 1,
Move with unit 4 and bite with spiral gear 44
Keep fit. Screw shaft 4 screwed into female screw 412 at the rear end of spline shaft 41
2 is a pair of parts on the portion protruding from the rear end of the spline shaft 41.
The inner race of the ball bearings 48, 48 is fixed, and the pulley 9
5 is fixed and is formed in the rear part of the housing 43.
By positioning each ball bearing 48 in the recess 433 made
Therefore, the housing 43 is rotatable and slidable in the axial direction.
It is held immovable, and the pulley 95
With the pulley 96 provided on the output shaft of the servo motor SM
A timing belt 97 is stretched between them. The treatment element 40 covers the pressure pin 402 and the tip of the pressure pin 402.
With the bone that is slidable with respect to the pressure pin 402
The part 401 is made of an elastic material such as rubber and further covers the bone part 401.
While attaching the cortex 400 and the cortex 400 to the bone 401
A coupling ring 403 that attaches the bone 401 to the pressure pin 402
And the block on the spline shaft 41.
Base 404 to be attached, and tip surface of pressure pin 402 and bone portion 40
It consists of a pressure sensor PS installed between 1 and
The base 404 and the pressure pin 402 are rotatable via a bearing 406.
It is connected. And the base 404 projects from the rear end surface
Screw the threaded portion 405 into the female screw 411 at the tip of the spline shaft 41.
Fixed to the spline shaft 41 by
However, the threaded portion 405 is
It is installed in an eccentric place. However, in the lever pressing unit 4, the spline shaft
When the rotation of 41 is stopped, that is, the spline shaft 41
Stops the rotation of the main shaft 1 which is connected by the iralar gears 44 and 45.
If you drive the servo motor SM while it is rotating, it will rotate.
The same shaft 42 moves the spline shaft 41 in the axial direction. Obey
The treatment element 40 at the tip of the spline shaft 41 is attached to the cover sheet 89.
Push the back of the person leaning on the chair back 84 through
Press. Because the shiatsu motion by the treatment element 40 can be obtained.
It Servo motor SM by input from spindle 1
Spline shaft 41 in the same direction and at the same rotation speed as the shaft 42
When is rotated, the spline shaft 41 moves axially.
Without rotating. At this time, with respect to the spline shaft 41
The treatment element 40 installed in an eccentric state
Performs a movement that draws a circle with a radius. Then rotate the spindle 1 and at the same time use the servo motor SM.
When driving the screw shaft 42, the spline shaft 41 and the screw shaft 42
When the rotation direction and rotation speed of the
Depending on the difference between the above two rotation speeds while performing circular motion
Axial movement is performed at a constant speed. Via cover sheet 89
The massager 40 performs a massage operation of pushing on the back of the human body.
It will be bad. Also, the feed screwed to the connecting arm 436 of the housing 43 is
When the shaft 3 is rotated, the pressing unit 4 rotates the shaft of the main shaft 1.
Move in the direction. The feed shaft 3 is a gearbox.
Spanning the upper part of the space 10 and the holding plate 80 fixed to the motor M,
It is installed parallel to the main shaft 1. With this massage machine, the servo motor SM
In addition to the driven screw shaft 42, the rotationally driven shaft described above
There are 3 main shafts, drive shaft 2, and feed shaft 3.
However, they are all driven by the motor M, and
The control of the rotation direction of each axis changes the rotation direction of the motor M itself.
Is done by In addition, these three shafts are
It is not separately connected to the motor M, but the main shaft 1 and the drive shaft.
2 is driven alternatively, the main shaft 1 of the feed shaft 3 is
Can be connected to motor M only when connected to motor M
Is configured to. This power transmission switching mechanism and the reduction mechanism in the gearbox 10
Explaining this, the power transmission switching mechanism includes the planetary gears 5 and 2.
Two electromagnetic brakes SL₁And SL₂, And electromagnetic clutch SL₃
The planetary device 5 outputs a pair of electromagnetic brakes.
SL₁, SL₂By either of the actions of
It is transmitted to the shafts 11 and 12. The cylindrical body 2 is attached to the worm shaft 11.
Worm wheel 13 splined on the outer circumference of 1
The other worm shaft 12 is fitted with a wand supported by shaft 15.
The boom wheel 14 meshes. Rotation of the worm wheel 13
Is transmitted to the drive shaft 2 to move the mechanism up and down,
The rotation of the wheel 14 is an ellipse which is also supported by the shaft 15.
The circular gear 16 is fixed to the main shaft 1 and meshes with the elliptical gear 16.
It is transmitted to the main shaft 1 by the driven elliptical gear 17. The planetary gear 5 is composed of ball bearings, and
S 51, ball 52, outer race 53, and planet carrier
Bearing retainer 55 at the lower end of the worm shaft 11.
The inner race 51 is attached to the outer periphery of the collar 56 that is freely attached through
Is stuck. This collar 56 has a motor M output shaft
The pulley 57 that is connected with the belt 63 is integrated with the provided pulley 79.
It is provided in. In addition, retainer 54 is fixed to worm shaft 11.
The outer race 53 is fixed to the cover 59 supported by the bearing 61.
Has been. Press the outer race 53 in the thrust direction to
A preload is applied between the space 53, the ball 52 and the inner race 51.
The cover 59 that covers the last spring 60 and the retainer 54
The rib 58 is integrally formed and is installed under the worm shaft 12.
It is connected to the belt 62 by the belt 64. Now, with the worm shaft 11 being braked, the motor M
If you rotate the collar 56 and the inner race 51, the retainer 54
Ball 52 is prevented from revolving, so it spins on the spot.
And rotate the outer race 53. And pulley 58,
Worm shaft 12 through belt 64 and pulley 62
Rotate shaft 1. Conversely, apply braking to the worm shaft 12
Flock, because the outer race 53 is locked through the belt 64
The ball 52 rotates and revolves around the
The home shaft 11 and the drive shaft 2 are rotated. Braking on each worm shaft 11 and 12 is done on the worm shaft 11.
Electromagnetic brake SL on the edge₁And at the bottom of the worm shaft 12
Electromagnetic brake SL₂Performed by and. Electromagnetic blur
-Ki SL₁And electromagnetic brake SL₂Has the same structure,
Coil 65, yoke 66, core 67, brake shoe 68,
It is composed of a return spring 69, which energizes the coil 65.
The brake shoe 68 is resisted against the return spring 69 by the obtained excitation force.
And suck it in, and connect it to each worm shaft 11 and 12 by spline connection.
The brake shoe 68, which is slidable in the axial direction, is used as the core.
Brakes worm shaft 11 to 12 by contacting 67.
It is something. The feed shaft 3 is a worm shaft 12 and an electromagnetic clutch SL₃, War
Worm shaft 34, and a worm shaft provided at one end of the feed shaft 3
Driven through a worm wheel 35 that meshes with 34.
Electromagnetic clutch SL₃Is coil 70, yoke 71, core 72,
It consists of a touch shoe 73, a return spring 74, etc.
The clutch shoe 73 onto the upper end of the worm shaft 12.
It is possible to transmit the rotational force by connecting the screw and to freely slide the thrust.
Attached to the outer circumference of the upper end of the worm shaft 12 via a bearing 75.
The installed core 72 is splined to the worm shaft 34.
It is installed in the clutch, and if the coil 70 is energized, the clutch
The shoe 73 moves upward against the return spring 74 and contacts the core 72.
Then rotate the worm shaft 12 to the clutch shoe 73 and core 72.
Through this, the worm shaft 34 is transmitted and the feed shaft 3 is rotated.
It FIG. 7 (a) shows the state of disconnection, and FIG. 7 (b) shows the state of connection.
Shows. In the figure, 94 is the worm shaft 34 and the worm wheel.
It is a gearbox that accommodates Le 35,
Electromagnetic clutch SL on top₃And the yoke support 93
It is attached. Next, the pressing unit 4 is moved to a desired vertical position.
In order to detect the vertical position along the rail 8 of the pressing unit 4.
Means for ejecting and the amount of protrusion of the treatment element 40 toward the cover sheet 89 side
The means for detecting is described. First pressing unit 4
This is a means for detecting the vertical position along the rail 8 of
Is a gear 24 attached to the worm wheel 13,
Connects via the matching gear 25 and the gear 25 and the dog clutch 26
The reduced gear 28 is used as a reduction gear train as the drive shaft 2 rotates.
It consists of rotary encoders 29 and 30 which are driven at very low speed.
Is made. The amount of protrusion of the treatment element 40 to the cover sheet 89 side is detected by the sprayer.
The ring pin 49 mounted on the in-shaft 41 and the housing
43 A pair of limit screws installed near both ends of the groove 431 on the bottom surface.
Itch MS₁, MS₂It is done in. Spline shaft 41 front
Move toward and limit switch MS by ring pin 49
₁When the is turned on, the protrusion amount is maximum, conversely the spline shaft 41
Moves to the rear and the ring pin 49
Chi MS₂The amount of protrusion is the minimum when is turned on.
is there. In addition, in the one shown here, the circular motion of the treatment element 41
As a means to detect the position in the
And a circle fixed to the spindle 1 that is connected with a gear ratio of 1: 1
Permanent magnets attached to the side of the plate 18 on the gearbox 10 side
Position stone 19 and main shaft 1 on the side of gearbox 10 between them
A pair of magnets that are attached and turn on in response to the permanent magnets 19.
Sensitive element, here reed switch LS₁, LS₂Provide
There is. Next, an outline of the operation of this massage machine will be described.
It After the power is turned on, various types of devices provided on the operating device 6
Of the switches, the pressing unit 4 moves up and down and the main shaft 1
Switch to move axially, neck or shoulder,
Operates a switch that specifies the position such as back or waist
Then, the rotation of the motor M and the electromagnetic brake SL₁, SL₂And electric
Magnetic clutch SL₃The rotary encoder 29, 30 etc.
Main control circuit that controls while receiving feedback from
(Not shown) moves the treatment element 40 to the place where it is needed.
Next, the acupressure or push-flip strokes provided on the operating device 6
When the switch is turned on, the treatment device 40 performs this designated operation.
To do. The acupressure operation involves rotating the spindle 1 as described above.
Without rotating the screw shaft 42 with the servo motor SM
And the servo motor SM is cyclic.
Ring pin 49 mounted on the spline shaft 41
Both limit switches MS₁, MS₂Every time you turn on
Reverse the rolling direction. Reciprocal movement in the axial direction on the spline shaft 41
Motion, which allows for simple acupressure
The treatment child 40 is made to perform. The push-motion operation is
At the same time as driving the screw shaft 42 by the servo motor SM,
The motor M drives the spline shaft 41
Do it. At this time, the massaging device 40 does not reciprocate in the axial direction.
While performing circular motion due to eccentricity
And, for the user, through the cover sheet 89
The above-described operation of the treatment element 40 that comes into contact with the treatment element 40 is pushed by the treatment element 40.
The pressing force will increase or decrease and
Massage to get into
I have received it. Here, the linear reciprocating motion of the massager 40 is shown in FIG.
Control circuit. This control circuit is
The pattern control section consists of a pattern control section and a position control section.
Control circuit CC and timer TC connected to it respectively, operation times
Road EC, displacement pattern table PT, speed table VT, and
Control circuit CC to D / A converter DA₁Connected via
It is composed of a voltage controlled oscillator circuit VCO. Positional system of the other
The control section is a deviation counter HC consisting of an up-down counter,
D / A converter DA₂, Waveform shaping circuit HSC, direction discrimination synchronous circuit
BDC, and direction switching circuit KC
It The voltage controlled oscillator circuit VCO in the pattern control unit is
Deviation counter HC and D / A converter DA₂Via Servo mode
It is connected to the servo driver SD of the
The output of the tacho generator TG in the Bo-Motor SM is a servo
Output of pulse encoder PE to driver SD
Deviation counter via the shape circuit HSC and the direction discrimination synchronization circuit BDC.
Connected to the HC. The basic control of the servo motor SM is performed as follows. now,
From the control circuit CC, the digital value V (t
i) D / A converter DA₁If output to
The road VCO creates a command pulse train with a frequency proportional to speed.
This is output to the deviation counter HC, and the deviation counter HC
This command pulse number is integrated. And this total pulse
The number is DA D / A converter₂As an analog voltage
It is given to the servo driver SD to convert the servo motor SM to a voltage value.
Rotate at a suitable speed. On the other hand, rotation of servo motor SM
From the pulse encoder PE that detects the angle, the rotated angle
The number of pulse trains proportional to
This is sent to the deviation counter HC through the synchronous circuit BDC and
The pulse number is subtracted from the total pulse number. Deviation count
Rotation angle with respect to the number of command pulses input to the HC
The number of pulses according to
The servomotor SM so that this difference becomes zero.
Although the rotation is controlled, the command pulse and the feedback
Command pulse, there is a delay between
Is input to the deviation counter HC for as long as
The servomotor SM is driven, and the command pulse
Servo motor SM is decelerated gradually,
The servo motor SM stops when the difference between
It Deviation in controlling the servo motor SM as described above
The number of command pulses output to the counter HC is the displacement pattern
It is decided from the data stored in the table PT. First, the displacement pattern
Explaining the data stored in the turntable PT,
This is based on the displacement amount x of the treatment element 4 on the vertical axis and the time t on the horizontal axis.
When the displacement pattern of the treatment element 40 to be finally obtained is 9th
When drawing a curve as shown in Figure (a), the time axis should
Divide into equal intervals with small time Δt (t in the figure₀~ T₁₁) And then
Displacement amount x (ti) at each time ti
Yes, for example t₀Displacement at x (t₀) Is 0 mm, t₁To
Displacement amount x (t₁) Is 10 mm, t₇Displacement x at
(T₇) Is 100 mm, t₈Displacement at x (t₈) Is 90 mm, t₁₁
Displacement at x (t₁₁) Is 0 mm. Control circuit
CC is the amount of displacement x (ti) from this data at a certain time ti
And the amount of displacement x (ti₊₁) With
Then, move the distance of this value within a minute time Δt.
Is the motor speed control parameter
Calculate the tar value V (ti) and set it in the speed table VT.
This is a D / A converter DA₁Voltage control
The required number of command pulses is sent to the deviation counter HC through the vibration circuit VCO.
When the difference value goes from positive to negative, or negative
Signal is sent to the rotation direction switching circuit KC
Reverse the direction of rotation of the servo motor SM and project the treatment element 40.
From the movement in the outgoing direction to the movement in the storage direction, or this
It switches in reverse. This control is used for measuring the minute time Δt.
By repeating every time the timer TC for numbers increases,
As shown in FIG. 9 (b), it is a polygonal line approximation.
Corresponding to the displacement pattern to be obtained shown in FIG.
Is obtained, and the above displacement
Repeated pattern movements allow continuous massage
Is what you are getting. It should be noted that the timer TC
The shorter the time Δt, the smoother the displacement curve.
Becomes Figure 10 shows the flowchart for the above processing.
You Difference in displacement amount x (ti₊₁) -X (ti) to speed
Description of the part that converts to digital value V (ti)
When the servo motor SM is rotated once, the treatment element 40 moves straight
To move L and rotate servo motor SM once
Assuming that the required number of command pulses is P, x within a minute time Δt
(Ti₊₁) To move the treatment element 40 by -x (ti),
[X (ti₊₁) -X (ti)] / L rotates servo motor SM
The command pulse number p required for this is P ·
[X (ti₊₁) -X (ti)] / L. Therefore, at this time
The command pattern of frequency f, which is the number of command pulses divided by Δt
The voltage controlled oscillator circuit VCO
Therefore, the voltage controlled oscillator circuit VCO has a frequency proportional to the input voltage.
This voltage control can be achieved by setting it to generate a pulse of wave number.
Let K be the proportional constant of the oscillator circuit VCO and R be the constant of PK / L.
And V (ti) = K₁f = [x (ti₊₁) −x (ti)] · R / Δt. It should be noted that this does not perform only linear reciprocating motion on the treatment element 40.
If you want to give a circular motion at the same time,
For the rotation of the spline shaft 41 that rotates with the input from the main shaft 1.
It is necessary to correct the spline shaft 41
The rotation of the servomotor SM depends on the difference in the number of rotations with the screw shaft 42.
Only affects the movement distance L of the spline shaft 41 by one rotation.
At the same time as giving, the number of times per unit time of the spline shaft 41
Since the number of turns is constant,
Correction value when moving in the protruding direction and the stored value
Prepare a correction value for moving toward
Multiply the above constant R by the moving direction of the treatment element 40.
Yes. The same applies to the following embodiments. FIGS. 11 to 13 show the timer TC in the above control.
Rotation of servo motor SM which is controlled at each time up
The variable speed is shown.
Three selection switches SW of "strong" "medium" "weak"₁,
SW₂, SW₃Control circuit CC is operated by operating either
Selection switch SW₁, SW₂, SW₃Positive count α according to₁,
α₂, α_ThreeTo further correct the digital value V (ti) with
is doing. Now the coefficient α₁To 1.5, α_TwoTo 1, α_ThreeTo 0.5
Select switch SW corresponding to "strong"₁To operate
And the selection switch SW corresponding to "medium"₂When is operated
The control circuit CC has a digital value V (t
i) is output and the rotation speed of the servo motor SM is increased 1.5 times.
It Conversely, the "weak" selection switch SW₃When is operated
Is to set the rotation speed of the servo motor SM to 0.5 times.
As shown in FIG. 13, the displacement pattern of the treatment element 40 is
Different things of rooke, that is, different strength of massage
It will become. The user gives a massage of the desired strength.
Is what you can get. The embodiment shown in FIG. 14 to FIG.
By changing the up time, the reciprocating motion of the treatment element 40
It shows that it is possible to change the period,
"Slow", "Normal", "Fast"
Ku ”selection switch SW_Four, SW_Five, SW₆Operate either
Then, the control circuit CC causes the corresponding coefficient β₁, β₂, β_ThreeDeta
Change the time-up time at Immer TC. Now β
₁1.5, β_Two1, β_Three0.5 and select "slowly"
Switch SW_FourWhen is operated, the control circuit CC
ー TC to β₁・ Set Δt time to start
Is. As a result, the displacement pattern as shown in Fig. 16 is obtained.
Obtainable. At this time, the reciprocating motion of the treatment element 1
At the same time as the cycle is multiplied by β, the displacement x also becomes β times,
As shown in FIG. 17, only the cycle is β times, and the displacement amount x is constant.
In order to ensure that
In order to obtain the value of digital value V (ti)
Then, multiply by 1 / β. In any case, the treatment child 40
Since the cycle is variable, the user
You can get the treatment of the cycle that matches the rhythm of your breathing
It 18 to 20 show another embodiment. Here, the displacement
Multiple types of displacement patterns that can be set on the turntable PT
Prepared in advance, and provided "acupressure" and "tapping" on the operating device 6.
"," "Vibrate" each selection switch SW₇, SW₈,
SW₉If any of the above is operated, the control circuit CC will
The servo motor SM is controlled by the data of the position pattern.
In addition to the above, the displacement of the above multiple types
Make the massager 40 reciprocate multiple times during the pattern
The one with data is prepared, and "Shiatsu" is
If selected, the displacement as shown in Figure 9 above
When "Tataki" is selected for the pattern operation,
Switching the rotation direction of servo motor SM in a short time
Causes the movement of the displacement pattern as shown in Fig. 20 (a).
When the "vibrate" is selected,
The rotation direction of the servo motor SM can be switched in a shorter time.
By tracing, the displacement pattern as shown in Fig. 20 (b) is obtained.
The treatment element 40 is caused to perform the motion of the user. Now, the minute time Δt is
If it is 1/8 second, in the case of FIG. 20 (a), 2 per second
In the case of FIG. 20 (b), when the treatment element 40 makes one reciprocating motion,
It reciprocates four times per second. "Tataki" and
The massage is equivalent to "vibration". 21 and 22 show another embodiment. Professional Shiatsu
Observing the massage, depending on the part to be massaged
It is changing its strength. This is the same for each part of the body
Even if you apply the same force, the strength you feel depends on the part.
To give the same strength and stimulus,
Generally the strongest force on the waist, and on the neck, shoulders and back
You can give weak power in order. By the way, as mentioned above
As you can see, the pressure on this massage machine
As a means for detecting the vertical position of the unit 4, a rotary
It is equipped with encoders 29 and 30, and the pressing unit 4
Position data such as whether it is in position or shoulder position
You can get the data. This example takes advantage of this point.
To which part the massager 40 massages
The control circuit CC automatically adjusts the strength (strike of the treatment element 40).
It is designed to change the
Path CC is the pressure obtained from rotary encoders 29, 30
Digit with a coefficient α of a value according to the position data of unit 4
Correction value V (ti), and the corrected digital value V
(Ti) is used to control the speed of the servo motor SM. shoulder
When the pressing unit 4 is in the position
When the pressing unit 4 is located in the back position,
Because the weakest massage is automatically performed,
Massage is too strong for other
It is not that the massage is too weak. FIG. 23 and subsequent figures show still another embodiment. Now shown in FIG.
Consider the case of performing a motion with different displacement patterns
And if the body is located at the position where the displacement x is 0,
Because all this displacement pattern acts effectively on the body
In addition, you can get a smooth massage. But
The area to be massaged depending on the person, posture, or massage
Depending on the amount x₀Touch the body after crossing
There are cases where the
Only the displacement pattern shown by the broken line in Fig. 25 (a) can be felt.
It is not possible to do it, and it is not enough strength as it is applied to smoothness
It will be good. For this purpose, the pressure sensor provided in the treatment element 40 is
The massager 40 contacts the treatment element 40 with the body and presses it.
The reaction force at the time of
After that, the series of operations described above is performed.
In the initial stage, the limit is set once at a preset speed.
Switch MS₂After retracting until the
To a set speed (eg V (t₀) Set speed)
Start slow forward with. And pressure sensor PS to A / D
The value of the reaction force input via the converter AD exceeds the specified value.
If so, from this point on, the speed of a series of servo motors SM
The control is started. In this case, the displacement
Position where quantity x is 0 and actual body position x₀Away from
As shown in Fig. 25 (b) (c),
You can get a massage of the required strength. Figure 25
(B) is when the pressure sensor PS detects a reaction force even a little
The required displacement pattern from Fig. 25 (c) is the pressure sensor PS.
The required displacement pattern from the moment the value detected by
Shows what started the action to get a turn
However, the points and displacement patterns of the user's clothes are repeated many times.
Fig. 25 shows that you can move and move your body.
It is preferable to perform the control shown in (c). In addition, at the beginning
First, retract the massager 40 first is the actual position of the body
x₀This is because it is uncertain where is. Also
Limit switch MS that detects when the maximum protrusion amount is reached
₁When is turned on in the middle, this has no priority
Of course. Although several examples are given above, each of the above examples is
Not only done individually, but some combined
You may carry out.

【The invention's effect】

As described above, in the present invention, the treatment element provided on the output shaft that reciprocates and changes the pressure applied to the human body according to the forward and backward movements of the output shaft, and the forward / reverse for driving the output shaft. A rotatable motor and a conversion means for causing the output shaft to perform forward and backward movements according to forward and reverse rotations of the motor, and a timer for repeatedly counting minute time, and a timer for this timer. Since the speed control means for controlling the rotation direction and the rotation speed of the motor is provided for each time-up output, by controlling the rotation direction and the rotation speed of the motor for each minute time, the forward movement of the treatment element may cause The acupressure operation can be performed at an unequal speed, such as slow in the initial stage and fast in the latter period, and it can easily be performed in an arbitrary cycle, and the strength of the acupressure action, that is, the stroke of the treatment element can be adjusted. It is possible to set the displacement pattern of the treatment element, that is, the pattern of pressure application to the human body by the treatment element, including its strength, so that it can be set according to the user's preference. The displacement pattern of the treatment element can be easily realized.

[Brief description of drawings]

FIG. 1 is a perspective view of a chair equipped with a massager according to the present invention, FIG. 2 is a perspective view showing the back side of the same chair, FIG. 3 is a cutaway front view of the same, and FIG. 4 is a cutaway of the same. Top view, No. 5
Fig. 6 is an exploded perspective view of the same as above, Fig. 6 is a sectional view of a treatment element of the same as above, Figs. 7 (a) and (b) are sectional views of an electromagnetic clutch of the same as above, Fig. 8 is a block circuit diagram of the same as above, and Fig. 9 are sectional views. Figure (a)
(B) is a characteristic diagram showing the displacement pattern of the same, FIG. 10 is a flowchart of the same, FIG. 11 is a block circuit diagram in another embodiment, FIG. 12 is a flowchart of the same, FIG. 13 is a displacement pattern of the same. FIG. 14 is a block circuit diagram of still another embodiment, FIG. 15 is a flowchart of the above, FIGS. 16 and 17 are characteristic diagrams showing displacement patterns of the same, and FIG. 18 is another. FIG. 19 is a block circuit diagram of an embodiment, FIG. 19 is a flowchart of the same, FIG. 20 (a) and (b) are characteristic diagrams showing displacement patterns of the same, and FIG. 21 is a block circuit diagram of yet another embodiment. Fig. 23 is a flow chart of the above, Fig. 23 is a block circuit diagram of another embodiment, Fig. 24 is a flow chart of the above, and Figs. 25 (a), (b) and (c) are characteristic diagrams of the same. Is a pressing unit, 29 and 30 are rotary encoders, 40 is a treatment element, and 41 and 42 are conversion Spline shaft and the screw shaft as a stage, CC is control circuit, PS is the pressure sensor, SM
Indicates a servo motor and TC indicates a timer.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Takafumi Hamabe 1048, Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Works, Ltd. (56) References JP-A 61-238242 (JP, A) JP-A 60-193462 ( JP, A) Actual development Sho 60-135122 (JP, U)

Claims (6)

[Claims] 1. A treatment element provided on an output shaft that reciprocates, for changing the pressure applied to a human body according to forward and backward movements of the output shaft, and a forward and reverse rotatable body for driving the output shaft. A motor and a conversion means for causing the output shaft to perform forward and backward movements according to forward rotation and reverse rotation of the motor, a timer for repeatedly counting minute times, and a time-up output of this timer A massage machine, comprising: speed control means for controlling the rotation direction and rotation speed of the motor for each. 2. The timer according to claim 1, wherein the timer repeats counting of a constant minute time, and the control means makes variable the motor speed to be controlled each time the timer times up. Massage machine described in paragraph. 3. The massage machine according to claim 1, wherein the timer has a variable minute time for counting the rotation speed. 4. The massage machine according to claim 1, wherein the timer has a variable minute time for counting the rotation direction. 5. The massage machine according to claim 1, wherein the timer starts counting according to the output of the pressure detecting means for detecting the pressure applied to the treatment element. 6. A means for moving the position of the treatment element and a position detection means for detecting the position of the treatment element, and the speed control means responds to the position of the treatment element for each time-up output of the timer. The massaging machine according to claim 2, wherein the massaging machine controls rotation speed.