WO2002002045A1 - Vibrator, vibration unit, and vibrator control method - Google Patents

Vibrator, vibration unit, and vibrator control method Download PDF

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Publication number
WO2002002045A1
WO2002002045A1 PCT/JP2001/005672 JP0105672W WO0202045A1 WO 2002002045 A1 WO2002002045 A1 WO 2002002045A1 JP 0105672 W JP0105672 W JP 0105672W WO 0202045 A1 WO0202045 A1 WO 0202045A1
Authority
WO
WIPO (PCT)
Prior art keywords
treatment
unit
changing
fir
section
Prior art date
Application number
PCT/JP2001/005672
Other languages
French (fr)
Japanese (ja)
Inventor
Kentaro Mori
Akitoshi Miki
Koichi Tanaka
Kuniyoshi Takahashi
Original Assignee
Omron Corporation
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Omron Corporation filed Critical Omron Corporation
Priority to KR10-2002-7017784A priority Critical patent/KR100522861B1/en
Priority to AU2001266360A priority patent/AU2001266360A1/en
Priority to EP01943888A priority patent/EP1297813A4/en
Publication of WO2002002045A1 publication Critical patent/WO2002002045A1/en
Priority to US10/329,661 priority patent/US7066898B2/en

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H15/0078—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains power-driven
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H7/00—Devices for suction-kneading massage; Devices for massaging the skin by rubbing or brushing not otherwise provided for
    • A61H7/007—Kneading
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H15/00—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains
    • A61H2015/0007—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis
    • A61H2015/0028—Massage by means of rollers, balls, e.g. inflatable, chains, or roller chains with balls or rollers rotating about their own axis disc-like, i.e. diameter substantially greater than width
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0119—Support for the device
    • A61H2201/0138—Support for the device incorporated in furniture
    • A61H2201/0149—Seat or chair
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/14—Special force transmission means, i.e. between the driving means and the interface with the user
    • A61H2201/1427—Wobbling plate
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1623—Back
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1645—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support contoured to fit the user
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1654—Layer between the skin and massage elements, e.g. fluid or ball
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1664—Movement of interface, i.e. force application means linear
    • A61H2201/1669—Movement of interface, i.e. force application means linear moving along the body in a reciprocating manner
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5053—Control means thereof mechanically controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2205/00—Devices for specific parts of the body
    • A61H2205/08—Trunk
    • A61H2205/081—Back

Definitions

  • the present invention relates to a massage machine, a massaging unit, and a method for controlling a massage machine for treating a human body by driving a treatment element.
  • a pair of fir wheels are attached to the first rotating shaft with inclination and eccentricity, and the first rotating shaft is rocked via an eccentric cam disk.
  • a massage machine provided with a pair of firs at the tip of an arm movably attached, and the tip of a lever swingably attached to a second rotating shaft via an eccentric cam disk in the middle of the arm. Is disclosed.
  • this massaging machine by changing the rotation angle of the eccentric cam disk attached to the second rotating shaft, the amount of protrusion of the fir attached to the arm via the lever is changed, and a pair of fir wheels is provided. Only or a pair of fir wheels and a pair of fir tools are configured to contact the human body.
  • Japanese Patent Publication No. 61-144027 has a pair of wheels that are eccentrically mounted on the main shaft and side elevation rollers, and changes the amount of protrusion of the wheel by rotating the main shaft.
  • a massage machine has been disclosed in which the strength is adjusted and only the wheel body or both the wheel body and the side elevator are in contact with the human body. Have been.
  • the treatment unit equipped with the treatment element can only move along the guide, treatment cannot be performed according to the user's body shape, and depending on the position of the treatment unit, the treatment element may be subject to treatment.
  • the force acting on the treatment site away from the treatment site weakens, or conversely, the force acting on the treatment site increases too close.
  • the distance between the treatment child and the human body is constant, and treatment cannot be performed with the strength appropriate for the symptoms and site.
  • the present invention has been made to solve the above-mentioned problems of the prior art, and an object of the present invention is to increase the amount of adjustment of the distance between the treatment element and the human body, thereby increasing the force acting on the treatment site.
  • Mazur surgeon can control treatment more appropriately, achieve treatment with the strength corresponding to the symptoms and parts, or treatment with more variety, and keep the treatment child out of the way when massage is not performed.
  • An object of the present invention is to provide a machine, a massage unit, and a method of controlling a massage machine.
  • the present invention provides a treatment element that forms a pair on the left and right, a treatment unit that supports the treatment element, and is movable along a treatment target;
  • a massaging machine comprising: a guide unit for guiding movement of a treatment unit along a treatment portion; and a support unit for supporting the treatment unit with respect to the guide unit.
  • the massaging machine includes a position changing unit that changes a position of the guiding unit in a direction substantially orthogonal to the moving direction.
  • a change means can be configured, and a larger position change amount can be secured. That is, since the range of change in the amount of protrusion relative to the treatment target portion is increased, the force acting on the treatment target portion can be more appropriately controlled, and treatment with a strength corresponding to the symptoms and the site can be realized. In other words, treatments with a greater variety can be achieved.
  • At least two treatment elements are provided in the moving direction of the treatment unit.
  • At least two pairs of treatment elements provided in the moving direction of the treatment unit include two pairs of treatment elements having different characteristics. If treatment elements with different characteristics are provided in this way, different treatments can be performed by using different pairs of treatment elements, and treatments with more variety can be performed.
  • the characteristic refers to a property that may cause a difference in the feel or treatment effect to the user, such as a mechanical property such as a shape, a material, and elasticity.
  • the support means supports the treatment unit with respect to the guide means at at least two positions in the movement direction
  • the position changing means includes a treatment unit supported by the support means.
  • Each of the It is preferable to change the position of these parts in a direction substantially perpendicular to the moving direction with respect to the guide means.
  • the position changing means has a function of independently changing the position of each of the supporting means for supporting a position of the treatment unit in a different moving direction.
  • the position changing means may change the position synchronously or may change the position independently.
  • the position changing means has a function of changing a position of the treatment unit supported by the support means with respect to the guide means at least toward the treatment part side.
  • the support means includes: an engagement portion that engages with the guide means; and an arm that supports the engagement portion and is swingably supported by the treatment unit. It is preferable to have a function of changing the swing angle of the arm.
  • the position changing means includes: a first state in which a pivot center of the arm is located on a treatment section side with respect to the engagement section; It is preferable to have a function of changing the swing angle of the arm so as to be in the second state located on the treatment section side.
  • the treatment element can perform treatment by applying a pressing force to the treatment target portion, and when unnecessary, the treatment element can be evacuated so as not to come into contact with the human body.
  • the present invention provides a pair of treatment elements on the left and right, a treatment unit supporting the treatment element and movable along the treatment section, and guiding movement of the treatment unit along the treatment section.
  • a massager provided with guide means for performing the treatment, wherein the support means supports the treatment unit with respect to the guide means, and the guide means of the treatment unit supported by the support means is provided. It can be configured as a massage machine provided with a posture changing means for changing the posture to perform. .
  • the attitude changing means can be configured without being restricted to the driving structure of the above. Therefore, similarly, the range of the change in the amount of protrusion to the treatment part is increased, the force acting on the treatment part is more appropriately controlled, and treatment with the strength corresponding to the symptoms and the part can be realized.
  • the posture of the treatment unit with respect to the guide means is changed, so that the treatment element is moved forward or rearward in the moving direction or both.
  • the present invention provides a treatment element that forms a pair on the left and right, a treatment unit that supports the treatment element and is movable with respect to a treatment section, and a mating member to be attached.
  • a massage unit provided with support means for supporting the treatment unit, comprising: a position changing means for changing a position of the treatment unit in a direction approaching and separating from the treatment target.
  • the present invention is not limited to a massage unit in which the treatment unit is guided by the guide means and moves along the treatment target as described above.
  • a suitably selected partner member By attaching to a suitably selected partner member, it can be configured as a massage unit that enables treatment.
  • the mating member is not limited to a chair or a bed, but may be a member to which a massage unit can be attached. A member that allows the user to hold the mating member
  • a massage unit can be attached to this to constitute a portable massage device.
  • a track member for guiding the support means is provided on one of the counterpart member and the treatment unit, and the support means engages with the track member and engages with the track member to move in accordance with the track member.
  • a part may be provided.
  • the track member may have an extension capable of moving the treatment unit over a wide range, such as a guide means in a massage machine, or may have a shorter extension.
  • the treatment unit may be extended to such an extent that the movement of the treatment unit is limited to a range that can be identified with approaching and separating from the treatment target.
  • the track member may be provided on the counterpart member, or may be provided on the treatment unit side. Since the movement of the treatment unit is realized as a relative position change between the treatment unit and the partner member via the support means, the same movement is performed regardless of whether the track member is provided on either the treatment unit or the partner member. Can be realized.
  • treatment element may be provided at least in two pairs in the direction in which the track member extends.
  • At least two pairs of treatment elements provided in a direction in which the track member extends may include two pairs of treatment elements having different characteristics from each other.
  • the support means supports the treatment unit with respect to the counterpart member at at least two portions in a direction in which the track member extends
  • the position changing means supports the treatment unit by the support means. The positions of the respective parts of the treatment unit that are set in the direction of approaching and separating from the treatment target part may be changed.
  • the position changing means may be independent of each of the support means for supporting a portion of the treatment unit in which a track member extends in a different direction. It is preferable to have a function of changing the position.
  • the support means includes: an arm that supports the engaging portion, and is swingably supported by one of the treatment unit and the counterpart member.
  • the position changing means includes a swing of the arm. It is preferable to have a function to change the moving angle.
  • the position changing means includes: a first state in which the swing center of the arm is located on the treatment section side with respect to the engagement section; and wherein the engagement section has a swing center with respect to the swing center of the arm. It is preferable to have a function of changing the swing angle of the arm so as to be in the second state located on the treatment section side.
  • the position changing means has a function of changing a position of the part of the treatment unit supported by the support means with respect to the counterpart member at least toward the treatment part.
  • the present invention provides a pair of treatment elements on the left and right sides, a treatment unit that supports the treatment elements and is movable with respect to a treatment section, and a mating member to be attached.
  • a massage unit having support means for supporting the unit, wherein the massage unit includes a posture changing means for changing a posture of the treatment unit supported by the support means with respect to the counterpart member.
  • the present invention provides a left and right pair of a first treatment element and a left and right pair of second treatment elements provided below the first treatment element in an upward and downward direction along a treated portion.
  • a method of controlling a pine surge machine that performs a massage treatment by controlling the positions of the first treatment element and the second treatment element in the direction of the treatment section while moving the first treatment element and the second treatment element.
  • the first treatment element is protruded toward the treatment section, and the second treatment element is retracted to the opposite side to the treatment section.
  • the first treatment element is treated at the lower end of the predetermined movement range of the treatment element of the second treatment element and the treatment element of the second treatment element. Retreating to the opposite side of the section and projecting the second treatment element to the treatment section side.
  • the present invention also provides a left and right pair of a first treatment element and a left and right pair of second treatment elements provided below the first treatment element in an upward and downward direction along a treated portion.
  • a method for controlling a massage machine that performs massage treatment by controlling the positions of the first treatment element and the second treatment element in the direction of the treatment section while moving the first treatment element and the second treatment element.
  • the first treatment element is retracted to the opposite side to the treatment section, and the second treatment element is projected to the treatment section side;
  • the first treatment element is made to protrude toward the treatment section, and the second treatment element is moved to the opposite side from the treatment section. Retracting.
  • the present invention provides a left and right pair of a first treatment element and a left and right pair of second treatment elements provided below the first treatment element in an upward and downward direction along a treated portion.
  • a method of controlling a massage machine that performs a massage treatment by controlling the positions of the first treatment element and the second treatment element in the direction of the treatment section while moving the treatment section. At a predetermined position within the movement range when moving downward, the first treatment element is retracted to the opposite side to the treatment section, and the second treatment element is projected to the treatment section side; At a predetermined position within the movement range when moving upward along the treatment section, the first treatment element is protruded toward the treatment section side, and the second treatment element is moved to the opposite side to the treatment section.
  • the massage machine is not limited to two pairs of the first treatment element and the second treatment element, and may be a massage machine having more than two pairs of treatment elements.
  • the positions of the first treatment element and the second treatment element in the treatment portion direction may be independently controlled.
  • FIG. 1 is a perspective view showing a schematic configuration of a massage machine according to an embodiment of the present invention.
  • FIG. 2 is an overall side view of the massage machine according to the embodiment of the present invention.
  • Figure 3 is a front view of the treatment unit.
  • Figure 4 is a right side view of the treatment unit.
  • Fig. 5 is a rear view of the treatment unit.
  • FIG. 6 is a front perspective view of the treatment unit.
  • FIG. 7 is a rear perspective view of the treatment unit.
  • FIG. 8 is a front view of the treatment section.
  • FIG. 9 is a rear view of the treatment section.
  • FIG. 10 is a perspective view of the treatment section as viewed from the upper rear side.
  • FIG. 11 is a perspective view from the front right side of the treatment section.
  • FIG. 12 is a perspective view from the front left side of the treatment section.
  • FIG. 13 is a perspective view of the treatment section from the lower rear side.
  • FIG. 14 is a diagram showing the configuration of the fir mechanism.
  • FIG. 15 is a diagram showing the configuration of the fir mechanism.
  • FIG. 16 is a diagram showing the configuration of the tapping mechanism.
  • FIG. 17 is a diagram showing the configuration of the tapping mechanism.
  • FIG. 18 is a diagram showing the configuration of the lifting unit.
  • FIG. 19 is an enlarged view of a part of the lifting unit.
  • FIG. 20 is a diagram showing the configuration of the front / rear position changing unit.
  • FIG. 21 is a perspective view of the front / rear position changing unit.
  • FIGS. 22 (a), (b), and (c) are diagrams showing a state in which the front / rear position changing unit changes the position in the front / rear direction with respect to the guide rail.
  • FIG. 23 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.
  • FIG. 24 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.
  • FIG. 25 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.
  • FIG. 26 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.
  • FIG. 27 is a flowchart for explaining the basic operation of the massaging machine.
  • FIG. 28 is a block diagram showing the overall configuration of the massage machine.
  • FIG. 29 is a flowchart for explaining the procedure of the rice ball adjusting operation.
  • FIG. 30 is a diagram showing the movement of the fir ball during the fir operation.
  • Fig. 31 is a flowchart explaining the procedure during the acupressure operation of the massage machine.
  • FIG. 32 is a flowchart for explaining the procedure during the acupressure operation of the massage machine.
  • FIG. 33 is a flowchart for explaining the procedure during the acupressure operation of the massage machine.
  • Fig. 34 (a), (b), (c) and (d) are diagrams showing the operation transition of the treatment unit at the time of the first fir ball switching operation.
  • FIG. 35 is a flowchart illustrating the procedure of the first rice ball switching operation.
  • Figure 36 (a), (b), (c), and (d) are diagrams showing the operation transition of the treatment unit at the time of the second rice ball switching operation.
  • FIG. 37 is a flowchart for explaining the procedure of the second rice ball switching operation.
  • Fig. 38 (a) to (f) are diagrams showing the operation transition of the treatment unit at the time of the third fir ball switching operation.
  • FIG. 39 is a flowchart for explaining the procedure of the third rice ball switching operation.
  • FIG. 40 is a diagram showing another configuration example of the fir ball.
  • FIGS. 41 (a) and (b) are diagrams showing other examples of the configuration of the guide rail.
  • FIGS. 42 (a) and (b) are diagrams showing other examples of the configuration of the guide rail.
  • FIG. 1 is a perspective view showing a schematic configuration of a massage machine 10 according to an embodiment of the present invention.
  • the force par seat and the cushion of the backrest portion 100a are omitted.
  • FIG. 2 is an overall side view of the massage machine 10, and shows the internal configuration of the backrest portion 100 a together with the outer shape.
  • the massage machine 100 has a treatment unit 110 incorporated in a backrest 100 a of a reclining chair 100.
  • Pine balls (treatment elements) 201 protruding from the treatment unit 110 toward the front side covered with the force par sheet of the backrest 100a, and the pine against the human body by the treatment elements 201a-d. Perform a surge.
  • the fir balls are a pair of left and right fir balls 201 a and 201 b (first treatment element) arranged upward along the spine direction, and a pair of fir balls 201 and 1 left and right below the fir balls. c, 201 d (second treatment element).
  • the treatment unit 110 is composed of a pair of guide rails (guide means, track members) having a U-shaped cross section (box shape) arranged so that the openings face each other along the backrest portion 100a. Supported by 1R, 101L.
  • the treatment unit 110 is connected to a rack provided on the inside of guide rails 101 R and 101 L by a lifting pinion 310 and a lifting roller 3101, which will be described later, provided on both sides. By rotating and driving the pinion 310, it moves up and down along the guide rails 101R and 101L.
  • Fig. 3 is a front view of the treatment unit 110
  • Fig. 4 is a right side view thereof
  • Fig. 5 is a rear view thereof
  • Fig. 6 is a front perspective view thereof
  • Fig. 7 is a rear perspective view thereof.
  • the front surface of the treatment unit 110 is covered with a plate-like base member 111.
  • the base member 111 has a substantially rectangular opening 111 from which the upper end portion is bent to the rear side and from which the millet balls 201 a to d protrude in the center.
  • the base member 111a is provided with a cutout 111 and an opening 111 so as not to interfere with gears and the like.
  • a massage unit is configured including the treatment unit 110 and a treatment unit front / rear position changing unit 400 described later.
  • FIG. 8 is a front view of the treatment section 200 attached to the base member 111
  • FIG. 9 is a rear view of the same
  • FIG. 10 is a perspective view of the same from above the rear
  • FIG. FIG. 12 is a perspective view from the front left side
  • FIG. 13 is a perspective view from the lower rear side.
  • fir balls 2 0 1 a to d are approximately V-shaped fir ball arms 2 0 2 R, 20 Each of the 2 L ends is rotatably supported by a shaft.
  • the base ends of the fir ball arms 202 R, 202 L are fixed to arm support members 203 R, 203 L.
  • cylindrical inclined sleeves 200R and 207L are fixed to be inclined with respect to the axial direction, respectively.
  • the inclination of the 7 L with respect to the axial direction is set to be symmetrical.
  • Bearing cases 200 31 R and 203 1 L are rotatable around the outer circumference of the inclined sleeves 200 R and 207 L via bearings rolling along the peripheral surface. Is fitted.
  • the arm support members 203 R and 203 L are fixed to the side surfaces of the bearing case 203 R and 203 L.
  • the bearing case 2 0 3 1 R, 2 0 3 1 L protrudes in the circumferential direction together with the base 2 0 3 1 1 R, 2 0 3 1 1 L fitted on the outer periphery of the inclined sleeve 2 07 It has link receivers 203, R and 203, 12L.
  • One end of the spherically formed link 209 R, 209 L is fitted in the link receiving portion 203 213 R, 209 31 L, and the link 209 R , 209 L are swingably supported along the spherical surface.
  • a beating shaft 206 is arranged in parallel with the fir shaft 205.
  • Cylindrical eccentric sleeves 208, 208 eccentric in the radial direction are fixed at positions corresponding to the inclined sleeps 207 on both the left and right sides of the tapping shaft 206.
  • the left and right eccentric sleeves 208 are mounted so as to be eccentric in the opposite directions to the beating axis 206.
  • Bearings 2081R and 2081L are rotatably fitted to the outer periphery of the eccentric sleep 208 via bearings rolling along the peripheral surface.
  • the bearing case 2081R, 2081L is circumferentially protruded together with the base 21081R, 20911L fitted to the outer periphery of the eccentric sleeper 208.
  • Link receiving portions 2082R and 20812L The other ends of the links 209 R and 209 L, one end of which is connected to the bearing case 203 R and 209 L, With respect to the link receiving portions 2081R and 20812L, they are swingably supported in the axial direction of the tapping shaft 206.
  • the fir shaft 205 and the striking shaft 206 are plate-shaped treatment shaft holding brackets 204 through the bearings on both sides of the fir ball arm 202 R and 202 L, respectively. It is rotatably supported by 4 L.
  • the treatment shaft holding brackets 204 R and 204 L are fixed to the base member 111.
  • FIGS. 14 and 15 are diagrams showing the configuration of the fir mechanism. Each is a view from the back side of the base member 111, but for convenience of explanation, the members are omitted as appropriate.
  • the fir shaft 205 is driven by a fir motor 210.
  • the fir motor 210 is fixed to the elevating / lowering motor support member 112.
  • Fir ⁇ Lifting motor support member 1 1 2 is a plate-like member bent in a substantially M-shape, covering it over the back side of fir shaft 205 and striking shaft 206 and covering the end. It is fixed to the back side of the base member 1 1 1a.
  • a small fir pulley 2 11 is attached to the drive shaft 2 10 a of the fir motor 2 10.
  • the endless fir belt 2 13 wound around the outer periphery of the small fir pulley 2 1 1 is also mounted on the outer periphery of the large fir pulley 2 1 2 attached to the shaft of the fir worm gear 2 14. It is wound.
  • the worm gear 2 14 for fir mates with the worm wheel 2 15 for fir.
  • the fir worm wheel 2 15 is concentrically fixed to the outer periphery of the fir shaft 205.
  • the fir worm gear 2 14 and the fir worm wheel 2 15 are rotatably stored in the fir gear box 2 18 attached to the treatment shaft holding bracket 204 R.
  • the driving force of the fir motor 2 110 is Fir belt 2 1 3 ⁇ Large fir pulley 2 1 2 ⁇ Fir worm gear 2.14 ⁇ Fir worm wheel 2 15 Transmitted at a reduced speed, and fir shaft 205 is rotated.
  • FIG. 16 and FIG. 17 are diagrams showing the configuration of the tapping mechanism.
  • the beating shaft 206 is driven by a beating motor 220.
  • the tapping motor 220 is connected to the base member 1 via the holding members 113a and 113b.
  • a small tapping pulley 221 is attached to the drive shaft of the tapping motor 222.
  • An endless beating belt 2 23 wound around the outer periphery of the small haul pulley 22 1 is also wound around the outer periphery of the large haul pulley 22 2.
  • the tapping large pulley 2 2 2 is fixed concentrically to the outer periphery of the tapping shaft 206.
  • the driving force of the tapping motor 222 is equal to the small pulley 222.
  • Tapping belt 2 2 3 Tapping large pulley 2 2 2 It is transmitted at a reduced speed and the tapping shaft 206 is driven to rotate.
  • FIG. 18 is a diagram showing the configuration of the elevating unit as viewed from the back side of the base member 111
  • FIG. 19 is a diagram showing a part of the same in an enlarged manner.
  • members are omitted as appropriate for convenience of explanation.
  • the elevating pinions 310 and 310 for the racks (not shown) provided on the inner surfaces of the guide rails 101R and 101L are fixed to both ends of the elevating shaft 3108. .
  • Rollers 3 1 1 that roll on the inner surfaces of guide rails 1 0 1 R and 1 0 1 L are fixed to the outside of the lifting pinion 3 10 in the axial direction. (See Figure 5).
  • the elevating shaft 308 is rotatably supported at one end of an elevating roller support link 409a, 409b.
  • the other ends of the lifting roller support links 409a and 409b are concentrically fixed to the front / rear position changing shaft 410.
  • the lifting pinion 310 is driven by a lifting motor 310.
  • the elevating motor 301 is fir ⁇ It is fixed to the elevating motor holding member 112.
  • a small lifting pulley 302 is attached to a drive shaft 301 a of the lifting motor 301.
  • An endless lifting belt 304 wound around the outer periphery of the small pulley 302 is attached to the outer periphery of the large lifting pulley 303 attached to the shaft of the lifting worm gear 305. Is also wound around.
  • the elevating worm gear 300 is combined with the elevating worm wheel 303.
  • the elevating worm wheel 360 is rotatably supported on the outer periphery of the front-rear position changing shaft 410.
  • the elevating worm gear 305 and the elevating worm wheel 303 are rotatably stored in an elevating gear pox 312 fixed to the rear side of the base member 111a.
  • the elevating wheel 302 is coupled to an elevating gear 307 fixed to the outer periphery of the elevating shaft 308.
  • the driving force of the motor for raising and lowering 301 is as follows: small pulley for lifting and lowering 302 ⁇ belt for lifting and lowering 304 ⁇ large pulley for lifting and lowering 303 ⁇ worm gear for lifting and lowering 305 ⁇ worm wheel for lifting and lowering 3 06 ⁇ transmitted to the elevating gear 3 07 while decelerating, and the elevating pinion 3 10 is rotationally driven together with the elevating shaft 3 08.
  • a disc-shaped elevating position indicating plate 309 is fixed to the outer periphery of the elevating shaft 308.
  • a slit is continuously formed on the outer peripheral edge of the elevating position indicating plate 309, and the elevating position photo sensor 313 disposed at a position sandwiching the outer peripheral edge of the elevating position indicating plate 309 is formed.
  • Rotation of the lifting position indicating plate 309 From the numbers, the elevation position of the treatment unit 110 along the guide rails 101 R and 101 L is detected.
  • the upper and lower limits are set for the guide rails 101 R and 101 L.
  • a sensor 314 and an ascending / descending limit sensor 315 are provided (see FIG. 1) to detect whether or not the treatment unit 110 is at the upper limit position and the lower limit position, respectively.
  • FIG. 20 is a diagram showing the configuration of the front / rear position changing unit 400
  • FIG. 21 is a perspective view thereof.
  • the front / rear position changing portion 400 is attached to a side plate 4 13 fixed to the rear side of both side ends of the base member 11 1.
  • the elevating roller support link 409 has one end rotatably supporting the elevating roller 311 and the other end fixed to the front / rear position changing shaft 4110.
  • one end of a link A408 is fixed to the front / rear position changing shaft 410.
  • the other end of the link A 408 is connected to one end of the link B 407 via a pin 407 a and is supported so as to be rotatable about the pin 407 a.
  • the other end of the link B 407 is rotatably supported by a pin 406 a provided on the feed nut holder 406.
  • the elevating roller 311 corresponds to an engagement portion
  • the elevating roller support link 409 corresponds to an arm, and constitutes a supporting means together with the shaft 410 for changing the front-rear position which forms the swing center. I do.
  • the feed nut holder 406 integrally houses a feed nut screwed to the outer periphery of the feed screw 405, and the feed screw 405 holds feed screw holding members A on both sides of the feed nut. It is rotatably held by 4 11 and a feed screw holding member B 4 12. Both the feed screw holding member A 4 11 and the feed screw holding member B 4 12 are fixed to the side plate 4 13. A large pulley 403 for changing the front-rear position is concentrically fixed to the outer periphery of the end of the feed screw 405.
  • An endless front / rear position changing belt 4 0 4 is provided around the outer periphery of the front / rear position changing small pulley 4 02 and the front / rear position changing large pulley 4 0 3 attached to the drive shaft of the front / rear position changing motor 4 0 1. Is wrapped around.
  • the front / rear position changing motor 401 is mounted on the side plate 413 so that the drive shaft is parallel to the feed screw 405.
  • the motor 401 for changing the front / rear position the small pulley 402 for changing the front / rear position, the large pulley 400 for changing the front / rear position, the belt 400 for changing the front / rear position, the feed screw 400, the feed nut
  • the position change means and the attitude change means are controlled by the holder 406, pin 406a, link B 407, pin 407a, link A 408, and front / rear position change shaft 410. Be composed.
  • a plate-like front / back position indicating plate holding member 414 bent in a U-shape is fixed to the feed nut holder 406 .
  • the front / rear position indicator holding member 414 fixed at one end to the feed nut holder 406 is bent so as to sandwich the side plate 413, and the other end goes out of the side plate 413.
  • a plate-like front / back position indicating plate 4 15 extending in the axial direction of the feed screw 400 is held in parallel with the side plate 4 13.
  • the front / rear position indicating board 4 15 passes through the detecting section of the front / rear position detecting board 4 16 attached to the side plate 4 13.
  • a slit 415 a is formed in the front and rear position indicating plate holding member 414 in the axial direction of the feed screw 405.
  • the slits 415a are provided in four rows in the direction orthogonal to the axial direction of the feed screw 405, and the position of the slit in the axial direction of the feed screw 405 differs in each row. I have.
  • the detection section of the front / rear position detection board 416 is provided with a front / rear position detection sensor for detecting the presence or absence of a slit.
  • the feed nut By detecting the combination of the presence or absence of the slit that changes depending on the relative position of the front / rear position indicator plate 4 and 15 that moves together with the four front / rear position detection sensors 4 17 a to, the axis of the feed screw 4 05 Direction can be detected.
  • Fig. 20 and Fig. 21 show that the lifting roller support links 409c and 409d provided on the upper side of the treatment unit 110 are oscillated, and the treatment unit 110
  • the front / rear position change unit 400A that changes the front / rear position is shown (see Fig. 5).
  • the lifting / lowering roller support links 409a, 409b provided on the left rear surface of the base member 111 (as viewed from the front) and provided below the treatment unit 110 are swung.
  • the front / rear position changing unit 400B for changing the front / rear position of the lower part of the treatment unit 110 also has substantially the same configuration as the front / rear position changing unit 40OA.
  • a lifting pin 3110 in addition to the lifting roller 3111 is provided at the end of the lifting roller support link 409a, 409b.
  • the point that the attached elevating shaft 308 is inserted is different from the front / rear position changing unit 400A.
  • FIG. 22 shows a state in which the front / rear position changing unit 400B has changed the front / rear position with respect to the guide rail 101L.
  • Figure 22 (a) shows the case where the front / rear position change unit 400B is in the retreat position
  • Figure 22 (b) shows the case where it is in the neutral position
  • Figure 22 (c) shows the case where it is in the protruding position.
  • Fig. 22 shows only the front / rear position changing unit 400B, but the entire treatment unit 110 also changes the front / rear position with respect to the guide rail 101L similarly to the front / rear position changing unit 400B. Let it.
  • the front / rear position changing unit 40OA also operates in the same manner.
  • the feed nut holder 406 has the lower end of the feed screw 405 (in the figure, the right side is the lower part of the backrest and the left side is the upper part). You. ) Will be described.
  • the feed is similarly fixed to the base member 111 via the side plate 413.
  • the relative positional relationship to the screw 405 does not change during the front-back position change operation.
  • lifting the roller support links 4 0 9 13 and links 8 4 0 8 is fixed both to the front and rear position change shaft 4 1 0, mutual angle does not change. Therefore, in FIG.
  • the link A 407 pushes the pin 407a forward and rotates the connected link B 408 forward, so that the link A 407 is used for changing the front / rear position.
  • the elevating roller support link 409b connected to the T-body via the shaft 410 also rotates forward.
  • the entire treatment unit 110 is located on the back side of the guide rail 101L, that is, the treatment section. It will recede in the direction away from.
  • the link A 407 pulls the pin 407 a further to the rear side and further rotates the connected link B 408 to the rear side.
  • the lifting roller support link 4 0 9b that is integrally connected via It turns to the back side more than (b).
  • the lifting roller support link 409 b is located on the back side of the front / rear position change shaft 411, as a result, the entire treatment unit 110 is from the guide rail 101 L. Also protrudes toward the front surface, that is, in the direction approaching the treatment section.
  • Fig. 23 shows the fir balls 201 when the front and rear positions of the treatment unit 110 are changed from the neutral position shown in Fig. 22 (b) to the protruding position shown in Fig. 22 (c).
  • the positional relationship between d and the backrest 100 a is shown.
  • Fig. 24 shows the fir balls 201 when the front and rear positions of the treatment unit 110 are changed from the neutral position shown in Fig. 22 (b) to the evacuation position shown in Fig. 22 (a).
  • the positional relationship between and the backrest portion 100a is shown. This makes it possible to adjust the amount of projection of the firs balls 201 a to d toward the treatment portion, thereby realizing the acupressure operation as described later and adjusting the intensity of the treatment.
  • each has a motor 4011A and 401B for changing the front and rear position, and can be controlled independently. Therefore, the relative positional relationship of the treatment unit 110 with respect to the elevating roller 311 arranged above the treatment unit 110, and the elevating unit arranged below the treatment unit 110 Treatment relative to roller 311 It is possible to make the relative positional relationship of unit 110 different. That is, not only does the entire treatment unit 110 run back and forth almost parallel to the guide rails 101 R and 101 L, but also the upper and lower guide rails 101 R of the treatment unit 110. , 101 L can be controlled independently.
  • Fig. 25 shows treatment when the front / rear position changing unit 400A and 400B are both in the neutral position, and only the front / rear position changing unit 400A is changed to the protruding position.
  • Relative position between unit 110 and backrest 100a Show the relationship.
  • Fig. 26 shows the treatment when the front / rear position change units 400A and 400B are both in the neutral position, and only the front / rear position change unit 400B is changed to the protruding position.
  • the relative positional relationship between the unit 110 and the backrest 100a is shown.
  • the front / rear position changing motors 401 of the front / rear position changing units 400A and 400B are independently controlled, and the upper and lower guide rails 10 of the treatment unit 110 are provided.
  • each part of the front / rear position changing unit 400 is made to correspond to its function, and the front / rear position changing motors 401 A and 401 B are respectively used as the ball adjusting motors 401 A, referred to as fir ball adjustment lower motor 401 B, and four front / rear position change units 400 A and 40 OB provided in each of the four front / rear position detection sensors 4 17 a to d are used for fir ball adjustment.
  • the position sensors (1) to (4) 4 17A and the position sensors (1) to (4) 4 17B under fir ball adjustment are called.
  • both the massage ball adjusting motor 401 A and the massage ball adjusting motor 401 B move the treatment unit 110 closer to the treatment area with respect to the guide rails 101 R and 1 OIL.
  • the treatment element unit 110 is driven in the direction in which the treatment element unit 110 moves away (retreats) from the treatment section side with respect to the guide rails 101R and 101L. If it does, it is reversed.
  • the lower and upper roller support links 409a and 409b both swing along the, 101L, thereby changing the longitudinal position of the treatment unit 110.
  • a pair of upper and lower elevating rollers along the guide rails 101R and 101L are held at a fixed position with respect to the treatment unit 110, and the other pair of elevating rollers It may be configured such that only the roller swings while being supported by a similar link. Even in the case where the elevating support link constituting the position changing means is provided in only one of the up and down directions, the position of the fir ball in the front-back direction, that is, the amount of protrusion of the fir ball to the treatment portion is determined. It is possible to adjust the acupressure operation and treatment intensity.
  • the moving link constitutes a posture changing means.
  • the operation of the treatment unit front-rear change unit described above can be realized independently of the elevating operation of the treatment unit along the guide rails 110R and 110L. Therefore, for example, members corresponding to the guide rails 110 R and 110 L are used as the track members. It is constructed so as to have an extension that includes the movable range of, and by providing this to the opponent member selected as appropriate, the massage operation including “fir”, “hitting”, and “acupressure”, which will be described later, and the protrusion amount of the fir ball Adjustment of the treatment intensity by adjustment and switching operation of the used rice ball can be realized.
  • FIG. 27 is a flowchart for explaining the basic operation of the massage machine 10.
  • FIG. 28 is a block diagram showing a schematic configuration of the massage machine 10.
  • the CPU control circuit 9 issues a command to the motor control circuit 12 based on an instruction from the operation unit 11 and information from each sensor to drive each motor. Alternatively, the information is displayed on the operation unit.
  • the power ON / OFF switch is turned on in the operation unit 11 shown in FIG. 28 (step 1).
  • the LED of the power on / off switch lights up to notify that the power switch is on (step 2).
  • the elevating motor 301, the firs motor 210, the firs ball adjusting motor 401A, the firs ball adjusting motor 410B (Fig. 28, the firs ball adjusting motor 40 1) and the motor for adjusting the rice ball 4 0 1 B together are written as “the rice ball switching motor” in the direction of the initial position (Step 3). It is determined whether or not each motor has completed the movement to the initial position (Step 4). If not completed, the process returns to Step 3, and if completed, the motor for lifting / lowering 31 and the motor for fir 2 are read. 10. Stop the operation of the rice ball adjusting upper motor 401 A and the rice ball lowering motor 401 B (step 5). Next, it is determined whether the manual mode or the automatic course is selected (step 6).
  • step 7 If the manual mode is selected, it is determined which operation of the manual mode is selected (step 7), and various manual operations are performed according to the selection (step 8).
  • manual mode select from “Surface Up”, “Surface Down”, “Striking”, “Shiatsu”, “Spine Stretch”, “Partial Spine Stretch”, “Up”, and “Down”. be able to.
  • Perform various manual operations for 15 minutes step 9
  • end the various manual operations after 15 minutes step 10
  • turn off the power ON / OFF switch and turn off the LED (Step 11).
  • step 12 If the automatic mode has been selected, it is determined which of the automatic courses has been selected (step 12).
  • the operation according to the menu of the upper body automatic course is performed (step 13), and when the menu ends, (step 13).
  • Step 1 4 go to step 11.
  • the upper body automatic course is, for example, a course in which the back muscles are stretched over the entire upper body from the neck to the shoulders, the back and the waist, and the firs, tapping and acupressure operations are appropriately combined.
  • the automatic shoulder and shoulder course is selected, the operation according to the menu of the automatic shoulder and shoulder course is performed (step 15), and when the menu is completed (step 16), the process proceeds to step 11.
  • the neck-shoulder automatic course is, for example, a course in which the back muscle is stretched, fir, tapping, and shiatsu operations are appropriately combined in a region from the neck to the shoulder. If the automatic hip course is selected, the operation according to the menu of the automatic hip course is performed (step 17), and when the menu is completed (step 18), the process proceeds to step 11.
  • the waist automatic course is a course in which the back muscles are stretched around the waist, fir, tapping and shiatsu are combined as appropriate.
  • FIG. 29 is a flowchart for explaining the procedure of the rice ball adjusting operation.
  • the rice ball adjustment can be performed at any time by the switch operation of the operation unit 11 during the basic operation described above.
  • the type of the selected switch is determined (step 21).
  • step 22 If the “upper ball” switch is pressed, various operations are suspended (step 22).
  • the motor 401A is rotated normally in the rice ball adjusting step (step 23). It is determined whether the "upper ball” switch is still pressed (step 24). If the "upper ball out” switch is still pressed, repeat steps 23 and 24 until the upper ball position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position. Repeatedly (step 25), the upper ball adjusting motor 401A is stopped when the upper ball protrusion limit position is detected (step 26), and various operations are restarted (step 27). Step 2 4 If the “upper ball” switch is not pressed, go to step 26.
  • step 28 If the “four ball” switch is pressed, various operations are temporarily stopped (step 28). Next, whether the fir ball adjustment upper position sensors (1) to (4) 4 17 A (abbreviated as "fir ball position sensor” in Fig. 29) detects the neutral position. It is determined whether or not it is (step 29). Fir ball adjustment upper position sensor (1)-(4) If the 4 17 A detects the neutral position, stop the fir ball adjustment motor 401 A (step 30), and adjust the fir ball adjustment lower position. It is determined whether or not the sensors (1) to (4) 4 17 B detect the neutral position (step 31).
  • fir ball position sensors (1) to (4) 4 17 A abbreviated as "fir ball position sensor” in Fig. 29
  • the rice ball adjustment upper position sensor (1) to (4) 4 17 A does not detect the neutral position, the rice ball adjustment upper motor 401 A is rotated forward or reverse, and the rice ball adjustment upper position sensor ( 1) to (4) When 4 A detects the neutral position (Step 3 2), it proceeds to Step 30 and stops the motor 401 A for adjusting the fir ball.
  • the position of the upper two rice balls 201 a, b in the front-rear direction can be detected by the rice ball adjustment upper position sensors (1) to (4) 4 17 A.
  • the motor 401 A forward or reverse the upper two rice balls can be returned to the neutral position. (The same applies to the position of the lower two rice balls in the front-rear direction.) Is.).
  • step 31 the fir ball adjustment lower position sensors (1) to (4) 4 17 B (abbreviated as “fir ball lower position sensor” in FIG. 29) detect the neutral position. If so, stop the rice ball adjusting motor 40 IB (step 33) and proceed to step 27. Fir ball adjustment lower position sensor (1) to (4) Unless the 4 17 B detects the neutral position, the fir ball adjustment motor 401 B is rotated forward or reverse, and the fir ball adjustment lower position sensor (1) to (4) When 4 17 B detects the neutral position (Step 34), proceed to Step 33 to stop the rice ball adjusting motor 401 B. If the “lower ball” switch is pressed, various operations are suspended (step 35). Next, the rice ball adjusting motor 401 B is rotated forward.
  • Step 36 it is determined whether or not the “lower ball” switch is pressed (step 37). If the "lower ball out” switch is pressed, it is determined whether the fir ball adjustment lower position sensor (1) to (4) 4 17 B has detected the lower ball protrusion limit position (step 3). 8). Here, if the rice ball adjusting lower position sensor (1) to (4) 4 17 B detects the lower ball protrusion limit position, the rice ball adjusting lower motor 401 B is stopped (step 39). Then, restart the various operations (step 27). If the rice ball adjusting lower position sensor (1) to (4) 4 17 B has not detected the lower ball protrusion limit position, return to step 36 to further reduce the rice ball adjusting motor 401 B. Rotate forward. In step 3 7
  • step 39 If the lower ball switch is not pressed, go to step 39.
  • the rotation of the beating axis 206 is stopped, and only the fir axis 205 is rotated.
  • the fir ball arms 202 R and 202 L are rotatably supported on the outer circumference of an inclined sleeve 207 attached at an angle to the fir shaft 205 and can be connected via a link.
  • the rotation around the shaft 205 is regulated.
  • the treatment element 201 swings in the axial direction of the fir shaft 205 while changing the distance from the axis of the fir shaft 205.
  • Figure 30 shows a view of the movement of such a fir ball viewed from the front. At this time, the distance between the left and right fir balls changes, so that “fir movement” can be achieved by such a movement.
  • the direction of movement of the fir balls can be reversed by switching the rotation direction of the fir motor 210, so that there are two types of fir-up and fir-down. Work Can be manifested.
  • the tilt sleep 200 is set so that the fir ball arms 202 R and 202 L are almost perpendicular to the fir shaft 205 and the fir ball is held substantially perpendicular to the back (fir tree origin position).
  • the fir origin detection plate 2 16 and fir position indicator plate 2 17 are fixed concentrically (see Fig. 14).
  • the fir origin detection plate 2 16 is a disk-shaped member with a slit provided at one location on the outer peripheral edge, and the fir origin detection plate 2 16 is located at the opposite position on the back of the base member 11.
  • the position of the fir origin can be detected by a fir origin photo sensor arranged so as to sandwich it. Since the link 49 is rotatably supported via an eccentric sleeve 208 which rotates eccentrically with the rotation of the hitting shaft 206, by rotating the hitting shaft 206, the hitting shaft 2 The distance between the shaft center of 06 and the link receiving portions 2 0 3 1 2 R and 2 0 3 1 2 L where the ends of the links are fitted changes. Fir ball arm 2 0 2 R, 2 0 2 L Fir shaft 2
  • the tapping motor Since it is supported rotatably around 0 5, the tapping motor is driven, and the tapping motor is driven. By rotating the shaft 206 at an appropriate speed, the paddle ball arm 202 R, 202 L The rattle swings around the axis 205 to realize the tapping motion.
  • Figs. 31, 32 and 33 are flowcharts explaining the procedure of the acupressure operation of the massage machine 10.
  • Step 51 select the operation in the manual mode.
  • Step 52 move the fir balls up and down. Adjust the position
  • the user presses the “up” switch or the “down” switch on the operation unit 11 (step 53).
  • the elevating motor 301 is operated in the designated direction (step 54).
  • the milling ball 201 moves to the desired position, the user releases the "up” switch or the "down” switch with the lifting roller (step 55).
  • the rice ball adjusting upper motor 401 A is rotated forward at a low speed (step 57), and the rice ball adjusting upper position sensor (1) to (4) 4 17 A is at the upper ball protrusion limit position. It is determined whether or not has been detected (step 58). If the firs ball adjusting upper position sensor (1) to (4) 4 17 A does not detect the upper ball protruding limit position, return to step 57 and further operate the firs ball adjusting upper motor 401 A at low speed. Turn forward.
  • the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position
  • the rice ball adjustment upper motor 401 A is stopped (step 59)
  • the rice ball adjusting upper motor 401A is reversely rotated at a high speed (step 61).
  • step 63 If the rice ball adjusting upper position sensor (1) to (4) 4 17 A detects the neutral position, the rice ball adjusting upper motor 401 A is stopped (step 63) and waits for a predetermined time ( In step 64), it is determined whether or not to switch the fir ball (whether or not the fir ball adjustment switch is pressed) (step 65). If the rice ball switching is not performed, the process returns to step 57, and the rice ball adjusting motor 401A is rotated forward at a low speed. When switching the rice ball, it is determined which one of the rice ball adjustment switches is selected (step 66).
  • step 66 If the “upper ball output” switch is selected in step 66, stop the rice ball adjusting upper motor 401A (step 67) and wait for a predetermined time. (Step 68), the motor 401A is rotated forward at a low speed for adjusting the rice ball (Step 69). Next, it is determined whether or not the rice ball adjusting upper position sensors (1) to (4) 4 17A have detected the upper ball protrusion limit position (step 70). Unless the fine ball adjusting upper position sensor (1) to (4) 4 17 A has detected the upper ball projecting limit position, return to step 69 to further rotate the fine ball adjusting upper motor 401 A at low speed. Let it.
  • the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position
  • the rice ball adjustment upper motor 401 A is stopped (step 71), and the predetermined time is reached. It waits (step 72), and then reverses the motor 401A at a high speed (step 73).
  • Step 76 it is determined whether or not the acupressure switch has been pressed again (Step 77). If the acupressure switch is pressed again, the acupressure operation ends (step 78). If the acupressure switch has not been pressed again, the flow returns to step 69, and further, the motor 401A is rotated forward at a low speed for adjusting the fir ball.
  • step 66 If the "four ball" switch is selected in step 66, the motor 401A is stopped (step 79) and the specified time is waited.
  • Step 80 the motor 401A is rotated forward at a low speed for adjusting the rice ball (Step 81).
  • the rice ball adjusting upper position sensors (1) to (4) 4 17A have detected the upper ball protrusion limit position (step 82).
  • Fir ball adjustment upper position sensor (1) to (4) 4 17 A If not detected, the flow returns to step 81 to further rotate the motor 401A at the low speed.
  • the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position
  • the rice ball adjustment upper motor 401 A is stopped (step 83), After waiting for a predetermined time (step 84), the motor 401A is rotated at a high speed in the fir ball adjusting step (step 85).
  • step 87 If 4 17 A has not detected the neutral position, the flow returns to step 85, and the motor 401 A is further rotated at a higher speed for adjusting the fir ball. If the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the neutral position, the rice ball adjustment upper motor 401 A is stopped (step 87) and waits for a predetermined time. (Step 88), and the motor 40 IB under fir ball adjustment is rotated forward at low speed (Step 89). Next, it is determined whether or not the rice ball adjustment lower position sensors (1) to (4) 4 17B have detected the lower ball protrusion limit position (step 90).
  • step 89 If the rice ball adjusting lower position sensor (1) to (4) 4 17 B does not detect the lower ball protrusion limit position, the process returns to step 89 to further correct the rice ball adjusting motor 401 B at low speed. Invert. Fir ball adjustment lower position sensor (1) ⁇
  • step 91 If 4 17 B has detected the lower ball protrusion limit position, stop the rice ball adjusting lower motor 401 B (step 91), wait for a predetermined time (step 92), and Next, the rice ball adjusting motor 401B is reversely rotated at a high speed (step 93). Next, it is determined whether the fir ball adjustment lower position sensors (1) to (4) 4 17B detect the neutral position (step 94), and the fir ball adjustment lower position sensors (1) to (4). 4) If 4 17 B has not detected the neutral position, return to step 93 and rotate the rice ball adjusting motor 401 B further at a higher speed. If the rice ball adjusting position sensor (1) to (4) 4 17 B detects the neutral position, stop the rice ball adjusting motor 401 B (step 9).
  • step 96 wait for a predetermined time (step 96), and determine whether or not the acupressure switch has been pressed again (step 97). If the acupressure switch is pressed again, the acupressure operation ends (step 78). If the acupressure switch has not been pressed again, return to step 79 and stop the motor 401 A on the rice ball adjustment.
  • step 66 If the lower ball switch is selected in step 66, the rice ball adjusting upper motor 401A is stopped (step 98), and a predetermined time is waited (step 99). Rotate motor 401B forward at low speed (Step 100). Next, the fir ball adjustment lower position sensors (1) to (4) 4 17 B detect the lower ball protrusion limit position and
  • step 101 It is determined whether or not there is (step 101). Unless the fir ball adjustment lower position sensor (1) to (4) 4 17 B detects the lower ball protruding limit position, the flow returns to step 100 to further reduce the fir ball adjustment lower motor 401 B. To rotate forward. If the rice ball adjustment lower position sensor (1) to (4) 4 17 B detects the lower ball protrusion limit position, the rice ball adjustment lower motor 401B is stopped (step 102), and the predetermined position is determined. After waiting for a time (step 103), the rice ball adjusting motor 401B is reversely rotated at a high speed (step 104). Next, it is determined whether the rice ball adjusting position sensor (1) to (4) 4 17 B detects the neutral position (step 105), and the rice ball adjusting position sensor (1) is determined.
  • step 104 If the neutral position is not detected by (4) 4 17 B, the process returns to step 104 to reverse the fir ball adjusting motor 40 IB at higher speed. If the rice ball adjustment lower position sensor (1) to (4) 4 17 B detects the neutral position, the rice ball adjustment lower motor 40 IB is stopped (step 106), and the apparatus waits for a predetermined time. (Step 107), it is determined whether or not the acupressure switch has been pressed again (Step 108). If the acupressure switch is pressed again, the acupressure operation ends (step 78). You have not pressed the Shiatsu switch again In this case, the flow returns to step 100, and the motor for adjusting the milling ball 401 B is rotated forward at a low speed.
  • both the fir shaft 205 and the beating shaft 206 are stopped, the fir ball arms 202 and R are held at the firs origin position, and the elevating motor 301 To move the whole massage mechanism 1 up and down along the rail.
  • the kind (upper or lower) of the rice ball to be used, the number and the protrusion amount are appropriately switched by the rice ball adjustment switch.
  • the rice ball adjustment upper motor 410 A and the rice ball adjustment lower motor 401 B are both reversed, and FIG. As shown in FIG. 4, the treatment unit 110 is retracted to the back side.
  • the treatment unit 110 moves along the guide rails 110 R and 110 L when performing the treatment of stretching the back muscles while moving in the vertical direction from the shoulder to the waist, or performing this treatment and the combined operation of tapping and fir treatment. Up and down between the upper and lower ends of the moving range.
  • the above treatment can be performed using only one of the upper fir balls 200 1 a, 201 b or the lower fir ball 201 c, 201 d.
  • the movement range of the treatment unit 110 is the same. However, the upper fir balls 201a, 201b and the lower fir balls 201c, 201d are attached to the treatment unit 110 with a slight vertical separation. is there.
  • the massage balls to be treated at the upper end and the lower end of the movement range of the treatment unit 110 by switching the massage balls to be treated at the upper end and the lower end of the movement range of the treatment unit 110, only one of the upper and lower massage balls is changed. Then, treatment can be performed with the other rice ball in the range of the treatment part that was not covered.
  • three rice ball switching operations will be described. However, control combining any two or three of the three switching operations can be performed.
  • the process of performing treatment using only two rice balls may include the step of performing treatment using four rice balls.
  • treatments such as fir and tapping are not mentioned, but the following switching operation may be performed while performing these operations, or the back stretching or partial stretching including the switching operation may be performed. During treatment, treatment such as tapping may be performed.
  • FIG. 34 is a diagram showing the transition of the operation of the treatment unit 110.
  • FIG. FIG. 35 is a flowchart illustrating the procedure of the rice ball switching operation.
  • the upper fir balls 201a and 201b protrude toward the treatment area, and the lower fir balls 201c and 201d dow.
  • the treatment unit 110 drives the elevating motor 301 downward from the upper end of the guide rails 101 R and 101 L while retracted to the opposite side of the treatment section (Step 1). 1 1).
  • the treatment unit 110 descends along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L.
  • the ascending / descending limit sensor 315 is turned on (step 1 12)
  • the elevating motor 301 is stopped (step 1 13).
  • the fir ball adjusting motor 401B is rotated forward (step 114), and the lower fir balls 201c and 201d are in a state of protruding to a predetermined position.
  • the rice ball adjusting motor 401B is stopped (step 116).
  • the motor 401 A of the rice ball adjusting motor is reversed (step 1 17), and it is confirmed that the upper rice balls 2 O la and 201 b are retracted to the predetermined positions.
  • the rice ball adjustment upper motor 401A is stopped (step 111).
  • the elevating motor 301 is driven upward (step 120).
  • the treatment unit 110 rises along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L.
  • the up / down upper limit sensor 3 14 is turned on (step 1 2 1)
  • the up / down motor 3 0 1 is stopped (step 1 2 2).
  • the motor 401A for the rice ball adjustment is rotated forward (step 123), and the upper rice balls 201a and 201b are rotated.
  • the rice ball adjusting position sensor detects that the rice ball is projected to the predetermined position (step 124), the rice ball adjusting motor 401A is stopped (step 125).
  • the rice ball adjusting lowering motor 401B is rotated in reverse (step 1226), and it is confirmed that the lower rice balls 201c and 201d have retreated to predetermined positions.
  • the rice ball adjustment motor 401B is stopped (step 128).
  • step 111 the treatment unit descends again, and the above-described operation is repeated.
  • the posture of the treatment unit 110 is changed at the upper end and the lower end of the guide rails 101 R and 101 L. Then, the treatment unit 110 along the guide rails 101 R and 101 L When descent, the upper fir balls 201a and 201b protrude toward the treatment area, and the lower fir balls 201c and 201d move to the opposite side from the treatment area. When it is in the retracted position, when it rises, the lower fir balls 201c and 201d protrude toward the treatment area, and the upper fir balls 201a and 201b move upward. It is in a position of retreating to the opposite side of the treatment section.
  • FIG. 36 is a diagram showing the transition of the operation of the treatment unit 110.
  • FIG. FIG. 37 is a flowchart for explaining the procedure of the rice ball switching operation.
  • the upper fir balls 201a, 201b recede to the opposite side of the treatment area, and the lower fir balls 201c, 2b.
  • the treatment unit 110 drives the elevating motor 310 downward from the upper end of the guide rails 101 R and 101 L with 0 d protruding to the treatment area. 1 3 1).
  • the treatment unit 110 descends along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L.
  • the ascending / descending limit sensor 315 is turned on (step 1332)
  • the elevating motor 301 is stopped (step 1333).
  • the motor 401A is rotated forwardly in the rice ball adjusting step (step 1334), and the upper rice balls 201a and 201b are set to predetermined positions.
  • the rice ball adjustment upper position sensor detects that the rice ball is projected to the position (step 135)
  • the rice ball adjustment motor 401A is stopped (step 1336).
  • the rice ball adjusting lower motor 401B is reversed (step 1337) to confirm that the lower rice balls 201c and 201d have retreated to predetermined positions.
  • the rice ball adjusting position sensor detects (step 1338)
  • the rice ball adjusting motor 401B is stopped (step 1339).
  • step 140 move the lifting motor 301 upward. Drive (step 140).
  • the treatment unit 110 rises along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L.
  • the up / down upper limit sensor 3 14 is turned on (step 14 1), the up / down motor 3 0 1 is stopped (step 1 4 2).
  • the rice ball adjusting motor 401B is rotated forward (step 1443), and the lower rice ball 201c, 201d is rotated.
  • the rice ball adjusting position sensor detects that the rod has protruded to the predetermined position (step 144)
  • the rice ball adjusting motor 401B is stopped (step 144).
  • the rice ball adjusting upper motor 401A is rotated in reverse (step 144), and the upper rice balls 201a and 201b are retracted to predetermined positions.
  • the adjustment position sensor detects (step 147) the rice ball adjustment motor 401A is stopped (step 148).
  • FIG. 38 is a diagram showing the transition of the operation of the treatment unit 110.
  • Figure 39 6 is a flowchart illustrating a procedure of a ball switching operation.
  • the upper fir balls 201a and 201b protrude toward the treatment part side, and the lower fir balls 201c and 201d dow.
  • the treatment unit 110 drives the elevating motor 301 downward from the upper end of the guide rails 101 R and 101 L while retracted to the opposite side of the treatment section (Step 1). 5 1).
  • the treatment unit 110 descends along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L.
  • the elevating position detecting sensor 313 detects a predetermined position (step 152)
  • the elevating motor 301 is stopped (step 1553).
  • the fir ball adjusting motor 401B is rotated forward (step 1554), and the lower fir balls 201c and 201d are set to predetermined positions.
  • the rice ball lowering position sensor detects that the rice ball is projected to the position (step 1555)
  • the rice ball lowering motor 401B is stopped (step 1556).
  • the rice ball adjusting upper motor 401 A is reversed (step 157), and the rice ball adjustment upper position sensor is moved back to the predetermined position, and the upper rice balls 201 a and 210 b are retracted.
  • the motor 401A is stopped (step 159).
  • the lifting motor 301 is driven downward (step 160).
  • the treatment unit 110 descends along the treatment section while being supported in the same posture with respect to the guide rails 101 R and 101 L. As shown in Fig. 38 (c), when the ascent / descent limit sensor 315 is turned on (step 161), the elevating motor 301 is stopped (step 162).
  • the elevating motor 301 is driven upward (step 1663).
  • the elevating position detecting sensor 313 detects a predetermined position (Step 164)
  • the elevating motor 301 is stopped (Step 165).
  • the motor 401A is rotated forward (step 1666), and the upper rice ball adjusting sensor detects that the upper rice balls 201a and 201b are protruding to predetermined positions.
  • the motor 401A on the rice ball adjustment is stopped (step 1668).
  • the rice ball adjusting lower motor 401B is reversed (step 169), and the lower rice balls 201c and 201 are retracted to the predetermined positions.
  • step 170 When the under-adjustment position sensor detects (step 170), the rice ball under-adjustment motor 401B is stopped (step 1711). Then, the lifting motor 301 is driven upward (step 172). The treatment unit 110 rises along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. As shown in FIG. 38 (f), when the up-and-down upper limit sensor 314 is turned on (step 173), the up-and-down motor 301 is stopped (step 174).
  • step 151 the treatment unit descends again, and the above operation is repeated.
  • the posture of the treatment section is changed at a predetermined position on the way other than the upper and lower ends of the guide rails 101 R and 101 L. For this reason, on the upper end side of the guide rails 101 R and 101 L, the upper fir balls 2 O la and 201 b protrude toward the treatment part both when ascending and descending, and The fir balls 201 c and 201 d are in a position of retreating to the opposite side of the treatment area, and at the lower end of the guide rails 101 R and 101 L, they rise and fall. At times, the lower fir balls 201c and 201d protrude toward the treatment area, and the upper fir balls 201a and 201b retreat to the opposite side of the treatment area. Holding.
  • the elevating motor 301 is stopped in the middle of the movement range of the treatment unit 110 to change the posture of the treatment unit 110.
  • the posture may be changed while moving.
  • the posture change positions when the treatment unit 110 is raised and lowered may be the same position or may be different positions.
  • the protrusion toward the treatment portion and the retreat operation toward the opposite side to the treatment portion are performed, and the upper rice ball 201 a, 210 1 Which of b and the lower rice ball 201c and 201d is performed first can be set as appropriate, and is not limited to the order described above. Further, these operations may be performed simultaneously, or may be performed after a predetermined time.
  • the upper fir balls 201a and 201b and the lower fir balls 201c and 201d have the same shape. Therefore, the user's feel or treatment effect does not change even if the upper rice ball 2 O la, 201 b or the lower rice ball 201 c, 201 d is used. Absent.
  • the outer surface of the upper fir ball 201 a, 20 lb is composed of a smooth curved surface, and the lower fir ball 200 1 c, 200 1 1
  • the shape may be such that a plurality of small protrusions 201 are arranged on the peripheral surface of d.
  • the upper fir balls 2 O la As described above, if the upper fir balls 2 0 1 a and 2 0 1 b and the lower fir balls 2 0 1 1 c and 2 0 1 Id have different shapes, the upper fir balls 2 O la Thus, different feelings and treatment effects can be realized when only the first and second bristles are used and when only the lower fir balls 201 and c are used.
  • FIGS. 41 and 42 has a different guidel configuration from the above-described embodiment.
  • 1 shows a schematic configuration of a massage machine. Since the configuration other than the guide rails is the same as that of the above-described embodiment, the description of the same configuration will be omitted using the same reference numerals, and only the characteristic configuration will be described.
  • FIG. 41 shows a massager 100 having a guide rail 11.01R and 1101L extended upward.
  • Figs. 41 (a) and 41 (b) show that the treatment unit 110 is located at the upper and lower ends of the guide rails 111R and 111L, respectively. Indicates when it is located.
  • the lower fir balls 201c and 201d are located on the shoulders of the user, and the upper fir balls 201a and 201b are almost at the head.
  • the lower fir balls 201c and 201d are at the waist position of the user as in the above-described embodiment.
  • Fig. 42 shows a massage machine 2000 having guide rails 1102R and 1102L extended downward.
  • Fig. 42 (a) and Fig. 42 (b) show that the treatment unit 110 is located at the upper and lower ends of the guide rails 111 and 120, respectively. Indicates when it is located.
  • Fig. 42 (a) shows a case where the treatment unit 110 is located at the upper end of the guide rail 1102R and 1102L movement range, as in the above embodiment.
  • the balls 201a and 201b are located on the shoulders of the user.
  • the upper rice balls 201a and 201b are located on the user's waist, and the lower rice balls 201c and 20Id are closer to the user's waist. It is located further below.
  • the position of the treatment unit that supports the treatment element which is substantially perpendicular to the moving direction of the treatment unit itself with respect to the guide means, can be changed, so that the distance between the treatment element and the human body can be changed.
  • the amount of treatment can be increased, the force acting on the treatment site can be controlled more appropriately, and the treatment with the strength corresponding to the symptom and the region or the treatment with more variety can be realized and massage
  • the treatment child can be kept out of the way.

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  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Dermatology (AREA)
  • Massaging Devices (AREA)
  • Percussion Or Vibration Massage (AREA)

Abstract

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

Description

明 細 書 マッサ一ジ機， マッサージュニッ ト及ぴマッサ一ジ機の制御方法  Description Control method of massaging machine, massage unit and massaging machine
技術分野 Technical field
本発明は、 施療子を駆動して人体に施療するマッサージ機， マッサ一 ジユニッ ト及びマッサージ機の制御方法に関する。  TECHNICAL FIELD The present invention relates to a massage machine, a massaging unit, and a method for controlling a massage machine for treating a human body by driving a treatment element.
背景技術 Background art
従来、 この種のマッサージ機と しては、 例えば、 特公平 1 一 4 9 4 9 6号に、 一対の施療子を備えたアームを主軸のまわり に揺動駆動するこ とにより もみマッサージを行い、 アームの主軸まわりの角度を変えるこ とにより強さを変えるものが記載されている。  Conventionally, as this type of massage machine, for example, Japanese Patent Publication No. 114494/96, massage massage was performed by swinging an arm equipped with a pair of treatment elements around a main shaft. It describes that the strength is changed by changing the angle around the main axis of the arm.
また、 実開昭 5 6— 1 2 5 2 3 2号には、 第 1の回転軸に一対のもみ 輪を傾斜しかつ偏心して取り付け、 第 1の回転軸に偏心カム円板を介し て揺動自在に取り付けられたアーム先端に一対のもみ具を設け、 第 2の 回転軸に偏心カム円板を介して揺動自在に取り付けられたレバーの先端 を前記アームの途中に枢支したマッサージ機が開示されている。 このマ ッサージ機では、 第 2の回転軸に取り付けられた偏心カム円板の回転角 を変えることによ り レバーを介してアームに取り付けられたもみ具の突 出量を変え、 一対のもみ輪のみあるいは一対のもみ輪と一対のもみ具の 両方を人体に接触させる構成となっている。  In addition, in Japanese Utility Model No. 56-125-32, a pair of fir wheels are attached to the first rotating shaft with inclination and eccentricity, and the first rotating shaft is rocked via an eccentric cam disk. A massage machine provided with a pair of firs at the tip of an arm movably attached, and the tip of a lever swingably attached to a second rotating shaft via an eccentric cam disk in the middle of the arm. Is disclosed. In this massaging machine, by changing the rotation angle of the eccentric cam disk attached to the second rotating shaft, the amount of protrusion of the fir attached to the arm via the lever is changed, and a pair of fir wheels is provided. Only or a pair of fir wheels and a pair of fir tools are configured to contact the human body.
また、 特公昭 6 1一 4 4 0 2 7には、 主軸に偏心させて装着された一 対の輪体とサイ ド昇降ローラを備え、 主軸を回転させることにより輪体 の突出量を変えて強さを調整すると ともに輪体のみあるいは輪体とサイ ド昇降口一ラの両方が人体に接触するようにしたマッサージ機が開示さ れている。 In addition, Japanese Patent Publication No. 61-144027 has a pair of wheels that are eccentrically mounted on the main shaft and side elevation rollers, and changes the amount of protrusion of the wheel by rotating the main shaft. A massage machine has been disclosed in which the strength is adjusted and only the wheel body or both the wheel body and the side elevator are in contact with the human body. Have been.
しかしながら、 上記のよ うな従来技術にあっては、 下記のよ うな問題 が生じていた。  However, in the above-described conventional technology, the following problems have occurred.
①施療子を備えた施療ュニッ トがガイ ドに沿った移動しかできないた め、 使用者の身体形状に沿った施療を行うことができず、 施療ユニッ ト の位置によつては施療子が被施療部位から離れて被施療部位に作用する 力が弱まったり、 逆に近すぎて被施療部位に作用する力が強まったり し てしま う。  (1) Since the treatment unit equipped with the treatment element can only move along the guide, treatment cannot be performed according to the user's body shape, and depending on the position of the treatment unit, the treatment element may be subject to treatment. The force acting on the treatment site away from the treatment site weakens, or conversely, the force acting on the treatment site increases too close.
②マッサージを行わないときには施療子が邪魔になる。  ② When massage is not performed, the treatment child gets in the way.
③一般に施療子と人体の間隔は一定であり、 症状や部位に応じた強さ での施療ができない。 また、 施療子と人体との間隔を調節可能と したマ ッサージ機もあるが、 調節量が少ない。 (3) In general, the distance between the treatment child and the human body is constant, and treatment cannot be performed with the strength appropriate for the symptoms and site. There is also a massage machine that can adjust the distance between the treatment element and the human body, but the amount of adjustment is small.
④指圧という刺激を実現できない。  刺激 I cannot realize the stimulus of acupressure.
⑤人体に対するたたき刺激の動作方向が一定で、 刺激が単調である。 動作 The motion direction of the tapping stimulus to the human body is constant, and the stimulus is monotonous.
⑥人体に当接する施療子の数が定まっており、 刺激が単調である。 本発明は上記従来技術の課題を解決するためになされたもので、 その 目的とするところは、 施療子と人体との間隔の調節量を大きくすること によ り、 被施療部位に作用する力をより適切に制御し、 症状や部位に応 じた強さの施療、 あるいは、 よりバラエティに富んだ施療を実現すると ともに、 マッサージを行わないときには施療子が邪魔にならないように することができるマツサージ機， マッサージュニッ ト及びマッサージ機 の制御方法を提供することにある。 ⑥The number of treatment elements in contact with the human body is fixed, and the stimulation is monotonous. The present invention has been made to solve the above-mentioned problems of the prior art, and an object of the present invention is to increase the amount of adjustment of the distance between the treatment element and the human body, thereby increasing the force acting on the treatment site. Mazur surgeon can control treatment more appropriately, achieve treatment with the strength corresponding to the symptoms and parts, or treatment with more variety, and keep the treatment child out of the way when massage is not performed. An object of the present invention is to provide a machine, a massage unit, and a method of controlling a massage machine.
発明の開示 Disclosure of the invention
本発明は、 上記目的を達成するために、 左右で一対をなす施療子と、 該施療子を支持し、 被施療部に沿って移動可能な施療ュニッ トと、 前記 施療ュニッ トの被施療部に沿った移動を案内する案内手段と、 前記案内 手段に対して前記施療ュニッ トを支持する支持手段とを備えたマッサ一 ジ機であって、 前記施療ユニッ トの、 前記案内手段に対する前記移動方 向に略直交する方向の位置を変更する位置変更手段を備えたマッサージ 機と して構成される。 In order to achieve the above object, the present invention provides a treatment element that forms a pair on the left and right, a treatment unit that supports the treatment element, and is movable along a treatment target; A massaging machine comprising: a guide unit for guiding movement of a treatment unit along a treatment portion; and a support unit for supporting the treatment unit with respect to the guide unit. The massaging machine includes a position changing unit that changes a position of the guiding unit in a direction substantially orthogonal to the moving direction.
このよ う にすれば、 支持手段によって支持されている施療ュニッ トの 案内手段に対する移動方向に略直交する方向の位置を変更することがで きる。 施療子を支持する部材の位置や姿勢を変更するのではなく、 案内 手段.に沿って移動する施療ユニッ ト自体の位置を変更するのであるから、 施療子の駆動構造にと らわれずに位置変更手段を構成することができ、 より大きな位置変化量を確保することができる。 すなわち、 被施療部に 対する突出量の変化の範囲が大きくなるので、 被施療部位に作用する力 をより適切に制御し、 症状や部位に応じた強さの施療を実現できる。 す なわち、 よりパラエティに富んだ施療が可能となる。  This makes it possible to change the position of the treatment unit supported by the support means in the direction substantially perpendicular to the direction of movement with respect to the guide means. It does not change the position or posture of the member that supports the treatment element, but changes the position of the treatment unit that moves along the guide means. A change means can be configured, and a larger position change amount can be secured. That is, since the range of change in the amount of protrusion relative to the treatment target portion is increased, the force acting on the treatment target portion can be more appropriately controlled, and treatment with a strength corresponding to the symptoms and the site can be realized. In other words, treatments with a greater variety can be achieved.
また、 前記施療子が前記施療ュニッ トの移動方向に少なく ともニ対設 けられていることが好ましい。  Further, it is preferable that at least two treatment elements are provided in the moving direction of the treatment unit.
また、 前記施療ュニッ トの移動方向に設けられている少なく とも二対 の施療子は、 互いに特性の異なる二対の施療子を含むことが好ましい。 このよ うに特性の異なる施療子を設ければ、 それぞれの対の施療子を 使い分けることにより異なる施療が可能となり、 よ りバラエティに富ん だ施療が可能となる。 ここで、 特性とは、 形状、 材質、 弾性等の力学的 性質等のように使用者に対して感触あるいは施療効果の点で差異を生じ させる可能性のある性質を指す。  In addition, it is preferable that at least two pairs of treatment elements provided in the moving direction of the treatment unit include two pairs of treatment elements having different characteristics. If treatment elements with different characteristics are provided in this way, different treatments can be performed by using different pairs of treatment elements, and treatments with more variety can be performed. Here, the characteristic refers to a property that may cause a difference in the feel or treatment effect to the user, such as a mechanical property such as a shape, a material, and elasticity.
また、 前記支持手段は、 前記施療ユニッ トを、 前記移動方向の少なく とも 2つの部位において前記案内手段に対して支持し、 前記位置変更手 段は、 前記支持手段によって支持されている前記施療ュニッ トのそれぞ れの部位の、 前記案内手段に対する前記移動方向に略直交する方向の位 置を変更することが好ましい。 The support means supports the treatment unit with respect to the guide means at at least two positions in the movement direction, and the position changing means includes a treatment unit supported by the support means. Each of the It is preferable to change the position of these parts in a direction substantially perpendicular to the moving direction with respect to the guide means.
また、 前記位置変更手段は、 前記施療ユニッ トの移動方向の異なる部 位を支持するそれぞれの支持手段について、 独立して前記位置を変更す る機能を有することが好ましい。  Further, it is preferable that the position changing means has a function of independently changing the position of each of the supporting means for supporting a position of the treatment unit in a different moving direction.
位置変更手段は、 同期して位置を変更するよ うにしてもよいし、 独立 して変更するよ うにしてもよい。  The position changing means may change the position synchronously or may change the position independently.
また、 前記位置変更手段は、 前記支持手段によって支持されている前 記施療ュニッ トの部位の前記案内手段に対する位置を、 少なく とも被施 療部側に向けて変更する機能を有することが好ましい。  In addition, it is preferable that the position changing means has a function of changing a position of the treatment unit supported by the support means with respect to the guide means at least toward the treatment part side.
また、 前記支持手段は、 前記案内手段に係合する係合部と、 該係合部 を支持し、 前記施療ュニッ トに揺動可能に支持されたアームと、 を備え、 前記位置変更手段は、 前記アームの揺動角度を変更する機能を有するこ とが好ましい。  Further, the support means includes: an engagement portion that engages with the guide means; and an arm that supports the engagement portion and is swingably supported by the treatment unit. It is preferable to have a function of changing the swing angle of the arm.
また、 前記位置変更手段は、 前記アームの摇動中心が前記係合部に対 して被施療部側に位置する第 1 の状態と、 前記係合部が前記アームの揺 動中心に対して被施療部側に位置する第 2の状態となるように前記ァー ムの摇動角度を変更する機能を有することが好ましい。  In addition, the position changing means includes: a first state in which a pivot center of the arm is located on a treatment section side with respect to the engagement section; It is preferable to have a function of changing the swing angle of the arm so as to be in the second state located on the treatment section side.
このよ う にすれば、 施療子が被施療部に対して押圧力を作用させて施 療を行う と ともに、 不要な場合には、 施療子が人体に当接しないよ うに 退避させること もできる。  In this way, the treatment element can perform treatment by applying a pressing force to the treatment target portion, and when unnecessary, the treatment element can be evacuated so as not to come into contact with the human body. .
また、 本発明は、 左右で一対をなす施療子と、 該施療子を支持し、 被 施療部に沿って移動可能な施療ュニッ トと、 前記施療ュニッ トの被施療 部に沿った移動を案内する案内手段とを備えたマッサージ機であって、 前記施療ュニッ トを前記案内手段に対して支持する支持手段と、 前記支 持手段によって支持されている前記施療ュニッ トの、 前記案内手段に対 する姿勢を変更する姿勢変更手段を備えたマッサージ機と して構成する ことができる。 . In addition, the present invention provides a pair of treatment elements on the left and right, a treatment unit supporting the treatment element and movable along the treatment section, and guiding movement of the treatment unit along the treatment section. A massager provided with guide means for performing the treatment, wherein the support means supports the treatment unit with respect to the guide means, and the guide means of the treatment unit supported by the support means is provided. It can be configured as a massage machine provided with a posture changing means for changing the posture to perform. .
このように、 施療ユニッ ト全体の位置を変更する場合のみならず、 案 内手段に対して移動方向の一箇所のみの位置を変更し、 施療ュニッ トの 姿勢のみを変更する場合でも、 施療子の駆動構造にと らわれずに姿勢変 更手段を構成することができる。 従って、 同様に、 被施療部に対する突 出量の変化の範囲を大きく して、 被施療部位に作用する力をより適切に 制御し、 症状や部位に応じた強さの施療を実現できる。 また、 左右一対 の施療子を施療ュニッ トの移動方向に少なく とも二対設けた場合には、 施療ュニッ トの案内手段に対する姿勢を変更することにより、 移動方向 の前方又は後方あるいは両方の施療子対が被施療部に当接するように切 り替えることができるので、よりバラエティに富んだ施療が可能となる。 また、 本発明は、 左右で一対をなす施療子と、 該施療子を支持し、 被 施療部に対して移動可能な施療ユニッ ト と、 取り付けられる相手部材と の間を連結すると ともに、 前記施療ュニッ トを支持する支持手段とを備 えたマッサージユニッ トであって、 前記施療ユニッ トの、 前記被施療部 に対して接近及び離間する方向の位置を変更する位置変更手段を備えた マッサージュニッ トと して構成することもできる。  In this way, not only when the position of the entire treatment unit is changed, but also when the position of only one position in the movement direction is changed with respect to the planned means and only the posture of the treatment unit is changed, The attitude changing means can be configured without being restricted to the driving structure of the above. Therefore, similarly, the range of the change in the amount of protrusion to the treatment part is increased, the force acting on the treatment part is more appropriately controlled, and treatment with the strength corresponding to the symptoms and the part can be realized. When at least two pairs of left and right treatment elements are provided in the moving direction of the treatment unit, the posture of the treatment unit with respect to the guide means is changed, so that the treatment element is moved forward or rearward in the moving direction or both. Since the pair can be switched so as to be in contact with the treatment section, treatments with a greater variety can be performed. In addition, the present invention provides a treatment element that forms a pair on the left and right, a treatment unit that supports the treatment element and is movable with respect to a treatment section, and a mating member to be attached. A massage unit provided with support means for supporting the treatment unit, comprising: a position changing means for changing a position of the treatment unit in a direction approaching and separating from the treatment target. Can also be configured as
本発明は、 上述したよ うに施療ユニッ トが案内手段に案内されて被施 療部に沿って移動するマッサージ機と して構成することができるのみな らず、 椅子やベッ ド等のような適宜選択される相手部材に取り付けるこ とにより、 施療を可能とするマッサージュニッ トと しても構成すること ができる。 このよ うなマッサージュニッ トを用いることによ り、 同様に、 パラエティに富んだ施療を実現することができる。 ここで、相手部材は、 椅子やべッ ドのよ うなものに限られず、 マッサージュニッ トが取り付け られるものであればよい。 相手部材を使用者が保持できるような部材と し、 これにマッサージユニッ トを取り付け可搬性のマッサージ装置と し て構成すること もできる。 The present invention is not limited to a massage unit in which the treatment unit is guided by the guide means and moves along the treatment target as described above. By attaching to a suitably selected partner member, it can be configured as a massage unit that enables treatment. By using such a massage unit, it is also possible to realize a treatment rich in parasites. Here, the mating member is not limited to a chair or a bed, but may be a member to which a massage unit can be attached. A member that allows the user to hold the mating member However, a massage unit can be attached to this to constitute a portable massage device.
また、 前記相手部材及ぴ前記施療ユニッ トのいずれかに、 前記支持手 段を案内する軌道部材が設けられ、 前記支持手段は、 前記軌道部材に係 合すると ともに該軌道部材に従って移動する係合部を備えるよ うにして もよい。  Further, a track member for guiding the support means is provided on one of the counterpart member and the treatment unit, and the support means engages with the track member and engages with the track member to move in accordance with the track member. A part may be provided.
軌道部材は、 マッサージ機における案内手段のように広範囲に施療ュ ニッ トを移動させることのできる延長を有するものでもよいし、 より短 い延長を有するものでもよい。 例えば、 施療ユニッ トの移動が、 被施療 部に対する接近及ぴ離間と同一視できる範囲に限定されるよ う な移動を 可能とする程度の延長であってもよい。 また、 軌道部材は、 相手部材に 設けられてもよいし、 施療ュニッ ト側に設けてもよい。 施療ュニッ トの 移動は、 支持手段を介した施療ユニッ トと相手部材との相対位置変化と して実現されるので、 施療ユニッ トと相手部材のいずれに軌道部材を設 けても同様の移動を実現できる。  The track member may have an extension capable of moving the treatment unit over a wide range, such as a guide means in a massage machine, or may have a shorter extension. For example, the treatment unit may be extended to such an extent that the movement of the treatment unit is limited to a range that can be identified with approaching and separating from the treatment target. Further, the track member may be provided on the counterpart member, or may be provided on the treatment unit side. Since the movement of the treatment unit is realized as a relative position change between the treatment unit and the partner member via the support means, the same movement is performed regardless of whether the track member is provided on either the treatment unit or the partner member. Can be realized.
また、 前記施療子は、 前記軌道部材が延びる方向に少なく と もニ対設 けられているよ うにしてもよい。  Further, the treatment element may be provided at least in two pairs in the direction in which the track member extends.
また、 前記軌道部材が延びる方向に設けられている少なく と も二対の 施療子は、 互いに特性の異なる二対の施療子を含むよ うにしてもよい。  Further, at least two pairs of treatment elements provided in a direction in which the track member extends may include two pairs of treatment elements having different characteristics from each other.
また、 前記支持手段は、 前記施療ユニッ トを、 前記軌道部材が延びる 方向に少なく と も 2つの部位において前記相手部材に対して支持し、 前 記位置変更手段は、 前記支持手段によつて支持されている前記施療ュニ ッ トのそれぞれの部位の、 前記被施療部に対して接近及び離間する方向 の位置を変更するよ うにしてもよい。  Further, the support means supports the treatment unit with respect to the counterpart member at at least two portions in a direction in which the track member extends, and the position changing means supports the treatment unit by the support means. The positions of the respective parts of the treatment unit that are set in the direction of approaching and separating from the treatment target part may be changed.
また、 前記位置変更手段は、 前記施療ユニッ トにおける、 軌道部材の 延びる方向の異なる部位を支持するそれぞれの支持手段について、 独立 して前記位置を変更する機能を有することが好ましい。 Further, the position changing means may be independent of each of the support means for supporting a portion of the treatment unit in which a track member extends in a different direction. It is preferable to have a function of changing the position.
また、 前記支持手段は、 前記係合部を支持し、 前記施療ユニッ ト及び 相手部材のいずれかに揺動可能に支持されたアームと、 を備え、 前記位 置変更手段は、 前記アームの揺動角度を変更する機能を有することが好 ましい。  Further, the support means includes: an arm that supports the engaging portion, and is swingably supported by one of the treatment unit and the counterpart member. The position changing means includes a swing of the arm. It is preferable to have a function to change the moving angle.
また、 前記位置変更手段は、 前記アームの揺動中心が前記係合部に対 して被施療部側に位置する第 1 の状態と、 前記係合部が前記アームの摇 動中心に対して被施療部側に位置する第 2の状態となるように前記ァー ムの摇動角度を変更する機能を有することが好ましい。  Further, the position changing means includes: a first state in which the swing center of the arm is located on the treatment section side with respect to the engagement section; and wherein the engagement section has a swing center with respect to the swing center of the arm. It is preferable to have a function of changing the swing angle of the arm so as to be in the second state located on the treatment section side.
また、 前記位置変更手段は、 前記支持手段によって支持されている前 記施療ュニッ トの部位の前記相手部材に対する位置を、 少なく とも被施 療部に向けて変更する機能を有することが好ましい。  Further, it is preferable that the position changing means has a function of changing a position of the part of the treatment unit supported by the support means with respect to the counterpart member at least toward the treatment part.
また、 本発明は、 左右で一対をなす施療子と、 該施療子を支持し、 被 施療部に対して移動可能な施療ユニッ トと、 取り付けられる相手部材と の間を連結すると ともに、 前記施療ュニッ トを支持する支持手段とを備 えたマッサージュニッ トであって、 前記支持手段によって支持されてい る前記施療ュニッ トの、 前記相手部材に対する姿勢を変更する姿勢変更 手段を備えたマッサージュニッ トと して構成することができる。  In addition, the present invention provides a pair of treatment elements on the left and right sides, a treatment unit that supports the treatment elements and is movable with respect to a treatment section, and a mating member to be attached. A massage unit having support means for supporting the unit, wherein the massage unit includes a posture changing means for changing a posture of the treatment unit supported by the support means with respect to the counterpart member. Can be configured as
また、 本発明は、 左右で一対をなす第 1 の施療子と、 第 1 の施療子の 下方に設けられ左右で一対をなす第 2の施療子を、 被施療部に沿って上 下方向に移動させると ともに、 前記第 1 の施療子と第 2の施療子の被施 療部方向の位置を制御してマッサージ施療を行うマツサージ機の制御方 法であって、 第 1 の施療子及び第 2の施療子の所定の移動範囲の上端部 において、 第 1 の施療子を被施療部側に突出させると ともに第 2の施療 子を被施療部とは反対側に後退させるステップと、 第 1 の施療子及び第 2の施療子の所定の移動範囲の下端部において、 第 1 の施療子を被施療 部と反対側に後退させると ともに第 2の施療子を被施療部側に突出させ るステップと、 を含む。 Further, the present invention provides a left and right pair of a first treatment element and a left and right pair of second treatment elements provided below the first treatment element in an upward and downward direction along a treated portion. A method of controlling a pine surge machine that performs a massage treatment by controlling the positions of the first treatment element and the second treatment element in the direction of the treatment section while moving the first treatment element and the second treatment element. At the upper end of the predetermined movement range of the treatment element (2), the first treatment element is protruded toward the treatment section, and the second treatment element is retracted to the opposite side to the treatment section. The first treatment element is treated at the lower end of the predetermined movement range of the treatment element of the second treatment element and the treatment element of the second treatment element. Retreating to the opposite side of the section and projecting the second treatment element to the treatment section side.
また、 本発明は、 左右で一対をなす第 1の施療子と、 第 1の施療子の 下方に設けられ左右で一対をなす第 2の施療子を、 被施療部に沿って上 下方向に移動させると ともに、 前記第 1の施療子と第 2の施療子の被施 療部方向の位置を制御してマッサージ施療を行うマッサージ機の制御方 法であって、 第 1の施療子及び第 2の施療子の所定の移動範囲の上端部 において、 第 1 の施療子を被施療部と反対側に後退させると と もに第 2 の施療子を被施療部側に突出させるステップと、 第 1 の施療子及ぴ第 2 の施療子の所定の移動範囲の下端部において、 第 1 の施療子を被施療部 側に突出させる と ともに第 2の施療子を被施療部とは反対側に後退させ るステップと、 を含む。  The present invention also provides a left and right pair of a first treatment element and a left and right pair of second treatment elements provided below the first treatment element in an upward and downward direction along a treated portion. A method for controlling a massage machine that performs massage treatment by controlling the positions of the first treatment element and the second treatment element in the direction of the treatment section while moving the first treatment element and the second treatment element. At the upper end of the predetermined movement range of the second treatment element, the first treatment element is retracted to the opposite side to the treatment section, and the second treatment element is projected to the treatment section side; At the lower end of the predetermined movement range of the first treatment element and the second treatment element, the first treatment element is made to protrude toward the treatment section, and the second treatment element is moved to the opposite side from the treatment section. Retracting.
また、 本発明は、 左右で一対をなす第 1 の施療子と、 第 1 の施療子の 下方に設けられ左右で一対をなす第 2の施療子を、 被施療部に沿って上 下方向に移動させると ともに、 前記第 1 の施療子と第 2の施療子の被施 療部方向の位置を制御してマッサージ施療を行うマッサージ機の制御方 法であって、 前記被施療部に沿った下方向への移動時の移動範囲内の所 定位置において、 第 1 の施療子を被施療部と反対側に後退させる と とも に第 2の施療子を被施療部側に突出させるステップと、 前記被施療部に 沿った上方向への移動時の移動範囲内の所定位置において、 第 1 の施療 子を被施療部側に突出させると ともに第 2の施療子を被施療部とは反対 側に後退させるステップと、 を含む。  Further, the present invention provides a left and right pair of a first treatment element and a left and right pair of second treatment elements provided below the first treatment element in an upward and downward direction along a treated portion. A method of controlling a massage machine that performs a massage treatment by controlling the positions of the first treatment element and the second treatment element in the direction of the treatment section while moving the treatment section. At a predetermined position within the movement range when moving downward, the first treatment element is retracted to the opposite side to the treatment section, and the second treatment element is projected to the treatment section side; At a predetermined position within the movement range when moving upward along the treatment section, the first treatment element is protruded toward the treatment section side, and the second treatment element is moved to the opposite side to the treatment section. Retreating to.
このよ うに、 上下方向に配置された第 1 の施療子と第 2の施療子の被 施療部方向の位置を、 被施療部に沿った移動の過程の種々の位置で変更 することによ り、 所定の移動範囲内における、 それぞれの施療子の、 被 施療部に沿った方向の移動範囲の差を解消することができる。 また、 上 下方向に配置された第 1 の施療子と第 2の施療子の被施療部方向の位置 の変更によ り、 被施療部に当接する施療子を切り替えることによ り、 よ りパラエティに富んだ施療を実現することができる。 また、 施療子は第In this way, by changing the positions of the first treatment element and the second treatment element arranged in the vertical direction in the treatment section direction at various positions in the movement process along the treatment section. In addition, it is possible to eliminate the difference in the moving range of each treatment element in the direction along the treated portion within the predetermined moving range. Also, on By changing the position of the first treatment element and the second treatment element arranged in the downward direction in the direction of the treatment section, the treatment element in contact with the treatment section is switched, so that the parasite is richer. Treatment can be realized. In addition, the treatment child
1 の施療子と第 2の施療子の二対に限られるものではなく、 二対より多 く の対の施療子を有するマッサージ機であってもよい。 The massage machine is not limited to two pairs of the first treatment element and the second treatment element, and may be a massage machine having more than two pairs of treatment elements.
また、 マッサージ機の制御方法において、 前記第 1 の施療子と第 2の 施療子の被施療部方向の位置をそれぞれ独立して制御するよ うにしても よい。 図面の簡単な説明  Further, in the control method of the massage machine, the positions of the first treatment element and the second treatment element in the treatment portion direction may be independently controlled. BRIEF DESCRIPTION OF THE FIGURES
図 1 は本発明の実施形態に係るマッサージ機の概略構成を示す斜視図 でめる。  FIG. 1 is a perspective view showing a schematic configuration of a massage machine according to an embodiment of the present invention.
図 2は本発明の実施形態に係るマッサージ機の全体側面図である。 図 3は施療ュニッ トの正面図である。  FIG. 2 is an overall side view of the massage machine according to the embodiment of the present invention. Figure 3 is a front view of the treatment unit.
図 4は施療ュニッ トの右側面図である。  Figure 4 is a right side view of the treatment unit.
図 5は施療ユニッ トの背面図である。  Fig. 5 is a rear view of the treatment unit.
図 6は施療ュ-ッ トの正面側斜視図である。  FIG. 6 is a front perspective view of the treatment unit.
図 7は施療ュニッ トの背面側斜視図である。  FIG. 7 is a rear perspective view of the treatment unit.
図 8は施療部の正面図である。  FIG. 8 is a front view of the treatment section.
図 9は施療部の背面図である。  FIG. 9 is a rear view of the treatment section.
図 1 0は施療部の背面上方からの斜視図である。  FIG. 10 is a perspective view of the treatment section as viewed from the upper rear side.
図 1 1 は施療部の正面右方からの斜視図である。  FIG. 11 is a perspective view from the front right side of the treatment section.
図 1 2は施療部の正面左方からの斜視図である。  FIG. 12 is a perspective view from the front left side of the treatment section.
図 1 3は施療部の背面下方からの斜視図である。  FIG. 13 is a perspective view of the treatment section from the lower rear side.
図 1 4はもみ機構の構成を示す図である。  FIG. 14 is a diagram showing the configuration of the fir mechanism.
図 1 5はもみ機構の構成を示す図である。 図 1 6はたたき機構の構成を示す図である。 FIG. 15 is a diagram showing the configuration of the fir mechanism. FIG. 16 is a diagram showing the configuration of the tapping mechanism.
図 1 7はたたき機構の構成を示す図である。  FIG. 17 is a diagram showing the configuration of the tapping mechanism.
図 1 8は昇降部の構成を示す図である。  FIG. 18 is a diagram showing the configuration of the lifting unit.
図 1 9は昇降部の一部を拡大して示した図である。  FIG. 19 is an enlarged view of a part of the lifting unit.
図 2 0は前後位置変更部の構成を示す図である。  FIG. 20 is a diagram showing the configuration of the front / rear position changing unit.
図 2 1 は前後位置変更部の斜視図である。  FIG. 21 is a perspective view of the front / rear position changing unit.
図 2 2 ( a ) , ( b ) , ( c ) は前後位置変更部がガイ ドレールに対して 前後方向の位置を変化させた状態を示す図である。  FIGS. 22 (a), (b), and (c) are diagrams showing a state in which the front / rear position changing unit changes the position in the front / rear direction with respect to the guide rail.
図 2 3は施療ュニッ トと背もたれ部との位置関係の変化を示す図であ る。  FIG. 23 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.
図 2 4は施療ュニッ トと背もたれ部との位置関係の変化を示す図であ る。  FIG. 24 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.
図 2 5は施療ュニッ トと背もたれ部との位置関係の変化を示す図であ る。  FIG. 25 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.
図 2 6は施療ュニッ トと背もたれ部との位置関係の変化を示す図であ る。  FIG. 26 is a diagram showing a change in the positional relationship between the treatment unit and the backrest.
図 2 7はマッサ一ジ機の基本動作を説明するフローチヤ一トである。 図 2 8はマッサージ機の全体構成を示すプロック図である。  FIG. 27 is a flowchart for explaining the basic operation of the massaging machine. FIG. 28 is a block diagram showing the overall configuration of the massage machine.
図 2 9はもみ玉調節動作の手順を説明するフローチャートである。 図 3 0はもみ動作時のもみ玉の動きを示す図である。  FIG. 29 is a flowchart for explaining the procedure of the rice ball adjusting operation. FIG. 30 is a diagram showing the movement of the fir ball during the fir operation.
図 3 1 はマッサージ機の指圧動作時の手順を説明するフローチャー ト である。  Fig. 31 is a flowchart explaining the procedure during the acupressure operation of the massage machine.
図 3 2はマッサージ機の指圧動作時の手順を説明するフローチヤ一ト である。  FIG. 32 is a flowchart for explaining the procedure during the acupressure operation of the massage machine.
図 3 3はマッサージ機の指圧動作時の手順を説明するフローチャート である。 図 3 4 ( a )， ( b ), ( c )， ( d ) は第 1のもみ玉切替動作時の施療ュ ニッ トの動作遷移を示す図である。 FIG. 33 is a flowchart for explaining the procedure during the acupressure operation of the massage machine. Fig. 34 (a), (b), (c) and (d) are diagrams showing the operation transition of the treatment unit at the time of the first fir ball switching operation.
図 3 5は第 1 のもみ玉切替動作の手順を説明するフローチャー トであ る。  FIG. 35 is a flowchart illustrating the procedure of the first rice ball switching operation.
図 3 6 ( a ), ( b )， （ c )， ( d ) は第 2のもみ玉切替動作時の施療ュ ニッ トの動作遷移を示す図である。  Figure 36 (a), (b), (c), and (d) are diagrams showing the operation transition of the treatment unit at the time of the second rice ball switching operation.
図 3 7は第 2のもみ玉切替動作の手順を説明するフローチヤ一トであ る。  FIG. 37 is a flowchart for explaining the procedure of the second rice ball switching operation.
図 3 8 ( a ) 〜 （ f ) は第 3のもみ玉切替動作時の施療ユニッ トの動 作遷移を示す図である。  Fig. 38 (a) to (f) are diagrams showing the operation transition of the treatment unit at the time of the third fir ball switching operation.
図 3 9は第 3のもみ玉切替動作の手順を説明するフローチャー トであ る。  FIG. 39 is a flowchart for explaining the procedure of the third rice ball switching operation.
図 4 0はもみ玉の他の構成例を示す図である。  FIG. 40 is a diagram showing another configuration example of the fir ball.
図 4 1 ( a ), ( b ) はガイ ドレールの他の構成例を示す図である。 図 4 2 ( a ), ( b ) はガイ ドレールの他の構成例を示す図である。 発明を実施するための最良の形態  FIGS. 41 (a) and (b) are diagrams showing other examples of the configuration of the guide rail. FIGS. 42 (a) and (b) are diagrams showing other examples of the configuration of the guide rail. BEST MODE FOR CARRYING OUT THE INVENTION
以下に図面を参照して、 本発明の好適な実施形態を説明する。  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
図 1 は本発明の実施形態に係るマッサージ機 1 0の概略構成を示す斜 視図である。 図 1 では、 背もたれ部 1 0 0 aの力パーシート及ぴク ッシ ヨンを省略している。 図 2は、 同マッサージ機 1 0の全体側面図であり、 背もたれ部 1 0 0 a については外形とともに内部構成を示している。 マッサージ機 1 0はリ クライニング自在な椅子 1 0 0の背もたれ部 1 0 0 a に施療ュニッ ト 1 1 0を組み込んだものである。 施療ュニッ ト 1 1 0から背もたれ部 1 0 0 a の力パーシートで覆われた表面側に向かつ て突設されたもみ玉 （施療子） 2 0 1 a〜dによって人体に対してマツ サージを行う。 もみ玉は、 背筋方向に沿って上方に左右一対配置された もみ玉 2 0 1 a ， 2 0 1 b (第 1の施療子） と、 その下方に左右一対配 置されたもみ玉 2 0 1 c ， 2 0 1 d (第 2 の施療子） とからなる。 FIG. 1 is a perspective view showing a schematic configuration of a massage machine 10 according to an embodiment of the present invention. In FIG. 1, the force par seat and the cushion of the backrest portion 100a are omitted. FIG. 2 is an overall side view of the massage machine 10, and shows the internal configuration of the backrest portion 100 a together with the outer shape. The massage machine 100 has a treatment unit 110 incorporated in a backrest 100 a of a reclining chair 100. Pine balls (treatment elements) 201 protruding from the treatment unit 110 toward the front side covered with the force par sheet of the backrest 100a, and the pine against the human body by the treatment elements 201a-d. Perform a surge. The fir balls are a pair of left and right fir balls 201 a and 201 b (first treatment element) arranged upward along the spine direction, and a pair of fir balls 201 and 1 left and right below the fir balls. c, 201 d (second treatment element).
施療ユニッ ト 1 1 0は、 背もたれ部 1 0 0 a に沿って、 開口が対向す るように配置された断面コの字形 （箱形） の一対のガイ ドレール （案内 手段， 軌道部材） 1 0 1 R， 1 0 1 Lに支持されている。 施療ュニッ ト 1 1 0は、 両側に設けられた後述の昇降ピニオン 3 1 0及び昇降ローラ 3 1 1がガイ ドレール 1 0 1 R， 1 0 1 Lの内側に設けられたラック と 嚙合し、 昇降ピニオン 3 1 0を回転駆動することにより、 ガイ ドレール 1 0 1 R , 1 0 1 Lに沿って上下に移動する。  The treatment unit 110 is composed of a pair of guide rails (guide means, track members) having a U-shaped cross section (box shape) arranged so that the openings face each other along the backrest portion 100a. Supported by 1R, 101L. The treatment unit 110 is connected to a rack provided on the inside of guide rails 101 R and 101 L by a lifting pinion 310 and a lifting roller 3101, which will be described later, provided on both sides. By rotating and driving the pinion 310, it moves up and down along the guide rails 101R and 101L.
図 3は施療ユニッ ト 1 1 0の正面図、 図 4は同右側面図、 図 5は同背 面図、 図 6は同正面側斜視図、 図 7は同背面側斜視図である。  Fig. 3 is a front view of the treatment unit 110, Fig. 4 is a right side view thereof, Fig. 5 is a rear view thereof, Fig. 6 is a front perspective view thereof, and Fig. 7 is a rear perspective view thereof.
施療ュニッ ト 1 1 0の前面は板状のベース部材 1 1 1 によって覆われ ている。 ベース部材 1 1 1 は、 上端部が背面側へ屈曲されると ともに、 中央部にもみ玉 2 0 1 a 〜 dが突出する略矩形の開口部 1 1 1 1が設け られている。 また、 ベース部材 1 1 1 a にはギア等と干渉しなよ うに切 欠部 1 1 1 2及び開口部 1 1 1 3が設けられている。 施療ュニッ ト 1 1 0及ぴ後述する施療ュニッ ト前後位置変更部 4 0 0を含めてマッサージ ユニッ トが構成される。  The front surface of the treatment unit 110 is covered with a plate-like base member 111. The base member 111 has a substantially rectangular opening 111 from which the upper end portion is bent to the rear side and from which the millet balls 201 a to d protrude in the center. In addition, the base member 111a is provided with a cutout 111 and an opening 111 so as not to interfere with gears and the like. A massage unit is configured including the treatment unit 110 and a treatment unit front / rear position changing unit 400 described later.
(施療部の概略構成）  (Schematic configuration of treatment section)
図 8はベース部材 1 1 1 に取り付けられている施療部 2 0 0 の正面図 であり、 図 9は同背面図、 図 1 0は同背面上方からの斜視図、 図 1 1 は 同正面右方からの斜視図、 図 1 2は同正面左方からの斜視図、 図 1 3は 同背面下方からの斜視図である。  FIG. 8 is a front view of the treatment section 200 attached to the base member 111, FIG. 9 is a rear view of the same, FIG. 10 is a perspective view of the same from above the rear, and FIG. FIG. 12 is a perspective view from the front left side, and FIG. 13 is a perspective view from the lower rear side.
4つのもみ玉 2 0 1 a 〜 dは略 V字形のもみ玉アーム 2 0 2 R , 2 0 2 Lの先端部にそれぞれ回動自在に軸支されている。 もみ玉アーム 2 0 2 R, 2 0 2 Lの基端部は、 アーム支持部材 2 0 3 R, 2 0 3 Lに固定 されている。 もみ軸 2 0 5の左右両側には、 円筒形状の傾斜ス リーブ 2 0 7 R , 2 0 7 Lがそれぞれ軸方向に対して傾斜して固定されており、 傾斜スリーブ 2 0 7 R, 2 0 7 Lの軸方向に対する傾斜は左右対称とな るように設定している。 傾斜スリーブ 2 0 7 R， 2 0 7 Lの外周には周 面に沿って転動するべァリ ングを介してべァリ ングケース 2 0 3 1 R， 2 0 3 1 Lが回動自在に嵌合している。 アーム支持部材 2 0 3 R, 2 0 3 Lはベアリ ングケース 2 0 3 1 R, 2 0 3 1 Lの側面に固定されてい る。 ベアリ ングケース 2 0 3 1 R, 2 0 3 1 Lは傾斜ス リーブ 2 0 7の 外周に嵌合する基部 2 0 3 1 1 R, 2 0 3 1 1 Lと ともに周方向に突設 されたリ ンク受け部 2 0 3 1 2 R， 2 0 3 1 2 Lを有する。 リ ンク受け 部 2 0 3 1 2 R, 2 0 3 1 2 Lには球状に形成されたリ ンク 2 0 9 R, 2 0 9 Lの一端が嵌合しており、 リ ンク 2 0 9 R， 2 0 9 Lは球面に沿 つて揺動自在に支持されている。 Four fir balls 2 0 1 a to d are approximately V-shaped fir ball arms 2 0 2 R, 20 Each of the 2 L ends is rotatably supported by a shaft. The base ends of the fir ball arms 202 R, 202 L are fixed to arm support members 203 R, 203 L. On both left and right sides of the fir shaft 205, cylindrical inclined sleeves 200R and 207L are fixed to be inclined with respect to the axial direction, respectively. The inclination of the 7 L with respect to the axial direction is set to be symmetrical. Bearing cases 200 31 R and 203 1 L are rotatable around the outer circumference of the inclined sleeves 200 R and 207 L via bearings rolling along the peripheral surface. Is fitted. The arm support members 203 R and 203 L are fixed to the side surfaces of the bearing case 203 R and 203 L. The bearing case 2 0 3 1 R, 2 0 3 1 L protrudes in the circumferential direction together with the base 2 0 3 1 1 R, 2 0 3 1 1 L fitted on the outer periphery of the inclined sleeve 2 07 It has link receivers 203, R and 203, 12L. One end of the spherically formed link 209 R, 209 L is fitted in the link receiving portion 203 213 R, 209 31 L, and the link 209 R , 209 L are swingably supported along the spherical surface.
もみ軸 2 0 5の上方には、 もみ軸 2 0 5に平行にたたき軸 2 0 6が配 置されている。 たたき軸 2 0 6の左右両側の傾斜ス リープ 2 0 7に対応 する位置には径方向に偏心した筒状の偏心ス リーブ 2 0 8 , 2 0 8が固 定されている。 左右の偏心ス リーブ 2 0 8はたたき軸 2 0 6に対して互 いに逆方向に偏心するように取り付けられている。 偏心スリープ 2 0 8 の外周には周面に沿って転動するベアリングを介してベアリ ングケース 2 0 8 1 R, 2 0 8 1 Lが回動自在に嵌合している。 ベアリ ングケース 2 0 8 1 R, 2 0 8 1 Lは、 偏心ス リープ 2 0 8の外周に嵌合する基部 2 0 8 1 1 R , 2 0 8 1 1 Lと ともに周方向に突設されたリ ンク受け部 2 0 8 1 2 R , 2 0 8 1 2 Lを有する。 ベアリングケース 2 0 3 1 R， 2 0 3 1 Lに一端を連結されたリ ンク 2 0 9 R， 2 0 9 Lの他端部は、 リ ンク受け部 2 0 8 1 2 R， 2 0 8 1 2 Lに対して、 たたき軸 2 0 6の 軸方向に揺動自在に支持されている。 Above the fir shaft 205, a beating shaft 206 is arranged in parallel with the fir shaft 205. Cylindrical eccentric sleeves 208, 208 eccentric in the radial direction are fixed at positions corresponding to the inclined sleeps 207 on both the left and right sides of the tapping shaft 206. The left and right eccentric sleeves 208 are mounted so as to be eccentric in the opposite directions to the beating axis 206. Bearings 2081R and 2081L are rotatably fitted to the outer periphery of the eccentric sleep 208 via bearings rolling along the peripheral surface. The bearing case 2081R, 2081L is circumferentially protruded together with the base 21081R, 20911L fitted to the outer periphery of the eccentric sleeper 208. Link receiving portions 2082R and 20812L. The other ends of the links 209 R and 209 L, one end of which is connected to the bearing case 203 R and 209 L, With respect to the link receiving portions 2081R and 20812L, they are swingably supported in the axial direction of the tapping shaft 206.
(もみ機構）  (Fir mechanism)
以下、 施療部 2 0 0のもみ機構について説明する。  Hereinafter, the fir mechanism of the treatment section 200 will be described.
もみ軸 2 0 5及ぴたたき軸 2 0 6はもみ玉アーム 2 0 2 R , 2 0 2 L を挟む両側で、 ベアリ ングを介して板状の施療軸保持ブラケッ ト 2 0 4 R , 2 0 4 Lによって回転自在に支持されている。 施療軸保持ブラケッ ト 2 0 4 R , 2 0 4 Lは、 ベース部材 1 1 1に固定されている。  The fir shaft 205 and the striking shaft 206 are plate-shaped treatment shaft holding brackets 204 through the bearings on both sides of the fir ball arm 202 R and 202 L, respectively. It is rotatably supported by 4 L. The treatment shaft holding brackets 204 R and 204 L are fixed to the base member 111.
図 1 4及ぴ図 1 5はもみ機構の構成を示す図である。 いずれもベース 部材 1 1 1 の背面側から見た図であるが、 説明の便宜上、 適宜部材を省 略して図示している。  FIGS. 14 and 15 are diagrams showing the configuration of the fir mechanism. Each is a view from the back side of the base member 111, but for convenience of explanation, the members are omitted as appropriate.
もみ軸 2 0 5はもみ用モータ 2 1 0によって駆動される。 もみ用モー タ 2 1 0はもみ ·昇降用モータ支持部材 1 1 2に固定されている。もみ · 昇降用モータ支持部材 1 1 2は略 M字形に屈曲した板状部材であり、 も み軸 2 0 5及ぴたたき軸 2 0 6の背面側を跨ぐよ うにして覆い、 端部を ベース部材 1 1 1 a の背面側に固定されている。  The fir shaft 205 is driven by a fir motor 210. The fir motor 210 is fixed to the elevating / lowering motor support member 112. Fir · Lifting motor support member 1 1 2 is a plate-like member bent in a substantially M-shape, covering it over the back side of fir shaft 205 and striking shaft 206 and covering the end. It is fixed to the back side of the base member 1 1 1a.
もみ用モータ 2 1 0の駆動軸 2 1 0 aにはもみ用小プーリ 2 1 1が取 り付けられている。 もみ用小プーリ 2 1 1 の外周に巻き掛けられた無端 状のもみ用ベルト 2 1 3は、 もみ用ウォームギア 2 1 4の軸に取り付け られたもみ用大プーリ 2 1 2の外周にも同様に巻き掛けられている。 も み用ウォームギア 2 1 4は、 もみ用ウォームホイール 2 1 5 と嚙合して レヽる。 もみ用ウォームホイール 2 1 5は、 もみ軸 2 0 5の外周に同心的 に固定されている。 もみ用ウォームギア 2 1 4及びもみ用ウォームホイ ール 2 1 5は、 施療軸保持ブラケッ ト 2 0 4 Rに取り付けられたもみ用 ギアボックス 2 1 8に回転可能に格納されている。  A small fir pulley 2 11 is attached to the drive shaft 2 10 a of the fir motor 2 10. The endless fir belt 2 13 wound around the outer periphery of the small fir pulley 2 1 1 is also mounted on the outer periphery of the large fir pulley 2 1 2 attached to the shaft of the fir worm gear 2 14. It is wound. The worm gear 2 14 for fir mates with the worm wheel 2 15 for fir. The fir worm wheel 2 15 is concentrically fixed to the outer periphery of the fir shaft 205. The fir worm gear 2 14 and the fir worm wheel 2 15 are rotatably stored in the fir gear box 2 18 attached to the treatment shaft holding bracket 204 R.
従って、 もみ用モータ 2 1 0の駆動力は、 もみ用小プーリ 2 1 1→も み用ベルト 2 1 3→もみ用大プーリ 2 1 2→もみ用ウォームギア 2 . 1 4 →もみ用ウォームホイール 2 1 5 と減速しながら伝達され、 もみ軸 2 0 5が回転駆動される。 Therefore, the driving force of the fir motor 2 110 is Fir belt 2 1 3 → Large fir pulley 2 1 2 → Fir worm gear 2.14 → Fir worm wheel 2 15 Transmitted at a reduced speed, and fir shaft 205 is rotated.
(たたき機構）  (Striking mechanism)
以下、 施療部 2 0 0のたたき機構について説明する。  Hereinafter, the tapping mechanism of the treatment section 200 will be described.
図 1 6および図 1 7はたたき機構の構成を示す図である。  FIG. 16 and FIG. 17 are diagrams showing the configuration of the tapping mechanism.
たたき軸 2 0 6はたたき用モータ 2 2 0によって駆動される。 たたき 用モータ 2 2 0は、 保持部材 1 1 3 a , 1 1 3 bを介してベース部材 1 The beating shaft 206 is driven by a beating motor 220. The tapping motor 220 is connected to the base member 1 via the holding members 113a and 113b.
1 1 a の背面側に固定されている （図 5参照）。 It is fixed to the back side of 11a (see Fig. 5).
たたき用モータ 2 2 0 の駆動軸にはたたき用小プーリ 2 2 1が取り付 けられている。 たたき用小プーリ 2 2 1 の外周に卷き掛けられた無端状 のたたき用ベルト 2 2 3は、 たたき用大プーリ 2 2 2の外周にも同様に 卷き掛けられている。 たたき用大プーリ 2 2 2はたたき軸 2 0 6 の外周 に同心的に固定されている。  A small tapping pulley 221 is attached to the drive shaft of the tapping motor 222. An endless beating belt 2 23 wound around the outer periphery of the small haul pulley 22 1 is also wound around the outer periphery of the large haul pulley 22 2. The tapping large pulley 2 2 2 is fixed concentrically to the outer periphery of the tapping shaft 206.
従って、 たたき用モータ 2 2 0 の駆動力は、 たたき用小プーリ 2 2 1 Therefore, the driving force of the tapping motor 222 is equal to the small pulley 222.
→たたき用ベルト 2 2 3→たたき用大プーリ 2 2 2 と減速しながら伝達 され、 たたき軸 2 0 6が回転駆動される。 → Tapping belt 2 2 3 → Tapping large pulley 2 2 2 It is transmitted at a reduced speed and the tapping shaft 206 is driven to rotate.
(施療ュニッ ト昇降部）  (Treatment unit elevating section)
以下に、 施療ュニッ トの昇降部の機構について説明する。  The mechanism of the elevating unit of the treatment unit will be described below.
図 1 8はベース部材 1 1 1 の背面側から見た昇降部の構成を示す図で あり、 図 1 9はその一部を拡大して示した図である。 図 1 8及び図 1 9 においても説明の便宜上、 適宜部材を省略して示している。  FIG. 18 is a diagram showing the configuration of the elevating unit as viewed from the back side of the base member 111, and FIG. 19 is a diagram showing a part of the same in an enlarged manner. In FIGS. 18 and 19, members are omitted as appropriate for convenience of explanation.
ガイ ドレール 1 0 1 R， 1 0 1 Lの内面に設けられた図示しないラッ クに嚙合する昇降用ピニオン 3 1 0 ， 3 1 0は、 昇降用軸 3 0 8 の両端 部に固定されている。 昇降用ピニオン 3 1 0 の軸方向外側にはガイ ドレ ール 1 0 1 R , 1 0 1 Lの内面上を転動するローラ 3 1 1が隣接して固 定されている （図 5参照）。 昇降用軸 3 0 8は、 昇降用ローラ支持リ ン ク 4 0 9 a , 4 0 9 b の一端に回転自在に支持されている。 昇降用ロー ラ支持リンク 4 0 9 a , 4 0 9 b の他端は前後位置変更軸 4 1 0に同心 的に固定されている。 The elevating pinions 310 and 310 for the racks (not shown) provided on the inner surfaces of the guide rails 101R and 101L are fixed to both ends of the elevating shaft 3108. . Rollers 3 1 1 that roll on the inner surfaces of guide rails 1 0 1 R and 1 0 1 L are fixed to the outside of the lifting pinion 3 10 in the axial direction. (See Figure 5). The elevating shaft 308 is rotatably supported at one end of an elevating roller support link 409a, 409b. The other ends of the lifting roller support links 409a and 409b are concentrically fixed to the front / rear position changing shaft 410.
昇降用ピニオン 3 1 0は昇降用モータ 3 0 1 によって駆動される。 昇 降用モータ 3 0 1はもみ · 昇降用モータ保持部材 1 1 2に固定されてい る。 昇降用モータ 3 0 1 の駆動軸 3 0 1 aには昇降用小プーリ 3 0 2が 取り付けられている。 もみ用小プーリ 3 0 2 の外周に巻き掛けられた無 端状の昇降用ベルト 3 0 4は、 昇降用ウォームギア 3 0 5の軸に取り付 けられた昇降用大プーリ 3 0 3の外周にも同様に巻き掛けられている。 昇降用ウォームギア 3 0 5は、 昇降用ウォームホイール 3 0 6 と嚙合し ている。 昇降用ウォームホイール 3 0 6は、 前後位置変更用軸 4 1 0の 外周に回転自在に支持されている。 昇降用ウォームギア 3 0 5及ぴ昇降 用ウォームホイール 3 0 6は、 ベース部材 1 1 1 a の背面側に固定され た昇降用ギアポックス 3 1 2に回転可能に格納されている。 昇降用ゥォ ームホイール 3 0 6は昇降用軸 3 0 8の外周に固定された昇降用ギア 3 0 7に嚙合している。  The lifting pinion 310 is driven by a lifting motor 310. The elevating motor 301 is fir · It is fixed to the elevating motor holding member 112. A small lifting pulley 302 is attached to a drive shaft 301 a of the lifting motor 301. An endless lifting belt 304 wound around the outer periphery of the small pulley 302 is attached to the outer periphery of the large lifting pulley 303 attached to the shaft of the lifting worm gear 305. Is also wound around. The elevating worm gear 300 is combined with the elevating worm wheel 303. The elevating worm wheel 360 is rotatably supported on the outer periphery of the front-rear position changing shaft 410. The elevating worm gear 305 and the elevating worm wheel 303 are rotatably stored in an elevating gear pox 312 fixed to the rear side of the base member 111a. The elevating wheel 302 is coupled to an elevating gear 307 fixed to the outer periphery of the elevating shaft 308.
従って、 昇降用モータ 3 0 1 の駆動力は、 昇降用小プーリ 3 0 2→昇 降用ベル ト 3 0 4→昇降用大プーリ 3 0 3→昇降用ウォームギア 3 0 5 →昇降用ウォームホイール 3 0 6→昇降用ギア 3 0 7 と減速されながら 伝達され、 昇降用軸 3 0 8 と ともに昇降用ピニオン 3 1 0が回転駆動さ れる。  Therefore, the driving force of the motor for raising and lowering 301 is as follows: small pulley for lifting and lowering 302 → belt for lifting and lowering 304 → large pulley for lifting and lowering 303 → worm gear for lifting and lowering 305 → worm wheel for lifting and lowering 3 06 → transmitted to the elevating gear 3 07 while decelerating, and the elevating pinion 3 10 is rotationally driven together with the elevating shaft 3 08.
また、 昇降用軸 3 0 8の外周には円板状の昇降位置指示板 3 0 9が固 定されている。 昇降位置指示板 3 0 9の外周縁には連続的にスリ ッ トが 形成されており、 昇降位置指示板 3 0 9 の外周縁を挟む位置に配置され た昇降位置フォ トセンサ 3 1 3 によって、 昇降位置指示板 3 0 9の回転 数からガイ ドレ ^"ル 1 0 1 R， 1 0 1 Lに沿った施療ユニッ ト 1 1 0の 昇降位置を検出する。 また、 ガイ ドレール 1 0 1 R， 1 0 1 Lには昇降 上限界センサ 3 1 4及び昇降下限界センサ 3 1 5が設けられ （図 1参 照）、 施療ユニッ ト 1 1 0がそれぞれ上限界位置及び下限界位置に存在 するか否かを検出する。 Further, a disc-shaped elevating position indicating plate 309 is fixed to the outer periphery of the elevating shaft 308. A slit is continuously formed on the outer peripheral edge of the elevating position indicating plate 309, and the elevating position photo sensor 313 disposed at a position sandwiching the outer peripheral edge of the elevating position indicating plate 309 is formed. Rotation of the lifting position indicating plate 309 From the numbers, the elevation position of the treatment unit 110 along the guide rails 101 R and 101 L is detected. In addition, the upper and lower limits are set for the guide rails 101 R and 101 L. A sensor 314 and an ascending / descending limit sensor 315 are provided (see FIG. 1) to detect whether or not the treatment unit 110 is at the upper limit position and the lower limit position, respectively.
(施療ュニッ ト前後位置変更部）  (Treatment unit front / rear position change unit)
次に、 施療ユニッ ト 1 1 0の前後位置変更部 4 0 0の機構について説 明する。 - 図 2 0は前後位置変更部 4 0 0の構成を示す図であり、 図 2 1 はその 斜視図である。  Next, the mechanism of the front / rear position changing unit 400 of the treatment unit 110 will be described. FIG. 20 is a diagram showing the configuration of the front / rear position changing unit 400, and FIG. 21 is a perspective view thereof.
前後位置変更部 4 0 0はベース部材 1 1 1 の側方両端部の背面側に固 定されたサイ ドプレー ト 4 1 3に取り付けられている。 昇降用ローラ支 持リ ンク 4 0 9は、 一端に昇降用ローラ 3 1 1 を回転自在に軸支し、 他 端を前後位置変更用軸 4 1 0に固定されている。 前後位置変更用軸 4 1 0には同様にリ ンク A 4 0 8の一端が固定されている。 リンク A 4 0 8 の他端はピン 4 0 7 a を介してリ ンク B 4 0 7の一端に連結されており ピン 4 0 7 a を中心と して互いに回動可能に支持されている。 リ ンク B 4 0 7の他端は、 送りナツ トホルダ 4 0 6に設けられたピン 4 0 6 aに 回動可能に支持されている。 ここで、 昇降用ローラ 3 1 1は係合部、 昇 降用ローラ支持リ ンク 4 0 9はアームに相当し、 揺動中心をなす前後位 置変更用軸 4 1 0 と ともに支持手段を構成する。  The front / rear position changing portion 400 is attached to a side plate 4 13 fixed to the rear side of both side ends of the base member 11 1. The elevating roller support link 409 has one end rotatably supporting the elevating roller 311 and the other end fixed to the front / rear position changing shaft 4110. Similarly, one end of a link A408 is fixed to the front / rear position changing shaft 410. The other end of the link A 408 is connected to one end of the link B 407 via a pin 407 a and is supported so as to be rotatable about the pin 407 a. The other end of the link B 407 is rotatably supported by a pin 406 a provided on the feed nut holder 406. Here, the elevating roller 311 corresponds to an engagement portion, and the elevating roller support link 409 corresponds to an arm, and constitutes a supporting means together with the shaft 410 for changing the front-rear position which forms the swing center. I do.
送りナツ トホルダ 4 0 6は、 送りねじ 4 0 5の外周に螺合する送りナ ッ トを一体的に収納しており、 送りねじ 4 0 5は、 送りナッ トの両側で 送りねじ保持部材 A 4 1 1及び送りねじ保持部材 B 4 1 2によつて回転 自在に保持されている。 送りねじ保持部材 A 4 1 1及び送りねじ保持部 材 B 4 1 2はいずれもサイ ドプレート 4 1 3に固定されている。 送りねじ 4 0 5の端部外周には前後位置変更用大プーリ 4 0 3が同心 的に固定されている。 前後位置変更用モータ 4 0 1 の駆動軸に取り付け られた前後位置変更用小プーリ 4 0 2 と前後位置変更用大プーリ 4 0 3 との外周には無端状の前後位置変更用ベルト 4 0 4が巻き掛けられてい る。 前後位置変更用モータ 4 0 1 は駆動軸が送りねじ 4 0 5 と平行とな るように、 サイ ドプレート 4 1 3に取り付けられている。 The feed nut holder 406 integrally houses a feed nut screwed to the outer periphery of the feed screw 405, and the feed screw 405 holds feed screw holding members A on both sides of the feed nut. It is rotatably held by 4 11 and a feed screw holding member B 4 12. Both the feed screw holding member A 4 11 and the feed screw holding member B 4 12 are fixed to the side plate 4 13. A large pulley 403 for changing the front-rear position is concentrically fixed to the outer periphery of the end of the feed screw 405. An endless front / rear position changing belt 4 0 4 is provided around the outer periphery of the front / rear position changing small pulley 4 02 and the front / rear position changing large pulley 4 0 3 attached to the drive shaft of the front / rear position changing motor 4 0 1. Is wrapped around. The front / rear position changing motor 401 is mounted on the side plate 413 so that the drive shaft is parallel to the feed screw 405.
ここで、 前後位置変更用モータ 4 0 1， 前後位置変更用小ブーリ 4 0 2， 前後位置変更用大プーリ 4 0 3， 前後位置変更用ベルト 4 0 4， 送 りねじ 4 0 5， 送りナッ トホルダ 4 0 6， ピン 4 0 6 a， リ ンク B 4 0 7， ピン 4 0 7 a， リ ンク A 4 0 8および前後位置変更用軸 4 1 0によ つて位置変更手段および姿勢変更手段が構成される。  Here, the motor 401 for changing the front / rear position, the small pulley 402 for changing the front / rear position, the large pulley 400 for changing the front / rear position, the belt 400 for changing the front / rear position, the feed screw 400, the feed nut The position change means and the attitude change means are controlled by the holder 406, pin 406a, link B 407, pin 407a, link A 408, and front / rear position change shaft 410. Be composed.
送りナッ トホルダ 4 0 6にはコの字形に屈曲した板状の前後位置指示 板保持部材 4 1 4が固定されている。 一端を送りナツ トホルダ 4 0 6に 固定された前後位置指示板保持部材 4 1 4は、 サイ ドプレー ト 4 1 3を 挟むよ うに屈曲し、 他端がサイ ドプレー ト 4 1 3の外側に回り込んでい る。 前後位置指示板保持部材 4 1 4の他端には、 送りねじ 4 0 5の軸方 向に延びる板状の前後位置指示板 4 1 5がサイ ドブレート 4 1 3に平行 に保持されている。 前後位置指示板 4 1 5は、 サイ ドプレー ト 4 1 3に 取り付けられた前後位置検出基板 4 1 6 の検出部に揷通される。 前後位 置指示板保持部材 4 1 4には、 送りねじ 4 0 5の軸方向にスリ ッ ト 4 1 5 aが開設されている。 ス リ ッ ト 4 1 5 aは、 送りねじ 4 0 5の軸方向 に直交する方向に 4列設けられており、 送りねじ 4 0 5の軸方向のスリ ッ トの位置は各列で異なっている。 前後位置検出基板 4 1 6 の検出部に は、 スリ ツ トの有無を検出する前後位置検出センサが設けられている。 4つの前後位置検出センサは送りねじ 4 0 5の軸方向に直交する方向に それぞれのスリ ッ トに対応する位置に配置されているので、 送りナッ ト と ともに移動する前後位置指示板 4 1 5の相対位置によって変化するス リ ッ トの有無の組み合わせを 4つの前後位置検出センサ 4 1 7 a〜 で 検出することによって、 送りねじ 4 0 5の軸方向の'位置を検出すること ができる。 To the feed nut holder 406, a plate-like front / back position indicating plate holding member 414 bent in a U-shape is fixed. The front / rear position indicator holding member 414 fixed at one end to the feed nut holder 406 is bent so as to sandwich the side plate 413, and the other end goes out of the side plate 413. Out. At the other end of the front / back position indicating plate holding member 4 14, a plate-like front / back position indicating plate 4 15 extending in the axial direction of the feed screw 400 is held in parallel with the side plate 4 13. The front / rear position indicating board 4 15 passes through the detecting section of the front / rear position detecting board 4 16 attached to the side plate 4 13. A slit 415 a is formed in the front and rear position indicating plate holding member 414 in the axial direction of the feed screw 405. The slits 415a are provided in four rows in the direction orthogonal to the axial direction of the feed screw 405, and the position of the slit in the axial direction of the feed screw 405 differs in each row. I have. The detection section of the front / rear position detection board 416 is provided with a front / rear position detection sensor for detecting the presence or absence of a slit. Since the four front-rear position detection sensors are arranged at positions corresponding to the respective slits in the direction orthogonal to the axial direction of the feed screw 405, the feed nut By detecting the combination of the presence or absence of the slit that changes depending on the relative position of the front / rear position indicator plate 4 and 15 that moves together with the four front / rear position detection sensors 4 17 a to, the axis of the feed screw 4 05 Direction can be detected.
図 2 0及ぴ図 2 1 は、 施療ュニッ ト 1 1 0の上側に設けられた昇降用 ローラ支持リ ンク 4 0 9 c， 4 0 9 dを揺動させて、 施療ユニッ ト 1 1 0の上部の前後位置を変更する前後位置変更部 4 0 0 Aを示す （図 5参 照）。 ベース部材 1 1 1の （正面から見て） 左側背面に設けられ、 施療 ユニッ ト 1 1 0の下側に設けられた昇降用ローラ支持リ ンク 4 0 9 a， 4 0 9 bを揺動させて、 施療ュニッ ト 1 1 0の下部の前後位置を変更す る前後位置変更部 4 0 0 Bも前後位置変更部 4 0 O Aとほぼ同様の構成 を有する。 前後位置変更部 4 0 0 Bにおいては、 昇降ローラ用支持リ ン ク 4 0 9 a， 4 0 9 bの端部に、 昇降用ローラ 3 1 1 に加えて昇降用ピ 二オン 3 1 0が取り付けられた昇降用軸 3 0 8が挿通されている点が前 後位置変更部 4 0 0 Aと異なっている。  Fig. 20 and Fig. 21 show that the lifting roller support links 409c and 409d provided on the upper side of the treatment unit 110 are oscillated, and the treatment unit 110 The front / rear position change unit 400A that changes the front / rear position is shown (see Fig. 5). The lifting / lowering roller support links 409a, 409b provided on the left rear surface of the base member 111 (as viewed from the front) and provided below the treatment unit 110 are swung. The front / rear position changing unit 400B for changing the front / rear position of the lower part of the treatment unit 110 also has substantially the same configuration as the front / rear position changing unit 40OA. In the front / rear position changing section 400B, a lifting pin 3110 in addition to the lifting roller 3111 is provided at the end of the lifting roller support link 409a, 409b. The point that the attached elevating shaft 308 is inserted is different from the front / rear position changing unit 400A.
次に、 前後位置変更部の動作について説明する。  Next, the operation of the front / rear position changing unit will be described.
図 2 2は前後位置変更部 4 0 0 Bがガイ ドレール 1 0 1 Lに対して前 後方向の位置を変化させた状態を示す。 図 2 2 ( a ) は前後位置変更部 4 0 0 Bが後退位置にある場合， 図 2 2 ( b ) は中立位置にある場合， 図 2 2 ( c ) は突出位置にある場合をそれぞれ示している。 図 2 2では、 前後位置変更部 4 0 0 Bのみを示しているが、 施療ュニッ ト 1 1 0全体 も前後位置変更部 4 0 0 Bと同様にガイ ドレール 1 0 1 Lに対する前後 位置を変化させる。 また、 図 2 2 ( a ), ( b ), ( c ) に示すそれぞれの 場合において、 前後位置変更部 4 0 O Aも同様に動作している。  FIG. 22 shows a state in which the front / rear position changing unit 400B has changed the front / rear position with respect to the guide rail 101L. Figure 22 (a) shows the case where the front / rear position change unit 400B is in the retreat position, Figure 22 (b) shows the case where it is in the neutral position, and Figure 22 (c) shows the case where it is in the protruding position. ing. Fig. 22 shows only the front / rear position changing unit 400B, but the entire treatment unit 110 also changes the front / rear position with respect to the guide rail 101L similarly to the front / rear position changing unit 400B. Let it. In each case shown in FIGS. 22 (a), (b), and (c), the front / rear position changing unit 40OA also operates in the same manner.
まず、 図 2 2 ( a ) に示すように、 送りナッ トホルダ 4 0 6が送りね じ 4 0 5の下端部 （図では、 右方が背もたれ部下方、 左方が同上方とな る。） に位置する場合について説明する。 こ こで、 前後位置変更軸 4 1 0はベース部材 1 1 1 に回転自在に取り付けられているので、 同様にサ ィ ドプレー ト 4 1 3を介してベース部材 1 1 1 に固定されている送りね じ 4 0 5に対する相対的な位置関係は、 前後位置変更動作の間を通じて 変化しない。 また、 昇降用ローラ支持リ ンク 4 0 9 13 と リ ンク 8 4 0 8 はともに前後位置変更軸 4 1 0に固定されており、 互いの角度は変化し ない。 従って、 図 2 2 ( a ) では、 リ ンク A 4 0 7はピン 4 0 7 a を前 方へ押し出し、 連結されたリ ンク B 4 0 8を前方へ回動させるので、 前 後位置変更用軸 4 1 0を介し T—体に連結された昇降用ローラ支持リ ン ク 4 0 9 b も前方へ回動する。 上述したよ うに、 前後位置変更用軸 4 1 0はベース部材 1 1 1に取り付けられているので、 施療ユニッ ト全体 1 1 0がガイ ドレール 1 0 1 Lに対して背面側、 すなわち被施療部から遠 ざかる方向へと後退すること となる。 First, as shown in Fig. 22 (a), the feed nut holder 406 has the lower end of the feed screw 405 (in the figure, the right side is the lower part of the backrest and the left side is the upper part). You. ) Will be described. Here, since the front / rear position changing shaft 4110 is rotatably attached to the base member 111, the feed is similarly fixed to the base member 111 via the side plate 413. The relative positional relationship to the screw 405 does not change during the front-back position change operation. Moreover, lifting the roller support links 4 0 9 13 and links 8 4 0 8 is fixed both to the front and rear position change shaft 4 1 0, mutual angle does not change. Therefore, in FIG. 22 (a), the link A 407 pushes the pin 407a forward and rotates the connected link B 408 forward, so that the link A 407 is used for changing the front / rear position. The elevating roller support link 409b connected to the T-body via the shaft 410 also rotates forward. As described above, since the front / rear position changing shaft 4110 is attached to the base member 111, the entire treatment unit 110 is located on the back side of the guide rail 101L, that is, the treatment section. It will recede in the direction away from.
次に、 図 2 2 ( b ) に示すように、 送りナッ トホルダ 4 0 6が送りね じ 4 0 5のほぼ中間位置にある場合には、 リ ンク A 4 0 7はピン 4 0 7 a を背面側へ引き込み、 連結されたリ ンク B 4 0 8を背面側へ回動させ るので、 前後位置変更用軸 4 1 0を介して一体に連結された昇降用ロー ラ支持リ ンク 4 0 9 bは図 2 2 ( a ) に比べて背面側に回動する。 この 場合には、 昇降用ローラ支持リ ンク 4 0 9 bは、 ベース部材 1 1 1 とほ ぼ平行に位置するため、 ベース部材 1 1 1がガイ ドローラ 1 0 1 Lとほ ぼ同一面上に位置するようになる。  Next, as shown in FIG. 22 (b), when the feed nut holder 406 is almost at the intermediate position of the feed screw 405, the link A 407 pushes the pin 407a. The link B 408 is pulled to the rear side and the connected link B 408 is rotated to the rear side, so the lifting roller support link 409 connected integrally via the shaft 410 for changing the front / rear position b rotates to the rear side as compared with FIG. 22 (a). In this case, the elevating roller support link 409 b is located almost parallel to the base member 111, so that the base member 111 is almost flush with the guide roller 101 L. Will be located.
次に、 図 2 2 ( c ) に示すように、 送りナッ トホルダ 4 0 6が送りね じ 4 0 5の上端部に位置する場合について説明する。 この場合、 リ ンク A 4 0 7はピン 4 0 7 a をさらに背面側へ引き込み、 連結されたリ ンク B 4 0 8をさ らに背面側へ回動させるので、 前後位置変更用軸 4 1 0を 介して一体に連結された昇降用ローラ支持リ ンク 4 0 9 b は図 2 2 ( b ) より も背面側に回動する。 昇降用ローラ支持リ ンク 4 0 9 bが前 後位置変更用軸 4 1 0より も背面側に位置するので、 結果と して、 施療 ユニッ ト全体 1 1 0がガイ ドレ ル 1 0 1 Lより も前面、 すなわち被施 療部に近づく方向に突出する。 Next, a case where the feed nut holder 406 is located at the upper end of the feed screw 405 as shown in FIG. 22 (c) will be described. In this case, the link A 407 pulls the pin 407 a further to the rear side and further rotates the connected link B 408 to the rear side. The lifting roller support link 4 0 9b that is integrally connected via It turns to the back side more than (b). As the lifting roller support link 409 b is located on the back side of the front / rear position change shaft 411, as a result, the entire treatment unit 110 is from the guide rail 101 L. Also protrudes toward the front surface, that is, in the direction approaching the treatment section.
図 2 3は、 '図 2 2 ( b ) に示す中立位置から図 2 2 ( c ) に示す突出 位置へと施療ュニッ ト 1 1 0の前後位置を変更する場合のもみ玉 2 0 1 a〜 d と背もたれ部 1 0 0 a との位置関係を示す。 図 2 4は、 図 2 2 ( b ) に示す中立位置から図 2 2 ( a ) に示す退避位置へと施療ュニッ ト 1 1 0の前後位置を変更する場合のもみ玉 2 0 1 a〜 d と背もたれ部 1 0 0 a との位置関係を示す。 このよ うにすれば、 もみ玉 2 0 1 a〜d の被施療部側への突出量を調節することができ、 後述するよ うな指圧動 作の実現及び施療の強度調節が可能となる。  Fig. 23 shows the fir balls 201 when the front and rear positions of the treatment unit 110 are changed from the neutral position shown in Fig. 22 (b) to the protruding position shown in Fig. 22 (c). The positional relationship between d and the backrest 100 a is shown. Fig. 24 shows the fir balls 201 when the front and rear positions of the treatment unit 110 are changed from the neutral position shown in Fig. 22 (b) to the evacuation position shown in Fig. 22 (a). The positional relationship between and the backrest portion 100a is shown. This makes it possible to adjust the amount of projection of the firs balls 201 a to d toward the treatment portion, thereby realizing the acupressure operation as described later and adjusting the intensity of the treatment.
図 2 3， 図 2 4では、 2つの前後位置変更部 4 0 0 A， 4 0 O Bが同 様の動作をする場合について説明したが、 前後位置変更部 4 0 0 A， 4 0 0 Bは、 それぞれが前後位置変更用モータ 4 0 1 A， 4 0 1 Bを有し、 独自に制御できる。 従って、 施療ュニッ ト 1 1 0の上方に配置された昇 降用ローラ 3 1 1 に対する施療ュニッ ト 1 1 0の相対的位置関係と、 施 療ュニッ ト 1 1 0の下方に配置された昇降用ローラ 3 1 1に対する施療 ユニッ ト 1 1 0の相対的位置関係を異ならしめることが可能である。 す なわち、 施療ュニッ ト 1 1 0全体がガイ ドレール 1 0 1 R， 1 0 1 Lに ほぼ平行に前後するだけではなく、 施療ユニッ ト 1 1 0の上部と下部の ガイ ドレール 1 0 1 R， 1 0 1 Lに対する相対的位置関係をそれぞれ独 自に制御することができる。  In FIGS. 23 and 24, the description has been given of the case where the two front / rear position changing units 400A and 400B operate in the same manner. However, each has a motor 4011A and 401B for changing the front and rear position, and can be controlled independently. Therefore, the relative positional relationship of the treatment unit 110 with respect to the elevating roller 311 arranged above the treatment unit 110, and the elevating unit arranged below the treatment unit 110 Treatment relative to roller 311 It is possible to make the relative positional relationship of unit 110 different. That is, not only does the entire treatment unit 110 run back and forth almost parallel to the guide rails 101 R and 101 L, but also the upper and lower guide rails 101 R of the treatment unit 110. , 101 L can be controlled independently.
図 2 5は、 前後位置変更部 4 0 0 A， 4 0 0 Bをともに中立位置とな る状態から、 前後位置変更部 4 0 0 Aのみを突出位置となるよ うに変化 させた場合の施療ュニッ ト 1 1 0 と背もたれ部 1 0 0 a との相対的位置 関係を示す。 ここでは、 施療ユニッ ト 1 1 0の上部のみが前方へ突出し ているので、 上側の 2つのもみ玉 2 0 1 a , 2 0 1 bのみが突出してい る （上玉出位置）。 一方、 図 2 6は前後位置変更部 4 0 0 A， 4 0 0 B をともに中立位置となる状態から、 前後位置変更部 4 0 0 Bのみを突出 位置となるよ うに変化させた場合の施療ユニッ ト 1 1 0 と背もたれ部 1 0 0 a との相対的位置関係を示す。 ここでは、 施療ュニッ ト 1 1 0の下 部のみが前方へ突出しているので、 下側の 2つのもみ玉 2 0 1 c , 2 0 I dのみが突出している （下玉出位置）。 Fig. 25 shows treatment when the front / rear position changing unit 400A and 400B are both in the neutral position, and only the front / rear position changing unit 400A is changed to the protruding position. Relative position between unit 110 and backrest 100a Show the relationship. Here, since only the upper part of the treatment unit 110 protrudes forward, only the upper two fir balls 201a and 201b protrude (upper ball protruding position). On the other hand, Fig. 26 shows the treatment when the front / rear position change units 400A and 400B are both in the neutral position, and only the front / rear position change unit 400B is changed to the protruding position. The relative positional relationship between the unit 110 and the backrest 100a is shown. Here, since only the lower part of the treatment unit 110 protrudes forward, only the lower two fir balls 201c and 20Id protrude (the lower ball protruding position).
このよ う に、 前後位置変更部 4 0 0 A, 4 0 0 Bの前後位置変更用モ ータ 4 0 1 を独自に制御し、 施療ュニッ ト 1 1 0上部及び下部のガイ ド レール 1 0 1 R， 1 0 1 Lに対する突出量あるいは施療ュニッ ト 1 1 0 のガイ ドレール 1 0 1 R， 1 0 1 Lに対する姿勢を変化させるこどによ り、 身体の被施療部に当接するもみ玉の種類 （上又は下） 及びその数並 ぴにその押圧力を切り替えることができる。  In this way, the front / rear position changing motors 401 of the front / rear position changing units 400A and 400B are independently controlled, and the upper and lower guide rails 10 of the treatment unit 110 are provided. By changing the amount of protrusion relative to 1R, 101L or changing the posture of treatment unit 110 with respect to guide rails 101R, 101L, fir balls that come into contact with the body to be treated (Upper or lower) and their number can be switched.
従って、 以下の説明では、 前後位置変更部 4 0 0各部の名称をその機 能に対応させ、 前後位置変更用モータ 4 0 1 A, 4 0 1 Bをそれぞれも み玉調節上モータ 4 0 1 A， もみ玉調節下モータ 4 0 1 Bと称し、 前後 位置変更部 4 0 0 A， 4 0 O Bのそれぞれに設けられた 4つの前後位置 検出センサ 4 1 7 a〜 d等をもみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 A及びもみ玉調節下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bと称する。 また、 もみ玉調節上モータ 4 0 1 A， もみ玉調節下モータ 4 0 1 B とも に、 施療子ユニッ ト 1 1 0がガイ ドレール 1 0 1 R， 1 O I Lに対して 被施療部側へ近づく （突出する） 方向に駆動する場合を正転、 施療子ュ ニッ ト 1 1 0がガイ ドレール 1 0 1 R， 1 0 1 Lに対して被施療部側か ら遠ざかる （退避する） 方向に駆動する場合を逆転とする。 本実施形態では、 上述したよ うに、 ガイ ドレール 1 0 1 R， 1 0 1 L に沿って上方の昇降用ローラ支持リ ンク 4 0 9 c及ぴ 4 0 9 d と、 ガイ ドレール 1 0 1 R， 1 0 1 Lに沿って下方の昇降用ローラ支持リ ンク 4 0 9 a及び 4 0 9 bがいずれも揺動することによ り、 施療ュニッ ト 1 1 0 の前後方向位置を変更しているが、 ガイ ドレール 1 0 1 R， 1 0 1 L に沿った上方又は下方の一対の昇降用ローラを施療ユニッ ト 1 1 0に対 して一定の位置に保持し、 他方の一対の昇降用ローラのみが同様のリ ン クに支持されて揺動するよ うに構成してもよい。 このよ う に位置変更手 段を構成する昇降用支持リンクが上下方向のいずれか一方のみに設けら れている場合でも、 もみ玉の前後方向の位置、 すなわち、 被施療部への 突出量を調節し、 指圧動作及び施療強度の調節を行う ことができる。 ま た、 摇動する リ ンクは姿勢変更手段をも構成する。 Therefore, in the following description, the name of each part of the front / rear position changing unit 400 is made to correspond to its function, and the front / rear position changing motors 401 A and 401 B are respectively used as the ball adjusting motors 401 A, referred to as fir ball adjustment lower motor 401 B, and four front / rear position change units 400 A and 40 OB provided in each of the four front / rear position detection sensors 4 17 a to d are used for fir ball adjustment. The position sensors (1) to (4) 4 17A and the position sensors (1) to (4) 4 17B under fir ball adjustment are called. In addition, both the massage ball adjusting motor 401 A and the massage ball adjusting motor 401 B move the treatment unit 110 closer to the treatment area with respect to the guide rails 101 R and 1 OIL. When driven in the (protruding) direction, the treatment element unit 110 is driven in the direction in which the treatment element unit 110 moves away (retreats) from the treatment section side with respect to the guide rails 101R and 101L. If it does, it is reversed. In the present embodiment, as described above, the upper and lower roller support links 409 c and 409 d along the guide rails 101 R and 101 L, and the guide rail 101 R The lower and upper roller support links 409a and 409b both swing along the, 101L, thereby changing the longitudinal position of the treatment unit 110. However, a pair of upper and lower elevating rollers along the guide rails 101R and 101L are held at a fixed position with respect to the treatment unit 110, and the other pair of elevating rollers It may be configured such that only the roller swings while being supported by a similar link. Even in the case where the elevating support link constituting the position changing means is provided in only one of the up and down directions, the position of the fir ball in the front-back direction, that is, the amount of protrusion of the fir ball to the treatment portion is determined. It is possible to adjust the acupressure operation and treatment intensity. In addition, the moving link constitutes a posture changing means.
上述した施療ユニッ ト前後変更部の動作は、 ガイ ドレール 1 1 0 R， 1 1 0 Lに沿う施療ュ-ッ トの昇降動作とは独立に実現できる。従って、 軌道部材と して、 例えば、 ガイ ドレール 1 1 0 R， 1 1 0 Lに相当する 部材を施療ュニッ ト 1 0 0の前後方向移動及び姿勢変化の際の昇降用口 ーラ 3 1 1 の可動範囲を含む延長を有するように構成し、 これを適宜選 択した相手部材に設けることにより、 後述する 「もみ」， 「たたき」， 「指 圧」 を含むマッサージ動作ともみ玉の突出量の調節による施療強度の調 節及び使用するもみ玉の切替動作を実現することができる。  The operation of the treatment unit front-rear change unit described above can be realized independently of the elevating operation of the treatment unit along the guide rails 110R and 110L. Therefore, for example, members corresponding to the guide rails 110 R and 110 L are used as the track members. It is constructed so as to have an extension that includes the movable range of, and by providing this to the opponent member selected as appropriate, the massage operation including “fir”, “hitting”, and “acupressure”, which will be described later, and the protrusion amount of the fir ball Adjustment of the treatment intensity by adjustment and switching operation of the used rice ball can be realized.
(マッサージ機の基本動作）  (Basic operation of massage machine)
次に、マッサージを行う場合のマッサ一ジ機の動作について説明する。 図 2 7はマッサージ機 1 0の基本動作を説明するフローチャートである, 図 2 8はマッサージ機 1 0の概略構成を示すブロック図である。 マッサ ージ機 1 0は、 C P U制御回路 9が操作部 1 1からの指示及ぴ各センサ からの情報に基づいてモータ制御回路 1 2に命令を出し各モータを駆動 し、 あるいは操作部に情報を表示させる構成となっている。 Next, the operation of the massage machine when performing a massage will be described. FIG. 27 is a flowchart for explaining the basic operation of the massage machine 10. FIG. 28 is a block diagram showing a schematic configuration of the massage machine 10. In the massage machine 10, the CPU control circuit 9 issues a command to the motor control circuit 12 based on an instruction from the operation unit 11 and information from each sensor to drive each motor. Alternatively, the information is displayed on the operation unit.
まず、 図 2 8に示す操作部 1 1 において電源入ノ切スィ ツチをオンす る （ステップ 1 )。 この とき電源入ノ切スィ ッチの L E Dが点灯し、 電 源スィッチがオンされていることを報知する （ステップ 2 )。  First, the power ON / OFF switch is turned on in the operation unit 11 shown in FIG. 28 (step 1). At this time, the LED of the power on / off switch lights up to notify that the power switch is on (step 2).
次に、 昇降用モータ 3 0 1， もみ用モータ 2 1 0， もみ玉調節上モー タ 4 0 1 A, もみ玉調節下モータ 4 0 1 B (図 2 8では、 もみ玉調節上 モータ 4 0 1 A, もみ玉調節下モータ 4 0 1 Bを合わせて 「もみ玉切替 モータ」 と表記している。） をそれぞれ初期位置方向に動作させる （ス テツプ 3 )。 各モータが初期位置への移動を完了したか否かを判定し （ス テツプ 4 )、 完了していなければステップ 3に戻り、 完了していれば、 昇降用モータ 3 0 1， もみ用モータ 2 1 0， もみ玉調節上モータ 4 0 1 A, もみ玉調節下モータ 4 0 1 Bの動作を停止させる （ステップ 5 )。 次に、 手動モー ドと 自動コースのいずれが選択されているかを判定す る （ステップ 6 )。  Next, the elevating motor 301, the firs motor 210, the firs ball adjusting motor 401A, the firs ball adjusting motor 410B (Fig. 28, the firs ball adjusting motor 40 1) and the motor for adjusting the rice ball 4 0 1 B together are written as “the rice ball switching motor” in the direction of the initial position (Step 3). It is determined whether or not each motor has completed the movement to the initial position (Step 4). If not completed, the process returns to Step 3, and if completed, the motor for lifting / lowering 31 and the motor for fir 2 are read. 10. Stop the operation of the rice ball adjusting upper motor 401 A and the rice ball lowering motor 401 B (step 5). Next, it is determined whether the manual mode or the automatic course is selected (step 6).
手動モードが選択されていれば、 手動モー ドのうちいずれの動作が選 択されているかを判別し （ステップ 7 )、 選択に従って各種の手動動作 を行う （ステップ 8 )。 手動モードと しては、 「もみ上げ」、 「もみ下げ」、 「たたき」、 「指圧」、 「背すじ'のばし」、 「部分背すじのばし」、 「上へ」、 「下へ」 のうちから選択することができる。 各種手動動作を 1 5分間行 い （ステップ 9 )、 1 5分経過した時点で各種手動動作を終了し （ステ ップ 1 0 )、 電源入/切スィツチをオフすると と もに L E Dを消灯する (ステップ 1 1 )。  If the manual mode is selected, it is determined which operation of the manual mode is selected (step 7), and various manual operations are performed according to the selection (step 8). In manual mode, select from "Surface Up", "Surface Down", "Striking", "Shiatsu", "Spine Stretch", "Partial Spine Stretch", "Up", and "Down". be able to. Perform various manual operations for 15 minutes (step 9), end the various manual operations after 15 minutes (step 10), turn off the power ON / OFF switch, and turn off the LED (Step 11).
自動モードが選択されていれば、 自動コースの うち—いずれのコースが 選択されているかを判定する （ステップ 1 2 )。  If the automatic mode has been selected, it is determined which of the automatic courses has been selected (step 12).
上半身自動コースが選択されていれば、 上半身自動コースのメニュー に従った動作を行い （ステップ 1 3 )、 メュユーが終了した時点で （ス テツプ 1 4 )、 ステップ 1 1 に進む。 ここで、 上半身自動コースとは、 例えば、 首から肩， 背中及び腰までの上半身全体にわたって背筋伸ばし， もみ， たたき及び指圧動作を適宜組み合わせて行う コースである。 首肩 自動コースが選択されていれば、 首肩自動コースのメニューに従った動 作を行い （ステップ 1 5 )、 メニューが終了した時点で （ステップ 1 6 )、 ステップ 1 1 に進む。 ここで、 首肩自動コースとは、 例えば、 首から肩 にかけての部位において背筋伸ばし， もみ， たたき及ぴ指圧動作を適宜 組み合わせて行う コースである。 腰自動コースが選択されていれば、 腰 自動コースのメニューに従った動作を行い （ステップ 1 7 )、 メニュー が終了した時点で （ステップ 1 8 )、 ステップ 1 1 に進む。 ここで、 腰 自動コースとは、 腰部周辺において背筋伸ばし， もみ， たたき及ぴ指圧 動作を適宜組み合わせて行うコースである。 If the upper body automatic course is selected, the operation according to the menu of the upper body automatic course is performed (step 13), and when the menu ends, (step 13). Step 1 4), go to step 11. Here, the upper body automatic course is, for example, a course in which the back muscles are stretched over the entire upper body from the neck to the shoulders, the back and the waist, and the firs, tapping and acupressure operations are appropriately combined. If the automatic shoulder and shoulder course is selected, the operation according to the menu of the automatic shoulder and shoulder course is performed (step 15), and when the menu is completed (step 16), the process proceeds to step 11. Here, the neck-shoulder automatic course is, for example, a course in which the back muscle is stretched, fir, tapping, and shiatsu operations are appropriately combined in a region from the neck to the shoulder. If the automatic hip course is selected, the operation according to the menu of the automatic hip course is performed (step 17), and when the menu is completed (step 18), the process proceeds to step 11. Here, the waist automatic course is a course in which the back muscles are stretched around the waist, fir, tapping and shiatsu are combined as appropriate.
(もみ玉調節動作）  (Fir ball adjustment operation)
図 2 9はもみ玉調節動作の手順を説明するフローチャートである。  FIG. 29 is a flowchart for explaining the procedure of the rice ball adjusting operation.
マッサージ機 1 0では上述した基本動作の途中で操作部 1 1 のスイ ツ チ操作によ り随時もみ玉調節を行う ことができる。  In the massage machine 10, the rice ball adjustment can be performed at any time by the switch operation of the operation unit 11 during the basic operation described above.
各種動作を行っている途中にもみ玉調節スィ ッチが押された場合には. まず選択されたスィ ツチの種類を判別する （ステップ 2 1 )。  If the ball adjustment switch is pressed during various operations. First, the type of the selected switch is determined (step 21).
「上玉出」 スィ ッチが押されている場合には、 各種動作を一時停止す る （ステップ 2 2 )。 次に、 もみ玉調節上モータ 4 0 1 Aを正転させる (ステップ 2 3 )。 「上玉出」 スィッチがまだ押されているか否かを判定 する （ステップ 2 4 )。 「上玉出」 スィ ッチがまだ押されていれば、 もみ 玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが上玉突出限界位置を検出 するまでステップ 2 3及ぴ 2 4を繰り返し （ステップ 2 5 )、 上玉突出 限界位置を検出した時点でもみ玉調節上モータ 4 0 1 Aを停止させて (ステップ 2 6 )、 各種動作を再開する （ステップ 2 7 )。 ステップ 2 4 で、 「上玉出」 スィッチが押されていなければ、 ステップ 2 6に進む。If the “upper ball” switch is pressed, various operations are suspended (step 22). Next, the motor 401A is rotated normally in the rice ball adjusting step (step 23). It is determined whether the "upper ball" switch is still pressed (step 24). If the "upper ball out" switch is still pressed, repeat steps 23 and 24 until the upper ball position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position. Repeatedly (step 25), the upper ball adjusting motor 401A is stopped when the upper ball protrusion limit position is detected (step 26), and various operations are restarted (step 27). Step 2 4 If the “upper ball” switch is not pressed, go to step 26.
「四つ玉」 スィ ッチが押されている場合には、 各種動作を一時停止す る （ステップ 2 8 )。 次に、 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 A (図 2 9では 「もみ玉上位置センサ」 と省略して表記している。） が中立位置を検出しているか否かを判定する （ステップ 2 9 )。 もみ玉 調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが中立位置を検出していれば、 もみ玉調節上モータ 4 0 1 Aを停止させ （ステップ 3 0 )、 もみ玉調節 下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが中立位置を検出しているか否か を判定する （ステップ 3 1 )。 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが中立位置を検出していなければ、 もみ玉調節上モータ 4 0 1 Aを正転又は逆転させ、 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが中立位置を検出したところで （ステップ 3 2 )、 ステップ 3 0に進 み、 もみ玉調節上モータ 4 0 1 Aを停止させる。 ここで、 上の 2つのも み玉 2 0 1 a， bの前後方向の位置は、 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aによって検出できるので、 検出位置に応じて、 もみ玉 調節上モータ 4 0 1 Aを正転又は逆転させれば、 上の 2つのもみ玉を中 立位置に戻すことができる （下の 2つのもみ玉の前後方向の位置につい ても同様である。）。 ステップ 3 1 において、 もみ玉調節下位置センサ ( 1 ) 〜 （ 4 ) 4 1 7 B (図 2 9では 「もみ玉下位置センサ」 と省略し て表記している。） が中立位置を検出していれば、 もみ玉調節下モータ 4 0 I Bを停止させ （ステップ 3 3 )、 ステップ 2 7に進む。 もみ玉調 節下位置センサ （ 1 ) 〜 （ 4) 4 1 7 Bが中立位置を検出していなけれ ば、 もみ玉調節下モータ 4 0 1 Bを正転又は逆転させ、 もみ玉調節下位 置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが中立位置を検出したところで （ステ ップ 3 4 )、 ステップ 3 3に進んで、 もみ玉調節下モータ 4 0 1 Bを停 止させる 「下玉出」 スィ ッチが押されている場合には、 各種動作を一時停止す る （ステップ 3 5 )。 次に、 もみ玉調節下モータ 4 0 1 Bを正転させるIf the “four ball” switch is pressed, various operations are temporarily stopped (step 28). Next, whether the fir ball adjustment upper position sensors (1) to (4) 4 17 A (abbreviated as "fir ball position sensor" in Fig. 29) detects the neutral position. It is determined whether or not it is (step 29). Fir ball adjustment upper position sensor (1)-(4) If the 4 17 A detects the neutral position, stop the fir ball adjustment motor 401 A (step 30), and adjust the fir ball adjustment lower position. It is determined whether or not the sensors (1) to (4) 4 17 B detect the neutral position (step 31). If the rice ball adjustment upper position sensor (1) to (4) 4 17 A does not detect the neutral position, the rice ball adjustment upper motor 401 A is rotated forward or reverse, and the rice ball adjustment upper position sensor ( 1) to (4) When 4 A detects the neutral position (Step 3 2), it proceeds to Step 30 and stops the motor 401 A for adjusting the fir ball. Here, the position of the upper two rice balls 201 a, b in the front-rear direction can be detected by the rice ball adjustment upper position sensors (1) to (4) 4 17 A. By rotating the motor 401 A forward or reverse, the upper two rice balls can be returned to the neutral position. (The same applies to the position of the lower two rice balls in the front-rear direction.) Is.). In step 31, the fir ball adjustment lower position sensors (1) to (4) 4 17 B (abbreviated as “fir ball lower position sensor” in FIG. 29) detect the neutral position. If so, stop the rice ball adjusting motor 40 IB (step 33) and proceed to step 27. Fir ball adjustment lower position sensor (1) to (4) Unless the 4 17 B detects the neutral position, the fir ball adjustment motor 401 B is rotated forward or reverse, and the fir ball adjustment lower position sensor (1) to (4) When 4 17 B detects the neutral position (Step 34), proceed to Step 33 to stop the rice ball adjusting motor 401 B. If the “lower ball” switch is pressed, various operations are suspended (step 35). Next, the rice ball adjusting motor 401 B is rotated forward.
(ステップ 3 6 )。 次に、 「下玉出」 スィ ッチが押されているか否かを判 定する （ステップ 3 7 )。 「下玉出」 スィ ッチが押されていれば、 もみ玉 調節下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが下玉突出限界位置を検出し ているか否かを判定する （ステップ 3 8 )。 ここで、 もみ玉調節下位置 センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが下玉突出限界位置を検出していれば、 もみ玉調節下モータ 4 0 1 Bを停止させ （ステップ 3 9 )、 各種動作を 再開する （ステップ 2 7 )。 もみ玉調節下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが下玉突出限界位置を検出していなければ、 ステップ 3 6に戻つ て、 もみ玉調節下モータ 4 0 1 Bをさ らに正転させる。 ステップ 3 7で(Step 36). Next, it is determined whether or not the “lower ball” switch is pressed (step 37). If the "lower ball out" switch is pressed, it is determined whether the fir ball adjustment lower position sensor (1) to (4) 4 17 B has detected the lower ball protrusion limit position (step 3). 8). Here, if the rice ball adjusting lower position sensor (1) to (4) 4 17 B detects the lower ball protrusion limit position, the rice ball adjusting lower motor 401 B is stopped (step 39). Then, restart the various operations (step 27). If the rice ball adjusting lower position sensor (1) to (4) 4 17 B has not detected the lower ball protrusion limit position, return to step 36 to further reduce the rice ball adjusting motor 401 B. Rotate forward. In step 3 7
「下玉出」 スィ ッチが押されていなければ、 ステップ 3 9に進む。 If the lower ball switch is not pressed, go to step 39.
以下に、 マッサージ機構による各種マッサージ動作の詳細について説 明する。  The details of various massage operations by the massage mechanism are described below.
(もみ動作）  (Fir operation)
もみ動作時には、 たたき軸 2 0 6の回転を停止させて、 もみ軸 2 0 5 のみを回転させる。 もみ玉アーム 2 0 2 R, 2 0 2 Lは、 もみ軸 2 0 5 に対して傾斜して取り付けられた傾斜スリーブ 2 0 7の外周に回転自在 に支持されると ともにリ ンクを介してもみ軸 2 0 5回りの回転を規制さ れている。 従って、 施療子 2 0 1はもみ軸 2 0 5の軸心からの距離を変 化させながらもみ軸 2 0 5の軸方向に揺動する。 このよ うなもみ玉の動 きを正面から見た図を図 3 0に示す。 このとき左右のもみ玉間の間隔が 変化するので、 このよ うな動作によって身体をもむ 「もみ動作」 を実現 することができる。 上述したよ うなもみ動作を行う際に、 もみ用モータ 2 1 0の回転方向を切り替えることにより もみ玉の運動方向を逆転させ ることができるので、 「もみ上げ」 と 「もみ下げ」 の 2種類の動作を実 現することができる。 During the fir operation, the rotation of the beating axis 206 is stopped, and only the fir axis 205 is rotated. The fir ball arms 202 R and 202 L are rotatably supported on the outer circumference of an inclined sleeve 207 attached at an angle to the fir shaft 205 and can be connected via a link. The rotation around the shaft 205 is regulated. Accordingly, the treatment element 201 swings in the axial direction of the fir shaft 205 while changing the distance from the axis of the fir shaft 205. Figure 30 shows a view of the movement of such a fir ball viewed from the front. At this time, the distance between the left and right fir balls changes, so that “fir movement” can be achieved by such a movement. When performing the fir operation as described above, the direction of movement of the fir balls can be reversed by switching the rotation direction of the fir motor 210, so that there are two types of fir-up and fir-down. Work Can be manifested.
(たたき動作）  (Slapping motion)
たたき動作時には、 もみ軸 2 0 5の回転を停止させて、 たたき軸 2 0 6を回転させる。 このとき、 もみ玉アーム 2 0 2 R， 2 0 2 Lがもみ軸 2 0 5 にほぼ直交し、 もみ玉が背中にほぼ直交する状態 （もみ原点位置） で保持させるよ うに傾斜スリープ 2 0 7の回転方向位置を制御する。 も み軸 2 0 5の端部にもみ原点検出板 2 1 6及びもみ位匱指示板 2 1 7が 同心的に固定されている （図 1 4参照）。 もみ原点検出板 2 1 6は外周 縁の一箇所にスリ ッ トが設けられた円板状の部材であり、 ベース部材 1 1 1 の背面の対向する位置に、 もみ原点検出板 2 1 6を挟むよ うに配置 されたもみ原点フォ トセンサによってもみ原点位置が検出できるように なっている。 リ ンク 4 9はたたき軸 2 0 6の回転に伴って偏心回転する 偏心ス リーブ 2 0 8を介して回転自在に支持されているので、 たたき軸 2 0 6 を回転させることにより、 たたき軸 2 0 6の軸心と リ ンクの端部 が嵌合する リ ンク受け部 2 0 3 1 2 R , 2 0 3 1 2 L との距離が変化す る。 もみ玉アーム 2 0 2 R， 2 0 2 Lはもみ軸 2  During the tapping operation, the rotation of the paddle shaft 205 is stopped, and the tapping shaft 206 is rotated. At this time, the tilt sleep 200 is set so that the fir ball arms 202 R and 202 L are almost perpendicular to the fir shaft 205 and the fir ball is held substantially perpendicular to the back (fir tree origin position). To control the position in the rotation direction. At the end of the fir shaft 205, the fir origin detection plate 2 16 and fir position indicator plate 2 17 are fixed concentrically (see Fig. 14). The fir origin detection plate 2 16 is a disk-shaped member with a slit provided at one location on the outer peripheral edge, and the fir origin detection plate 2 16 is located at the opposite position on the back of the base member 11. The position of the fir origin can be detected by a fir origin photo sensor arranged so as to sandwich it. Since the link 49 is rotatably supported via an eccentric sleeve 208 which rotates eccentrically with the rotation of the hitting shaft 206, by rotating the hitting shaft 206, the hitting shaft 2 The distance between the shaft center of 06 and the link receiving portions 2 0 3 1 2 R and 2 0 3 1 2 L where the ends of the links are fitted changes. Fir ball arm 2 0 2 R, 2 0 2 L Fir shaft 2
0 5の回りに回転自在に支持されているので、 たたきモータを駆動して たたき.軸 2 0 6を適当な速度で回転させることによ り、 もみ玉アーム 2 0 2 R , 2 0 2 Lがもみ軸 2 0 5の回りに揺動し、 たたき動作を実現す る。  Since it is supported rotatably around 0 5, the tapping motor is driven, and the tapping motor is driven. By rotating the shaft 206 at an appropriate speed, the paddle ball arm 202 R, 202 L The rattle swings around the axis 205 to realize the tapping motion.
(指圧動作）  (Shiatsu operation)
以下、 指圧動作時の手順について説明する。 図 3 1， 3 2及ぴ 3 3は マッサージ機 1 0の指圧動作時の手順を説明するフローチャートである, まず、 手動モー ドの動作を選択して .（ステップ 5 1 )、 もみ玉の上下 位置の調整を行う （ステップ 5 2 )。 このとき、 利用者は操作部 1 1 に おいて 「上へ」 スィ ッチ又は 「下へ」 スィ ッチを押す （ステップ 5 3 )。 これに応答して、昇降用モータ 3 0 1 を指定された方向へ動作させる（ス テツプ 5 4 )。 利用者は希望の位置までもみ玉 2 0 1 が移動したと昇降 ローラで 「上へ」 スィ ッチ又は 「下へ」 スィ ッチを離す （ステップ 5 5 )。 次に、 利用者は指圧スィ ツチを押す （ステップ 5 6 )。 これに応答して、 もみ玉調節上モータ 4 0 1 Aを低速で正転させ （ステップ 5 7 )、 もみ 玉調節上位置センサ （ 1 ) 〜 （4 ) 4 1 7 Aが上玉突出限界位置を検出 しているか否かを判定する （ステップ 5 8 )。 もみ玉調節上位置センサ ( 1 ) 〜 （ 4 ) 4 1 7 Aが上玉突出限界位置を検出していなければステ ップ 5 7に戻ってさらにもみ玉調節上モータ 4 0 1 Aを低速で正転させ る。 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが上玉突出限界位 置を検出していれば、 もみ玉調節上モータ 4 0 1 Aを停止させ （ステツ プ 5 9 )、 所定時間待機し （ステップ 6 0 )、 次に、 もみ玉調節上モータ 4 0 1 Aを高速で逆転させる （ステップ 6 1 )。 次に、 もみ玉調節上位 置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが中立位置を検出しているか否かを判 定し （ステップ 6 2 )、 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが中立位置を検出していなければステップ 6 1 に戻り もみ玉調節上モ ータ 4 0 1 Aをさらに高速で逆転させる。 もみ玉調節上位置センサ （ 1 ) 〜 （4 ) 4 1 7 Aが中立位置を検出していれば、 もみ玉調節上モータ 4 0 1 Aを停止させ （ステップ 6 3 )、 所定時間待機し （ステップ 6 4 )、 もみ玉の切り替えをするか否か （もみ玉調節スィッチが押されているか 否か） を判定する （ステップ 6 5 )。 もみ玉の切り替えをしない場合に は、 ステップ 5 7に戻り、 もみ玉調節上モータ 4 0 1 Aを低速正転させ る。 もみ玉の切り替えをする場合には、 いずれのもみ玉調節スィ ッチが 選択されているかを判定する （ステップ 6 6 )。 Hereinafter, the procedure at the time of the acupressure operation will be described. Figs. 31, 32 and 33 are flowcharts explaining the procedure of the acupressure operation of the massage machine 10. First, select the operation in the manual mode. (Step 51) and move the fir balls up and down. Adjust the position (Step 52). At this time, the user presses the “up” switch or the “down” switch on the operation unit 11 (step 53). In response, the elevating motor 301 is operated in the designated direction (step 54). When the milling ball 201 moves to the desired position, the user releases the "up" switch or the "down" switch with the lifting roller (step 55). Next, the user presses the acupressure switch (step 56). In response, the rice ball adjusting upper motor 401 A is rotated forward at a low speed (step 57), and the rice ball adjusting upper position sensor (1) to (4) 4 17 A is at the upper ball protrusion limit position. It is determined whether or not has been detected (step 58). If the firs ball adjusting upper position sensor (1) to (4) 4 17 A does not detect the upper ball protruding limit position, return to step 57 and further operate the firs ball adjusting upper motor 401 A at low speed. Turn forward. If the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position, the rice ball adjustment upper motor 401 A is stopped (step 59), After waiting for a predetermined period of time (step 60), the rice ball adjusting upper motor 401A is reversely rotated at a high speed (step 61). Next, it is determined whether the rice ball adjusting upper position sensors (1) to (4) 4 17A detect the neutral position (step 62), and the rice ball adjusting upper position sensors (1) to (4). (4) If 4 17 A has not detected the neutral position, the flow returns to step 61 to reverse the motor 41 A at the higher speed. If the rice ball adjusting upper position sensor (1) to (4) 4 17 A detects the neutral position, the rice ball adjusting upper motor 401 A is stopped (step 63) and waits for a predetermined time ( In step 64), it is determined whether or not to switch the fir ball (whether or not the fir ball adjustment switch is pressed) (step 65). If the rice ball switching is not performed, the process returns to step 57, and the rice ball adjusting motor 401A is rotated forward at a low speed. When switching the rice ball, it is determined which one of the rice ball adjustment switches is selected (step 66).
ステップ 6 6で 「上玉出」 スィ ッチが選択されている場合には、 もみ 玉調節上モータ 4 0 1 Aを停止させ （ステップ 6 7 )、 所定時間待機し (ステップ 6 8 )、 もみ玉調節上モータ 4 0 1 Aを低速で正転させる （ス テツプ 6 9 )。 次に、 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 A が上玉突出限界位置を検出しているか否かを判定する（ステップ 7 0 )。 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが上玉突出限界位置を 検出していなければステップ 6 9に戻ってさらにもみ玉調節上モータ 4 0 1 Aを低速で正転させる。 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが上玉突出限界位置を検出していれば、 もみ玉調節上モータ 4 0 1 Aを停止させ （ステップ 7 1 )、 所定時間待機し （ステップ 7 2 )、 次 に、 もみ玉調節上モータ 4 0 1 Aを高速で逆転させる （ステップ 7 3 )。 次に、 もみ玉調節上位置センサ （ 1 ) 〜 （ 4) 4 1 7 Aが中立位置を検 出しているか否かを判定し （ステップ 7 4 )、 もみ玉調節上位置センサIf the “upper ball output” switch is selected in step 66, stop the rice ball adjusting upper motor 401A (step 67) and wait for a predetermined time. (Step 68), the motor 401A is rotated forward at a low speed for adjusting the rice ball (Step 69). Next, it is determined whether or not the rice ball adjusting upper position sensors (1) to (4) 4 17A have detected the upper ball protrusion limit position (step 70). Unless the fine ball adjusting upper position sensor (1) to (4) 4 17 A has detected the upper ball projecting limit position, return to step 69 to further rotate the fine ball adjusting upper motor 401 A at low speed. Let it. If the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position, the rice ball adjustment upper motor 401 A is stopped (step 71), and the predetermined time is reached. It waits (step 72), and then reverses the motor 401A at a high speed (step 73). Next, it is determined whether or not the firs ball adjusting upper position sensor (1) to (4) 4 17 A detects the neutral position (step 74), and the firs ball adjusting upper position sensor is determined.
( 1 ) 〜 （ 4) 4 1 7 Aが中立位置を検出していなければステップ 7 3 に戻り もみ玉調節上モータ 4 0 1 Aをさらに高速で逆転させる。 もみ玉 調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが中立位置を検出していれば、 もみ玉調節上モータ 4 0 1 Aを停止させ （ステップ 7 5 )、 所定時間待 機し （ステップ 7 6 )、 も う一度指圧スィ ッチを押したか否かを判定す る （ステップ 7 7 )。 も う一度指圧スィ ッチを押している場合には、 指 圧動作を終了する （ステップ 7 8 )。 も う一度指圧スィ ッチを押してい ない場合には、 ステップ 6 9に戻って、 さらにもみ玉調節上モータ 4 0 1 Aを低速で正転させる。 (1) to (4) If 4 17 A does not detect the neutral position, the flow returns to step 73 to reverse the motor 401 A at the higher speed. If the rice ball adjusting position sensor (1) to (4) 4 17 A detects the neutral position, stop the rice ball adjusting motor 401 A (step 75) and wait for a predetermined time. (Step 76), it is determined whether or not the acupressure switch has been pressed again (Step 77). If the acupressure switch is pressed again, the acupressure operation ends (step 78). If the acupressure switch has not been pressed again, the flow returns to step 69, and further, the motor 401A is rotated forward at a low speed for adjusting the fir ball.
ステップ 6 6で 「四つ玉」 スィ ツチが選択されている場合には、 もみ 玉調節上モータ 4 0 1 Aを停止させ （ステップ 7 9 )、 所定時間待機し If the "four ball" switch is selected in step 66, the motor 401A is stopped (step 79) and the specified time is waited.
(ステップ 8 0 )、 もみ玉調節上モータ 4 0 1 Aを低速で正転させる （ス テツプ 8 1 )。 次に、 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 A が上玉突出限界位置を検出しているか否かを判定する（ステップ 8 2 )。 もみ玉調節上位置センサ （ 1 ) 〜 （4 ) 4 1 7 Aが上玉突出限界位置を 検出していなければステップ 8 1 に戻ってさらにもみ玉調節上モータ 4 0 1 Aを低速で正転させる。 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが上玉突出限界位置を検出していれば、 もみ玉調節上モータ 4 0 1 Aを停止させ （ステ ップ 8 3 )、 所定時間待機し （ステップ 8 4 )、 次 に、 もみ玉調節上モータ 4 0 1 Aを高速で逆転させる （ステップ 8 5 )。 次に、 もみ玉調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが中立位置を検 出しているか否かを判定し (ステップ 8 6 )、 もみ玉調節上位置センサ(Step 80), the motor 401A is rotated forward at a low speed for adjusting the rice ball (Step 81). Next, it is determined whether or not the rice ball adjusting upper position sensors (1) to (4) 4 17A have detected the upper ball protrusion limit position (step 82). Fir ball adjustment upper position sensor (1) to (4) 4 17 A If not detected, the flow returns to step 81 to further rotate the motor 401A at the low speed. If the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the upper ball protrusion limit position, the rice ball adjustment upper motor 401 A is stopped (step 83), After waiting for a predetermined time (step 84), the motor 401A is rotated at a high speed in the fir ball adjusting step (step 85). Next, it is determined whether or not the rice ball adjusting upper position sensor (1) to (4) 4 17 A detects the neutral position (step 86), and the rice ball adjusting upper position sensor is determined.
( 1 ) 〜 （ 4 ) 4 1 7 Aが中立位置を検出していなければステップ 8 5 に戻り もみ玉調節上モータ 4 0 1 Aをさ らに高速で逆転させる。 もみ玉 調節上位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Aが中立位置を検出していれば、 もみ玉調節上モータ 4 0 1 Aを停止させ （ステップ 8 7 )、 所定時間待 機し （ステップ 8 8 )、 もみ玉調節下モータ 4 0 I Bを低速で正転させ る （ステ ップ 8 9 )。 次に、 もみ玉調節下位置センサ （ 1 ) 〜 ( 4 ) 4 1 7 Bが下玉突出限界位置を検出しているか否かを判定する （ステップ 9 0 )。 もみ玉調節下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが下玉突出限 界位置を検出していなければステップ 8 9に戻ってさらにもみ玉調節下 モータ 4 0 1 Bを低速で正転させる。 もみ玉調節下位置センサ （ 1 ) 〜(1) to (4) If 4 17 A has not detected the neutral position, the flow returns to step 85, and the motor 401 A is further rotated at a higher speed for adjusting the fir ball. If the rice ball adjustment upper position sensor (1) to (4) 4 17 A detects the neutral position, the rice ball adjustment upper motor 401 A is stopped (step 87) and waits for a predetermined time. (Step 88), and the motor 40 IB under fir ball adjustment is rotated forward at low speed (Step 89). Next, it is determined whether or not the rice ball adjustment lower position sensors (1) to (4) 4 17B have detected the lower ball protrusion limit position (step 90). If the rice ball adjusting lower position sensor (1) to (4) 4 17 B does not detect the lower ball protrusion limit position, the process returns to step 89 to further correct the rice ball adjusting motor 401 B at low speed. Invert. Fir ball adjustment lower position sensor (1) ~
( 4 ) 4 1 7 Bが下玉突出限界位置を検出していれば、 もみ玉調節下モ ータ 4 0 1 Bを停止させ （ステップ 9 1 )、 所定時間待機し （ステップ 9 2 )、 次に、 もみ玉調節下モータ 4 0 1 Bを高速で逆転させる （ステ ップ 9 3 )。 次に、 もみ玉調節下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが 中立位置を検出しているか否かを判定し （ステップ 9 4 )、 もみ玉調節 下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが中立位置を検出していなければ ステップ 9 3に戻り、 もみ玉調節下モータ 4 0 1 Bをさ らに高速で逆転 させる。 もみ玉調節下位置センサ （ 1 ) 〜 （4 ) 4 1 7 Bが中立位置を 検出していれば、 もみ玉調節下モータ 4 0 1 Bを停止させ （ステップ 9 5 )、 所定時間待機し （ステップ 9 6 )、 も う一度指圧スィ ッチを押した か否かを判定する （ステ ップ 9 7 )。 も う一度指圧スィ ッチを押してい る場合には指圧動作を終了する （ステップ 7 8 )。 も う一度指圧スイ ツ チを押していない場合にはステップ 7 9に戻ってもみ玉調節上モータ 4 0 1 Aを停止させる。 (4) If 4 17 B has detected the lower ball protrusion limit position, stop the rice ball adjusting lower motor 401 B (step 91), wait for a predetermined time (step 92), and Next, the rice ball adjusting motor 401B is reversely rotated at a high speed (step 93). Next, it is determined whether the fir ball adjustment lower position sensors (1) to (4) 4 17B detect the neutral position (step 94), and the fir ball adjustment lower position sensors (1) to (4). 4) If 4 17 B has not detected the neutral position, return to step 93 and rotate the rice ball adjusting motor 401 B further at a higher speed. If the rice ball adjusting position sensor (1) to (4) 4 17 B detects the neutral position, stop the rice ball adjusting motor 401 B (step 9). 5), wait for a predetermined time (step 96), and determine whether or not the acupressure switch has been pressed again (step 97). If the acupressure switch is pressed again, the acupressure operation ends (step 78). If the acupressure switch has not been pressed again, return to step 79 and stop the motor 401 A on the rice ball adjustment.
ステップ 6 6で 「下玉出」 スィッチが選択されている場合には、 もみ 玉調節上モータ 4 0 1 Aを停止させ （ステップ 9 8 )、 所定時間待機し (ステップ 9 9 )、 もみ玉調節下モータ 4 0 1 Bを低速で正転させる （ス テツプ 1 0 0 )。 次に、 もみ玉調節下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが下玉突出限界位置を検出して  If the lower ball switch is selected in step 66, the rice ball adjusting upper motor 401A is stopped (step 98), and a predetermined time is waited (step 99). Rotate motor 401B forward at low speed (Step 100). Next, the fir ball adjustment lower position sensors (1) to (4) 4 17 B detect the lower ball protrusion limit position and
いるか否かを判定する （ステップ 1 0 1 )。 もみ玉調節下位置センサ（ 1 ) 〜 （4 ) 4 1 7 Bが下玉突出限界位置を検出していなければステップ 1 0 0に戻ってさ らにもみ玉調節下モータ 4 0 1 Bを低速で正転させる。 もみ玉調節下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが下玉突出限界位置を 検出していれば、 もみ玉調節下モータ 4 0 1 Bを停止させ （ステップ 1 0 2 )、 所定時間待機し （ステップ 1 0 3 )、 次に、 もみ玉調節下モータ 4 0 1 Bを高速で逆転させる （ステップ 1 0 4 )。 次に、 もみ玉調節下 位置センサ （ 1 ) 〜 （4 ) 4 1 7 Bが中立位置を検出しているか否かを 判定し （ステ ップ 1 0 5 )、 もみ玉調節下位置センサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが中立位置を検出していなければステップ 1 0 4に戻り 、 もみ玉 調節下モータ 4 0 I Bをさらに高速で逆転させる。 もみ玉調節下位置セ ンサ （ 1 ) 〜 （ 4 ) 4 1 7 Bが中立位置を検出していれば、 もみ玉調節 下モータ 4 0 I Bを停止させ （ステップ 1 0 6 )、 所定時間待機し （ス テツプ 1 0 7 )、 も う一度指圧スィ ッチを押したか否かを判定する （ス テツプ 1 0 8 )。 も う一度指圧スィ ッチを押している場合には、 指圧動 作を終了する （ステ ップ 7 8 )。 も う一度指圧スィ ッチを押していない 場合には、 ステップ 1 0 0に戻って、 さ らにもみ玉調節下モータ 4 0 1 Bを低速で正転させる。 It is determined whether or not there is (step 101). Unless the fir ball adjustment lower position sensor (1) to (4) 4 17 B detects the lower ball protruding limit position, the flow returns to step 100 to further reduce the fir ball adjustment lower motor 401 B. To rotate forward. If the rice ball adjustment lower position sensor (1) to (4) 4 17 B detects the lower ball protrusion limit position, the rice ball adjustment lower motor 401B is stopped (step 102), and the predetermined position is determined. After waiting for a time (step 103), the rice ball adjusting motor 401B is reversely rotated at a high speed (step 104). Next, it is determined whether the rice ball adjusting position sensor (1) to (4) 4 17 B detects the neutral position (step 105), and the rice ball adjusting position sensor (1) is determined. If the neutral position is not detected by (4) 4 17 B, the process returns to step 104 to reverse the fir ball adjusting motor 40 IB at higher speed. If the rice ball adjustment lower position sensor (1) to (4) 4 17 B detects the neutral position, the rice ball adjustment lower motor 40 IB is stopped (step 106), and the apparatus waits for a predetermined time. (Step 107), it is determined whether or not the acupressure switch has been pressed again (Step 108). If the acupressure switch is pressed again, the acupressure operation ends (step 78). You have not pressed the Shiatsu switch again In this case, the flow returns to step 100, and the motor for adjusting the milling ball 401 B is rotated forward at a low speed.
(背筋伸ばし）  (Straightening)
背筋伸ばし動作時には、 もみ軸 2 0 5及びたたき軸 2 0 6の両方を停 止させ、 もみ玉アーム 2 0 2 R , 2 0 2 Lをもみ原点位置に保持し、 昇 降用モータ 3 0 1 を駆動してマッサージ機構 1全体をレールに沿って上 下動させる。 このとき、 使用するもみ玉の種類 （上又は下のもみ玉）， 数及び突出量はもみ玉調節スィツチで適宜切り替える。  During the back extension operation, both the fir shaft 205 and the beating shaft 206 are stopped, the fir ball arms 202 and R are held at the firs origin position, and the elevating motor 301 To move the whole massage mechanism 1 up and down along the rail. At this time, the kind (upper or lower) of the rice ball to be used, the number and the protrusion amount are appropriately switched by the rice ball adjustment switch.
また、 操作部 1 1 においてもみ玉調節で 「引込み」 を選択した場合に は、 もみ玉調節上モータ 4 0 1 A及びもみ玉調節下モータ 4 0 1 Bをと もに逆転させて、 図 2 4に示すように施療ュニッ ト 1 1 0を背面側へ退 避させる。  Also, when “pull-in” is selected in the operation of the operation section 11 in the rice ball adjustment, the rice ball adjustment upper motor 410 A and the rice ball adjustment lower motor 401 B are both reversed, and FIG. As shown in FIG. 4, the treatment unit 110 is retracted to the back side.
(もみ玉切替動作）  (Fir ball switching operation)
肩から腰にかけての上下方向に移動しながら背筋伸ばし施療又はこの 施療とたたき又はもみ施療の複合動作を行う場合に、 施療ユニッ ト 1 1 0はガイ ドレール 1 1 0 R， 1 1 0 Lに沿った移動範囲の上端部と下端 部との間を昇降する。 上側のもみ玉 2 0 1 a , 2 0 1 b又は下側のもみ 玉 2 0 1 c , 2 0 1 dのいずれか一方のもみ玉のみを使用して上述のよ うな施療を行う場合にも、施療ュニッ ト 1 1 0 の移動範囲は同一である。 しかし、 上側のもみ玉 2 0 1 a， 2 0 1 b と下側のもみ玉 2 0 1 c， 2 0 1 dの施療ュニッ ト 1 1 0に対する取付位置には上下方向に若干の間 隔がある。 このため、 上側のもみ玉 2 0 1 a , 2 0 1 bのみを使用して 背筋伸ばし等の施療を行った場合には下端部 （すなわち腰部） に、 下側 のもみ玉 2 0 1 c , 2 0 1 dのみを使用して背筋伸ばし等の施療を行つ た場合には上端部 （すなわち肩部） に、 それぞれもみ玉が被施療部に当 接しないために施療を行えない範囲が生じてしま う。 肩から腰にかけて の一部の範囲を上下方向に移動しながら行う部分伸ばし施療を行う場合 でも施療ュニッ ト 1 1 0の移動範囲の上端部及ぴ下端部において同様の 問題が生じる。 The treatment unit 110 moves along the guide rails 110 R and 110 L when performing the treatment of stretching the back muscles while moving in the vertical direction from the shoulder to the waist, or performing this treatment and the combined operation of tapping and fir treatment. Up and down between the upper and lower ends of the moving range. The above treatment can be performed using only one of the upper fir balls 200 1 a, 201 b or the lower fir ball 201 c, 201 d. The movement range of the treatment unit 110 is the same. However, the upper fir balls 201a, 201b and the lower fir balls 201c, 201d are attached to the treatment unit 110 with a slight vertical separation. is there. Therefore, when treatment such as back stretching is performed using only the upper fir balls 201a and 201b, the lower fir balls 201c, When treatment such as back stretching is performed using only 201 d, there is an area at the upper end (i.e., shoulder) where the treatment cannot be performed because the paddy balls do not come into contact with the treated part. I will. From shoulder to waist A similar problem occurs at the upper end and lower end of the movement range of the treatment unit 110 even when performing partial stretching treatment performed while moving a part of the range vertically.
これに.対して、 以下に説明するよ うに、 施療ユニッ ト 1 1 0の移動範 囲の上端部及ぴ下端部において施療を行う もみ玉を切り替えることによ り、 上下いずれかのもみ玉のみではカバーされなかった被施療部の範囲 に対して他方のもみ玉により施療を行う ことができる。 以下に 3つのも み玉切替動作について説明するが、 3つの切替動作のいずれか 2つ又は 3つを複合させた制御を行う こともできる。 また、 2つのもみ玉のみで 施療を行う過程に 4つのもみ玉を使用して施療を行う過程を含むよ うに してもよい。 また、 以下の説明では、 もみ， たたき等の施療については 言及していないが、 これらの動作を行いながら以下の切替動作を行う よ うにしてもよいし、 切替動作を含む背筋伸ばし又は部分伸ばし施療の間 にもみ， たたき等の施療を行う ようにしてもよい。  On the other hand, as described below, by switching the massage balls to be treated at the upper end and the lower end of the movement range of the treatment unit 110, only one of the upper and lower massage balls is changed. Then, treatment can be performed with the other rice ball in the range of the treatment part that was not covered. In the following, three rice ball switching operations will be described. However, control combining any two or three of the three switching operations can be performed. In addition, the process of performing treatment using only two rice balls may include the step of performing treatment using four rice balls. In the following description, treatments such as fir and tapping are not mentioned, but the following switching operation may be performed while performing these operations, or the back stretching or partial stretching including the switching operation may be performed. During treatment, treatment such as tapping may be performed.
(第 1 のもみ玉切替動作）  (First fir ball switching operation)
以下に背筋伸ばし施療時の第 1のもみ玉切替の動作手順を説明する。 図 3 4は施療ュニッ ト 1 1 0の動作の遷移を示す図である。 図 3 5はも み玉切替動作の手順を説明するフローチヤ一トである。  The operation procedure of the first fir ball switching at the time of the back straightening treatment will be described below. FIG. 34 is a diagram showing the transition of the operation of the treatment unit 110. FIG. FIG. 35 is a flowchart illustrating the procedure of the rice ball switching operation.
まず、 図 3 4 ( a ) に示すように、 上側のもみ玉 2 0 1 a， 2 0 1 b が被施療部側へ突出し、 下側のもみ玉 2 0 1 c , 2 0 1 dが被施療部と は反対側へ後退した状態で、 施療ュニッ ト 1 1 0がガイ ドレール 1 0 1 R, 1 0 1 Lの上端部から昇降用モータ 3 0 1 を下方向へ駆動する （ス テツプ 1 1 1 )。 施療ユニッ ト 1 1 0はガイ ドレール 1 0 1 R, 1 0 1 Lに対して同一の姿勢で支持された状態で被施療部に沿って下降する。 昇降下限界センサ 3 1 5がオンになると （ステップ 1 1 2 )、 昇降用モ ータ 3 0 1 を停止させる （ステップ 1 1 3 )。 次に、 図 3 5 ( b ) に示 すよ うに、 もみ玉調節下モータ 4 0 1 Bを正転させ （ステップ 1 1 4 )、 下側のもみ玉 2 0 1 c， 2 0 1 dが所定の位置まで突出した状態である こ とを、 もみ玉調節下位置センサが検出すると （ステップ 1 1 5 )、 も み玉調節下モータ 4 0 1 Bを停止させる （ステップ 1 1 6 )。 次に、 も み玉調節上モータ 4 0 1 Aを逆転させ （ステップ 1 1 7 )、 上側のもみ 玉 2 O l a , 2 0 1 bが所定の位置まで後退した状態であることを、 も み玉調節上位置センサが検出すると （ステップ 1 1 8 )、 もみ玉調節上 モータ 4 0 1 Aを停止させる （ステップ 1 1 9 )。 First, as shown in Fig. 34 (a), the upper fir balls 201a and 201b protrude toward the treatment area, and the lower fir balls 201c and 201d dow. The treatment unit 110 drives the elevating motor 301 downward from the upper end of the guide rails 101 R and 101 L while retracted to the opposite side of the treatment section (Step 1). 1 1). The treatment unit 110 descends along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the ascending / descending limit sensor 315 is turned on (step 1 12), the elevating motor 301 is stopped (step 1 13). Next, as shown in Fig. 35 (b) In this way, the fir ball adjusting motor 401B is rotated forward (step 114), and the lower fir balls 201c and 201d are in a state of protruding to a predetermined position. Is detected by the rice ball adjusting position sensor (step 115), the rice ball adjusting motor 401B is stopped (step 116). Next, the motor 401 A of the rice ball adjusting motor is reversed (step 1 17), and it is confirmed that the upper rice balls 2 O la and 201 b are retracted to the predetermined positions. When the ball adjustment upper position sensor detects (step 118), the rice ball adjustment upper motor 401A is stopped (step 111).
つづいて、 図 3 4 ( c ) に示すように、 昇降用モータ 3 0 1 を上方向 へ駆動する （ステップ 1 2 0 )。 施療ュニッ ト 1 1 0はガイ ドレール 1 0 1 R, 1 0 1 Lに対して同一の姿勢で支持された状態で被施療部に沿 つて上昇する。 昇降上限界センサ 3 1 4がオンになると （ステップ 1 2 1 )、 昇降用モータ 3 0 1 を停止させる （ステップ 1 2 2 )。 次に、 図 3 4 ( d ) に示すように、 もみ玉調節上モータ 4 0 1 Aを正転させ （ステ ップ 1 2 3 )、 上側のもみ玉 2 0 1 a , 2 0 1 bが所定の位置まで突出 した状態であることを、 もみ玉調節上位置センサが検出すると （ステツ プ 1 2 4 )、 もみ玉調節上モータ 4 0 1 Aを停止させる （ステップ 1 2 5 )。 次に、 もみ玉調節下モータ 4 0 1 Bを逆転させ （ステップ 1 2 6 )、 下側のもみ玉 2 0 1 c， 2 0 1 dが所定の位置まで後退した状態である ことを、 もみ玉調節下位置センサが検出する と （ステップ 1 2 7 )、 も み玉調節下モータ 4 0 1 Bを停止させる （ステップ 1 2 8 )。  Subsequently, as shown in FIG. 34 (c), the elevating motor 301 is driven upward (step 120). The treatment unit 110 rises along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the up / down upper limit sensor 3 14 is turned on (step 1 2 1), the up / down motor 3 0 1 is stopped (step 1 2 2). Next, as shown in Fig. 34 (d), the motor 401A for the rice ball adjustment is rotated forward (step 123), and the upper rice balls 201a and 201b are rotated. When the rice ball adjusting position sensor detects that the rice ball is projected to the predetermined position (step 124), the rice ball adjusting motor 401A is stopped (step 125). Next, the rice ball adjusting lowering motor 401B is rotated in reverse (step 1226), and it is confirmed that the lower rice balls 201c and 201d have retreated to predetermined positions. When the ball adjustment lower position sensor detects (step 127), the rice ball adjustment motor 401B is stopped (step 128).
以後、 ステップ 1 1 1 に戻って、 被施療ュニッ トが再ぴ下降し、 上述 の動作を繰り返す。  Thereafter, the process returns to step 111, the treatment unit descends again, and the above-described operation is repeated.
このよ う に第 1のもみ玉切替動作では、 ガイ ドレール 1 0 1 R， 1 0 1 Lの上端部及び下端部で施療ュニッ ト 1 1 0の姿勢を変更している。 そして、 ガイ ドレール 1 0 1 R， 1 0 1 Lに沿って施療ユニッ ト 1 1 0 が下降する時には、 上側のもみ玉 2 0 1 a， 2 0 1 bが被施療部側へ突 出し、 下側のもみ玉 2 0 1 c， 2 0 1 dが被施療部とは反対側へ後退し た姿勢を保持しており、 上昇するときには、 下側のもみ玉 2 0 1 c， 2 0 1 dが被施療部側へ突出し、 上側のもみ玉 2 0 1 a , 2 0 1 bが被施 療部とは反対側へ後退した姿勢を保持している。 As described above, in the first fir ball switching operation, the posture of the treatment unit 110 is changed at the upper end and the lower end of the guide rails 101 R and 101 L. Then, the treatment unit 110 along the guide rails 101 R and 101 L When descent, the upper fir balls 201a and 201b protrude toward the treatment area, and the lower fir balls 201c and 201d move to the opposite side from the treatment area. When it is in the retracted position, when it rises, the lower fir balls 201c and 201d protrude toward the treatment area, and the upper fir balls 201a and 201b move upward. It is in a position of retreating to the opposite side of the treatment section.
(第 2のもみ玉切替動作）  (2nd fir ball switching operation)
以下に背筋伸ばし施療時の第 2のもみ玉切替の動作手順を説明する。 図 3 6は施療ュニッ ト 1 1 0の動作の遷移を示す図である。 図 3 7はも み玉切替動作の手順を説明するフローチャートである。  The operation procedure of the second rice ball switching at the time of the back straightening treatment will be described below. FIG. 36 is a diagram showing the transition of the operation of the treatment unit 110. FIG. FIG. 37 is a flowchart for explaining the procedure of the rice ball switching operation.
まず、 図 3 6 ( a ) に示すように、 上側のもみ玉 2 0 1 a , 2 0 1 b が被施療部側とは反対側へ後退し、 下側のもみ玉 2 0 1 c， 2 0 1 dが 被施療部へ突出した状態で、 施療ュニッ ト 1 1 0がガイ ドレール 1 0 1 R, 1 0 1 Lの上端部から昇降用モータ 3 0 1 を下方向へ駆動する （ス テツプ 1 3 1 )。 施療ユニッ ト 1 1 0はガイ ドレール 1 0 1 R, 1 0 1 Lに対して同一の姿勢で支持された状態で被施療部に沿って下降する。 昇降下限界センサ 3 1 5がオンになると （ステップ 1 3 2 )、 昇降用モ ータ 3 0 1 を停止させる (ステップ 1 3 3 )。 次に、 図 3 6 ( b ) に示 すよ うに、 もみ玉調節上モータ 4 0 1 Aを正転させ （ステップ 1 3 4 )、 上側のもみ玉 2 0 1 a， 2 0 1 bが所定の位置まで突出した状態である ことを、 もみ玉調節上位置センサが検出する と （ステップ 1 3 5 )、 も み玉調節上モータ 4 0 1 Aを停止させる （ステップ 1 3 6 )。 次に、 も み玉調節下モータ 4 0 1 Bを逆転させ （ステップ 1 3 7 )、 下側のもみ 玉 2 0 1 c , 2 0 1 dが所定の位置まで後退した状態であることを、 も み玉調節下位置センサが検出すると （ステップ 1 3 8 )、 もみ玉調節下 モータ 4 0 1 Bを停止させる （ステップ 1 3 9 )。  First, as shown in Fig. 36 (a), the upper fir balls 201a, 201b recede to the opposite side of the treatment area, and the lower fir balls 201c, 2b. The treatment unit 110 drives the elevating motor 310 downward from the upper end of the guide rails 101 R and 101 L with 0 d protruding to the treatment area. 1 3 1). The treatment unit 110 descends along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the ascending / descending limit sensor 315 is turned on (step 1332), the elevating motor 301 is stopped (step 1333). Next, as shown in Fig. 36 (b), the motor 401A is rotated forwardly in the rice ball adjusting step (step 1334), and the upper rice balls 201a and 201b are set to predetermined positions. When the rice ball adjustment upper position sensor detects that the rice ball is projected to the position (step 135), the rice ball adjustment motor 401A is stopped (step 1336). Next, the rice ball adjusting lower motor 401B is reversed (step 1337) to confirm that the lower rice balls 201c and 201d have retreated to predetermined positions. When the rice ball adjusting position sensor detects (step 1338), the rice ball adjusting motor 401B is stopped (step 1339).
つづいて、 図 3 6 ( c ) に示すよ うに、 昇降用モータ 3 0 1 を上方向 へ駆動する （ステ ップ 1 4 0 )。 施療ュニッ ト 1 1 0はガイ ドレール 1 0 1 R, 1 0 1 Lに対して同一の姿勢で支持された状態で被施療部に沿 つて上昇する。 昇降上限界センサ 3 1 4がオンになると （ステップ 1 4 1 )、 昇降用モータ 3 0 1 を停止させる （ステップ 1 4 2 )。 次に、 図 3 6 ( d ) に示すよ うに、 もみ玉調節下モータ 4 0 1 Bを正転させ （ステ ップ 1 4 3 )、 下側のもみ玉 2 0 1 c， 2 0 1 dが所定の位置まで突出 した状態であることを、 もみ玉調節下位置センサが検出すると （ステツ プ 1 4 4 )、 もみ玉調節下モータ 4 0 1 Bを停止させる （ステップ 1 4 5 )。 次に、 もみ玉調節上モータ 4 0 1 Aを逆転させ （ステップ 1 4 6 )、 上側のもみ玉 2 0 1 a， 2 0 1 bが所定の位置まで後退した状態である ことを、 もみ玉調節上位置センサが検出すると （ステップ 1 4 7 )、 も み玉調節上モータ 4 0 1 Aを停止させる （ステップ 1 4 8 )。 Then, as shown in Fig. 36 (c), move the lifting motor 301 upward. Drive (step 140). The treatment unit 110 rises along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the up / down upper limit sensor 3 14 is turned on (step 14 1), the up / down motor 3 0 1 is stopped (step 1 4 2). Next, as shown in Fig. 36 (d), the rice ball adjusting motor 401B is rotated forward (step 1443), and the lower rice ball 201c, 201d is rotated. When the rice ball adjusting position sensor detects that the rod has protruded to the predetermined position (step 144), the rice ball adjusting motor 401B is stopped (step 144). Next, the rice ball adjusting upper motor 401A is rotated in reverse (step 144), and the upper rice balls 201a and 201b are retracted to predetermined positions. When the adjustment position sensor detects (step 147), the rice ball adjustment motor 401A is stopped (step 148).
以後、 ステップ 1 3 1 に戻って、 被施療ユニッ トが再び下降し、 上述 の動作を繰り返す。  Thereafter, the flow returns to step 13 1, the treatment unit descends again, and the above operation is repeated.
このよ う に第 2のもみ玉切替動作では、 第 1のもみ玉切替動作と同様 に、 ガイ ドレール 1 0 1 R， 1 0 1 Lの上端部及び下端部で施療ュニッ ト 1 1 0の姿勢を変更している。 しかし、 第 2のもみ玉動作では、 ガイ ドレール 1 0 1 R， 1 0 1 Lに沿って施療ュニッ ト 1 1 0が下降する時 には、 下側のもみ玉 2 0 1 c , 2 0 1 dが被施療部側へ突出し、 上側の もみ玉 2 0 1 a， 2 0 1 bが被施療部とは反対側へ後退した姿勢を保持 しており、 上昇するときには、 上側のもみ玉 2 0 1 a， 2 0 1 bが被施 療部側へ突出し、 下側のもみ玉 2 0 1 c， 2 0 1 dが被施療部とは反対 側へ後退した姿勢を保持している。  In this way, in the second fir ball switching operation, similarly to the first fir ball switching operation, the posture of the treatment unit 110 at the upper end and lower end of the guide rails 101 R and 101 L. Has changed. However, when the treatment unit 110 descends along the guide rails 101 R and 101 L in the second rice ball movement, the lower rice balls 201 c and 210 1 d protrudes to the treatment area side, and the upper firs balls 201 a and 201 b hold the attitude of retreating to the opposite side of the treated area. 1a and 201b protrude toward the treatment area, and the lower fir balls 201c and 201d hold the posture retreated to the opposite side to the treatment area.
(第 3のもみ玉切替動作）  (Third fir ball switching operation)
以下に背筋伸ばし施療時の第 3のもみ玉切替の動作手順を説明する。 図 3 8は施療ュニッ ト 1 1 0の動作の遷移を示す図である。 図 3 9はも み玉切替動作の手順を説明するフローチヤ一トである。 The operation procedure of the third rice ball switching at the time of the back straightening treatment will be described below. FIG. 38 is a diagram showing the transition of the operation of the treatment unit 110. Figure 39 6 is a flowchart illustrating a procedure of a ball switching operation.
まず、 図 3 8 ( a ) に示すように、 上側のもみ玉 2 0 1 a， 2 0 1 b が被施療部側へ突出し、 下側のもみ玉 2 0 1 c， 2 0 1 dが被施療部と は反対側へ後退した状態で、 施療ュニッ ト 1 1 0がガイ ドレール 1 0 1 R, 1 0 1 Lの上端部から昇降用モータ 3 0 1 を下方向へ駆動する （ス テツプ 1 5 1 )。 施療ユニッ ト 1 1 0はガイ ドレール 1 0 1 R, 1 0 1 Lに対して同一の姿勢で支持された状態で被施療部に沿って下降する。 昇降位置検出センサ 3 1 3が所定位置を検出すると（ステップ 1 5 2 )、 昇降用モータ 3 0 1 を停止させる （ステップ 1 5 3 )。 次に、 図 3 8 ( b ) に示すよ うに、 もみ玉調節下モータ 4 0 1 Bを正転させ （ステップ 1 5 4 )、 下側のもみ玉 2 0 1 c， 2 0 1 dが所定の位置まで突出した状態 であることを、 もみ玉調節下位置センサが検出すると （ステップ 1 5 5 ). もみ玉調節下モータ 4 0 1 Bを停止させる （ステップ 1 5 6 )。 次に、 もみ玉調節上モータ 4 0 1 Aを逆転させ （ステップ 1 5 7 )、 もみ玉調 節上位置センサが所定の位置まで上側のもみ玉 2 0 1 a , 2 0 1 bが後 退したのを検出すると （ステップ 1 5 8 )、 もみ玉調節上モータ 4 0 1 Aを停止させる （ステップ 1 5 9 )。 次に、 昇降用モータ 3 0 1 を下方 向に駆動する （ステップ 1 6 0 )。 施療ュニッ ト 1 1 0はガイ ドレール 1 0 1 R, 1 0 1 Lに対して同一の姿勢で支持された状態で被施療部に 沿って下降する。 図 3 8 ( c ) に示すように、 昇降下限界センサ 3 1 5 がオンになったと ころで （ステップ 1 6 1 )、 昇降用モータ 3 0 1 を停 止させる （ステップ 1 6 2 )。  First, as shown in Fig. 38 (a), the upper fir balls 201a and 201b protrude toward the treatment part side, and the lower fir balls 201c and 201d dow. The treatment unit 110 drives the elevating motor 301 downward from the upper end of the guide rails 101 R and 101 L while retracted to the opposite side of the treatment section (Step 1). 5 1). The treatment unit 110 descends along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. When the elevating position detecting sensor 313 detects a predetermined position (step 152), the elevating motor 301 is stopped (step 1553). Next, as shown in FIG. 38 (b), the fir ball adjusting motor 401B is rotated forward (step 1554), and the lower fir balls 201c and 201d are set to predetermined positions. When the rice ball lowering position sensor detects that the rice ball is projected to the position (step 1555), the rice ball lowering motor 401B is stopped (step 1556). Next, the rice ball adjusting upper motor 401 A is reversed (step 157), and the rice ball adjustment upper position sensor is moved back to the predetermined position, and the upper rice balls 201 a and 210 b are retracted. When the operation is detected (step 158), the motor 401A is stopped (step 159). Next, the lifting motor 301 is driven downward (step 160). The treatment unit 110 descends along the treatment section while being supported in the same posture with respect to the guide rails 101 R and 101 L. As shown in Fig. 38 (c), when the ascent / descent limit sensor 315 is turned on (step 161), the elevating motor 301 is stopped (step 162).
つづいて、 図 3 8 ( d ) に示すよ うに、 昇降用モータ 3 0 1 を上方向 へ駆動する （ステップ 1 6 3 )。 昇降位置検出センサ 3 1 3が所定の位 置を検出すると （ステップ 1 6 4 )、 昇降用モータ 3 0 1を停止させる (ステップ 1 6 5 )。 次に、 図 3 8 ( e ) に示すよ うに、 もみ玉調節上 モータ 4 0 1 Aを正転させ（ステップ 1 6 6 )、 上側のもみ玉 2 0 1 a , 2 0 1 bが所定の位置まで突出した状態であることを、 もみ玉調節上位 置センサが検出すると （ステップ 1 6 7 )、 もみ玉調節上モータ 4 0 1 Aを停止させる （ステップ 1 6 8 )。 次に、 もみ玉調節下モータ 4 0 1 Bを逆転させ （ステップ 1 6 9 )、 下側のもみ玉 2 0 1 c , 2 0 1 が 所定の位置まで後退した状態であることを、 もみ玉調節下位置センサが 検出すると （ステップ 1 7 0 )、 もみ玉調節下モータ 4 0 1 Bを停止さ せる （ステップ 1 7 1 )。 つづいて、 昇降用モータ 3 0 1 を上方向に駆 動する （ステップ 1 7 2 )。 施療ュニッ ト 1 1 0はガイ ドレール 1 0 1 R, 1 0 1 Lに対して同一の姿勢で支持された状態で被施療部に沿って 上昇する。 図 3 8 ( f ) に示すように、 昇降上限界センサ 3 1 4がオン になったと ころで （ステップ 1 7 3 )、 昇降用モータ 3 0 1 を停止させ る （ステップ 1 7 4 )。 Subsequently, as shown in FIG. 38 (d), the elevating motor 301 is driven upward (step 1663). When the elevating position detecting sensor 313 detects a predetermined position (Step 164), the elevating motor 301 is stopped (Step 165). Next, as shown in Fig. 38 (e), The motor 401A is rotated forward (step 1666), and the upper rice ball adjusting sensor detects that the upper rice balls 201a and 201b are protruding to predetermined positions. Then (step 1667), the motor 401A on the rice ball adjustment is stopped (step 1668). Next, the rice ball adjusting lower motor 401B is reversed (step 169), and the lower rice balls 201c and 201 are retracted to the predetermined positions. When the under-adjustment position sensor detects (step 170), the rice ball under-adjustment motor 401B is stopped (step 1711). Then, the lifting motor 301 is driven upward (step 172). The treatment unit 110 rises along the treatment part while being supported in the same posture with respect to the guide rails 101 R and 101 L. As shown in FIG. 38 (f), when the up-and-down upper limit sensor 314 is turned on (step 173), the up-and-down motor 301 is stopped (step 174).
以後、 ステップ 1 5 1 に戻って、 被施療ュニッ トが再び下降し、 上述 の動作を繰り返す。  Thereafter, the process returns to step 151, the treatment unit descends again, and the above operation is repeated.
このよ う に、 第 3のもみ玉切替動作では、 ガイ ドレール 1 0 1 R， 1 0 1 Lの上端部及び下端部以外の途中の所定位置で施療部の姿勢を変更 させる。 このため、 ガイ ドレール 1 0 1 R, 1 0 1 Lの上端側では、 上 昇時、 下降時ともに、 上側のもみ玉 2 O l a , 2 0 1 bが被施療部側へ 突出し、 下側のもみ玉 2 0 1 c , 2 0 1 dが被施療部とは反対側へ後退 した姿勢を保持しており、 ガイ ドレール 1 0 1 R， 1 0 1 Lの下端側で は、 上昇時、 下降時ともに、 下側のもみ玉 2 0 1 c， 2 0 1 dが被施療 部側へ突出し、 上側のもみ玉 2 0 1 a， 2 0 1 bが被施療部とは反対側 へ後退した姿勢を保持している。  As described above, in the third fir ball switching operation, the posture of the treatment section is changed at a predetermined position on the way other than the upper and lower ends of the guide rails 101 R and 101 L. For this reason, on the upper end side of the guide rails 101 R and 101 L, the upper fir balls 2 O la and 201 b protrude toward the treatment part both when ascending and descending, and The fir balls 201 c and 201 d are in a position of retreating to the opposite side of the treatment area, and at the lower end of the guide rails 101 R and 101 L, they rise and fall. At times, the lower fir balls 201c and 201d protrude toward the treatment area, and the upper fir balls 201a and 201b retreat to the opposite side of the treatment area. Holding.
上述の動作では、 施療ュニッ ト 1 1 0の移動範囲の途中で昇降用モー タ 3 0 1 を停止させて施療ュュッ ト 1 1 0の姿勢を変更しているが、 移 動しながら姿勢を変更するようにしてもよい。 また、 施療ユニッ ト 1 1 0の上昇時と下降時の姿勢変更位置は同じ位置でもよいし、 異なる位置 でもよい。 In the above-described operation, the elevating motor 301 is stopped in the middle of the movement range of the treatment unit 110 to change the posture of the treatment unit 110. The posture may be changed while moving. In addition, the posture change positions when the treatment unit 110 is raised and lowered may be the same position or may be different positions.
また、 上述の第 1乃至第 3のもみ玉切替動作において、 被施療部側へ の突出及ぴ被施療部とは反対側への後退動作を、上側のもみ玉 2 0 1 a， 2 0 1 b と下側のもみ玉 2 0 1 c , 2 0 1 dのいずれから先に行うかは 適宜設定することができ、 上述のよ うな順序に限られるものではない。 また、 これらの動作を同時に行ってもよいし、 所定時間をおいて行う よ うにしてもよレ、。  Further, in the above-described first to third rice ball switching operations, the protrusion toward the treatment portion and the retreat operation toward the opposite side to the treatment portion are performed, and the upper rice ball 201 a, 210 1 Which of b and the lower rice ball 201c and 201d is performed first can be set as appropriate, and is not limited to the order described above. Further, these operations may be performed simultaneously, or may be performed after a predetermined time.
(もみ玉構成の変形例）  (Modified example of fir ball configuration)
上述の実施形態では、 上側のもみ玉 2 0 1 a， 2 0 1 b と、 下側のも み玉 2 0 1 c， 2 0 1 dは、 同一の形状をなしている。 従って、 上側の もみ玉 2 O l a , 2 0 1 b又は下側のもみ玉 2 0 1 c， 2 0 1 dのいず れのもみ玉を使用しても使用者の感触又は施療効果は変わらない。 しか し、 図 4 0に示すように、 上側のもみ玉 2 0 1 a， 2 0 l bの周面を滑 らかな曲面で構成し、 下側のもみ玉 2 0 1 1 c , 2 0 1 1 dの周面上に 複数の小突起 2 0 1 2を配置した形状と してもよい。 このように上側の もみ玉 2 0 1 a， 2 0 1 b と下側のもみ玉 2 0 1 1 c , 2 0 1 I dを互 いに異なる形状とすれば、 上側のもみ玉 2 O l a , 2 0 1 bのみを使用 した場合と下側のもみ玉 2 0 1 1 c， 2 0 1 1 dのみを使用した場合と で、 異なる感触と施療効果を実現することができる。  In the above-described embodiment, the upper fir balls 201a and 201b and the lower fir balls 201c and 201d have the same shape. Therefore, the user's feel or treatment effect does not change even if the upper rice ball 2 O la, 201 b or the lower rice ball 201 c, 201 d is used. Absent. However, as shown in Fig. 40, the outer surface of the upper fir ball 201 a, 20 lb is composed of a smooth curved surface, and the lower fir ball 200 1 c, 200 1 1 The shape may be such that a plurality of small protrusions 201 are arranged on the peripheral surface of d. As described above, if the upper fir balls 2 0 1 a and 2 0 1 b and the lower fir balls 2 0 1 1 c and 2 0 1 Id have different shapes, the upper fir balls 2 O la Thus, different feelings and treatment effects can be realized when only the first and second bristles are used and when only the lower fir balls 201 and c are used.
また、 このようなもみ玉の構成を有するマッサージ機において、 上述 したよ うなもみ玉の切替制御を行えば、 パラエティに富んだマッサージ を実現することができる。  Further, in the massage machine having such a configuration of the rice ball, if the switching control of the rice balls as described above is performed, a massage with a rich variety can be realized.
(ガイ ドレールの変形例）  (Modified example of guide rail)
図 4 1 , 図 4 2はいずれも上述の実施形態とガイ ドレ ルの構成が異 なるマッサージ機の概略構成を示す。 ガイ ドレール以外の構成は上述の 実施形態と同様であるので、 同様の構成については同様の符号を用いて 説明を省略し、 特徴的な構成についてのみ説明する。 Each of FIGS. 41 and 42 has a different guidel configuration from the above-described embodiment. 1 shows a schematic configuration of a massage machine. Since the configuration other than the guide rails is the same as that of the above-described embodiment, the description of the same configuration will be omitted using the same reference numerals, and only the characteristic configuration will be described.
図 4 1 は上方に延長されたガイ ドレール 1 1. 0 1 R , 1 1 0 1 Lを有 するマッサージ機 1 0 0 0を示す。 図 4 1 ( a )， 図 4 1 ( b ) は、 そ れぞれ施療ュニッ ト 1 1 0がガイ ドレール 1 1 0 1 R， 1 1 0 1 Lの移 動範囲の上端部及び下端部に位置する場合を示す。 図 4 1 ( a ) では、 下側のもみ玉 2 0 1 c , 2 0 1 dが使用者の肩に位置し、 上側のもみ玉 2 0 1 a , 2 0 1 bは、 ほぼ頭部の中央部に位置する。 図 4 1 ( b ) で は、 下側のもみ玉 2 0 1 c， 2 0 1 dが上述の実施形態と同様に使用者 の腰の位置にある。 すなわち、 肩から腰の全範囲にわたって下側のもみ 玉 2 0 1 c， 2 0 1 dのみを使用した施療が可能となり、 上側のもみ玉 2 0 1 a , 2 0 1 b と下側のもみ玉 2 0 1 c， 2 0 1 d とが異なる形状 を有する場合に特に有効である。  FIG. 41 shows a massager 100 having a guide rail 11.01R and 1101L extended upward. Figs. 41 (a) and 41 (b) show that the treatment unit 110 is located at the upper and lower ends of the guide rails 111R and 111L, respectively. Indicates when it is located. In Fig. 4 1 (a), the lower fir balls 201c and 201d are located on the shoulders of the user, and the upper fir balls 201a and 201b are almost at the head. Located in the center. In FIG. 41 (b), the lower fir balls 201c and 201d are at the waist position of the user as in the above-described embodiment. In other words, treatment using only the lower fir balls 201c and 201d is possible over the entire range from the shoulder to the waist, and the upper fir balls 201a and 201b and the lower fir balls This is particularly effective when the balls 201c and 201d have different shapes.
図 4 2は下方に延長されたガイ ドレール 1 1 0 2 R， 1 1 0 2 Lを有 するマッサージ機 2 0 0 0を示す。 図 4 2 ( a ), 図 4 2 ( b ) は、 そ れぞれ施療ュニッ ト 1 1 0がガイ ドレール 1 1 0 2 R , 1 1 0 2 Lの移 動範囲の上端部及び下端部に位置する場合を示す。 図 4 2 ( a ) は施療 ユニッ ト 1 1 0がガイ ドレール 1 1 0 2 R， 1 1 0 2 Lの移動範囲の上 端部に位置する場合を示し、 上記実施形態と同様に上側のもみ玉 2 0 1 a , 2 0 1 bが使用者の肩に位置している。 図 4 2 ( b ) では、 上側の もみ玉 2 0 1 a ， 2 0 1 bが使用者の腰に位置し、 下側のもみ玉 2 0 1 c， 2 0 I dは使用者の腰より さ らに下方に位置する。 すなわち、 肩か ら腰の全範囲にわたって上側のもみ玉 2 0 1 a， 2 0 1 bのみを使用し た施療が可能となり、 上側のもみ玉 2 0 1 a ， 2 0 l b と下側のもみ玉 2 0 1 c , 2 0 1 dとが異なる形状を有する場合に特に有効である。 産業上の利用可能性 Fig. 42 shows a massage machine 2000 having guide rails 1102R and 1102L extended downward. Fig. 42 (a) and Fig. 42 (b) show that the treatment unit 110 is located at the upper and lower ends of the guide rails 111 and 120, respectively. Indicates when it is located. Fig. 42 (a) shows a case where the treatment unit 110 is located at the upper end of the guide rail 1102R and 1102L movement range, as in the above embodiment. The balls 201a and 201b are located on the shoulders of the user. In Fig. 42 (b), the upper rice balls 201a and 201b are located on the user's waist, and the lower rice balls 201c and 20Id are closer to the user's waist. It is located further below. In other words, treatment using only the upper rice ball 201a, 201b is possible over the entire range from the shoulder to the waist, and the upper rice ball 201a, 20lb and the lower rice ball are used. This is particularly effective when the balls 201c and 201d have different shapes. Industrial applicability
以上、 説明したよ うに、 本発明によれば、 施療子を支持する施療ュニ ッ ト自体の案内手段に対する移動方向に略直交する位置を変更できるよ うにしたので、施療子と人体との間隔の調節量を大きくすることができ、 被施療部位に作用する力をよ り適切に制御し、 症状や部位に応じた強さ の施療、 あるいは、 よりパラエティに富んだ施療を実現すると ともに、 マッサージを行わないときには施療子が邪魔にならないようにすること ができる。  As described above, according to the present invention, the position of the treatment unit that supports the treatment element, which is substantially perpendicular to the moving direction of the treatment unit itself with respect to the guide means, can be changed, so that the distance between the treatment element and the human body can be changed. The amount of treatment can be increased, the force acting on the treatment site can be controlled more appropriately, and the treatment with the strength corresponding to the symptom and the region or the treatment with more variety can be realized and massage When the treatment is not performed, the treatment child can be kept out of the way.

Claims

求 の 範 囲 Range of request
1 . 左右で一対をなす施療子と、 該施療子を支持し、 被施療部に沿って 移動可能な施療ユニッ トと、 前記施療ュニッ トの被施療部に沿った移動 を案内する案内手段と、 前記案内手段に対して前記施療ュニッ トを支持 する支持手段とを備えたマッサージ機であって、 1. A pair of left and right treatment elements, a treatment unit supporting the treatment element and movable along the treatment section, and a guide means for guiding movement of the treatment unit along the treatment section. And a supporting means for supporting the treatment unit with respect to the guiding means,
前記施療ュニッ トの、 前記案内手段に対する前記移動方向に略直交す る方向の位置を変更する位置変更手段を備えたマッサージ機。  A massage machine comprising a position changing means for changing a position of the treatment unit in a direction substantially perpendicular to the moving direction with respect to the guide means.
2 . 前記施療子が前記施療ュニッ トの移動方向に少なく とも二対設けら れている請求の範囲第 1項記載のマッサージ機。  2. The massage machine according to claim 1, wherein at least two pairs of the treatment elements are provided in a moving direction of the treatment unit.
3 . 前記施療ュニッ トの移動方向に設けられている少なく とも二対の施 療子は、 互いに特性の異なる二対の施療子を含む請求の範囲第 2項記載 のマッサージ機。  3. The massage machine according to claim 2, wherein at least two pairs of treatment elements provided in the movement direction of the treatment unit include two pairs of treatment elements having different characteristics from each other.
4 . 前記支持手段は、 前記施療ュニッ トを、 前記移動方向の少なく とも 2つの部位において前記案内手段に対して支持し、  4. The support means supports the treatment unit with respect to the guide means at at least two portions in the moving direction,
前記位置変更手段は、 前記支持手段によって支持されている前記施療 ュニッ トのそれぞれの部位の、 前記案内手段に対する前記移動方向に略 直交する方向の位置を変更する請求の範囲第 1乃至 3項のいずれかに記 載のマッサージ機。  4. The method according to claim 1, wherein the position changing unit changes a position of each part of the treatment unit supported by the support unit in a direction substantially orthogonal to the moving direction with respect to the guide unit. The massage machine described in one of them.
5 . 前記位置変更手段は、 前記施療ユニッ トの移動方向の異なる部位を 支持するそれぞれの支持手段について、 独立して前記位置を変更する機 能を有する請求の範囲第 4項記載のマッサージ機。  5. The massage machine according to claim 4, wherein the position changing means has a function of independently changing the position of each of the support means for supporting a portion of the treatment unit moving in a different direction.
6 . 前記位置変更手段は、 前記支持手段によって支持されている前記施 療ュニッ トの部位の前記案内手段に対する位置を、 少なく とも被施療部 側に向けて変更する機能を有する請求の範囲第 1乃至 5項のいずれかに 記載のマッサージ機。 6. The position changing unit according to claim 1, wherein the position changing unit has a function of changing a position of the portion of the treatment unit supported by the support unit with respect to the guide unit at least toward the treatment unit side. The massage machine according to any one of claims 1 to 5.
7 . 前記支持手段は、 前記案内手段に係合する係合部と、 該係合部を支 持し、 前記施療ュニッ トに摇動可能に支持されたアームと、 を備え、 前記位置変更手段は、 前記アームの揺動角度を変更する機能を有する 請求の範囲第 1乃至 6項のいずれかに記載のマッサージ機。 7. The support means includes: an engagement portion that engages with the guide means; and an arm that supports the engagement portion and is movably supported by the treatment unit. The massage machine according to any one of claims 1 to 6, having a function of changing a swing angle of the arm.
8 . 前記位置変更手段は、 前記アームの揺動中心が前記係合部に対して 被施療部側に位置する第 1 の状態と、 前記係合部が前記アームの摇動中 心に対して被施療部側に位置する第 2の状態となるように前記アームの 揺動角度を変更する機能を有する請求の範囲第 7項記載のマッサージ機 <8. The position changing means includes: a first state in which the swing center of the arm is located on the treatment section side with respect to the engagement section; and wherein the engagement section has a swing center with respect to the pivot center of the arm. 8. The massage machine according to claim 7, wherein the massage machine has a function of changing a swing angle of the arm so as to be in a second state located on the treatment section side.
9 . 左右で一対をなす施療子と、 該施療子を支持し、 被施療部に沿って 移動可能な施療ュニッ トと、 前記施療ュニッ トの被施療部に沿った移動 を案内する案内手段とを備えたマッサージ機であって、 9. A pair of treatment elements on the left and right sides, a treatment unit supporting the treatment element and movable along the treatment section, and a guide means for guiding the movement of the treatment unit along the treatment section. A massage machine with
前記施療ュニッ トを前記案内手段に対して支持する支持手段と、 前記支持手段によって支持されている前記施療ュニッ トの、 前記案內 手段に対する姿勢を変更する姿勢変更手段を備えたマッサージ機。  A massage machine comprising: support means for supporting the treatment unit with respect to the guide means; and posture changing means for changing the posture of the treatment unit supported by the support means with respect to the project means.
1 0 . 左右で一対をなす施療子と、 該施療子をま持し、 被施療部に対し て移動可能な施療ユニッ トと、 取り付けられる相手部材との間を連結す ると ともに、 前記施療ュニッ トを支持する支持手段とを備えたマッサ一 ジュニッ トであって、  10. A pair of treatment elements on the left and right sides, a treatment unit that holds the treatment element and is movable with respect to the treatment target, and a mating member to be attached are connected, and the treatment is performed. A mass unit having support means for supporting the unit,
前記施療ュニッ トの、 前記被施療部に対して接近及び離間する方向の 位置を変更する位置変更手段を備えたマッサージュニッ ト。  A massage unit comprising a position changing means for changing a position of the treatment unit in a direction of approaching and separating from the treatment portion.
1 1 . 前記相手部材及び前記施療ユニッ トのいずれかに、 前記支持手段 を案内する軌道部材が設けられ、  11. A track member for guiding the support means is provided on one of the partner member and the treatment unit,
前記支持手段は、 前記軌道部材に係合すると ともに該軌道部材に従つ て移動する係合部を備えた請求の範囲第 1 0項記載のマッサージュニッ h o  10. The massage unit according to claim 10, wherein said support means includes an engagement portion which engages with said track member and moves along said track member.
1 2 . 前記施療子は、 前記軌道部材が延びる方向に少なく とも二対設け られている請求の範囲第 1 1項に記載のマッサージュニッ ト。 1 2. At least two pairs of the treatment elements are provided in the direction in which the track member extends. The massage unit according to claim 11, wherein
1 3 . 前記軌道部材が延びる方向に設けられている少なく とも二対の施 療子は、 互いに特性の異なる二対の施療子を含む請求の範囲第 1 2項記 载のマッサージュニッ ト。 13. The massage unit according to claim 12, wherein at least two pairs of treatment elements provided in the direction in which the track member extends include two pairs of treatment elements having different characteristics from each other.
1 4 . 前記支持手段は、 前記施療ユニッ トを、 前記軌道部材が延びる方 向に少なく とも 2つの部位において前記相手部材に対して支持し、 前記位置変更手段は、 前記支持手段によつて支持されている前記施療 ュニッ トのそれぞれの部位の、 前記被施療部に対して接近及ぴ離間する 方向の位置を変更する請求の範囲第 1 1乃至 1 3項のいずれかに記載の マッサーシュニッ ト。  14. The support means supports the treatment unit with respect to the counterpart member at at least two positions in the direction in which the track member extends, and the position changing means supports the treatment unit by the support means. 14. The masseur snip according to any one of claims 11 to 13, wherein a position of each part of the treatment unit that is being performed is changed in a direction in which the treatment unit is approached or separated from the treatment part. G.
1 5 . 前記位置変更手段は、 前記施療ュニッ トにおける、 軌道部材の延 びる方向の異なる部位を支持するそれぞれの支持手段について、 独立し て前記位置を変更する機能を有する請求の範囲第 1 4項記載のマッサー ジュニッ ト。  15. The position change means has a function of independently changing the position of each support means for supporting a portion of the treatment unit in which the track member extends in a different direction. Masser nit described in section.
1 6 . 前記支持手段は、 前記係合部を支持し、 前記施療ュ-ッ ト及び相 手部材のいずれかに摇動可能に支持されたアームと、 を備え、  16. The support means comprises: an arm that supports the engaging portion, and is movably supported by one of the treatment unit and the other member.
前記位置変更手段は、 前記アームの揺動角度を変更する機能を有する 請求の範囲第 1 1乃至 1 5項のいずれかに記載のマッサージユニッ ト。 The massage unit according to any one of claims 11 to 15, wherein the position changing means has a function of changing a swing angle of the arm.
1 7 . 前記位置変更手段は、 前記アームの揺動中心が前記係合部に対し て被施療部側に位置する第 1 の状態と、 前記係合部が前記アームの揺動 中心に対して被施療部側に位置する第 2の状態となるように前記アーム の揺動角度を変更する機能を有する請求の範囲第 1 6項記載のマッサ一 ジュ-ッ ト。 17. The position changing means includes: a first state in which the swing center of the arm is located on the treatment section side with respect to the engagement section; and a position in which the engagement section is located with respect to the swing center of the arm. 17. The mass unit according to claim 16, wherein said mass unit has a function of changing a swing angle of said arm so as to be in a second state located on the treatment section side.
1 8 . 前記位置変更手段は、 前記支持手段によって支持されている前記 施療ュニッ トの部位の前記相手部材に対する位置を、 少なく とも被施療 部に向けて変更する機能を有する請求の範囲第 1 0乃至 1 7項のいずれ かに記載のマッサージュニッ ト。 18. The position changing means, wherein the position changing means has a function of changing a position of the treatment unit supported by the support means with respect to the counterpart member at least toward the treatment target part. Any of items 1 to 17 Massage unit described in Crab.
1 9 . 左右で一対をなす施療子と、 該施療子を支持し、 被施療部に対し て移動可能な施療ュニッ トと、 取り付けられる相手部材との間を連結す ると ともに、 前記施療ュニッ トを支持する支持手段とを備えたマッサ一 ジュニッ トであって、  19. A pair of treatment elements on the left and right, a treatment unit that supports the treatment elements and is movable with respect to the treatment target, and a connection between a mating member to be attached and the treatment unit. A mass unit with support means for supporting the
前記支持手段によって支持されている前記施療ュニッ トの、 前記相手 部材に対する姿勢を変更する姿勢変更手段を備えたマッサージュニッ ト c A massage unit c provided with a posture changing means for changing a posture of the treatment unit supported by the support means with respect to the counterpart member c
2 0 . 左右で一対をなす第 1 の施療子と、 第 1 の施療子の下方に設けら れ左右で一対をなす第 2の施療子を、 被施療部に沿って上下方向に移動 させると と もに、 前記第 1の施療子と第 2の施療子の被施療部方向の位 置を制御してマッサージ施療を行うマッサージ機の制御方法であって、 第 1 の施療子及ぴ第 2の施療子の所定の移動範囲の上端部において、 第 1 の施療子を被施療部側に突出させると ともに第 2の施療子を被施療 部とは反対側に後退させるステップと、 20. When the left and right first treatment elements and the left and right pair of second treatment elements provided below the first treatment element are moved vertically along the treated portion. A method of controlling a massage machine for performing massage treatment by controlling the positions of the first treatment element and the second treatment element in the treatment portion direction, the method comprising: a first treatment element and a second treatment element. At the upper end of the predetermined movement range of the treatment element, projecting the first treatment element toward the treatment section and retracting the second treatment element to the side opposite to the treatment section;
第 1 の施療子及び第 2の施療子の所定の移動範囲の下端部において、 第 1 の施療子を被施療部と反対側に後退させるとともに第 2の施療子を 被施療部側に突出させるステップと、  At the lower end of the predetermined movement range of the first treatment element and the second treatment element, the first treatment element is retracted to the opposite side of the treatment section and the second treatment element is protruded toward the treatment section. Steps and
を含むマッサージ機の制御方法。  Method of controlling a massage machine including:
2 1 . 左右で一対をなす第 1 の施療子と、 第 1 の施療子の下方に設けら れ左右で一対をなす第 2の施療子を、 被施療部に沿って上下方向に移動 させると と もに、 前記第 1の施療子と第 2の施療子の被施療部方向の位 置を制御してマッサージ施療を行うマッサージ機の制御方法であって、 第 1 の施療子及び第 2の施療子の所定の移動範囲の上端部において、 第 1 の施療子を被施療部と反対側に後退させるとともに第 2の施療子を 被施療部側に突出させるステップと、  2 1. When the left and right first treatment elements and the left and right pair of second treatment elements provided below the first treatment element are moved vertically along the treated portion. A method of controlling a massage machine for performing massage treatment by controlling the positions of the first treatment element and the second treatment element in the treatment portion direction, the method comprising: a first treatment element and a second treatment element. At the upper end of the predetermined movement range of the treatment element, retreating the first treatment element to the opposite side of the treatment section and projecting the second treatment element to the treatment section side;
第 1の施療子及び第 2の施療子の所定の移動範囲の下端部において、 第 1 の施療子を被施療部側に突出させると ともに第 2の施療子を被施療 部とは反対側に後退させるステツプと、 At the lower end of the predetermined movement range of the first treatment element and the second treatment element, A step of projecting the first treatment element toward the treatment section and retracting the second treatment element to the side opposite to the treatment section;
を含むマッサージ機の制御方法。  Method of controlling a massage machine including:
2 2 . 左右で一対をなす第 1 の施療子と、 第 1 の施療子の下方に設けら れ左右で一対をなす第 2の施療子を、 被施療部に沿って上下方向に移動 させると と もに、 前記第 1 の施療子と第 2の施療子の被施療部方向の位 置を制御してマッサージ施療を行うマッサージ機の制御方法であって、 前記被施療部に沿った下方向への移動時の移動範囲内の所定位置にお いて、 第 1 の施療子を被施療部と反対側に後退させると ともに第 2の施 療子を被施療部側に突出させるステップと、 2 2. When the left and right first treatment elements and the left and right pair of second treatment elements provided below the first treatment element are moved vertically along the treated part. A method of controlling a massage machine for performing massage treatment by controlling the positions of the first treatment element and the second treatment element in the treatment portion direction, wherein the massage device performs a downward treatment along the treatment portion. Retreating the first treatment element to the opposite side of the treatment section and projecting the second treatment element to the treatment section side at a predetermined position within the movement range when moving to
前記被施療部に沿った上方向への移動時の移動範囲内の所定位置にお いて、 第 1 の施療子を被施療部側に突出させると ともに第 2の施療子を 被施療部とは反対側に後退させるステップと、  At a predetermined position within a movement range when moving upward along the treatment section, the first treatment element is made to protrude toward the treatment section side, and the second treatment element is defined as a treatment section. Retreating to the other side,
を含むマッサージ機の制御方法。  Method of controlling a massage machine including:
2 3 . 前記第 1の施療子と第 2の施療子の被施療部方向の位置をそれぞ れ独立して制御する請求の範囲第 2 0乃至 2 2項のいずれかに記載のマ ッサージ機の制御方法。  23. The massaging machine according to any one of claims 20 to 22, wherein the positions of the first treatment element and the second treatment element in the treatment portion direction are independently controlled. Control method.
PCT/JP2001/005672 2000-06-30 2001-06-29 Vibrator, vibration unit, and vibrator control method WO2002002045A1 (en)

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KR10-2002-7017784A KR100522861B1 (en) 2000-06-30 2001-06-29 Vibrator, vibration unit, and vibrator control method
AU2001266360A AU2001266360A1 (en) 2000-06-30 2001-06-29 Vibrator, vibration unit, and vibrator control method
EP01943888A EP1297813A4 (en) 2000-06-30 2001-06-29 Vibrator, vibration unit, and vibrator control method
US10/329,661 US7066898B2 (en) 2000-06-30 2002-12-24 Vibrator, vibration unit, and vibrator control method

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JP2000344502A JP2002078767A (en) 2000-06-30 2000-11-10 Massage machine and control method therefor
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KR100522861B1 (en) 2005-10-24
TW508237B (en) 2002-11-01
JP2002078767A (en) 2002-03-19
AU2001266360A1 (en) 2002-01-14
EP1297813A1 (en) 2003-04-02
CN1457250A (en) 2003-11-19
EP1297813A4 (en) 2007-08-08
KR20030014396A (en) 2003-02-17

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